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/****************************************************************************************************
estimateFundamentalMatrix(InputArray1,InputArray2,'method','RANSAC','param1',2,'param2',0.99);
possible methods are 7POINT,8POINT,RANSAC,LMEDS
param1- It indiacates maximum distance from a point to an epipolar line in pixels
param2- It specifies a desirable level of confidence
********************************************************* ***********************************************/
#include <numeric>
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/opencv.hpp"
#include "opencv2/imgproc/imgproc.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_estimateFundamentalMat(char *fname, unsigned long fname_len)
{
SciErr sciErr;
int intErr=0;
int iComplex = 0;
int iType = 0;
int *piAddr = NULL;
int *piLen = NULL;
int iRows,iCols;
int iA1Rows=0,iA1Cols=0,iA2Rows=0,iA2Cols=0;
int method=FM_RANSAC;
int nbInputArguments,iter,i,j;
char **pstData = NULL;
char *currentArg = NULL;
bool *providedArgs = NULL;
double* pdblReal = NULL;
double *iArray1=NULL,*iArray2=NULL;
double param1=3,param2=0.99;
vector<Point2f> point1,point2;
CheckInputArgument(pvApiCtx, 2, 8);
CheckOutputArgument(pvApiCtx, 1, 1) ;
nbInputArguments = *getNbInputArgument(pvApiCtx);
providedArgs = (bool*) malloc(sizeof(bool) * 3);
sciErr = getVarAddressFromPosition(pvApiCtx, 1, &piAddr);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getVarType(pvApiCtx, piAddr, &iType);
if(sciErr.iErr || iType != sci_matrix)
{
printError(&sciErr, 0);
return 0;
}
//Get complexity
iComplex = isVarComplex(pvApiCtx, piAddr);
//Check complexity
if(iComplex)
{
Scierror(999, "%s: Wrong type for input argument: A complex number is not expected.\n");
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &iA1Rows, &iA1Cols, &iArray1);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getVarAddressFromPosition(pvApiCtx, 2, &piAddr);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getVarType(pvApiCtx, piAddr, &iType);
if(sciErr.iErr || iType != sci_matrix)
{
printError(&sciErr, 0);
return 0;
}
//Get complexity
iComplex = isVarComplex(pvApiCtx, piAddr);
//Check complexity
if(iComplex)
{
Scierror(999, "%s: Wrong type for input argument: A complex number is not expected.\n");
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &iA2Rows, &iA2Cols, &iArray2);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
if(iA1Rows != iA2Rows)
{
Scierror(999, "There must be the same number of points in both input arrays\n");
return 0;
}
for(i=0;i<iA1Rows;i++){
point1.push_back(Point2f(iArray1[i],iArray1[iA1Rows+i]));
point2.push_back(Point2f(iArray2[i],iArray2[iA2Rows+i]));
}
for(iter=3; iter<= nbInputArguments; iter++)
{
sciErr = getVarAddressFromPosition(pvApiCtx, iter, &piAddr);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, NULL, NULL);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
piLen = (int*) malloc(sizeof(int) * iRows * iCols);
sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, piLen, NULL);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
pstData = (char**) malloc(sizeof(char*) * iRows * iCols);
for(int iterPstData = 0; iterPstData < iRows * iCols; iterPstData++)
{
pstData[iterPstData] = (char*) malloc(sizeof(char) * piLen[iterPstData] + 1);
}
sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, piLen, pstData);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
currentArg = pstData[0];
if(strcmp(currentArg, "method")==0)
{
//sciprint("in if\tcurrentArg:%s\n",currentArg);
if(iter+1<=nbInputArguments && !providedArgs[0])
{
sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, NULL, NULL);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
piLen = (int*) malloc(sizeof(int) * iRows * iCols);
sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, piLen, NULL);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
pstData = (char**) malloc(sizeof(char*) * iRows * iCols);
for(int iterPstData = 0; iterPstData < iRows * iCols; iterPstData++)
{
pstData[iterPstData] = (char*) malloc(sizeof(char) * piLen[iterPstData] + 1);
}
sciErr = getMatrixOfString(pvApiCtx, piAddr, &iRows, &iCols, piLen, pstData);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
currentArg=pstData[0];
// Checking if values are in proper range. Same for all optional arguments
//sciprint("in if\tcurrentArg:%s\n",currentArg);
if(strcmp(currentArg,"7POINT")==0)
method = FM_7POINT;
else if (strcmp(currentArg,"8POINT")==0)
method= FM_8POINT;
else if (strcmp(currentArg,"RANSAC")==0)
method= FM_RANSAC;
else if (strcmp(currentArg,"LMEDS")==0)
method= FM_LMEDS;
else
{
sciprint("Invalid method given. RANSAC was used instead");
method= FM_RANSAC;
}
providedArgs[0] = 1;
}
else if(providedArgs[0]) // Send an error message if an argument is provided more than once. Same for all optional arguments.
{
Scierror(999, "Please provide optional arguments only once.\n");
return 0;
}
else // Send an error message if name of argument is given but type is incorrect. Same for all optional arguments.
{
Scierror(999, "Incorrect number of arguments provided. Please check the documentation for more information.\n");
return 0;
}
}
else if(strcmp(currentArg, "param1")==0)
{
if(iter+1 <= nbInputArguments && !providedArgs[1])
{
sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
intErr = getScalarDouble(pvApiCtx, piAddr, ¶m1);
if(intErr)
{
return intErr;
}
providedArgs[1] = 1;
}
else if(providedArgs[1])
{
Scierror(999, "Please provide optional arguments only once.\n");
return 0;
}
else
{
Scierror(999, "Incorrect number of arguments provided. Please check the documentation for more information.\n");
return 0;
}
}
else if(strcmp(currentArg, "param2")==0)
{
if(iter+1 <= nbInputArguments && !providedArgs[2])
{
sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
intErr = getScalarDouble(pvApiCtx, piAddr, ¶m2);
if(intErr)
{
return intErr;
}
providedArgs[2] = 1;
}
else if(providedArgs[2])
{
Scierror(999, "Please provide optional arguments only once.\n");
return 0;
}
else
{
Scierror(999, "Incorrect number of arguments provided. Please check the documentation for more information.\n");
return 0;
}
}
else
{
Scierror(999, "Error: \"%s\" name for input argument is not valid.\n", currentArg);
return 0;
}
}
if (method==FM_7POINT && point1.size()!=7){
Scierror(999, "Error: For FM_7POINT method number of points in each array must be 7\n");
return 0;
}
if (method!=FM_7POINT && point1.size()<8 ){
Scierror(999, "Error: Number of points in each array must be greater than or equal to 8\n");
return 0;
}
Mat fm=cv::findFundamentalMat(point1, point2, method, param1, param2);
pdblReal = (double*) malloc(sizeof(double) * fm.rows *3);
for(i = 0 ; i < fm.rows ; i++)
{
for(j = 0 ; j < 3 ; j++)
{
pdblReal[i + fm.rows * j] = fm.at<double>(i,j);
}
}
sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 1, fm.rows , 3, pdblReal);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1;
ReturnArguments(pvApiCtx);
return 0;
}
}
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