protected override bool Step(SharedRef <IRasterImageBase> imageIn)
{
if (!Running)
{
return(false);
}
SetupStep(imageIn);
// keypoint detection
Point2i[] keypoints;
int keypointNo = pointDetector.Detect(imageIn.Reference, imageOut.Reference, out keypoints);
// keypoint labeling
int[] labels;
int labelNo = pointLabeler.Label(keypoints, keypointNo, imageOut.Reference, out labels);
// TODO: pose detection
var position = poseEstimator.Estimate(keypoints, labels, labelNo);
// spread results
OnInputProcessed(new ImageProcessedEventArgs(imageOut));
OnPositionDetected(new PositionDetectedEventArgs(position));
return(true);
}
