decomposeEssentialMat.cpp

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#include "mexopencv.hpp"
#include "opencv2/calib3d.hpp"
using namespace std;
using namespace cv;

namespace {
MxArray toStruct(const Mat& R1, const Mat& R2, const Mat& t)
{
    const char* fieldnames[] = {"R1", "R2", "t"};
    MxArray s = MxArray::Struct(fieldnames, 3);
    s.set("R1", R1);
    s.set("R2", R2);
    s.set("t",  t);
    return s;
}
}

void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
    // Check the number of arguments
    nargchk(nrhs==1 && nlhs<=1);

    // Argument vector
    vector<MxArray> rhs(prhs, prhs+nrhs);

    // Process
    Mat E(rhs[0].toMat(rhs[0].isSingle() ? CV_32F : CV_64F)),
        R1, R2, t;
    decomposeEssentialMat(E, R1, R2, t);
    plhs[0] = toStruct(R1, R2, t);
}