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Augmented Reality and 3D reconstruction library
There is a newer version: 1.3.0
/*
 * Copyright (C) 2017 Alberto Irurueta Carro ([email protected])
 *
 * 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.AbsoluteOrientationConstantVelocityModelSlamCalibrationData;
import com.irurueta.ar.slam.AbsoluteOrientationConstantVelocityModelSlamEstimator;

/**
 * Estimates cameras and 3D reconstructed points from sparse image point
 * correspondences in two views and using SLAM (with accelerometer and gyroscope
 * data) with absolute orientation for overall scale and orientation estimation.
 * NOTE: This implementation does not seem to be very reliable because the SLAM
 * estimator is not accurate at all on position or orientation estimator.
 * Use {@link AbsoluteOrientationSlamTwoViewsSparseReconstructor} if absolute
 * orientation is needed, or {@link SlamTwoViewsSparseReconstructor} otherwise to get
 * better accuracy.
 */
public class AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor
        extends BaseAbsoluteOrientationSlamTwoViewsSparseReconstructor<
        AbsoluteOrientationConstantVelocityModelSlamCalibrationData,
        AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorConfiguration,
        AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor,
        AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorListener,
        AbsoluteOrientationConstantVelocityModelSlamEstimator> {

    /**
     * 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 AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor(
            final AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorConfiguration configuration,
            final AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorListener listener) {
        super(configuration, listener);
    }

    /**
     * Constructor.
     *
     * @param listener listener in charge of handling events.
     * @throws NullPointerException if listener is not provided.
     */
    public AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructor(
            final AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorListener listener) {
        this(new AbsoluteOrientationConstantVelocityModelSlamTwoViewsSparseReconstructorConfiguration(),
                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 (!mRunning) {
            mSlamEstimator = new AbsoluteOrientationConstantVelocityModelSlamEstimator();
            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 updateScaleAndOrientation();
    }
}