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 void filter(DescriptorMatchVector inputMatches, DescriptorMatchVector outputMatches, KeypointArray keyPoints_1, KeypointArray keyPoints_2)
{
solar_api_featuresPINVOKE.IMatchesFilter_filter__SWIG_0(swigCPtr, DescriptorMatchVector.getCPtr(inputMatches), DescriptorMatchVector.getCPtr(outputMatches), KeypointArray.getCPtr(keyPoints_1), KeypointArray.getCPtr(keyPoints_2));
if (solar_api_featuresPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_featuresPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual FrameworkReturnCode match(Frame frame, int index, DescriptorMatchVector matches)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_relocPINVOKE.IKeyframeRetriever_match__SWIG_0(swigCPtr, Frame.getCPtr(frame), index, DescriptorMatchVector.getCPtr(matches));
if (solar_api_relocPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_relocPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual bool select(Frame frame, DescriptorMatchVector matches)
{
bool ret = solar_api_solver_mapPINVOKE.IKeyframeSelector_select__SWIG_0(swigCPtr, Frame.getCPtr(frame), DescriptorMatchVector.getCPtr(matches));
if (solar_api_solver_mapPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_mapPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode find(Frame lastFrame, Frame currentFrame, DescriptorMatchVector current_matches, Map worldMap, Point3DfArray shared_3dpoint, Point2DfArray shared_2dpoint, DescriptorMatchVector found_matches, DescriptorMatchVector remaining_matches)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_solver_posePINVOKE.I2D3DCorrespondencesFinder_find__SWIG_1(swigCPtr, Frame.getCPtr(lastFrame), Frame.getCPtr(currentFrame), DescriptorMatchVector.getCPtr(current_matches), Map.getCPtr(worldMap), Point3DfArray.getCPtr(shared_3dpoint), Point2DfArray.getCPtr(shared_2dpoint), DescriptorMatchVector.getCPtr(found_matches), DescriptorMatchVector.getCPtr(remaining_matches));
if (solar_api_solver_posePINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_posePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual double triangulate(Keyframe curKeyframe, DescriptorMatchVector matches, CloudPointVector pcloud)
{
double ret = solar_api_solver_mapPINVOKE.ITriangulator_triangulate__SWIG_3(swigCPtr, Keyframe.getCPtr(curKeyframe), DescriptorMatchVector.getCPtr(matches), CloudPointVector.getCPtr(pcloud));
if (solar_api_solver_mapPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_mapPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual IDescriptorMatcher.RetCode match(DescriptorBuffer descriptors1, DescriptorBufferList descriptors2, DescriptorMatchVector matches)
{
IDescriptorMatcher.RetCode ret = (IDescriptorMatcher.RetCode)solar_api_featuresPINVOKE.IDescriptorMatcher_match__SWIG_1(swigCPtr, DescriptorBuffer.getCPtr(descriptors1), DescriptorBufferList.getCPtr(descriptors2), DescriptorMatchVector.getCPtr(matches));
if (solar_api_featuresPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_featuresPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode reindex(KeypointArray keypoints1, KeypointArray keypoints2, DescriptorMatchVector matches, Point2DfArray matchedKeypoints1, Point2DfArray matchedKeypoints2)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_featuresPINVOKE.IKeypointsReIndexer_reindex(swigCPtr, KeypointArray.getCPtr(keypoints1), KeypointArray.getCPtr(keypoints2), DescriptorMatchVector.getCPtr(matches), Point2DfArray.getCPtr(matchedKeypoints1), Point2DfArray.getCPtr(matchedKeypoints2));
if (solar_api_featuresPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_featuresPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode match(IntVector indexDescriptors, DescriptorBuffer descriptors, int indexKeyframe, DescriptorMatchVector matches)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_relocPINVOKE.IKeyframeRetriever_match__SWIG_1(swigCPtr, IntVector.getCPtr(indexDescriptors), DescriptorBuffer.getCPtr(descriptors), indexKeyframe, DescriptorMatchVector.getCPtr(matches));
if (solar_api_relocPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_relocPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode reindex(Contour2DfArray candidateContours, DescriptorMatchVector matches, Point2DfArray patternPoints, Point2DfArray imagePoints)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_featuresPINVOKE.ISBPatternReIndexer_reindex(swigCPtr, Contour2DfArray.getCPtr(candidateContours), DescriptorMatchVector.getCPtr(matches), Point2DfArray.getCPtr(patternPoints), Point2DfArray.getCPtr(imagePoints));
if (solar_api_featuresPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_featuresPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode update(Map map, Keyframe newKeyframe, CloudPointVector newCloud, DescriptorMatchVector newPointsMatches, DescriptorMatchVector existingPointsMatches)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_solver_mapPINVOKE.IMapper_update__SWIG_0(swigCPtr, Map.getCPtr(map), Keyframe.getCPtr(newKeyframe), CloudPointVector.getCPtr(newCloud), DescriptorMatchVector.getCPtr(newPointsMatches), DescriptorMatchVector.getCPtr(existingPointsMatches));
if (solar_api_solver_mapPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_mapPINVOKE.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 NaturalPipeline(IComponentManager xpcfComponentManager) : base(xpcfComponentManager)
{
imageViewerKeypoints = Create <IImageViewer>("SolARImageViewerOpencv", "keypoints");
imageViewerResult = Create <IImageViewer>("SolARImageViewerOpencv");
marker = Create <IMarker2DNaturalImage>("SolARMarker2DNaturalImageOpencv");
kpDetector = Create <IKeypointDetector>("SolARKeypointDetectorOpencv");
kpDetectorRegion = Create <IKeypointDetectorRegion>("SolARKeypointDetectorRegionOpencv");
descriptorExtractor = Create <IDescriptorsExtractor>("SolARDescriptorsExtractorAKAZE2Opencv");
matcher = Create <IDescriptorMatcher>("SolARDescriptorMatcherKNNOpencv");
geomMatchesFilter = Create <IMatchesFilter>("SolARGeometricMatchesFilterOpencv");
poseEstimationPlanar = Create <I3DTransformSACFinderFrom2D3D>("SolARPoseEstimationPlanarPointsOpencv");
opticalFlow = Create <IOpticalFlowEstimator>("SolAROpticalFlowPyrLKOpencv");
projection = Create <IProject>("SolARProjectOpencv");
unprojection = Create <IUnproject>("SolARUnprojectPlanarPointsOpencv");
img_mapper = Create <IImage2WorldMapper>("SolARImage2WorldMapper4Marker2D");
basicMatchesFilter = Create <IMatchesFilter>("SolARBasicMatchesFilter");
keypointsReindexer = Create <IKeypointsReIndexer>("SolARKeypointsReIndexer");
overlay3DComponent = Create <I3DOverlay>("SolAR3DOverlayOpencv");
/* in dynamic mode, we need to check that components are well created*/
/* this is needed in dynamic mode */
if (new object[] { imageViewerKeypoints, imageViewerResult, marker, kpDetector, kpDetectorRegion, descriptorExtractor, matcher,
geomMatchesFilter, poseEstimationPlanar, opticalFlow, projection, unprojection, img_mapper,
basicMatchesFilter, keypointsReindexer, overlay3DComponent }.Contains(null))
{
LOG_ERROR("One or more component creations have failed");
return;
}
LOG_INFO("All components have been created");
// Declare data structures used to exchange information between components
refImage = SharedPtr.Alloc <Image>().AddTo(subscriptions);
previousCamImage = SharedPtr.Alloc <Image>().AddTo(subscriptions);
//kpImageCam = SharedPtr.Alloc<Image>().AddTo(subscriptions);
refDescriptors = SharedPtr.Alloc <DescriptorBuffer>().AddTo(subscriptions);
camDescriptors = SharedPtr.Alloc <DescriptorBuffer>().AddTo(subscriptions);
matches = new DescriptorMatchVector().AddTo(subscriptions);
// where to store detected keypoints in ref image and camera image
refKeypoints = new KeypointArray().AddTo(subscriptions);
camKeypoints = new KeypointArray().AddTo(subscriptions);
markerWorldCorners = new Point3DfArray().AddTo(subscriptions);
// load marker
marker.loadMarker().Check();
marker.getWorldCorners(markerWorldCorners).Check();
marker.getImage(refImage).Check();
// detect keypoints in reference image
kpDetector.detect(refImage, refKeypoints);
// extract descriptors in reference image
descriptorExtractor.extract(refImage, refKeypoints, refDescriptors);
// initialize image mapper with the reference image size and marker size
var img_mapper_config = img_mapper.BindTo <IConfigurable>().AddTo(subscriptions);
var refSize = refImage.getSize();
var mkSize = marker.getSize();
img_mapper_config.getProperty("digitalWidth").setIntegerValue((int)refSize.width);
img_mapper_config.getProperty("digitalHeight").setIntegerValue((int)refSize.height);
img_mapper_config.getProperty("worldWidth").setFloatingValue(mkSize.width);
img_mapper_config.getProperty("worldHeight").setFloatingValue(mkSize.height);
// vector of 4 corners in the marker
refImgCorners = new Point2DfArray();
float w = refImage.getWidth(), h = refImage.getHeight();
Point2Df corner0 = new Point2Df(0, 0);
Point2Df corner1 = new Point2Df(w, 0);
Point2Df corner2 = new Point2Df(w, h);
Point2Df corner3 = new Point2Df(0, h);
refImgCorners.Add(corner0);
refImgCorners.Add(corner1);
refImgCorners.Add(corner2);
refImgCorners.Add(corner3);
}
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 IDescriptorMatcher.RetCode matchInRegion(Point2DfArray points2D, DescriptorBufferList descriptors, Frame frame, DescriptorMatchVector matches, float radius)
{
IDescriptorMatcher.RetCode ret = (IDescriptorMatcher.RetCode)solar_api_featuresPINVOKE.IDescriptorMatcher_matchInRegion(swigCPtr, Point2DfArray.getCPtr(points2D), DescriptorBufferList.getCPtr(descriptors), Frame.getCPtr(frame), DescriptorMatchVector.getCPtr(matches), radius);
if (solar_api_featuresPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_featuresPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual void draw(Image image, Image outImage, Point2DfArray points_image1, Point2DfArray points_image2, DescriptorMatchVector matches)
{
solar_api_displayPINVOKE.IMatchesOverlay_draw__SWIG_4(swigCPtr, Image.getCPtr(image), Image.getCPtr(outImage), Point2DfArray.getCPtr(points_image1), Point2DfArray.getCPtr(points_image2), DescriptorMatchVector.getCPtr(matches));
if (solar_api_displayPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_displayPINVOKE.SWIGPendingException.Retrieve();
}
}
public FiducialPipeline(IComponentManager xpcfComponentManager) : base(xpcfComponentManager)
{
binaryMarker = Create <IMarker2DSquaredBinary>("SolARMarker2DSquaredBinaryOpencv");
#if !NDEBUG
imageViewer = Create <IImageViewer>("SolARImageViewerOpencv");
imageViewerGrey = Create <IImageViewer>("SolARImageViewerOpencv", "grey");
imageViewerBinary = Create <IImageViewer>("SolARImageViewerOpencv", "binary");
imageViewerContours = Create <IImageViewer>("SolARImageViewerOpencv", "contours");
imageViewerFilteredContours = Create <IImageViewer>("SolARImageViewerOpencv", "filteredContours");
#endif
overlay3DComponent = Create <I3DOverlay>("SolAR3DOverlayOpencv");
imageFilterBinary = Create <IImageFilter>("SolARImageFilterBinaryOpencv");
imageConvertor = Create <IImageConvertor>("SolARImageConvertorOpencv");
contoursExtractor = Create <IContoursExtractor>("SolARContoursExtractorOpencv");
contoursFilter = Create <IContoursFilter>("SolARContoursFilterBinaryMarkerOpencv");
perspectiveController = Create <IPerspectiveController>("SolARPerspectiveControllerOpencv");
patternDescriptorExtractor = Create <IDescriptorsExtractorSBPattern>("SolARDescriptorsExtractorSBPatternOpencv");
patternMatcher = Create <IDescriptorMatcher>("SolARDescriptorMatcherRadiusOpencv");
patternReIndexer = Create <ISBPatternReIndexer>("SolARSBPatternReIndexer");
img2worldMapper = Create <IImage2WorldMapper>("SolARImage2WorldMapper4Marker2D");
PnP = Create <I3DTransformFinderFrom2D3D>("SolARPoseEstimationPnpOpencv");
#if !NDEBUG
overlay2DContours = Create <I2DOverlay>("SolAR2DOverlayOpencv", "contours");
overlay2DCircles = Create <I2DOverlay>("SolAR2DOverlayOpencv", "circles");
#endif
greyImage = SharedPtr.Alloc <Image>().AddTo(subscriptions);
binaryImage = SharedPtr.Alloc <Image>().AddTo(subscriptions);
contours = new Contour2DfArray().AddTo(subscriptions);
filtered_contours = new Contour2DfArray().AddTo(subscriptions);
patches = new ImageList().AddTo(subscriptions);
recognizedContours = new Contour2DfArray().AddTo(subscriptions);
recognizedPatternsDescriptors = new DescriptorBuffer().AddTo(subscriptions);
markerPatternDescriptor = new DescriptorBuffer().AddTo(subscriptions);
patternMatches = new DescriptorMatchVector().AddTo(subscriptions);
pattern2DPoints = new Point2DfArray().AddTo(subscriptions);
img2DPoints = new Point2DfArray().AddTo(subscriptions);
pattern3DPoints = new Point3DfArray().AddTo(subscriptions);
//CamCalibration K;
// components initialisation
binaryMarker.loadMarker().Check();
patternDescriptorExtractor.extract(binaryMarker.getPattern(), markerPatternDescriptor).Check();
var binaryMarkerSize = binaryMarker.getSize();
var patternSize = binaryMarker.getPattern().getSize();
patternDescriptorExtractor.BindTo <IConfigurable>().getProperty("patternSize").setIntegerValue(patternSize);
patternReIndexer.BindTo <IConfigurable>().getProperty("sbPatternSize").setIntegerValue(patternSize);
// NOT WORKING ! initialize image mapper with the reference image size and marker size
var img2worldMapperConf = img2worldMapper.BindTo <IConfigurable>();
img2worldMapperConf.getProperty("digitalWidth").setIntegerValue(patternSize);
img2worldMapperConf.getProperty("digitalHeight").setIntegerValue(patternSize);
img2worldMapperConf.getProperty("worldWidth").setFloatingValue(binaryMarkerSize.width);
img2worldMapperConf.getProperty("worldHeight").setFloatingValue(binaryMarkerSize.height);
}
