decomposeHomographyMat.cpp

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

namespace {
MxArray toStruct(const vector<Mat>& rotations,
    const vector<Mat>& translations, const vector<Mat>& normals)
{
    const char* fieldnames[] = {"R", "t", "n"};
    MxArray s = MxArray::Struct(fieldnames, 3);
    s.set("R", rotations);
    s.set("t", translations);
    s.set("n", normals);
    return s;
}
}

void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
    // Check the number of arguments
    nargchk(nrhs==2 && nlhs<=2);

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

    // Process
    Mat H(rhs[0].toMat(CV_64F)),
        K(rhs[1].toMat(CV_64F));
    vector<Mat> rotations, translations, normals;
    int nsols = decomposeHomographyMat(H, K, rotations, translations, normals);
    plhs[0] = toStruct(rotations, translations, normals);
    if (nlhs > 1)
        plhs[1] = MxArray(nsols);
}