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/********************************************************
Author: Suraj Prakash
return_image = undistortImage(image, _cameraMatrix, _distCoeffs, _newCameraMatrix);
********************************************************/
#include <numeric>
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/opencv.hpp"
#include <iostream>
#include <vector>
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_undistortImage(char *fname, unsigned long fname_len){
/// Error management variable
SciErr sciErr;
/// Variables
int i, j, n = 0;
int iRows = 0;
int iCols = 0;
int iRows1 = 0;
int iCols1 = 0;
int *piLen = NULL;
int *piAddr2 = NULL;
int *piAddr3 = NULL;
int *piAddr4 = NULL;
double *pdblReal = NULL;
char **pstData = NULL;
char *currentArg = NULL;
bool *providedArgs = NULL;
double cameraMatrix[3][3];
double *newCameraMatrix = NULL;
double *distCoeffs = NULL;
/// checking input argument
// 1-> image
// 2-> cameraMatrix
// 3-> distCoeffs
// 4-> newCameraMatrix
CheckInputArgument(pvApiCtx, 2, 6);
CheckOutputArgument(pvApiCtx, 1, 1);
/// Take distorted image
Mat image;
retrieveImage(image, 1);
newCameraMatrix = (double*)malloc(sizeof(double) * 3 * 3);
memset(newCameraMatrix, 0, sizeof(newCameraMatrix));
/// Taking input for cameraMatrix
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;
}
/// Take input in cameraMatrix
Mat _cameraMatrix(3, 3, CV_64F);
for(i = 0; i < 3; ++i)
for(j = 0;j < 3; ++j)
_cameraMatrix.at<double>(i, j) = pdblReal[(j * 3) + i];
int nbInputArguments = *getNbInputArgument(pvApiCtx);
providedArgs = (bool*) malloc(sizeof(bool) * 2);
memset(providedArgs, 0, 2);
for(int iter = 3; iter <= nbInputArguments; ++iter){
/// Address of next argument
sciErr = getVarAddressFromPosition(pvApiCtx, iter, &piAddr3);
if (sciErr.iErr){
printError(&sciErr, 0);
return 0;
}
// Three calls to getMatrixOfString
sciErr = getMatrixOfString(pvApiCtx, piAddr3, &iRows, &iCols, NULL, NULL);
if (sciErr.iErr){
printError(&sciErr, 0);
return 0;
}
piLen = (int*) malloc(sizeof(int) * iRows * iCols);
sciErr = getMatrixOfString(pvApiCtx, piAddr3, &iRows, &iCols, piLen, NULL);
if (sciErr.iErr){
printError(&sciErr, 0);
return 0;
}
pstData = (char**) malloc(sizeof(char*) * iRows * iCols);
for(int k = 0; k < iRows * iCols; ++k)
{
pstData[k] = (char*) malloc(sizeof(char) * piLen[k] + 1);
}
sciErr = getMatrixOfString(pvApiCtx, piAddr3, &iRows, &iCols, piLen, pstData);
if (sciErr.iErr){
printError(&sciErr, 0);
return 0;
}
currentArg = pstData[0];
if(strcmp(currentArg, "distCoeffs") == 0){
if(iter+1 <= nbInputArguments and !providedArgs[0]){
sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr4);
if (sciErr.iErr){
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr4, &iRows1, &iCols1, &pdblReal);
if(sciErr.iErr){
printError(&sciErr, 0);
return 0;
}
if(iRows1 == 1 or iCols1 == 1)
n = iCols1 * iRows1;
else{
Scierror(999, "Incorrect dimension of vector for argument\n");
return 0;
}
// if(n != 4 or n != 5 or n != 8){
// Scierror(999, "Incorrect dimension of matrix for argument. Only size of 4, 5, or 8 required\n");
// return 0;
// }
distCoeffs = (double*)malloc(sizeof(double) * n);
for(i = 0; i < n; ++i){
distCoeffs[i] = pdblReal[i];
}
// Checking if values are in proper range. Same for all optional arguments
providedArgs[0] = 1;
}
// Send an error message if an argument is provided more than once. Same for all optional arguments.
else if(providedArgs[0]){
Scierror(999, "Please provide optional arguments only once.\n");
return 0;
}
// Send an error message if name of argument is given but type is incorrect. Same for all optional arguments.
else {
Scierror(999, "Incorrect number of arguments provided. Please check the documentation for more information.\n");
return 0;
}
}
else if(strcmp(currentArg, "newCameraMatrix") == 0){
if(iter+1 <= nbInputArguments and !providedArgs[1]){
sciErr = getVarAddressFromPosition(pvApiCtx, ++iter, &piAddr4);
if (sciErr.iErr){
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr4, &iRows1, &iCols1, &newCameraMatrix);
if(sciErr.iErr){
printError(&sciErr, 0);
return 0;
}
if(iRows1 !=3 and iCols1 != 3){
Scierror(999, "Incorrect dimension of matrix for argument\n");
return 0;
}
// Checking if values are in proper range. Same for all optional arguments
providedArgs[1] = 1;
}
// Send an error message if an argument is provided more than once. Same for all optional arguments.
else if(providedArgs[1]){
Scierror(999, "Please provide optional arguments only once.\n");
return 0;
}
// Send an error message if name of argument is given but type is incorrect. Same for all optional arguments.
else {
Scierror(999, "Incorrect number of arguments provided. Please check the documentation for more information.\n");
return 0;
}
}
else{
sciprint("Invalid argument provided; Using defalult values\n");
}
}
Mat _distCoeffs = Mat::zeros(1, n, CV_64F);
/// if distCoeffs was provided else it will be NULL / empty
if(providedArgs[0]){
for(i = 0; i < n; ++i)
_distCoeffs.at<double>(0, i) = distCoeffs[i];
}
/// By default the _newCameraMatrix has the same value of CameraMatrix
Mat _newCameraMatrix(3, 3, CV_64F, &cameraMatrix);
if(providedArgs[1]){
for(i = 0; i < 3; ++i)
for(j = 0; j < 3; ++j)
_newCameraMatrix.at<double>(i, j) = newCameraMatrix[j * 3 + i];
}
Mat new_image;
undistort(image, new_image, _cameraMatrix, _distCoeffs, _newCameraMatrix);
string tempstring = type2str(new_image.type());
char *checker;
checker = (char *)malloc(tempstring.size() + 1);
memcpy(checker, tempstring.c_str(), tempstring.size() + 1);
returnImage(checker, new_image, 1);
free(checker);
//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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