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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.ar.slam.BaseCalibrationData;
import com.irurueta.ar.slam.BaseSlamEstimator;
import com.irurueta.geometry.InhomogeneousPoint3D;
import com.irurueta.geometry.MetricTransformation3D;
import com.irurueta.geometry.PinholeCamera;
import com.irurueta.geometry.PinholeCameraIntrinsicParameters;
import com.irurueta.geometry.Point3D;
import com.irurueta.geometry.Quaternion;
import java.util.ArrayList;
import java.util.List;
/**
* Base class in charge of estimating cameras and 3D reconstructed points from
* sparse image point correspondences in two views and also in charge of
* estimating overall scene scale by means of SLAM (Simultaneous Location And
* Mapping) using data obtained from sensors like accelerometers or gyroscopes.
*
* @param type of calibration data.
* @param type of configuration.
* @param type of re-constructor.
* @param type of listener.
* @param type of SLAM estimator.
*/
@SuppressWarnings("DuplicatedCode")
public abstract class BaseSlamTwoViewsSparseReconstructor<
D extends BaseCalibrationData,
C extends BaseSlamTwoViewsSparseReconstructorConfiguration,
R extends BaseSlamTwoViewsSparseReconstructor,
L extends BaseSlamTwoViewsSparseReconstructorListener,
S extends BaseSlamEstimator> extends
BaseTwoViewsSparseReconstructor {
/**
* Slam estimator to estimate position, speed, orientation using
* accelerometer and gyroscope data.
*/
protected S mSlamEstimator;
/**
* Position estimated by means of SLAM. It is reused each time it is notified.
*/
private final InhomogeneousPoint3D mSlamPosition = new InhomogeneousPoint3D();
/**
* Camera estimated by means of SLAM. It is reused each time it is notified.
*/
private final PinholeCamera mSlamCamera = new PinholeCamera();
/**
* Camera rotation estimated by means of SLAM. It is reused each time it is notified.
*/
private final Quaternion mSlamRotation = new Quaternion();
/**
* 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.
*/
protected BaseSlamTwoViewsSparseReconstructor(
final C configuration, final L listener) {
super(configuration, listener);
}
/**
* Provides a new accelerometer sample to update SLAM estimation.
* This method must be called whenever the accelerometer sensor receives new
* data.
* If re-constructor is not running, calling this method has no effect.
*
* @param timestamp timestamp of accelerometer sample since epoch time and
* expressed in nanoseconds.
* @param accelerationX linear acceleration along x-axis expressed in meters
* per squared second (m/s^2).
* @param accelerationY linear acceleration along y-axis expressed in meters
* per squared second (m/s^2).
* @param accelerationZ linear acceleration along z-axis expressed in meters
* per squared second (m/s^2).
*/
public void updateAccelerometerSample(
final long timestamp, final float accelerationX,
final float accelerationY, final float accelerationZ) {
if (mSlamEstimator != null) {
mSlamEstimator.updateAccelerometerSample(timestamp, accelerationX,
accelerationY, accelerationZ);
}
}
/**
* Provides a new accelerometer sample to update SLAM estimation.
* This method must be called whenever the accelerometer sensor receives new
* data.
* If re-constructor is not running, calling this method has no effect.
*
* @param timestamp timestamp of accelerometer sample since epoch time and
* expressed in nanoseconds.
* @param data array containing x,y,z components of linear acceleration
* expressed in meters per squared second (m/s^2).
* @throws IllegalArgumentException if provided array does not have length
* 3.
*/
public void updateAccelerometerSample(
final long timestamp, final float[] data) {
if (mSlamEstimator != null) {
mSlamEstimator.updateAccelerometerSample(timestamp, data);
}
}
/**
* Provides a new gyroscope sample to update SLAM estimation.
* If re-constructor is not running, calling this method has no effect.
*
* @param timestamp timestamp of gyroscope sample since epoch time and
* expressed in nanoseconds.
* @param angularSpeedX angular speed of rotation along x-axis expressed in
* radians per second (rad/s).
* @param angularSpeedY angular speed of rotation along y-axis expressed in
* radians per second (rad/s).
* @param angularSpeedZ angular speed of rotation along z-axis expressed in
* radians per second (rad/s).
*/
public void updateGyroscopeSample(
final long timestamp, final float angularSpeedX,
final float angularSpeedY, final float angularSpeedZ) {
if (mSlamEstimator != null) {
mSlamEstimator.updateGyroscopeSample(timestamp, angularSpeedX,
angularSpeedY, angularSpeedZ);
}
}
/**
* Provides a new gyroscope sample to update SLAM estimation.
* If re-constructor is not running, calling this method has no effect.
*
* @param timestamp timestamp of gyroscope sample since epoch time and
* expressed in nanoseconds.
* @param data angular speed of rotation along x,y,z axes expressed in
* radians per second (rad/s).
* @throws IllegalArgumentException if provided array does not have length
* 3.
*/
public void updateGyroscopeSample(final long timestamp, final float[] data) {
if (mSlamEstimator != null) {
mSlamEstimator.updateGyroscopeSample(timestamp, data);
}
}
/**
* Set ups calibration data on SLAM estimator if available.
*/
protected void setUpCalibrationData() {
D calibrationData = mConfiguration.getCalibrationData();
if (calibrationData != null) {
mSlamEstimator.setCalibrationData(calibrationData);
}
}
/**
* Configures listener of SLAM estimator
*/
protected void setUpSlamEstimatorListener() {
mSlamEstimator.setListener(new BaseSlamEstimator.BaseSlamEstimatorListener() {
@Override
public void onFullSampleReceived(final BaseSlamEstimator estimator) {
// not used
}
@Override
public void onFullSampleProcessed(final BaseSlamEstimator estimator) {
notifySlamStateAndCamera();
}
@Override
public void onCorrectWithPositionMeasure(final BaseSlamEstimator estimator) {
// not used
}
@Override
public void onCorrectedWithPositionMeasure(final BaseSlamEstimator estimator) {
notifySlamStateAndCamera();
}
private void notifySlamStateAndCamera() {
notifySlamStateIfNeeded();
notifySlamCameraIfNeeded();
}
});
}
/**
* Update scene scale using SLAM data.
*
* @return true if scale was successfully updated, false otherwise.
*/
protected boolean updateScale() {
// obtain baseline (camera separation from slam estimator data
final double posX = mSlamEstimator.getStatePositionX();
final double posY = mSlamEstimator.getStatePositionY();
final double posZ = mSlamEstimator.getStatePositionZ();
// to estimate baseline, we assume that first camera is placed at
// world origin
final double baseline = Math.sqrt(posX * posX + posY * posY + posZ * posZ);
try {
final PinholeCamera camera1 = mEstimatedCamera1.getCamera();
final PinholeCamera camera2 = mEstimatedCamera2.getCamera();
camera1.decompose();
camera2.decompose();
final Point3D center1 = camera1.getCameraCenter();
final Point3D center2 = camera2.getCameraCenter();
final double estimatedBaseline = center1.distanceTo(center2);
final double scale = baseline / estimatedBaseline;
final MetricTransformation3D scaleTransformation =
new MetricTransformation3D(scale);
// update scale of cameras
scaleTransformation.transform(camera1);
scaleTransformation.transform(camera2);
mEstimatedCamera1.setCamera(camera1);
mEstimatedCamera2.setCamera(camera2);
// update scale of reconstructed points
final int numPoints = mReconstructedPoints.size();
final List reconstructedPoints3D = new ArrayList<>();
for (final ReconstructedPoint3D reconstructedPoint : mReconstructedPoints) {
reconstructedPoints3D.add(reconstructedPoint.
getPoint());
}
scaleTransformation.transformAndOverwritePoints(
reconstructedPoints3D);
// set scaled points into result
for (int i = 0; i < numPoints; i++) {
mReconstructedPoints.get(i).setPoint(
reconstructedPoints3D.get(i));
}
return true;
} catch (final Exception e) {
mFailed = true;
//noinspection unchecked
mListener.onFail((R) this);
return false;
}
}
/**
* Notifies SLAM state if notification is enabled at configuration time.
*/
private void notifySlamStateIfNeeded() {
if (!mConfiguration.isNotifyAvailableSlamDataEnabled()) {
return;
}
final double positionX = mSlamEstimator.getStatePositionX();
final double positionY = mSlamEstimator.getStatePositionY();
final double positionZ = mSlamEstimator.getStatePositionZ();
final double velocityX = mSlamEstimator.getStateVelocityX();
final double velocityY = mSlamEstimator.getStateVelocityY();
final double velocityZ = mSlamEstimator.getStateVelocityZ();
final double accelerationX = mSlamEstimator.getStateAccelerationX();
final double accelerationY = mSlamEstimator.getStateAccelerationY();
final double accelerationZ = mSlamEstimator.getStateAccelerationZ();
final double quaternionA = mSlamEstimator.getStateQuaternionA();
final double quaternionB = mSlamEstimator.getStateQuaternionB();
final double quaternionC = mSlamEstimator.getStateQuaternionC();
final double quaternionD = mSlamEstimator.getStateQuaternionD();
final double angularSpeedX = mSlamEstimator.getStateAngularSpeedX();
final double angularSpeedY = mSlamEstimator.getStateAngularSpeedY();
final double angularSpeedZ = mSlamEstimator.getStateAngularSpeedZ();
//noinspection unchecked
mListener.onSlamDataAvailable((R) this, positionX, positionY, positionZ,
velocityX, velocityY, velocityZ,
accelerationX, accelerationY, accelerationZ,
quaternionA, quaternionB, quaternionC, quaternionD,
angularSpeedX, angularSpeedY, angularSpeedZ, mSlamEstimator.getStateCovariance());
}
/**
* Notifies estimated camera by means of SLAM if notification is enabled at
* configuration time and intrinsics are already available.
*/
private void notifySlamCameraIfNeeded() {
if (!mConfiguration.isNotifyEstimatedSlamCameraEnabled()) {
return;
}
PinholeCameraIntrinsicParameters intrinsicParameters = null;
if (mConfiguration.getInitialIntrinsic1() != null) {
intrinsicParameters = mConfiguration.getInitialIntrinsic1();
} else if (mConfiguration.getInitialIntrinsic2() != null) {
intrinsicParameters = mConfiguration.getInitialIntrinsic2();
}
if (intrinsicParameters == null) {
return;
}
final double positionX = mSlamEstimator.getStatePositionX();
final double positionY = mSlamEstimator.getStatePositionY();
final double positionZ = mSlamEstimator.getStatePositionZ();
mSlamPosition.setInhomogeneousCoordinates(positionX, positionY, positionZ);
final double quaternionA = mSlamEstimator.getStateQuaternionA();
final double quaternionB = mSlamEstimator.getStateQuaternionB();
final double quaternionC = mSlamEstimator.getStateQuaternionC();
final double quaternionD = mSlamEstimator.getStateQuaternionD();
mSlamRotation.setA(quaternionA);
mSlamRotation.setB(quaternionB);
mSlamRotation.setC(quaternionC);
mSlamRotation.setD(quaternionD);
mSlamCamera.setIntrinsicAndExtrinsicParameters(intrinsicParameters, mSlamRotation,
mSlamPosition);
//noinspection unchecked
mListener.onSlamCameraEstimated((R) this, mSlamCamera);
}
}
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