570 lines
23 KiB
C#
570 lines
23 KiB
C#
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/*===============================================================================
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Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
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This file is part of the Immersal SDK.
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The Immersal SDK cannot be copied, distributed, or made available to
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third-parties for commercial purposes without written permission of Immersal Ltd.
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Contact sales@immersal.com for licensing requests.
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===============================================================================*/
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using UnityEngine;
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using System;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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using Immersal.XR;
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#if UNITY_EDITOR || UNITY_STANDALONE
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using System.Diagnostics;
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#endif
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namespace Immersal
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{
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[StructLayout(LayoutKind.Sequential)]
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public struct CaptureInfo
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{
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public int captureSize;
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public int connected;
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct LocalizeInfo
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{
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public int mapId;
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public Vector3 position;
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public Quaternion rotation;
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public int confidence;
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};
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[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
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public delegate void LogCallback(IntPtr msg);
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public static class Core
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{
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#region On-Device Mapping
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public static int MapAddImage(IntPtr pixels, int width, int height, int channels, ref Vector4 intrinsics, ref Vector3 pos, ref Quaternion rot) => Native.icvMapAddImage(pixels, width, height, channels, ref intrinsics, ref pos, ref rot);
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public static int MapImageGetCount() => Native.icvMapImageGetCount();
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public static int MapPrepare(string path) => Native.icvMapPrepare(path);
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public static int MapGet(byte[] map) => Native.icvMapGet(map);
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public static int MapPointsGetCount() => Native.icvMapPointsGetCount();
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public static int MapPointsGet(Vector3[] points)
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{
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GCHandle pointsHandle = GCHandle.Alloc(points, GCHandleType.Pinned);
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int n = Native.icvMapPointsGet(pointsHandle.AddrOfPinnedObject(), points.Length);
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pointsHandle.Free();
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return n;
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}
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public static int MapResourcesFree() => Native.icvMapResourcesFree();
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#endregion
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/// <summary>
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/// Get a Vector3 point cloud representation of the map data.
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/// </summary>
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/// <param name="mapId">An integer map id</param>
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/// <param name="points">A preallocated Vector3 array for the points</param>
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/// <returns>Returns the number of points if succeeded, 0 otherwise.</returns>
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public static int GetPointCloud(int mapId, Vector3[] points)
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{
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if (MapHandleMapping.TryGetHandle(mapId, out int handle))
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{
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GCHandle vector3ArrayHandle = GCHandle.Alloc(points, GCHandleType.Pinned);
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int n = Native.icvPointsGet(handle, vector3ArrayHandle.AddrOfPinnedObject(), points.Length);
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vector3ArrayHandle.Free();
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return n;
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}
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return -1;
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}
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/// <summary>
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/// Get point count of the map's point cloud.
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/// </summary>
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/// <param name="mapId">An integer map id</param>
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/// <returns>Returns the number of points.</returns>
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public static int GetPointCloudSize(int mapId)
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{
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if (MapHandleMapping.TryGetHandle(mapId, out int handle))
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{
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return Native.icvPointsGetCount(handle);
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}
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return -1;
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}
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/// <summary>
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/// Load map data from a .bytes file.
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/// </summary>
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/// <param name="buffer">Map data as a byte array</param>
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/// <param name="mapId">An integer map id</param>
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/// <returns>An integer map id</returns>
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public static int LoadMap(int mapId, byte[] buffer)
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{
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// if there is already a loaded map with the same id, return the handle pointing to that
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if (MapHandleMapping.TryGetHandle(mapId, out int handle))
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{
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ImmersalLogger.Log($"Trying to load map {mapId}({handle}) into plugin, but it's already mapped.");
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return handle;
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}
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int mapHandle = Native.icvLoadMap(buffer);
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MapHandleMapping.AddMapping(mapId, mapHandle);
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ImmersalLogger.Log($"Loaded map {mapId}({mapHandle}) into plugin");
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return mapHandle;
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}
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/// <summary>
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/// Free the map data from memory.
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/// </summary>
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/// <param name="mapId">An integer map handle</param>
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/// <returns>Returns 1 if succeeded, 0 otherwise.</returns>
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public static int FreeMap(int mapId)
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{
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if (MapHandleMapping.TryGetHandle(mapId, out int mapHandle))
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{
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ImmersalLogger.Log($"Freeing map {mapId}({mapHandle}) from plugin");
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MapHandleMapping.RemoveMappingByMapId(mapId);
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return Native.icvFreeMap(mapHandle);
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}
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return 0;
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}
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/// <summary>
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/// Capture image into the current map.
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/// </summary>
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/// <param name="capture">A preallocated byte array for the captured PNG image</param>
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/// <param name="captureSizeMax">Int size of the array</param>
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/// <param name="pixels">Raw pixel buffer data from the camera</param>
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/// <param name="width">Image width</param>
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/// <param name="height">Image height</param>
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/// <param name="channels">1 or 3, monochromatic or RGB capture</param>
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/// <returns>Int size of the captured PNG bytes</returns>
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public static CaptureInfo CaptureImage(byte[] capture, int captureSizeMax, byte[] pixels, int width,
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int height, int channels, int useMatching = 0)
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{
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GCHandle captureHandle = GCHandle.Alloc(capture, GCHandleType.Pinned);
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GCHandle pixelsHandle = GCHandle.Alloc(pixels, GCHandleType.Pinned);
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CaptureInfo info = Native.icvCaptureImage(captureHandle.AddrOfPinnedObject(), captureSizeMax,
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pixelsHandle.AddrOfPinnedObject(), width, height, channels, useMatching);
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captureHandle.Free();
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pixelsHandle.Free();
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return info;
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}
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/// <summary>
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/// Gets the position and orientation of the image within the map.
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/// </summary>
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/// <param name="pos">Output Vector3 for the position</param>
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/// <param name="rot">Output Quaternion for the orientation</param>
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/// <param name="width">Image width</param>
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/// <param name="height">Image height</param>
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/// <param name="intrinsics">Camera intrinsics</param>
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/// <param name="pixels">Raw pixel buffer data from the camera</param>
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/// <returns>A LocalizeInfo struct with mapId. mapId will be -1 on failure.</returns>
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public static LocalizeInfo LocalizeImage(int n, int[] mapIds, int width,
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int height, ref Vector4 intrinsics, IntPtr pixels, int channels, int solverType, ref Quaternion cameraRotation)
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{
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if (MapHandleMapping.IdsToHandles(mapIds, out int[] handles))
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{
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GCHandle intHandle = GCHandle.Alloc(handles, GCHandleType.Pinned);
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LocalizeInfo result = Native.icvLocalize(n, intHandle.AddrOfPinnedObject(), width, height,
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ref intrinsics, pixels, channels, solverType, ref cameraRotation);
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intHandle.Free();
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// result.mapId is a handle at this point -> convert
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if (MapHandleMapping.TryGetMapId(result.mapId, out int mapId))
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{
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result.mapId = mapId;
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return result;
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}
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}
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return new LocalizeInfo
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{
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mapId = -1
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};
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}
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/// <summary>
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/// Gets the position and orientation of the image within the map.
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/// </summary>
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/// <param name="pos">Output Vector3 for the position</param>
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/// <param name="rot">Output Quaternion for the orientation</param>
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/// <param name="width">Image width</param>
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/// <param name="height">Image height</param>
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/// <param name="intrinsics">Camera intrinsics</param>
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/// <param name="pixels">Raw pixel buffer data from the camera</param>
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/// <returns>A LocalizeInfo struct with mapId. mapId will be -1 on failure.</returns>
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public static LocalizeInfo LocalizeImage(int width, int height,
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ref Vector4 intrinsics, IntPtr pixels)
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{
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int n = 0;
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int[] mapIds = new int[1];
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int channels = 1;
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Quaternion cameraRotation = Quaternion.identity;
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return LocalizeImage(n, mapIds, width, height, ref intrinsics, pixels, channels, 0, ref cameraRotation);
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}
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public static LocalizeInfo LocalizeImage(int width, int height,
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ref Vector4 intrinsics, IntPtr pixels, int channels, int solverType, ref Quaternion cameraRotation)
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{
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int n = 0;
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int[] mapIds = new int[1];
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return LocalizeImage(n, mapIds, width, height, ref intrinsics, pixels, channels, solverType, ref cameraRotation);
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}
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/// <summary>
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/// Gets the position and orientation of the image within the map.
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/// </summary>
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/// <param name="cameraData">ICameraData containing necessary data</param>
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/// <returns>A LocalizeInfo struct with mapId. mapId will be -1 on failure.</returns>
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public static LocalizeInfo LocalizeImage(ICameraData cameraData, IntPtr pixelBuffer, int solverType = 0)
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{
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int channels = cameraData.Channels == 0 ? 1 : cameraData.Channels; // default to 1
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Vector4 intrinsics = cameraData.Intrinsics;
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Quaternion r = cameraData.CameraRotationOnCapture * cameraData.Orientation;
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r.SwitchHandedness();
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return LocalizeImage(cameraData.Width, cameraData.Height, ref intrinsics, pixelBuffer, channels, solverType, ref r);
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}
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public static LocalizeInfo icvLocalizeImageWithPrior(ICameraData cameraData, IntPtr pixelBuffer, ref Vector3 priorPos, int priorNNCount, float priorRadius)
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{
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int channels = cameraData.Channels == 0 ? 1 : cameraData.Channels; // default to 1
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Vector4 intrinsics = cameraData.Intrinsics;
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int n = 0;
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int[] mapIds = new int[1];
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if (MapHandleMapping.IdsToHandles(mapIds, out int[] handles))
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{
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GCHandle intHandle = GCHandle.Alloc(handles, GCHandleType.Pinned);
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LocalizeInfo result = Native.icvLocalizePrior(n, intHandle.AddrOfPinnedObject(), cameraData.Width, cameraData.Height,
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ref intrinsics, pixelBuffer, channels, ref priorPos, priorNNCount, priorRadius);
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intHandle.Free();
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// result.mapId is a handle at this point -> convert
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if (MapHandleMapping.TryGetMapId(result.mapId, out int mapId))
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{
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result.mapId = mapId;
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return result;
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}
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}
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return new LocalizeInfo
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{
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mapId = -1
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};
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="ecef"></param>
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/// <param name="map"></param>
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/// <param name="mapToEcef"></param>
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/// <returns></returns>
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public static int PosMapToEcef(double[] ecef, Vector3 map, double[] mapToEcef)
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{
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GCHandle ecefHandle = GCHandle.Alloc(ecef, GCHandleType.Pinned);
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GCHandle mapToEcefHandle = GCHandle.Alloc(mapToEcef, GCHandleType.Pinned);
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int r = Native.icvPosMapToEcef(ecefHandle.AddrOfPinnedObject(), ref map,
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mapToEcefHandle.AddrOfPinnedObject());
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mapToEcefHandle.Free();
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ecefHandle.Free();
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return r;
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="wgs84"></param>
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/// <param name="ecef"></param>
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/// <returns></returns>
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public static int PosEcefToWgs84(double[] wgs84, double[] ecef)
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{
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GCHandle wgs84Handle = GCHandle.Alloc(wgs84, GCHandleType.Pinned);
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GCHandle ecefHandle = GCHandle.Alloc(ecef, GCHandleType.Pinned);
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int r = Native.icvPosEcefToWgs84(wgs84Handle.AddrOfPinnedObject(), ecefHandle.AddrOfPinnedObject());
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ecefHandle.Free();
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wgs84Handle.Free();
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return r;
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="ecef"></param>
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/// <param name="wgs84"></param>
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/// <returns></returns>
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public static int PosWgs84ToEcef(double[] ecef, double[] wgs84)
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{
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GCHandle ecefHandle = GCHandle.Alloc(ecef, GCHandleType.Pinned);
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GCHandle wgs84Handle = GCHandle.Alloc(wgs84, GCHandleType.Pinned);
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int r = Native.icvPosWgs84ToEcef(ecefHandle.AddrOfPinnedObject(), wgs84Handle.AddrOfPinnedObject());
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wgs84Handle.Free();
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ecefHandle.Free();
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return r;
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="map"></param>
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/// <param name="ecef"></param>
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/// <param name="mapToEcef"></param>
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/// <returns></returns>
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public static int PosEcefToMap(out Vector3 map, double[] ecef, double[] mapToEcef)
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{
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GCHandle ecefHandle = GCHandle.Alloc(ecef, GCHandleType.Pinned);
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GCHandle mapToEcefHandle = GCHandle.Alloc(mapToEcef, GCHandleType.Pinned);
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int r = Native.icvPosEcefToMap(out map, ecefHandle.AddrOfPinnedObject(),
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mapToEcefHandle.AddrOfPinnedObject());
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mapToEcefHandle.Free();
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ecefHandle.Free();
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return r;
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="wgs84"></param>
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/// <param name="map"></param>
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/// <param name="mapToEcef"></param>
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/// <returns></returns>
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public static int PosMapToWgs84(double[] wgs84, Vector3 map, double[] mapToEcef)
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{
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double[] ecef = new double[3];
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int err = PosMapToEcef(ecef, map, mapToEcef);
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if (err != 0)
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return err;
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return PosEcefToWgs84(wgs84, ecef);
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}
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/// <summary>
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///
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/// </summary>
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/// <param name="ecef"></param>
|
||
|
|
/// <param name="map"></param>
|
||
|
|
/// <param name="mapToEcef"></param>
|
||
|
|
/// <returns></returns>
|
||
|
|
public static int RotMapToEcef(out Quaternion ecef, Quaternion map, double[] mapToEcef)
|
||
|
|
{
|
||
|
|
GCHandle mapToEcefHandle = GCHandle.Alloc(mapToEcef, GCHandleType.Pinned);
|
||
|
|
int r = Native.icvRotMapToEcef(out ecef, ref map, mapToEcefHandle.AddrOfPinnedObject());
|
||
|
|
mapToEcefHandle.Free();
|
||
|
|
return r;
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
///
|
||
|
|
/// </summary>
|
||
|
|
/// <param name="map"></param>
|
||
|
|
/// <param name="ecef"></param>
|
||
|
|
/// <param name="mapToEcef"></param>
|
||
|
|
/// <returns></returns>
|
||
|
|
public static int RotEcefToMap(out Quaternion map, Quaternion ecef, double[] mapToEcef)
|
||
|
|
{
|
||
|
|
GCHandle mapToEcefHandle = GCHandle.Alloc(mapToEcef, GCHandleType.Pinned);
|
||
|
|
int r = Native.icvRotEcefToMap(out map, ref ecef, mapToEcefHandle.AddrOfPinnedObject());
|
||
|
|
mapToEcefHandle.Free();
|
||
|
|
return r;
|
||
|
|
}
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Get internal plugin parameters.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name="parameter">Parameter name</param>
|
||
|
|
/// <returns>Returns an integer value if set, -1 otherwise.</returns>
|
||
|
|
public static int GetInteger(string parameter) => Native.icvGetInteger(parameter);
|
||
|
|
|
||
|
|
/// <summary>
|
||
|
|
/// Set internal plugin parameters.
|
||
|
|
///
|
||
|
|
/// Available parameters:
|
||
|
|
/// "LocalizationMaxPixels" - 0 is no limit (the default), 960*720 or higher.
|
||
|
|
/// "NumThreads" - how many CPU cores to use; -1 (system default) or a positive integer.
|
||
|
|
/// "ImageCompressionLevel" - 0 (no compression, fastest) to 9 (slowest). Defaults to 4.
|
||
|
|
/// </summary>
|
||
|
|
/// <param name="parameter">Parameter name</param>
|
||
|
|
/// <param name="value">An integer parameter value</param>
|
||
|
|
/// <returns>Returns 1 if succeeded, -1 otherwise.</returns>
|
||
|
|
public static int SetInteger(string parameter, int value) => Native.icvSetInteger(parameter, value);
|
||
|
|
|
||
|
|
public static int ValidateUser(string token) => Native.icvValidateUser(token);
|
||
|
|
}
|
||
|
|
|
||
|
|
public static class MapHandleMapping
|
||
|
|
{
|
||
|
|
private static Dictionary<int, int> mapIdToHandleMapping = new Dictionary<int, int>();
|
||
|
|
private static Dictionary<int, int> handleToMapIdMapping = new Dictionary<int, int>();
|
||
|
|
|
||
|
|
public static void AddMapping(int mapId, int pluginHandle)
|
||
|
|
{
|
||
|
|
if (mapIdToHandleMapping.ContainsKey(mapId) || handleToMapIdMapping.ContainsKey(pluginHandle))
|
||
|
|
{
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
mapIdToHandleMapping[mapId] = pluginHandle;
|
||
|
|
handleToMapIdMapping[pluginHandle] = mapId;
|
||
|
|
}
|
||
|
|
|
||
|
|
public static bool TryGetHandle(int mapId, out int pluginHandle)
|
||
|
|
{
|
||
|
|
return mapIdToHandleMapping.TryGetValue(mapId, out pluginHandle);
|
||
|
|
}
|
||
|
|
|
||
|
|
public static bool TryGetMapId(int pluginHandle, out int mapId)
|
||
|
|
{
|
||
|
|
mapId = -1;
|
||
|
|
return handleToMapIdMapping.TryGetValue(pluginHandle, out mapId);
|
||
|
|
}
|
||
|
|
|
||
|
|
public static bool RemoveMappingByMapId(int mapId)
|
||
|
|
{
|
||
|
|
if (mapIdToHandleMapping.TryGetValue(mapId, out int pluginHandle))
|
||
|
|
{
|
||
|
|
mapIdToHandleMapping.Remove(mapId);
|
||
|
|
handleToMapIdMapping.Remove(pluginHandle);
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
public static bool RemoveMappingByHandle(int pluginHandle)
|
||
|
|
{
|
||
|
|
if (handleToMapIdMapping.TryGetValue(pluginHandle, out int mapId))
|
||
|
|
{
|
||
|
|
handleToMapIdMapping.Remove(pluginHandle);
|
||
|
|
mapIdToHandleMapping.Remove(mapId);
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
public static bool Clear()
|
||
|
|
{
|
||
|
|
foreach (KeyValuePair<int,int> keyValuePair in mapIdToHandleMapping)
|
||
|
|
{
|
||
|
|
if (RemoveMappingByMapId(keyValuePair.Key) == false)
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
public static bool IdsToHandles(int[] mapIds, out int[] handles)
|
||
|
|
{
|
||
|
|
handles = new int[mapIds.Length];
|
||
|
|
|
||
|
|
// single zero id case
|
||
|
|
if (mapIds.Length == 1 && mapIds[0] == 0)
|
||
|
|
{
|
||
|
|
handles[0] = 0;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
for (int i = 0; i < handles.Length; i++)
|
||
|
|
{
|
||
|
|
// Dictionary lookups are O(1) complexity, no need for caching?
|
||
|
|
if (!TryGetHandle(mapIds[i], out int handle))
|
||
|
|
return false;
|
||
|
|
|
||
|
|
handles[i] = handle;
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
public static class Native
|
||
|
|
{
|
||
|
|
private const string Assembly =
|
||
|
|
#if UNITY_IOS && !UNITY_EDITOR
|
||
|
|
"__Internal";
|
||
|
|
#else
|
||
|
|
"PosePlugin";
|
||
|
|
#endif
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern void PP_RegisterLogCallback(IntPtr callbackDelegate);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvPointsGet(int mapHandle, IntPtr array, int maxCount);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvPointsGetCount(int mapHandle);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvLoadMap(byte[] buffer);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvFreeMap(int mapHandle);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern CaptureInfo icvCaptureImage(IntPtr capture, int captureSizeMax, IntPtr pixels,
|
||
|
|
int width, int height, int channels, int useMatching);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern LocalizeInfo icvLocalize(int n, IntPtr handles, int width,
|
||
|
|
int height, ref Vector4 intrinsics, IntPtr pixels, int channels, int solverType, ref Quaternion cameraRotation);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern LocalizeInfo icvLocalizePrior(int n, IntPtr handles, int width,
|
||
|
|
int height, ref Vector4 intrinsics, IntPtr pixels, int channels, ref Vector3 priorPos, int priorNNCount, float priorRadius);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvPosMapToEcef(IntPtr ecef, ref Vector3 map, IntPtr mapToEcef);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvPosEcefToWgs84(IntPtr wgs84, IntPtr ecef);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvPosWgs84ToEcef(IntPtr ecef, IntPtr wgs84);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvPosEcefToMap(out Vector3 map, IntPtr ecef, IntPtr mapToEcef);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvRotMapToEcef(out Quaternion ecef, ref Quaternion map, IntPtr mapToEcef);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvRotEcefToMap(out Quaternion map, ref Quaternion ecef, IntPtr mapToEcef);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvSetInteger([MarshalAs(UnmanagedType.LPStr)] string parameter, int value);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvGetInteger([MarshalAs(UnmanagedType.LPStr)] string parameter);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvValidateUser([MarshalAs(UnmanagedType.LPStr)] string token);
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
|
||
|
|
public static extern int icvMapAddImage(IntPtr pixels, int width, int height, int channels, ref Vector4 intrinsics, ref Vector3 pos, ref Quaternion rot);
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvMapImageGetCount();
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvMapPrepare([MarshalAs(UnmanagedType.LPStr)] string path);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvMapGet(byte[] map);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvMapPointsGetCount();
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvMapPointsGet(IntPtr points, int countMax);
|
||
|
|
|
||
|
|
[DllImport(Assembly, CallingConvention = CallingConvention.Cdecl)]
|
||
|
|
public static extern int icvMapResourcesFree();
|
||
|
|
}
|
||
|
|
}
|