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-rw-r--r--sci_gateway1/cpp/opencv_detectBRISKFeatures.cpp421
1 files changed, 421 insertions, 0 deletions
diff --git a/sci_gateway1/cpp/opencv_detectBRISKFeatures.cpp b/sci_gateway1/cpp/opencv_detectBRISKFeatures.cpp
new file mode 100644
index 0000000..e6ded8e
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+++ b/sci_gateway1/cpp/opencv_detectBRISKFeatures.cpp
@@ -0,0 +1,421 @@
+/***************************************************
+Author : Shashank Shekhar
+***************************************************/
+#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 "sciprint.h"
+ #include "../common.h"
+
+ int opencv_detectBRISKFeatures(char *fname, unsigned long fname_len)
+ {
+
+ SciErr sciErr;
+ int *piAddr = NULL;
+ int *piAddrVal = NULL;
+ int argPresence[4];
+ for(int i=0;i<4;i++)
+ argPresence[i]=0;
+ int val_position;
+ int iRows = 0;
+ int iCols = 0;
+ int *piLen = NULL;
+ char ** pstData = NULL;
+ char *currentArg = NULL;
+
+
+// DECLARING INPUT ARGUMENTS
+
+ double *ROImat = NULL;
+ double NumOctaves = 0;
+ double MinContrast = 0;
+ double MinQuality = 0;
+
+
+// DECLARING OUTPUT ARGUMENTS
+
+ vector<KeyPoint> myPoints;
+ int *LocationList = NULL;
+ double *LocationData = NULL;
+ double *OrientationData = NULL;
+ double *ScaleData = NULL;
+ double *MetricData = NULL;
+ int size;
+
+// ARGUMENT CHECK
+
+ CheckInputArgument(pvApiCtx, 1,9);
+ CheckOutputArgument(pvApiCtx,1,5);
+
+// RETRIEVING IMAGE
+
+ Mat image;
+ retrieveImage(image,1);
+
+// GRAYSCALE VALIDATION
+
+ if(image.channels()!=1)
+ {
+ Scierror(999," Feature is not meant for RGB images\n");
+ return 0;
+ }
+
+// OBTAINING NUMBER OF ARGUMENTS
+
+ int noOfarguments = *getNbInputArgument(pvApiCtx);
+
+// ARGUMENT COUNT CHECK
+
+ if(noOfarguments%2==0)
+ {
+ Scierror(999," Invalid Number Of Arguments\n");
+ return 0;
+ }
+
+// MULTIPLE ARGUMENT HANDLING
+
+ for(int i=2;i<noOfarguments;i=i+2)
+ {
+ sciErr = getVarAddressFromPosition(pvApiCtx,i,&piAddr);
+ if (sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ if(!isStringType(pvApiCtx, piAddr))
+ {
+ Scierror(999,"Invalid Argument\n");
+ return 0;
+ }
+
+ //first call to get rows and columns
+ sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, NULL, NULL);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ piLen = (int*)malloc(sizeof(int) * iRows * iCols);
+ //second call to retrieve length of each string
+ 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 j = 0 ; j < iRows * iCols ; j++)
+ {
+ pstData[j] = (char*)malloc(sizeof(char) * (piLen[j] + 1));//+ 1 for null termination
+ }
+ //third call to retrieve data
+ sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, piLen, pstData);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ currentArg = pstData[0];
+ free(pstData);
+ iRows=0;
+ iCols=0;
+ free(piLen);
+
+ if(strcmp(currentArg,"MinContrast")==0)
+ {
+ val_position=i+1;
+
+ if(argPresence[0]==1)
+ {
+ Scierror(999,"Do not enter the same parameter\n");
+ return 0;
+ }
+
+ sciErr = getVarAddressFromPosition(pvApiCtx,val_position,&piAddrVal);
+ if (sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ if(!isDoubleType(pvApiCtx, piAddrVal))
+ {
+ Scierror(999,"Invalid Value for MinContrast. Please enter a value between 0 and 1\n");
+ return 0;
+ }
+
+ getScalarDouble(pvApiCtx, piAddrVal, &MinContrast);
+
+ if(MinContrast<0 || MinContrast>1)
+ {
+ Scierror(999,"Invalid Value for MinContrast. Please enter a value between 0 and 1\n");
+ return 0;
+ }
+
+ argPresence[0]=1;
+ }
+ else if(strcmp(currentArg,"NumOctaves")==0)
+ {
+ val_position=i+1;
+
+ if(argPresence[1]==1)
+ {
+ Scierror(999,"Do not enter the same parameter\n");
+ return 0;
+ }
+
+ sciErr = getVarAddressFromPosition(pvApiCtx,val_position,&piAddrVal);
+ if (sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ if(!isDoubleType(pvApiCtx, piAddrVal))
+ {
+ Scierror(999," Invalid Value for NumOctaves. Recommended values are between 1 and 4\n");
+ return 0;
+ }
+
+ getScalarDouble(pvApiCtx, piAddrVal, &NumOctaves);
+ if(NumOctaves<1)
+ {
+ Scierror(999," Invalid Value for NumOctaves. Recommended values are between 1 and 4\n");
+ return 0;
+ }
+ argPresence[1]=1;
+ }
+ else if(strcmp(currentArg,"MinQuality")==0)
+ {
+ val_position=i+1;
+
+
+ if(argPresence[2]==1)
+ {
+ Scierror(999,"Do not enter the same parameter\n");
+ return 0;
+ }
+
+ sciErr = getVarAddressFromPosition(pvApiCtx,val_position,&piAddrVal);
+ if (sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ if(!isDoubleType(pvApiCtx, piAddrVal))
+ {
+ Scierror(999," Invalid Value for MinQuality. Recommended values are between 0 and 1\n");
+ return 0;
+ }
+
+ getScalarDouble(pvApiCtx, piAddrVal, &MinQuality);
+
+ if(MinQuality<0 || MinQuality>1)
+ {
+ Scierror(999," Invalid Value for MinQuality. Please enter a value between 0 and 1 \n");
+ return 0;
+ }
+
+ argPresence[2]=1;
+ }
+ else if(strcmp(currentArg,"ROI")==0)
+ {
+ val_position=i+1;
+
+ if(argPresence[3]==1)
+ {
+ Scierror(999,"Do not enter the same parameter\n");
+ return 0;
+ }
+
+ sciErr = getVarAddressFromPosition(pvApiCtx,val_position,&piAddrVal);
+ if (sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ if(!isDoubleType(pvApiCtx, piAddrVal) || isVarComplex(pvApiCtx, piAddrVal))
+ {
+ Scierror(999,"Enter a List of 4 arguments\n");
+ return 0;
+ }
+
+ sciErr = getMatrixOfDouble(pvApiCtx, piAddrVal, &iRows, &iCols, &ROImat);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ if(iRows*iCols!=4)
+ {
+ Scierror(999,"Invalid Argument\n");
+ return 0;
+ }
+
+ if(ROImat[0]<0 || ROImat[1]<0 || ROImat[2]<0 || ROImat[3]<0)
+ {
+ Scierror(999,"Arguments cannot be negative\n");
+ return 0;
+ }
+
+ if(ROImat[0]>image.cols || ROImat[1]>image.rows || ROImat[0]+ROImat[2]>image.cols
+ || ROImat[1]+ROImat[3]>image.rows)
+ {
+ Scierror(999,"Please make sure the arguments are within the image range\n");
+ return 0;
+ }
+
+ argPresence[3]=1;
+ }
+ else
+ {
+ Scierror(999, "Error: \"%s\" Invalid input argument.\n", currentArg);
+ return 0;
+ }
+
+ }
+
+
+// DEFAULT ARGUMENTS
+
+ if(argPresence[0]==0)
+ MinContrast=0.2;
+ if(argPresence[1]==0)
+ NumOctaves=4;
+ if(argPresence[2]==0)
+ MinQuality=0.1;
+ if(argPresence[3]==0)
+ {
+ ROImat=(double *)malloc(sizeof(double)*1*4);
+ ROImat[0]=0;
+ ROImat[1]=0;
+ ROImat[2]=image.cols;
+ ROImat[3]=image.rows;
+ }
+
+// CREATING REGION OF INTEREST
+
+ Rect masker(ROImat[0], ROImat[1], ROImat[2], ROImat[3]);
+
+ Mat mask(image.size(), CV_8UC1, Scalar::all(0));
+ mask(masker).setTo(Scalar::all(255));
+
+// PROCESSING BRISK
+
+
+ // Setting Threshold ------------------------------------------------->
+
+ double Threshold = MinContrast * 255;
+
+ // Limiting NumOctaves ----------------------------------------------->
+
+ int g = image.rows>image.cols?image.rows:image.cols;
+ int maxNumOctaves = int(floor(log2(g)));
+ if(NumOctaves>maxNumOctaves)
+ NumOctaves=maxNumOctaves;
+
+ //-----------------------------------------------------------------------
+
+ BRISK myobject(Threshold, NumOctaves);
+ myobject.operator()(image, mask, myPoints, noArray());
+
+ // Selecting Points according to MinQuality --------------------------->
+
+ size = myPoints.size();
+
+ double maxMetric = 0;
+ double minMetric = 0;
+
+ for(int i=0;i<size;i++)
+ {
+ if(myPoints[i].response>maxMetric)
+ maxMetric=myPoints[i].response;
+ }
+ minMetric = maxMetric*MinQuality;
+
+ int finalSize = 0;
+ for(int i=0;i<size;i++)
+ {
+ if(myPoints[i].response>=minMetric)
+ finalSize++;
+ }
+
+ //------------------------------------------------------------------------
+
+// LOCATION ---->
+
+ LocationData = (double *)malloc(sizeof(double)*finalSize*2);
+ MetricData = (double *)malloc(sizeof(double)*finalSize);
+ OrientationData = (double *)malloc(sizeof(double)*finalSize);
+ ScaleData = (double *)malloc(sizeof(double)*finalSize);
+ int k=0;
+ // Appending 1x2 Matrices containing the coordinates of the keypoints, as well as assiging other attributes
+ for(int i=0;i<size;i++)
+ {
+ if(myPoints[i].response>=minMetric)
+ {
+ LocationData[k++] = myPoints[i].pt.x;
+ LocationData[k++] = myPoints[i].pt.y;
+ OrientationData[i] = 0;
+ MetricData[i] = myPoints[i].response;
+ ScaleData[i] = myPoints[i].size;
+ }
+ }
+
+ sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 1, finalSize, 2, LocationData);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+
+ sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 2, finalSize, 1, OrientationData);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 3, finalSize,1, MetricData);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 4,finalSize,1, ScaleData);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ createScalarInteger32(pvApiCtx,nbInputArgument(pvApiCtx) + 5, finalSize);
+
+// ASSIGNING ---->
+
+ for(int i=1;i<=5;i++)
+ {
+ AssignOutputVariable(pvApiCtx, i) = nbInputArgument(pvApiCtx) + i;
+ }
+
+ ReturnArguments(pvApiCtx);
+ }
+
+} \ No newline at end of file
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