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Diffstat (limited to 'sci_gateway1/cpp/opencv_corner.cpp')
| -rw-r--r-- | sci_gateway1/cpp/opencv_corner.cpp | 469 |
1 files changed, 469 insertions, 0 deletions
diff --git a/sci_gateway1/cpp/opencv_corner.cpp b/sci_gateway1/cpp/opencv_corner.cpp new file mode 100644 index 0000000..96c1f4c --- /dev/null +++ b/sci_gateway1/cpp/opencv_corner.cpp @@ -0,0 +1,469 @@ +/*************************************************** +Author : Rohit Suri +***************************************************/ +#include <numeric> +#include <string.h> +#include "opencv2/core/core.hpp" +#include "opencv2/highgui/highgui.hpp" +#include "opencv2/opencv.hpp" +#include "opencv2/imgproc/imgproc.hpp" +#include <iostream> +#include <math.h> +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" + + /*Calling syntax: corner(I) or corner(I, Name, Value) + which uses additional options specified by one or more Name, Value pair arguments. + Arguments Allowed: MinQuality, FilterSize, ROI, SensitivityFactor + MinQuality : The minimum accepted quality of corners represents a fraction of the + maximum corner metric value in the image. Larger values can be used + to remove erroneous corners. + FilterSize : Gaussian filter dimension + ROI : Rectangular region for corner detection + SensitivityFactor : A scalar value, K, where 0 < K < 0.25, specifying the sensitivity + factor used in the Harris detection algorithm. + Method : Whether to use 'Harris' or 'MinimumEigenValue' technique */ + + int opencv_corner(char *fname, unsigned long fname_len) + { + // Error management variables + SciErr sciErr; + int intErr; + + //------Local variables------// + int *location = NULL; + double *metric = NULL; + int *piAddr = NULL; + int *piLen = NULL; + int nbInputArguments; + char **pstData = NULL; + char *currentArg = NULL; + bool *providedArgs = NULL; + double *matrixOfRoi; // ROI[xStart, yStart, width, height] + int iRows, iCols; + Mat sourceImage, dst, dstThresholded, ucharDstThresholded, extended; + vector<vector<Point> > contours; + char *method; + double filterSize = 5, minQuality = 0.01, sensitivityFactor = 0.04, blockSize = 2, maxDst, localMax; + bool *included = NULL; + int pointCount = 0, localMaxPos; + double tempForSwapping; + int coordinateMin, coordinatePos; + + //------Check number of parameters------// + CheckInputArgument(pvApiCtx, 1, 11); + CheckOutputArgument(pvApiCtx, 1, 3); + + //------Get input arguments------// + retrieveImage(sourceImage, 1); + if(sourceImage.channels() != 1) + { + Scierror(999, "The input image is not a grayscale image."); + return 0; + } + matrixOfRoi = (double*) malloc(sizeof(double) * 4); + providedArgs = (bool*) malloc(sizeof(bool) * 5); + memset(providedArgs, 0, 5); + method = "Harris"; + matrixOfRoi[0] = 0; + matrixOfRoi[1] = 0; + matrixOfRoi[2] = sourceImage.cols; + matrixOfRoi[3] = sourceImage.rows; + nbInputArguments = *getNbInputArgument(pvApiCtx); + + // The following loop is for checking if optional arguments have been provided + for(int iter=2; iter <= nbInputArguments; iter++) + { + // Getting address of next argument + sciErr = getVarAddressFromPosition(pvApiCtx, iter, &piAddr); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + // Extracting name of next argument takes three calls to getMatrixOfString + sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, NULL, NULL); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + piLen = (int*) malloc(sizeof(int) * iRows * iCols); + + sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, piLen, NULL); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + pstData = (char**) malloc(sizeof(char*) * iRows * iCols); + for(int iterPstData = 0; iterPstData < iRows * iCols; iterPstData++) + { + pstData[iterPstData] = (char*) malloc(sizeof(char) * piLen[iterPstData] + 1); + } + + sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, piLen, pstData); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + currentArg = pstData[0]; + // providedArgs[] makes sure that no optional argument is provided more than once + if(strcmp(currentArg, "MinQuality")==0) + { + if(iter+1<=nbInputArguments && !providedArgs[0]) + { + sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + intErr = getScalarDouble(pvApiCtx, piAddr, &minQuality); + if(intErr) + { + return intErr; + } + // Checking if values are in proper range. Same for all optional arguments + if(minQuality < 0 || minQuality > 1) + { + Scierror(999, "Error: Please provide proper value for \"%s\". Permissible range is [0, 1].\n", currentArg); + return 0; + } + providedArgs[0] = 1; + } + else if(providedArgs[0]) // Send an error message if an argument is provided more than once. Same for all optional arguments. + { + Scierror(999, "Please provide optional arguments only once.\n"); + return 0; + } + else // Send an error message if name of argument is given but type is incorrect. Same for all optional arguments. + { + Scierror(999, "Incorrect number of arguments provided. Please check the documentation for more information.\n"); + return 0; + } + } + else if(strcmp(currentArg, "FilterSize")==0) + { + if(iter+1 <= nbInputArguments && !providedArgs[1]) + { + sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + intErr = getScalarDouble(pvApiCtx, piAddr, &filterSize); + if(intErr) + { + return intErr; + } + providedArgs[1] = 1; + if(filterSize!=1 && filterSize!=3 && filterSize!=5 && filterSize!=7) + { + Scierror(999, "Error: Please provide proper value for \"%s\". Permissible values are {1, 3, 5, 7}.\n", currentArg); + return 0; + } + } + else if(providedArgs[1]) + { + Scierror(999, "Please provide optional arguments only once.\n"); + return 0; + } + else + { + Scierror(999, "Incorrect number of arguments provided. Please check the documentation for more information.\n"); + return 0; + } + } + else if(strcmp(currentArg, "ROI")==0) + { + if(iter+1 <= nbInputArguments && !providedArgs[2]) + { + sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + if(!isDoubleType(pvApiCtx, piAddr) || isVarComplex(pvApiCtx, piAddr)) + { + Scierror(999, "%s: Wrong type for input argument #%d: A real matrix expected.\n", fname, iter); + return 0; + } + sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &iRows, &iCols, &matrixOfRoi); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + if(iRows!=1 || iCols!=4) + { + Scierror(999, "Incorrect dimension of matrix for argument ROI.\n"); + return 0; + } + providedArgs[2] = 1; + if(matrixOfRoi[0] < 0 || matrixOfRoi[0] > sourceImage.cols || matrixOfRoi[1] < 0 || + matrixOfRoi[1] > sourceImage.rows || matrixOfRoi[2] < 0 || matrixOfRoi[0] + matrixOfRoi[2] > sourceImage.cols + || matrixOfRoi[3] < 0 || matrixOfRoi[1] + matrixOfRoi[3] > sourceImage.rows) + { + Scierror(999, "Error: Please provide proper values for \"%s\".\n", currentArg); + return 0; + } + } + else if(providedArgs[2]) + { + Scierror(999, "Please provide optional arguments only once.\n"); + return 0; + } + else + { + Scierror(999, "Incorrect number of arguments provided. Please check the documentation for more information.\n"); + return 0; + } + } + else if(strcmp(currentArg, "SensitivityFactor")==0) + { + if(iter+1 <= nbInputArguments && !providedArgs[3]) + { + sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + intErr = getScalarDouble(pvApiCtx, piAddr, &sensitivityFactor); + if(intErr) + { + return intErr; + } + providedArgs[3] = 1; + if(sensitivityFactor < 0 || sensitivityFactor > 0.25) + { + Scierror(999, "Error: Please provide proper value for \"%s\". Permissible values are [0, 0.25].\n", currentArg); + return 0; + } + } + else if(providedArgs[3]) + { + Scierror(999, "Please provide optional arguments only once.\n"); + return 0; + } + else + { + Scierror(999, "Incorrect number of arguments provided. Please check the documentation for more information.\n"); + return 0; + } + } + else if(strcmp(currentArg, "Method")==0) + { + if(iter+1 <= nbInputArguments && !providedArgs[4]) + { + sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, NULL, NULL); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + piLen = (int*) malloc(sizeof(int) * iRows * iCols); + + sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, piLen, NULL); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + pstData = (char**) malloc(sizeof(char*) * iRows * iCols); + for(int iterPstData = 0; iterPstData < iRows * iCols; iterPstData++) + { + pstData[iterPstData] = (char*) malloc(sizeof(char) * piLen[iterPstData] + 1); + } + + sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, piLen, pstData); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + method = pstData[0]; + providedArgs[4] = 1; + if(strcmp(method, "Harris") !=0 && strcmp(method, "MinimumEigenValue") !=0) + { + Scierror(999, "Error: Please provide proper value for \"%s\". Permissible values are [\"Harris\" , \"MinimumEigenValue\"].\n", currentArg); + return 0; + } + } + else if(providedArgs[4]) + { + Scierror(999, "Please provide optional arguments only once.\n"); + return 0; + } + else + { + Scierror(999, "Incorrect number of arguments provided. Please check the documentation for more information.\n"); + return 0; + } + } + else + { + Scierror(999, "Error: \"%s\" name for input argument is not valid.\n", currentArg); + return 0; + } + } + + //------Actual processing------// + if(strcmp(method, "Harris") == 0) + { + cornerHarris(sourceImage(Rect(matrixOfRoi[0], matrixOfRoi[1], matrixOfRoi[2], matrixOfRoi[3])), dst, blockSize, filterSize, sensitivityFactor, BORDER_DEFAULT); + } + else + { + cornerMinEigenVal(sourceImage(Rect(matrixOfRoi[0], matrixOfRoi[1], matrixOfRoi[2], matrixOfRoi[3])), dst, blockSize, filterSize, BORDER_DEFAULT); + } + // Finding the maximum value at a pixel in dst + maxDst = 0; + for(int rowIter=0; rowIter < dst.rows; rowIter++) + { + for(int colIter=0; colIter < dst.cols; colIter++) + { + if(dst.at<float>(rowIter, colIter) > maxDst) + { + maxDst = dst.at<float>(rowIter, colIter); + } + } + } + + /* First, we threshold dst according to the minQuality expected by the user. + We then find contours in the thresholded image and check each pixel's value + to compute the local maxima. A extended mat is created because contours + having edges on the boundaries of the images are not considered by + findContours */ + threshold(dst, dstThresholded, maxDst*minQuality, 255, THRESH_BINARY); + dstThresholded.convertTo(ucharDstThresholded, CV_8UC1); + extended = Mat(dst.rows+2, dst.cols+2, CV_8UC1); + for(int rowIter = 0; rowIter < extended.rows; rowIter++) + { + for(int colIter = 0; colIter < extended.cols; colIter++) + { + if(rowIter == 0 || rowIter == extended.rows - 1 + || colIter == 0 || colIter == extended.cols - 1) + { + extended.at<uchar>(rowIter, colIter) = 0; + } + else + { + extended.at<uchar>(rowIter, colIter) = ucharDstThresholded.at<uchar>(rowIter-1, colIter-1); + } + } + } + + findContours(extended, contours, CV_RETR_TREE, CV_CHAIN_APPROX_NONE); + pointCount = contours.size(); + location = (int*) malloc(sizeof(int) * pointCount * 2); + metric = (double*) malloc(sizeof(double)*pointCount); + for(int rowIter = 0; rowIter < contours.size(); rowIter++) + { + localMax = 0; + localMaxPos = 0; + for(int colIter=0; colIter<contours[rowIter].size(); colIter++) + { + if(dst.at<float>(contours[rowIter][colIter].y-1, contours[rowIter][colIter].x-1)>localMax) + { + localMax = dst.at<float>(contours[rowIter][colIter].y-1, contours[rowIter][colIter].x-1); + localMaxPos = colIter; + } + } + if(localMax > maxDst*minQuality) + { + location[rowIter] = contours[rowIter][localMaxPos].x-1 + matrixOfRoi[0]; + location[pointCount + rowIter] = contours[rowIter][localMaxPos].y-1 + matrixOfRoi[1]; + metric[rowIter] = dst.at<float>(location[pointCount + rowIter], location[rowIter]); + } + } + + // To return coordinates in order + for(int iter1 = 0; iter1 < pointCount - 1; iter1++) + { + coordinateMin = location[iter1]; + coordinatePos = iter1; + for(int iter2 = iter1 + 1; iter2 < pointCount; iter2++) + { + if(location[iter2] < coordinateMin) + { + coordinateMin = location[iter2]; + coordinatePos = iter2; + } + else if(location[iter2] == coordinateMin) + { + if(location[pointCount + iter2] < location[pointCount + coordinatePos]) + { + coordinateMin = location[iter2]; + coordinatePos = iter2; + } + } + } + // Swapping x coordinate + tempForSwapping = location[coordinatePos]; + location[coordinatePos] = location[iter1]; + location[iter1] = tempForSwapping; + // Swapping y coordinate + tempForSwapping = location[pointCount + coordinatePos]; + location[pointCount + coordinatePos] = location[pointCount + iter1]; + location[pointCount + iter1] = tempForSwapping; + // Swapping metric + tempForSwapping = metric[coordinatePos]; + metric[coordinatePos] = metric[iter1]; + metric[iter1] = tempForSwapping; + } + + //------Create output arguments------// + sciErr = createMatrixOfInteger32(pvApiCtx, nbInputArgument(pvApiCtx)+1, pointCount, 2, location); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx)+2, pointCount, 1, metric); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + sciErr = createMatrixOfInteger32(pvApiCtx, nbInputArgument(pvApiCtx)+3, 1, 1, &pointCount); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + //------Return Arguments------// + AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx)+1; + AssignOutputVariable(pvApiCtx, 2) = nbInputArgument(pvApiCtx)+2; + AssignOutputVariable(pvApiCtx, 3) = nbInputArgument(pvApiCtx)+3; + ReturnArguments(pvApiCtx); + return 0; + } +/* ==================================================================== */ +}
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