From a6df67e8bcd5159cde27556f4f6a315f8dc2215f Mon Sep 17 00:00:00 2001 From: shamikam Date: Mon, 16 Jan 2017 02:56:17 +0530 Subject: First Commit --- sci_gateway1/cpp/opencv_undistortImage.cpp | 271 +++++++++++++++++++++++++++++ 1 file changed, 271 insertions(+) create mode 100644 sci_gateway1/cpp/opencv_undistortImage.cpp (limited to 'sci_gateway1/cpp/opencv_undistortImage.cpp') diff --git a/sci_gateway1/cpp/opencv_undistortImage.cpp b/sci_gateway1/cpp/opencv_undistortImage.cpp new file mode 100644 index 0000000..9a02882 --- /dev/null +++ b/sci_gateway1/cpp/opencv_undistortImage.cpp @@ -0,0 +1,271 @@ +/******************************************************** +Author: Suraj Prakash +return_image = undistortImage(image, _cameraMatrix, _distCoeffs, _newCameraMatrix); +********************************************************/ + +#include +#include "opencv2/core/core.hpp" +#include "opencv2/highgui/highgui.hpp" +#include "opencv2/opencv.hpp" +#include +#include + +using namespace cv; +using namespace std; + +extern "C"{ + #include "api_scilab.h" + #include "Scierror.h" + #include "BOOL.h" + #include + #include + #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(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(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(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; + + } +/* ==================================================================== */ +} -- cgit