CamStenope * cNewO_NameManager::CamOfName(const std::string & aName)
{
cMetaDataPhoto aMTD = cMetaDataPhoto::CreateExiv2(mDir+aName);
if (mPrefOriCal =="")
{
std::vector<double> aPAF;
double aFPix = aMTD.FocPix();
Pt2di aSzIm = aMTD.XifSzIm();
Pt2dr aPP = Pt2dr(aSzIm) / 2.0;
bool IsFE;
FromString(IsFE,mICNM->Assoc1To1("NKS-IsFishEye",aName,true));
std::string aNameCal = "CamF" + ToString(aFPix) +"_Sz"+ToString(aSzIm) + "FE"+ToString(IsFE);
if (DicBoolFind(mDicoCam,aNameCal))
return mDicoCam[aNameCal];
CamStenope * aRes = 0;
if (IsFE)
{
std::vector<double> aVP;
std::vector<double> aVE;
aVE.push_back(aFPix);
aVP.push_back(aPP.x);
aVP.push_back(aPP.y);
aRes = new cCamLin_FishEye_10_5_5
(
false,
aFPix,aPP,Pt2dr(aSzIm),
aPAF,
&aVP,
&aVE
);
}
else
{
aRes = new CamStenopeIdeale(false,aFPix,aPP,aPAF);
}
aRes->SetSz(aSzIm);
mDicoCam[aNameCal] = aRes;
return aRes;
}
std::string aNC = mICNM->StdNameCalib(mPrefOriCal,aName);
if (DicBoolFind(mDicoCam,aNC))
return mDicoCam[aNC];
mDicoCam[aNC] = CamOrientGenFromFile(aNC,mICNM);
return mDicoCam[aNC];
}
std::list<cPoseCam *> cPackObsLiaison::ListCamInitAvecPtCom
(
cPoseCam * aCam1
)
{
std::set<cPoseCam *> aRes;
const std::string & aName1 = aCam1->Name();
if (mIsMult)
{
if (DicBoolFind(mDicoMul,aName1))
{
const std::vector<cOneElemLiaisonMultiple *> & aVP =
mDicoMul[aName1]-> VPoses();
for (int aK=0 ; aK<int(aVP.size()) ; aK++)
{
if (aVP[aK]->GenPose()->RotIsInit())
{
aRes.insert(aVP[aK]->GenPose()->DownCastPoseCamNN());
}
}
}
}
else
{
if (DicBoolFind(mDicObs,aName1))
{
const std::map<std::string,cObservLiaison_1Cple *> aDic = mDicObs[aName1];
for
(
std::map<std::string,cObservLiaison_1Cple *>::const_iterator iT=aDic.begin();
iT!=aDic.end();
iT++
)
{
cPoseCam * aPose2 = mAppli.PoseFromName(iT->first);
if (aPose2->RotIsInit())
{
aRes.insert(aPose2);
}
}
}
}
return std::list<cPoseCam *>(aRes.begin(),aRes.end());
}
void cAppliApero::InitOffsGps()
{
for (std::list<cGpsOffset>::iterator itO=mParam.GpsOffset().begin() ; itO!=mParam.GpsOffset().end() ;itO++)
{
ELISE_ASSERT(!DicBoolFind(mDicoOffGPS,itO->Id()),"Mutiple Base with same name");
mDicoOffGPS[itO->Id()] = new cAperoOffsetGPS(*itO,*this);
}
}
bool cPackObsLiaison::InitPack
(
ElPackHomologue & aPack,
const std::string& aNN1,
const std::string& aNN2
)
{
std::string aN1 = mAppli.PoseFromName(aNN1)->Name();
std::string aN2 = mAppli.PoseFromName(aNN2)->Name();
if (mIsMult)
{
if (DicBoolFind(mDicoMul,aN1) && mDicoMul[aN1]->InitPack(aPack,aN2))
{
return false;
}
if (DicBoolFind(mDicoMul,aN2) && mDicoMul[aN2]->InitPack(aPack,aN1))
{
aPack.SelfSwap();
return true;
}
}
else
{
cObservLiaison_1Cple * aO2 = mDicObs[aN1][aN2];
if (aO2)
{
aPack = aO2->Pack();
return false;
}
aO2 = mDicObs[aN2][aN1];
if (aO2)
{
aPack = aO2->Pack();
aPack.SelfSwap();
return true;
}
}
std::cout << " For : " << mId << " " << aN1 << " " << aN2 << "\n";
std::cout << " Mult " << mIsMult << "\n";
ELISE_ASSERT(false,"Cannot find liaison");
return false;
}
cImplemBlockCam::cImplemBlockCam
(
cAppliApero & anAppli,
const cStructBlockCam aSBC,
const cBlockCamera & aParamCreateBC,
const std::string & anId
) :
mAppli (anAppli),
mSBC (aSBC),
mEstimSBC (aSBC),
mId (anId),
mDoneIFC (false),
mForCompens (false),
mForRelCompens (false),
mForGlobCompens (false),
mKPivot (0)
{
const std::vector<cPoseCam*> & aVP = mAppli.VecAllPose();
// On initialise les camera
for (int aKP=0 ; aKP<int(aVP.size()) ; aKP++)
{
cPoseCam * aPC = aVP[aKP];
std::string aNamePose = aPC->Name();
std::pair<std::string,std::string> aPair = mAppli.ICNM()->Assoc2To1(mSBC.KeyIm2TimeCam(),aNamePose,true);
std::string aNameCam = aPair.second;
if (! DicBoolFind(mName2Cam,aNameCam))
{
cIBC_OneCam * aCam = new cIBC_OneCam(aNameCam, (int)mNum2Cam.size());
mName2Cam[aNameCam] = aCam;
mNum2Cam.push_back(aCam);
}
}
mNbCam = (int)mNum2Cam.size();
// On regroupe les images prises au meme temps
for (int aKP=0 ; aKP<int(aVP.size()) ; aKP++)
{
cPoseCam * aPC = aVP[aKP];
std::string aNamePose = aPC->Name();
std::pair<std::string,std::string> aPair = mAppli.ICNM()->Assoc2To1(mSBC.KeyIm2TimeCam(),aNamePose,true);
std::string aNameTime = aPair.first;
std::string aNameCam = aPair.second;
cIBC_ImsOneTime * aIms = mName2ITime[aNameTime];
if (aIms==0)
{
aIms = new cIBC_ImsOneTime(mNbCam,aNameTime);
mName2ITime[aNameTime] = aIms;
mNum2ITime.push_back(aIms);
}
cIBC_OneCam * aCam = mName2Cam[aNameCam];
aIms->AddPose(aPC,aCam->Num());
}
mNbTime = (int)mNum2ITime.size();
std::sort(mNum2ITime.begin(),mNum2ITime.end(),TheIOTCmp);
mLSHC = mSBC.LiaisonsSHC().PtrVal();
mForCompens = aParamCreateBC.UseForBundle().IsInit();
// ## mForCompens => Mettre dans StructBlockCam
// On peut avoir equation / a calib et I/I+1 (pour model derive)
if (mForCompens)
{
const cUseForBundle & aUFB = aParamCreateBC.UseForBundle().Val();
if (aUFB.GlobalBundle())
{
mForGlobCompens = true;
ELISE_ASSERT(false,"GlobalBundle in Rigid Block, still unsupported");
for
(
std::list<cParamOrientSHC>::const_iterator itPOS=mLSHC->ParamOrientSHC().begin();
itPOS !=mLSHC->ParamOrientSHC().end();
itPOS++
)
{
cIBC_OneCam * aCam = mName2Cam[itPOS->IdGrp()];
ELISE_ASSERT(aCam!=0,"Cannot get cam from IdGrp");
ELISE_ASSERT(! aCam->V0Init(),"Multiple Init For IdGrp");
// ## Creer la camera formelle initialisee en fonction de ParamOrientSHC dans aCam
// LA
std::cout << "xxxxxxxxxxxxxxxx CCCaaaammm " << aCam << "\n";
}
}
if (aUFB.RelTimeBundle())
{
mForRelCompens = true;
for (int aKTime=1 ; aKTime<mNbTime ; aKTime++)
{
cIBC_ImsOneTime * aT0 = mNum2ITime[aKTime-1];
cIBC_ImsOneTime * aT1 = mNum2ITime[aKTime];
for (int aKCam=0 ; aKCam<mNbCam ; aKCam++)
{
if (aKCam != mKPivot)
{
cPoseCam * aPcR0 = aT0->Pose(mKPivot);
cPoseCam * aPcL0 = aT0->Pose(aKCam);
cPoseCam * aPcR1 = aT1->Pose(mKPivot);
cPoseCam * aPcL1 = aT1->Pose(aKCam);
if (aPcR0 && aPcL0 && aPcR1 &&aPcL1)
{
cEqObsBlockCam * anEq = mAppli.SetEq().NewEqBlockCal
(
aPcR0->RF(),
aPcL0->RF(),
aPcR1->RF(),
aPcL1->RF(),
false
);
mVectEqRel.push_back(cAperoEqBlockTimeRel(anEq));
}
}
}
}
}
// Creer les equation dans cIBC_ImsOneTime
}
}
void cPackObsLiaison::addFileToObservation
(
const string &i_poseName1, const string &i_poseName2,
const string &i_packFilename,
const cBDD_PtsLiaisons &i_bd_liaison,
int i_iPackObs, // index of the current cPackObsLiaison in cAppliApero->mDicoLiaisons
bool i_isFirstKeySet,
bool i_isReverseFile // couples inside i_packFilename are to be reversed before use
)
{
std::string packFullFilename = mAppli.OutputDirectory()+i_packFilename;
if (
( mAppli.NamePoseGenIsKnown(i_poseName1) && mAppli.NamePoseGenIsKnown(i_poseName2) ) &&
( ( i_poseName1!=i_poseName2 ) || ( !i_bd_liaison.AutoSuprReflexif().Val() ) )
)
{
cGenPoseCam * aC1 = mAppli.PoseGenFromName(i_poseName1);
cGenPoseCam * aC2 = mAppli.PoseGenFromName(i_poseName2);
bool OkGrp = true;
if (i_bd_liaison.IdFilterSameGrp().IsInit())
OkGrp = mAppli.SameClass(i_bd_liaison.IdFilterSameGrp().Val(),*aC1,*aC2);
if (OkGrp)
{
if (i_poseName1==i_poseName2)
{
std::cout << "FOR NAME POSE = " << i_poseName1 << "\n";
ELISE_ASSERT(false,"Point homologue image avec elle meme !! ");
}
double aPds=0;
int aNbHom=0;
if (mIsMult)
{
if (DicBoolFind(mDicoMul,i_poseName1))
{
mDicoMul[i_poseName1]->AddLiaison(packFullFilename,i_poseName2,i_isFirstKeySet, i_isReverseFile );
}
else
{
mDicoMul[i_poseName1] = new cObsLiaisonMultiple(mAppli,packFullFilename,i_poseName1,i_poseName2,i_isFirstKeySet, i_isReverseFile);
}
cObsLiaisonMultiple * anObs = mDicoMul[i_poseName1];
ElPackHomologue aPack;
anObs->InitPack(aPack,i_poseName2);
aPds = mAppli.PdsOfPackForInit(aPack,aNbHom);
}
else
{
ELISE_ASSERT(i_isFirstKeySet,"Multiple Sets in Pts non multiple");
cObservLiaison_1Cple * anObs= new cObservLiaison_1Cple(i_bd_liaison,packFullFilename,i_poseName1,i_poseName2);
if (anObs->NbH() !=0)
{
mLObs.push_back(anObs);
{
cObservLiaison_1Cple * aO2 = mDicObs[i_poseName1][i_poseName2];
if (aO2 !=0)
{
std::cout << " For : " << mId << " " << i_poseName1 << " " << i_poseName2 <<"\n";
ELISE_ASSERT(false,"Entree multiple\n");
}
}
mDicObs[i_poseName1][i_poseName2] = anObs;
aPds = mAppli.PdsOfPackForInit(anObs->Pack(),aNbHom);
}
}
if (i_bd_liaison.SplitLayer().IsInit())
mAppli.SplitHomFromImageLayer(i_packFilename,i_bd_liaison.SplitLayer().Val(),i_poseName1,i_poseName2);
mAppli.AddLinkCamCam(aC1,aC2);
if (i_iPackObs==0)
{
// std::cout << "AAAAAAAAAAAAaaaa\n";
tGrApero::TSom * aS1 = mAppli.PoseGenFromName(i_poseName1)->Som();
// std::cout << "BBBBBBbbbb\n";
tGrApero::TSom * aS2 = mAppli.PoseGenFromName(i_poseName2)->Som();
// std::cout << "cCCCCC " << aS1 << " " << aS2 << "\n";
tGrApero::TArc * anArc = mAppli.Gr().arc_s1s2(*aS1,*aS2);
if (!anArc)
{
cAttrArcPose anAttr;
anArc = & mAppli.Gr().add_arc(*aS1,*aS2,anAttr);
}
anArc->attr().Pds() = aPds;
anArc->attr().Nb() = aNbHom;
// std::cout << "EEEEEEEEEE\n";
}
}
}
}
void cAppliApero::CompileInitPoseGen(bool isPrecComp)
{
// Initialisation des inconnues d'orientation
const tLP & aLP = mParam.PoseCameraInc();
for ( tLP::const_iterator itP = aLP.begin(); itP!=aLP.end() ; itP++)
{
bool isMST = itP->MEP_SPEC_MST().IsInit();
std::list<std::string> aLName;
for
(
std::list<std::string>::const_iterator itPat=itP->PatternName().begin();
itPat!=itP->PatternName().end();
itPat++
)
{
if (itP->ByFile().Val())
{
std::list<std::string> aSet = GetListFromSetSauvInFile(mDC+*itPat);
std::copy(aSet.begin(),aSet.end(),std::back_inserter(aLName));
}
else if (itP->ByKey().Val())
{
const std::vector<string> * aSet = mICNM->Get(*itPat);
std::copy(aSet->begin(),aSet->end(),std::back_inserter(aLName));
}
else if (itP->ByPattern().Val())
{
// std::list<std::string > aLName2Add = RegexListFileMatch(DC()+itP->Directory().Val(),*itPat,1,false);
std::list<std::string > aLName2Add = mICNM->StdGetListOfFile(*itPat,1);
if (aLName2Add.empty())
{
std::cout << "For Pattern=["<< *itPat << "]\n";
ELISE_ASSERT(false,"Aucun match pour ce pattern de nom de pose");
}
std::copy(aLName2Add.begin(),aLName2Add.end(),std::back_inserter(aLName));
}
else
{
aLName.push_back(*itPat);
}
}
if (itP->AutomGetImC().IsInit())
{
const std::string & anId = itP->AutomGetImC().Val();
const cBDD_PtsLiaisons & aBDL = GetBDPtsLiaisonOfId(anId);
ELISE_ASSERT(aBDL.KeySet().size()==1,"AddAllNameConnectedBy multiple_set");
// const std::vector<std::string> * aVNL = ICNM()->Get(aBDL.KeySet()[0]);
const std::string & aKA = aBDL.KeyAssoc()[0];
std::map<std::string,double> mCpt;
for (std::list<std::string>::const_iterator it1 = aLName.begin() ;it1!=aLName.end() ; it1++)
mCpt[*it1] = 0;
for (std::list<std::string>::const_iterator it1 = aLName.begin() ;it1!=aLName.end() ; it1++)
{
std::list<std::string>::const_iterator it2 = it1;
it2++;
for (; it2!=aLName.end() ; it2++)
{
std::string aNamePack = mDC+ICNM()->Assoc1To2(aKA,*it1,*it2,true);
double aNb = sizeofile(aNamePack.c_str());
mCpt[*it1] += aNb;
mCpt[*it2] +=aNb;
}
}
double aBestSc = -1e9;
std::string aBestN;
for (std::map<std::string,double>::iterator it=mCpt.begin();it!=mCpt.end(); it++)
{
if (it->second > aBestSc)
{
aBestSc = it->second;
aBestN = it->first;
}
}
aLName.clear();
aLName.push_back(aBestN);
}
if (itP->AddAllNameConnectedBy().IsInit())
{
cElRegex * aFilter=0;
if (itP->FilterConnecBy().IsInit())
aFilter = new cElRegex(itP->FilterConnecBy().Val(),10);
const std::string & anId = itP->AddAllNameConnectedBy().Val();
const cBDD_PtsLiaisons & aBDL = GetBDPtsLiaisonOfId(anId);
ELISE_ASSERT(aBDL.KeySet().size()==1,"AddAllNameConnectedBy multiple_set");
const std::vector<std::string> * aVNL = ICNM()->Get(aBDL.KeySet()[0]);
const std::string & aKA = aBDL.KeyAssoc()[0];
std::list<std::string> aNewL;
for (int aKL=0;aKL<int(aVNL->size()) ; aKL++)
{
std::pair<std::string,std::string> aPair = ICNM()->Assoc2To1(aKA,(*aVNL)[aKL],false);
const std::string * aNewN=0;
if (BoolFind(aLName,aPair.first))
aNewN = & aPair.second;
if (BoolFind(aLName,aPair.second))
aNewN = & aPair.first;
if ( aNewN
&& (!BoolFind(aNewL,*aNewN))
&& (!BoolFind(aLName,*aNewN))
)
{
if((aFilter==0) || (aFilter->Match(*aNewN)))
{
bool isNew = isPrecComp ?
(! NamePoseIsKnown(*aNewN)) :
( (NamePoseIsKnown(*aNewN))
&& (! PoseFromName(*aNewN)->PreInit())
);
if (isNew)
{
aNewL.push_back(*aNewN);
}
}
}
}
aLName = aNewL;
delete aFilter;
}
if (itP->PatternRefuteur().IsInit())
{
std::list<std::string> aNewL;
for
(
std::list<std::string>::const_iterator itS=aLName.begin();
itS != aLName.end();
itS++
)
{
if (!itP->PatternRefuteur().Val()->Match(*itS))
{
aNewL.push_back(*itS);
}
}
aLName = aNewL;
}
if (itP->AutoRefutDupl().Val())
{
std::list<std::string> aNewL;
for
(
std::list<std::string>::const_iterator itS=aLName.begin();
itS != aLName.end();
itS++
)
{
if (!BoolFind(aNewL,*itS))
{
aNewL.push_back(*itS);
}
}
aLName = aNewL;
}
if (itP->Filter().IsInit())
{
std::list<std::string> aNewL;
const cNameFilter & aNF = itP->Filter().Val();
for
(
std::list<std::string>::const_iterator itS=aLName.begin();
itS != aLName.end();
itS++
)
{
if (NameFilter(mICNM,aNF,*itS))
{
aNewL.push_back(*itS);
}
}
aLName = aNewL;
}
if (itP->ReverseOrderName().Val())
{
aLName.reverse();
}
if (itP->KeyTranscriptionName().IsInit())
{
std::string aKeyTr = itP->KeyTranscriptionName().Val();
std::list<std::string> aNewL;
for
(
std::list<std::string>::const_iterator itS=aLName.begin();
itS != aLName.end();
itS++
)
{
aNewL.push_back(ICNM()->Assoc1To1(aKeyTr,*itS,true));
}
aLName = aNewL;
}
if (isPrecComp)
{
cCompileAOI * aCAOI =
itP->OptimizeAfterInit().IsInit() ?
new cCompileAOI(itP->OptimizeAfterInit().Val()):
0 ;
for
(
std::list<std::string>::const_iterator itS=aLName.begin();
itS != aLName.end();
itS++
)
{
std::string aNameCal = "";
if (itP->CalcNameCalib().IsInit())
{
aNameCal = itP->CalcNameCalib().Val();
if (ICNM()->AssocHasKey(aNameCal))
{
aNameCal = ICNM()->Assoc1To1(aNameCal,*itS,true);
}
}
// Si les calibrations sont geres par le nouveua systeme
if (!itP->CalcNameCalibAux().empty())
{
ELISE_ASSERT(!itP->CalcNameCalib().IsInit(),"Choose CalcNameCalib OR CalcNameCalibAux");
aNameCal = "";
for
(
std::list<cCalcNameCalibAux>::const_iterator itCAux = itP->CalcNameCalibAux().begin();
(itCAux != itP->CalcNameCalibAux().end()) && (aNameCal=="");
itCAux++
)
{
// std::cout << "HHHHHHHHH " << itCAux->CalcNameOnExistingTag().IsInit() << "\n";
if (itCAux->CalcNameOnExistingTag().IsInit())
{
const cCalcNameOnExistingTag & aCal = itCAux->CalcNameOnExistingTag().Val();
std::string aXmlFile = DC() + ICNM()->Assoc1To1(aCal.KeyCalcFileOriExt(),*itS,true);
cElXMLTree aTree (aXmlFile);
bool GotTagE = (aTree.GetOneOrZero(aCal.TagExist()) !=0);
bool GotTagNonE = (aTree.GetOneOrZero(aCal.TagNotExist()) !=0);
// std::cout << "Auux " << aXmlFile << " " << GotTagE << " " << GotTagNonE << "\n";
if (aCal.ExigCohTags().Val())
{
ELISE_ASSERT(GotTagE!=GotTagNonE,"Incoherence in CalcNameOnExistingTag");
}
if (GotTagE && (!GotTagNonE))
{
aNameCal = ICNM()->Assoc1To1(aCal.KeyCalcName(),*itS,true);
}
}
if (itCAux->KeyCalcNameDef().IsInit())
{
aNameCal = ICNM()->Assoc1To1(itCAux->KeyCalcNameDef().Val(),*itS,true);
}
}
ELISE_ASSERT(aNameCal!="","Could not find satisfying CalcNameCalibAux");
}
// std::string aNameCal = MatchAndReplace(anAutom,*itS,itP->CalcNameCalib());
if (DicBoolFind(mDicoPose,*itS))
{
if ( itP->AutoRefutDupl().Val())
{
}
else
{
AssertEntreeDicoVide(mDicoPose,*itS,"Poses");
}
}
else
{
cPoseCam * aPC = cPoseCam::Alloc(*this,*itP,*itS,aNameCal,aCAOI);
mDicoPose[*itS] = aPC;
mVecPose.push_back(aPC);
tGrApero::TSom & aSom = mGr.new_som(aPC);
aPC->SetSom(aSom);
if (! isMST)
aPC->InitCpt();
for
(
std::map<std::string,cLayerImage *>::iterator itLI = mMapLayers.begin();
itLI != mMapLayers.end();
itLI++
)
{
itLI->second->AddLayer(*aPC);
}
}
}
}
else
{
if ( itP->AutoRefutDupl().Val())
{
std::list<std::string> aNewL;
for
(
std::list<std::string>::const_iterator itS=aLName.begin();
itS != aLName.end();
itS++
)
{
cPoseCam * aPC = PoseFromNameSVP(*itS);
if (aPC && ! (aPC->PreInit()))
{
aNewL.push_back(*itS);
}
}
aLName = aNewL;
}
if (isMST) // L'init est faite "a la volee" dans MST
{
ConstructMST(aLName,*itP);
}
else
{
for
(
std::list<std::string>::const_iterator itS=aLName.begin();
itS != aLName.end();
itS++
)
{
cPoseCam * aPC = PoseFromName(*itS);
if (itP->PoseFromLiaisons().IsInit())
{
const std::vector<cLiaisonsInit> & aLI =
itP->PoseFromLiaisons().Val().LiaisonsInit();
for
(
std::vector<cLiaisonsInit>::const_iterator itL=aLI.begin();
itL!=aLI.end();
itL++
)
{
cPoseCam * aPC2 = PoseFromName(aPC->CalNameFromL(*itL));
aPC->UpdateHeriteProf2Init(*aPC2);
}
}
else
{
aPC->Set0Prof2Init();
// La valeur par defaut 0 de Prof2Init va tres bien
}
aPC->DoInitIfNow();
}
}
}
}
}
