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/********************************************************
Author: Suraj Prakash
[isepi, epipole] = isEpipoleInImage(fundamental_matrix, imagesize)
********************************************************/
#include <numeric>
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/opencv.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_isEpipoleInImage(char *fname, unsigned long fname_len){
/// Error management variable
SciErr sciErr;
/// Variables
int i, j, n = 0;
int iRows = 0;
int iCols = 0;
int *piLen = NULL;
int *piAddr = NULL;
int *piAddr2 = NULL;
double *pdblReal = NULL;
double *imagesize = NULL;
int isepi = 0;
double *epipole = NULL;
double inf = 1e17;
/// take the fundamental matrix
Mat fundamental_matrix(3, 3, CV_64F);
epipole = (double*)malloc(sizeof(double*) * 2);
memset(epipole, 0, 2);
sciErr = getVarAddressFromPosition(pvApiCtx, 1, &piAddr);
if (sciErr.iErr){
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr, &iRows, &iCols, &pdblReal);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
if(iRows != 3 and iCols != 3){
Scierror(999, "Incorrect dimension of martrix for argument\n");
return 0;
}
for(i = 0; i < 3; ++i)
for(j = 0; j < 3; ++j)
fundamental_matrix.at<double>(i, j) = pdblReal[i + j * 3];
/// Get image size
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;
}
if(iRows != 1 and iCols != 2){
Scierror(999, "Invalid array for imagesize provided\n");
return 0;
}
imagesize = (double*)malloc(sizeof(double) * 2);
imagesize[0] = pdblReal[0];
imagesize[1] = pdblReal[1];
/// compute the SVD of the matrix provided
Mat w, u, vt;
SVD::compute(fundamental_matrix, w, u, vt);
transpose(vt, vt);
/// getting the last column of the vt
Mat epipoleHmg(1, 3, CV_64F);
epipoleHmg.at<double>(0,0) = vt.at<double>(0, 2);
epipoleHmg.at<double>(0,1) = vt.at<double>(1, 2);
epipoleHmg.at<double>(0,2) = vt.at<double>(2, 2);
if(epipoleHmg.at<double>(0,2) != 0){
/// location of epipolecl
epipole[0] = epipoleHmg.at<double>(0, 0) / epipoleHmg.at<double>(0, 2);
epipole[1] = epipoleHmg.at<double>(0, 1) / epipoleHmg.at<double>(0, 2);
double *imageOrigin = NULL;
imageOrigin = (double*)malloc(sizeof(double) * 2);
memset(imageOrigin, 0.5, 2);
double *imageEnd = NULL;
imageEnd = (double*)malloc(sizeof(double) * 2);
memset(imageEnd, 0, 2);
/// imageend = imageorigin + imagesize(::-1)
imageEnd[0] = imageOrigin[0] + imagesize[1];
imageEnd[1] = imageOrigin[1] + imagesize[0];
if(epipole[0] >= imageOrigin[0] and epipole[1] >= imageOrigin[1] and epipole[0] <= imageEnd[0] and epipole[1] <= imageEnd[1])
isepi = 1;
else
isepi = 0;
}
else{
epipole[0] = epipoleHmg.at<double>(0, 0) > 0 ? inf : -inf;
epipole[1] = epipoleHmg.at<double>(0, 1) > 0 ? inf : -inf;
}
int iRet = createScalarBoolean(pvApiCtx, nbInputArgument(pvApiCtx) + 1, isepi);
if(iRet){
printError(&sciErr, 0);
return 0;
}
sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 2, 1, 2, epipole);
if(sciErr.iErr){
printError(&sciErr, 0);
return 0;
}
//Assigning the list as the Output Variable
AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1;
AssignOutputVariable(pvApiCtx, 2) = nbInputArgument(pvApiCtx) + 2;
//Returning the Output Variables as arguments to the Scilab environment
ReturnArguments(pvApiCtx);
return 0;
}
/* ==================================================================== */
}
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