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authorshamikam2017-01-16 02:56:17 +0530
committershamikam2017-01-16 02:56:17 +0530
commita6df67e8bcd5159cde27556f4f6a315f8dc2215f (patch)
treee806e966b06a53388fb300d89534354b222c2cad /sci_gateway1/cpp/opencv_rotationVectorToMatrix.cpp
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Diffstat (limited to 'sci_gateway1/cpp/opencv_rotationVectorToMatrix.cpp')
-rw-r--r--sci_gateway1/cpp/opencv_rotationVectorToMatrix.cpp205
1 files changed, 205 insertions, 0 deletions
diff --git a/sci_gateway1/cpp/opencv_rotationVectorToMatrix.cpp b/sci_gateway1/cpp/opencv_rotationVectorToMatrix.cpp
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+/***************************************************
+Author : Tanmay Chaudhari
+ **************************************************/
+
+#include <bits/stdc++.h>
+using namespace std;
+extern "C"
+{
+#include "api_scilab.h"
+#include "Scierror.h"
+#include "BOOL.h"
+#include <localization.h>
+#include "sciprint.h"
+
+ int opencv_rotationVectorToMatrix(char *fname, unsigned long fname_len)
+ {
+
+ //Error management variable
+ SciErr sciErr;
+
+ //Variable declaration
+ int iComplex = 0;
+ int iType = 0;
+ int iRows = 0;
+ int iCols = 0;
+ int *piAddr = NULL;
+ double sinOfangle = 0;
+ double cosOfangle = 0;
+ double t, x, y, z;
+ double theta;
+ double *pdbl = NULL;
+ double *matrix;
+ double *identity;
+ double *A;
+ double *B;
+
+ //Check input output arguments
+ checkInputArgument(pvApiCtx, 1, 1);
+ checkOutputArgument(pvApiCtx, 1, 1);
+
+ //Get variable address of the first input argument
+ sciErr = getVarAddressFromPosition(pvApiCtx, 1, &piAddr);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ //Check type
+ sciErr = getVarType(pvApiCtx, piAddr, &iType);
+ if(sciErr.iErr || iType != sci_matrix)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ //Get complexity
+ iComplex = isVarComplex(pvApiCtx, piAddr);
+
+ //Check complexity
+ if(iComplex)
+ {
+ Scierror(999, "%s: Wrong type for input argument: A complex number is not expected.\n");
+ return 0;
+ }
+
+ sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &iRows, &iCols, &pdbl);
+ if(sciErr.iErr || iCols != 3 || iRows != 1)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ x = pdbl[0];
+ y = pdbl[1];
+ z = pdbl[2];
+
+ theta = sqrt(x * x + y * y + z * z);
+
+ sinOfangle = sin(theta);
+ cosOfangle = cos(theta);
+ t = 1 - cosOfangle;
+ x = pdbl[0] / theta;
+ y = pdbl[1] / theta;
+ z = pdbl[2] / theta;
+
+ matrix = (double*)malloc(sizeof(double) * 9);
+ A = (double*)malloc(sizeof(double) * 9);
+ B = (double*)malloc(sizeof(double) * 9);
+ identity = (double*)malloc(sizeof(double) * 9);
+
+ for(int i = 0; i < 3; i++)
+ {
+ for(int j = 0; j < 3; j++)
+ {
+ if(i == 0)
+ {
+ if(j == 0)
+ A[j * 3 + i] = x * x;
+ else if(j == 1)
+ A[j * 3 + i] = x * y;
+ else if(j == 2)
+ A[j * 3 + i] = x * z;
+
+ }
+ else if(i == 1)
+ {
+ if(j == 0)
+ A[j * 3 + i] = x * y;
+ else if(j == 1)
+ A[j * 3 + i] = y * y;
+ else if(j == 2)
+ A[j * 3 + i] = y * z;
+ }
+ else
+ {
+ if(j == 0)
+ A[j * 3 + i] = x * z;
+ else if(j == 1)
+ A[j * 3 + i] = y * z;
+ else if(j == 2)
+ A[j * 3 + i] = z * z;
+ }
+
+ }
+ }
+
+ for(int i = 0; i < 3; i++)
+ {
+ for(int j = 0; j < 3; j++)
+ {
+ if(i == 0)
+ {
+ if(j == 0)
+ B[j * 3 + i] = 0;
+ else if(j == 1)
+ B[j * 3 + i] = -z;
+ else if(j == 2)
+ B[j * 3 + i] = y;
+
+ }
+ else if(i == 1)
+ {
+ if(j == 0)
+ B[j * 3 + i] = z;
+ else if(j == 1)
+ B[j * 3 + i] = 0;
+ else if(j == 2)
+ B[j * 3 + i] = -x;
+ }
+ else
+ {
+ if(j == 0)
+ B[j * 3 + i] = -y;
+ else if(j == 1)
+ B[j * 3 + i] = x;
+ else if(j == 2)
+ B[j * 3 + i] = 0;
+ }
+
+ }
+ }
+
+ for(int i = 0; i < 3; i++)
+ {
+ for(int j = 0;j < 3; j++)
+ {
+ if(i == j)
+ identity[j * 3 + i] = 1;
+ else
+ identity[j * 3 + i] = 0;
+ }
+ }
+
+ for(int i = 0; i < 3; i++)
+ {
+ for(int j = 0; j < 3; j++)
+ {
+ matrix[i * 3 + j] = identity[j * 3 + i] * cosOfangle + t * A[j * 3 + i] + sinOfangle * B[j * 3 + i];
+ }
+ }
+
+ sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, 1, &piAddr);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ sciErr = createMatrixOfDoubleInList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, piAddr, 1, 3, 3, matrix);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ //Return output arguments
+ AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1;
+ ReturnArguments(pvApiCtx);
+ return 0;
+ }
+}
+
+
+