1 files changed, 164 insertions, 0 deletions
diff --git a/sci_gateway1/cpp/opencv_isEpipoleInImage.cpp b/sci_gateway1/cpp/opencv_isEpipoleInImage.cpp
new file mode 100644
index 0000000..8663032
--- /dev/null
+++ b/sci_gateway1/cpp/opencv_isEpipoleInImage.cpp
@@ -0,0 +1,164 @@
+/********************************************************
+Author: Suraj Prakash
+[isepi, epipole] = isEpipoleInImage(fundamental_matrix, imagesize)
+********************************************************/
+
+#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_isEpipoleInImage(char *fname, unsigned long fname_len){
+
+    /// Error management variable
+    SciErr sciErr;
+    
+    /// Variables
+    int i, j, n = 0;
+
+    int iRows = 0;
+    int iCols = 0;
+    
+    int *piLen = NULL;
+    int *piAddr = NULL;
+    int *piAddr2 = NULL;
+    
+    double *pdblReal = NULL;
+    double *imagesize = NULL;
+    
+    int isepi = 0;
+    double *epipole = NULL;
+    double inf = 1e17;
+    /// take the fundamental matrix 
+    Mat fundamental_matrix(3, 3, CV_64F);
+
+    epipole = (double*)malloc(sizeof(double*) * 2);
+    memset(epipole, 0, 2);
+   
+    sciErr = getVarAddressFromPosition(pvApiCtx, 1, &piAddr);
+    if (sciErr.iErr){
+        printError(&sciErr, 0);
+        return 0;
+    }
+
+    sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &iRows, &iCols, &pdblReal);
+    if(sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+
+    if(iRows != 3 and iCols != 3){
+        Scierror(999, "Incorrect dimension of martrix for argument\n"); 
+        return 0; 
+    }
+
+    for(i = 0; i < 3; ++i)
+        for(j = 0; j < 3; ++j)
+            fundamental_matrix.at<double>(i, j) = pdblReal[i + j * 3];
+
+
+    /// Get image size    
+    sciErr = getVarAddressFromPosition(pvApiCtx, 2, &piAddr2);
+    if (sciErr.iErr){
+        printError(&sciErr, 0);
+        return 0;
+    }
+
+    sciErr = getMatrixOfDouble(pvApiCtx, piAddr2, &iRows, &iCols, &pdblReal);
+    if(sciErr.iErr)
+    {
+        printError(&sciErr, 0);
+        return 0;
+    }
+
+    if(iRows != 1 and iCols != 2){
+        Scierror(999, "Invalid array for imagesize provided\n"); 
+        return 0; 
+    }
+
+    imagesize = (double*)malloc(sizeof(double) * 2);
+    imagesize[0] = pdblReal[0];
+    imagesize[1] = pdblReal[1];
+
+    /// compute the SVD of the matrix provided
+    Mat w, u, vt;
+    SVD::compute(fundamental_matrix, w, u, vt);
+
+    transpose(vt, vt);
+
+    /// getting the last column of the vt
+    Mat epipoleHmg(1, 3, CV_64F);
+
+    epipoleHmg.at<double>(0,0) = vt.at<double>(0, 2);
+    epipoleHmg.at<double>(0,1) = vt.at<double>(1, 2);
+    epipoleHmg.at<double>(0,2) = vt.at<double>(2, 2);
+
+
+    if(epipoleHmg.at<double>(0,2) != 0){
+        /// location of epipolecl
+
+        epipole[0] = epipoleHmg.at<double>(0, 0) / epipoleHmg.at<double>(0, 2);
+        epipole[1] = epipoleHmg.at<double>(0, 1) / epipoleHmg.at<double>(0, 2);
+
+        double *imageOrigin = NULL;
+        imageOrigin = (double*)malloc(sizeof(double) * 2);
+        memset(imageOrigin, 0.5, 2);
+
+        double *imageEnd = NULL;
+        imageEnd = (double*)malloc(sizeof(double) * 2);
+        memset(imageEnd, 0, 2);
+
+        /// imageend = imageorigin + imagesize(::-1)
+        imageEnd[0] = imageOrigin[0] + imagesize[1];
+        imageEnd[1] = imageOrigin[1] + imagesize[0];
+
+        if(epipole[0] >= imageOrigin[0] and epipole[1] >= imageOrigin[1] and epipole[0] <= imageEnd[0] and epipole[1] <= imageEnd[1])
+            isepi = 1;
+        else
+            isepi = 0;
+    }
+
+    else{
+        epipole[0] = epipoleHmg.at<double>(0, 0) > 0 ? inf : -inf;
+        epipole[1] = epipoleHmg.at<double>(0, 1) > 0 ? inf : -inf;
+    }
+
+    
+     
+
+
+    int iRet = createScalarBoolean(pvApiCtx, nbInputArgument(pvApiCtx) + 1, isepi);
+    if(iRet){
+        printError(&sciErr, 0); 
+        return 0; 
+    }
+    
+    sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 2, 1, 2, epipole); 
+    if(sciErr.iErr){
+        printError(&sciErr, 0); 
+        return 0; 
+    }
+    //Assigning the list as the Output Variable
+    AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1;
+    AssignOutputVariable(pvApiCtx, 2) = nbInputArgument(pvApiCtx) + 2; 
+
+    //Returning the Output Variables as arguments to the Scilab environment
+    ReturnArguments(pvApiCtx);
+    return 0;
+    }
+    
+/* ==================================================================== */
+}