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-rw-r--r--sci_gateway1/cpp/opencv_undistortImage.cpp271
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diff --git a/sci_gateway1/cpp/opencv_undistortImage.cpp b/sci_gateway1/cpp/opencv_undistortImage.cpp
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+/********************************************************
+Author: Suraj Prakash
+return_image = undistortImage(image, _cameraMatrix, _distCoeffs, _newCameraMatrix);
+********************************************************/
+
+#include <numeric>
+#include "opencv2/core/core.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/opencv.hpp"
+#include <iostream>
+#include <vector>
+
+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_undistortImage(char *fname, unsigned long fname_len){
+
+ /// Error management variable
+ SciErr sciErr;
+
+ /// Variables
+ int i, j, n = 0;
+
+ int iRows = 0;
+ int iCols = 0;
+ int iRows1 = 0;
+ int iCols1 = 0;
+ int *piLen = NULL;
+ int *piAddr2 = NULL;
+ int *piAddr3 = NULL;
+ int *piAddr4 = NULL;
+ double *pdblReal = NULL;
+
+ char **pstData = NULL;
+ char *currentArg = NULL;
+ bool *providedArgs = NULL;
+
+ double cameraMatrix[3][3];
+ double *newCameraMatrix = NULL;
+ double *distCoeffs = NULL;
+
+ /// checking input argument
+ // 1-> image
+ // 2-> cameraMatrix
+ // 3-> distCoeffs
+ // 4-> newCameraMatrix
+
+ CheckInputArgument(pvApiCtx, 2, 6);
+ CheckOutputArgument(pvApiCtx, 1, 1);
+
+ /// Take distorted image
+ Mat image;
+ retrieveImage(image, 1);
+
+ newCameraMatrix = (double*)malloc(sizeof(double) * 3 * 3);
+ memset(newCameraMatrix, 0, sizeof(newCameraMatrix));
+
+ /// Taking input for cameraMatrix
+ 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;
+ }
+
+ /// Take input in cameraMatrix
+ Mat _cameraMatrix(3, 3, CV_64F);
+ for(i = 0; i < 3; ++i)
+ for(j = 0;j < 3; ++j)
+ _cameraMatrix.at<double>(i, j) = pdblReal[(j * 3) + i];
+
+
+ int nbInputArguments = *getNbInputArgument(pvApiCtx);
+
+
+ providedArgs = (bool*) malloc(sizeof(bool) * 2);
+ memset(providedArgs, 0, 2);
+
+ for(int iter = 3; iter <= nbInputArguments; ++iter){
+
+ /// Address of next argument
+
+ sciErr = getVarAddressFromPosition(pvApiCtx, iter, &piAddr3);
+ if (sciErr.iErr){
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ // Three calls to getMatrixOfString
+ sciErr = getMatrixOfString(pvApiCtx, piAddr3, &iRows, &iCols, NULL, NULL);
+ if (sciErr.iErr){
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ piLen = (int*) malloc(sizeof(int) * iRows * iCols);
+
+ sciErr = getMatrixOfString(pvApiCtx, piAddr3, &iRows, &iCols, piLen, NULL);
+ if (sciErr.iErr){
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ pstData = (char**) malloc(sizeof(char*) * iRows * iCols);
+ for(int k = 0; k < iRows * iCols; ++k)
+ {
+ pstData[k] = (char*) malloc(sizeof(char) * piLen[k] + 1);
+ }
+
+ sciErr = getMatrixOfString(pvApiCtx, piAddr3, &iRows, &iCols, piLen, pstData);
+ if (sciErr.iErr){
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ currentArg = pstData[0];
+
+ if(strcmp(currentArg, "distCoeffs") == 0){
+
+ if(iter+1 <= nbInputArguments and !providedArgs[0]){
+
+ sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr4);
+
+ if (sciErr.iErr){
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ sciErr = getMatrixOfDouble(pvApiCtx, piAddr4, &iRows1, &iCols1, &pdblReal);
+
+ if(sciErr.iErr){
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ if(iRows1 == 1 or iCols1 == 1)
+ n = iCols1 * iRows1;
+
+ else{
+ Scierror(999, "Incorrect dimension of vector for argument\n");
+ return 0;
+ }
+
+ // if(n != 4 or n != 5 or n != 8){
+ // Scierror(999, "Incorrect dimension of matrix for argument. Only size of 4, 5, or 8 required\n");
+ // return 0;
+ // }
+
+ distCoeffs = (double*)malloc(sizeof(double) * n);
+
+ for(i = 0; i < n; ++i){
+ distCoeffs[i] = pdblReal[i];
+ }
+
+ // Checking if values are in proper range. Same for all optional arguments
+ providedArgs[0] = 1;
+ }
+ // Send an error message if an argument is provided more than once. Same for all optional arguments.
+
+ else if(providedArgs[0]){
+ Scierror(999, "Please provide optional arguments only once.\n");
+ return 0;
+ }
+
+ // Send an error message if name of argument is given but type is incorrect. Same for all optional arguments.
+
+ else {
+ Scierror(999, "Incorrect number of arguments provided. Please check the documentation for more information.\n");
+ return 0;
+ }
+ }
+
+ else if(strcmp(currentArg, "newCameraMatrix") == 0){
+
+ if(iter+1 <= nbInputArguments and !providedArgs[1]){
+
+ sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr4);
+
+ if (sciErr.iErr){
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ sciErr = getMatrixOfDouble(pvApiCtx, piAddr4, &iRows1, &iCols1, &newCameraMatrix);
+
+ if(sciErr.iErr){
+ printError(&sciErr, 0);
+ return 0;
+ }
+
+ if(iRows1 !=3 and iCols1 != 3){
+ Scierror(999, "Incorrect dimension of matrix for argument\n");
+ return 0;
+ }
+
+ // Checking if values are in proper range. Same for all optional arguments
+ providedArgs[1] = 1;
+ }
+ // Send an error message if an argument is provided more than once. Same for all optional arguments.
+
+ else if(providedArgs[1]){
+ Scierror(999, "Please provide optional arguments only once.\n");
+ return 0;
+ }
+
+ // Send an error message if name of argument is given but type is incorrect. Same for all optional arguments.
+
+ else {
+ Scierror(999, "Incorrect number of arguments provided. Please check the documentation for more information.\n");
+ return 0;
+ }
+ }
+ else{
+ sciprint("Invalid argument provided; Using defalult values\n");
+ }
+
+ }
+
+ Mat _distCoeffs = Mat::zeros(1, n, CV_64F);
+
+ /// if distCoeffs was provided else it will be NULL / empty
+ if(providedArgs[0]){
+ for(i = 0; i < n; ++i)
+ _distCoeffs.at<double>(0, i) = distCoeffs[i];
+ }
+
+ /// By default the _newCameraMatrix has the same value of CameraMatrix
+ Mat _newCameraMatrix(3, 3, CV_64F, &cameraMatrix);
+
+ if(providedArgs[1]){
+ for(i = 0; i < 3; ++i)
+ for(j = 0; j < 3; ++j)
+ _newCameraMatrix.at<double>(i, j) = newCameraMatrix[j * 3 + i];
+ }
+
+ Mat new_image;
+ undistort(image, new_image, _cameraMatrix, _distCoeffs, _newCameraMatrix);
+
+
+ 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;
+
+ }
+/* ==================================================================== */
+}
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