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Augmented Reality and 3D reconstruction library
/*
* 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.algebra.AlgebraException;
import com.irurueta.algebra.Matrix;
import com.irurueta.ar.slam.BaseCalibrationData;
import com.irurueta.geometry.Point3D;
import java.io.Serializable;
/**
* Contains base configuration for a multiple view sparse re-constructor using SLAM (Simultaneous
* Location And Mapping) to determine the scale of the scene (i.e. the baseline or separation
* between cameras) by fusing both camera data and data from sensors like an accelerometer or
* gyroscope.
*
* @param type defining calibration data.
* @param an actual implementation of a configuration class.
*/
public class BaseSlamSparseReconstructorConfiguration> extends BaseSparseReconstructorConfiguration
implements Serializable {
/**
* Indicates that by default new available SLAM state is notified each time that a whole set of IMU (Inertial
* Measurement Unit) data is received (accelerometer, gyroscope and orientation). SLAM state contains position,
* velocity, linear acceleration, orientation and angular speed.
*/
public static final boolean DEFAULT_NOTIFY_SLAM_DATA_AVAILABLE = true;
/**
* Indicates that by default any new camera that can be estimated by means of SLAM using IMU data, will be notified
* each time that accelerometer, gyroscope and orientation data is received.
*/
public static final boolean DEFAULT_NOTIFY_ESTIMATED_SLAM_CAMERA = true;
/**
* Default variance for coordinates of estimated camera positions.
*/
private static final double DEFAULT_CAMERA_POSITION_VARIANCE = 1e-6;
/**
* Calibration data for accelerometer and gyroscope.
* This data is usually captured and estimated in an offline step previous
* to the actual scene reconstruction.
* Calibration data is usually obtained by keeping the system in a constant
* state of motion (e.g. acceleration and rotation).
* If this is null, no calibration data will be used.
*/
private C mCalibrationData;
/**
* Matrix containing covariance of measured camera positions.
* This should usually be an "almost" diagonal matrix, where diagonal elements
* are close to the position estimation error variance.
* Values of this matrix are device specific and depends on factors such as
* resolution of images, pictures quality, gyroscope and accelerometer accuracy.
* This matrix must be a 3x3 symmetric positive definite matrix.
*/
private Matrix mCameraPositionCovariance;
/**
* Indicates whether new available SLAM state is notified each time that a whole set of IMU (Inertial Measurement
* Unit) data is received.
*/
private boolean mNotifyAvailableSlamData = DEFAULT_NOTIFY_SLAM_DATA_AVAILABLE;
/**
* Indicates whether any new camera that can be estimated by means of SLAM using IMU data, will be notified each
* time that accelerometer, gyroscope and orientation data is received.
*/
private boolean mNotifyEstimatedSlamCamera = DEFAULT_NOTIFY_ESTIMATED_SLAM_CAMERA;
/**
* Constructor.
*/
public BaseSlamSparseReconstructorConfiguration() {
// initialize default covariance
try {
mCameraPositionCovariance = Matrix.identity(Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH,
Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH);
mCameraPositionCovariance.multiplyByScalar(DEFAULT_CAMERA_POSITION_VARIANCE);
} catch (final AlgebraException ignore) {
// never happens
}
}
/**
* Gets calibration data for accelerometer and gyroscope.
* This data is usually captured and estimated in an offline step previous
* to the actual scene reconstruction.
* Calibration data is usually obtained by keeping the system in a constant
* state of motion (e.g. acceleration and rotation).
* If this is null, no calibration data will be used.
*
* @return calibration data or null.
*/
public C getCalibrationData() {
return mCalibrationData;
}
/**
* Specifies calibration data for accelerometer and gyroscope.
* This data is usually captured and estimated in an offline step previous
* to the actual scene reconstruction.
* Calibration data is usually obtained by keeping the system in a constant
* state of motion (e.g. acceleration and rotation).
* If set to null, no calibration data will be used.
*
* @param calibrationData calibration data or null.
* @return this instance so that method can be easily chained.
*/
public T setCalibrationData(final C calibrationData) {
mCalibrationData = calibrationData;
//noinspection all
return (T) this;
}
/**
* Gets matrix containing covariance of measured camera positions.
* This should usually be an "almost" diagonal matrix, where diagonal elements
* are close to the position estimation error variance.
* Values of this matrix are device specific and depends on factors such as
* resolution of images, pictures quality, gyroscope and accelerometer accuracy.
* This matrix must be a 3x3 symmetric positive definite matrix.
*
* @return covariance of measured camera positions.
*/
public Matrix getCameraPositionCovariance() {
return mCameraPositionCovariance;
}
/**
* Sets matrix containing covariance of measured camera positions.
* This should usually be an "almost" diagonal matrix, where diagonal elements
* are close to the position estimation error variance.
* Values of this matrix are device specific and depends on factors such as
* resolution of images, pictures quality, gyroscope and accelerometer accuracy.
* This matrix must be a 3x3 symmetric positive definite matrix.
*
* @param cameraPositionCovariance covariance of measured camera positions.
* @return this instance so that method can be easily chained.
* @throws IllegalArgumentException if provided matrix is not 3x3.
*/
public T setCameraPositionCovariance(final Matrix cameraPositionCovariance) {
if (cameraPositionCovariance.getRows() != Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH ||
cameraPositionCovariance.getColumns() != Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH) {
throw new IllegalArgumentException();
}
mCameraPositionCovariance = cameraPositionCovariance;
//noinspection all
return (T) this;
}
/**
* Sets independent variance of coordinates of measured camera positions.
* When using this method, camera position covariance matrix is set as a diagonal matrix whose diagonal elements
* are equal to provided value.
*
* @param variance variance of coordinates of measured camera positions.
* @return this instance so that method can be easily chained.
*/
public T setCameraPositionVariance(final double variance) {
try {
mCameraPositionCovariance = Matrix.identity(Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH,
Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH);
mCameraPositionCovariance.multiplyByScalar(variance);
} catch (AlgebraException ignore) {
// never happens
}
//noinspection all
return (T) this;
}
/**
* Indicates whether new available SLAM state is notified each time that a whole set of IMU (Inertial Measurement
* Unit) data is received. IMU data contains accelerometer, gyroscope and orientation samples.
*
* @return true if new available SLAM state is notified each time that a whole set of IMU data is received.
*/
public boolean isNotifyAvailableSlamDataEnabled() {
return mNotifyAvailableSlamData;
}
/**
* Specifies whether new available SLAM state is notified each time that a whole set of IMU (Inertial Measurement
* Unit) data is received. IMU data contains accelerometer, gyroscope and orientation samples.
*
* @param notifyAvailableSlamData true if new available SLAM state is notified each time that a whole set of IMU
* data is received, false otherwise.
* @return this instance so that method can be easily chained.
*/
public T setNotifyAvailableSlamDataEnabled(final boolean notifyAvailableSlamData) {
mNotifyAvailableSlamData = notifyAvailableSlamData;
//noinspection all
return (T) this;
}
/**
* Indicates whether any new camera that can be estimated by means of SLAM using IMU data, will be notified each
* time that accelerometer, gyroscope and orientation data is received.
*
* @return true if any newly estimated camera is notified, false otherwise.
*/
public boolean isNotifyEstimatedSlamCameraEnabled() {
return mNotifyEstimatedSlamCamera;
}
/**
* Specifies whether any new camera that can be estimated by means of SLAM using IMU data, will be notified each
* time that accelerometer, gyroscope and orientation data is received.
*
* @param notifyEstimatedSlamCamera true if any newly estimated camera is notified, false otherwise.
* @return this instance so that method can be easily chained.
*/
public T setNotifyEstimatedSlamCameraEnabled(final boolean notifyEstimatedSlamCamera) {
mNotifyEstimatedSlamCamera = notifyEstimatedSlamCamera;
//noinspection all
return (T) this;
}
}
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