diff options
Diffstat (limited to 'sci_gateway1/cpp/opencv_triangulatePoints.cpp')
| -rw-r--r-- | sci_gateway1/cpp/opencv_triangulatePoints.cpp | 166 |
1 files changed, 166 insertions, 0 deletions
diff --git a/sci_gateway1/cpp/opencv_triangulatePoints.cpp b/sci_gateway1/cpp/opencv_triangulatePoints.cpp new file mode 100644 index 0000000..4ee38bd --- /dev/null +++ b/sci_gateway1/cpp/opencv_triangulatePoints.cpp @@ -0,0 +1,166 @@ +/*************************************************** +Author : Deepshikha +***************************************************/ + +#include <numeric> +#include "opencv2/core/core.hpp" +#include "opencv2/highgui/highgui.hpp" +#include "opencv2/opencv.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_triangulatePoints(char *fname, unsigned long fname_len) + { + //variables + int i,j,n,m; + int iRows=0,iCols=0; + int *piAddr1 = NULL; + int *piAddr2 = NULL; + int *piAddr3 = NULL; + int *piAddr4 = NULL; + + double *pdblReal = NULL; + + SciErr sciErr; + + /*------------------------------------------- Checking Input Argument ----------------------------------------------------*/ + + CheckInputArgument(pvApiCtx, 4, 4); + CheckOutputArgument(pvApiCtx, 1, 1) ; + + /*------------------------------------- Projection matrix 1 :- First argument of the input -------------------------------------*/ + + sciErr = getVarAddressFromPosition(pvApiCtx, 1, &piAddr1); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + sciErr = getMatrixOfDouble(pvApiCtx, piAddr1, &iRows, &iCols, &pdblReal); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + if(iRows!=3 or iCols!=4){ + Scierror(iRows,"Projection matrix (arg 1) must be a 3 X 4 matrix"); + return 0; + } + Mat projMat1(iRows, iCols, CV_64F); + for(i = 0; i < iRows; i++) + for(j = 0; j < iCols; j++){ + projMat1.at<double>(i,j) = pdblReal[i + (j * iRows)]; + } + + /* ------------------------------------ Projection matrix 2 :- Second argument of the input -------------------------------------*/ + + 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!=3 or iCols!=4){ + Scierror(iRows,"Projection matrix (arg 2) must be a 3 X 4 matrix"); + return 0; + } + Mat projMat2(iRows, iCols, CV_64F); + for(i=0;i<iRows;i++) + for(j=0;j<iCols;j++) + projMat2.at<double>(i,j) = pdblReal[i + (j * iRows)]; + + + /* ------------------------------------ Points matrix 1 :- Third argument of the input -------------------------------------*/ + + sciErr = getVarAddressFromPosition(pvApiCtx,3,&piAddr3); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + sciErr = getMatrixOfDouble(pvApiCtx, piAddr3, &iRows, &iCols, &pdblReal); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + n = iCols; + if(iRows!=2){ + Scierror(iRows,"Points matrix (arg 3) must be a 2 X N matrix"); + return 0; + } + Mat newPoint1(2, iCols, CV_64F); + for(i = 0; i < 2; i++) + for(j = 0; j < iCols; j++) + newPoint1.at<double>(i,j) = pdblReal[ i + ( j * iRows )]; + + + /* ------------------------------------ Points matrix 2 :- Fourth argument of the input -------------------------------------*/ + + sciErr = getVarAddressFromPosition(pvApiCtx, 4, &piAddr4); + if (sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + sciErr = getMatrixOfDouble(pvApiCtx, piAddr4, &iRows, &iCols, &pdblReal); + if(sciErr.iErr) + { + printError(&sciErr, 0); + return 0; + } + + m = iCols; + if(iRows!=2){ + Scierror(iRows,"Points matrix (arg 4) must be a 2 X N matrix"); + return 0; + } + Mat newPoint2(iRows, iCols, CV_64F); + for(i = 0; i < iRows; i++) + for(j = 0; j < iCols; j++) + newPoint2.at<double>(i,j) = pdblReal[ i + ( j * iRows )]; + + if(n!=m){ + Scierror(n,"No of columns of arg 3 and arg 4 must be same"); + return 0; + } + Mat new_image(4, n, CV_64F); + + triangulatePoints(projMat1, projMat2, newPoint1, newPoint2, new_image); + + string tempstring = type2str(new_image.type()); + char *checker; + checker = (char *)malloc(tempstring.size() + 1); + memcpy(checker, tempstring.c_str(), tempstring.size() + 1); + returnImage(checker,new_image,1); + free(checker); + + + //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; + + } +/* ==================================================================== */ +}
\ No newline at end of file |