RFC_FUNCTION_DESC_HANDLE getFunctionHandle(const SAP_UC* functionName)
{
RFC_PARAMETER_DESC parDescPathname = { iU("PATHNAME"), RFCTYPE_CHAR, RFC_IMPORT, 100, 200, 0, 0, 0, 0, 0};
RFC_PARAMETER_DESC parDescPort = { iU("PORT"), RFCTYPE_CHAR, RFC_IMPORT, 10, 20, 0, 0, 0, 0, 0};
RFC_FUNCTION_DESC_HANDLE funcDesc = RfcCreateFunctionDesc(functionName, 0);
RfcAddParameter(funcDesc, &parDescPathname, 0);
RfcAddParameter(funcDesc, &parDescPort, 0);
return funcDesc;
}
const CPoint3DCAMERA CTriangulator::getPointTriangulatedAdaptive( const cv::Mat& p_matImageRIGHT, const cv::KeyPoint& p_cKeyPointLEFT, const CDescriptor& p_matReferenceDescriptorLEFT ) const
{
//ds buffer keypoint size
const float& fKeyPointSize( p_cKeyPointLEFT.size );
//ds get keypoint to eigen space
const CPoint2DInCameraFrame vecReference( CWrapperOpenCV::fromCVVector( p_cKeyPointLEFT.pt ) );
const int32_t iUReference( vecReference(0) );
//ds keypoint buffer
std::vector< cv::KeyPoint > vecPoolKeyPoints( m_uAdaptiveSteps );
//ds start point
int32_t iU( iUReference+m_uAdaptiveSteps );
assert( 0 < iUReference );
//ds scan to the left
while( 0 < iU )
{
for( uint32_t u = 0; u < m_uAdaptiveSteps; ++u )
{
vecPoolKeyPoints[u] = cv::KeyPoint( iU, vecReference(1), fKeyPointSize );
--iU;
}
//ds compute descriptors
cv::Mat matPoolDescriptors;
m_pExtractor->compute( p_matImageRIGHT, vecPoolKeyPoints, matPoolDescriptors );
//ds if we managed to compute descriptors
if( !vecPoolKeyPoints.empty( ) )
{
//ds match the descriptors
std::vector< cv::DMatch > vecMatches;
m_pMatcher->match( p_matReferenceDescriptorLEFT, matPoolDescriptors, vecMatches );
//ds if we found matches
if( !vecMatches.empty( ) )
{
//ds make sure the matcher returned a valid ID
assert( static_cast< std::vector< cv::KeyPoint >::size_type >( vecMatches[0].trainIdx ) < m_uAdaptiveSteps );
//ds check match quality
if( m_fMatchingDistanceCutoff > vecMatches[0].distance )
{
//ds get the matching keypoint
const CPoint2DInCameraFrame vecMatch( CWrapperOpenCV::fromCVVector( vecPoolKeyPoints[vecMatches[0].trainIdx].pt ) );
//ds triangulated 3d point
return CMiniVisionToolbox::getPointStereoLinearTriangulationSVDLS( vecReference, vecMatch, m_pCameraSTEREO->m_pCameraLEFT->m_matProjection, m_pCameraSTEREO->m_pCameraRIGHT->m_matProjection );
}
}
}
}
//ds no match found if still here
throw CExceptionNoMatchFound( "no match found" );
}
