projectPoints.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>=4 && (nrhs%2)==0 && nlhs<=2);

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

    // Option processing
    Mat distCoeffs;
    double aspectRatio = 0;
    for (int i=4; i<nrhs; i+=2) {
        string key(rhs[i].toString());
        if (key == "DistCoeffs")
            distCoeffs = rhs[i+1].toMat(CV_64F);
        else if (key == "AspectRatio")
            aspectRatio = rhs[i+1].toDouble();
        else
            mexErrMsgIdAndTxt("mexopencv:error",
                "Unrecognized option %s", key.c_str());
    }

    // Process
    Mat rvec(rhs[1].toMat(CV_64F)),
        tvec(rhs[2].toMat(CV_64F)),
        cameraMatrix(rhs[3].toMat(CV_64F)),
        jacobian;
    if (rhs[0].isNumeric()) {
        Mat objectPoints(rhs[0].toMat(CV_64F)),
            imagePoints;
        projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs,
            imagePoints, (nlhs>1 ? jacobian : noArray()), aspectRatio);
        if (objectPoints.channels() == 1 && objectPoints.cols == 3)
            imagePoints = imagePoints.reshape(1,0);  // Nx2
        plhs[0] = MxArray(imagePoints);
    }
    else if (rhs[0].isCell()) {
        vector<Point3d> objectPoints(rhs[0].toVector<Point3d>());
        vector<Point2d> imagePoints;
        projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs,
            imagePoints, (nlhs>1 ? jacobian : noArray()), aspectRatio);
        plhs[0] = MxArray(imagePoints);
    }
    else
        mexErrMsgIdAndTxt("mexopencv:error", "Invalid points argument");
    if (nlhs>1)
        plhs[1] = MxArray(jacobian);
}