First CommitHEADmaster

1 files changed, 201 insertions, 0 deletions

diff --git a/sci_gateway1/cpp/opencv_estimateUncalibratedRectification.cpp b/sci_gateway1/cpp/opencv_estimateUncalibratedRectification.cpp
new file mode 100644
index 0000000..c0078bd
--- /dev/null
+++ b/sci_gateway1/cpp/opencv_estimateUncalibratedRectification.cpp
@@ -0,0 +1,201 @@
+#include <numeric>
+#include "opencv2/core/core.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/opencv.hpp"
+#include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/calib3d/calib3d.hpp"
+#include <iostream>
+using namespace cv;
+using namespace std;
+extern "C"
+{
+  #include "api_scilab.h"
+  #include "Scierror.h"
+  #include "BOOL.h"
+  #include <localization.h>
+  #include <sciprint.h>
+  #include "../common.h"
+  
+  int opencv_estimateUncalibratedRectification(char *fname, unsigned long fname_len)
+  {
+   SciErr sciErr;
+   int intErr=0;
+   int iComplex = 0;
+   int iType = 0;
+   int *piAddr  = NULL;
+   int i,j;
+   int iA1Rows=0,iA1Cols=0,iA2Rows=0,iA2Cols=0;
+   int fmRows=0,fmCols=0,imageRows=0,imageCols=0;
+   double *fm=NULL,*iArray1=NULL,*iArray2=NULL,*imageSize=NULL;
+   double *oArray1=NULL,*oArray2=NULL;
+   Mat fundamentalMatrix(3,3,CV_64F);
+   int imagesize[2];
+   vector<Point2f> points1,points2;
+   
+   CheckInputArgument(pvApiCtx, 4, 4);
+   CheckOutputArgument(pvApiCtx, 2, 2) ;
+   
+   
+    sciErr = getVarAddressFromPosition(pvApiCtx, 1, &piAddr);
+	if(sciErr.iErr)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	sciErr = getVarType(pvApiCtx, piAddr, &iType);
+	if(sciErr.iErr || iType != sci_matrix)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	iComplex = isVarComplex(pvApiCtx, piAddr);
+	if(iComplex)
+	{
+		Scierror(999, "%s: Wrong type for input argument: A complex number is not expected.\n");
+		return 0;
+	}	
+ 	sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &fmRows, &fmCols, &fm);
+ 	if(sciErr.iErr)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+   
+   
+    sciErr = getVarAddressFromPosition(pvApiCtx, 2, &piAddr);
+	if(sciErr.iErr)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	sciErr = getVarType(pvApiCtx, piAddr, &iType);
+	if(sciErr.iErr || iType != sci_matrix)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	iComplex = isVarComplex(pvApiCtx, piAddr);
+	if(iComplex)
+	{
+		Scierror(999, "%s: Wrong type for input argument: A complex number is not expected.\n");
+		return 0;
+	}	
+ 	sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &iA1Rows, &iA1Cols, &iArray1);
+ 	if(sciErr.iErr)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	
+	
+    sciErr = getVarAddressFromPosition(pvApiCtx, 3, &piAddr);
+	if(sciErr.iErr)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	sciErr = getVarType(pvApiCtx, piAddr, &iType);
+	if(sciErr.iErr || iType != sci_matrix)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	iComplex = isVarComplex(pvApiCtx, piAddr);
+	if(iComplex)
+	{
+		Scierror(999, "%s: Wrong type for input argument: A complex number is not expected.\n");
+		return 0;
+	}	
+ 	sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &iA2Rows, &iA2Cols, &iArray2);
+ 	if(sciErr.iErr)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	
+	
+	sciErr = getVarAddressFromPosition(pvApiCtx, 4, &piAddr);
+	if(sciErr.iErr)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	sciErr = getVarType(pvApiCtx, piAddr, &iType);
+	if(sciErr.iErr || iType != sci_matrix)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	iComplex = isVarComplex(pvApiCtx, piAddr);
+	if(iComplex)
+	{
+		Scierror(999, "%s: Wrong type for input argument: A complex number is not expected.\n");
+		return 0;
+	}	
+ 	sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &imageRows, &imageCols, &imageSize);
+ 	if(sciErr.iErr)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	
+	if(fmRows!=3 || fmCols!=3)
+	{
+		Scierror(999, "Fudamental matrix must be of size 3*3\n"); 
+        return 0;
+	}
+	if(iA1Rows != iA2Rows)
+    {
+    	Scierror(999, "There must be the same number of points in both input arrays\n"); 
+        return 0; 
+    }
+    if(imageRows!=1 || (imageCols!=2 && imageCols!=3))
+	{
+		Scierror(999, "Image size must be of vector of  with 2 or 3 elements\n"); 
+        return 0;
+	}
+	for(i = 0 ; i < 3 ; i++)
+	{
+		for(j = 0 ; j < 3 ; j++)
+		{
+			fundamentalMatrix.at<double>(i,j) = fm[i+3*j];
+		}
+	}
+	for(i=0;i<iA1Rows;i++)
+	{
+		points1.push_back(Point2f(iArray1[i],iArray1[iA1Rows+i]));
+		points2.push_back(Point2f(iArray2[i],iArray2[iA2Rows+i]));
+	}
+	Mat H1,H2;
+	if (imageCols==2)
+		stereoRectifyUncalibrated(points1, points2, fundamentalMatrix,Size(imageSize[0],imageSize[1]), H1, H2);
+    else if (imageCols==3)
+    	stereoRectifyUncalibrated(points1, points2, fundamentalMatrix,Size(imageSize[0],imageSize[1],imageSize[2]), H1, H2);
+	oArray1 = (double*) malloc(sizeof(double) * 3 *3);
+	oArray2 = (double*) malloc(sizeof(double) * 3 *3);
+	for(i = 0 ; i < 3 ; i++)
+	{
+		for(j = 0 ; j < 3 ; j++)
+		{
+			oArray1[i + 3 * j] = H1.at<double>(i,j);
+			oArray2[i + 3 * j] = H2.at<double>(i,j);
+		}
+	}
+	sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 1, 3 , 3, oArray1);
+	if(sciErr.iErr)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 2, 3 , 3, oArray2);
+	if(sciErr.iErr)
+	{
+		printError(&sciErr, 0);
+		return 0;
+	}
+	AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1;
+	AssignOutputVariable(pvApiCtx, 2) = nbInputArgument(pvApiCtx) + 2;
+    ReturnArguments(pvApiCtx);
+    return 0;
+  }
+}