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/***************************************************
Author : Tanmay Chaudhari
**************************************************/
#include <bits/stdc++.h>
using namespace std;
extern "C"
{
#include "api_scilab.h"
#include "Scierror.h"
#include "BOOL.h"
#include <localization.h>
#include "sciprint.h"
int opencv_rotationVectorToMatrix(char *fname, unsigned long fname_len)
{
//Error management variable
SciErr sciErr;
//Variable declaration
int iComplex = 0;
int iType = 0;
int iRows = 0;
int iCols = 0;
int *piAddr = NULL;
double sinOfangle = 0;
double cosOfangle = 0;
double t, x, y, z;
double theta;
double *pdbl = NULL;
double *matrix;
double *identity;
double *A;
double *B;
//Check input output arguments
checkInputArgument(pvApiCtx, 1, 1);
checkOutputArgument(pvApiCtx, 1, 1);
//Get variable address of the first input argument
sciErr = getVarAddressFromPosition(pvApiCtx, 1, &piAddr);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
//Check type
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, &iRows, &iCols, &pdbl);
if(sciErr.iErr || iCols != 3 || iRows != 1)
{
printError(&sciErr, 0);
return 0;
}
x = pdbl[0];
y = pdbl[1];
z = pdbl[2];
theta = sqrt(x * x + y * y + z * z);
sinOfangle = sin(theta);
cosOfangle = cos(theta);
t = 1 - cosOfangle;
x = pdbl[0] / theta;
y = pdbl[1] / theta;
z = pdbl[2] / theta;
matrix = (double*)malloc(sizeof(double) * 9);
A = (double*)malloc(sizeof(double) * 9);
B = (double*)malloc(sizeof(double) * 9);
identity = (double*)malloc(sizeof(double) * 9);
for(int i = 0; i < 3; i++)
{
for(int j = 0; j < 3; j++)
{
if(i == 0)
{
if(j == 0)
A[j * 3 + i] = x * x;
else if(j == 1)
A[j * 3 + i] = x * y;
else if(j == 2)
A[j * 3 + i] = x * z;
}
else if(i == 1)
{
if(j == 0)
A[j * 3 + i] = x * y;
else if(j == 1)
A[j * 3 + i] = y * y;
else if(j == 2)
A[j * 3 + i] = y * z;
}
else
{
if(j == 0)
A[j * 3 + i] = x * z;
else if(j == 1)
A[j * 3 + i] = y * z;
else if(j == 2)
A[j * 3 + i] = z * z;
}
}
}
for(int i = 0; i < 3; i++)
{
for(int j = 0; j < 3; j++)
{
if(i == 0)
{
if(j == 0)
B[j * 3 + i] = 0;
else if(j == 1)
B[j * 3 + i] = -z;
else if(j == 2)
B[j * 3 + i] = y;
}
else if(i == 1)
{
if(j == 0)
B[j * 3 + i] = z;
else if(j == 1)
B[j * 3 + i] = 0;
else if(j == 2)
B[j * 3 + i] = -x;
}
else
{
if(j == 0)
B[j * 3 + i] = -y;
else if(j == 1)
B[j * 3 + i] = x;
else if(j == 2)
B[j * 3 + i] = 0;
}
}
}
for(int i = 0; i < 3; i++)
{
for(int j = 0;j < 3; j++)
{
if(i == j)
identity[j * 3 + i] = 1;
else
identity[j * 3 + i] = 0;
}
}
for(int i = 0; i < 3; i++)
{
for(int j = 0; j < 3; j++)
{
matrix[i * 3 + j] = identity[j * 3 + i] * cosOfangle + t * A[j * 3 + i] + sinOfangle * B[j * 3 + i];
}
}
sciErr = createList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, 1, &piAddr);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = createMatrixOfDoubleInList(pvApiCtx, nbInputArgument(pvApiCtx) + 1, piAddr, 1, 3, 3, matrix);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
//Return output arguments
AssignOutputVariable(pvApiCtx, 1) = nbInputArgument(pvApiCtx) + 1;
ReturnArguments(pvApiCtx);
return 0;
}
}
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