fisheyeInitUndistortRectifyMap.cpp

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

namespace {
const ConstMap<string,int> M1Type = ConstMap<string,int>
    ("int16",   CV_16SC2)
    ("single1", CV_32FC1)
    ("single2", CV_32FC2);
}

void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
    // Check the number of arguments
    nargchk(nrhs>=3 && (nrhs%2)==1 && nlhs<=2);

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

    // Option processing
    Mat R, P;
    int m1type = -1;
    for (int i=3; i<nrhs; i+=2) {
        string key(rhs[i].toString());
        if (key == "R")
            R = rhs[i+1].toMat(CV_64F);
        else if (key == "P")
            P = rhs[i+1].toMat(CV_64F);
        else if (key == "M1Type")
            m1type = (rhs[i+1].isChar()) ?
                M1Type[rhs[i+1].toString()] : rhs[i+1].toInt();
        else
            mexErrMsgIdAndTxt("mexopencv:error",
                "Unrecognized option %s", key.c_str());
    }

    // Process
    Mat K(rhs[0].toMat(CV_64F)),
        D(rhs[1].toMat(CV_64F)),
        map1, map2;
    Size size(rhs[2].toSize());
    fisheye::initUndistortRectifyMap(K, D, R, P, size, m1type, map1, map2);
    plhs[0] = MxArray(map1);
    if (nlhs>1)
        plhs[1] = MxArray(map2);
}