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);
}
protected void Start()
{
image = SharedPtr.Alloc <Image>().AddTo(subscriptions);
}
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);
}
