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326 files changed

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‎.gitignore

+7
Original file line numberDiff line numberDiff line change
@@ -10,3 +10,10 @@ xpcfGrpcRemotingSolARFramework*.xml
1010

1111
build/*
1212
.build-rules/*
13+
14+
*.o
15+
16+
*.so
17+
*.so.*
18+
*.stash
19+
Makefile

‎I2Dto3DTransformDecomposer_grpcProxy.cpp

+3-27
Original file line numberDiff line numberDiff line change
@@ -19,7 +19,7 @@ I2Dto3DTransformDecomposer_grpcProxy::I2Dto3DTransformDecomposer_grpcProxy():xpc
1919
declareInterface<SolAR::api::solver::pose::I2Dto3DTransformDecomposer>(this);
2020
declareProperty("channelUrl",m_channelUrl);
2121
declareProperty("channelCredentials",m_channelCredentials);
22-
m_grpcProxyCompressionConfig.resize(3);
22+
m_grpcProxyCompressionConfig.resize(2);
2323
declarePropertySequence("grpc_compress_proxy", m_grpcProxyCompressionConfig);
2424
}
2525

@@ -42,32 +42,7 @@ XPCFErrorCode I2Dto3DTransformDecomposer_grpcProxy::onConfigured()
4242
}
4343

4444

45-
void I2Dto3DTransformDecomposer_grpcProxy::setCameraParameters(SolAR::datastructure::CamCalibration const& intrinsicParams, SolAR::datastructure::CamDistortion const& distorsionParams)
46-
{
47-
::grpc::ClientContext context;
48-
::grpcI2Dto3DTransformDecomposer::setCameraParametersRequest reqIn;
49-
::google::protobuf::Empty respOut;
50-
reqIn.set_intrinsicparams(xpcf::serialize<SolAR::datastructure::CamCalibration>(intrinsicParams));
51-
reqIn.set_distorsionparams(xpcf::serialize<SolAR::datastructure::CamDistortion>(distorsionParams));
52-
#ifdef ENABLE_PROXY_TIMERS
53-
boost::posix_time::ptime start = boost::posix_time::microsec_clock::universal_time();
54-
std::cout << "====> I2Dto3DTransformDecomposer_grpcProxy::setCameraParameters request sent at " << to_simple_string(start) << std::endl;
55-
#endif
56-
::grpc::Status grpcRemoteStatus = m_grpcStub->setCameraParameters(&context, reqIn, &respOut);
57-
#ifdef ENABLE_PROXY_TIMERS
58-
boost::posix_time::ptime end = boost::posix_time::microsec_clock::universal_time();
59-
std::cout << "====> I2Dto3DTransformDecomposer_grpcProxy::setCameraParameters response received at " << to_simple_string(end) << std::endl;
60-
std::cout << " => elapsed time = " << ((end - start).total_microseconds() / 1000.00) << " ms" << std::endl;
61-
#endif
62-
if (!grpcRemoteStatus.ok()) {
63-
std::cout << "setCameraParameters rpc failed." << std::endl;
64-
throw xpcf::RemotingException("grpcI2Dto3DTransformDecomposerService","setCameraParameters",static_cast<uint32_t>(grpcRemoteStatus.error_code()));
65-
}
66-
67-
}
68-
69-
70-
bool I2Dto3DTransformDecomposer_grpcProxy::decompose(SolAR::datastructure::Transform2Df const& F, std::vector<SolAR::datastructure::Transform3Df>& decomposedPoses)
45+
bool I2Dto3DTransformDecomposer_grpcProxy::decompose(SolAR::datastructure::Transform2Df const& F, SolAR::datastructure::CameraParameters const& camParams, std::vector<SolAR::datastructure::Transform3Df>& decomposedPoses)
7146
{
7247
::grpc::ClientContext context;
7348
::grpcI2Dto3DTransformDecomposer::decomposeRequest reqIn;
@@ -78,6 +53,7 @@ bool I2Dto3DTransformDecomposer_grpcProxy::decompose(SolAR::datastructure::Tran
7853
reqIn.set_grpcservercompressionformat (static_cast<int32_t>(serverCompressionType));
7954
#endif
8055
reqIn.set_f(xpcf::serialize<SolAR::datastructure::Transform2Df>(F));
56+
reqIn.set_camparams(xpcf::serialize<SolAR::datastructure::CameraParameters>(camParams));
8157
reqIn.set_decomposedposes(xpcf::serialize<std::vector<SolAR::datastructure::Transform3Df>>(decomposedPoses));
8258
#ifdef ENABLE_PROXY_TIMERS
8359
boost::posix_time::ptime start = boost::posix_time::microsec_clock::universal_time();

‎I2Dto3DTransformDecomposer_grpcProxy.h

+1-2
Original file line numberDiff line numberDiff line change
@@ -22,8 +22,7 @@ class I2Dto3DTransformDecomposer_grpcProxy: public org::bcom::xpcf::Configurabl
2222
void unloadComponent () override final;
2323
org::bcom::xpcf::XPCFErrorCode onConfigured() override;
2424

25-
void setCameraParameters(SolAR::datastructure::CamCalibration const& intrinsicParams, SolAR::datastructure::CamDistortion const& distorsionParams) override;
26-
bool decompose(SolAR::datastructure::Transform2Df const& F, std::vector<SolAR::datastructure::Transform3Df>& decomposedPoses) override;
25+
bool decompose(SolAR::datastructure::Transform2Df const& F, SolAR::datastructure::CameraParameters const& camParams, std::vector<SolAR::datastructure::Transform3Df>& decomposedPoses) override;
2726

2827

2928
private:

‎I2Dto3DTransformDecomposer_grpcServer.cpp

+3-20
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@ I2Dto3DTransformDecomposer_grpcServer::I2Dto3DTransformDecomposer_grpcServer():x
1414
{
1515
declareInterface<xpcf::IGrpcService>(this);
1616
declareInjectable<SolAR::api::solver::pose::I2Dto3DTransformDecomposer>(m_grpcService.m_xpcfComponent);
17-
m_grpcServerCompressionConfig.resize(3);
17+
m_grpcServerCompressionConfig.resize(2);
1818
declarePropertySequence("grpc_compress_server", m_grpcServerCompressionConfig);
1919
}
2020

@@ -40,24 +40,6 @@ ::grpc::Service * I2Dto3DTransformDecomposer_grpcServer::getService()
4040
return &m_grpcService;
4141
}
4242

43-
::grpc::Status I2Dto3DTransformDecomposer_grpcServer::grpcI2Dto3DTransformDecomposerServiceImpl::setCameraParameters(::grpc::ServerContext* context, const ::grpcI2Dto3DTransformDecomposer::setCameraParametersRequest* request, ::google::protobuf::Empty* response)
44-
{
45-
#ifdef ENABLE_SERVER_TIMERS
46-
boost::posix_time::ptime start = boost::posix_time::microsec_clock::universal_time();
47-
std::cout << "====> I2Dto3DTransformDecomposer_grpcServer::setCameraParameters request received at " << to_simple_string(start) << std::endl;
48-
#endif
49-
SolAR::datastructure::CamCalibration intrinsicParams = xpcf::deserialize<SolAR::datastructure::CamCalibration>(request->intrinsicparams());
50-
SolAR::datastructure::CamDistortion distorsionParams = xpcf::deserialize<SolAR::datastructure::CamDistortion>(request->distorsionparams());
51-
m_xpcfComponent->setCameraParameters(intrinsicParams, distorsionParams);
52-
#ifdef ENABLE_SERVER_TIMERS
53-
boost::posix_time::ptime end = boost::posix_time::microsec_clock::universal_time();
54-
std::cout << "====> I2Dto3DTransformDecomposer_grpcServer::setCameraParameters response sent at " << to_simple_string(end) << std::endl;
55-
std::cout << " => elapsed time = " << ((end - start).total_microseconds() / 1000.00) << " ms" << std::endl;
56-
#endif
57-
return ::grpc::Status::OK;
58-
}
59-
60-
6143
::grpc::Status I2Dto3DTransformDecomposer_grpcServer::grpcI2Dto3DTransformDecomposerServiceImpl::decompose(::grpc::ServerContext* context, const ::grpcI2Dto3DTransformDecomposer::decomposeRequest* request, ::grpcI2Dto3DTransformDecomposer::decomposeResponse* response)
6244
{
6345
#ifndef DISABLE_GRPC_COMPRESSION
@@ -70,8 +52,9 @@ ::grpc::Status I2Dto3DTransformDecomposer_grpcServer::grpcI2Dto3DTransformDecomp
7052
std::cout << "====> I2Dto3DTransformDecomposer_grpcServer::decompose request received at " << to_simple_string(start) << std::endl;
7153
#endif
7254
SolAR::datastructure::Transform2Df F = xpcf::deserialize<SolAR::datastructure::Transform2Df>(request->f());
55+
SolAR::datastructure::CameraParameters camParams = xpcf::deserialize<SolAR::datastructure::CameraParameters>(request->camparams());
7356
std::vector<SolAR::datastructure::Transform3Df> decomposedPoses = xpcf::deserialize<std::vector<SolAR::datastructure::Transform3Df>>(request->decomposedposes());
74-
bool returnValue = m_xpcfComponent->decompose(F, decomposedPoses);
57+
bool returnValue = m_xpcfComponent->decompose(F, camParams, decomposedPoses);
7558
response->set_decomposedposes(xpcf::serialize<std::vector<SolAR::datastructure::Transform3Df>>(decomposedPoses));
7659
response->set_xpcfgrpcreturnvalue(returnValue);
7760
#ifdef ENABLE_SERVER_TIMERS

‎I2Dto3DTransformDecomposer_grpcServer.h

-1
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,6 @@ class I2Dto3DTransformDecomposer_grpcServer: public org::bcom::xpcf::Configurab
2525
{
2626
public:
2727
grpcI2Dto3DTransformDecomposerServiceImpl() = default;
28-
::grpc::Status setCameraParameters(::grpc::ServerContext* context, const ::grpcI2Dto3DTransformDecomposer::setCameraParametersRequest* request, ::google::protobuf::Empty* response) override;
2928
::grpc::Status decompose(::grpc::ServerContext* context, const ::grpcI2Dto3DTransformDecomposer::decomposeRequest* request, ::grpcI2Dto3DTransformDecomposer::decomposeResponse* response) override;
3029

3130
SRef<SolAR::api::solver::pose::I2Dto3DTransformDecomposer> m_xpcfComponent;

‎I3DOverlay_grpcProxy.cpp

+3-27
Original file line numberDiff line numberDiff line change
@@ -19,7 +19,7 @@ I3DOverlay_grpcProxy::I3DOverlay_grpcProxy():xpcf::ConfigurableBase(xpcf::toMap<
1919
declareInterface<SolAR::api::display::I3DOverlay>(this);
2020
declareProperty("channelUrl",m_channelUrl);
2121
declareProperty("channelCredentials",m_channelCredentials);
22-
m_grpcProxyCompressionConfig.resize(3);
22+
m_grpcProxyCompressionConfig.resize(2);
2323
declarePropertySequence("grpc_compress_proxy", m_grpcProxyCompressionConfig);
2424
}
2525

@@ -42,37 +42,13 @@ XPCFErrorCode I3DOverlay_grpcProxy::onConfigured()
4242
}
4343

4444

45-
void I3DOverlay_grpcProxy::setCameraParameters(SolAR::datastructure::CamCalibration const& intrinsic_parameters, SolAR::datastructure::CamDistortion const& distorsion_parameters)
46-
{
47-
::grpc::ClientContext context;
48-
::grpcI3DOverlay::setCameraParametersRequest reqIn;
49-
::google::protobuf::Empty respOut;
50-
reqIn.set_intrinsic_parameters(xpcf::serialize<SolAR::datastructure::CamCalibration>(intrinsic_parameters));
51-
reqIn.set_distorsion_parameters(xpcf::serialize<SolAR::datastructure::CamDistortion>(distorsion_parameters));
52-
#ifdef ENABLE_PROXY_TIMERS
53-
boost::posix_time::ptime start = boost::posix_time::microsec_clock::universal_time();
54-
std::cout << "====> I3DOverlay_grpcProxy::setCameraParameters request sent at " << to_simple_string(start) << std::endl;
55-
#endif
56-
::grpc::Status grpcRemoteStatus = m_grpcStub->setCameraParameters(&context, reqIn, &respOut);
57-
#ifdef ENABLE_PROXY_TIMERS
58-
boost::posix_time::ptime end = boost::posix_time::microsec_clock::universal_time();
59-
std::cout << "====> I3DOverlay_grpcProxy::setCameraParameters response received at " << to_simple_string(end) << std::endl;
60-
std::cout << " => elapsed time = " << ((end - start).total_microseconds() / 1000.00) << " ms" << std::endl;
61-
#endif
62-
if (!grpcRemoteStatus.ok()) {
63-
std::cout << "setCameraParameters rpc failed." << std::endl;
64-
throw xpcf::RemotingException("grpcI3DOverlayService","setCameraParameters",static_cast<uint32_t>(grpcRemoteStatus.error_code()));
65-
}
66-
67-
}
68-
69-
70-
void I3DOverlay_grpcProxy::draw(SolAR::datastructure::Transform3Df const& pose, SRef<SolAR::datastructure::Image> displayImage)
45+
void I3DOverlay_grpcProxy::draw(SolAR::datastructure::Transform3Df const& pose, SolAR::datastructure::CameraParameters const& camParams, SRef<SolAR::datastructure::Image> displayImage)
7146
{
7247
::grpc::ClientContext context;
7348
::grpcI3DOverlay::drawRequest reqIn;
7449
::google::protobuf::Empty respOut;
7550
reqIn.set_pose(xpcf::serialize<SolAR::datastructure::Transform3Df>(pose));
51+
reqIn.set_camparams(xpcf::serialize<SolAR::datastructure::CameraParameters>(camParams));
7652
reqIn.set_displayimage(xpcf::serialize<SRef<SolAR::datastructure::Image>>(displayImage));
7753
#ifdef ENABLE_PROXY_TIMERS
7854
boost::posix_time::ptime start = boost::posix_time::microsec_clock::universal_time();

‎I3DOverlay_grpcProxy.h

+1-2
Original file line numberDiff line numberDiff line change
@@ -22,8 +22,7 @@ class I3DOverlay_grpcProxy: public org::bcom::xpcf::ConfigurableBase, virtual p
2222
void unloadComponent () override final;
2323
org::bcom::xpcf::XPCFErrorCode onConfigured() override;
2424

25-
void setCameraParameters(SolAR::datastructure::CamCalibration const& intrinsic_parameters, SolAR::datastructure::CamDistortion const& distorsion_parameters) override;
26-
void draw(SolAR::datastructure::Transform3Df const& pose, SRef<SolAR::datastructure::Image> displayImage) override;
25+
void draw(SolAR::datastructure::Transform3Df const& pose, SolAR::datastructure::CameraParameters const& camParams, SRef<SolAR::datastructure::Image> displayImage) override;
2726

2827

2928
private:

‎I3DOverlay_grpcServer.cpp

+3-20
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@ I3DOverlay_grpcServer::I3DOverlay_grpcServer():xpcf::ConfigurableBase(xpcf::toMa
1414
{
1515
declareInterface<xpcf::IGrpcService>(this);
1616
declareInjectable<SolAR::api::display::I3DOverlay>(m_grpcService.m_xpcfComponent);
17-
m_grpcServerCompressionConfig.resize(3);
17+
m_grpcServerCompressionConfig.resize(2);
1818
declarePropertySequence("grpc_compress_server", m_grpcServerCompressionConfig);
1919
}
2020

@@ -40,33 +40,16 @@ ::grpc::Service * I3DOverlay_grpcServer::getService()
4040
return &m_grpcService;
4141
}
4242

43-
::grpc::Status I3DOverlay_grpcServer::grpcI3DOverlayServiceImpl::setCameraParameters(::grpc::ServerContext* context, const ::grpcI3DOverlay::setCameraParametersRequest* request, ::google::protobuf::Empty* response)
44-
{
45-
#ifdef ENABLE_SERVER_TIMERS
46-
boost::posix_time::ptime start = boost::posix_time::microsec_clock::universal_time();
47-
std::cout << "====> I3DOverlay_grpcServer::setCameraParameters request received at " << to_simple_string(start) << std::endl;
48-
#endif
49-
SolAR::datastructure::CamCalibration intrinsic_parameters = xpcf::deserialize<SolAR::datastructure::CamCalibration>(request->intrinsic_parameters());
50-
SolAR::datastructure::CamDistortion distorsion_parameters = xpcf::deserialize<SolAR::datastructure::CamDistortion>(request->distorsion_parameters());
51-
m_xpcfComponent->setCameraParameters(intrinsic_parameters, distorsion_parameters);
52-
#ifdef ENABLE_SERVER_TIMERS
53-
boost::posix_time::ptime end = boost::posix_time::microsec_clock::universal_time();
54-
std::cout << "====> I3DOverlay_grpcServer::setCameraParameters response sent at " << to_simple_string(end) << std::endl;
55-
std::cout << " => elapsed time = " << ((end - start).total_microseconds() / 1000.00) << " ms" << std::endl;
56-
#endif
57-
return ::grpc::Status::OK;
58-
}
59-
60-
6143
::grpc::Status I3DOverlay_grpcServer::grpcI3DOverlayServiceImpl::draw(::grpc::ServerContext* context, const ::grpcI3DOverlay::drawRequest* request, ::google::protobuf::Empty* response)
6244
{
6345
#ifdef ENABLE_SERVER_TIMERS
6446
boost::posix_time::ptime start = boost::posix_time::microsec_clock::universal_time();
6547
std::cout << "====> I3DOverlay_grpcServer::draw request received at " << to_simple_string(start) << std::endl;
6648
#endif
6749
SolAR::datastructure::Transform3Df pose = xpcf::deserialize<SolAR::datastructure::Transform3Df>(request->pose());
50+
SolAR::datastructure::CameraParameters camParams = xpcf::deserialize<SolAR::datastructure::CameraParameters>(request->camparams());
6851
SRef<SolAR::datastructure::Image> displayImage = xpcf::deserialize<SRef<SolAR::datastructure::Image>>(request->displayimage());
69-
m_xpcfComponent->draw(pose, displayImage);
52+
m_xpcfComponent->draw(pose, camParams, displayImage);
7053
#ifdef ENABLE_SERVER_TIMERS
7154
boost::posix_time::ptime end = boost::posix_time::microsec_clock::universal_time();
7255
std::cout << "====> I3DOverlay_grpcServer::draw response sent at " << to_simple_string(end) << std::endl;

‎I3DOverlay_grpcServer.h

-1
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,6 @@ class I3DOverlay_grpcServer: public org::bcom::xpcf::ConfigurableBase, virtual
2525
{
2626
public:
2727
grpcI3DOverlayServiceImpl() = default;
28-
::grpc::Status setCameraParameters(::grpc::ServerContext* context, const ::grpcI3DOverlay::setCameraParametersRequest* request, ::google::protobuf::Empty* response) override;
2928
::grpc::Status draw(::grpc::ServerContext* context, const ::grpcI3DOverlay::drawRequest* request, ::google::protobuf::Empty* response) override;
3029

3130
SRef<SolAR::api::display::I3DOverlay> m_xpcfComponent;

‎I3DTransformFinderFrom2D2D_grpcProxy.cpp

+5-28
Original file line numberDiff line numberDiff line change
@@ -19,7 +19,7 @@ I3DTransformFinderFrom2D2D_grpcProxy::I3DTransformFinderFrom2D2D_grpcProxy():xpc
1919
declareInterface<SolAR::api::solver::pose::I3DTransformFinderFrom2D2D>(this);
2020
declareProperty("channelUrl",m_channelUrl);
2121
declareProperty("channelCredentials",m_channelCredentials);
22-
m_grpcProxyCompressionConfig.resize(4);
22+
m_grpcProxyCompressionConfig.resize(3);
2323
declarePropertySequence("grpc_compress_proxy", m_grpcProxyCompressionConfig);
2424
}
2525

@@ -42,32 +42,7 @@ XPCFErrorCode I3DTransformFinderFrom2D2D_grpcProxy::onConfigured()
4242
}
4343

4444

45-
void I3DTransformFinderFrom2D2D_grpcProxy::setCameraParameters(SolAR::datastructure::CamCalibration const& intrinsicParams, SolAR::datastructure::CamDistortion const& distorsionParams)
46-
{
47-
::grpc::ClientContext context;
48-
::grpcI3DTransformFinderFrom2D2D::setCameraParametersRequest reqIn;
49-
::google::protobuf::Empty respOut;
50-
reqIn.set_intrinsicparams(xpcf::serialize<SolAR::datastructure::CamCalibration>(intrinsicParams));
51-
reqIn.set_distorsionparams(xpcf::serialize<SolAR::datastructure::CamDistortion>(distorsionParams));
52-
#ifdef ENABLE_PROXY_TIMERS
53-
boost::posix_time::ptime start = boost::posix_time::microsec_clock::universal_time();
54-
std::cout << "====> I3DTransformFinderFrom2D2D_grpcProxy::setCameraParameters request sent at " << to_simple_string(start) << std::endl;
55-
#endif
56-
::grpc::Status grpcRemoteStatus = m_grpcStub->setCameraParameters(&context, reqIn, &respOut);
57-
#ifdef ENABLE_PROXY_TIMERS
58-
boost::posix_time::ptime end = boost::posix_time::microsec_clock::universal_time();
59-
std::cout << "====> I3DTransformFinderFrom2D2D_grpcProxy::setCameraParameters response received at " << to_simple_string(end) << std::endl;
60-
std::cout << " => elapsed time = " << ((end - start).total_microseconds() / 1000.00) << " ms" << std::endl;
61-
#endif
62-
if (!grpcRemoteStatus.ok()) {
63-
std::cout << "setCameraParameters rpc failed." << std::endl;
64-
throw xpcf::RemotingException("grpcI3DTransformFinderFrom2D2DService","setCameraParameters",static_cast<uint32_t>(grpcRemoteStatus.error_code()));
65-
}
66-
67-
}
68-
69-
70-
SolAR::FrameworkReturnCode I3DTransformFinderFrom2D2D_grpcProxy::estimate(std::vector<SolAR::datastructure::Point2Df> const& pointsView1, std::vector<SolAR::datastructure::Point2Df> const& pointsView2, SolAR::datastructure::Transform3Df const& poseView1, SolAR::datastructure::Transform3Df& poseView2, std::vector<SolAR::datastructure::DescriptorMatch>& inlierMatches)
45+
SolAR::FrameworkReturnCode I3DTransformFinderFrom2D2D_grpcProxy::estimate(std::vector<SolAR::datastructure::Point2Df> const& pointsView1, std::vector<SolAR::datastructure::Point2Df> const& pointsView2, SolAR::datastructure::CameraParameters const& camParams, SolAR::datastructure::Transform3Df const& poseView1, SolAR::datastructure::Transform3Df& poseView2, std::vector<SolAR::datastructure::DescriptorMatch>& inlierMatches)
7146
{
7247
::grpc::ClientContext context;
7348
::grpcI3DTransformFinderFrom2D2D::estimate_grpc0Request reqIn;
@@ -79,6 +54,7 @@ SolAR::FrameworkReturnCode I3DTransformFinderFrom2D2D_grpcProxy::estimate(std::
7954
#endif
8055
reqIn.set_pointsview1(xpcf::serialize<std::vector<SolAR::datastructure::Point2Df>>(pointsView1));
8156
reqIn.set_pointsview2(xpcf::serialize<std::vector<SolAR::datastructure::Point2Df>>(pointsView2));
57+
reqIn.set_camparams(xpcf::serialize<SolAR::datastructure::CameraParameters>(camParams));
8258
reqIn.set_poseview1(xpcf::serialize<SolAR::datastructure::Transform3Df>(poseView1));
8359
reqIn.set_poseview2(xpcf::serialize<SolAR::datastructure::Transform3Df>(poseView2));
8460
reqIn.set_inliermatches(xpcf::serialize<std::vector<SolAR::datastructure::DescriptorMatch>>(inlierMatches));
@@ -103,7 +79,7 @@ SolAR::FrameworkReturnCode I3DTransformFinderFrom2D2D_grpcProxy::estimate(std::
10379
}
10480

10581

106-
SolAR::FrameworkReturnCode I3DTransformFinderFrom2D2D_grpcProxy::estimate(std::vector<SolAR::datastructure::Keypoint> const& pointsView1, std::vector<SolAR::datastructure::Keypoint> const& pointsView2, SolAR::datastructure::Transform3Df const& poseView1, SolAR::datastructure::Transform3Df& poseView2, std::vector<SolAR::datastructure::DescriptorMatch>& inlierMatches)
82+
SolAR::FrameworkReturnCode I3DTransformFinderFrom2D2D_grpcProxy::estimate(std::vector<SolAR::datastructure::Keypoint> const& pointsView1, std::vector<SolAR::datastructure::Keypoint> const& pointsView2, SolAR::datastructure::CameraParameters const& camParams, SolAR::datastructure::Transform3Df const& poseView1, SolAR::datastructure::Transform3Df& poseView2, std::vector<SolAR::datastructure::DescriptorMatch>& inlierMatches)
10783
{
10884
::grpc::ClientContext context;
10985
::grpcI3DTransformFinderFrom2D2D::estimate_grpc1Request reqIn;
@@ -115,6 +91,7 @@ SolAR::FrameworkReturnCode I3DTransformFinderFrom2D2D_grpcProxy::estimate(std::
11591
#endif
11692
reqIn.set_pointsview1(xpcf::serialize<std::vector<SolAR::datastructure::Keypoint>>(pointsView1));
11793
reqIn.set_pointsview2(xpcf::serialize<std::vector<SolAR::datastructure::Keypoint>>(pointsView2));
94+
reqIn.set_camparams(xpcf::serialize<SolAR::datastructure::CameraParameters>(camParams));
11895
reqIn.set_poseview1(xpcf::serialize<SolAR::datastructure::Transform3Df>(poseView1));
11996
reqIn.set_poseview2(xpcf::serialize<SolAR::datastructure::Transform3Df>(poseView2));
12097
reqIn.set_inliermatches(xpcf::serialize<std::vector<SolAR::datastructure::DescriptorMatch>>(inlierMatches));

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