First CommitHEADmaster

1 files changed, 166 insertions, 0 deletions

diff --git a/sci_gateway1/cpp/opencv_triangulatePoints.cpp b/sci_gateway1/cpp/opencv_triangulatePoints.cpp
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+++ b/sci_gateway1/cpp/opencv_triangulatePoints.cpp
@@ -0,0 +1,166 @@
+/***************************************************
+Author : Deepshikha
+***************************************************/
+
+#include <numeric>
+#include "opencv2/core/core.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/opencv.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_triangulatePoints(char *fname, unsigned long fname_len)
+  {
+    //variables
+    int i,j,n,m;
+    int iRows=0,iCols=0;
+    int *piAddr1  = NULL;
+    int *piAddr2  = NULL;
+    int *piAddr3  = NULL;
+    int *piAddr4  = NULL;
+    
+    double *pdblReal = NULL;
+
+    SciErr sciErr;
+
+    /*------------------------------------------- Checking Input Argument ----------------------------------------------------*/
+    
+    CheckInputArgument(pvApiCtx, 4, 4);
+    CheckOutputArgument(pvApiCtx, 1, 1) ;
+
+    /*------------------------------------- Projection matrix 1 :- First argument of the input -------------------------------------*/
+    
+    sciErr = getVarAddressFromPosition(pvApiCtx, 1, &piAddr1);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    sciErr = getMatrixOfDouble(pvApiCtx, piAddr1, &iRows, &iCols, &pdblReal);
+    if(sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+
+    if(iRows!=3 or iCols!=4){
+        Scierror(iRows,"Projection matrix (arg 1)  must be a 3 X 4 matrix");
+        return 0;
+    }
+    Mat projMat1(iRows, iCols, CV_64F);
+    for(i = 0; i < iRows; i++)
+        for(j = 0; j < iCols; j++){
+           projMat1.at<double>(i,j) = pdblReal[i + (j * iRows)];
+        }
+    
+    /* ------------------------------------ Projection matrix 2 :- Second argument of the input -------------------------------------*/
+
+    sciErr = getVarAddressFromPosition(pvApiCtx, 2, &piAddr2);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    sciErr = getMatrixOfDouble(pvApiCtx, piAddr2, &iRows, &iCols, &pdblReal);
+    if(sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+
+    if(iRows!=3 or iCols!=4){
+        Scierror(iRows,"Projection matrix (arg 2)  must be a 3 X 4 matrix");
+        return 0;
+    }
+    Mat projMat2(iRows, iCols, CV_64F);
+    for(i=0;i<iRows;i++)
+        for(j=0;j<iCols;j++)
+            projMat2.at<double>(i,j) = pdblReal[i + (j * iRows)];
+
+
+    /* ------------------------------------ Points matrix 1 :- Third argument of the input -------------------------------------*/
+    
+    sciErr = getVarAddressFromPosition(pvApiCtx,3,&piAddr3);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    sciErr = getMatrixOfDouble(pvApiCtx, piAddr3, &iRows, &iCols, &pdblReal);
+    if(sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    n = iCols;
+    if(iRows!=2){
+        Scierror(iRows,"Points matrix (arg 3) must be a 2 X N matrix");
+        return 0;
+    }
+    Mat newPoint1(2, iCols, CV_64F);
+    for(i = 0; i < 2; i++)
+        for(j = 0; j < iCols; j++)
+            newPoint1.at<double>(i,j) = pdblReal[ i + ( j * iRows )];
+    
+
+    /* ------------------------------------ Points matrix 2 :- Fourth argument of the input -------------------------------------*/
+    
+    sciErr = getVarAddressFromPosition(pvApiCtx, 4, &piAddr4);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    sciErr = getMatrixOfDouble(pvApiCtx, piAddr4, &iRows, &iCols, &pdblReal);
+    if(sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    
+    m = iCols;
+    if(iRows!=2){
+        Scierror(iRows,"Points matrix (arg 4) must be a 2 X N matrix");
+        return 0;
+    }
+    Mat newPoint2(iRows, iCols, CV_64F);
+    for(i = 0; i < iRows; i++)
+        for(j = 0; j < iCols; j++)
+            newPoint2.at<double>(i,j) = pdblReal[ i + ( j * iRows )];
+
+    if(n!=m){
+        Scierror(n,"No of columns of arg 3 and arg 4 must be same");
+        return 0;
+    }
+    Mat new_image(4, n, CV_64F);
+
+    triangulatePoints(projMat1, projMat2, newPoint1, newPoint2, new_image);
+
+    string tempstring = type2str(new_image.type());
+    char *checker;
+    checker = (char *)malloc(tempstring.size() + 1);
+    memcpy(checker, tempstring.c_str(), tempstring.size() + 1);
+    returnImage(checker,new_image,1);
+    free(checker); 
+
+    
+    //Assigning the list as the Output Variable
+    AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1;
+    //Returning the Output Variables as arguments to the Scilab environment
+    ReturnArguments(pvApiCtx);
+    return 0;
+
+  }
+/* ==================================================================== */
+}
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