frame.hxx

//=============================================================================================================================
//
// EasyAR Sense 4.2.0.8700-7bcbc8b1c
// Copyright (c) 2015-2021 VisionStar Information Technology (Shanghai) Co., Ltd. All Rights Reserved.
// EasyAR is the registered trademark or trademark of VisionStar Information Technology (Shanghai) Co., Ltd in China
// and other countries for the augmented reality technology developed by VisionStar Information Technology (Shanghai) Co., Ltd.
//
//=============================================================================================================================

#ifndef __EASYAR_FRAME_HXX__
#define __EASYAR_FRAME_HXX__

#include "easyar/types.hxx"

namespace easyar {

/// <summary>
/// Input frame.
/// It includes image, camera parameters, timestamp, camera transform matrix against world coordinate system, and tracking status,
/// among which, camera parameters, timestamp, camera transform matrix and tracking status are all optional, but specific algorithms may have special requirements on the input.
/// </summary>
class InputFrame
{
protected:
    easyar_InputFrame * cdata_ ;
    void init_cdata(easyar_InputFrame * cdata);
    virtual InputFrame & operator=(const InputFrame & data) { return *this; } //deleted
public:
    InputFrame(easyar_InputFrame * cdata);
    virtual ~InputFrame();

    InputFrame(const InputFrame & data);
    const easyar_InputFrame * get_cdata() const;
    easyar_InputFrame * get_cdata();

    /// <summary>
    /// Index, an automatic incremental value, which is different for every input frame.
    /// </summary>
    int index();
    /// <summary>
    /// Gets image.
    /// </summary>
    void image(/* OUT */ Image * * Return);
    /// <summary>
    /// Checks if there are camera parameters.
    /// </summary>
    bool hasCameraParameters();
    /// <summary>
    /// Gets camera parameters.
    /// </summary>
    void cameraParameters(/* OUT */ CameraParameters * * Return);
    /// <summary>
    /// Checks if there is temporal information (timestamp).
    /// </summary>
    bool hasTemporalInformation();
    /// <summary>
    /// Timestamp. In seconds.
    /// </summary>
    double timestamp();
    /// <summary>
    /// Checks if there is spatial information (cameraTransform and trackingStatus).
    /// </summary>
    bool hasSpatialInformation();
    /// <summary>
    /// Camera transform matrix against world coordinate system. Camera coordinate system and world coordinate system are all right-handed. For the camera coordinate system, the origin is the optical center, x-right, y-up, and z in the direction of light going into camera. (The right and up, on mobile devices, is the right and up when the device is in the natural orientation.) The data arrangement is row-major, not like OpenGL&#39;s column-major.
    /// </summary>
    Matrix44F cameraTransform();
    /// <summary>
    /// Gets device motion tracking status: `MotionTrackingStatus`_ .
    /// </summary>
    MotionTrackingStatus trackingStatus();
    /// <summary>
    /// Creates an instance.
    /// </summary>
    static void create(Image * image, CameraParameters * cameraParameters, double timestamp, Matrix44F cameraTransform, MotionTrackingStatus trackingStatus, /* OUT */ InputFrame * * Return);
    /// <summary>
    /// Creates an instance with image, camera parameters, and timestamp.
    /// </summary>
    static void createWithImageAndCameraParametersAndTemporal(Image * image, CameraParameters * cameraParameters, double timestamp, /* OUT */ InputFrame * * Return);
    /// <summary>
    /// Creates an instance with image and camera parameters.
    /// </summary>
    static void createWithImageAndCameraParameters(Image * image, CameraParameters * cameraParameters, /* OUT */ InputFrame * * Return);
    /// <summary>
    /// Creates an instance with image.
    /// </summary>
    static void createWithImage(Image * image, /* OUT */ InputFrame * * Return);
};

/// <summary>
/// FrameFilterResult is the base class for result classes of all synchronous algorithm components.
/// </summary>
class FrameFilterResult
{
protected:
    easyar_FrameFilterResult * cdata_ ;
    void init_cdata(easyar_FrameFilterResult * cdata);
    virtual FrameFilterResult & operator=(const FrameFilterResult & data) { return *this; } //deleted
public:
    FrameFilterResult(easyar_FrameFilterResult * cdata);
    virtual ~FrameFilterResult();

    FrameFilterResult(const FrameFilterResult & data);
    const easyar_FrameFilterResult * get_cdata() const;
    easyar_FrameFilterResult * get_cdata();

};

/// <summary>
/// Output frame.
/// It includes input frame and results of synchronous components.
/// </summary>
class OutputFrame
{
protected:
    easyar_OutputFrame * cdata_ ;
    void init_cdata(easyar_OutputFrame * cdata);
    virtual OutputFrame & operator=(const OutputFrame & data) { return *this; } //deleted
public:
    OutputFrame(easyar_OutputFrame * cdata);
    virtual ~OutputFrame();

    OutputFrame(const OutputFrame & data);
    const easyar_OutputFrame * get_cdata() const;
    easyar_OutputFrame * get_cdata();

    OutputFrame(InputFrame * inputFrame, ListOfOptionalOfFrameFilterResult * results);
    /// <summary>
    /// Index, an automatic incremental value, which is different for every output frame.
    /// </summary>
    int index();
    /// <summary>
    /// Corresponding input frame.
    /// </summary>
    void inputFrame(/* OUT */ InputFrame * * Return);
    /// <summary>
    /// Results of synchronous components.
    /// </summary>
    void results(/* OUT */ ListOfOptionalOfFrameFilterResult * * Return);
};

/// <summary>
/// Feedback frame.
/// It includes an input frame and a historic output frame for use in feedback synchronous components such as `ImageTracker`_ .
/// </summary>
class FeedbackFrame
{
protected:
    easyar_FeedbackFrame * cdata_ ;
    void init_cdata(easyar_FeedbackFrame * cdata);
    virtual FeedbackFrame & operator=(const FeedbackFrame & data) { return *this; } //deleted
public:
    FeedbackFrame(easyar_FeedbackFrame * cdata);
    virtual ~FeedbackFrame();

    FeedbackFrame(const FeedbackFrame & data);
    const easyar_FeedbackFrame * get_cdata() const;
    easyar_FeedbackFrame * get_cdata();

    FeedbackFrame(InputFrame * inputFrame, OutputFrame * previousOutputFrame);
    /// <summary>
    /// Input frame.
    /// </summary>
    void inputFrame(/* OUT */ InputFrame * * Return);
    /// <summary>
    /// Historic output frame.
    /// </summary>
    void previousOutputFrame(/* OUT */ OutputFrame * * Return);
};

#ifndef __EASYAR_OPTIONALOFFRAMEFILTERRESULT__
#define __EASYAR_OPTIONALOFFRAMEFILTERRESULT__
struct OptionalOfFrameFilterResult
{
    bool has_value;
    FrameFilterResult * value;
};
static inline easyar_OptionalOfFrameFilterResult OptionalOfFrameFilterResult_to_c(FrameFilterResult * o);
#endif

#ifndef __EASYAR_LISTOFOPTIONALOFFRAMEFILTERRESULT__
#define __EASYAR_LISTOFOPTIONALOFFRAMEFILTERRESULT__
class ListOfOptionalOfFrameFilterResult
{
private:
    easyar_ListOfOptionalOfFrameFilterResult * cdata_;
    virtual ListOfOptionalOfFrameFilterResult & operator=(const ListOfOptionalOfFrameFilterResult & data) { return *this; } //deleted
public:
    ListOfOptionalOfFrameFilterResult(easyar_ListOfOptionalOfFrameFilterResult * cdata);
    virtual ~ListOfOptionalOfFrameFilterResult();

    ListOfOptionalOfFrameFilterResult(const ListOfOptionalOfFrameFilterResult & data);
    const easyar_ListOfOptionalOfFrameFilterResult * get_cdata() const;
    easyar_ListOfOptionalOfFrameFilterResult * get_cdata();

    ListOfOptionalOfFrameFilterResult(easyar_OptionalOfFrameFilterResult * begin, easyar_OptionalOfFrameFilterResult * end);
    int size() const;
    FrameFilterResult * at(int index) const;
};
#endif

#ifndef __EASYAR_OPTIONALOFOUTPUTFRAME__
#define __EASYAR_OPTIONALOFOUTPUTFRAME__
struct OptionalOfOutputFrame
{
    bool has_value;
    OutputFrame * value;
};
static inline easyar_OptionalOfOutputFrame OptionalOfOutputFrame_to_c(OutputFrame * o);
#endif

}

#endif

#ifndef __IMPLEMENTATION_EASYAR_FRAME_HXX__
#define __IMPLEMENTATION_EASYAR_FRAME_HXX__

#include "easyar/frame.h"
#include "easyar/image.hxx"
#include "easyar/buffer.hxx"
#include "easyar/cameraparameters.hxx"
#include "easyar/vector.hxx"
#include "easyar/matrix.hxx"

namespace easyar {

inline InputFrame::InputFrame(easyar_InputFrame * cdata)
    :
    cdata_(NULL)
{
    init_cdata(cdata);
}
inline InputFrame::~InputFrame()
{
    if (cdata_) {
        easyar_InputFrame__dtor(cdata_);
        cdata_ = NULL;
    }
}

inline InputFrame::InputFrame(const InputFrame & data)
    :
    cdata_(NULL)
{
    easyar_InputFrame * cdata = NULL;
    easyar_InputFrame__retain(data.cdata_, &cdata);
    init_cdata(cdata);
}
inline const easyar_InputFrame * InputFrame::get_cdata() const
{
    return cdata_;
}
inline easyar_InputFrame * InputFrame::get_cdata()
{
    return cdata_;
}
inline void InputFrame::init_cdata(easyar_InputFrame * cdata)
{
    cdata_ = cdata;
}
inline int InputFrame::index()
{
    if (cdata_ == NULL) {
        return int();
    }
    int _return_value_ = easyar_InputFrame_index(cdata_);
    return _return_value_;
}
inline void InputFrame::image(/* OUT */ Image * * Return)
{
    if (cdata_ == NULL) {
        *Return = NULL;
        return;
    }
    easyar_Image * _return_value_ = NULL;
    easyar_InputFrame_image(cdata_, &_return_value_);
    *Return = new Image(_return_value_);
}
inline bool InputFrame::hasCameraParameters()
{
    if (cdata_ == NULL) {
        return bool();
    }
    bool _return_value_ = easyar_InputFrame_hasCameraParameters(cdata_);
    return _return_value_;
}
inline void InputFrame::cameraParameters(/* OUT */ CameraParameters * * Return)
{
    if (cdata_ == NULL) {
        *Return = NULL;
        return;
    }
    easyar_CameraParameters * _return_value_ = NULL;
    easyar_InputFrame_cameraParameters(cdata_, &_return_value_);
    *Return = new CameraParameters(_return_value_);
}
inline bool InputFrame::hasTemporalInformation()
{
    if (cdata_ == NULL) {
        return bool();
    }
    bool _return_value_ = easyar_InputFrame_hasTemporalInformation(cdata_);
    return _return_value_;
}
inline double InputFrame::timestamp()
{
    if (cdata_ == NULL) {
        return double();
    }
    double _return_value_ = easyar_InputFrame_timestamp(cdata_);
    return _return_value_;
}
inline bool InputFrame::hasSpatialInformation()
{
    if (cdata_ == NULL) {
        return bool();
    }
    bool _return_value_ = easyar_InputFrame_hasSpatialInformation(cdata_);
    return _return_value_;
}
inline Matrix44F InputFrame::cameraTransform()
{
    if (cdata_ == NULL) {
        return Matrix44F();
    }
    easyar_Matrix44F _return_value_ = easyar_InputFrame_cameraTransform(cdata_);
    return Matrix44F(_return_value_.data[0], _return_value_.data[1], _return_value_.data[2], _return_value_.data[3], _return_value_.data[4], _return_value_.data[5], _return_value_.data[6], _return_value_.data[7], _return_value_.data[8], _return_value_.data[9], _return_value_.data[10], _return_value_.data[11], _return_value_.data[12], _return_value_.data[13], _return_value_.data[14], _return_value_.data[15]);
}
inline MotionTrackingStatus InputFrame::trackingStatus()
{
    if (cdata_ == NULL) {
        return MotionTrackingStatus();
    }
    easyar_MotionTrackingStatus _return_value_ = easyar_InputFrame_trackingStatus(cdata_);
    return static_cast<MotionTrackingStatus>(_return_value_);
}
inline void InputFrame::create(Image * arg0, CameraParameters * arg1, double arg2, Matrix44F arg3, MotionTrackingStatus arg4, /* OUT */ InputFrame * * Return)
{
    easyar_InputFrame * _return_value_ = NULL;
    easyar_InputFrame_create(arg0->get_cdata(), arg1->get_cdata(), arg2, arg3.get_cdata(), static_cast<easyar_MotionTrackingStatus>(arg4), &_return_value_);
    *Return = new InputFrame(_return_value_);
}
inline void InputFrame::createWithImageAndCameraParametersAndTemporal(Image * arg0, CameraParameters * arg1, double arg2, /* OUT */ InputFrame * * Return)
{
    easyar_InputFrame * _return_value_ = NULL;
    easyar_InputFrame_createWithImageAndCameraParametersAndTemporal(arg0->get_cdata(), arg1->get_cdata(), arg2, &_return_value_);
    *Return = new InputFrame(_return_value_);
}
inline void InputFrame::createWithImageAndCameraParameters(Image * arg0, CameraParameters * arg1, /* OUT */ InputFrame * * Return)
{
    easyar_InputFrame * _return_value_ = NULL;
    easyar_InputFrame_createWithImageAndCameraParameters(arg0->get_cdata(), arg1->get_cdata(), &_return_value_);
    *Return = new InputFrame(_return_value_);
}
inline void InputFrame::createWithImage(Image * arg0, /* OUT */ InputFrame * * Return)
{
    easyar_InputFrame * _return_value_ = NULL;
    easyar_InputFrame_createWithImage(arg0->get_cdata(), &_return_value_);
    *Return = new InputFrame(_return_value_);
}

inline FrameFilterResult::FrameFilterResult(easyar_FrameFilterResult * cdata)
    :
    cdata_(NULL)
{
    init_cdata(cdata);
}
inline FrameFilterResult::~FrameFilterResult()
{
    if (cdata_) {
        easyar_FrameFilterResult__dtor(cdata_);
        cdata_ = NULL;
    }
}

inline FrameFilterResult::FrameFilterResult(const FrameFilterResult & data)
    :
    cdata_(NULL)
{
    easyar_FrameFilterResult * cdata = NULL;
    easyar_FrameFilterResult__retain(data.cdata_, &cdata);
    init_cdata(cdata);
}
inline const easyar_FrameFilterResult * FrameFilterResult::get_cdata() const
{
    return cdata_;
}
inline easyar_FrameFilterResult * FrameFilterResult::get_cdata()
{
    return cdata_;
}
inline void FrameFilterResult::init_cdata(easyar_FrameFilterResult * cdata)
{
    cdata_ = cdata;
}

inline OutputFrame::OutputFrame(easyar_OutputFrame * cdata)
    :
    cdata_(NULL)
{
    init_cdata(cdata);
}
inline OutputFrame::~OutputFrame()
{
    if (cdata_) {
        easyar_OutputFrame__dtor(cdata_);
        cdata_ = NULL;
    }
}

inline OutputFrame::OutputFrame(const OutputFrame & data)
    :
    cdata_(NULL)
{
    easyar_OutputFrame * cdata = NULL;
    easyar_OutputFrame__retain(data.cdata_, &cdata);
    init_cdata(cdata);
}
inline const easyar_OutputFrame * OutputFrame::get_cdata() const
{
    return cdata_;
}
inline easyar_OutputFrame * OutputFrame::get_cdata()
{
    return cdata_;
}
inline void OutputFrame::init_cdata(easyar_OutputFrame * cdata)
{
    cdata_ = cdata;
}
inline OutputFrame::OutputFrame(InputFrame * arg0, ListOfOptionalOfFrameFilterResult * arg1)
    :
    cdata_(NULL)
{
    easyar_OutputFrame * _return_value_ = NULL;
    easyar_OutputFrame__ctor(arg0->get_cdata(), arg1->get_cdata(), &_return_value_);
    init_cdata(_return_value_);
}
inline int OutputFrame::index()
{
    if (cdata_ == NULL) {
        return int();
    }
    int _return_value_ = easyar_OutputFrame_index(cdata_);
    return _return_value_;
}
inline void OutputFrame::inputFrame(/* OUT */ InputFrame * * Return)
{
    if (cdata_ == NULL) {
        *Return = NULL;
        return;
    }
    easyar_InputFrame * _return_value_ = NULL;
    easyar_OutputFrame_inputFrame(cdata_, &_return_value_);
    *Return = new InputFrame(_return_value_);
}
inline void OutputFrame::results(/* OUT */ ListOfOptionalOfFrameFilterResult * * Return)
{
    if (cdata_ == NULL) {
        *Return = NULL;
        return;
    }
    easyar_ListOfOptionalOfFrameFilterResult * _return_value_ = NULL;
    easyar_OutputFrame_results(cdata_, &_return_value_);
    *Return = new ListOfOptionalOfFrameFilterResult(_return_value_);
}

inline FeedbackFrame::FeedbackFrame(easyar_FeedbackFrame * cdata)
    :
    cdata_(NULL)
{
    init_cdata(cdata);
}
inline FeedbackFrame::~FeedbackFrame()
{
    if (cdata_) {
        easyar_FeedbackFrame__dtor(cdata_);
        cdata_ = NULL;
    }
}

inline FeedbackFrame::FeedbackFrame(const FeedbackFrame & data)
    :
    cdata_(NULL)
{
    easyar_FeedbackFrame * cdata = NULL;
    easyar_FeedbackFrame__retain(data.cdata_, &cdata);
    init_cdata(cdata);
}
inline const easyar_FeedbackFrame * FeedbackFrame::get_cdata() const
{
    return cdata_;
}
inline easyar_FeedbackFrame * FeedbackFrame::get_cdata()
{
    return cdata_;
}
inline void FeedbackFrame::init_cdata(easyar_FeedbackFrame * cdata)
{
    cdata_ = cdata;
}
inline FeedbackFrame::FeedbackFrame(InputFrame * arg0, OutputFrame * arg1)
    :
    cdata_(NULL)
{
    easyar_FeedbackFrame * _return_value_ = NULL;
    easyar_FeedbackFrame__ctor(arg0->get_cdata(), OptionalOfOutputFrame_to_c(arg1), &_return_value_);
    init_cdata(_return_value_);
}
inline void FeedbackFrame::inputFrame(/* OUT */ InputFrame * * Return)
{
    if (cdata_ == NULL) {
        *Return = NULL;
        return;
    }
    easyar_InputFrame * _return_value_ = NULL;
    easyar_FeedbackFrame_inputFrame(cdata_, &_return_value_);
    *Return = new InputFrame(_return_value_);
}
inline void FeedbackFrame::previousOutputFrame(/* OUT */ OutputFrame * * Return)
{
    if (cdata_ == NULL) {
        *Return = NULL;
        return;
    }
    easyar_OptionalOfOutputFrame _return_value_ = {false, NULL};
    easyar_FeedbackFrame_previousOutputFrame(cdata_, &_return_value_);
    *Return = (_return_value_.has_value ? new OutputFrame(_return_value_.value) : NULL);
}

#ifndef __IMPLEMENTATION_EASYAR_LISTOFOPTIONALOFFRAMEFILTERRESULT__
#define __IMPLEMENTATION_EASYAR_LISTOFOPTIONALOFFRAMEFILTERRESULT__
inline ListOfOptionalOfFrameFilterResult::ListOfOptionalOfFrameFilterResult(easyar_ListOfOptionalOfFrameFilterResult * cdata)
    : cdata_(cdata)
{
}
inline ListOfOptionalOfFrameFilterResult::~ListOfOptionalOfFrameFilterResult()
{
    if (cdata_) {
        easyar_ListOfOptionalOfFrameFilterResult__dtor(cdata_);
        cdata_ = NULL;
    }
}

inline ListOfOptionalOfFrameFilterResult::ListOfOptionalOfFrameFilterResult(const ListOfOptionalOfFrameFilterResult & data)
    : cdata_(static_cast<easyar_ListOfOptionalOfFrameFilterResult *>(NULL))
{
    easyar_ListOfOptionalOfFrameFilterResult_copy(data.cdata_, &cdata_);
}
inline const easyar_ListOfOptionalOfFrameFilterResult * ListOfOptionalOfFrameFilterResult::get_cdata() const
{
    return cdata_;
}
inline easyar_ListOfOptionalOfFrameFilterResult * ListOfOptionalOfFrameFilterResult::get_cdata()
{
    return cdata_;
}

inline ListOfOptionalOfFrameFilterResult::ListOfOptionalOfFrameFilterResult(easyar_OptionalOfFrameFilterResult * begin, easyar_OptionalOfFrameFilterResult * end)
    : cdata_(static_cast<easyar_ListOfOptionalOfFrameFilterResult *>(NULL))
{
    easyar_ListOfOptionalOfFrameFilterResult__ctor(begin, end, &cdata_);
}
inline int ListOfOptionalOfFrameFilterResult::size() const
{
    return easyar_ListOfOptionalOfFrameFilterResult_size(cdata_);
}
inline FrameFilterResult * ListOfOptionalOfFrameFilterResult::at(int index) const
{
    easyar_OptionalOfFrameFilterResult _return_value_ = easyar_ListOfOptionalOfFrameFilterResult_at(cdata_, index);
    if (_return_value_.has_value) { easyar_FrameFilterResult__retain(_return_value_.value, &_return_value_.value); }
    return (_return_value_.has_value ? new FrameFilterResult(_return_value_.value) : NULL);
}
#endif

#ifndef __IMPLEMENTATION_EASYAR_OPTIONALOFFRAMEFILTERRESULT__
#define __IMPLEMENTATION_EASYAR_OPTIONALOFFRAMEFILTERRESULT__
static inline easyar_OptionalOfFrameFilterResult OptionalOfFrameFilterResult_to_c(FrameFilterResult * o)
{
    if (o != NULL) {
        easyar_OptionalOfFrameFilterResult _return_value_ = {true, o->get_cdata()};
        return _return_value_;
    } else {
        easyar_OptionalOfFrameFilterResult _return_value_ = {false, NULL};
        return _return_value_;
    }
}
#endif

#ifndef __IMPLEMENTATION_EASYAR_OPTIONALOFOUTPUTFRAME__
#define __IMPLEMENTATION_EASYAR_OPTIONALOFOUTPUTFRAME__
static inline easyar_OptionalOfOutputFrame OptionalOfOutputFrame_to_c(OutputFrame * o)
{
    if (o != NULL) {
        easyar_OptionalOfOutputFrame _return_value_ = {true, o->get_cdata()};
        return _return_value_;
    } else {
        easyar_OptionalOfOutputFrame _return_value_ = {false, NULL};
        return _return_value_;
    }
}
#endif

}

#endif