public virtual void getLocalMap(Keyframe refKF, CloudPointVector localCloudPoints)
{
solar_api_solver_mapPINVOKE.IMapper_getLocalMap(swigCPtr, Keyframe.getCPtr(refKF), CloudPointVector.getCPtr(localCloudPoints));
if (solar_api_solver_mapPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_mapPINVOKE.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 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 virtual FrameworkReturnCode update(Transform3DfList correctedPoses, CloudPointVector correctedMap)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_solver_mapPINVOKE.IMapper_update__SWIG_2(swigCPtr, Transform3DfList.getCPtr(correctedPoses), CloudPointVector.getCPtr(correctedMap));
if (solar_api_solver_mapPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_mapPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode update(Map map, Keyframe newKeyframe, CloudPointVector newCloud, SWIGTYPE_p_std__vectorT_std__tupleT_unsigned_int_int_unsigned_int_t_t newPointMatches)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_solver_mapPINVOKE.IMapper_update__SWIG_1(swigCPtr, Map.getCPtr(map), Keyframe.getCPtr(newKeyframe), CloudPointVector.getCPtr(newCloud), SWIGTYPE_p_std__vectorT_std__tupleT_unsigned_int_int_unsigned_int_t_t.getCPtr(newPointMatches));
if (solar_api_solver_mapPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_mapPINVOKE.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 project(CloudPointVector inputPoints, Point2DfArray imagePoints)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_geomPINVOKE.IProject_project__SWIG_3(swigCPtr, CloudPointVector.getCPtr(inputPoints), Point2DfArray.getCPtr(imagePoints));
if (solar_api_geomPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_geomPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual double solve(KeyframeList framesToAdjust, CloudPointVector mapToAdjust, Matrix3x3f K, Vector5f D, IntVector selectKeyframes, Transform3DfList poseAdjusted, CloudPointVector mapAdjusted, Matrix3x3f KAdjusted, Vector5f DAdjusted)
{
double ret = solar_api_solver_mapPINVOKE.IBundler_solve(swigCPtr, KeyframeList.getCPtr(framesToAdjust), CloudPointVector.getCPtr(mapToAdjust), Matrix3x3f.getCPtr(K), Vector5f.getCPtr(D), IntVector.getCPtr(selectKeyframes), Transform3DfList.getCPtr(poseAdjusted), CloudPointVector.getCPtr(mapAdjusted), Matrix3x3f.getCPtr(KAdjusted), Vector5f.getCPtr(DAdjusted));
if (solar_api_solver_mapPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_mapPINVOKE.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 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);
}