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 package com.irurueta.ar.sfm;
17
18 import com.irurueta.geometry.MetricTransformation3D;
19 import com.irurueta.geometry.Point3D;
20
21 import java.util.ArrayList;
22
23 /**
24 * Class in charge of estimating cameras and 3D reconstructed points from sparse
25 * image point correspondences in two views and known camera baseline (camera
26 * separation), so that both cameras and reconstructed points are obtained with
27 * exact scale.
28 */
29 public class KnownBaselineTwoViewsSparseReconstructor extends
30 BaseTwoViewsSparseReconstructor<KnownBaselineTwoViewsSparseReconstructorConfiguration,
31 KnownBaselineTwoViewsSparseReconstructor, KnownBaselineTwoViewsSparseReconstructorListener> {
32
33 /**
34 * Constructor.
35 *
36 * @param configuration configuration for this re-constructor.
37 * @param listener listener in charge of handling events.
38 * @throws NullPointerException if listener or configuration is not
39 * provided.
40 */
41 public KnownBaselineTwoViewsSparseReconstructor(
42 final KnownBaselineTwoViewsSparseReconstructorConfiguration configuration,
43 final KnownBaselineTwoViewsSparseReconstructorListener listener) {
44 super(configuration, listener);
45 }
46
47 /**
48 * Constructor with default configuration.
49 *
50 * @param listener listener in charge of handling events.
51 * @throws NullPointerException if listener is not provided.
52 */
53 public KnownBaselineTwoViewsSparseReconstructor(final KnownBaselineTwoViewsSparseReconstructorListener listener) {
54 this(new KnownBaselineTwoViewsSparseReconstructorConfiguration(), listener);
55 }
56
57 /**
58 * Called when processing one frame is successfully finished. This can be done to estimate scale on
59 * those implementations where scale can be measured or is already known.
60 *
61 * @return true if post-processing succeeded, false otherwise.
62 */
63 @SuppressWarnings("DuplicatedCode")
64 @Override
65 protected boolean postProcessOne() {
66 try {
67 // reconstruction succeeded, so we update scale of cameras and
68 // reconstructed points
69 final var baseline = configuration.getBaseline();
70
71 final var camera1 = estimatedCamera1.getCamera();
72 final var camera2 = estimatedCamera2.getCamera();
73
74 camera1.decompose();
75 camera2.decompose();
76
77 final var center1 = camera1.getCameraCenter();
78 final var center2 = camera2.getCameraCenter();
79
80 final var estimatedBaseline = center1.distanceTo(center2);
81
82 final var scale = baseline / estimatedBaseline;
83
84 final var scaleTransformation = new MetricTransformation3D(scale);
85
86 // update scale of cameras
87 scaleTransformation.transform(camera1);
88 scaleTransformation.transform(camera2);
89
90 estimatedCamera1.setCamera(camera1);
91 estimatedCamera2.setCamera(camera2);
92
93 // update scale of reconstructed points
94 final var numPoints = reconstructedPoints.size();
95 final var reconstructedPoints3D = new ArrayList<Point3D>();
96 for (final var reconstructedPoint : reconstructedPoints) {
97 reconstructedPoints3D.add(reconstructedPoint.getPoint());
98 }
99
100 scaleTransformation.transformAndOverwritePoints(reconstructedPoints3D);
101
102 // set scaled points into result
103 for (var i = 0; i < numPoints; i++) {
104 reconstructedPoints.get(i).setPoint(reconstructedPoints3D.get(i));
105 }
106
107 return true;
108 } catch (final Exception e) {
109 failed = true;
110 listener.onFail(this);
111
112 return false;
113 }
114 }
115 }