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/*********************************************************************************
*Author : Kevin George
*
*-> To execute, epipolarlines(I1,I2)
* where I1.1 & I2 are images
*
* This will display the matched points and the epipolar lines.
*********************************************************************************/
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/nonfree/features2d.hpp"
#include <stdio.h>
#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"
//# include "../common.cpp"
int opencv_epipolarlines(char *fname, unsigned long fname_len)
{
SciErr sciErr;
int intErr=0;
//-> Mat containers for images
Mat img_1;
Mat img_2;
//-> Address of Various Arguments
int *piAddr = NULL;
//-> Local variables
int *outList = NULL;
unsigned char *red = NULL;
unsigned char *green = NULL;
unsigned char *blue = NULL;
int *outList2 = NULL;
unsigned char *red2 = NULL;
unsigned char *green2 = NULL;
unsigned char *blue2 = NULL;
//-> Checks the number of arguments
//-> pvApiCtx is a Scilab environment pointer
CheckInputArgument(pvApiCtx, 1, 5); //Check on Number of Input Arguments
CheckOutputArgument(pvApiCtx, 1, 5); //Check on Number of Output Arguments
//-> Read Image
retrieveImage( img_1, 1);
retrieveImage(img_2, 2);
//-> Count number of input arguments
//num_InputArgs = *getNbInputArgument(pvApiCtx);
//-> Based on number of input arguments
//***************************************************** Actual Processing *************************************************************
//Mat img_1 = imread( "left.jpg", CV_LOAD_IMAGE_GRAYSCALE );
//Mat img_2 = imread( "right.jpg", CV_LOAD_IMAGE_GRAYSCALE );
cvtColor(img_1, img_1, CV_BGR2GRAY);
cvtColor(img_2, img_2,CV_BGR2GRAY);
//-- Step 1: Detect the keypoints using SURF Detector
int minHessian = 400;
SurfFeatureDetector detector( minHessian );
std::vector<KeyPoint> keypoints_1, keypoints_2;
detector.detect( img_1, keypoints_1 );
detector.detect( img_2, keypoints_2 );
//-- Step 2: Calculate descriptors (feature vectors)
SurfDescriptorExtractor extractor;
Mat descriptors_1, descriptors_2;
extractor.compute( img_1, keypoints_1, descriptors_1 );
extractor.compute( img_2, keypoints_2, descriptors_2 );
//-- Step 3: Matching descriptor vectors using FLANN matcher
FlannBasedMatcher matcher;
std::vector< DMatch > matches;
matcher.match( descriptors_1, descriptors_2, matches );
double max_dist = 0; double min_dist = 100;
//-- Quick calculation of max and min distances between keypoints
for( int i = 0; i < descriptors_1.rows; i++ )
{ double dist = matches[i].distance;
if( dist < min_dist ) min_dist = dist;
if( dist > max_dist ) max_dist = dist;
}
std::vector< DMatch > good_matches;
vector<Point2f> points1,points2;
for( int i = 0; i < descriptors_1.rows; i++ )
{ //if( matches[i].distance <= max(2*min_dist, 0.02) )
if( matches[i].distance <= max(3*min_dist, 0.02) )
{
good_matches.push_back( matches[i]);
points2.push_back( keypoints_2[matches[i].trainIdx].pt );
points1.push_back( keypoints_1[matches[i].queryIdx].pt );
}
}
//***************** Finding Fundamental Matrix **************************
vector<uchar> states;
Mat f = findFundamentalMat(points1, points2, FM_RANSAC, 3, 0.99, states);
//Mat F = findFundamentalMat(points1, points2, FM_LMEDS, 3, 0.99, states);
string window = "epipolarlines";
//drawEpipolarLines(window, fundamental_matrix, img_1, img_2, points1, points2);
vector<Vec<float,3> > epilines1, epilines2;
computeCorrespondEpilines(points1, 1, f, epilines1); //Index starts with 1
computeCorrespondEpilines(points2, 2, f, epilines2);
cvtColor(img_1,img_1,COLOR_GRAY2BGR);
cvtColor(img_2,img_2,COLOR_GRAY2BGR);
int inlierDistance = -1;
// cout<<points1.size()<<endl<<points2.size( );
cv::RNG rng(0);
for(int i=0; i<points1.size(); i++)
{
/*if(inlierDistance > 0)
{
if(distancePointLine(points1[i], epilines2[i]) > inlierDistance ||
distancePointLine(points2[i], epilines1[i]) > inlierDistance)
{
//The point match is no inlier
continue;
}
} */
//Mat outImg(img1.rows, img1.cols*2, CV_8UC3);
//Rect rect1(0,0, img1.cols, img1.rows);
//************************************************************* Draw epipolar lines function ********************************************************
cv::Scalar color(rng(256),rng(256),rng(256));
line(img_1, Point(0,-epilines1[i][2]/epilines1[i][1]), Point(img_1.cols,-(epilines1[i][2]+epilines1[i][0]*img_1.cols)/epilines1[i][1]),color);
circle(img_1, points1[i], 3, color, -1, CV_AA);
line(img_2, Point(0,-epilines1[i][2]/epilines1[i][1]), Point(img_2.cols,-(epilines1[i][2]+epilines1[i][0]*img_2.cols)/epilines1[i][1]),color);
circle(img_2, points2[i], 3, color, -1, CV_AA);
}
//************************************************ Returning first image **************************************************
if( img_1.channels() == 1)
{
sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, 1, &outList);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
red = (unsigned char *)malloc(sizeof(unsigned char)*img_1.rows*img_1.cols);
for(int k=0;k<img_1.rows;k++)
for(int p=0;p<img_1.cols;p++)
red[k+img_1.rows*p]=img_1.at<uchar>(k, p);
sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, outList, 1, img_1.rows, img_1.cols, red);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
free(red);
}
else
{
sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, 3, &outList);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
red = (unsigned char *)malloc(sizeof(unsigned char)*img_1.rows*img_1.cols);
green = (unsigned char *)malloc(sizeof(unsigned char)*img_1.rows*img_1.cols);
blue = (unsigned char *)malloc(sizeof(unsigned char)*img_1.rows*img_1.cols);
for(int k=0;k<img_1.rows;k++)
{
for(int p=0;p<img_1.cols;p++)
{
Vec3b intensity = img_1.at<Vec3b>(k, p);
red[k+img_1.rows*p]=intensity.val[2];
green[k+img_1.rows*p]=intensity.val[1];
blue[k+img_1.rows*p]=intensity.val[0];
}
}
sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, outList, 1, img_1.rows, img_1.cols, red);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, outList, 2, img_1.rows, img_1.cols, green);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, outList, 3, img_1.rows, img_1.cols, blue);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
free(red);
free(green);
free(blue);
}
/*imshow("title", img_1);
waitKey(0);
imshow("title2", img_2);
waitKey(0);*/
if( img_2.channels() == 1)
{
sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, 1, &outList2);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
red2 = (unsigned char *)malloc(sizeof(unsigned char)*img_2.rows*img_2.cols);
for(int k=0;k<img_2.rows;k++)
for(int p=0;p<img_2.cols;p++)
red2[k+img_2.rows*p]=img_2.at<uchar>(k, p);
sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, outList2, 1, img_2.rows, img_2.cols, red2);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
free(red2);
}
else
{
sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, 3, &outList2);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
red2 = (unsigned char *)malloc(sizeof(unsigned char)*img_2.rows*img_2.cols);
green2 = (unsigned char *)malloc(sizeof(unsigned char)*img_2.rows*img_2.cols);
blue2 = (unsigned char *)malloc(sizeof(unsigned char)*img_2.rows*img_2.cols);
for(int k=0;k<img_2.rows;k++)
{
for(int p=0;p<img_2.cols;p++)
{
Vec3b intensity2 = img_2.at<Vec3b>(k, p);
red2[k+img_2.rows*p]=intensity2.val[2];
green2[k+img_2.rows*p]=intensity2.val[1];
blue2[k+img_2.rows*p]=intensity2.val[0];
}
}
sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, outList2, 1, img_2.rows, img_2.cols, red2);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, outList2, 2, img_2.rows, img_2.cols, green2);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = createMatrixOfUnsignedInteger8InList(pvApiCtx, nbInputArgument(pvApiCtx) + 2, outList2, 3, img_2.rows, img_2.cols, blue2);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
free(red2);
free(green2);
free(blue2);
}
AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1;
AssignOutputVariable(pvApiCtx, 2) = nbInputArgument(pvApiCtx) + 2;
ReturnArguments(pvApiCtx);
return 0;
}
}
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