solvePnPRansac.cpp

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

namespace {
const ConstMap<string,int> PnPMethod = ConstMap<string,int>
    ("Iterative", cv::SOLVEPNP_ITERATIVE)
    ("EPnP",      cv::SOLVEPNP_EPNP)
    ("P3P",       cv::SOLVEPNP_P3P)
    ("AP3P",      cv::SOLVEPNP_AP3P)
    ("DLS",       cv::SOLVEPNP_DLS)
    ("UPnP",      cv::SOLVEPNP_UPNP);
}

void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
    // Check the number of arguments
    nargchk(nrhs>=3 && (nrhs%2)==1 && nlhs<=4);

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

    // Option processing
    Mat distCoeffs, rvec, tvec;
    bool useExtrinsicGuess = false;
    int iterationsCount = 100;
    float reprojectionError = 8.0f;
    double confidence = 0.99;
    int flags = cv::SOLVEPNP_ITERATIVE;
    for (int i=3; i<nrhs; i+=2) {
        string key(rhs[i].toString());
        if (key == "DistCoeffs")
            distCoeffs = rhs[i+1].toMat(CV_64F);
        else if (key == "UseExtrinsicGuess")
            useExtrinsicGuess = rhs[i+1].toBool();
        else if (key == "Rvec")
            rvec = rhs[i+1].toMat(CV_64F);
        else if (key == "Tvec")
            tvec = rhs[i+1].toMat(CV_64F);
        else if (key == "Method")
            flags = PnPMethod[rhs[i+1].toString()];
        else if (key == "IterationsCount")
            iterationsCount = rhs[i+1].toInt();
        else if (key == "ReprojectionError")
            reprojectionError = rhs[i+1].toFloat();
        else if (key == "Confidence")
            confidence = rhs[i+1].toDouble();
        else
            mexErrMsgIdAndTxt("mexopencv:error",
                "Unrecognized option %s", key.c_str());
    }
    if (!rvec.empty() && !tvec.empty())
        useExtrinsicGuess = true;

    // Process
    Mat inliers;
    bool success = false;
    Mat cameraMatrix(rhs[2].toMat(CV_64F));
    if (rhs[0].isNumeric() && rhs[1].isNumeric()) {
        Mat objectPoints(rhs[0].toMat(CV_32F).reshape(3,0)),
            imagePoints(rhs[1].toMat(CV_32F).reshape(2,0));
        success = solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs,
            rvec, tvec, useExtrinsicGuess, iterationsCount, reprojectionError,
            confidence, (nlhs>3 ? inliers : noArray()), flags);
    }
    else if (rhs[0].isCell() && rhs[1].isCell()) {
        vector<Point3f> objectPoints(rhs[0].toVector<Point3f>());
        vector<Point2f> imagePoints(rhs[1].toVector<Point2f>());
        success = solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs,
            rvec, tvec, useExtrinsicGuess, iterationsCount, reprojectionError,
            confidence, (nlhs>3 ? inliers : noArray()), flags);
    }
    else
        mexErrMsgIdAndTxt("mexopencv:error", "Invalid points argument");
    plhs[0] = MxArray(rvec);
    if (nlhs>1)
        plhs[1] = MxArray(tvec);
    if (nlhs>2)
        plhs[2] = MxArray(success);
    if (nlhs>3)
        plhs[3] = MxArray(inliers);
}