First CommitHEADmaster

1 files changed, 118 insertions, 0 deletions

diff --git a/sci_gateway1/cpp/opencv_undistort.cpp b/sci_gateway1/cpp/opencv_undistort.cpp
new file mode 100644
index 0000000..da72d8e
--- /dev/null
+++ b/sci_gateway1/cpp/opencv_undistort.cpp
@@ -0,0 +1,118 @@
+/***************************************************
+Author : Sukul Bagai, Shubheksha Jalan
+***************************************************/
+
+#include <numeric>
+#include "opencv2/core/core.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/opencv.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 "../common.h"
+  
+  int opencv_undistort(char *fname, unsigned long fname_len)
+  {
+    SciErr sciErr;
+    int iRows=0,iCols=0;
+    int *piAddr2  = NULL;
+    int *piAddr3  = NULL;
+    int *piAddr4  = NULL;
+    int *piAddr5  = NULL;
+    int i,j,k;
+    double cameraMatrix [3][3], newCameraMatrix [3][3];
+    double *temp = NULL;
+ //checking input argument
+    CheckInputArgument(pvApiCtx, 4, 4);
+    CheckOutputArgument(pvApiCtx, 1, 1) ;
+    Mat image;
+    retrieveImage(image, 1); 
+
+	//for camera matrix 
+    sciErr = getVarAddressFromPosition(pvApiCtx,2,&piAddr2);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    sciErr = getMatrixOfDouble(pvApiCtx, piAddr2, &iRows, &iCols, &temp);
+    if(sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    for(i=0;i<3;i++)
+        for(j=0;j<3;j++)
+            cameraMatrix[i][j]=temp[(j*3)+i];
+   Mat cameraMat(3,3,CV_64F,&cameraMatrix);
+
+//for array of coefficients
+    sciErr = getVarAddressFromPosition(pvApiCtx,3,&piAddr3);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    sciErr = getMatrixOfDouble(pvApiCtx, piAddr3, &iRows, &iCols, &temp);
+    if(sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+
+    int n;
+    if(iRows==1)
+        n=iCols;
+    else
+        n=iRows;
+    
+    double distCoeffs[n];
+    for(i=0;i<n;i++)
+        distCoeffs[i]=temp[i];
+    Mat distCoeffsActual(n,1,CV_64F);
+
+//for optional parameter newCameraMatrix
+sciErr = getVarAddressFromPosition(pvApiCtx,4,&piAddr4);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    sciErr = getMatrixOfDouble(pvApiCtx, piAddr4, &iRows, &iCols , &temp);
+    if(sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    } 
+
+    for(i=0;i<3;i++)
+        for(j=0;j<3;j++)
+            newCameraMatrix[i][j]=temp[(j*3)+i];  
+  Mat newCameraMat(3,3,CV_64F,&newCameraMatrix);
+  Mat new_image;
+
+  undistort(image, new_image, cameraMat, distCoeffsActual, newCameraMat);
+
+
+    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;
+
+  }
+/* ==================================================================== */
+}
\ No newline at end of file