1 /*
2 * Copyright (C) 2017 Alberto Irurueta Carro (alberto@irurueta.com)
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 package com.irurueta.ar.sfm;
18
19 import java.io.Serializable;
20
21 /**
22 * Contains configuration for a multiple view sparse re-constructor assuming that the
23 * initial baseline (separation between initial cameras) is known.
24 */
25 public class KnownBaselineSparseReconstructorConfiguration extends
26 BaseSparseReconstructorConfiguration<KnownBaselineSparseReconstructorConfiguration> implements Serializable {
27
28 /**
29 * Default camera baseline (expressed in a unit of distance such as meters).
30 * Methods such as DIAC or Essential assume that the camera baseline is 1.0,
31 * which yields a reconstruction up to scale, unless the real baseline is provided.
32 */
33 public static final double DEFAULT_BASELINE = 1.0;
34
35 /**
36 * Camera baseline (expressed in a unit of distance such as meters).
37 * Contains the real separation between camera centers so that the real scale of
38 * cameras and reconstructed points can be retrieved.
39 */
40 private double baseline = DEFAULT_BASELINE;
41
42 /**
43 * Creates an instance of a multiple view sparse re-constructor configuration with
44 * known camera baseline.
45 *
46 * @return configuration instance.
47 */
48 public static KnownBaselineSparseReconstructorConfiguration make() {
49 return new KnownBaselineSparseReconstructorConfiguration();
50 }
51
52 /**
53 * Gets camera baseline (expressed in a unit of distance such as meters).
54 * Contains the real separation between camera centers so that the real scale of
55 * cameras and reconstructed points can be retrieved.
56 *
57 * @return camera baseline.
58 */
59 public double getBaseline() {
60 return baseline;
61 }
62
63 /**
64 * Sets camera baseline (expressed in a unit of distance such as meters).
65 * Contains the real separation between camera centers so that the real scale
66 * of cameras and reconstructed points can be retrieved.
67 *
68 * @param baseline camera baseline.
69 * @return this instance so that methods can be easily chained.
70 */
71 public KnownBaselineSparseReconstructorConfiguration setBaseline(final double baseline) {
72 this.baseline = baseline;
73 return this;
74 }
75 }