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); }