public virtual void updateNeighborConnections(Keyframe newKeyframe, int minDis)
{
solar_api_solver_mapPINVOKE.IMapper_updateNeighborConnections(swigCPtr, Keyframe.getCPtr(newKeyframe), minDis);
if (solar_api_solver_mapPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_mapPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual void getLocalMapIndex(Keyframe refKF, UIntVector idxLocalCloudPoints)
{
solar_api_solver_mapPINVOKE.IMapper_getLocalMapIndex(swigCPtr, Keyframe.getCPtr(refKF), UIntVector.getCPtr(idxLocalCloudPoints));
if (solar_api_solver_mapPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_solver_mapPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual FrameworkReturnCode addKeyframe(Keyframe keyframe)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_relocPINVOKE.IKeyframeRetriever_addKeyframe(swigCPtr, Keyframe.getCPtr(keyframe));
if (solar_api_relocPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_relocPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode find(Keyframe referenceKeyframe, 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_0(swigCPtr, Keyframe.getCPtr(referenceKeyframe), 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 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 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);
}