summaryrefslogtreecommitdiff
path: root/sci_gateway1/cpp/opencv_estimateFundamentalMatrix.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'sci_gateway1/cpp/opencv_estimateFundamentalMatrix.cpp')
-rw-r--r--sci_gateway1/cpp/opencv_estimateFundamentalMatrix.cpp318
1 files changed, 318 insertions, 0 deletions
diff --git a/sci_gateway1/cpp/opencv_estimateFundamentalMatrix.cpp b/sci_gateway1/cpp/opencv_estimateFundamentalMatrix.cpp
new file mode 100644
index 0000000..4a2cec2
--- /dev/null
+++ b/sci_gateway1/cpp/opencv_estimateFundamentalMatrix.cpp
@@ -0,0 +1,318 @@
+/****************************************************************************************************
+estimateFundamentalMatrix(InputArray1,InputArray2,'method','RANSAC','param1',2,'param2',0.99);
+
+possible methods are 7POINT,8POINT,RANSAC,LMEDS
+param1- It indiacates maximum distance from a point to an epipolar line in pixels
+param2- It specifies a desirable level of confidence
+********************************************************* ***********************************************/
+#include <numeric>
+#include "opencv2/core/core.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/opencv.hpp"
+#include "opencv2/imgproc/imgproc.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_estimateFundamentalMat(char *fname, unsigned long fname_len)
+ {
+
+ SciErr sciErr;
+ int intErr=0;
+ int iComplex = 0;
+ int iType = 0;
+ int *piAddr = NULL;
+ int *piLen = NULL;
+ int iRows,iCols;
+ int iA1Rows=0,iA1Cols=0,iA2Rows=0,iA2Cols=0;
+ int method=FM_RANSAC;
+ int nbInputArguments,iter,i,j;
+ char **pstData = NULL;
+ char *currentArg = NULL;
+ bool *providedArgs = NULL;
+ double* pdblReal = NULL;
+ double *iArray1=NULL,*iArray2=NULL;
+ double param1=3,param2=0.99;
+
+ vector<Point2f> point1,point2;
+
+ CheckInputArgument(pvApiCtx, 2, 8);
+ CheckOutputArgument(pvApiCtx, 1, 1) ;
+
+ nbInputArguments = *getNbInputArgument(pvApiCtx);
+ providedArgs = (bool*) malloc(sizeof(bool) * 3);
+
+
+ sciErr = getVarAddressFromPosition(pvApiCtx, 1, &piAddr);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ sciErr = getVarType(pvApiCtx, piAddr, &iType);
+ if(sciErr.iErr || iType != sci_matrix)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ //Get complexity
+ iComplex = isVarComplex(pvApiCtx, piAddr);
+ //Check complexity
+ if(iComplex)
+ {
+ Scierror(999, "%s: Wrong type for input argument: A complex number is not expected.\n");
+ return 0;
+ }
+
+ sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &iA1Rows, &iA1Cols, &iArray1);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+
+ sciErr = getVarAddressFromPosition(pvApiCtx, 2, &piAddr);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ sciErr = getVarType(pvApiCtx, piAddr, &iType);
+ if(sciErr.iErr || iType != sci_matrix)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ //Get complexity
+ iComplex = isVarComplex(pvApiCtx, piAddr);
+ //Check complexity
+ if(iComplex)
+ {
+ Scierror(999, "%s: Wrong type for input argument: A complex number is not expected.\n");
+ return 0;
+ }
+
+ sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &iA2Rows, &iA2Cols, &iArray2);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ if(iA1Rows != iA2Rows)
+ {
+ Scierror(999, "There must be the same number of points in both input arrays\n");
+ return 0;
+ }
+
+ for(i=0;i<iA1Rows;i++){
+ point1.push_back(Point2f(iArray1[i],iArray1[iA1Rows+i]));
+ point2.push_back(Point2f(iArray2[i],iArray2[iA2Rows+i]));
+ }
+ for(iter=3; iter<= nbInputArguments; iter++)
+ {
+ 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;
+ }
+
+ currentArg = pstData[0];
+ if(strcmp(currentArg, "method")==0)
+ {
+ //sciprint("in if\tcurrentArg:%s\n",currentArg);
+ if(iter+1<=nbInputArguments && !providedArgs[0])
+ {
+ 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;
+ }
+ currentArg=pstData[0];
+ // Checking if values are in proper range. Same for all optional arguments
+ //sciprint("in if\tcurrentArg:%s\n",currentArg);
+ if(strcmp(currentArg,"7POINT")==0)
+ method = FM_7POINT;
+ else if (strcmp(currentArg,"8POINT")==0)
+ method= FM_8POINT;
+ else if (strcmp(currentArg,"RANSAC")==0)
+ method= FM_RANSAC;
+ else if (strcmp(currentArg,"LMEDS")==0)
+ method= FM_LMEDS;
+ else
+ {
+ sciprint("Invalid method given. RANSAC was used instead");
+ method= FM_RANSAC;
+ }
+ 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, "param1")==0)
+ {
+ if(iter+1 <= nbInputArguments && !providedArgs[1])
+ {
+ sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr);
+ if (sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ intErr = getScalarDouble(pvApiCtx, piAddr, &param1);
+ if(intErr)
+ {
+ return intErr;
+ }
+ providedArgs[1] = 1;
+ }
+ 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, "param2")==0)
+ {
+ if(iter+1 <= nbInputArguments && !providedArgs[2])
+ {
+ sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr);
+ if (sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ intErr = getScalarDouble(pvApiCtx, piAddr, &param2);
+ if(intErr)
+ {
+ return intErr;
+ }
+ providedArgs[2] = 1;
+ }
+ 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
+ {
+ Scierror(999, "Error: \"%s\" name for input argument is not valid.\n", currentArg);
+ return 0;
+ }
+ }
+
+ if (method==FM_7POINT && point1.size()!=7){
+ Scierror(999, "Error: For FM_7POINT method number of points in each array must be 7\n");
+ return 0;
+ }
+ if (method!=FM_7POINT && point1.size()<8 ){
+ Scierror(999, "Error: Number of points in each array must be greater than or equal to 8\n");
+ return 0;
+ }
+
+ Mat fm=cv::findFundamentalMat(point1, point2, method, param1, param2);
+ pdblReal = (double*) malloc(sizeof(double) * fm.rows *3);
+ for(i = 0 ; i < fm.rows ; i++)
+ {
+ for(j = 0 ; j < 3 ; j++)
+ {
+ pdblReal[i + fm.rows * j] = fm.at<double>(i,j);
+ }
+ }
+ sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 1, fm.rows , 3, pdblReal);
+ if(sciErr.iErr)
+ {
+ printError(&sciErr, 0);
+ return 0;
+ }
+ AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1;
+ ReturnArguments(pvApiCtx);
+ return 0;
+ }
+}
generated by cgit (git 2.34.1) at 2024-12-19 09:44:07 +0000