Merge branch 'mpd'

MMVII/MMVII-UseCaseDataSet/Circ-Code-Target/InfoNew.txt

@@ -1,23 +1,36 @@
+#  GENERATE TARGET SPECIFICATION
 MMVII  CodedTargetGenerateEncoding CERN 14
 MMVII  CodedTargetGenerate  CERN_Nbb14_Freq14_Hamm1_Run1000_1000_SpecEncoding.xml
 
+# GENERATE META DATA 
+#   As camera is knonw, once we set focal length to 24mm, MMVII will be abel to have an approximate calibration
 MMVII EditCalcMTDI Std ModelCam ImTest=043_0005_Scaled.tif  Modif=[.*_Scaled.tif,"NIKON D5600",0] Save=1
 MMVII EditCalcMTDI Std Focalmm ImTest=043_0005_Scaled.tif  Modif=[.*_Scaled.tif,24,0] Save=1
 MMVII EditCalcMTDI Std AdditionalName ImTest=043_0005_Scaled.tif  Modif=["(.*)_.*_.*","\$1",0] Save=1
 
+#  CREATE an initial calibration with default param
 MMVII  OriCreateCalib ".*tif" CalibInit
 
+#  Import GCP , we fix a coordinate system "Pannel", purely local, mainly for documentation
 MMVII  ImportGCP  Data-Aux/Positions-3D-14bit_lookup.txt NXYZ Test NbDigName=3 ChSys=[LocalPannel]
 MMVII  CodedTargetCircExtract ".*_Scaled.tif" CERN_Nbb14_Freq14_Hamm1_Run1000_1000_FullSpecif.xml DiamMin=8  OutPointsMeasure=Test
 
+#  pose estimation init : resection + bundle
 MMVII OriPoseEstimSpaceResection .*tif Test CalibInit Resec ThrRej=10  DirFiltered=Filt
 MMVII  OriBundleAdj .*tif Resec BA GCPW=[1,1]  GCPDir=Filt
 
-
+#  research uncoded target + new bundle
 MMVII CodedTargetCompleteUncoded .*_Scaled.tif BA 1.0 InPointsMeasure=Test ThRay=[1.05,4.7,5.3]
 MMVII  OriBundleAdj .*tif  BA BA2 GCPW=[1,1,1,5]  GCPDir=Completed/
 
-
+#   Generate a report on GCP quality
 MMVII  ReportGCP .*tif  Completed BA2
 
+#  compute an initial value of the block
+MMVII BlockCamInit .*tif BA2 "(.*)_(.*)_Scaled.tif" [1,2]  Rig
+
+# make a compensation with rigid block
+MMVII  OriBundleAdj .*tif  BA2 BA3 GCPW=[1,1,1,5]  GCPDir=Completed/   BRDirIn=Rig BRW=[1e-2,1e-5]
+
+
 

MMVII/include/MMVII_DeclareAllCmd.h

@@ -71,6 +71,8 @@ extern cSpecMMVII_Appli  TheSpec_OriBundlAdj;
 extern cSpecMMVII_Appli  TheSpecDistCorrectCirgTarget;
 extern cSpecMMVII_Appli  TheSpecGenArgsSpec;
 extern cSpecMMVII_Appli  TheSpec_ImportGCP;
+extern cSpecMMVII_Appli  TheSpec_ImportTiePMul;
+extern cSpecMMVII_Appli  TheSpec_ImportMesImGCP;
 extern cSpecMMVII_Appli  TheSpec_ConvertV1V2_GCPIM;
 extern cSpecMMVII_Appli  TheSpec_SpecSerial;
 extern cSpecMMVII_Appli  TheSpec_CGPReport;

MMVII/include/MMVII_MeasuresIm.h

@@ -313,7 +313,7 @@ void AddData(const cAuxAr2007 & anAux,cTiePMul & aPMul);
 class   cVecTiePMul
 {
       public :
-          cVecTiePMul(const std::string & anIm);
+          cVecTiePMul(const std::string & );
 
           std::string           mNameIm;
           std::vector<cTiePMul> mVecTPM;

MMVII/include/MMVII_PCSens.h

@@ -398,6 +398,10 @@ class cPoseWithUK :  public cObjWithUnkowns<tREAL8>
 	 void  GetAdrInfoParam(cGetAdrInfoParam<tREAL8> &) override;
 	 // std::vector<tPtrOUK>  GetAllUK() override;
 
+         // Val axiator should have to "equal" fix rot
+         cPt3dr ValAxiatorFixRot(const cRotation3D<tREAL8> & aRotFix) const;
+
+
      private :
          void PutUknowsInSetInterval() override ;  // add the interval on udpate
 
@@ -452,7 +456,7 @@ class cSensorCamPC : public cSensorImage
 
 	 const cPt3dr * CenterOfPC() const override;
          /// Return the calculator, adapted to the type, for computing colinearity equation
-         cCalculator<double> * EqColinearity(bool WithDerives,int aSzBuf,bool ReUse) override;
+         cCalculator<double> * CreateEqColinearity(bool WithDerives,int aSzBuf,bool ReUse) override;
 	 /// Push the current rotation, as equation are fixed using delta-rot
 	 void PushOwnObsColinearity( std::vector<double> &) override;
 

MMVII/include/MMVII_Sensor.h

@@ -160,13 +160,22 @@ class cSensorImage  :   public cObj2DelAtEnd,
 	 virtual cPt3dr  PseudoCenterOfProj() const = 0;
 	 ///  For stenope camera return center, for other nullptr
 	 virtual const cPt3dr * CenterOfPC() const = 0;
-	 /// Return the calculator, adapted to the type, for computing colinearity equation
-         virtual cCalculator<double> * EqColinearity(bool WithDerives,int aSzBuf,bool ReUse) = 0;
+	 // Create if new, and memorize the colinearity equation
+         cCalculator<double> * SetAndGetEqColinearity(bool WithDerives,int aSzBuf,bool ReUse);
+
+	 // suppose it was init (and assert it)
+         cCalculator<double> * GetEqColinearity();
+
 	 /// If the camera has its own "obs/cste" (like curent rot for PC-Cam) that's the place to say it
 	 virtual  void PushOwnObsColinearity( std::vector<double> &) = 0;
 
      private :
-	 std::string                                    mNameImage;
+	 /// Return the calculator, adapted to the type, for computing colinearity equation
+         virtual cCalculator<double> * CreateEqColinearity(bool WithDerives,int aSzBuf,bool ReUse) = 0;
+
+	 std::string                                   mNameImage;
+         cCalculator<double> *                         mEqColinearity;  // memo equation, can be nullptr (for pure pose)
+	 bool                                          mEqCIsInit;      // memo if init of "mEqColinearity" was done
 	 // static std::map<std::string,cSensorImage*>  mDicoSensor;
 	 // static int                                  mNum;
 };
@@ -516,7 +525,8 @@ class cPhotogrammetricProject
 
 	 std::string NameMultipleTieP(const std::string &) const;
 	 void  SaveMultipleTieP(const cVecTiePMul&,const std::string &) const;
-	 void  ReadMultipleTieP(cVecTiePMul&,const std::string & ) const;
+	 void  ReadMultipleTieP(cVecTiePMul&,const std::string &,bool SVP =false ) const;
+	 bool HasNbMinMultiTiePoints(const std::string & aNameIm,size_t aNbMin,bool AcceptNoDirIn =false) const;
 
 	 //===================================================================
          //==================    Coord Sys           =========================

MMVII/src/Appli/cMMVII_CalcSet.cpp

@@ -1,6 +1,6 @@
-
 #include "MMVII_2Include_Serial_Tpl.h"
 #include "MMVII_DeclareAllCmd.h"
+#include "MMVII_Sensor.h"
 
 
 /** \file cMMVII_CalcSet.cpp
@@ -56,12 +56,15 @@ class cAppli_EditSet : public cMMVII_Appli
      protected :
         bool AcceptEmptySet(int aK) const override;
      private :
+	 cPhotogrammetricProject  mPhProj;
          std::string mNameXmlIn;  ///< Save Input file, generally in-out
          std::string mNameXmlOut; ///< Output file, when != Input
          std::string mPat;    ///< Pattern (or File) to modify
          eOpAff      mOp;     ///<  operator
          int         mShow;   ///< Level of message
          std::vector<std::string>  mChgName;
+	 std::string               mPatFilter;
+         size_t                    mNbMinTieP;
 };
 
 cAppliBenchAnswer cAppli_EditSet::BenchAnswer() const
@@ -215,17 +218,23 @@ cCollecSpecArg2007 & cAppli_EditSet::ArgOpt(cCollecSpecArg2007 & anArgOpt)
          << AOpt2007(mShow,"Show","Show detail of set before/after, 0->none, (1) modif, (2) all",{{eTA2007::HDV}})
          << AOpt2007(mNameXmlOut,"Out","Destination, def=Input, no save for " + MMVII_NONE,{})
          << AOpt2007(mChgName,"ChgN","Change name [Pat,Name], for ex \"[(.*),IMU_\\$0]\"  add prefix \"IMU_\" ",{{eTA2007::ISizeV,"[2,2]"}})
+	 << mPhProj.DPMulTieP().ArgDirInOpt("TiePF","TieP for filtering on number")
+         << AOpt2007(mNbMinTieP,"NbMinTieP","Number min of tie points, if TiePF",{{eTA2007::HDV}})
+         << AOpt2007(mPatFilter,"PatF","Pattern to filter on name")
       ;
 }
 
 cAppli_EditSet::cAppli_EditSet(const std::vector<std::string> & aVArgs,const cSpecMMVII_Appli & aSpec) :
   cMMVII_Appli (aVArgs,aSpec),
-  mShow        (0)
+  mPhProj      (*this),
+  mShow        (0),
+  mNbMinTieP   (1)
 {
 }
 
 int cAppli_EditSet::Exe()
 {
+    mPhProj.FinishInit();
 
    InitOutFromIn(mNameXmlOut,mNameXmlIn);
 
@@ -244,11 +253,33 @@ int cAppli_EditSet::Exe()
    }
 
    // StdOut()  << "aNewaNewaNew " <<  aNew.size() << std::endl;
-
    tNameSet aRes = aInput.Dupl();
-
    aRes.OpAff(mOp,aNew);
 
+   if (IsInit(&mPatFilter))
+   {
+       tNameSelector  aSel = AllocRegex(mPatFilter);
+       tNameSet aNewRes;
+       for (const auto & aName : ToVect(aRes))
+       {
+          if (aSel.Match(aName))
+             aNewRes.Add(aName);
+       }
+       aRes = aNewRes;
+   }
+
+   if (mPhProj.DPMulTieP().DirInIsInit())
+   {
+      tNameSet aNewRes;
+      for (const auto & aName : ToVect(aRes))
+      {
+          if (mPhProj.HasNbMinMultiTiePoints(aName,mNbMinTieP,true))
+             aNewRes.Add(aName);
+      }
+      aRes = aNewRes;
+   }
+
+
    if (mShow)
    {
        tNameSet   aTot(aInput+aNew);

MMVII/src/Appli/cMMVII_Rename.cpp

@@ -27,34 +27,37 @@ class cAppli_DicoRename   : public cMMVII_Appli
      protected :
      private :
         cPhotogrammetricProject  mPhProj;
-	std::string              mNameFile;
+	std::string              mNameFileTxtIn;
         std::string              mFormat;
-	std::vector<std::string> mPatSubst;
+	std::vector<std::string> mPatIm;
 	std::string              mNameDico;
-	std::vector<std::string> mNameFiles;
         int                      mL0;
         int                      mLLast;
         char                     mComment;
 	std::string              mSeparator;
+        int                      mNbMinTieP;
+	std::vector<std::string> mNameFilesListIm;
 
 };
 
 cAppli_DicoRename::cAppli_DicoRename(const std::vector<std::string> & aVArgs,const cSpecMMVII_Appli & aSpec) :
-    cMMVII_Appli (aVArgs,aSpec),
-    mPhProj      (*this),
-    mL0          (0),
-    mLLast       (-1),
-    mComment     ('#'),
-    mSeparator   ("@")
+    cMMVII_Appli      (aVArgs,aSpec),
+    mPhProj           (*this),
+    mL0               (0),
+    mLLast            (-1),
+    mComment          ('#'),
+    mSeparator        ("@"),
+    mNbMinTieP        (0),
+    mNameFilesListIm  {"AllImDicoIn.xml","AllImDicoOut.xml"}
 {
 }
 
 cCollecSpecArg2007 & cAppli_DicoRename::ArgObl(cCollecSpecArg2007 & anArgObl)
 {
     return anArgObl
-              <<  Arg2007(mNameFile ,"Name of Input File")
+              <<  Arg2007(mNameFileTxtIn ,"Name of Input File")
               <<  Arg2007(mFormat   ,"Format of file as for ex \"SNSXYZSS\" ")
-              <<  Arg2007(mPatSubst ,"Substitution pattern [Pattern,SubstIn,SubstOut]",{{eTA2007::ISizeV,"[3,3]"}})
+              <<  Arg2007(mPatIm ,"Substitution pattern [Pattern,SubstIn,SubstOut]",{{eTA2007::ISizeV,"[3,3]"}})
               <<  Arg2007(mNameDico ,"Name for output dictionnary")
            ;
 }
@@ -66,7 +69,8 @@ cCollecSpecArg2007 & cAppli_DicoRename::ArgOpt(cCollecSpecArg2007 & anArgObl)
        << AOpt2007(mL0,"NumL0","Num of first line to read",{eTA2007::HDV})
        << AOpt2007(mLLast,"NumLast","Num of last line to read (-1 if at end of file)",{eTA2007::HDV})
        << AOpt2007(mComment,"Com","Carac for commentary",{eTA2007::HDV})
-       << AOpt2007(mNameFiles,"Files","Name file to transform [Input,Output)",{{eTA2007::ISizeV,"[2,2]"}})
+       << AOpt2007(mNameFilesListIm,"Files","Name file to transform [Input,Output]",{{eTA2007::ISizeV,"[2,2]"},eTA2007::HDV})
+       << AOpt2007(mNbMinTieP,"NbMinTiep","Number minimal of tie point for save, set -1 if save w/o tiep",{eTA2007::HDV})
 
        <<   mPhProj.DPMulTieP().ArgDirInOpt()
        <<   mPhProj.DPMulTieP().ArgDirOutOpt()
@@ -87,7 +91,7 @@ int cAppli_DicoRename::Exe()
 
     ReadFilesStruct
     (
-        mNameFile, mFormat,
+        mNameFileTxtIn, mFormat,
         mL0, mLLast, mComment,
         aVVNames,aVXYZ,aVWKP,aVNums,
         false
@@ -100,8 +104,8 @@ int cAppli_DicoRename::Exe()
          for (size_t aKName=1 ; aKName<aVNames.size() ; aKName++)
              aCatName = aCatName + mSeparator + aVNames.at(aKName);
 
-	 std::string  aNameIn  = ReplacePattern(mPatSubst.at(0),mPatSubst.at(1),aCatName);
-	 std::string  aNameOut = ReplacePattern(mPatSubst.at(0),mPatSubst.at(2),aCatName);
+	 std::string  aNameIn  = ReplacePattern(mPatIm.at(0),mPatIm.at(1),aCatName);
+	 std::string  aNameOut = ReplacePattern(mPatIm.at(0),mPatIm.at(2),aCatName);
 
 	 aDico[aNameIn] = aNameOut;
 
@@ -110,9 +114,11 @@ int cAppli_DicoRename::Exe()
 
     SaveInFile(aDico,mNameDico);
 
+/*
     if (IsInit(&mNameFiles))
     {
         auto aSetIn = ToVect(SetNameFromString(mNameFiles.at(0),true));
+        tNameSet aSetIn;
         tNameSet aSetOut;
 
         for (const auto & aNameIn : aSetIn)
@@ -123,25 +129,43 @@ int cAppli_DicoRename::Exe()
                aSetOut.Add(anIter->second);
             }
         }
+        SaveInFile(aSetIn,mNameFiles.at(0));
         SaveInFile(aSetOut,mNameFiles.at(1));
     }
+*/
 
-    if (mPhProj.DPMulTieP().DirInIsInit())
+    bool  isInitMTP = mPhProj.DPMulTieP().DirInIsInit();
+    if (isInitMTP)
     {
        MMVII_INTERNAL_ASSERT_User(mPhProj.DPMulTieP().DirOutIsInit(),eTyUEr::eUnClassedError,"MulTieP In w/o Out");
-       for (const auto & aPair :  aDico)
+    }
+    tNameSet aSetIn;
+    tNameSet aSetOut;
+    for (const auto & [aNameIn,aNameOut] :  aDico)
+    {
+       bool  hasTieP =    isInitMTP
+                       && ExistFile(mPhProj.DPMulTieP().FullDirIn()+ mPhProj.NameMultipleTieP(aNameIn));
+       int aNbTieP = isInitMTP ? -1 : 0;
+       if (hasTieP)
        {
-           if (ExistFile(mPhProj.DPMulTieP().FullDirIn()+ mPhProj.NameMultipleTieP(aPair.first)))
-           {
-               cVecTiePMul  aVTPM("toto");
-               mPhProj.ReadMultipleTieP(aVTPM,aPair.first);
-               mPhProj.SaveMultipleTieP(aVTPM,aPair.second);
-           }
-           else
-           {
-           }
+           cVecTiePMul  aVTPM("toto");
+           mPhProj.ReadMultipleTieP(aVTPM,aNameIn);
+           aVTPM.mNameIm = aNameOut;
+           aNbTieP = aVTPM.mVecTPM.size();
+           mPhProj.SaveMultipleTieP(aVTPM,aNameOut);
+       }
+       else
+       {
+       }
+
+       if (aNbTieP >= mNbMinTieP)
+       {
+           aSetIn.Add(aNameIn);
+           aSetOut.Add(aNameOut);
        }
     }
+    SaveInFile(aSetIn ,mNameFilesListIm.at(0));
+    SaveInFile(aSetOut,mNameFilesListIm.at(1));
 
     if (mPhProj.DPPointsMeasures().DirInIsInit())
     {

MMVII/src/Appli/cSpecMMVII_Appli.cpp

@@ -230,6 +230,8 @@ std::vector<cSpecMMVII_Appli *> & cSpecMMVII_Appli::InternVecAll()
         TheVecAll.push_back(&TheSpec_CreateRTL);
         TheVecAll.push_back(&TheSpec_ChSysCo);
         TheVecAll.push_back(&TheSpec_CreateCalib);
+        TheVecAll.push_back(&TheSpec_ImportTiePMul);
+        TheVecAll.push_back(&TheSpec_ImportMesImGCP);
 
         std::sort(TheVecAll.begin(),TheVecAll.end(),CmpCmd);
    }

MMVII/src/Bench/BenchGeom.cpp

@@ -1,6 +1,7 @@
 #include "MMVII_Geom2D.h"
 #include "MMVII_Geom3D.h"
 #include "MMVII_Tpl_Images.h"
+#include "MMVII_PCSens.h"
 
 namespace MMVII
 {
@@ -177,8 +178,30 @@ template<class Type> void TplBenchRotation3D(cParamExeBench & aParam)
    // StdOut() << "============================" << std::endl;
 }
 
+void BenchRotation3DReal8()
+{
+    tREAL8 aEps = 0.2;
+    for (int aKT=0 ; aKT<100 ; aKT++)
+    {
+         cRotation3D<tREAL8>  aR0 = cRotation3D<tREAL8>::RandomRot();
+         cRotation3D<tREAL8>  aRTarget = aR0*cRotation3D<tREAL8>::RandomRot(aEps);
+
+         cPoseWithUK  aPUK(tPoseR(cPt3dr(0,0,0),aR0));
+
+         for (int aKIter=0 ; aKIter<5; aKIter++)
+         {
+             cPt3dr  W = aPUK.ValAxiatorFixRot(aRTarget);
+             aPUK.Omega() = W;
+             aPUK.OnUpdate();
+         }
+         tREAL8 aD =  aRTarget.Mat().L2Dist(aPUK.Pose().Rot().Mat()) ;
+	 MMVII_INTERNAL_ASSERT_bench(aD <1e-10,"FromTriInAndOut p1 !!");
+    }
+}
+
 void BenchRotation3D(cParamExeBench & aParam)
 {
+    BenchRotation3DReal8();
     TplBenchRotation3D<tREAL4 >(aParam);
     TplBenchRotation3D<tREAL8 >(aParam);
     TplBenchRotation3D<tREAL16>(aParam);