stereoRectifyUncalibrated.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<=3);

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

    // Option processing
    double threshold = 5;
    for (int i=4; i<nrhs; i+=2) {
        string key(rhs[i].toString());
        if (key == "Threshold")
            threshold = rhs[i+1].toDouble();
        else
            mexErrMsgIdAndTxt("mexopencv:error",
                "Unrecognized option %s", key.c_str());
    }

    // Process
    Mat F(rhs[2].toMat(CV_64F));
    Size imgSize(rhs[3].toSize());
    Mat H1, H2;
    bool b = false;
    if (rhs[0].isNumeric() && rhs[1].isNumeric()) {
        Mat points1(rhs[0].toMat(CV_64F)),
            points2(rhs[1].toMat(CV_64F));
        b = stereoRectifyUncalibrated(points1, points2, F, imgSize, H1, H2,
            threshold);
    }
    else if (rhs[0].isCell() && rhs[1].isCell()) {
        vector<Point2d> points1(rhs[0].toVector<Point2d>()),
                        points2(rhs[1].toVector<Point2d>());
        b = stereoRectifyUncalibrated(points1, points2, F, imgSize, H1, H2,
            threshold);
    }
    plhs[0] = MxArray(H1);
    if (nlhs>1)
        plhs[1] = MxArray(H2);
    if (nlhs>2)
        plhs[2] = MxArray(b);
}