1 files changed, 168 insertions, 0 deletions
diff --git a/sci_gateway1/cpp/opencv_goodfeaturestotrack.cpp b/sci_gateway1/cpp/opencv_goodfeaturestotrack.cpp
new file mode 100644
index 0000000..79e614f
--- /dev/null
+++ b/sci_gateway1/cpp/opencv_goodfeaturestotrack.cpp
@@ -0,0 +1,168 @@
+/********************************************************
+    Author: Abhilasha Sancheti & Sukul Bagai
+*********************************************************
+   corner_points = goodFeaturesToTrack( input_image, maxCorners, qualityLevel, minDistance, blockSize, useHarrisDetector((1 for true)/(0 for false)),k );
+********************************************************/
+
+
+// Abhilasha Sancheti
+// sample input :   
+//output: (image , corners)
+#include <numeric>
+#include "opencv2/core/core.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/opencv.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"
+  
+  int opencv_goodfeaturestotrack(char *fname, unsigned long fname_len)
+  {
+
+    SciErr sciErr;
+    int intErr=0;
+    int iRows=0,iCols=0;
+    int *piAddrNew = NULL;
+    int *piAddr2  = NULL;
+    int *piAddr3  = NULL;
+    int *piAddr4  = NULL;
+    int *piAddr5  = NULL;
+    int *piAddr6  = NULL;
+    int *piAddr7  = NULL;
+    
+    int i,j, detector;
+    double maxCorners  ,qualityLevel,minDistance,blocksize=3 ,k=0.04, usedetector;
+    bool useHarrisDetector = false;
+    
+    //checking input argument
+    CheckInputArgument(pvApiCtx, 7, 7);
+    CheckOutputArgument(pvApiCtx, 1, 1) ;
+    Mat image;
+    retrieveImage(image,1);
+    
+    //for maximum corners
+    sciErr = getVarAddressFromPosition(pvApiCtx,2,&piAddr2);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    intErr = getScalarDouble(pvApiCtx, piAddr2 ,&maxCorners);
+    if(intErr)
+        return intErr;
+     
+     
+    //for qualityLevel
+    sciErr = getVarAddressFromPosition(pvApiCtx,3,&piAddr3);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    intErr = getScalarDouble(pvApiCtx, piAddr3,&qualityLevel);
+   if(intErr)
+        return intErr;
+
+   //for minDistance
+     sciErr = getVarAddressFromPosition(pvApiCtx,4,&piAddr4);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    intErr = getScalarDouble(pvApiCtx, piAddr4 ,&minDistance);
+    if(intErr)
+       return intErr;
+   
+
+   //for blocksize
+    sciErr = getVarAddressFromPosition(pvApiCtx,5,&piAddr5);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    intErr = getScalarDouble(pvApiCtx, piAddr5 ,&blocksize);
+   if(intErr)
+     return intErr;
+
+    //for Harrisusedetector taking integer 1 or 0 
+      sciErr = getVarAddressFromPosition(pvApiCtx,6,&piAddr6);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    intErr = getScalarDouble(pvApiCtx, piAddr6,&usedetector);
+    if(intErr)
+        return intErr;
+     detector=(int)usedetector;
+   
+  //for k value
+  sciErr = getVarAddressFromPosition(pvApiCtx,7,&piAddr7);
+    if (sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+    intErr = getScalarDouble(pvApiCtx, piAddr7 ,&k);
+   if(intErr)
+        return intErr;
+     
+
+     //checking the input parameter usedetector
+    if (detector == 1)
+      useHarrisDetector = true;
+    else if(detector == 0)
+      useHarrisDetector = false;
+    else
+    {
+      sciprint("Either 1 or 0 , 0 value was used instead");
+      useHarrisDetector = false;
+    }
+
+    /// processing of the input image and other parameters
+ if( maxCorners < 1 ) { maxCorners = 1; sciprint("maxcorners cannot be less than 1 , using 1 instead");}
+
+  /// Parameters for Shi-Tomasi algorithm
+  
+  vector<Point2f> corners;
+  /// Copy the source image
+  Mat src_gray;
+  cvtColor( image, src_gray, CV_BGR2GRAY );
+  /// Apply corner detection
+  goodFeaturesToTrack( src_gray,corners,maxCorners,qualityLevel,minDistance,Mat(),blocksize,useHarrisDetector,k );
+  
+  int row = corners.size();
+  double *cor = (double *)malloc(2*row*sizeof(double *));
+  for (int i=0;i<row;i++)
+  {
+      *(cor + i*2 + 0)=corners[i].x;
+      *(cor + i*2 + 1)=corners[i].y;
+  }
+      
+    
+  sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 1, row, 2, cor);
+  if(sciErr.iErr)
+  {
+      printError(&sciErr, 0);
+      return 0;
+  }
+  //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;
+}
+/* ==================================================================== */
+}