CVB++ 15.0
finder.hpp
1#pragma once
2
3#include "../_cexports/c_dnc_find.h"
4#include "../string.hpp"
5#include "../dense_point_cloud.hpp"
6#include "dnc.hpp"
7#include "search_parameters.hpp"
8#include "search_result.hpp"
9#include "teach_parameters.hpp"
10
11namespace Cvb
12{
13
14CVB_BEGIN_INLINE_NS
15
16template <>
17inline HandleGuard<Dnc::Finder>::HandleGuard(void* handle) noexcept
18 : HandleGuard<Dnc::Finder>(handle, [](void* handle) { CVB_CALL_CAPI(ReleaseObject(handle)); })
19{
20}
21
22namespace Dnc
23{
24
26
28class Finder final
29{
30 private:
31
32 struct PrivateTag {};
33
34 public:
35
36 Finder(HandleGuard<Finder>&& guard, PrivateTag) noexcept
37 : handle_(std::move(guard))
38 {
39 }
40
42
47 static std::unique_ptr<Finder> Load(const String& fileName)
48 {
49 return Internal::DoResCallObjectOut<Finder>([&](void*& handle)
50 {
51 return CVB_CALL_CAPI(CVDNCCreateFromFileTyped(fileName.c_str(), handle));
52 });
53 }
54
56
63 static std::unique_ptr<Finder> FromHandle(HandleGuard<Finder>&& guard)
64 {
65 if (!guard.Handle())
66 throw std::runtime_error("handle must not be null");
67
68 return std::make_unique<Finder>(std::move(guard), PrivateTag{});
69 }
70
72
78 void* Handle() const noexcept
79 {
80 return handle_.Handle();
81 }
82
84
98 std::vector<SearchResult> Find(const DensePointCloud& pointCloud, const SearchParameters& parameters)
99 {
100 CVB_CALL_CAPI_CHECKED(CVDNCSetSearchParams(Handle(), *reinterpret_cast<const CExports::CVDNCSearchParams*>(&parameters)));
101
102 CExports::CVDNCRESULTS resultsHandle = nullptr;
103 CVB_CALL_CAPI_CHECKED(CVDNCFind(Handle(), pointCloud.Handle(), resultsHandle));
104 ReleaseObjectGuard guard(resultsHandle);
105
106 auto numResults = CExports::CVDNCGetNumResults(resultsHandle);
107 std::vector<SearchResult> results(numResults);
108
109 for (auto& result : results)
110 {
111 int index = static_cast<int>(std::distance(&results.front(), &result));
112 CVB_CALL_CAPI_CHECKED(CVDNCGetResult(resultsHandle, index, *reinterpret_cast<CExports::CVDNCResult*>(&result)));
113 }
114
115 return results;
116 }
117
119
123 void Save(const String& fileName)
124 {
125 CVB_CALL_CAPI_CHECKED(CVDNCSaveClassifierTyped(Handle(), fileName.c_str()));
126 }
127
129
139 {
140 double resolution = 0.0;
141 double fringe = 0.0;
142 TeachParameters teachParams;
143 Internal::DoResCall([this, &teachParams , &resolution, &fringe]() {
144
145 return CVB_CALL_CAPI(CVDNCGetTeachParams(
146 Handle(),
147 resolution,
148 fringe,
149 *reinterpret_cast<CExports::CVDNCTeachParams*>(&teachParams)));
150 });
151 return std::make_tuple(teachParams, resolution, fringe);
152 }
153
154 private:
155
156 HandleGuard<Finder> handle_;
157};
158
159}
160
161CVB_END_INLINE_NS
162
163}
A dense Cartesian 3D point cloud object.
Definition: decl_dense_point_cloud.hpp:31
Match3D DNC finder used to perform a search on a point cloud.
Definition: finder.hpp:29
std::vector< SearchResult > Find(const DensePointCloud &pointCloud, const SearchParameters &parameters)
Search for objects on the given point cloud.
Definition: finder.hpp:98
void Save(const String &fileName)
Saves the finder to the given file name.
Definition: finder.hpp:123
std::tuple< TeachParameters, double, double > GetTeachParameters()
Gets the TeachParameters with which this Finder was trained.
Definition: finder.hpp:138
static std::unique_ptr< Finder > FromHandle(HandleGuard< Finder > &&guard)
Creates a finder from a classic API handle.
Definition: finder.hpp:63
void * Handle() const noexcept
Classic API node handle.
Definition: finder.hpp:78
static std::unique_ptr< Finder > Load(const String &fileName)
Loads a finder from the given file name.
Definition: finder.hpp:47
Definition of search parameters.
Definition: search_parameters.hpp:23
Parameters for teaching a Match3D DNC finder.
Definition: teach_parameters.hpp:18
void * Handle() const noexcept
Returns C-API style handle to Node Object.
Definition: decl_point_cloud.hpp:768
Root namespace for the Image Manager interface.
Definition: c_barcode.h:24