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+/*********************************************************************************
+*Author : Kevin George
+*
+*-> To execute, epipolarlines(I1,I2)
+* where I1.1 & I2 are images
+*
+* This will display the matched points and the epipolar lines.
+*********************************************************************************/
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include "opencv2/features2d/features2d.hpp"
+#include "opencv2/nonfree/features2d.hpp"
+#include <stdio.h>
+#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"
+ //# include "../common.cpp"
+
+ int opencv_epipolarlines(char *fname, unsigned long fname_len)
+ {
+ SciErr sciErr;
+ int intErr=0;
+
+ //-> Mat containers for images
+ Mat img_1;
+ Mat img_2;
+
+ //-> Address of Various Arguments
+ int *piAddr = NULL;
+
+ //-> Local variables
+ int *outList = NULL;
+ unsigned char *red = NULL;
+ unsigned char *green = NULL;
+ unsigned char *blue = NULL;
+
+ int *outList2 = NULL;
+ unsigned char *red2 = NULL;
+ unsigned char *green2 = NULL;
+ unsigned char *blue2 = NULL;
+
+ //-> Checks the number of arguments
+ //-> pvApiCtx is a Scilab environment pointer
+ CheckInputArgument(pvApiCtx, 1, 5); //Check on Number of Input Arguments
+ CheckOutputArgument(pvApiCtx, 1, 5); //Check on Number of Output Arguments
+
+ //-> Read Image
+ retrieveImage( img_1, 1);
+ retrieveImage(img_2, 2);
+
+ //-> Count number of input arguments
+ //num_InputArgs = *getNbInputArgument(pvApiCtx);
+
+ //-> Based on number of input arguments
+
+//***************************************************** Actual Processing *************************************************************
+
+ //Mat img_1 = imread( "left.jpg", CV_LOAD_IMAGE_GRAYSCALE );
+ //Mat img_2 = imread( "right.jpg", CV_LOAD_IMAGE_GRAYSCALE );
+
+ cvtColor(img_1, img_1, CV_BGR2GRAY);
+ cvtColor(img_2, img_2,CV_BGR2GRAY);
+
+ //-- Step 1: Detect the keypoints using SURF Detector
+ int minHessian = 400;
+
+ SurfFeatureDetector detector( minHessian );
+
+ std::vector<KeyPoint> keypoints_1, keypoints_2;
+
+ detector.detect( img_1, keypoints_1 );
+ detector.detect( img_2, keypoints_2 );
+
+ //-- Step 2: Calculate descriptors (feature vectors)
+ SurfDescriptorExtractor extractor;
+
+ Mat descriptors_1, descriptors_2;
+
+ extractor.compute( img_1, keypoints_1, descriptors_1 );
+ extractor.compute( img_2, keypoints_2, descriptors_2 );
+
+ //-- Step 3: Matching descriptor vectors using FLANN matcher
+ FlannBasedMatcher matcher;
+ std::vector< DMatch > matches;
+ matcher.match( descriptors_1, descriptors_2, matches );
+
+ double max_dist = 0; double min_dist = 100;
+
+ //-- Quick calculation of max and min distances between keypoints
+ for( int i = 0; i < descriptors_1.rows; i++ )
+ { double dist = matches[i].distance;
+ if( dist < min_dist ) min_dist = dist;
+ if( dist > max_dist ) max_dist = dist;
+ }
+
+ std::vector< DMatch > good_matches;
+ vector<Point2f> points1,points2;
+
+ for( int i = 0; i < descriptors_1.rows; i++ )
+ { //if( matches[i].distance <= max(2*min_dist, 0.02) )
+ if( matches[i].distance <= max(3*min_dist, 0.02) )
+ {
+ good_matches.push_back( matches[i]);
+ points2.push_back( keypoints_2[matches[i].trainIdx].pt );
+ points1.push_back( keypoints_1[matches[i].queryIdx].pt );
+ }
+
+ }
+
+ //***************** Finding Fundamental Matrix **************************
+
+ vector<uchar> states;
+ Mat f = findFundamentalMat(points1, points2, FM_RANSAC, 3, 0.99, states);
+ //Mat F = findFundamentalMat(points1, points2, FM_LMEDS, 3, 0.99, states);
+ string window = "epipolarlines";
+ //drawEpipolarLines(window, fundamental_matrix, img_1, img_2, points1, points2);
+
+
+ vector<Vec<float,3> > epilines1, epilines2;
+ computeCorrespondEpilines(points1, 1, f, epilines1); //Index starts with 1
+ computeCorrespondEpilines(points2, 2, f, epilines2);
+
+ cvtColor(img_1,img_1,COLOR_GRAY2BGR);
+ cvtColor(img_2,img_2,COLOR_GRAY2BGR);
+ int inlierDistance = -1;
+ // cout<<points1.size()<<endl<<points2.size( );
+ cv::RNG rng(0);
+ for(int i=0; i<points1.size(); i++)
+ {
+ /*if(inlierDistance > 0)
+ {
+ if(distancePointLine(points1[i], epilines2[i]) > inlierDistance ||
+ distancePointLine(points2[i], epilines1[i]) > inlierDistance)
+ {
+ //The point match is no inlier
+ continue;
+ }
+ } */
+
+ //Mat outImg(img1.rows, img1.cols*2, CV_8UC3);
+ //Rect rect1(0,0, img1.cols, img1.rows);
+
+//************************************************************* Draw epipolar lines function ********************************************************
+ cv::Scalar color(rng(256),rng(256),rng(256));
+ line(img_1, Point(0,-epilines1[i][2]/epilines1[i][1]), Point(img_1.cols,-(epilines1[i][2]+epilines1[i][0]*img_1.cols)/epilines1[i][1]),color);
+ circle(img_1, points1[i], 3, color, -1, CV_AA);
+
+ line(img_2, Point(0,-epilines1[i][2]/epilines1[i][1]), Point(img_2.cols,-(epilines1[i][2]+epilines1[i][0]*img_2.cols)/epilines1[i][1]),color);
+ circle(img_2, points2[i], 3, color, -1, CV_AA);
+ }
+
+//************************************************ Returning first image **************************************************
+
+ if( img_1.channels() == 1)
+ {
+ sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, 1, &outList);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ red = (unsigned char *)malloc(sizeof(unsigned char)*img_1.rows*img_1.cols);
+
+ for(int k=0;k<img_1.rows;k++)
+ for(int p=0;p<img_1.cols;p++)
+ red[k+img_1.rows*p]=img_1.at<uchar>(k, p);
+
+ sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, outList, 1, img_1.rows, img_1.cols, red);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ free(red);
+ }
+
+ else
+ {
+ sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, 3, &outList);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ red = (unsigned char *)malloc(sizeof(unsigned char)*img_1.rows*img_1.cols);
+ green = (unsigned char *)malloc(sizeof(unsigned char)*img_1.rows*img_1.cols);
+ blue = (unsigned char *)malloc(sizeof(unsigned char)*img_1.rows*img_1.cols);
+
+ for(int k=0;k<img_1.rows;k++)
+ {
+ for(int p=0;p<img_1.cols;p++)
+ {
+ Vec3b intensity = img_1.at<Vec3b>(k, p);
+ red[k+img_1.rows*p]=intensity.val[2];
+ green[k+img_1.rows*p]=intensity.val[1];
+ blue[k+img_1.rows*p]=intensity.val[0];
+ }
+ }
+
+ sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, outList, 1, img_1.rows, img_1.cols, red);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, outList, 2, img_1.rows, img_1.cols, green);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, outList, 3, img_1.rows, img_1.cols, blue);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ free(red);
+ free(green);
+ free(blue);
+
+ }
+
+
+ /*imshow("title", img_1);
+ waitKey(0);
+ imshow("title2", img_2);
+ waitKey(0);*/
+
+ if( img_2.channels() == 1)
+ {
+ sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, 1, &outList2);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ red2 = (unsigned char *)malloc(sizeof(unsigned char)*img_2.rows*img_2.cols);
+
+ for(int k=0;k<img_2.rows;k++)
+ for(int p=0;p<img_2.cols;p++)
+ red2[k+img_2.rows*p]=img_2.at<uchar>(k, p);
+
+ sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, outList2, 1, img_2.rows, img_2.cols, red2);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ free(red2);
+ }
+
+ else
+ {
+ sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, 3, &outList2);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ red2 = (unsigned char *)malloc(sizeof(unsigned char)*img_2.rows*img_2.cols);
+ green2 = (unsigned char *)malloc(sizeof(unsigned char)*img_2.rows*img_2.cols);
+ blue2 = (unsigned char *)malloc(sizeof(unsigned char)*img_2.rows*img_2.cols);
+
+ for(int k=0;k<img_2.rows;k++)
+ {
+ for(int p=0;p<img_2.cols;p++)
+ {
+ Vec3b intensity2 = img_2.at<Vec3b>(k, p);
+ red2[k+img_2.rows*p]=intensity2.val[2];
+ green2[k+img_2.rows*p]=intensity2.val[1];
+ blue2[k+img_2.rows*p]=intensity2.val[0];
+ }
+ }
+
+ sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, outList2, 1, img_2.rows, img_2.cols, red2);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, outList2, 2, img_2.rows, img_2.cols, green2);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, outList2, 3, img_2.rows, img_2.cols, blue2);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ free(red2);
+ free(green2);
+ free(blue2);
+
+ }
+
+
+ AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1;
+ AssignOutputVariable(pvApiCtx, 2) = nbInputArgument(pvApiCtx) + 2;
+ ReturnArguments(pvApiCtx);
+ return 0;
+ }
+
+} \ No newline at end of file
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