public virtual void draw(Transform3Df pose, Image displayImage)
{
solar_api_displayPINVOKE.I3DOverlay_draw(swigCPtr, Transform3Df.getCPtr(pose), Image.getCPtr(displayImage));
if (solar_api_displayPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_displayPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void filter(Transform3Df pose1, Transform3Df pose2, CloudPointVector input, CloudPointVector output, IntVector index)
{
solar_api_solver_mapPINVOKE.IMapFilter_filter__SWIG_1(swigCPtr, Transform3Df.getCPtr(pose1), Transform3Df.getCPtr(pose2), CloudPointVector.getCPtr(input), CloudPointVector.getCPtr(output), IntVector.getCPtr(index));
if (solar_api_solver_mapPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_mapPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void set(Transform3Df pose, Image image)
{
solar_api_sinkPINVOKE.ISinkPoseImage_set__SWIG_0(swigCPtr, Transform3Df.getCPtr(pose), Image.getCPtr(image));
if (solar_api_sinkPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_sinkPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual SinkReturnCode update(Transform3Df pose)
{
SinkReturnCode ret = (SinkReturnCode)solar_api_pipelinePINVOKE.IPipeline_update(swigCPtr, Transform3Df.getCPtr(pose));
if (solar_api_pipelinePINVOKE.SWIGPendingException.Pending)
{
throw solar_api_pipelinePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual void filter(DescriptorMatchVector inputMatches, DescriptorMatchVector outputMatches, KeypointArray inputKeyPoints1, KeypointArray inputKeyPoints2, Transform3Df pose1, Transform3Df pose2, Matrix3x3f intrinsicParams)
{
solar_api_featuresPINVOKE.IMatchesFilter_filter__SWIG_1(swigCPtr, DescriptorMatchVector.getCPtr(inputMatches), DescriptorMatchVector.getCPtr(outputMatches), KeypointArray.getCPtr(inputKeyPoints1), KeypointArray.getCPtr(inputKeyPoints2), Transform3Df.getCPtr(pose1), Transform3Df.getCPtr(pose2), Matrix3x3f.getCPtr(intrinsicParams));
if (solar_api_featuresPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_featuresPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual FrameworkReturnCode transform(Point3DfArray inputPoints, Transform3Df transformation, Point3DfArray outputPoints)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_geomPINVOKE.I3DTransform_transform(swigCPtr, Point3DfArray.getCPtr(inputPoints), Transform3Df.getCPtr(transformation), Point3DfArray.getCPtr(outputPoints));
if (solar_api_geomPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_geomPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode process(Transform3Df outputData)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_fusionPINVOKE.IVisualInertialFusion_process(swigCPtr, Transform3Df.getCPtr(outputData));
if (solar_api_fusionPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_fusionPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual SinkReturnCode tryGet(Transform3Df pose)
{
SinkReturnCode ret = (SinkReturnCode)solar_api_sinkPINVOKE.ISinkPoseImage_tryGet(swigCPtr, Transform3Df.getCPtr(pose));
if (solar_api_sinkPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_sinkPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual double triangulate(KeypointArray keypointsView1, KeypointArray keypointsView2, DescriptorBuffer descriptor1, DescriptorBuffer descriptor2, DescriptorMatchVector matches, PairUIntUInt working_views, Transform3Df poseView1, Transform3Df poseView2, CloudPointVector pcloud)
{
double ret = solar_api_solver_mapPINVOKE.ITriangulator_triangulate__SWIG_2(swigCPtr, KeypointArray.getCPtr(keypointsView1), KeypointArray.getCPtr(keypointsView2), DescriptorBuffer.getCPtr(descriptor1), DescriptorBuffer.getCPtr(descriptor2), DescriptorMatchVector.getCPtr(matches), PairUIntUInt.getCPtr(working_views), Transform3Df.getCPtr(poseView1), Transform3Df.getCPtr(poseView2), CloudPointVector.getCPtr(pcloud));
if (solar_api_solver_mapPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_mapPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode unproject(KeypointArray imageKeypoints, Point3DfArray worldPoints, Transform3Df pose)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_geomPINVOKE.IUnproject_unproject__SWIG_2(swigCPtr, KeypointArray.getCPtr(imageKeypoints), Point3DfArray.getCPtr(worldPoints), Transform3Df.getCPtr(pose));
if (solar_api_geomPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_geomPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode relocalize(Frame frame, Transform3Df pose)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_relocPINVOKE.IRelocalizer_relocalize(swigCPtr, Frame.getCPtr(frame), Transform3Df.getCPtr(pose));
if (solar_api_relocPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_relocPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual SinkReturnCode udpate(Transform3Df pose)
{
SinkReturnCode ret = (SinkReturnCode)solar_api_sinkPINVOKE.ISinkPoseTextureBuffer_udpate(swigCPtr, Transform3Df.getCPtr(pose));
if (solar_api_sinkPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_sinkPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode project(CloudPointVector inputPoints, Point2DfArray imagePoints, Transform3Df pose)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_geomPINVOKE.IProject_project__SWIG_2(swigCPtr, CloudPointVector.getCPtr(inputPoints), Point2DfArray.getCPtr(imagePoints), Transform3Df.getCPtr(pose));
if (solar_api_geomPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_geomPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode estimate(KeypointArray pointsView1, KeypointArray pointsView2, Transform3Df poseView1, Transform3Df poseView2, DescriptorMatchVector inlierMatches)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_solver_posePINVOKE.I3DTransformFinderFrom2D2D_estimate__SWIG_1(swigCPtr, KeypointArray.getCPtr(pointsView1), KeypointArray.getCPtr(pointsView2), Transform3Df.getCPtr(poseView1), Transform3Df.getCPtr(poseView2), DescriptorMatchVector.getCPtr(inlierMatches));
if (solar_api_solver_posePINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_posePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode display(CloudPointVector points, Transform3Df pose)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_displayPINVOKE.I3DPointsViewer_display__SWIG_4(swigCPtr, CloudPointVector.getCPtr(points), Transform3Df.getCPtr(pose));
if (solar_api_displayPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_displayPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public PIPELINEMANAGER_RETURNCODE udpate(Transform3Df pose)
{
PIPELINEMANAGER_RETURNCODE ret = (PIPELINEMANAGER_RETURNCODE)SolARPipelineManagerPINVOKE.SolARPluginPipelineManager_udpate(swigCPtr, Transform3Df.getCPtr(pose));
if (SolARPipelineManagerPINVOKE.SWIGPendingException.Pending)
{
throw SolARPipelineManagerPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode estimate(Point2DfArray imagePoints, Point3DfArray worldPoints, Point2DfArray imagePoints_inlier, Point3DfArray worldPoints_inlier, Transform3Df pose)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_solver_posePINVOKE.I3DTransformSACFinderFrom2D3D_estimate__SWIG_1(swigCPtr, Point2DfArray.getCPtr(imagePoints), Point3DfArray.getCPtr(worldPoints), Point2DfArray.getCPtr(imagePoints_inlier), Point3DfArray.getCPtr(worldPoints_inlier), Transform3Df.getCPtr(pose));
if (solar_api_solver_posePINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_posePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}