Merge branch 'develop'

JenkinsFile

@@ -4,14 +4,12 @@ node("master") {
         moduleName="SolARPipelineFiducialMarker"
         dirName="SolARBuild"
         buildDir="SolARPipeline_FiducialMarker"
-        android=true      
     }
 
     SolArModulePipeline {
         moduleName="SolARSample_FiducialMarker"
         dirName="SolARBuild"
-        buildDir="SolARSample_FiducialMarker_Mono,SolARPipeline_FiducialMarker/tests/SolARPipelineTest_FiducialMarker"
-        android=false
+        buildDir="SolARPipeline_FiducialMarker/tests/SolARPipelineTest_FiducialMarker"
         packageScripts="bundleSamples"
     }
 }

README.md

@@ -5,20 +5,20 @@
 The SolAR **Fiducial Image Marker sample** shows a SolAR pipeline for augmented reality based on a fiducials markers image. This pipeline loads a reference image marker, then tries to detect it on real-time camera images and to estimate the pose of the camera in relation to the coordinate system of the image marker. If the marker is detected, the pipeline over the current camera image renders a 3D cube from a virtual camera which pose corresponds to the one estimated by the pipeline.
 
 
-| ![](./SolARSample_FiducialMarker_Mono/standalone.jpg) | ![](./SolARPipeline_FiducialMarker/plugin.jpg) |
+| ![](./SolARPipeline_FiducialMarker/tests/SolARPipelineTest_FiducialMarker/standalone.jpg) | ![](./SolARPipeline_FiducialMarker/plugin.jpg) |
 |:-:|:-:|
-| SolARSample_FiducialMarker_Mono | SolARPipeline_FiducialMarker |
+| SolARPipelineTest_FiducialMarker | SolARPipeline_FiducialMarker |
 
 
 ## How to run
 
-* To run it, first print the marker [FiducialMarker.gif](./SolARSample_FiducialMarker_Mono/FiducialMarker.gif)
+* To run it, first print the marker [FiducialMarker.gif](./SolARPipeline_FiducialMarker/tests/SolARPipelineTest_FiducialMarker/FiducialMarker.gif)
 
-* If you want to change your fiducial marker, you can edit the [fiducialMarker.yml](./SolARSample_FiducialMarker_Mono/fiducialMarker.yml)
+* If you want to change your fiducial marker, you can edit the [fiducialMarker.yml](./SolARPipeline_FiducialMarker/tests/SolARPipelineTest_FiducialMarker/fiducialMarker.yml)
 
-* If you want to change the calibration parameters of the camera, edit the [camera_calibration.json](./SolARSample_FiducialMarker_Mono/camera_calibration.json)
+* If you want to change the calibration parameters of the camera, edit the [camera_calibration.json](./SolARPipeline_FiducialMarker/tests/SolARPipelineTest_FiducialMarker/camera_calibration.json)
 
-* To change properties of the components of the fiducial pipeline, edit the [SolARSample_FiducialMarker_Mono_conf.xml](./SolARSample_FiducialMarker_Mono/SolARSample_FiducialMarker_Mono_conf.xml) file.
+* To change properties of the components of the fiducial pipeline, edit the [SolARPipelineTest_FiducialMarker_conf.xml](./SolARPipeline_FiducialMarker/tests/SolARPipelineTest_FiducialMarker/SolARPipelineTest_FiducialMarker_conf.xml) file.
 
 If you want to run your Fiducial samples after having built them, do not forget to install the required dependencies if not already done:
 
@@ -30,21 +30,6 @@ and for debug mode:
 
 For more information about how to install remaken on your machine, visit the [install page](https://solarframework.github.io/install/) on the SolAR website.
 
-### SolARSample_FiducialMarker_Mono
-
-* Open a terminal and execute from the `bin/Debug` or `bin/Release` folder:
-
-> #### Windows
->
-	SolARSample_FiducialMarker_Mono.exe
-
-> #### Linux
->
-	./run.sh ./SolARSample_FiducialMarker_Mono
-
-* Target your fiducial marker with your camera
-* Press `escape` to quit the application
-
 ### SolARPipeline_FiducialMarker
 
 * Open a terminal and execute from the `bin/Debug` or `bin/Release` folder:

SolARPipeline_FiducialMarker/SolARPipeline_FiducialMarker.pro

@@ -8,7 +8,7 @@ QMAKE_PROJECT_DEPTH = 0
 INSTALLSUBDIR = SolARBuild
 TARGET = SolARPipelineFiducialMarker
 FRAMEWORK = $$TARGET
-VERSION=0.11.0
+VERSION=1.0.0
 
 DEFINES += MYVERSION=$${VERSION}
 DEFINES += TEMPLATE_LIBRARY
@@ -51,30 +51,17 @@ unix {
     QMAKE_POST_LINK += "make install"
 }
 
-unix:!android {
+unix {
     QMAKE_CXXFLAGS += -Wignored-qualifiers
 }
 
-macx {
-    DEFINES += _MACOS_TARGET_
-    QMAKE_MAC_SDK= macosx
-    QMAKE_CFLAGS += -mmacosx-version-min=10.7 -std=c11 #-x objective-c++
-    QMAKE_CXXFLAGS += -mmacosx-version-min=10.7 -std=c11 -std=c++11 -O3 -fPIC#-x objective-c++
-    QMAKE_LFLAGS += -mmacosx-version-min=10.7 -v -lstdc++
-    LIBS += -lstdc++ -lc -lpthread
-}
-
 win32 {
 
     DEFINES += WIN64 UNICODE _UNICODE
     QMAKE_COMPILER_DEFINES += _WIN64
     QMAKE_CXXFLAGS += -wd4250 -wd4251 -wd4244 -wd4275
 }
 
-android {
-    ANDROID_ABIS="arm64-v8a"
-}
-
 header_files.path = $${PROJECTDEPLOYDIR}/interfaces
 header_files.files = $$files($${PWD}/interfaces/*.h*)
 

SolARPipeline_FiducialMarker/packagedependencies.txt

@@ -1 +1 @@
-SolARFramework|0.11.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download
+SolARFramework|1.0.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download

SolARPipeline_FiducialMarker/src/PipelineFiducialMarker.cpp

@@ -92,8 +92,6 @@ namespace SolAR {
         m_img2worldMapper->bindTo<xpcf::IConfigurable>()->getProperty("worldWidth")->setFloatingValue(fiducialMarker->getSize().width);
         m_img2worldMapper->bindTo<xpcf::IConfigurable>()->getProperty("worldHeight")->setFloatingValue(fiducialMarker->getSize().height);
 
-        m_PnP->setCameraParameters(m_camera->getIntrinsicsParameters(), m_camera->getDistortionParameters());
-
         for(int i=0;i<4;i++)
             for(int j=0;j<4;j++)
                 m_pose(i,j)=0.f;
@@ -184,7 +182,7 @@ namespace SolAR {
 					m_cornerRefinement->refine(greyImage, img2DPoints);
 
                     // Compute the pose of the camera using a Perspective n Points algorithm using only the 4 corners of the marker
-                    if (m_PnP->estimate(img2DPoints, pattern3DPoints, m_pose) == FrameworkReturnCode::_SUCCESS)
+                    if (m_PnP->estimate(img2DPoints, pattern3DPoints, m_camera->getParameters(), m_pose) == FrameworkReturnCode::_SUCCESS)
                     {
                         poseComputed = true;
                     }

SolARPipeline_FiducialMarker/tests/SolARPipelineTest_FiducialMarker/SolARPipelineTest_FiducialMarker.pro

@@ -2,9 +2,11 @@
 QT       -= core gui
 CONFIG -= qt
 
+QMAKE_PROJECT_DEPTH = 0
+
 ## global defintions : target lib name, version
 TARGET = SolARPipelineTest_FiducialMarker
-VERSION=0.11.0
+VERSION=1.0.0
 PROJECTDEPLOYDIR = $${PWD}/../../../deploy
 
 DEFINES += MYVERSION=$${VERSION}
@@ -43,15 +45,6 @@ unix {
     QMAKE_POST_LINK += "make install install_deps"
 }
 
-macx {
-    DEFINES += _MACOS_TARGET_
-    QMAKE_MAC_SDK= macosx
-    QMAKE_CFLAGS += -mmacosx-version-min=10.7 -std=c11 #-x objective-c++
-    QMAKE_CXXFLAGS += -mmacosx-version-min=10.7 -std=c11 -std=c++11 -O3 -fPIC#-x objective-c++
-    QMAKE_LFLAGS += -mmacosx-version-min=10.7 -v -lstdc++
-    LIBS += -lstdc++ -lc -lpthread
-}
-
 win32 {
 
     DEFINES += WIN64 UNICODE _UNICODE

SolARPipeline_FiducialMarker/tests/SolARPipelineTest_FiducialMarker/SolARPipelineTest_FiducialMarker_conf.xml

@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <xpcf-registry autoAlias="true" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
-        <module uuid="63b4282f-94cf-44d0-8ec0-9e8b0639fff6" name="SolARPipelineFiducialMarker" path="$XPCF_MODULE_ROOT/SolARBuild/SolARPipelineFiducialMarker/0.11.0/lib/x86_64/shared" description="The module embedding a pipeline to estimate the pose based on a squared fiducial marker">
+        <module uuid="63b4282f-94cf-44d0-8ec0-9e8b0639fff6" name="SolARPipelineFiducialMarker" path="$XPCF_MODULE_ROOT/SolARBuild/SolARPipelineFiducialMarker/1.0.0/lib/x86_64/shared" description="The module embedding a pipeline to estimate the pose based on a squared fiducial marker">
 		<component uuid="3898cc3b-3986-4edc-b7c8-f4fba0f6c22a" name="PipelineFiducialMarker" description="A pipeline to estimate the pose based on a squared fiducial marker">
 			<interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect" />
 			<interface uuid="b5a6225e-6a91-4050-b298-886f4c17d9d2" name="IPoseEstimationPipeline" description="The interface to define a video see-throuh pipeline" />
 		</component>
 	</module>
-	<module uuid="15e1990b-86b2-445c-8194-0cbe80ede970" name="SolARModuleOpenCV" path="$XPCF_MODULE_ROOT/SolARBuild/SolARModuleOpenCV/0.11.0/lib/x86_64/shared" description="OpenCV">
+	<module uuid="15e1990b-86b2-445c-8194-0cbe80ede970" name="SolARModuleOpenCV" path="$XPCF_MODULE_ROOT/SolARBuild/SolARModuleOpenCV/1.0.0/lib/x86_64/shared" description="OpenCV">
 		<component uuid="5B7396F4-A804-4F3C-A0EB-FB1D56042BB4" name="SolARCameraOpencv" description="SolARCameraOpencv">
 			<interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect" />
 			<interface uuid="5DDC7DF0-8377-437F-9C81-3643F7676A5B" name="ICamera" description="ICamera" />
@@ -72,7 +72,7 @@
 			<interface uuid="b485f37d-a8ea-49f6-b361-f2b30777d9ba" name="IProject" description="IProject"/>
 		</component>
 	</module>
-	<module uuid="28b89d39-41bd-451d-b19e-d25a3d7c5797" name="SolARModuleTools" path="$XPCF_MODULE_ROOT/SolARBuild/SolARModuleTools/0.11.0/lib/x86_64/shared" description="Module Tools">
+	<module uuid="28b89d39-41bd-451d-b19e-d25a3d7c5797" name="SolARModuleTools" path="$XPCF_MODULE_ROOT/SolARBuild/SolARModuleTools/1.0.0/lib/x86_64/shared" description="Module Tools">
 		<component uuid="a2ef5542-029e-4fce-9974-0aea14b29d6f" name="SolARSBPatternReIndexer" description="SolARSBPatternReIndexer">
 			<interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect" />
 			<interface uuid="79c5b810-d557-11e7-9296-cec278b6b50a" name="ISBPatternReIndexer" description="ISBPatternReIndexer" />

SolARPipeline_FiducialMarker/tests/SolARPipelineTest_FiducialMarker/main.cpp

@@ -47,9 +47,8 @@ int main(){
             auto imageViewerResult = componentMgr->resolve<display::IImageViewer>();
             auto overlay3DComponent = componentMgr->resolve<display::I3DOverlay>();
 
-            // Set camera parameters
+            // get camera parameters
             CameraParameters camParam = pipeline->getCameraParameters();
-            overlay3DComponent->setCameraParameters(camParam.intrinsic, camParam.distortion);
 
             unsigned char* r_imageData=new unsigned char[camParam.resolution.width * camParam.resolution.height * 3];
             SRef<Image> camImage = xpcf::utils::make_shared<Image>(r_imageData, camParam.resolution.width, camParam.resolution.height, Image::LAYOUT_BGR, Image::INTERLEAVED, Image::TYPE_8U);
@@ -77,7 +76,7 @@ int main(){
                         for(int j=0;j<3;j++)
                             s_pose(3,j)=0;
                         s_pose(3,3)=1;
-                        overlay3DComponent->draw(s_pose, camImage);
+                        overlay3DComponent->draw(s_pose, camParam, camImage);
                     }
 
                     if (imageViewerResult->display(camImage) == SolAR::FrameworkReturnCode::_STOP){

SolARPipeline_FiducialMarker/tests/SolARPipelineTest_FiducialMarker/packagedependencies.txt

@@ -1 +1 @@
-SolARFramework|0.11.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download
+SolARFramework|1.0.0|SolARFramework|SolARBuild@github|https://github.com/SolarFramework/SolarFramework/releases/download

SolARPipeline_FiducialMarker/xpcf_PipelineFiducialMarker_registry.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
 <xpcf-registry>
-  <module uuid="63b4282f-94cf-44d0-8ec0-9e8b0639fff6" name="PipelineFiducialMarker" path="$XPCF_MODULE_ROOT/SolARBuild/PipelineFiducialMarker/0.9.3/lib/x86_64/shared" description="The module embedding a pipeline to estimate the pose based on a squared fiducial marker">
+  <module uuid="63b4282f-94cf-44d0-8ec0-9e8b0639fff6" name="SolARPipelineFiducialMarker" path="$XPCF_MODULE_ROOT/SolARBuild/SolARPipelineFiducialMarker/1.0.0/lib/x86_64/shared" description="The module embedding a pipeline to estimate the pose based on a squared fiducial marker">
     <component uuid="3898cc3b-3986-4edc-b7c8-f4fba0f6c22a" name="PipelineFiducialMarker" description="A pipeline to estimate the pose based on a squared fiducial marker">
       <interface uuid="125f2007-1bf9-421d-9367-fbdc1210d006" name="IComponentIntrospect" description="IComponentIntrospect" />
-      <interface uuid="b5a6225e-6a91-4050-b298-886f4c17d9d2" name="IPoseEstimationPipeline" description="The interface to define a video see-throuh pipeline" />
+      <interface uuid="b5a6225e-6a91-4050-b298-886f4c17d9d2" name="IPoseEstimationPipeline" description="The interface to define a video see-through pipeline" />
     </component>
   </module>
 </xpcf-registry>