public virtual void drawContours(Contour2DfArray contours, Image displayImage)
{
solar_api_displayPINVOKE.I2DOverlay_drawContours(swigCPtr, Contour2DfArray.getCPtr(contours), Image.getCPtr(displayImage));
if (solar_api_displayPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_displayPINVOKE.SWIGPendingException.Retrieve();
}
}
public virtual FrameworkReturnCode correct(Image inputImg, Contour2DfArray contours, ImageList patches)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_imagePINVOKE.IPerspectiveController_correct__SWIG_0(swigCPtr, Image.getCPtr(inputImg), Contour2DfArray.getCPtr(contours), ImageList.getCPtr(patches));
if (solar_api_imagePINVOKE.SWIGPendingException.Pending)
{
throw solar_api_imagePINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode filter(Contour2DfArray inContours, Contour2DfArray outContours)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_featuresPINVOKE.IContoursFilter_filter(swigCPtr, Contour2DfArray.getCPtr(inContours), Contour2DfArray.getCPtr(outContours));
if (solar_api_featuresPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_featuresPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public virtual FrameworkReturnCode extract(ImageList images, Contour2DfArray inContours, DescriptorBuffer descriptors, Contour2DfArray outContours)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_featuresPINVOKE.IDescriptorsExtractorSBPattern_extract__SWIG_0(swigCPtr, ImageList.getCPtr(images), Contour2DfArray.getCPtr(inContours), DescriptorBuffer.getCPtr(descriptors), Contour2DfArray.getCPtr(outContours));
if (solar_api_featuresPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_featuresPINVOKE.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 extract(Image inputImg, Contour2DfArray contours)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_featuresPINVOKE.IContoursExtractor_extract(swigCPtr, Image.getCPtr(inputImg), Contour2DfArray.getCPtr(contours));
if (solar_api_featuresPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_featuresPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
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);
}
