ConstantVelocityModelSlamTwoViewsSparseReconstructor.java

/*
 * Copyright (C) 2017 Alberto Irurueta Carro (alberto@irurueta.com)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *         http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
package com.irurueta.ar.sfm;

import com.irurueta.ar.slam.ConstantVelocityModelSlamCalibrationData;
import com.irurueta.ar.slam.ConstantVelocityModelSlamEstimator;

/**
 * Estimates cameras and 3D reconstructed points from sparse image point
 * correspondences in two views and using SLAM (with accelerometer and gyroscope
 * data) with constant velocity model for overall scale estimation.
 */
public class ConstantVelocityModelSlamTwoViewsSparseReconstructor extends
        BaseSlamTwoViewsSparseReconstructor<
                ConstantVelocityModelSlamCalibrationData,
                ConstantVelocityModelSlamTwoViewsSparseReconstructorConfiguration,
                ConstantVelocityModelSlamTwoViewsSparseReconstructor,
                ConstantVelocityModelSlamTwoViewsSparseReconstructorListener,
                ConstantVelocityModelSlamEstimator> {

    /**
     * Constructor.
     *
     * @param configuration configuration for this re-constructor.
     * @param listener      listener in charge of handling events.
     * @throws NullPointerException if listener or configuration is not
     *                              provided.
     */
    public ConstantVelocityModelSlamTwoViewsSparseReconstructor(
            final ConstantVelocityModelSlamTwoViewsSparseReconstructorConfiguration configuration,
            final ConstantVelocityModelSlamTwoViewsSparseReconstructorListener listener) {
        super(configuration, listener);
    }

    /**
     * Constructor.
     *
     * @param listener listener in charge of handling events.
     * @throws NullPointerException if listener is not provided.
     */
    public ConstantVelocityModelSlamTwoViewsSparseReconstructor(
            final ConstantVelocityModelSlamTwoViewsSparseReconstructorListener listener) {
        this(new ConstantVelocityModelSlamTwoViewsSparseReconstructorConfiguration(), listener);
    }

    /**
     * Process one view of all the available data during the reconstruction.
     * This method can be called multiple times instead of {@link #start()} to build the reconstruction
     * step by step, one view at a time.
     *
     * @return true if more views can be processed, false when reconstruction has finished.
     */
    @Override
    public boolean processOneView() {
        if (!running) {
            slamEstimator = new ConstantVelocityModelSlamEstimator();
            setUpSlamEstimatorListener();
            setUpCalibrationData();
        }

        return super.processOneView();
    }

    /**
     * Called when processing one frame is successfully finished. This can be done to estimate scale on
     * those implementations where scale can be measured or is already known.
     *
     * @return true if post-processing succeeded, false otherwise.
     */
    @Override
    protected boolean postProcessOne() {
        return updateScale();
    }
}