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/* compile with
mex goodFeaturesToTrack.cc -I/usr/local/opencv/include -L/usr/local/opencv/lib -lcxcore -lcv
*/
#include "mex.h"
#include "opencv/cv.h"
#include "opencv/highgui.h"
#include <stdio.h>
#include <math.h>
#define MAX_CORNERS 500
IplImage *eigtemp = NULL, *temp2 = NULL;
// TODO: add number of corners parameter
void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) {
// usage: [ features numvalid ] =
// goodFeaturesToTrack(image, quality, mindist, mask)
// image must be single-channel, 8-bit
// quality = minimum acceptable ratio of eigenvalues
// mindist = minimum distance between corners
// mask (optional) = bitmap mask "region of interest" (MUST BE uint8 TYPE!)
char *image_pr = (char*)mxGetPr(prhs[0]);
// int imdims[] = { (int)d_imdims[0], (int)d_imdims[1] };
const int *imdims = mxGetDimensions(prhs[0]);
double quality = mxGetScalar(prhs[1]);
double mindist = mxGetScalar(prhs[2]);
bool use_roi = nrhs > 3;
plhs[0] = mxCreateNumericMatrix(2, MAX_CORNERS, mxSINGLE_CLASS, mxREAL);
plhs[1] = mxCreateNumericMatrix(1, 1, mxINT32_CLASS, mxREAL);
CvPoint2D32f *corner_coords = (CvPoint2D32f*)mxGetPr(plhs[0]);
int *corner_count = (int*)mxGetPr(plhs[1]);
*corner_count = MAX_CORNERS;
if (eigtemp == NULL) {
eigtemp = cvCreateImage(cvSize(imdims[0],imdims[1]), IPL_DEPTH_32F, 1);
temp2 = cvCreateImage(cvSize(imdims[0],imdims[1]), IPL_DEPTH_32F, 1);
}
IplImage *image =
cvCreateImageHeader(cvSize(imdims[0], imdims[1]), IPL_DEPTH_8U, 1);
image->imageData = image_pr;
IplImage *roimask = NULL;
if (use_roi) {
roimask = cvCreateImage(cvSize(imdims[0],imdims[1]), IPL_DEPTH_8U, 1);
roimask->imageData = (char*)mxGetPr(prhs[3]);
}
cvGoodFeaturesToTrack(image,
eigtemp, temp2,
corner_coords,
corner_count,
quality,
mindist,
roimask
);
}
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