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TestSensor
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deseilligny committed Feb 3, 2024
1 parent 0b65a94 commit bbdb2aa
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Showing 9 changed files with 160 additions and 18 deletions.
1 change: 1 addition & 0 deletions MMVII/include/MMVII_PCSens.h
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Expand Up @@ -441,6 +441,7 @@ class cSensorCamPC : public cSensorImage

void SetPose(const tPose & aPose);

bool HasImageAndDepth() const override; // true
cPt3dr Ground2ImageAndDepth(const cPt3dr &) const override;
cPt3dr ImageAndDepth2Ground(const cPt3dr & ) const override;
tSeg3dr Image2Bundle(const cPt2dr &) const override;
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15 changes: 11 additions & 4 deletions MMVII/include/MMVII_Sensor.h
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Expand Up @@ -98,6 +98,9 @@ class cSensorImage : public cObj2DelAtEnd,
/// Basic method GroundCoordinate -> image coordinate of projection
virtual cPt2dr Ground2Image(const cPt3dr &) const = 0;


/// Can we manipulate Image & Depth -> 3d, default false, true for Central Persp
virtual bool HasImageAndDepth() const;
/// add the the depth (to see if have a default with bundle+Gr2Ima), default error
virtual cPt3dr Ground2ImageAndDepth(const cPt3dr &) const ;
/// Invert of Ground2ImageAndDepth, default error
Expand All @@ -109,6 +112,10 @@ class cSensorImage : public cObj2DelAtEnd,
cPt3dr Ground2ImageAndZ(const cPt3dr &) const ;
/// Invert of Ground2ImageAndZ, default use bundle, RPC for ex have a specialize method
virtual cPt3dr ImageAndZ2Ground(const cPt3dr &) const ;
/// Does it know its Z-validity interval
virtual bool HasIntervalZ() const;
/// Default error
virtual cPt2dr GetIntervalZ() const;


/// Compute 3D point by bundle intersection
Expand All @@ -131,10 +138,10 @@ class cSensorImage : public cObj2DelAtEnd,

/// return a set point regulary sampled (+/-) on sensor, take care of frontier, default is as simple grid
virtual std::vector<cPt2dr> PtsSampledOnSensor(int aNbByDim) const ;
/// return artificial/synthetic correspondance , with vector of depth
cSet2D3D SyntheticsCorresp3D2D (int aNbByDim,std::vector<double> & aVecDepth) const;
/// call variant with vector, depth regularly spaced
cSet2D3D SyntheticsCorresp3D2D (int aNbByDim,int aNbDepts,double aD0,double aD1) const;
/// return artificial/synthetic correspondance , with vector of depth / Z
cSet2D3D SyntheticsCorresp3D2D (int aNbByDim,std::vector<double> & aVecDepth,bool IsDepthOrZ) const;
/// call variant with vector, depth regularly spaced depth / Z
cSet2D3D SyntheticsCorresp3D2D (int aNbByDim,int aNbDepts,double aD0,double aD1,bool IsDepthOrZ) const;


// ================= Residual ===========================
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3 changes: 2 additions & 1 deletion MMVII/include/MMVII_Sys.h
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Expand Up @@ -23,7 +23,8 @@ namespace MMVII

#define MMVII_SYS_L 6 // Gnu/Linux, first perfect number ;-)
#define MMVII_SYS_A 666 // Apple , Evil's number ;-(
#define MMVII_SYS_W 2610 // Window , Evil's number in non standard hexadecimal , some system like to do it hard ...
#define MMVII_SYS_W 2910 // Window ,Evil's number in non standard hexadecimal ,some system like to do it hard ... 0x29A =10+9*16+2*256=666


enum class eSYS
{
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5 changes: 4 additions & 1 deletion MMVII/include/cMMVII_Appli.h
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Expand Up @@ -406,7 +406,7 @@ class cMMVII_Appli : public cMMVII_Ap_NameManip,
void MMVII_WARNING(const std::string &);

/// According to StdOut param can be std::cout, a File, both or none
cMultipleOfs & StdOut();
cMultipleOfs & StdOut() const;
cMultipleOfs & HelpOut();
cMultipleOfs & ErrOut();

Expand Down Expand Up @@ -573,6 +573,9 @@ class cMMVII_Appli : public cMMVII_Ap_NameManip,
static const std::string & FullBin(); ///< Protected accessor to full pathname of MMVII executable
static const std::string & DirTestMMVII(); ///< Protected accessor to dir to read/write test bench
private :
// not very clean, but mutable dont seem enough
cMultipleOfs & NC_StdOut();

cMMVII_Appli(const cMMVII_Appli&) = delete ; ///< New C++11 feature , forbid copy
cMMVII_Appli & operator = (const cMMVII_Appli&) = delete ; ///< New C++11 feature , forbid copy
// Subst (aNameOpt,aVal)
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6 changes: 5 additions & 1 deletion MMVII/src/Appli/cMMVII_Appli.cpp
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Expand Up @@ -367,7 +367,7 @@ cMultipleOfs& ErrOut() {return StdOut();}



cMultipleOfs & cMMVII_Appli::StdOut()
cMultipleOfs & cMMVII_Appli::NC_StdOut()
{
/// Maybe mStdCout not correctly initialized if we are in constructor or in destructor ?
if ((!cMMVII_Appli::ExistAppli()) || msInDstructor)
Expand All @@ -377,6 +377,10 @@ cMultipleOfs & cMMVII_Appli::StdOut()
cMultipleOfs & cMMVII_Appli::HelpOut() {return StdOut();}
cMultipleOfs & cMMVII_Appli::ErrOut() {return StdOut();}

cMultipleOfs & cMMVII_Appli::StdOut() const
{
return const_cast<cMMVII_Appli *>(this)->NC_StdOut();
}

void TestMainSet(const cCollecSpecArg2007 & aVSpec,bool &aMain0,bool & aMain1)
{
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2 changes: 1 addition & 1 deletion MMVII/src/PoseEstim/UnCalibratedSpaceResection.cpp
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Expand Up @@ -585,7 +585,7 @@ void OneBenchUnCalibResection(int aKTest)
cSensorCamPC aCam("Camera_BenchUncalibResection",cIsometry3D<tREAL8>::RandomIsom3D(100.0),aCalib);

std::vector<double> aVDepts({1,2});
cSet2D3D aSetCorresp = aCam.SyntheticsCorresp3D2D(10,aVDepts) ;
cSet2D3D aSetCorresp = aCam.SyntheticsCorresp3D2D(10,aVDepts,true) ;

cUncalibSpaceRessection<tREAL8> aResec8(aSz,aSetCorresp,&aCam);
cSensorCamPC * aCamCalc = aResec8.ComputeParameters("NoIm_UCSR");
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21 changes: 17 additions & 4 deletions MMVII/src/Sensors/SensorBases.cpp
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Expand Up @@ -172,6 +172,11 @@ void cSensorImage::ToFile(const std::string &) const
}


cPt2dr cSensorImage::GetIntervalZ() const
{
MMVII_INTERNAL_ERROR("cSensorImage::GetIntervalZ not implemanted");
return cPt2dr::Dummy();
}



Expand Down Expand Up @@ -210,6 +215,11 @@ cPt3dr cSensorImage::ImageAndDepth2Ground(const cPt2dr & aP2,const double & aDep
return ImageAndDepth2Ground(cPt3dr(aP2.x(),aP2.y(),aDepth));
}

bool cSensorImage::HasImageAndDepth() const {return false;}
bool cSensorImage::HasIntervalZ() const {return false;}





const cPt2di & cSensorImage::Sz() const {return PixelDomain().Sz();}
Expand Down Expand Up @@ -276,7 +286,7 @@ cPt3dr cSensorImage::RandomVisiblePGround(tREAL8 aDepMin,tREAL8 aDepMax)



cSet2D3D cSensorImage::SyntheticsCorresp3D2D (int aNbByDim,std::vector<double> & aVecDepth) const
cSet2D3D cSensorImage::SyntheticsCorresp3D2D (int aNbByDim,std::vector<double> & aVecDepth,bool IsDepthOrZ) const
{
cSet2D3D aResult;

Expand All @@ -286,14 +296,17 @@ cSet2D3D cSensorImage::SyntheticsCorresp3D2D (int aNbByDim,std::vector<double>
{
for (const auto & aDepth : aVecDepth)
{
aResult.AddPair(aPIm,ImageAndDepth2Ground(aPIm,aDepth));
cPt3dr aP = IsDepthOrZ ?
ImageAndDepth2Ground(aPIm,aDepth) :
ImageAndZ2Ground(cPt3dr(aPIm.x(),aPIm.y(),aDepth)) ;
aResult.AddPair(aPIm,aP);
}
}

return aResult;
}
/// call variant with vector, depth regularly spaced
cSet2D3D cSensorImage::SyntheticsCorresp3D2D (int aNbByDim,int aNbDepts,double aD0,double aD1) const
cSet2D3D cSensorImage::SyntheticsCorresp3D2D (int aNbByDim,int aNbDepts,double aD0,double aD1,bool IsDepthOrZ) const
{
std::vector<tREAL8> aVDepth;

Expand All @@ -303,7 +316,7 @@ cSet2D3D cSensorImage::SyntheticsCorresp3D2D (int aNbByDim,int aNbDepts,double
aVDepth.push_back(aD0 * pow(aD1/aD0,aW));
}

return SyntheticsCorresp3D2D(aNbByDim,aVDepth);
return SyntheticsCorresp3D2D(aNbByDim,aVDepth,IsDepthOrZ);
}

bool cSensorImage::IsVisible(const cPt3dr & aP3) const { return DegreeVisibility(aP3) > 0; }
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120 changes: 115 additions & 5 deletions MMVII/src/Sensors/cRPC.cpp
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Expand Up @@ -103,6 +103,10 @@ class cDataRPC : public cSensorImage
/// Indicate how much a point belongs to sensor visibilty domain
double DegreeVisibility(const cPt3dr &) const override;


bool HasIntervalZ() const override;
cPt2dr GetIntervalZ() const override;

///
const cPixelDomain & PixelDomain() const override;
std::string V_PrefixName() const override;
Expand Down Expand Up @@ -469,6 +473,12 @@ void cDataRPC::Dimap_ReadXMLNorms(const cSerialTree& aTree)
mBoxGround = cBox3dr(aP0Gr,aP1Gr);
}

bool cDataRPC::HasIntervalZ() const {return true;}
cPt2dr cDataRPC::GetIntervalZ() const
{
return cPt2dr(mBoxGround.P0().z(),mBoxGround.P1().z());
}

double cDataRPC::ReadXMLItem(const cSerialTree & aData,const std::string& aPrefix)
{
return std::stod(aData.GetUniqueDescFromName(aPrefix)->UniqueSon().Value());
Expand Down Expand Up @@ -653,6 +663,11 @@ class cAppliTestImportSensors : public cMMVII_Appli
cCollecSpecArg2007 & ArgObl(cCollecSpecArg2007 & anArgObl) override ;
cCollecSpecArg2007 & ArgOpt(cCollecSpecArg2007 & anArgOpt) override ;

/// Test that the accuracy of ground truth, i.e Proj(P3) = P2
void TestGroundTruth(const cSensorImage & aSI) const;
/// Test coherence of Direct/Inverse model, i.e Id = Dir o Inv = Inv o Dir
void TestCoherenceDirInv(const cSensorImage & aSI) const;

cPhotogrammetricProject mPhProj;
std::string mNameImage;
std::string mNameRPC;
Expand All @@ -673,49 +688,143 @@ cCollecSpecArg2007 & cAppliTestImportSensors::ArgObl(cCollecSpecArg2007 & anArgO
return anArgObl
<< Arg2007(mNameImage,"Name of input Image", {eTA2007::FileDirProj})
<< Arg2007(mNameRPC,"Name of input RPC", {eTA2007::Orient})
<< mPhProj.DPPointsMeasures().ArgDirInMand()
;
}

cCollecSpecArg2007 & cAppliTestImportSensors::ArgOpt(cCollecSpecArg2007 & anArgOpt)
{
return anArgOpt
<< mPhProj.DPPointsMeasures().ArgDirInOpt()
<< AOpt2007(mShowDetail,"ShowD","Show detail",{eTA2007::HDV})
;
}

void cAppliTestImportSensors::TestGroundTruth(const cSensorImage & aSI) const
{
// Load mesure from standard MMVII project
cSetMesImGCP aSetMes;
mPhProj.LoadGCP(aSetMes);
mPhProj.LoadIm(aSetMes,mNameImage);
cSet2D3D aSetM23;
aSetMes.ExtractMes1Im(aSetM23,mNameImage);

cStdStatRes aStCheckIm; // Statistic of reproj errorr

for (const auto & aPair : aSetM23.Pairs()) // parse all pair to accumulate stat of errors
{
cPt3dr aPGr = aPair.mP3;
cPt2dr aPIm = aSI.Ground2Image(aPGr);
tREAL8 aDifIm = Norm2(aPIm-aPair.mP2);
aStCheckIm.Add(aDifIm);

if (mShowDetail)
{
StdOut() << "ImGT=" << aDifIm << std::endl;

}
}
StdOut() << " ============== Accuracy / Ground trurh =============== " << std::endl;
StdOut() << " Avg=" << aStCheckIm.Avg() << ", Worst=" << aStCheckIm.Max() << "\n";
}

void cAppliTestImportSensors::TestCoherenceDirInv(const cSensorImage & aSI) const
{
bool InDepth = ! aSI.HasIntervalZ(); // do we use Im&Depth or Image&Z

cPt2dr aIntZD = cPt2dr(1,2);
if (InDepth)
{ // if depth probably doent matter which one is used
}
else
{
aIntZD = aSI.GetIntervalZ(); // at least with RPC, need to get validity interval
}

int mNbByDim = 10;
int mNbDepth = 5;
cSet2D3D aS32 = aSI.SyntheticsCorresp3D2D(mNbByDim,mNbDepth,aIntZD.x(),aIntZD.y(),InDepth);

cStdStatRes aStConsistIm; // stat for image consit Proj( Proj-1(PIm)) ?= PIm
cStdStatRes aStConsistGr; // stat for ground consist Proj-1 (Proj(Ground)) ?= Ground

for (const auto & aPair : aS32.Pairs())
{
cPt3dr aPGr = aPair.mP3;
cPt3dr aPIm (aPair.mP2.x(),aPair.mP2.y(),aPGr.z());

cPt3dr aPIm2 ;
cPt3dr aPGr2 ;

if (InDepth)
{
aPIm2 = aSI.Ground2ImageAndDepth(aSI.ImageAndDepth2Ground(aPIm));
aPGr2 = aSI.ImageAndDepth2Ground(aSI.Ground2ImageAndDepth(aPGr));
}
else
{
aPIm2 = aSI.Ground2ImageAndZ(aSI.ImageAndZ2Ground(aPIm));
aPGr2 = aSI.ImageAndZ2Ground(aSI.Ground2ImageAndZ(aPGr));
}
tREAL8 aDifIm = Norm2(aPIm-aPIm2);
aStConsistIm.Add(aDifIm);

tREAL8 aDifGr = Norm2(aPGr-aPGr2);
aStConsistGr.Add(aDifGr);

}

StdOut() << " ============== Consistencies Direct/Inverse =============== " << std::endl;
StdOut() << " * Image : Avg=" << aStConsistIm.Avg()
<< ", Worst=" << aStConsistIm.Max()
<< ", Med=" << aStConsistIm.ErrAtProp(0.5)
<< std::endl;

StdOut() << " * Ground: Avg=" << aStConsistGr.Avg()
<< ", Worst=" << aStConsistGr.Max()
<< ", Med=" << aStConsistGr.ErrAtProp(0.5)
<< std::endl;

}



int cAppliTestImportSensors::Exe()
{
mPhProj.FinishInit();
cDataRPC aDataRPC(mNameRPC,mNameImage);

if (mPhProj.DPPointsMeasures().DirInIsInit())
TestGroundTruth(aDataRPC);

TestCoherenceDirInv(aDataRPC);
/*
cSetMesImGCP aSetMes;
mPhProj.LoadGCP(aSetMes);
mPhProj.LoadIm(aSetMes,mNameImage);
cDataRPC aDataRPC(mNameRPC,mNameImage);
cSet2D3D aSetM23;
aSetMes.ExtractMes1Im(aSetM23,mNameImage);
tREAL8 aSomCheckIm = 0.0;
tREAL8 aSomConsistIm = 0.0;
tREAL8 aSomConsistGr = 0.0;
const cSensorImage & aSI (aDataRPC);
for (const auto & aPair : aSetM23.Pairs())
{
cPt3dr aPGr = aPair.mP3;
tREAL8 aZ = aPGr.z();
cPt2dr aPIm = aDataRPC.Ground2Image(aPGr);
cPt2dr aPIm = aSI.Ground2Image(aPGr);
// @G2I @I2G @G2I
// Pgr=mP3 ---> PIm ---> aPGr2?=Pgr ---> aPIm2
// ?=mP2 ?=Pgr ?= PIm
// "GTTest" "GrCons" "GrCons"
cPt3dr aPGr2 = aDataRPC.ImageZToGround(aPIm,aZ);
cPt2dr aPIm2 = aDataRPC.Ground2Image(aPGr2);
cPt3dr aPGr2 = aSI.ImageAndZ2Ground(cPt3dr(aPIm.x(),aPIm.y(),aZ));
cPt2dr aPIm2 = aSI.Ground2Image(aPGr2);
aSomCheckIm += Norm2(aPIm - aPair.mP2);
aSomConsistIm += Norm2(aPIm-aPIm2);
Expand All @@ -738,6 +847,7 @@ int cAppliTestImportSensors::Exe()
StdOut() << " CheckGTIm=" << aSomCheckIm << "\n";
StdOut() << " ConsistIm=" << aSomConsistIm << "\n";
StdOut() << " ConsistGr=" << aSomConsistGr << "\n";
*/

return EXIT_SUCCESS;
}
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5 changes: 4 additions & 1 deletion MMVII/src/Sensors/cSensorCamPC.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -213,6 +213,9 @@ double cSensorCamPC::DegreeVisibilityOnImFrame(const cPt2dr & aP) const
return mInternalCalib->DegreeVisibilityOnImFrame(aP);
}

bool cSensorCamPC::HasImageAndDepth() const {return true;}


cPt3dr cSensorCamPC::Ground2ImageAndDepth(const cPt3dr & aP) const
{
cPt3dr aPCam = Pose().Inverse(aP); // P in camera coordinate
Expand Down Expand Up @@ -524,7 +527,7 @@ void cSensorCamPC::GetAdrInfoParam(cGetAdrInfoParam<tREAL8> & aGAIP)

void cSensorCamPC::Bench()
{
cSet2D3D aSet32 = SyntheticsCorresp3D2D(20,3,1.0,10.0) ;
cSet2D3D aSet32 = SyntheticsCorresp3D2D(20,3,1.0,10.0,true) ;
tREAL8 aRes = AvgAngularProjResiudal(aSet32);

MMVII_INTERNAL_ASSERT_bench(aRes<1e-8,"Avg res ang");
Expand Down

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