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 com.irurueta.ar.slam.AbsoluteOrientationConstantVelocityModelSlamCalibrationData;
20
21 import java.io.Serializable;
22
23 /**
24 * Contains configuration for a multiple view sparse re-constructor using SLAM
25 * (Simultaneous Location And Mapping) to determine the scale of the scene (i.e. the
26 * baseline or separation between cameras) by fusing both camera data and data from
27 * sensors like an accelerometer or gyroscope.
28 * This configuration assumes a constant velocity model and that an absolute orientation
29 * will be considered on each view.
30 */
31 public class AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorConfiguration
32 extends BaseSlamSparseReconstructorConfiguration<AbsoluteOrientationConstantVelocityModelSlamCalibrationData,
33 AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorConfiguration> implements Serializable {
34
35 /**
36 * Creates an instance of a multiple views sparse re-constructor configuration with
37 * constant velocity model in slam estimation and absolute orientation.
38 *
39 * @return configuration instance.
40 */
41 public static AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorConfiguration make() {
42 return new AbsoluteOrientationConstantVelocityModelSlamSparseReconstructorConfiguration();
43 }
44 }