public virtual void extract(Image image, KeypointArray keypoints, DescriptorBuffer descriptors)
{
solar_api_featuresPINVOKE.IDescriptorsExtractor_extract(swigCPtr, Image.getCPtr(image), KeypointArray.getCPtr(keypoints), DescriptorBuffer.getCPtr(descriptors));
if (solar_api_featuresPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_featuresPINVOKE.SWIGPendingException.Retrieve();
}
}
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 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 extract(SquaredBinaryPattern pattern, DescriptorBuffer descriptor)
{
FrameworkReturnCode ret = (FrameworkReturnCode)solar_api_featuresPINVOKE.IDescriptorsExtractorSBPattern_extract__SWIG_1(swigCPtr, SquaredBinaryPattern.getCPtr(pattern), DescriptorBuffer.getCPtr(descriptor));
if (solar_api_featuresPINVOKE.SWIGPendingException.Pending)
{
throw solar_api_featuresPINVOKE.SWIGPendingException.Retrieve();
}
return(ret);
}
public static DescriptorBufferIterator end(DescriptorBuffer ref_)
{
DescriptorBufferIterator ret = new DescriptorBufferIterator(solar_datastructurePINVOKE.end(DescriptorBuffer.getCPtr(ref_)), true);
if (solar_datastructurePINVOKE.SWIGPendingException.Pending)
{
throw solar_datastructurePINVOKE.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 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 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);
}
