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/********************************************************
Author: Abhilasha Sancheti & Sukul Bagai
*********************************************************
corner_points = goodFeaturesToTrack( input_image, maxCorners, qualityLevel, minDistance, blockSize, useHarrisDetector((1 for true)/(0 for false)),k );
********************************************************/
// Abhilasha Sancheti
// sample input :
//output: (image , corners)
#include <numeric>
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/opencv.hpp"
#include <iostream>
#include <math.h>
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_goodfeaturestotrack(char *fname, unsigned long fname_len)
{
SciErr sciErr;
int intErr=0;
int iRows=0,iCols=0;
int *piAddrNew = NULL;
int *piAddr2 = NULL;
int *piAddr3 = NULL;
int *piAddr4 = NULL;
int *piAddr5 = NULL;
int *piAddr6 = NULL;
int *piAddr7 = NULL;
int i,j, detector;
double maxCorners ,qualityLevel,minDistance,blocksize=3 ,k=0.04, usedetector;
bool useHarrisDetector = false;
//checking input argument
CheckInputArgument(pvApiCtx, 7, 7);
CheckOutputArgument(pvApiCtx, 1, 1) ;
Mat image;
retrieveImage(image,1);
//for maximum corners
sciErr = getVarAddressFromPosition(pvApiCtx,2,&piAddr2);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
intErr = getScalarDouble(pvApiCtx, piAddr2 ,&maxCorners);
if(intErr)
return intErr;
//for qualityLevel
sciErr = getVarAddressFromPosition(pvApiCtx,3,&piAddr3);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
intErr = getScalarDouble(pvApiCtx, piAddr3,&qualityLevel);
if(intErr)
return intErr;
//for minDistance
sciErr = getVarAddressFromPosition(pvApiCtx,4,&piAddr4);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
intErr = getScalarDouble(pvApiCtx, piAddr4 ,&minDistance);
if(intErr)
return intErr;
//for blocksize
sciErr = getVarAddressFromPosition(pvApiCtx,5,&piAddr5);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
intErr = getScalarDouble(pvApiCtx, piAddr5 ,&blocksize);
if(intErr)
return intErr;
//for Harrisusedetector taking integer 1 or 0
sciErr = getVarAddressFromPosition(pvApiCtx,6,&piAddr6);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
intErr = getScalarDouble(pvApiCtx, piAddr6,&usedetector);
if(intErr)
return intErr;
detector=(int)usedetector;
//for k value
sciErr = getVarAddressFromPosition(pvApiCtx,7,&piAddr7);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
intErr = getScalarDouble(pvApiCtx, piAddr7 ,&k);
if(intErr)
return intErr;
//checking the input parameter usedetector
if (detector == 1)
useHarrisDetector = true;
else if(detector == 0)
useHarrisDetector = false;
else
{
sciprint("Either 1 or 0 , 0 value was used instead");
useHarrisDetector = false;
}
/// processing of the input image and other parameters
if( maxCorners < 1 ) { maxCorners = 1; sciprint("maxcorners cannot be less than 1 , using 1 instead");}
/// Parameters for Shi-Tomasi algorithm
vector<Point2f> corners;
/// Copy the source image
Mat src_gray;
cvtColor( image, src_gray, CV_BGR2GRAY );
/// Apply corner detection
goodFeaturesToTrack( src_gray,corners,maxCorners,qualityLevel,minDistance,Mat(),blocksize,useHarrisDetector,k );
int row = corners.size();
double *cor = (double *)malloc(2*row*sizeof(double *));
for (int i=0;i<row;i++)
{
*(cor + i*2 + 0)=corners[i].x;
*(cor + i*2 + 1)=corners[i].y;
}
sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 1, row, 2, cor);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
//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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