Appar23 Xml2EL(const cMesureAppuis & aMA)
{
return Appar23(aMA.Im(),aMA.Ter(),aMA.Num().ValWithDef(-1));
}
void cAppliOptimTriplet::TestOPA(cPairOfTriplet & aPair)
{
ElRotation3D aR1 = ElRotation3D::Id;
std::list<Appar23> aL32;
int aI1 = aPair.Im1().Num();
int aI2 = aPair.Im2().Num();
int aI3 = aPair.Im3().Num();
const std::vector<Pt2df> & aVP1 = *(mRedH123[aI1]);
const std::vector<Pt2df> & aVP2 = *(mRedH123[aI2]);
const std::vector<Pt2df> & aVP3 = *(mRedH123[aI3]);
ElRotation3D aR2 = aPair.R12Pair();
if ( aVP1.size() < 4) return;
for (int aKP=0 ; aKP<int(aVP1.size()) ; aKP++)
{
std::vector<Pt3dr> aVA;
std::vector<Pt3dr> aVB;
const Pt2df & aP1 = aVP1[aKP];
aVA.push_back(Pt3dr(0,0,0));
aVB.push_back(Pt3dr(aP1.x,aP1.y,1.0));
const Pt2df & aP2 = aVP2[aKP];
aVA.push_back(aR2.ImAff(Pt3dr(0,0,0)));
aVB.push_back(aR2.ImAff(Pt3dr(aP2.x,aP2.y,1.0)));
bool OkI;
Pt3dr anInter = InterSeg(aVA,aVB,OkI);
if (OkI)
{
const Pt2df & aP3 = aVP3[aKP];
aL32.push_back(Appar23(Pt2dr(aP3.x,aP3.y),anInter));
}
}
ElTimer aChrono;
CamStenopeIdeale aCSI = CamStenopeIdeale::CameraId(true,ElRotation3D::Id);
double anEcart;
int aNbRansac = mQuick ? QuickNbRansac : StdNbRansac;
ElRotation3D aR3 = aCSI.RansacOFPA(true,aNbRansac,aL32,&anEcart);
aR3 = aR3.inv();
std::vector<ElRotation3D> aVR(3,ElRotation3D::Id);
aVR[aI1] = aR1;
aVR[aI2] = aR2;
aVR[aI3] = aR3;
ElRotation3D aR0 = aVR[0];
for (int aK=0 ; aK<3 ; aK++)
{
aVR[aK] = aR0.inv() * aVR[aK] ;
// aVR[aK] = aVR[aK] * aR0.inv() ;
}
double aFact = euclid(aVR[1].tr());
aVR[1] = ElRotation3D(aVR[1].tr()/aFact,aVR[1].Mat(),true);
aVR[2] = ElRotation3D(aVR[2].tr()/aFact,aVR[2].Mat(),true);
double aResidu = ResiduGlob(aVR[0],aVR[1],aVR[2]);
if (aResidu < mBestResidu)
{
mBestResidu = aResidu;
for (int aK=0 ; aK<3 ; aK++)
mIms[aK]->SetOri(aVR[aK]);
}
}
