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/***************************************************
Author : Deepshikha
***************************************************/
#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_undistortPoints(char *fname, unsigned long fname_len)
{
//variables
int i,j,k,n,m;
int iRows=0,iCols=0;
int *piAddr1 = NULL;
int *piAddr2 = NULL;
int *piAddr3 = NULL;
int *piAddr4 = NULL;
int *piAddr5 = NULL;
double *pdblReal = NULL;
SciErr sciErr;
//function varible
std::vector< Point2d > Src;
std::vector< Point2d > dst;
double cameraMatrix [3][3];
double newCameraMatrix [3][3];
double *distCoeffs = NULL;
double RectificationMatrix[3][3];
/*------------------------------------------- Checking Input Argument ----------------------------------------------------*/
CheckInputArgument(pvApiCtx, 5, 5);
CheckOutputArgument(pvApiCtx, 1, 1) ;
/*------------------------------------- Source matrix :- First argument of the input -------------------------------------*/
sciErr = getVarAddressFromPosition(pvApiCtx, 1, &piAddr1);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr1, &iRows, &iCols, &pdblReal);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
// For 1 X N single channel
for(i = 0; i < iRows; ++i)
Src.push_back( Point2d(pdblReal[(0 * iRows) + i], pdblReal[(1 * iRows) + i]));
/* ------------------------------------ Camera matrix :- Second argument of the input -------------------------------------*/
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;
}
Mat cameraMat(3, 3, CV_64F);
for(i=0;i<3;i++)
for(j=0;j<3;j++)
cameraMat.at<double>(i,j) = pdblReal[(j * 3) + i];
/* ------------------------------------ Distortion Coefficient matrix :- Third argument of the input -------------------------------------*/
sciErr = getVarAddressFromPosition(pvApiCtx,3,&piAddr3);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr3, &iRows, &iCols, &pdblReal);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
if(iRows== 1)
n = iCols;
else if (iCols == 1)
n = iRows;
else{
Scierror(1,"Points matrix (arg 4) must be a 2 X N matrix");
return 0;
}
if(n==4 or n==5 or n==8);
else{
Scierror(1," n must be 4 or 5 or 8");
return 0;
}
Mat distCoeffsActual(1,n,CV_64F);
for(i=0;i<n;i++)
distCoeffsActual.at<double>(0,i) = pdblReal[i];
/* ------------------------------------ Rectification matrix :- Fourth argument of the input -------------------------------------*/
sciErr = getVarAddressFromPosition(pvApiCtx, 4, &piAddr4);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr4, &iRows, &iCols, &pdblReal);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
Mat RectMat(3, 3, CV_64F);
for(i=0;i<3;i++)
for(j=0;j<3;j++)
RectMat.at<double>(i,j) =pdblReal[(j*3)+i];
/* ------------------------------------ New Camera matrix :- Fifth argument of the input -------------------------------------*/
sciErr = getVarAddressFromPosition(pvApiCtx,5,&piAddr5);
if (sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
sciErr = getMatrixOfDouble(pvApiCtx, piAddr5, &iRows, &iCols , &pdblReal);
if(sciErr.iErr)
{
printError(&sciErr, 0);
return 0;
}
Mat newCameraMat(3,3,CV_64F);
for(i=0;i<3;i++)
for(j=0;j<3;j++)
newCameraMat.at<double>(i, j) =pdblReal[(j*3)+i];
/* opencv function for undistortPoints */
undistortPoints(Src, dst, cameraMat, distCoeffsActual, RectMat, newCameraMat);
/* Writing to Scilab */
double *pstdata = NULL;
pstdata = (double*)malloc(sizeof(double) * dst.size() * 2);
for(i = 0; i < dst.size(); i++)
{
pstdata[i + 0 * dst.size()] = dst[i].x;
pstdata[i + 1 * dst.size()] = dst[i].y;
}
sciErr = createMatrixOfDouble(pvApiCtx, nbInputArgument(pvApiCtx) + 1, dst.size(), 2, pstdata);
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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