Package com.irurueta.ar.sfm

Class AbsoluteOrientationSlamSparseReconstructorTest

java.lang.Object
com.irurueta.ar.sfm.AbsoluteOrientationSlamSparseReconstructorTest
class AbsoluteOrientationSlamSparseReconstructorTest extends Object

  • Field Details

    • MIN_FOCAL_LENGTH_ESSENTIAL

      private static final double MIN_FOCAL_LENGTH_ESSENTIAL
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    • MAX_FOCAL_LENGTH_ESSENTIAL

      private static final double MAX_FOCAL_LENGTH_ESSENTIAL
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    • MIN_ANGLE_DEGREES

      private static final double MIN_ANGLE_DEGREES
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    • MAX_ANGLE_DEGREES

      private static final double MAX_ANGLE_DEGREES
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    • MIN_CAMERA_SEPARATION_ESSENTIAL

      private static final double MIN_CAMERA_SEPARATION_ESSENTIAL
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    • MAX_CAMERA_SEPARATION_ESSENTIAL

      private static final double MAX_CAMERA_SEPARATION_ESSENTIAL
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    • MIN_NUM_POINTS

      private static final int MIN_NUM_POINTS
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    • MAX_NUM_POINTS

      private static final int MAX_NUM_POINTS
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    • MIN_LAMBDA_ESSENTIAL

      private static final double MIN_LAMBDA_ESSENTIAL
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    • MAX_LAMBDA_ESSENTIAL

      private static final double MAX_LAMBDA_ESSENTIAL
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    • TIMES

      private static final int TIMES
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    • MAX_TRIES

      private static final int MAX_TRIES
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    • ABSOLUTE_ERROR

      private static final double ABSOLUTE_ERROR
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    • LARGE_ABSOLUTE_ERROR

      private static final double LARGE_ABSOLUTE_ERROR
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    • MIN_TRACKED_POINTS

      private static final int MIN_TRACKED_POINTS
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    • NEAREST_THRESHOLD

      private static final double NEAREST_THRESHOLD
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    • RELATIVE_ERROR

      private static final double RELATIVE_ERROR
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    • MAX_CALIBRATION_SAMPLES

      private static final int MAX_CALIBRATION_SAMPLES
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    • MILLIS_TO_NANOS

      private static final int MILLIS_TO_NANOS
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    • DELTA_NANOS

      private static final int DELTA_NANOS
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    • MIN_CALIBRATION_OFFSET

      private static final float MIN_CALIBRATION_OFFSET
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    • MAX_CALIBRATION_OFFSET

      private static final float MAX_CALIBRATION_OFFSET
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    • ACCELERATION_NOISE_STANDARD_DEVIATION

      private static final double ACCELERATION_NOISE_STANDARD_DEVIATION
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    • ANGULAR_SPEED_NOISE_STANDARD_DEVIATION

      private static final double ANGULAR_SPEED_NOISE_STANDARD_DEVIATION
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    • N_SENSOR_SAMPLES

      private static final int N_SENSOR_SAMPLES
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    • LOGGER

      private static final Logger LOGGER

    • viewCount

      private int viewCount

    • estimatedFundamentalMatrix

      private EstimatedFundamentalMatrix estimatedFundamentalMatrix

    • estimatedFundamentalMatrix2

      private EstimatedFundamentalMatrix estimatedFundamentalMatrix2

    • estimatedFundamentalMatrix3

      private EstimatedFundamentalMatrix estimatedFundamentalMatrix3

    • estimatedMetricCamera1

      private EstimatedCamera estimatedMetricCamera1

    • estimatedMetricCamera2

      private EstimatedCamera estimatedMetricCamera2

    • estimatedMetricCamera3

      private EstimatedCamera estimatedMetricCamera3

    • estimatedMetricCamera4

      private EstimatedCamera estimatedMetricCamera4

    • estimatedEuclideanCamera1

      private EstimatedCamera estimatedEuclideanCamera1

    • estimatedEuclideanCamera2

      private EstimatedCamera estimatedEuclideanCamera2

    • estimatedEuclideanCamera3

      private EstimatedCamera estimatedEuclideanCamera3

    • estimatedEuclideanCamera4

      private EstimatedCamera estimatedEuclideanCamera4

    • metricReconstructedPoints

      private List<ReconstructedPoint3D> metricReconstructedPoints

    • euclideanReconstructedPoints

      private List<ReconstructedPoint3D> euclideanReconstructedPoints

    • scale

      private double scale

    • scale2

      private double scale2

    • scale3

      private double scale3

    • started

      private boolean started

    • finished

      private boolean finished

    • failed

      private boolean failed

    • cancelled

      private boolean cancelled

    • timestamp

      private long timestamp

    • slamDataAvailable

      private int slamDataAvailable

    • slamCameraEstimated

      private int slamCameraEstimated

    • slamCamera

      private com.irurueta.geometry.PinholeCamera slamCamera

    • slamCovariance

      private com.irurueta.algebra.Matrix slamCovariance

  • Constructor Details

    • AbsoluteOrientationSlamSparseReconstructorTest

      AbsoluteOrientationSlamSparseReconstructorTest()

  • Method Details

    • setUp

      @BeforeEach void setUp()

    • testConstructor

      @Test void testConstructor()

    • testGeneralPointsEssentialWithConstantAccelerationAndRotationWithoutNoiseTwoViews

      @Test void testGeneralPointsEssentialWithConstantAccelerationAndRotationWithoutNoiseTwoViews() throws InvalidPairOfCamerasException, com.irurueta.algebra.AlgebraException, com.irurueta.geometry.CameraException, com.irurueta.geometry.estimators.NotReadyException, com.irurueta.geometry.NotAvailableException, com.irurueta.geometry.RotationException
      Throws:
      InvalidPairOfCamerasException
      com.irurueta.algebra.AlgebraException
      com.irurueta.geometry.CameraException
      com.irurueta.geometry.estimators.NotReadyException
      com.irurueta.geometry.NotAvailableException
      com.irurueta.geometry.RotationException

    • testGeneralPointsEssentialWithConstantAccelerationAndRotationWithNoiseTwoViews

      @Test void testGeneralPointsEssentialWithConstantAccelerationAndRotationWithNoiseTwoViews() throws InvalidPairOfCamerasException, com.irurueta.algebra.AlgebraException, com.irurueta.geometry.CameraException, com.irurueta.geometry.estimators.NotReadyException, com.irurueta.geometry.NotAvailableException, com.irurueta.geometry.RotationException
      Throws:
      InvalidPairOfCamerasException
      com.irurueta.algebra.AlgebraException
      com.irurueta.geometry.CameraException
      com.irurueta.geometry.estimators.NotReadyException
      com.irurueta.geometry.NotAvailableException
      com.irurueta.geometry.RotationException

    • testGeneralPointsEssentialWithConstantAccelerationAndRotationWithoutNoiseThreeViews

      @Test void testGeneralPointsEssentialWithConstantAccelerationAndRotationWithoutNoiseThreeViews() throws InvalidPairOfCamerasException, com.irurueta.algebra.AlgebraException, com.irurueta.geometry.CameraException, com.irurueta.geometry.estimators.NotReadyException, com.irurueta.geometry.NotAvailableException, com.irurueta.geometry.RotationException
      Throws:
      InvalidPairOfCamerasException
      com.irurueta.algebra.AlgebraException
      com.irurueta.geometry.CameraException
      com.irurueta.geometry.estimators.NotReadyException
      com.irurueta.geometry.NotAvailableException
      com.irurueta.geometry.RotationException

    • testGeneralPointsEssentialWithConstantAccelerationAndRotationWithNoiseThreeViews

      @Test void testGeneralPointsEssentialWithConstantAccelerationAndRotationWithNoiseThreeViews() throws InvalidPairOfCamerasException, com.irurueta.algebra.AlgebraException, com.irurueta.geometry.CameraException, com.irurueta.geometry.estimators.NotReadyException, com.irurueta.geometry.NotAvailableException, com.irurueta.geometry.RotationException
      Throws:
      InvalidPairOfCamerasException
      com.irurueta.algebra.AlgebraException
      com.irurueta.geometry.CameraException
      com.irurueta.geometry.estimators.NotReadyException
      com.irurueta.geometry.NotAvailableException
      com.irurueta.geometry.RotationException

    • testGeneralPointsEssentialWithConstantAccelerationAndRotationWithoutNoiseFourViews

      @Test void testGeneralPointsEssentialWithConstantAccelerationAndRotationWithoutNoiseFourViews() throws InvalidPairOfCamerasException, com.irurueta.algebra.AlgebraException, com.irurueta.geometry.CameraException, com.irurueta.geometry.estimators.NotReadyException, com.irurueta.geometry.NotAvailableException, com.irurueta.geometry.RotationException
      Throws:
      InvalidPairOfCamerasException
      com.irurueta.algebra.AlgebraException
      com.irurueta.geometry.CameraException
      com.irurueta.geometry.estimators.NotReadyException
      com.irurueta.geometry.NotAvailableException
      com.irurueta.geometry.RotationException

    • reset

      private void reset()

    • createFinishedCalibrator

      private static AbsoluteOrientationSlamCalibrator createFinishedCalibrator(float accelerationOffsetX, float accelerationOffsetY, float accelerationOffsetZ, float angularOffsetX, float angularOffsetY, float angularOffsetZ, com.irurueta.statistics.GaussianRandomizer noiseRandomizer)