apib11: refactor examples

MMVII/apib11/README.md

@@ -63,7 +63,7 @@ See 'examples' directory for use cases.
 
 Binding Conventions
 -------------------
-  - Implement python binding in a .cpp files that matches th C++ header.<p> (i.e. a binding for a C++ class that is declared in MMVII_MyClass.h we'll be implemented in py_MMVII_MyClass.cpp)
-  - Class names are the same than in C++ but without the leading 'c'
-  - functions, methods, properties are the same than in C++ but with initial letter in lower case (and 'm' removed from class variables name)
+  - implement python binding in a .cpp files that matches th C++ header.<p> (i.e. a binding for a C++ class that is declared in MMVII_MyClass.h we'll be implemented in py_MMVII_MyClass.cpp)
+  - class names are the same as in C++ but without the leading 'c'
+  - functions, methods, properties are the same as in C++ but with initial letter in lower case (and 'm' removed from class variables names)
 

MMVII/apib11/examples/ex_camera_ori.py

@@ -1,9 +1,11 @@
-from MMVII import *
+import MMVII
 
 # Prepare data: see MMVII/MMVII-TestDir/Input/Saisies-MMV1/readme.md
 
 dirData = '../../MMVII-TestDir/Input/Saisies-MMV1/'
-cam = SensorCamPC.fromFile(dirData + 'MMVII-PhgrProj/Ori/toto/Ori-PerspCentral-IMGP4168.JPG.xml')
+imPath = dirData + 'MMVII-PhgrProj/Ori/toto/Ori-PerspCentral-IMGP4168.JPG.xml'
+
+cam = MMVII.SensorCamPC.fromFile(imPath)
 
 pose = cam.pose
 icalib = cam.internalCalib
@@ -22,7 +24,7 @@
 
 i2pp=pp2i.mapInverse()
 inv_proj=icalib.inv_Proj()
-inv_dist=DataInvertOfMapping2D(icalib.dir_DistInvertible())
+inv_dist=MMVII.DataInvertOfMapping2D(icalib.dir_DistInvertible())
 pCam = inv_proj.value(inv_dist.value(i2pp.value((pid[0], pid[1]))))
 pg = pose.value(pCam * (pid[2] / pCam[2]))
 
@@ -49,3 +51,4 @@
 
 print (pids, "=>" )
 print (pid_calcs)
+

MMVII/apib11/examples/ex_test.py

@@ -1,44 +1,49 @@
-from MMVII import *
+import MMVII
 import numpy as np
 
 # Prepare data: see MMVII/MMVII-TestDir/Input/Saisies-MMV1/readme.md
 
 dirData = '../../MMVII-TestDir/Input/Saisies-MMV1/'
-calib=PerspCamIntrCalib.fromFile(dirData + 'MMVII-PhgrProj/Ori/toto/Calib-PerspCentral-Foc-28000_Cam-PENTAX_K5.xml')
+imPath = '../../MMVII-TestDir/Input/EPIP/Tiny/ImL.tif'
+dirOri = dirData + 'MMVII-PhgrProj/Ori/toto/'
+calibFilePath = dirOri + 'Calib-PerspCentral-Foc-28000_Cam-PENTAX_K5.xml'
+oriFilePath = dirOri + 'Ori-PerspCentral-IMGP4168.JPG.xml'
+
+calib=MMVII.PerspCamIntrCalib.fromFile(calibFilePath)
 print(calib.infoParam())
 
 pp0=(1,2,3)
 p0=(0,0)
 p1=np.array((5,6))
 
-box=Box2di(p0,p1)
-box2=Box2di((-1,-1),(2,2))
-box3=Box3dr((-3,-3,-2.5),(3,3,2.5))
+box=MMVII.Box2di(p0,p1)
+box2=MMVII.Box2di((-1,-1),(2,2))
+box3=MMVII.Box3dr((-3,-3,-2.5),(3,3,2.5))
 
-r=Rect2(box2)
+r=MMVII.Rect2(box2)
 
 
-m=Matrixr(10,10,ModeInitImage.eMIA_Rand)
-mf=Matrixf(10,10,ModeInitImage.eMIA_Rand)
+m=MMVII.Matrixr(10,10,MMVII.ModeInitImage.eMIA_Rand)
+mf=MMVII.Matrixf(10,10,MMVII.ModeInitImage.eMIA_Rand)
 a=np.array(m,copy=False)
 
-im=Im2Di.fromFile("../../MMVII-TestDir/Input/EPIP/Tiny/ImL.tif")
+im=MMVII.Im2Di.fromFile(imPath)
 im_np=np.array(im,copy=False)
 
-scpc=SensorCamPC.fromFile(dirData + 'MMVII-PhgrProj/Ori/toto/Ori-PerspCentral-IMGP4168.JPG.xml')
+scpc=MMVII.SensorCamPC.fromFile(oriFilePath)
 p=np.array([10,20,100])
 diff=scpc.ground2ImageAndDepth(scpc.imageAndDepth2Ground(p))-p
 print("diff = ",diff)
 
 
-k=Isometry3D((0,0,0),((1,0,0),(0,1,0),(0,0,1)))
-r=Rotation3D(((1,0,0),(0,1,0),(0,0,1)))
+k=MMVII.Isometry3D((0,0,0),((1,0,0),(0,1,0),(0,0,1)))
+r=MMVII.Rotation3D(((1,0,0),(0,1,0),(0,0,1)))
 
 array = k.rot.array()
 
 print(array)
 
-l = Isometry3D((0,0,0),array)
+l = MMVII.Isometry3D((0,0,0),array)
 
 print (k == l)
 print (k.rot == r)
@@ -49,19 +54,19 @@
 print (np.array_equal(k.tr,(0,0,0)))
 
 n = np.array( [ [1, 2, 3], [4, 5, 6] ] )
-m = Matrixr(n)
+m = MMVII.Matrixr(n)
 
 print( np.array_equal( (n-m), (m-n) ))
 
-m = Matrixr( [ [1, 2], [3, 4] ] )
+m = MMVII.Matrixr( [ [1, 2], [3, 4] ] )
 n = np.array(m)
 
 print(n@m)
 (m@n).show()
 (m@m).show()
 
 p = ([8,9])
-v = Vectorr(p)
+v = MMVII.Vectorr(p)
 print(v)
 print(m@p)
 print(n@p)

MMVII/apib11/examples/ex_tp_cam.py

@@ -1,121 +1,103 @@
-from MMVII import *
+import MMVII
 import matplotlib.pyplot as plt
 import matplotlib.image as mpimg
 
 """
-    TP photogra
+    TP photogrammetry
     Data from MurSaintMartin
     Prepare data: see MMVII/MMVII-TestDir/Input/Saisies-MMV1/readme.md
 """
 
 dirData = '../../MMVII-TestDir/Input/Saisies-MMV1/'
+dirOri = dirData + 'MMVII-PhgrProj/Ori/toto/'
+dirPts = dirData + 'MMVII-PhgrProj/PointsMeasure/Saisies_MMVII/'
+imNames = ('IMGP4168.JPG', 'IMGP4169.JPG')
 
-# from Ground-Pts3D.xml
-pts3d = {
-  'I-of-I': (0.754045221758523621, 0.496427193197002514, 0.431416432371162006),
-  'Acute': (0.898750585424819226, 1.10409507249266081, 0.444680581722013746),
-  'Finger-1': (1.31771333753878528, 0.989188464947304724, 0.370627429238321537),
-  'Stone-6': (0.150697933447584281, 1.10818337179321613, 0.773464897817899177),
-  'Stone-7': (0.256396378205514475, 2.35318759021626445, 2.23887785258234207),
-  'Grille': (1.40207519252831658, 2.1945458898399548, 0.40382985984277503)
-}
-
-# from GroundMeasure.xml
-pts2d = {
-  'IMGP4168.JPG' : {
-      'I-of-I': (430.52658272147653, 227.090326619720145),
-      'u-of-You': (495.717626755149013, 454.825546116027397),
-      'Acute': (431.735281413390453, 510.222991095907105),
-      'Finger-1': (316.373353330086218, 471.678176822389275),
-      'Stone-6': (667.402028214032839, 479.731591690534685),
-      'Stone-7': (1284.05120739189965, 981.021140912616147),
-      'Grille': (362.602015084684353, 1078.96450589692108)
-  },
-  'IMGP4169.JPG' : {
-      'I-of-I': (475.161154787777321, 516.404520623212079),
-      'u-of-You': (538.999416573275425, 732.995393503311675),
-      'Acute': (475.850364860953221, 802.548038024082189),
-      'Finger-1': (362.721106696891582, 789.307120972098687),
-      'Stone-6': (706.139274179003905, 741.525951210447488)
-  }
-}
+# 3D points
+pts3d = MMVII.SetMesGCP.fromFile(dirPts + 'MesGCP-FromV1-Ground-Pts3D.xml')
+
+# 2D points
+pts2d = {}
+for imName in imNames:
+    pts2d[imName] = MMVII.SetMesPtOf1Im.fromFile(dirPts + 'MesIm-' + imName + '.xml')
 
 ########################################################
 #     1 - Read Calib, apply it
 ########################################################
-
-
-imName1 = 'IMGP4168.JPG'
-
+imName1 = imNames[0]
 # Show 2d points
 plt.title('Read 2d points')
-allX, allY = zip(*pts2d[imName1].values())
+allX, allY = zip(*[ mes.pt for mes in pts2d[imName1].measures()])
 img = mpimg.imread(dirData + imName1)
 plt.imshow(img)
 plt.scatter(allX, allY, 30)
 plt.show()
 
 # apply calibration
-calib = PerspCamIntrCalib.fromFile(dirData + 'MMVII-PhgrProj/Ori/toto/Calib-PerspCentral-Foc-28000_Cam-PENTAX_K5.xml')
+calibPath = dirOri + 'Calib-PerspCentral-Foc-28000_Cam-PENTAX_K5.xml'
+calib = MMVII.PerspCamIntrCalib.fromFile(calibPath)
 
 dist = calib.dir_Dist()
 pp2i = calib.mapPProj2Im()
 i2pp = pp2i.mapInverse()
-inv_dist = DataInvertOfMapping2D(calib.dir_DistInvertible())
+inv_dist = MMVII.DataInvertOfMapping2D(calib.dir_DistInvertible())
 
-for name, pt in pts2d[imName1].items():
+for mes in pts2d[imName1].measures():
+    pt = mes.pt
     print('Pt im: ', pt)
     print(' -> central with disto: ', i2pp.value(pt))
     print(' -> central no disto: ', inv_dist.value(i2pp.value(pt)))
     print(' -> lig/col no disto: ', pp2i.value(inv_dist.value(i2pp.value(pt))))
 
 
-def myPP2I(calib: PerspCamIntrCalib, pt_central: tuple) -> tuple:
+def myPP2I(calib: MMVII.PerspCamIntrCalib, pt_central: tuple) -> tuple:
     # TODO, see doc 3.2
     pass
 
-def myDist(calib: PerspCamIntrCalib, pt_central: tuple) -> tuple:
+def myDist(calib: MMVII.PerspCamIntrCalib, pt_central: tuple) -> tuple:
     # TODO, see doc ...
     pass
 
 print('Test myPP2I:')
-for name, pt in pts2d[imName1].items():
+for mes in pts2d[imName1].measures():
+    pt = mes.pt
     print('Pt im: ', pt)
     pt_central = i2pp.value(pt)
     print(' -> central with disto: ', pt_central)
     print(' -> my lig/col with disto: ', myPP2I(dist, pt_central))
 
 
 print('Test myDist:')
-for name, pt in pts2d[imName1].items():
+for mes in pts2d[imName1].measures():
+    pt = mes.pt
     print('Pt im: ', pt)
     pt_central_nodist = inv_dist.value(i2pp.value(pt))
     print(' -> central no disto: ', pt_central_nodist)
     print(' -> my central with disto: ', myDist(dist, pt_central_nodist))
 
-
-
 ########################################################
 #     2 - Read Ori, projection
 ########################################################
 
-cam1= SensorCamPC.fromFile(dirData + 'MMVII-PhgrProj/Ori/toto/Ori-PerspCentral-'+imName1+'.xml')
+cam1= MMVII.SensorCamPC.fromFile(dirOri + 'Ori-PerspCentral-'+imName1+'.xml')
 
 # project ground points on image
-allX, allY,_ = zip(*map(cam1.ground2ImageAndDepth,pts3d.values()))
+allX, allY,_ = zip(*map(cam1.ground2ImageAndDepth,[mes.pt for mes in pts3d.measures()]))
 
 plt.title('Projected 3d points')
 img = mpimg.imread(dirData + imName1)
 plt.imshow(img)
 plt.scatter(allX, allY, 30)
 plt.show()
 
-def myGround2ImageAndDepth(camPose: Isometry3D, calib: PerspCamIntrCalib, pt3d: tuple) -> tuple:
+def myGround2ImageAndDepth(camPose: MMVII.Isometry3D,
+                           calib: MMVII.PerspCamIntrCalib,
+                           pt3d: tuple) -> tuple:
     # TODO, see doc 3.2
     pass 
 
 print('Test myGround2ImageAndDepth')
-for name, pt in pts3d.items():
+for pt in [mes.pt for mes in pts3d.measures()]:
     print('Proj MM: ', cam1.ground2ImageAndDepth(pt))
     print('My proj: ', myGround2ImageAndDepth(cam1.pose, cam1.internalCalib, pt))
 
@@ -124,40 +106,44 @@ def myGround2ImageAndDepth(camPose: Isometry3D, calib: PerspCamIntrCalib, pt3d:
 ########################################################
 
 # Second image
-imName2 = 'IMGP4169.JPG'
-cam2= SensorCamPC.fromFile(dirData + 'MMVII-PhgrProj/Ori/toto/Ori-PerspCentral-'+imName2+'.xml')
+imName2 = imNames[1]
+cam2= MMVII.SensorCamPC.fromFile(dirOri + 'Ori-PerspCentral-'+imName2+'.xml')
 
 # Compute 2d points without disortion
 pts2d_nodist = {}
 for imName in pts2d.keys():
     pts2d_nodist[imName] = {}
-    for name, pt in pts2d[imName].items():
+    for mes in pts2d[imName].measures():
+        name = mes.namePt
+        pt = mes.pt
         pts2d_nodist[imName][name] = list(inv_dist.value(i2pp.value(pt)))
 
 
 # TODO: compute 3d coordinates of common points
-def myPseudoIntersect(cam1: SensorCamPC, pt2d1: tuple, cam2: SensorCamPC, pt2d2: tuple) -> tuple:
+def myPseudoIntersect(cam1: MMVII.SensorCamPC, pt2d1: tuple,
+                      cam2: MMVII.SensorCamPC, pt2d2: tuple) -> tuple:
     # TODO, see doc 3.2
     pass 
 
 print('Test myPseudoIntersect')
 # apply to common points between im1 and im2
-for ptName, pt1 in pts2d[imName1].items():
-    if not ptName in pts3d :
+for mes in pts2d[imName1].measures():
+    ptName = mes.namePt
+    pt1 = mes.pt
+    if not ptName in [mes.namePt for mes in pts3d.measures()] :
         continue
-    if not ptName in pts2d[imName2] :
+    if not pts2d[imName2].nameHasMeasure(ptName):
         continue
-    pt2 = pts2d[imName2][ptName]
-    print(ptName, ': GND =', pts3d[ptName])
+    pt2 = pts2d[imName2].measuresOfName(ptName)
+    # for now, there is no pts3d.measuresOfName()
+    ground_coords = {mes.namePt:mes.pt for mes in pts3d.measures()}[ptName]
+    print(ptName, ': GND =', ground_coords)
     print('Pseudo-intersection: ', myPseudoIntersect(cam1, pt1, cam2, pt2))
 
-
 ########################################################
 #     4 - Orientation from known points
 ########################################################
 
 # recompute orientation from 4  2d/3d points
 # TODO
 
-
-