composeRT.cpp

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#include "mexopencv.hpp"
using namespace std;
using namespace cv;

namespace {
MxArray toStruct(const Mat& rvec3, const Mat& tvec3, const Mat& dr3dr1,
    const Mat& dr3dt1, const Mat& dr3dr2, const Mat& dr3dt2, const Mat& dt3dr1,
    const Mat& dt3dt1, const Mat& dt3dr2, const Mat& dt3dt2)
{
    const char* fieldnames[] = {"rvec3", "tvec3", "dr3dr1", "dr3dt1",
        "dr3dr2", "dr3dt2", "dt3dr1", "dt3dt1", "dt3dr2", "dt3dt2"};
    MxArray s = MxArray::Struct(fieldnames, 10);
    s.set("rvec3",  rvec3);
    s.set("tvec3",  tvec3);
    s.set("dr3dr1", dr3dr1);
    s.set("dr3dt1", dr3dt1);
    s.set("dr3dr2", dr3dr2);
    s.set("dr3dt2", dr3dt2);
    s.set("dt3dr1", dt3dr1);
    s.set("dt3dt1", dt3dt1);
    s.set("dt3dr2", dt3dr2);
    s.set("dt3dt2", dt3dt2);
    return s;
}
}

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

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

    // Process
    Mat rvec1(rhs[0].toMat(rhs[0].isSingle() ? CV_32F : CV_64F)),
        tvec1(rhs[1].toMat(rhs[1].isSingle() ? CV_32F : CV_64F)),
        rvec2(rhs[2].toMat(rhs[2].isSingle() ? CV_32F : CV_64F)),
        tvec2(rhs[3].toMat(rhs[3].isSingle() ? CV_32F : CV_64F)),
        rvec3, tvec3,
        dr3dr1, dr3dt1, dr3dr2, dr3dt2,
        dt3dr1, dt3dt1, dt3dr2, dt3dt2;
    composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3,
        dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2);
    plhs[0] = toStruct(rvec3, tvec3,
        dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2);
}