Add OpenCV 5 features wrappers: ALIKED, DISK, LightGlue, ANNIndex, AffineFeature

src/OpenCvSharp/Internal/PInvoke/NativeMethods/features/NativeMethods_features_ANNIndex.cs

@@ -0,0 +1,86 @@
+using System.Runtime.InteropServices;
+
+#pragma warning disable 1591
+#pragma warning disable CA1401 // P/Invokes should not be visible
+#pragma warning disable CA2101 // Specify marshaling for P/Invoke string arguments
+#pragma warning disable IDE1006 // Naming style
+
+namespace OpenCvSharp.Internal;
+
+static partial class NativeMethods
+{
+    // ReSharper disable InconsistentNaming
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_ANNIndex_create(int dim, int distType, out IntPtr returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_Ptr_ANNIndex_get(IntPtr ptr, out IntPtr returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_Ptr_ANNIndex_delete(IntPtr ptr);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_ANNIndex_addItems(IntPtr obj, IntPtr features);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_ANNIndex_build(IntPtr obj, int trees);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_ANNIndex_knnSearch(
+        IntPtr obj, IntPtr query, IntPtr indices, IntPtr dists, int knn, int search_k);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true, BestFitMapping = false, ThrowOnUnmappableChar = true,
+        EntryPoint = "features_ANNIndex_save")]
+    public static extern ExceptionStatus features_ANNIndex_save_NotWindows(
+        IntPtr obj, [MarshalAs(StringUnmanagedTypeNotWindows)] string filename, int prefault);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true, BestFitMapping = false, ThrowOnUnmappableChar = true,
+        EntryPoint = "features_ANNIndex_save")]
+    public static extern ExceptionStatus features_ANNIndex_save_Windows(
+        IntPtr obj, [MarshalAs(StringUnmanagedTypeWindows)] string filename, int prefault);
+
+    public static ExceptionStatus features_ANNIndex_save(IntPtr obj, string filename, int prefault)
+        => IsWindows()
+            ? features_ANNIndex_save_Windows(obj, filename, prefault)
+            : features_ANNIndex_save_NotWindows(obj, filename, prefault);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true, BestFitMapping = false, ThrowOnUnmappableChar = true,
+        EntryPoint = "features_ANNIndex_load")]
+    public static extern ExceptionStatus features_ANNIndex_load_NotWindows(
+        IntPtr obj, [MarshalAs(StringUnmanagedTypeNotWindows)] string filename, int prefault);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true, BestFitMapping = false, ThrowOnUnmappableChar = true,
+        EntryPoint = "features_ANNIndex_load")]
+    public static extern ExceptionStatus features_ANNIndex_load_Windows(
+        IntPtr obj, [MarshalAs(StringUnmanagedTypeWindows)] string filename, int prefault);
+
+    public static ExceptionStatus features_ANNIndex_load(IntPtr obj, string filename, int prefault)
+        => IsWindows()
+            ? features_ANNIndex_load_Windows(obj, filename, prefault)
+            : features_ANNIndex_load_NotWindows(obj, filename, prefault);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_ANNIndex_getTreeNumber(IntPtr obj, out int returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_ANNIndex_getItemNumber(IntPtr obj, out int returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true, BestFitMapping = false, ThrowOnUnmappableChar = true,
+        EntryPoint = "features_ANNIndex_setOnDiskBuild")]
+    public static extern ExceptionStatus features_ANNIndex_setOnDiskBuild_NotWindows(
+        IntPtr obj, [MarshalAs(StringUnmanagedTypeNotWindows)] string filename, out int returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true, BestFitMapping = false, ThrowOnUnmappableChar = true,
+        EntryPoint = "features_ANNIndex_setOnDiskBuild")]
+    public static extern ExceptionStatus features_ANNIndex_setOnDiskBuild_Windows(
+        IntPtr obj, [MarshalAs(StringUnmanagedTypeWindows)] string filename, out int returnValue);
+
+    public static ExceptionStatus features_ANNIndex_setOnDiskBuild(IntPtr obj, string filename, out int returnValue)
+        => IsWindows()
+            ? features_ANNIndex_setOnDiskBuild_Windows(obj, filename, out returnValue)
+            : features_ANNIndex_setOnDiskBuild_NotWindows(obj, filename, out returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_ANNIndex_setSeed(IntPtr obj, int seed);
+}

src/OpenCvSharp/Internal/PInvoke/NativeMethods/features/NativeMethods_features_DescriptorMatcher.cs

@@ -116,4 +116,40 @@ public static extern ExceptionStatus features_FlannBasedMatcher_add(
 
     [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
     public static extern ExceptionStatus features_Ptr_FlannBasedMatcher_delete(IntPtr ptr);
+
+    #region LightGlueMatcher
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true, BestFitMapping = false, ThrowOnUnmappableChar = true,
+        EntryPoint = "features_LightGlueMatcher_create")]
+    public static extern ExceptionStatus features_LightGlueMatcher_create_NotWindows(
+        [MarshalAs(StringUnmanagedTypeNotWindows)] string modelPath, float scoreThreshold, int backend, int target, out IntPtr returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true, BestFitMapping = false, ThrowOnUnmappableChar = true,
+        EntryPoint = "features_LightGlueMatcher_create")]
+    public static extern ExceptionStatus features_LightGlueMatcher_create_Windows(
+        [MarshalAs(StringUnmanagedTypeWindows)] string modelPath, float scoreThreshold, int backend, int target, out IntPtr returnValue);
+
+    public static ExceptionStatus features_LightGlueMatcher_create(string modelPath, float scoreThreshold, int backend, int target, out IntPtr returnValue)
+        => IsWindows()
+            ? features_LightGlueMatcher_create_Windows(modelPath, scoreThreshold, backend, target, out returnValue)
+            : features_LightGlueMatcher_create_NotWindows(modelPath, scoreThreshold, backend, target, out returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_LightGlueMatcher_create_buffer(
+        byte[] modelData, IntPtr modelDataLength, float scoreThreshold, int backend, int target, out IntPtr returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_LightGlueMatcher_setPairInfo(
+        IntPtr obj, IntPtr queryKpts, IntPtr trainKpts, Size queryImageSize, Size trainImageSize);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_LightGlueMatcher_clearPairInfo(IntPtr obj);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_Ptr_LightGlueMatcher_get(IntPtr ptr, out IntPtr returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_Ptr_LightGlueMatcher_delete(IntPtr ptr);
+
+    #endregion
 }

src/OpenCvSharp/Internal/PInvoke/NativeMethods/features/NativeMethods_features_Feature2D.cs

@@ -244,4 +244,87 @@ public static extern ExceptionStatus features_SimpleBlobDetector_create(
 
     [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
     public static extern ExceptionStatus features_Ptr_Feature2D_get(IntPtr obj, out IntPtr returnValue);
+
+    #region AffineFeature
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_AffineFeature_create(
+        IntPtr backend, int maxTilt, int minTilt, float tiltStep, float rotateStepBase, out IntPtr returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_AffineFeature_setViewParams(
+        IntPtr obj, float[] tilts, int tiltsLength, float[] rolls, int rollsLength);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_AffineFeature_getViewParams(IntPtr obj, IntPtr tilts, IntPtr rolls);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_Ptr_AffineFeature_delete(IntPtr ptr);
+
+    #endregion
+
+    #region DISK
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true, BestFitMapping = false, ThrowOnUnmappableChar = true,
+        EntryPoint = "features_DISK_create")]
+    public static extern ExceptionStatus features_DISK_create_NotWindows(
+        [MarshalAs(StringUnmanagedTypeNotWindows)] string modelPath, int maxKeypoints, float scoreThreshold, Size imageSize, int backendId, int targetId, out IntPtr returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true, BestFitMapping = false, ThrowOnUnmappableChar = true,
+        EntryPoint = "features_DISK_create")]
+    public static extern ExceptionStatus features_DISK_create_Windows(
+        [MarshalAs(StringUnmanagedTypeWindows)] string modelPath, int maxKeypoints, float scoreThreshold, Size imageSize, int backendId, int targetId, out IntPtr returnValue);
+
+    public static ExceptionStatus features_DISK_create(string modelPath, int maxKeypoints, float scoreThreshold, Size imageSize, int backendId, int targetId, out IntPtr returnValue)
+        => IsWindows()
+            ? features_DISK_create_Windows(modelPath, maxKeypoints, scoreThreshold, imageSize, backendId, targetId, out returnValue)
+            : features_DISK_create_NotWindows(modelPath, maxKeypoints, scoreThreshold, imageSize, backendId, targetId, out returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_DISK_create_buffer(
+        byte[] bufferModel, IntPtr bufferModelLength, int maxKeypoints, float scoreThreshold, Size imageSize, int backendId, int targetId, out IntPtr returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_DISK_setMaxKeypoints(IntPtr obj, int maxKeypoints);
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_DISK_getMaxKeypoints(IntPtr obj, out int returnValue);
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_DISK_setScoreThreshold(IntPtr obj, float threshold);
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_DISK_getScoreThreshold(IntPtr obj, out float returnValue);
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_DISK_setImageSize(IntPtr obj, Size size);
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_DISK_getImageSize(IntPtr obj, out Size returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_Ptr_DISK_delete(IntPtr ptr);
+
+    #endregion
+
+    #region ALIKED
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true, BestFitMapping = false, ThrowOnUnmappableChar = true,
+        EntryPoint = "features_ALIKED_create")]
+    public static extern ExceptionStatus features_ALIKED_create_NotWindows(
+        [MarshalAs(StringUnmanagedTypeNotWindows)] string modelPath, Size inputSize, int normalizeDescriptors, int engine, int backend, int target, out IntPtr returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true, BestFitMapping = false, ThrowOnUnmappableChar = true,
+        EntryPoint = "features_ALIKED_create")]
+    public static extern ExceptionStatus features_ALIKED_create_Windows(
+        [MarshalAs(StringUnmanagedTypeWindows)] string modelPath, Size inputSize, int normalizeDescriptors, int engine, int backend, int target, out IntPtr returnValue);
+
+    public static ExceptionStatus features_ALIKED_create(string modelPath, Size inputSize, int normalizeDescriptors, int engine, int backend, int target, out IntPtr returnValue)
+        => IsWindows()
+            ? features_ALIKED_create_Windows(modelPath, inputSize, normalizeDescriptors, engine, backend, target, out returnValue)
+            : features_ALIKED_create_NotWindows(modelPath, inputSize, normalizeDescriptors, engine, backend, target, out returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_ALIKED_create_buffer(
+        byte[] modelData, IntPtr modelDataLength, Size inputSize, int normalizeDescriptors, int engine, int backend, int target, out IntPtr returnValue);
+
+    [DllImport(DllExtern, CallingConvention = CallingConvention.Cdecl, ExactSpelling = true)]
+    public static extern ExceptionStatus features_Ptr_ALIKED_delete(IntPtr ptr);
+
+    #endregion
 }

src/OpenCvSharp/Modules/features/ALIKED.cs

@@ -0,0 +1,70 @@
+using OpenCvSharp.Internal;
+
+namespace OpenCvSharp;
+
+// ReSharper disable once InconsistentNaming
+/// <summary>
+/// ALIKED: deep learning based local feature detector and descriptor (OpenCV 5).
+/// Runs an ONNX model through the DNN module. Requires OpenCV built with the dnn module.
+/// </summary>
+public class ALIKED : Feature2D
+{
+    /// <summary>
+    /// Creates instance by raw pointer cv::ALIKED*
+    /// </summary>
+    private ALIKED(IntPtr smartPtr, IntPtr rawPtr)
+        : base(smartPtr, rawPtr, p => NativeMethods.HandleException(NativeMethods.features_Ptr_ALIKED_delete(p)))
+    {
+    }
+
+    /// <summary>
+    /// Creates ALIKED from a model file path.
+    /// </summary>
+    /// <param name="modelPath">Path to the ONNX model file.</param>
+    /// <param name="inputSize">Input image size for the network. Default is 640x640.</param>
+    /// <param name="normalizeDescriptors">Whether to L2-normalize descriptors. Default is true.</param>
+    /// <param name="engine">DNN engine type (cv::dnn::EngineType). Default is 2 (ENGINE_NEW).</param>
+    /// <param name="backend">DNN backend (see <see cref="Dnn.Backend"/>). Default is 0 (DEFAULT).</param>
+    /// <param name="target">DNN target (see <see cref="Dnn.Target"/>). Default is 0 (CPU).</param>
+    public static ALIKED Create(
+        string modelPath, Size? inputSize = null, bool normalizeDescriptors = true,
+        int engine = 2, int backend = 0, int target = 0)
+    {
+        if (modelPath is null)
+            throw new ArgumentNullException(nameof(modelPath));
+        var size = inputSize ?? new Size(640, 640);
+
+        NativeMethods.HandleException(
+            NativeMethods.features_ALIKED_create(
+                modelPath, size, normalizeDescriptors ? 1 : 0, engine, backend, target, out var smartPtr));
+        NativeMethods.HandleException(
+            NativeMethods.features_Ptr_Feature2D_get(smartPtr, out var rawPtr));
+        return new ALIKED(smartPtr, rawPtr);
+    }
+
+    /// <summary>
+    /// Creates ALIKED from an in-memory ONNX model buffer.
+    /// </summary>
+    /// <param name="modelData">Buffer containing the model data.</param>
+    /// <param name="inputSize">Input image size for the network. Default is 640x640.</param>
+    /// <param name="normalizeDescriptors">Whether to L2-normalize descriptors. Default is true.</param>
+    /// <param name="engine">DNN engine type (cv::dnn::EngineType). Default is 2 (ENGINE_NEW).</param>
+    /// <param name="backend">DNN backend (see <see cref="Dnn.Backend"/>). Default is 0 (DEFAULT).</param>
+    /// <param name="target">DNN target (see <see cref="Dnn.Target"/>). Default is 0 (CPU).</param>
+    public static ALIKED CreateFromMemory(
+        byte[] modelData, Size? inputSize = null, bool normalizeDescriptors = true,
+        int engine = 2, int backend = 0, int target = 0)
+    {
+        if (modelData is null)
+            throw new ArgumentNullException(nameof(modelData));
+        var size = inputSize ?? new Size(640, 640);
+
+        NativeMethods.HandleException(
+            NativeMethods.features_ALIKED_create_buffer(
+                modelData, new IntPtr(modelData.Length), size, normalizeDescriptors ? 1 : 0, engine, backend, target, out var smartPtr));
+        GC.KeepAlive(modelData);
+        NativeMethods.HandleException(
+            NativeMethods.features_Ptr_Feature2D_get(smartPtr, out var rawPtr));
+        return new ALIKED(smartPtr, rawPtr);
+    }
+}