Merge branch 'master' of https://github.com/micmacIGN/micmac

micmacIGN · Jan 18, 2024 · de006f2 · de006f2
2 parents e7c095f + a54fa66
commit de006f2
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Showing 13 changed files with 110 additions and 22 deletions.
diff --git a/MMVII/MMVII-RessourceDir/CameraDataBase.xml b/MMVII/MMVII-RessourceDir/CameraDataBase.xml
@@ -22,6 +22,15 @@
                <NbPixels>6000  4000</NbPixels>
             </V>
          </Pair>
+         <Pair>
+            <K>"NIKON D3X"</K>
+            <V>
+               <Name>"NIKON D3X"</Name>
+               <SzPix_micron>5.95 5.95 </SzPix_micron>
+               <SzSensor_mm>36  24</SzSensor_mm>  <!-- 35.9 24.0 in spec => non square pixel -->
+               <NbPixels>6048  4032</NbPixels>
+            </V>
+         </Pair>
       </CamDataBase>
    </Data>
 </Root>
diff --git a/MMVII/include/MMVII_2Include_Serial_Tpl.h b/MMVII/include/MMVII_2Include_Serial_Tpl.h
@@ -117,6 +117,56 @@ template <class Type> void AddOptData(const cAuxAr2007 & anAux,const std::string
     }
 }
 
+template <class Type, size_t size> void AddOptTabData(const cAuxAr2007 & anAux,const std::string & aTag0,std::optional<cArray<Type, size>> & aL)
+{
+    // put the tag as <Opt::Tag0>,
+    //  Not mandatory, but optionality being an important feature I thought usefull to see it in XML file
+    //  put it
+    std::string aTagOpt;
+    const std::string * anAdrTag = & aTag0;
+    if (anAux.Tagged())
+    {
+        aTagOpt = "Opt:" + aTag0;
+        anAdrTag = & aTagOpt;
+    }
+
+   // In input mode, we must decide if the value is present
+    if (anAux.Input())
+    {
+        // The archive knows if the object is present
+        if (anAux.NbNextOptionnal(*anAdrTag))
+        {
+           // If yes read it and initialize optional value
+           cArray<Type, size> aV;
+           AddTabData(cAuxAr2007(*anAdrTag,anAux),aV.data(), size);
+           aL = aV;
+        }
+        // If no just put it initilized
+        else
+           aL = std::nullopt;
+        return;
+    }
+
+    // Now in writing mode
+    int aNb =  aL.has_value() ? 1 : 0;
+    // Tagged format (xml) is a special case
+    if (anAux.Tagged())
+    {
+       // If the value exist put it normally else do nothing (the absence of tag will be analysed at reading)
+       if (aNb)
+          AddTabData(cAuxAr2007(*anAdrTag,anAux),aL->data(), size);
+    }
+    else
+    {
+       // Indicate if the value is present and if yes put it
+       AddData(anAux,aNb);
+       anAux.Ar().Separator();
+       if (aNb)
+          AddTabData(anAux,aL->data(), size);
+    }
+}
+
+
 /// Pointer serialisation, make the assumption that pointer are valide (i.e null or dynamically allocated)
 template <class Type> void OnePtrAddData(const cAuxAr2007 & anAux,Type * & aL)
 {

diff --git a/MMVII/include/MMVII_MeasuresIm.h b/MMVII/include/MMVII_MeasuresIm.h
@@ -126,14 +126,14 @@ class cMes1GCP
      public :
         cMes1GCP(const cPt3dr & aPt,const std::string & aNamePt,tREAL4 aSigma);
         cMes1GCP();
-
+        bool isFree() const {return !mOptSigma2;}
         cPt3dr         mPt;
         std::string    mNamePt;
         static constexpr int IndXX = 0;
         static constexpr int IndYY = 3;
         static constexpr int IndZZ = 5;
 
-        tREAL4         mSigma2[6];  //  xx xy xz yy yz zz
+        std::optional<cArray<tREAL4,6> >  mOptSigma2;  //  xx xy xz yy yz zz
 };
 
 /**  A set of cMes1GCP */
@@ -212,6 +212,7 @@ class cSetMesImGCP : public cMemCheck
             std::vector<cMes1GCP> &        MesGCP() ; ///< Accessor
             const std::vector<cMultipleImPt> &   MesImOfPt() const ;  ///< Accessor
 	    const std::vector<cSensorImage*> &   VSens() const ;  ///< Accessor
+            const std::vector<cSetMesPtOf1Im> &  MesImInit() const;  ///< Accessor
 
 	    tREAL8 AvgSqResidual() const;
 

diff --git a/MMVII/include/MMVII_Stringifier.h b/MMVII/include/MMVII_Stringifier.h
@@ -447,7 +447,7 @@ void AddData(const  cAuxAr2007 & anAux, tNameOCple  &  aVal) ;  ///< for Ordered
 void AddData(const  cAuxAr2007 & anAux, std::map<std::string,int>&  aVal) ;  ///< 
 
 template <class Type,int Dim> void AddData(const  cAuxAr2007 & anAux, cPtxd<Type,Dim>  &  aVal) ;  ///<for cPt2dr
-template <class Type> void AddTabData(const  cAuxAr2007 & anAux, Type *  aVD,int aNbVal,eTAAr aTAAr= eTAAr::eFixTabNum);
+template <class Type> void AddTabData(const  cAuxAr2007 & anAux, Type *  aVD,size_t aNbVal,eTAAr aTAAr= eTAAr::eFixTabNum);
 
 
 

diff --git a/MMVII/include/MMVII_util_tpl.h b/MMVII/include/MMVII_util_tpl.h
@@ -2,6 +2,7 @@
 #define  _MMVII_Util_TPL_H_
 
 #include <algorithm>
+#include <array>
 #include "MMVII_enums.h"
 #include "MMVII_Error.h"
 #include "MMVII_nums.h"
@@ -20,6 +21,15 @@ template <class Type> class cSelector ;
 template <class Type> class cDataSelector ;
 
 
+/// just a std::array that is Destructible for use with std::optional
+template <class T, size_t Dim> class cArray : public std::array<T,Dim>
+{
+public:
+    ~cArray() {}
+};
+
+
+
 /* ============================================= */
 /*                                               */
 /*            cSelector                          */

diff --git a/MMVII/src/BundleAdjustment/BundleAdjustment.h b/MMVII/src/BundleAdjustment/BundleAdjustment.h
@@ -148,6 +148,7 @@ class cMMVII_BundleAdj
 
 
 	  void SaveBlocRigid();
+          void Save_newGCP();
 
      private :
 

diff --git a/MMVII/src/BundleAdjustment/Bundle_GCP.cpp b/MMVII/src/BundleAdjustment/Bundle_GCP.cpp
@@ -123,6 +123,8 @@ void cMMVII_BundleAdj::OneItere_OnePackGCP(const cSetMesImGCP * aSet)
                }
 	    }
 
+           if (aVMesGCP.at(aKp).isFree())
+               continue;
 	    if (! aGcpUk) // case  subst,  we now can make schurr commpl and subst
 	    {
                 if (! aGcpFix)  // if GCP is not hard fix, we must add obs on ground
@@ -149,6 +151,16 @@ void cMMVII_BundleAdj::OneItere_GCP()
      }
 }
 
+void cMMVII_BundleAdj::Save_newGCP()
+{
+    if (mMesGCP  && mPhProj->DPPointsMeasures().DirOutIsInit())
+    {
+        mPhProj->SaveGCP(mNewGCP.ExtractSetGCP("NewGCP"));
+        for (const auto & aMes1Im : mMesGCP->MesImInit())
+             mPhProj->SaveMeasureIm(aMes1Im);
+    }
+}
+
     /* ---------------------------------------- */
     /*            cPt3dr_UK                     */
     /* ---------------------------------------- */

diff --git a/MMVII/src/BundleAdjustment/cAppliBundAdj.cpp b/MMVII/src/BundleAdjustment/cAppliBundAdj.cpp
@@ -124,6 +124,7 @@ cCollecSpecArg2007 & cAppliBundlAdj::ArgOpt(cCollecSpecArg2007 & anArgOpt)
             {{eTA2007::ISizeV,"[2,5]"}}
          )
       << AOpt2007(mGCPFilter,"GCPFilter","Pattern to filter GCP from their name")
+      << mPhProj.DPPointsMeasures().ArgDirOutOpt("GCPDirOut","Dir for output GCP")
       << AOpt2007(mTiePWeight,"TiePWeight","Tie point weighting [Sig0,SigAtt?=-1,Thrs?=-1,Exp?=1]",{{eTA2007::ISizeV,"[1,4]"}})
       << AOpt2007(mPatParamFrozCalib,"PPFzCal","Pattern for freezing internal calibration parameters")
       << AOpt2007(mPatFrosenCenters,"PatFzCenters","Pattern of images for freezing center of poses")
@@ -196,7 +197,7 @@ int cAppliBundlAdj::Exe()
         {
              mPhProj.LoadIm(aFullMesGCP,aSens->NameImage(),aSens,true);
         }
-	cSetMesImGCP * aMesGCP = aFullMesGCP.FilterNonEmptyMeasure();
+	cSetMesImGCP * aMesGCP = aFullMesGCP.FilterNonEmptyMeasure(0);
 
 	cStdWeighterResidual aWeighter(mGCPW,1);
 	mBA.AddGCP(mGCPW.at(0),aWeighter,aMesGCP);
@@ -229,6 +230,7 @@ int cAppliBundlAdj::Exe()
     mPhProj.CpSysIn2Out(true,true);
 
     mBA.SaveBlocRigid();  // RIGIDBLOC
+    mBA.Save_newGCP();
 
     return EXIT_SUCCESS;
 }

diff --git a/MMVII/src/MMV1/ExportMeasuresImGCPMMV1.cpp b/MMVII/src/MMV1/ExportMeasuresImGCPMMV1.cpp
@@ -35,9 +35,10 @@ cSetMesGCP ImportMesGCPV1(const std::string & aNameFileMesGCPV1,const std::strin
     {
         cMes1GCP  aMesV2(ToMMVII(aMesV1.Pt()),aMesV1.NamePt(),1.0);
 
-        aMesV2.mSigma2[cMes1GCP::IndXX] =  Square(aMesV1.Incertitude().x);
-        aMesV2.mSigma2[cMes1GCP::IndYY] =  Square(aMesV1.Incertitude().y);
-        aMesV2.mSigma2[cMes1GCP::IndZZ] =  Square(aMesV1.Incertitude().z);
+        aMesV2.mOptSigma2 = {0,0,0,0,0,0};
+        (*aMesV2.mOptSigma2)[cMes1GCP::IndXX] =  Square(aMesV1.Incertitude().x);
+        (*aMesV2.mOptSigma2)[cMes1GCP::IndYY] =  Square(aMesV1.Incertitude().y);
+        (*aMesV2.mOptSigma2)[cMes1GCP::IndZZ] =  Square(aMesV1.Incertitude().z);
 
         aResult.AddMeasure(aMesV2);
     }

diff --git a/MMVII/src/Matrix/cInputOutputRSNL.cpp b/MMVII/src/Matrix/cInputOutputRSNL.cpp
@@ -196,8 +196,9 @@ template <class Type> void cSetIORSNL_SameTmp<Type>::AddOneEq(const tIO_OneEq &
     mNbEq += anIO.mVals.size();
     if 
     (
-            (mNbEq > mNbTmpUk)  // A priori there is no use to less or equal equation, this doesnt give any constraint
-	 && ( mSetIndTmpUk.NbElem()== mNbTmpUk)  // we are sure to have good index, because we cannot add oustide
+            (mNbEq >= mNbTmpUk)  // A priori there is no use to less or equal equation, this doesnt give any constraint
+                                 // but useful for GCP with 3d constraints and no 2d obs
+            && ( mSetIndTmpUk.NbElem()== mNbTmpUk)  // we are sure to have good index, because we cannot add oustide
     )
     {
         mOk = true; 

diff --git a/MMVII/src/Matrix/cLeasSqtAA.cpp b/MMVII/src/Matrix/cLeasSqtAA.cpp
@@ -69,6 +69,8 @@ template <class Type>
      mSetInd.MakeInvertIndex();
 
      mNbUk = mSetInd.mVIndOcc.size();
+     if (mNbUk==0) return; // nothing to substitute
+
      mNbUkTot = mNbUk + mNbTmp;
 
      // Adjust size, initialize of mSysRed

diff --git a/MMVII/src/Sensors/Measures.cpp b/MMVII/src/Sensors/Measures.cpp
@@ -254,6 +254,7 @@ void cSetMesImGCP::AddMes2D(const cSetMesPtOf1Im & aSetMesIm,cSensorImage* aSens
 const std::vector<cMes1GCP> &        cSetMesImGCP::MesGCP()    const  {return mMesGCP; }
 const std::vector<cMultipleImPt> &   cSetMesImGCP::MesImOfPt() const  {return mMesImOfPt;  }
 const std::vector<cSensorImage*> &   cSetMesImGCP::VSens()     const  {return mVSens;}
+const std::vector<cSetMesPtOf1Im> &  cSetMesImGCP::MesImInit() const  {return mMesImInit;}
 
 std::vector<cMes1GCP> &        cSetMesImGCP::MesGCP()   {return mMesGCP; }
 
@@ -464,11 +465,11 @@ bool cSetMesPtOf1Im::NameHasMeasure(const std::string & aN) const {return Privat
 cMes1GCP::cMes1GCP(const cPt3dr & aPt,const std::string & aNamePt,tREAL4 aSigma) :
     mPt       (aPt),
     mNamePt   (aNamePt),
-    mSigma2   {0,0,0,0,0,0}
+    mOptSigma2   { {0,0,0,0,0,0} }
 {
-    mSigma2[IndXX] = aSigma;
-    mSigma2[IndYY] = aSigma;
-    mSigma2[IndZZ] = aSigma;
+    (*mOptSigma2)[IndXX] = aSigma;
+    (*mOptSigma2)[IndYY] = aSigma;
+    (*mOptSigma2)[IndZZ] = aSigma;
 }
 
 cMes1GCP::cMes1GCP() :
@@ -480,7 +481,7 @@ void AddData(const  cAuxAr2007 & anAux,cMes1GCP & aMes)
 {
    MMVII::AddData(cAuxAr2007("Name",anAux),aMes.mNamePt);
    MMVII::AddData(cAuxAr2007("Pt",anAux),aMes.mPt);
-   AddTabData(cAuxAr2007("Sigma2",anAux),aMes.mSigma2,6);
+   AddOptTabData(anAux,"Sigma2",aMes.mOptSigma2);
 }
 
 /* ********************************************* */

diff --git a/MMVII/src/Serial/Serial.cpp b/MMVII/src/Serial/Serial.cpp
@@ -150,7 +150,6 @@ void AddData(const  cAuxAr2007 & anAux, double  &  aVal) {anAux.Ar().RawAddDataT
 void AddData(const  cAuxAr2007 & anAux, std::string  &  aVal) {anAux.Ar().RawAddDataTerm(aVal); }
 void AddData(const  cAuxAr2007 & anAux, cRawData4Serial  &  aVal) {anAux.Ar().RawAddDataTerm(aVal); }
 
-
 void AddData(const  cAuxAr2007 & anAux, tREAL4  &  aVal) { anAux.Ar().TplAddDataTermByCast(anAux,aVal,(double*)nullptr); }
 
 void AddData(const  cAuxAr2007 & anAux, tINT1  &  aVal) 
@@ -167,7 +166,7 @@ void AddData(const  cAuxAr2007 & anAux, bool     &  aVal) { anAux.Ar().TplAddDat
 
 // void AddData(const  cAuxAr2007 & anAux, bool  &  aVal) {anAux.Ar().RawAddDataTerm(aVal); }
 
-template <class Type> void AddTabData(const  cAuxAr2007 & anAux, Type *  aVD,int aNbVal,eTAAr aTAAr)
+template <class Type> void AddTabData(const  cAuxAr2007 & anAux, Type *  aVD,size_t aNbVal,eTAAr aTAAr)
 {
     // A precaution, probably it work but need to test
     MMVII_INTERNAL_ASSERT_always(aNbVal,"Not Sur AddTabData work for NbVal=0, check....");
@@ -179,19 +178,18 @@ template <class Type> void AddTabData(const  cAuxAr2007 & anAux, Type *  aVD,int
 
     if (aNbVal)
        AddData(anAux,aVD[0]);
-    for (int aK=1 ; aK<aNbVal ; aK++)
+    for (size_t aK=1 ; aK<aNbVal ; aK++)
     {
         anAux.Ar().Separator();
         AddData(anAux,aVD[aK]);
     }
     anAux.Ar().OnEndTab();
 }
 
-template void AddTabData(const  cAuxAr2007 & anAux, int *  aVD,int aNbVal,eTAAr);
-template void AddTabData(const  cAuxAr2007 & anAux, size_t *  aVD,int aNbVal,eTAAr);
-template void AddTabData(const  cAuxAr2007 & anAux, tREAL8 *  aVD,int aNbVal,eTAAr);
-template void AddTabData(const  cAuxAr2007 & anAux, tREAL4 *  aVD,int aNbVal,eTAAr);
-
+template void AddTabData(const  cAuxAr2007 & anAux, int *  aVD,size_t aNbVal,eTAAr);
+template void AddTabData(const  cAuxAr2007 & anAux, size_t *  aVD,size_t aNbVal,eTAAr);
+template void AddTabData(const  cAuxAr2007 & anAux, tREAL8 *  aVD,size_t aNbVal,eTAAr);
+template void AddTabData(const  cAuxAr2007 & anAux, tREAL4 *  aVD,size_t aNbVal,eTAAr);
 
 
 template <class Type,int Dim> void AddData(const  cAuxAr2007 & anAux, cPtxd<Type,Dim>  &  aPt)