estimateAffine3D.cpp

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

void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
    // Check the number of arguments
    nargchk(nrhs>=2 && (nrhs%2)==0 && nlhs<=3);

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

    // Option processing
    double ransacThreshold = 3.0;
    double confidence = 0.99;
    for (int i=2; i<nrhs; i+=2) {
        string key(rhs[i].toString());
        if (key == "RansacThreshold")
            ransacThreshold = rhs[i+1].toDouble();
        else if (key == "Confidence")
            confidence = rhs[i+1].toDouble();
        else
            mexErrMsgIdAndTxt("mexopencv:error",
                "Unrecognized option %s", key.c_str());
    }

    // Process
    Mat out, inliers;
    int result = 0;
    if (rhs[0].isNumeric() && rhs[1].isNumeric()) {
        Mat src(rhs[0].toMat(CV_32F)),
            dst(rhs[1].toMat(CV_32F));
        result = estimateAffine3D(src, dst, out,
            (nlhs>1 ? inliers : noArray()), ransacThreshold, confidence);
    }
    else if (rhs[0].isCell() && rhs[1].isCell()) {
        vector<Point3f> src(rhs[0].toVector<Point3f>()),
                        dst(rhs[1].toVector<Point3f>());
        result = estimateAffine3D(src, dst, out,
            (nlhs>1 ? inliers : noArray()), ransacThreshold, confidence);
    }
    else
        mexErrMsgIdAndTxt("mexopencv:error", "Invalid points argument");
    plhs[0] = MxArray(out);
    if (nlhs>1)
        plhs[1] = MxArray(inliers);
    if (nlhs>2)
        plhs[2] = MxArray(result);
}