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/********************************************************
Author: Diwakar Bhardwaj
*********************************************************
Usage :[image1,image2] = rectifyStereoImages(input_image1,cameramatrix1,Distortion_coff1,input_image2,cameramatrix2,Distortioncoff2,Translationvector,Rotationvector)
********************************************************/
#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_rectifyStereoImages(char *fname, unsigned long fname_len)
{
SciErr sciErr;
int intErr = 0;
int iRows=0,iCols=0,iRows2=0,iCols2=0,iRows3=0,iCols3=0,iRows4=0,iCols4=0,iRows5=0,iCols5=0;
int iRows6=0,iCols6=0,iRows7=0,iCols7=0,iRows8=0,iCols8=0,iRows9=0,iCols9=0,iRows10=0,iCols10=0;
int *piAddr = NULL;
int *piAddrNew = NULL;
int *piAddr2 = NULL;
int *piAddr3 = NULL;
int *piAddr4 = NULL;
int *piAddr5 = NULL;
int *piAddr6 = NULL;
int *piAddr7 = NULL;
int *piAddr8 = NULL;
int *piAddr9 = NULL;
int *piAddr10 = NULL;
//stereoParams
double * D1real = NULL;//Distortion Matrix 5*1
double * M1real = NULL;//Camera Matrix 3*3
double * P1real = NULL;//Projection Matrix 3*3
double * R1real = NULL;//Rotation Matrix 3*3
double * D2real = NULL;//Distortion Matrix 5*1
double * M2real = NULL;//Camera Matrix 3*3
double * P2real = NULL;//Projection Matrix 3*3
double * R2real = NULL;//Rotation Matrix 3*3
double * Treal = NULL;//Translation vector 3*1
double * Rreal = NULL;//Rotation Matrix 3*3
Mat D1(5,1,CV_64F);
Mat M1(3,3,CV_64F);
Mat D2(5,1,CV_64F);
Mat M2(3,3,CV_64F);
Mat T (3,1,CV_64F);
Mat R (3,3,CV_64F);
CheckInputArgument(pvApiCtx, 8, 8);
CheckOutputArgument(pvApiCtx, 2, 2) ;
Mat image1,image2;
retrieveImage(image1,1);
sciErr = getVarAddressFromPosition(pvApiCtx, 2, &piAddr2);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr2, &iRows2, &iCols2, &M1real);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getVarAddressFromPosition(pvApiCtx, 3, &piAddr3);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr3, &iRows3, &iCols3, &D1real);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
retrieveImage(image2,4);
sciErr = getVarAddressFromPosition(pvApiCtx, 5, &piAddr5);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr5, &iRows5, &iCols5, &M2real);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getVarAddressFromPosition(pvApiCtx, 6, &piAddr6);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr6, &iRows6, &iCols6, &D2real);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getVarAddressFromPosition(pvApiCtx, 7, &piAddr7);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr7, &iRows7, &iCols7, &Treal);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getVarAddressFromPosition(pvApiCtx, 8, &piAddr8);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr7, &iRows8, &iCols8, &Rreal);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
if(iRows2!=3 and iCols2!=3 or iRows5!=3 and iCols5!=3)
{
sciprint("camera matrix must be size of 3*3");
}
if(iRows3!=1 and iCols3!=5 or iRows6!=1 and iCols6!=5)
{
sciprint("Distortion cofficient matrix must be size of 5*1");
}
if(iRows7!=1 and iCols7!=3)
{
sciprint("Translation vector must be 3*1");
}
if(iRows8!=3 and iCols8!=3)
{
sciprint("Rotation Matrix must be 3*3");
}
for(int i=0;i<3;i++)
for(int j=0;j<3;j++)
M1.at<double>(i,j)=M1real[i+j*3];
for(int i=0;i<5;i++)
for(int j=0; j<1; ++j)
D1.at<double>(i,j)=D1real[i+j*5];
for(int i=0;i<3;i++)
for(int j=0;j<3;j++)
M2.at<double>(i,j)=M2real[i+j*3];
for(int i=0;i<5;i++)
for(int j=0; j<1; ++j)
D2.at<double>(i,j)=D2real[i+j*5];
for(int i=0; i<3; ++i)
for(int j=0; j<1; ++j)
T.at<double>(i,j)=Treal[i+j*3];
for(int i=0;i<3;i++)
for(int j=0;j<3;j++)
R.at<double>(i,j)=Rreal[i+j*3];
Size imgSize(image1.rows*2,image1.cols*2);
Mat R1,R2,P1,P2,Q;
stereoRectify(M1,D1,M2,D2, imgSize, R, T, R1, R2,P1, P2, Q);
Mat left, right; //Create matrices for storing input images
// transformation and rectification maps
Mat camera1map1, camera1map2;
Mat camera2map1, camera2map2;
initUndistortRectifyMap(M1, D1, R1, P1, imgSize , CV_32F, camera1map1, camera1map2);
initUndistortRectifyMap(M2, D2, R2, P2, imgSize, CV_32F, camera2map1, camera2map2);
Mat leftStereoUndistorted, rightStereoUndistorted;
//Rectify and undistort images
remap(image1, left, camera1map1, camera1map2, INTER_LINEAR);
remap(image2, right, camera2map1, camera2map2, INTER_LINEAR);
/*Size size(image1.rows,image1.cols);
resize(image1,left,size);
Size size1(image2.rows,image2.cols);
resize(image2,right,size1);
Combining left and right rectified image in one image plane
Size sz1 = left.size();
Size sz2 = right.size();
Mat final_image (sz1.height, sz1.width+sz2.width, CV_8UC3);
final_image.adjustROI(0, 0, 0, -sz2.width);
left.copyTo(final_image);
final_image.adjustROI(0, 0, -sz1.width, sz2.width);
right.copyTo(final_image);
final_image.adjustROI(0, 0, sz1.width, 0);*/
int temp1 = nbInputArgument(pvApiCtx) + 1;
string tempstring1 = type2str(left.type());
char *checker1;
checker1 = (char *)malloc(tempstring1.size() + 1);
memcpy(checker1, tempstring1.c_str(), tempstring1.size() + 1);
returnImage(checker1,left,1);
free(checker1);
int temp2 = nbInputArgument(pvApiCtx) + 2;
string tempstring2 = type2str(right.type());
char *checker2;
checker2 = (char *)malloc(tempstring2.size() + 2);
memcpy(checker2, tempstring2.c_str(), tempstring2.size() + 2);
returnImage(checker2,right,2);
free(checker2);
//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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