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Add OpenCV 5 features module wrappers: ALIKED, DISK, LightGlue, ANNIndex, AffineFeature
Wraps the new and previously-unwrapped classes from the OpenCV 5 features module (formerly features2d): - ALIKED, DISK: deep-learning local feature detectors/descriptors (Feature2D, ONNX via dnn). Both expose Create (file path) and CreateFromMemory (buffer). - LightGlueMatcher: attention-based descriptor matcher (DescriptorMatcher) with SetPairInfo/ClearPairInfo. - ANNIndex: Annoy-based approximate nearest neighbor index (modern FLANN alternative) with add/build/knnSearch/save/load and ANNIndexDistance enum. - AffineFeature: affine-invariant wrapper over a backend Feature2D (ASIFT). DNN-dependent classes are guarded with HAVE_OPENCV_DNN in the native bridge. Model-path string entry points use the Windows/NotWindows marshaling split. Tests: AffineFeature and ANNIndex are exercised end-to-end; DISK/ALIKED/ LightGlue verify entry-point wiring (missing model -> OpenCVException) since their ONNX models are not committed. Full Features suite green (51 passed). Refs #1924. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
1 parent 89c3e9f commit 6f19429

16 files changed

Lines changed: 1264 additions & 0 deletions

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

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

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

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

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

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

‎src/OpenCvSharp/Modules/features/ALIKED.cs‎

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

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