REAL cLEqHomOneDist::AddAllEquationsToSet()
{
mSet.AddContrainte(mDRF->StdContraintes(),true);
for (std::vector<cHomogFormelle *>::iterator itH=mHomFs.begin();itH!=mHomFs.end() ;itH++)
{
mSet.AddContrainte((*itH)->StdContraintes(),true);
}
REAL Res=0,Cpt=0;
for (INT aK=0; aK<INT(mEqFs.size()) ; aK++)
{
cEqHomogFormelle * pEq = mEqFs[aK];
ElPackHomologue * pPack = mLiaisons[aK];
for
(
ElPackHomologue::const_iterator it= pPack->begin();
it!= pPack->end();
it++
)
{
REAL Ecart = pEq->AddLiaisonP1P2(it->P1(),it->P2(),it->Pds(),mDerSec) ;
Res += std::abs(Ecart);
Cpt ++;
}
}
return Res/Cpt;
}
template <const int TheNb> void NOMerge_AddPackHom
(
cStructMergeTieP< cFixedSizeMergeTieP<TheNb,Pt2dr> > & aMap,
const ElPackHomologue & aPack,
const ElCamera * aCam1,int aK1,
const ElCamera * aCam2,int aK2
)
{
for
(
ElPackHomologue::tCstIter itH=aPack.begin();
itH !=aPack.end();
itH++
)
{
ElCplePtsHomologues aCple = itH->ToCple();
Pt2dr aP1 = aCple.P1();
Pt2dr aP2 = aCple.P2();
if (aCam1)
{
aP1 = ProjStenope(aCam1->F2toDirRayonL3(aP1));
}
if (aCam2)
{
aP2 = ProjStenope(aCam2->F2toDirRayonL3(aP2));
}
aMap.AddArc(aP1,aK1,aP2,aK2);
}
}
REAL cEqFPtLiaison::AddPackLiaisonP1P2
(
const ElPackHomologue & aPack,
bool WithD2,
cElStatErreur * aStat,
REAL aPdsGlob ,
REAL * SomPdsTot
)
{
REAL aRes = 0.0;
REAL aSPds = 0.0;
for
(
ElPackHomologue::const_iterator it=aPack.begin();
it!=aPack.end();
it++
)
{
REAL aP = aPdsGlob * it->Pds();
if (SomPdsTot)
*SomPdsTot += aP;
REAL Ecart = ElAbs(AddLiaisonP1P2(it->P1(),it->P2(),aP,WithD2));
aRes += Ecart * aP;
aSPds += aP;
if (aStat)
aStat->AddErreur(Ecart);
}
return aRes / aSPds;
}
void cEqHomogFormelle::StdRepondere(ElPackHomologue & aPack,REAL aCoeff)
{
cElHomographie H1 = HF1().HomCur();
cElHomographie H2 = HF2().HomCur();
ElDistRadiale_PolynImpair Dist(1e5,Pt2dr(0,0));
if (DRF())
Dist = DRF()->DistCur();
for
(
ElPackHomologue::iterator it=aPack.begin();
it!=aPack.end();
it++
)
{
Pt2dr aP1 = it->P1();
Pt2dr aP2 = it->P2();
if (mDRF)
{
aP1 = Dist.Direct(aP1);
aP2 = Dist.Direct(aP2);
}
Pt2dr Ec = H1.Direct(Dist.Direct(it->P1())) - H2.Direct(Dist.Direct(it->P2()));
REAL D = euclid(Ec);
REAL Pds = 1 / (1 + ElSquare(D/aCoeff));
it->Pds() = Pds;
}
}
double cLiaisORPO::Residu()
{
SetOrCam();
if (! mProfCalc)
{
mProfCalc = true;
SetProf();
}
// ElRotation3D aC1toM = mCam1.Orientation().inv();
// ElRotation3D aMtoC2 = mCam2.Orientation();
ElRotation3D aC1toC2 = mCam2.Orient() * mCam1.Orient().inv();
Pt3dr aBaseInC2 = aC1toC2.ImAff(Pt3dr(0,0,0));
ElMatrix<double> aMat = aC1toC2.Mat() ;
Pt3dr aC0,aC1,aC2;
aMat.GetCol(0,aC0);
aMat.GetCol(1,aC1);
aMat.GetCol(2,aC2);
double sDist=0.0;
int aK = 0;
for (ElPackHomologue::const_iterator itP =mPack.begin() ; itP!=mPack.end(); itP++)
{
double aPds = itP->Pds();
double aLambda = mProfs.at(aK);
Pt2dr aPIm1 = itP->P1();
Pt3dr aRay1 = aC0 * aPIm1.x + aC1 * aPIm1.y + aC2;
Pt3dr aPTerA = aBaseInC2 + aRay1 * (aLambda *0.99);
Pt3dr aPTerB = aBaseInC2 + aRay1 * (aLambda *1.01);
Pt2dr aProjA(aPTerA.x/aPTerA.z,aPTerA.y/aPTerA.z);
Pt2dr aProjB(aPTerB.x/aPTerB.z,aPTerB.y/aPTerB.z);
Pt2dr aVAB (aProjB.y-aProjA.y,aProjA.x-aProjB.x);
double aD2 = ElAbs(scal(aVAB,aProjA-itP->P2()) / euclid(aVAB));
sDist += aPds*aD2;
aK++;
}
if (DEBUG_POWEL)
{
std::cout << sDist/mPack.size() << "\n"; // getchar();
}
return sDist * mPPL->Pds().Val();
}
void cMA_AffineOrient::TestOri1Ori2(bool ShowAll,CamStenope & anOri1,CamStenope & anOri2)
{
double aSEc2 =0;
double aSEc =0;
double aSP =0;
for
(
ElPackHomologue::iterator iT = mPack.begin();
iT != mPack.end();
iT++
)
{
Pt2dr aQ1 = mCam1.F2toPtDirRayonL3(iT->P1());
Pt2dr aQ2 = mCam2.F2toPtDirRayonL3(iT->P2());
double aL = mCpl12->ResiduSigneP1P2(aQ1,aQ2);
aL = ElAbs(aL*mFocale);
double aD;
anOri1.PseudoInter(iT->P1(),anOri2,iT->P2(),&aD);
aSEc2 += ElSquare(aD)*iT->Pds();
aSEc += ElAbs(aD)*iT->Pds();
aSP += iT->Pds();
// double aRatio = aL/aD;
// Pt2dr aP1 = mGeoTer.R2ToRDisc(iT->P1());
// Pt2di aI1 = round_down(aP1/mPas);
/*
{
if (ShowAll) std::cout << aL << aP << "\n";
<< iT->Pds() << " "
<< iT->P1() << " "
<< iT->P2() << " "
<< " RATIO = " << aL/aD << " "
<< " Ec Ang " << aL << " "
<< " D INTER = " << aD << "\n";
}
*/
}
std::cout << "EC2 = " << sqrt(aSEc2/aSP)
<< " ECAbs = " << (aSEc/aSP) << "\n";
for
(
std::list<cListTestCpleHomol>::iterator itC=mAppli.ListTestCpleHomol().begin();
itC !=mAppli.ListTestCpleHomol().end();
itC++
)
{
// Pt2dr aP1 = itC->PtIm1();
// Pt2dr aP2 = itC->PtIm2();
double aD;
Pt3dr aP = anOri1.PseudoInter(itC->PtIm1(),anOri2,itC->PtIm2(),&aD);
std::cout << "VERIF " << aP << " " << aD << "\n";
}
}
cElHomographie cElHomographie::RansacInitH(const ElPackHomologue & aPack,int aNbRansac,int aNbMaxPts)
{
if ((aPack.size()<10) || (aNbMaxPts<4))
return cElHomographie(aPack,false);
cRandNParmiQ aRand(aNbMaxPts,aPack.size());
std::vector<ElCplePtsHomologues> aVCH;
for (ElPackHomologue::tCstIter itH=aPack.begin() ; itH!=aPack.end() ; itH++)
{
if (aRand.GetNext())
{
aVCH.push_back(itH->ToCple());
}
}
double anEcMin = 1e30;
cElHomographie aHMin = cElHomographie::Id();
while (aNbRansac)
{
int aK1 = NRrandom3(aVCH.size());
int aK2 = NRrandom3(aVCH.size());
int aK3 = NRrandom3(aVCH.size());
int aK4 = NRrandom3(aVCH.size());
if (
(aK1!=aK2) && (aK1!=aK3) && (aK1!=aK4)
&& (aK2!=aK3) && (aK2!=aK4)
&& (aK3!=aK4)
)
{
aNbRansac--;
ElPackHomologue aP4;
aP4.Cple_Add(aVCH[aK1]);
aP4.Cple_Add(aVCH[aK2]);
aP4.Cple_Add(aVCH[aK3]);
aP4.Cple_Add(aVCH[aK4]);
cElHomographie aSol = cElHomographie(aP4,true);
double anEcart = 0;
for (int aKP=0 ; aKP<int(aVCH.size()) ; aKP++)
{
anEcart += euclid(aSol.Direct(aVCH[aKP].P1()),aVCH[aKP].P2());
}
anEcart /= aVCH.size();
if (anEcart<anEcMin)
{
anEcMin = anEcart;
aHMin = aSol;
}
}
}
std::cout << "ECART H " << anEcMin << "\n";
return aHMin;
}
void cLiaisORPO::SetProf()
{
mProfs.clear();
Pt3dr aC1 = mCam1.PseudoOpticalCenter();
for(ElPackHomologue::iterator itP=mPack.begin();itP!=mPack.end();itP++)
{
Pt3dr aPTer = mCam1.PseudoInter(itP->P1(),mCam2,itP->P2());
mProfs.push_back
(
scal(aPTer-aC1,mCam1.F2toDirRayonR3(itP->P1()))
);
}
}
void cEqFPtLiaison::PondereFromResidu
(ElPackHomologue & aPack,REAL Ecart,REAL anEcCoupure)
{
for
(
ElPackHomologue::iterator it=aPack.begin();
it!=aPack.end();
it++
)
{
REAL aResidu = ResiduNonSigneP1P2(it->P1(),it->P2());
it->Pds() = 1 / (1+ElSquare(aResidu/Ecart));
if ((anEcCoupure > 0) && (aResidu > anEcCoupure))
it->Pds() = 0;
}
}
void cCameraTiepRed::SaveHom(cCameraTiepRed* aCam2,const std::list<int> & aLBox)
{
std::pair<CamStenope*,CamStenope*> aPC (0,0);
if (mAppli.VerifNM())// (this != aCam2)
{
aPC = mAppli.NM().CamOriRel(NameIm(),aCam2->NameIm());
}
CamStenope* aCS1 = aPC.first;
CamStenope* aCS2 = aPC.second;
ElPackHomologue aRes;
for (std::list<int>::const_iterator itI=aLBox.begin(); itI!=aLBox.end() ; itI++)
{
std::string aName = mAppli.NameHomol(NameIm(),aCam2->NameIm(),*itI);
if (ELISE_fp::exist_file(aName))
{
ElPackHomologue aPack = ElPackHomologue::FromFile(aName);
aRes.Add(aPack);
// Verif
if (aCS2)
{
std::vector<double> aVD;
for (ElPackHomologue::const_iterator itP=aPack.begin(); itP!=aPack.end(); itP++)
{
double aDist;
aCS1->PseudoInterPixPrec(itP->P1(),*aCS2,itP->P2(),aDist);
aVD.push_back(aDist);
}
if (aVD.size())
std::cout << "Verif CamOriRel " << MedianeSup(aVD) << "\n";
}
}
}
if (aRes.size())
{
std::string aKeyH = "NKS-Assoc-CplIm2Hom@"+ mAppli.StrOut() + "@dat";
std::string aNameH = mAppli.ICNM()->Assoc1To2(aKeyH,NameIm(),aCam2->NameIm(),true);
aRes.StdPutInFile(aNameH);
// std::string aNameH = mAppli
}
}
void cOneRotPowelOptimize::InitPts()
{
for
(
std::list<cPowPointLiaisons>::const_iterator itP=mOP->PowPointLiaisons().begin();
itP!=mOP->PowPointLiaisons().end();
itP++
)
{
std::list<cPoseCam *> aLCam = mAppli->ListCamInitAvecPtCom(itP->Id(),mCam);
// Pour l'insntant la selec se fait par simple tirage aleatoire
int aNbPtsTot = 0;
for (std::list<cPoseCam *>::iterator itC=aLCam.begin();itC!=aLCam.end();itC++)
{
ElPackHomologue aPack ;
mAppli->InitPack(itP->Id(),aPack,mCam->Name(),(*itC)->Name());
aNbPtsTot += aPack.size();
}
int aNbCible = itP->NbTot();
for (std::list<cPoseCam *>::iterator itC=aLCam.begin();itC!=aLCam.end();itC++)
{
mLIais.push_back(cLiaisORPO(*itP,mCam,*itC));
ElPackHomologue aPack ;
mAppli->InitPackPhgrm
(
itP->Id(),aPack,
mCam->Name(),&mCam->Calib()->CamInit(),
(*itC)->Name(),&(*itC)->Calib()->CamInit()
);
for (ElPackHomologue::iterator itPt=aPack.begin(); itPt!=aPack.end() ; itPt++)
{
if (NRrandom3() < double(aNbCible)/aNbPtsTot)
{
mLIais.back().Pack().Cple_Add(itPt->ToCple());
mNbMes++;
aNbCible--;
}
aNbPtsTot--;
}
}
}
}
Pt3dr cMA_AffineOrient::CalcPtMoy(CamStenope & anOri1,CamStenope & anOri2)
{
Pt3dr aSPt(0,0,0);
double aSPds =0.0;
for
(
ElPackHomologue::iterator iT = mPack.begin();
iT != mPack.end();
iT++
)
{
double aD;
Pt3dr aP = anOri1.PseudoInter(iT->P1(),anOri2,iT->P2(),&aD);
aSPds += iT->Pds();
aSPt = aSPt + aP * iT->Pds();
}
return aSPt/aSPds;
}
void cAppli_GenPTripleOneImage::AddOnePackOneSens(cFixedMergeStruct<2,Pt2df> & aMap,cNewO_OneIm * anI1,int anIndI1,cNewO_OneIm * anI2)
{
ElPackHomologue aPack = mNM->PackOfName(anI1->Name(),anI2->Name());
CamStenope * aCS1 = anI1->CS();
CamStenope * aCS2 = anI2->CS();
for (ElPackHomologue::const_iterator itP=aPack.begin(); itP!=aPack.end() ; itP++)
{
Pt2dr aP1 = aCS1->F2toPtDirRayonL3(itP->P1());
Pt2dr aP2 = aCS2->F2toPtDirRayonL3(itP->P2());
Pt2df aQ1(aP1.x,aP1.y);
Pt2df aQ2(aP2.x,aP2.y);
// if (aSwap) ElSwap(aQ1,aQ2);
aMap.AddArc(aQ1,anIndI1,aQ2,1-anIndI1);
}
}
void cOneImageOfLayer::SplitLayer
(
cOneImageOfLayer& aL2,
const std::string & aNameH,
const cSplitLayer & aSL
)
{
ElPackHomologue aPck = ElPackHomologue::FromFile(mAppli.DC()+aNameH);
int aLMin = ElMax(mLabMin,aL2.mLabMin);
int aLMax = ElMin(mLabMax,aL2.mLabMax);
for (int aLab = aLMin ; aLab<=aLMax ; aLab++)
{
ElPackHomologue aPackR;
for
(
ElPackHomologue::iterator itP=aPck.begin();
itP!=aPck.end();
itP++
)
{
if (
(LayerOfPt(itP->P1()) == aLab)
&& (aL2.LayerOfPt(itP->P2()) == aLab)
)
{
aPackR.Cple_Add(ElCplePtsHomologues(itP->P1(),itP->P2()));
}
}
std::string aNameRed = mAppli.DC()+ mAppli.ICNM()->Assoc1To2
(
aSL.KeyCalHomSplit(),
aNameH,
ToString(aLab),
true
);
aPackR.StdPutInFile(aNameRed);
// std::cout << "RRRReedd === " << aNameRed << "\n";
}
}
bool cModeleAnalytiqueComp::FiltragePointHomologues
(
const ElPackHomologue & aPackInit,
ElPackHomologue & aNewPack,
double aTol,
double aFiltre
)
{
bool GotOut = false;
Box2dr aBox1 = mAppli.PDV1()->BoxIm().AddTol(aTol);
Box2dr aBox2 = mAppli.PDV2()->BoxIm().AddTol(aTol);
Box2dr aBoxF1 = mAppli.PDV1()->BoxIm().AddTol(aFiltre);
Box2dr aBoxF2 = mAppli.PDV2()->BoxIm().AddTol(aFiltre);
for
(
ElPackHomologue::const_iterator iT = aPackInit.begin();
iT != aPackInit.end();
iT++
)
{
if ( ( aBoxF1.inside(iT->P1()))
&& ( aBoxF2.inside(iT->P2()))
)
{
bool thisOut = (! aBox1.inside(iT->P1()))
|| (! aBox2.inside(iT->P2()));
if (thisOut)
{
std::cout << aBox1._p1 << aBox2._p1 << "\n";
std::cout << "OUT " << iT->P1() << " " << iT->P2() << " " << iT->Pds()<< "\n";
}
GotOut = GotOut || thisOut;
aNewPack.Cple_Add(iT->ToCple());
}
}
return GotOut;
}
ElMatrix<REAL> GlobMepRelCocentrique(double & anEcartMin,const ElPackHomologue & aPack, int aNbRansac,int aNbMaxPts)
{
aNbMaxPts = ElMin(aNbMaxPts,aPack.size());
std::vector<Pt3dr> aVDir1;
std::vector<Pt3dr> aVDir2;
cRandNParmiQ aRand(aNbMaxPts,aPack.size());
for (ElPackHomologue::tCstIter itH=aPack.begin() ; itH!=aPack.end() ; itH++)
{
if (aRand.GetNext())
{
aVDir1.push_back(vunit(PZ1(itH->P1())));
aVDir2.push_back(vunit(PZ1(itH->P2())));
}
}
ElMatrix<REAL> aRes(3,3);
anEcartMin = 1e60;
while (aNbRansac)
{
int aKA = NRrandom3(aVDir1.size());
int aKB = NRrandom3(aVDir2.size());
if (aKA!=aKB)
{
aNbRansac--;
ElMatrix<REAL> aMat = ComplemRotation(aVDir1[aKA],aVDir1[aKB],aVDir2[aKA],aVDir2[aKB]);
double anEc = SomEcartDist(aMat,aVDir1,aVDir2);
if (anEc<anEcartMin)
{
anEcartMin = anEc;
aRes = aMat;
}
}
}
return aRes;
}
void cLEqHomOneDist::PondereFromErreur(REAL aDCut)
{
for (INT aK=0; aK<INT(mEqFs.size()) ; aK++)
{
cEqHomogFormelle * pEq = mEqFs[aK];
ElPackHomologue * pPack = mLiaisons[aK];
ElDistRadiale_PolynImpair aDist(1e5,Pt2dr(0,0));
if (pEq->DRF())
aDist = pEq->DRF()->DistCur();
cElHomographie aH1 = pEq->HF1().HomCur();
cElHomographie aH2 = pEq->HF2().HomCur();
for
(
ElPackHomologue::iterator it= pPack->begin();
it!= pPack->end();
it++
)
{
Pt2dr aQ1 = it->P1();
Pt2dr aQ2 = it->P2();
if (pEq->DRF())
{
aQ1 = aDist.Direct(aQ1);
aQ2 = aDist.Direct(aQ2);
}
Pt2dr aP1 = aH1.Direct(aQ1);
Pt2dr aP2 = aH2.Direct(aQ2);
REAL aD = euclid(aP1,aP2) * mDiag;
REAL aPds = 1 / (1+ElSquare(aD/aDCut));
it->Pds() = aPds;
}
}
}
void cLEqHomOneDist::AddCple(const ElPackHomologue & aPack)
{
cElHomographie aH12(aPack,true);
cElHomographie aH2 = aH12.Inverse();
cHomogFormelle * aHF1 = mSet.NewHomF(cElHomographie::Id(),cNameSpaceEqF::eHomFigee);
cHomogFormelle * aHF2 = mSet.NewHomF(aH2,cNameSpaceEqF::eHomLibre);
ELISE_ASSERT(mDRF !=0,"LEqHomOneDist::AddCple");
AddEqF(mSet.NewEqHomog(false,*aHF1,*aHF2,mDRF));
for
(
ElPackHomologue::const_iterator it= aPack.begin();
it!= aPack.end();
it++
)
{
AddLiaisonOnTop(it->P1(),it->P2(),it->Pds());
}
}
void cMA_AffineOrient::OneItere(bool isLast)
{
ElRotation3D aR1 = mCamF1->RF().CurRot();
ElRotation3D aR2 = mCamF2->RF().CurRot();
std::cout << "TR = " << (aR2.tr()-aR1.tr()) << "\n";
std::cout << "I = " << aR2.ImVect(Pt3dr(1,0,0)) << euclid(aR2.ImVect(Pt3dr(1,0,0))) << "\n";
std::cout << "J = " << aR2.ImVect(Pt3dr(0,1,0)) << euclid(aR2.ImVect(Pt3dr(0,1,0))) << "\n";
std::cout << "K = " << aR2.ImVect(Pt3dr(0,0,1)) << euclid(aR2.ImVect(Pt3dr(0,0,1))) << "\n";
mSetEq.AddContrainte(mPIF->StdContraintes(),true);
mSetEq.AddContrainte(mCamF1->RF().StdContraintes(),true);
mSetEq.AddContrainte(mCamF2->RF().StdContraintes(),true);
double aSEc2 =0;
double aSEc =0;
double aSP =0;
int aNbP=0;
for
(
ElPackHomologue::iterator iT = mPack.begin();
iT != mPack.end();
iT++
)
{
// double aD = mCam1.EcartProj(iT->P1(),mCam2,iT->P2());
Pt2dr aQ1 = mCam1.F2toPtDirRayonL3(iT->P1());
Pt2dr aQ2 = mCam2.F2toPtDirRayonL3(iT->P2());
//double aL = mCpl12->ResiduSigneP1P2(aQ1,aQ2);
double aL2 = mCpl12->AddLiaisonP1P2(aQ1,aQ2,iT->Pds(),false);
aSEc2 += ElSquare(aL2)*iT->Pds();
aSEc += ElAbs(aL2)*iT->Pds();
aSP += iT->Pds();
Pt2dr aP1 = mGeoTer.R2ToRDisc(iT->P1());
Pt2di aI1 = round_down(aP1/mPas);
mTImResidu.oset(aI1,aL2*mFocale);
mTImPds.oset(aI1,iT->Pds());
if (iT->Pds() > 1e-5)
aNbP++;
}
if (aNbP < mNbPtMin)
{
mAppli.MicMacErreur
(
eErrNbPointInEqOriRel,
"Pas assez de point pour equation d'orientation relative",
"Zone de recouvrement trop faible"
);
}
mSetEq.SolveResetUpdate();
// if (isLast)
{
std::cout
<< aSEc2 << " " << aSP << " " << mPack.size()
<< " EQuad = " << (sqrt(aSEc2/aSP)*mFocale)
<< " EAbs = " << ((aSEc/aSP)*mFocale)
<< "\n";
}
}
int HomFilterMasq_main(int argc,char ** argv)
{
// MemoArg(argc,argv);
MMD_InitArgcArgv(argc,argv);
std::string aDir,aPat,aFullDir;
bool ExpTxt=false;
std::string PostPlan="_Masq";
std::string KeyCalcMasq;
std::string KeyEquivNoMasq;
std::string MasqGlob;
double aResol=10;
bool AcceptNoMask;
std::string aPostIn= "";
std::string aPostOut= "MasqFiltered";
ElInitArgMain
(
argc,argv,
LArgMain() << EAMC(aFullDir,"Full name (Dir+Pat)", eSAM_IsPatFile),
LArgMain()
<< EAM(PostPlan,"PostPlan",true,"Post to plan, Def : toto ->toto_Masq.tif like with SaisieMasq")
<< EAM(MasqGlob,"GlobalMasq",true,"Global Masq to add to all image")
<< EAM(KeyCalcMasq,"KeyCalculMasq",true,"For tuning masq per image")
<< EAM(KeyEquivNoMasq,"KeyEquivNoMasq",true,"When given if KENM(i1)==KENM(i2), don't masq")
<< EAM(aResol,"Resol",true,"Sub Resolution for masq storing, Def=10")
<< EAM(AcceptNoMask,"ANM",true,"Accept no mask, def = true if MasqGlob and false else")
<< EAM(ExpTxt,"ExpTxt",true,"Ascii format for in and out, def=false")
<< EAM(aPostIn,"PostIn",true,"Post for Input dir Hom, Def=")
<< EAM(aPostOut,"PostOut",true,"Post for Output dir Hom, Def=MasqFiltered")
);
#if (ELISE_windows)
replace( aFullDir.begin(), aFullDir.end(), '\\', '/' );
#endif
SplitDirAndFile(aDir,aPat,aFullDir);
if (EAMIsInit(&PostPlan))
{
CorrecNameMasq(aDir,aPat,PostPlan);
}
if (!EAMIsInit(&AcceptNoMask))
AcceptNoMask = EAMIsInit(&MasqGlob);
cInterfChantierNameManipulateur * anICNM = cInterfChantierNameManipulateur::BasicAlloc(aDir);
Im2D_Bits<1> aImMasqGlob(1,1);
if (EAMIsInit(&MasqGlob))
aImMasqGlob = GetMasqSubResol(aDir+MasqGlob,aResol);
const std::vector<std::string> * aVN = anICNM->Get(aPat);
std::vector<Im2D_Bits<1> > aVMasq;
for (int aKN = 0 ; aKN<int(aVN->size()) ; aKN++)
{
std::string aNameIm = (*aVN)[aKN];
Tiff_Im aTF = Tiff_Im::StdConvGen(aNameIm,1,false);
Pt2di aSzG = aTF.sz();
Pt2di aSzR (round_ni(Pt2dr(aSzG)/aResol));
Im2D_Bits<1> aImMasq(aSzR.x,aSzR.y,1);
std::string aNameMasq = StdPrefix(aNameIm)+PostPlan + ".tif";
if (EAMIsInit(&KeyCalcMasq))
{
aNameMasq = anICNM->Assoc1To1(KeyCalcMasq,aNameIm,true);
}
if (ELISE_fp::exist_file(aNameMasq))
{
Im2D_Bits<1> aImMasqLoc = GetMasqSubResol(aDir+aNameMasq,aResol);
ELISE_COPY(aImMasq.all_pts(),aImMasq.in() && aImMasqLoc.in(0),aImMasq.out());
}
else
{
if (!AcceptNoMask)
{
std::cout << "For Im " << aNameIm << " file " << aNameMasq << " does not exist\n";
ELISE_ASSERT(false,"Masq not found");
}
}
if (EAMIsInit(&MasqGlob))
{
ELISE_COPY(aImMasq.all_pts(),aImMasq.in() && aImMasqGlob.in(0),aImMasq.out());
}
aVMasq.push_back(aImMasq);
// Tiff_Im::CreateFromIm(aImMasq,"SousRes"+aNameMasq);
}
std::string anExt = ExpTxt ? "txt" : "dat";
std::string aKHIn = std::string("NKS-Assoc-CplIm2Hom@")
+ std::string(aPostIn)
+ std::string("@")
+ std::string(anExt);
std::string aKHOut = std::string("NKS-Assoc-CplIm2Hom@")
+ std::string(aPostOut)
+ std::string("@")
+ std::string(anExt);
for (int aKN1 = 0 ; aKN1<int(aVN->size()) ; aKN1++)
{
for (int aKN2 = 0 ; aKN2<int(aVN->size()) ; aKN2++)
{
std::string aNameIm1 = (*aVN)[aKN1];
std::string aNameIm2 = (*aVN)[aKN2];
std::string aNameIn = aDir + anICNM->Assoc1To2(aKHIn,aNameIm1,aNameIm2,true);
if (ELISE_fp::exist_file(aNameIn))
{
bool UseMasq = true;
if (EAMIsInit(&KeyEquivNoMasq))
{
UseMasq = (anICNM->Assoc1To1(KeyEquivNoMasq,aNameIm1,true) != anICNM->Assoc1To1(KeyEquivNoMasq,aNameIm2,true) );
}
TIm2DBits<1> aMasq1 ( aVMasq[aKN1]);
TIm2DBits<1> aMasq2 ( aVMasq[aKN2]);
ElPackHomologue aPackIn = ElPackHomologue::FromFile(aNameIn);
ElPackHomologue aPackOut;
for (ElPackHomologue::const_iterator itP=aPackIn.begin(); itP!=aPackIn.end() ; itP++)
{
Pt2dr aP1 = itP->P1();
Pt2dr aP2 = itP->P2();
Pt2di aQ1 = round_ni(aP1/aResol);
Pt2di aQ2 = round_ni(aP2/aResol);
if ((aMasq1.get(aQ1,0) && aMasq2.get(aQ2,0)) || (! UseMasq))
{
ElCplePtsHomologues aCple(aP1,aP2);
aPackOut.Cple_Add(aCple);
}
}
std::string aNameOut = aDir + anICNM->Assoc1To2(aKHOut,aNameIm1,aNameIm2,true);
aPackOut.StdPutInFile(aNameOut);
std::cout << "IN " << aNameIn << " " << aNameOut << " UseM " << UseMasq << "\n";
}
}
}
// std::vector<cImFMasq *> mVIm;
return 0;
}
void cApply_CreateEpip_main::DoEpipGen()
{
mLengthMin = 500.0;
mStepReech = 10.0;
mNbZ = 1;
mNbXY = 100;
ElPackHomologue aPack;
Pt2dr aDir2 = DirEpipIm2(mGenI1,mGenI2,aPack,true);
Pt2dr aDir1 = DirEpipIm2(mGenI2,mGenI1,aPack,false);
std::cout << "Compute Epip\n";
CpleEpipolaireCoord * aCple = CpleEpipolaireCoord::PolynomialFromHomologue(false,aPack,mDegre,aDir1,aDir2);
EpipolaireCoordinate & e1 = aCple->EPI1();
EpipolaireCoordinate & e2 = aCple->EPI2();
Pt2dr aInf1(1e20,1e20),aSup1(-1e20,-1e20);
Pt2dr aInf2(1e20,1e20),aSup2(-1e20,-1e20);
double aErrMax = 0.0;
double aErrMoy = 0.0;
int mNbP = 0;
double aX2mX1 = 0.0;
CpleEpipolaireCoord * aCple3 = 0;
CpleEpipolaireCoord * aCple7 = 0;
if (0)
{
aCple3 = CpleEpipolaireCoord::PolynomialFromHomologue(false,aPack,3,aDir1,aDir2);
aCple7 = CpleEpipolaireCoord::PolynomialFromHomologue(false,aPack,7,aDir1,aDir2);
}
double aErrMaxDir1 = 0.0;
double aErrMaxInv1 = 0.0;
for (ElPackHomologue::const_iterator itC=aPack.begin() ; itC!= aPack.end() ; itC++)
{
Pt2dr aP1 = e1.Direct(itC->P1());
Pt2dr aP2 = e2.Direct(itC->P2());
aInf1 = Inf(aInf1,aP1);
aSup1 = Sup(aSup1,aP1);
aInf2 = Inf(aInf2,aP2);
aSup2 = Sup(aSup2,aP2);
aX2mX1 += aP2.x - aP1.x;
double anErr = ElAbs(aP1.y-aP2.y);
mNbP++;
aErrMax = ElMax(anErr,aErrMax);
aErrMoy += anErr;
if (aCple3)
{
Pt2dr aQ1D3 = aCple3->EPI1().Direct(itC->P1());
Pt2dr aQ1D7 = aCple7->EPI1().Direct(itC->P1());
double aDQ1 = euclid(aQ1D3-aQ1D7);
aErrMaxDir1 = ElMax(aDQ1,aErrMaxDir1);
Pt2dr aR1D3 = aCple3->EPI1().Inverse(aQ1D3);
Pt2dr aR1D7 = aCple7->EPI1().Inverse(aQ1D7);
double aDR1 = euclid(aR1D3-aR1D7);
aErrMaxInv1 = ElMax(aDR1,aErrMaxInv1);
}
}
if (aCple3)
{
std::cout << "MAX ER " << aErrMaxDir1 << " " << aErrMaxInv1 << "\n";
}
aX2mX1 /= mNbP;
double aInfY = ElMax(aInf1.y,aInf2.y);
double aSupY = ElMax(aSup1.y,aSup2.y);
aInf1.y = aInf2.y = aInfY;
aSup1.y = aSup2.y = aSupY;
std::cout << aInf1 << " " << aSup1 << "\n";
std::cout << aInf2 << " " << aSup2 << "\n";
std::cout << "DIR " << aDir1 << " " << aDir2 << " X2-X1 " << aX2mX1<< "\n";
std::cout << "Epip Rect Accuracy, Moy " << aErrMoy/mNbP << " Max " << aErrMax << "\n";
cTmpReechEpip aReech1(true,mName1,Box2dr(Pt2dr(0,0),Pt2dr(mGenI1->SzBasicCapt3D())),&e1,Box2dr(aInf1,aSup1),mStepReech,"ImEpi1"+mPostIm+".tif",mPostMasq,mNumKer,mDebug);
std::cout << "DONE IM1 \n";
cTmpReechEpip aReech2(true,mName2,Box2dr(Pt2dr(0,0),Pt2dr(mGenI2->SzBasicCapt3D())),&e2,Box2dr(aInf2,aSup2),mStepReech,"ImEpi2"+mPostIm+".tif",mPostMasq,mNumKer,mDebug);
std::cout << "DONE IM2 \n";
std::cout << "DONNE REECH TMP \n";
// ::cTmpReechEpip(cBasicGeomCap3D * aGeom,EpipolaireCoordinate * anEpi,Box2dr aBox,double aStep) :
}
int HomFilterMasq_main(int argc,char ** argv)
{
// MemoArg(argc,argv);
MMD_InitArgcArgv(argc,argv);
std::string aDir,aPat,aFullDir;
bool ExpTxt=false;
std::string PostPlan="_Masq";
std::string KeyCalcMasq;
std::string KeyEquivNoMasq;
std::string MasqGlob;
double aResol=10;
bool AcceptNoMask;
std::string aPostIn= "";
std::string aPostOut= "MasqFiltered";
std::string aOriMasq3D,aNameMasq3D;
cMasqBin3D * aMasq3D = 0;
Pt2dr aSelecTer;
ElInitArgMain
(
argc,argv,
LArgMain() << EAMC(aFullDir,"Full name (Dir+Pat)", eSAM_IsPatFile),
LArgMain()
<< EAM(PostPlan,"PostPlan",true,"Post to plan, Def : toto ->toto_Masq.tif like with SaisieMasq")
<< EAM(MasqGlob,"GlobalMasq",true,"Global Masq to add to all image")
<< EAM(KeyCalcMasq,"KeyCalculMasq",true,"For tuning masq per image")
<< EAM(KeyEquivNoMasq,"KeyEquivNoMasq",true,"When given if KENM(i1)==KENM(i2), don't masq")
<< EAM(aResol,"Resol",true,"Sub Resolution for masq storing, Def=10")
<< EAM(AcceptNoMask,"ANM",true,"Accept no mask, def = true if MasqGlob and false else")
<< EAM(ExpTxt,"ExpTxt",true,"Ascii format for in and out, def=false")
<< EAM(aPostIn,"PostIn",true,"Post for Input dir Hom, Def=")
<< EAM(aPostOut,"PostOut",true,"Post for Output dir Hom, Def=MasqFiltered")
<< EAM(aOriMasq3D,"OriMasq3D",true,"Orientation for Masq 3D")
<< EAM(aNameMasq3D,"Masq3D",true,"File of Masq3D, Def=AperiCloud_${OriMasq3D}.ply")
<< EAM(aSelecTer,"SelecTer",true,"[Per,Prop] Period of tiling on ground selection, Prop=proporion of selected")
);
bool aHasOri3D = EAMIsInit(&aOriMasq3D);
bool HasTerSelec = EAMIsInit(&aSelecTer);
#if (ELISE_windows)
replace( aFullDir.begin(), aFullDir.end(), '\\', '/' );
#endif
SplitDirAndFile(aDir,aPat,aFullDir);
if (EAMIsInit(&PostPlan))
{
CorrecNameMasq(aDir,aPat,PostPlan);
}
if (!EAMIsInit(&AcceptNoMask))
AcceptNoMask = EAMIsInit(&MasqGlob) || aHasOri3D;
cInterfChantierNameManipulateur * anICNM = cInterfChantierNameManipulateur::BasicAlloc(aDir);
std::string aKeyOri;
if (aHasOri3D)
{
anICNM->CorrecNameOrient(aOriMasq3D);
if (! EAMIsInit(&aNameMasq3D))
{
aNameMasq3D = aDir + "AperiCloud_" + aOriMasq3D + "_polyg3d.xml";
}
if (ELISE_fp::exist_file(aDir+aNameMasq3D))
{
aMasq3D = cMasqBin3D::FromSaisieMasq3d(aDir+aNameMasq3D);
}
else
{
ELISE_ASSERT(EAMIsInit(&aSelecTer),"Unused OriMasq3D");
}
aKeyOri = "NKS-Assoc-Im2Orient@" + aOriMasq3D;
}
Im2D_Bits<1> aImMasqGlob(1,1);
if (EAMIsInit(&MasqGlob))
aImMasqGlob = GetMasqSubResol(aDir+MasqGlob,aResol);
const std::vector<std::string> * aVN = anICNM->Get(aPat);
std::vector<Im2D_Bits<1> > aVMasq;
std::vector<CamStenope *> aVCam;
double aResolMoy = 0;
for (int aKN = 0 ; aKN<int(aVN->size()) ; aKN++)
{
std::string aNameIm = (*aVN)[aKN];
Tiff_Im aTF = Tiff_Im::StdConvGen(aNameIm,1,false);
Pt2di aSzG = aTF.sz();
Pt2di aSzR (round_ni(Pt2dr(aSzG)/aResol));
Im2D_Bits<1> aImMasq(aSzR.x,aSzR.y,1);
std::string aNameMasq = StdPrefix(aNameIm)+PostPlan + ".tif";
if (EAMIsInit(&KeyCalcMasq))
{
aNameMasq = anICNM->Assoc1To1(KeyCalcMasq,aNameIm,true);
}
if (ELISE_fp::exist_file(aNameMasq))
{
Im2D_Bits<1> aImMasqLoc = GetMasqSubResol(aDir+aNameMasq,aResol);
ELISE_COPY(aImMasq.all_pts(),aImMasq.in() && aImMasqLoc.in(0),aImMasq.out());
}
else
{
if (!AcceptNoMask)
{
std::cout << "For Im " << aNameIm << " file " << aNameMasq << " does not exist\n";
ELISE_ASSERT(false,"Masq not found");
}
}
if (EAMIsInit(&MasqGlob))
{
ELISE_COPY(aImMasq.all_pts(),aImMasq.in() && aImMasqGlob.in(0),aImMasq.out());
}
aVMasq.push_back(aImMasq);
// Tiff_Im::CreateFromIm(aImMasq,"SousRes"+aNameMasq);
if (aHasOri3D)
{
aVCam.push_back(anICNM->StdCamOfNames(aNameIm,aOriMasq3D));
aResolMoy += aVCam.back()->GlobResol();
}
}
if (aHasOri3D)
aResolMoy /= aVCam.size();
std::string anExt = ExpTxt ? "txt" : "dat";
std::string aKHIn = std::string("NKS-Assoc-CplIm2Hom@")
+ std::string(aPostIn)
+ std::string("@")
+ std::string(anExt);
std::string aKHOut = std::string("NKS-Assoc-CplIm2Hom@")
+ std::string(aPostOut)
+ std::string("@")
+ std::string(anExt);
double aPeriodTer=0,aSeuilDistTer=0;
if (HasTerSelec)
{
aPeriodTer = aSelecTer.x * aResolMoy;
aSeuilDistTer = aPeriodTer * sqrt(aSelecTer.y);
}
double aNbInTer=0;
double aNbTestTer=0;
for (int aKN1 = 0 ; aKN1<int(aVN->size()) ; aKN1++)
{
for (int aKN2 = 0 ; aKN2<int(aVN->size()) ; aKN2++)
{
std::string aNameIm1 = (*aVN)[aKN1];
std::string aNameIm2 = (*aVN)[aKN2];
std::string aNameIn = aDir + anICNM->Assoc1To2(aKHIn,aNameIm1,aNameIm2,true);
if (ELISE_fp::exist_file(aNameIn))
{
bool UseMasq = true;
if (EAMIsInit(&KeyEquivNoMasq))
{
UseMasq = (anICNM->Assoc1To1(KeyEquivNoMasq,aNameIm1,true) != anICNM->Assoc1To1(KeyEquivNoMasq,aNameIm2,true) );
}
TIm2DBits<1> aMasq1 ( aVMasq[aKN1]);
TIm2DBits<1> aMasq2 ( aVMasq[aKN2]);
ElPackHomologue aPackIn = ElPackHomologue::FromFile(aNameIn);
ElPackHomologue aPackOut;
for (ElPackHomologue::const_iterator itP=aPackIn.begin(); itP!=aPackIn.end() ; itP++)
{
Pt2dr aP1 = itP->P1();
Pt2dr aP2 = itP->P2();
Pt2di aQ1 = round_ni(aP1/aResol);
Pt2di aQ2 = round_ni(aP2/aResol);
bool Ok = ((aMasq1.get(aQ1,0) && aMasq2.get(aQ2,0)) || (! UseMasq));
if (Ok && aHasOri3D)
{
Pt3dr aPTer= aVCam[aKN1]->PseudoInter(aP1,*(aVCam[aKN2]),aP2);
if (aMasq3D && (! aMasq3D->IsInMasq(aPTer)))
Ok = false;
if (Ok && HasTerSelec)
{
bool OkTer = (mod_real(aPTer.x,aPeriodTer) < aSeuilDistTer) && (mod_real(aPTer.y,aPeriodTer) < aSeuilDistTer);
Ok = OkTer;
aNbTestTer ++;
aNbInTer += OkTer;
}
}
if (Ok)
{
ElCplePtsHomologues aCple(aP1,aP2);
aPackOut.Cple_Add(aCple);
}
}
std::string aNameOut = aDir + anICNM->Assoc1To2(aKHOut,aNameIm1,aNameIm2,true);
aPackOut.StdPutInFile(aNameOut);
std::cout << "IN " << aNameIn << " " << aNameOut << " UseM " << UseMasq << "\n";
}
}
}
// std::vector<cImFMasq *> mVIm;
if (HasTerSelec)
{
std::cout << "A Posteriori Prop=" << aNbInTer / aNbTestTer << "\n";
}
return EXIT_SUCCESS;
}
int HomFusionPDVUnik_main(int argc,char ** argv)
{
MMD_InitArgcArgv(argc,argv);
std::string aDir,aPat,aFullDir;
std::string aPostIn= "";
std::string aPostOut= "MasqFusion";
bool ExpTxt=false;
std::string aDir2;
std::vector<std::string > aDirN;
ElInitArgMain
(
argc,argv,
LArgMain() << EAMC(aFullDir,"Full name (Dir+Pat)", eSAM_IsPatFile)
<< EAMC(aDir2,"Dir of external point", eSAM_IsPatFile),
LArgMain()
<< EAM(aPostIn,"PostIn",true,"Post for Input dir Hom, Def=")
<< EAM(aPostOut,"PostOut",true,"Post for Output dir Hom, Def=MasqFusion")
<< EAM(ExpTxt,"ExpTxt",true,"Ascii format for in and out, def=false")
<< EAM(aDirN,"DirN",true,"Supplementary dirs 2 merge")
);
#if (ELISE_windows)
replace( aFullDir.begin(), aFullDir.end(), '\\', '/' );
#endif
cElemAppliSetFile anEASF(aFullDir);
cInterfChantierNameManipulateur * anICNM = anEASF.mICNM;
const std::vector<std::string> * aVN = anEASF.SetIm();
std::string anExt = ExpTxt ? "txt" : "dat";
std::string aKHIn = std::string("NKS-Assoc-CplIm2Hom@")
+ std::string(aPostIn)
+ std::string("@")
+ std::string(anExt);
std::string aKHOut = std::string("NKS-Assoc-CplIm2Hom@")
+ std::string(aPostOut)
+ std::string("@")
+ std::string(anExt);
aDirN.push_back(aDir);
aDirN.push_back(aDir2);
for (int aKN1 = 0 ; aKN1<int(aVN->size()) ; aKN1++)
{
for (int aKN2 = 0 ; aKN2<int(aVN->size()) ; aKN2++)
{
std::string aNameIm1 = (*aVN)[aKN1];
std::string aNameIm2 = (*aVN)[aKN2];
std::string aNameLocIn = aDir + anICNM->Assoc1To2(aKHIn,aNameIm1,aNameIm2,true);
ElPackHomologue aPackOut;
int aNbH=0;
for (int aKP=0 ; aKP<int(aDirN.size()) ; aKP++)
{
std::string aNameIn= aDirN[aKP] + aNameLocIn;
if (ELISE_fp::exist_file(aNameIn))
{
ElPackHomologue aPackIn = ElPackHomologue::FromFile(aNameIn);
aNbH++;
for (ElPackHomologue::const_iterator itP=aPackIn.begin() ; itP!=aPackIn.end() ; itP++)
{
aPackOut.Cple_Add(itP->ToCple());
}
}
}
if (aPackOut.size() !=0)
{
std::string aNameOut = aDir + anICNM->Assoc1To2(aKHOut,aNameIm1,aNameIm2,true);
aPackOut.StdPutInFile(aNameOut);
if (0)
std::cout << "aNbH " << aNbH << "\n";
}
}
}
return EXIT_SUCCESS;
}
int Luc_test_ptshom_main(int argc,char ** argv)
{
//===================== PARAMETRES EN DUR ==============
std::string aDir = "C:/Users/Luc Girod/Desktop/TFE/Vignettage/vignette_sift3/";
std::string aPatIm = ".*NEF";
std::string Prefix = "";
// std::string Prefix = "_SRes" ;
std::string Extension = "dat";
//=====================
// Permet de manipuler les ensemble de nom de fichier
cInterfChantierNameManipulateur * aICNM = cInterfChantierNameManipulateur::BasicAlloc(aDir);
const std::vector<std::string> * aSetIm = aICNM->Get(aPatIm);
//On parcourt toutes les paires d'images différentes (->testé dans le if)
for (int aK1=0 ; aK1<int(aSetIm->size()) ; aK1++)
{
cout<<(*aSetIm)[aK1]<<endl;
for (int aK2=0 ; aK2<int(aSetIm->size()) ; aK2++)
{
if (aK1!=aK2)
{
std::string aNamePack = aDir + aICNM->Assoc1To2
(
"NKS-Assoc-CplIm2Hom@"+ Prefix + "@"+Extension,
(*aSetIm)[aK1],
(*aSetIm)[aK2],
true
);
if (aK1==0)
{
bool Exist = ELISE_fp::exist_file(aNamePack);
if (Exist)
{
ElPackHomologue aPack = ElPackHomologue::FromFile(aNamePack);
if (aK2==1)
{
int aNb=0;
for
(
ElPackHomologue::const_iterator itP=aPack.begin();
itP!=aPack.end();
itP++
)
{
if (aNb<10)
std::cout << itP->P1() << itP->P2() <<"\n";
aNb++;
}
}
std::cout << aNamePack << " " << aPack.size() << "\n";
}
else
std::cout << " # NO PACK FOR : " << aNamePack << "\n";
}
}
}
}
return 0;
}
void cAppliApero::ExportMesuresFromCarteProf
(
const cExportMesuresFromCarteProf & anEM,
const cCartes2Export & aC,
cElNuage3DMaille * aNuage,
const ElPackHomologue & aPackH,
cPoseCam * aPose2Compl,
const std::string & aNameCarte
)
{
if (aNameCarte == aPose2Compl->Name())
return;
if (
(! anEM.KeyAssocLiaisons12().IsInit())
&& (! anEM.KeyAssocLiaisons21().IsInit())
)
{
return;
}
cPoseCam * aPoseCarte = PoseFromName(aNameCarte);
const CamStenope * aCSC = aPoseCarte->CurCam();
Pt2di aSzIm = aCSC->Sz();
ElPackHomologue aNewPack;
for
(
ElPackHomologue::const_iterator itH=aPackH.begin();
itH!=aPackH.end();
itH++
)
{
Pt2dr aI1 = aNuage->Plani2Index(itH->P1());
if (aNuage->IndexHasContenuForInterpol(aI1))
{
Pt3dr aPTer = aNuage->PtOfIndexInterpol(aI1);
Pt2dr aP1 = aCSC->R3toF2(aPTer);
if ((aP1.x>0) && (aP1.y>0) && (aP1.x<aSzIm.x) && (aP1.y<aSzIm.y))
{
aNewPack.Cple_Add(ElCplePtsHomologues(aP1,itH->P2()));
}
}
}
if (anEM.KeyAssocLiaisons12().IsInit())
{
std::string aName = mDC
+ mICNM->Assoc1To2
(
anEM.KeyAssocLiaisons12().Val(),
aNameCarte,
aPose2Compl->Name(),
true
);
if (anEM.LiaisonModeAdd().Val())
aNewPack.StdAddInFile(aName);
else
aNewPack.StdPutInFile(aName);
}
if (anEM.KeyAssocLiaisons21().IsInit())
{
std::string aName = mDC
+ mICNM->Assoc1To2
(
anEM.KeyAssocLiaisons21().Val(),
aPose2Compl->Name(),
aNameCarte,
true
);
aNewPack.SelfSwap();
if (anEM.LiaisonModeAdd().Val())
aNewPack.StdAddInFile(aName);
else
aNewPack.StdPutInFile(aName);
}
}
void cAppliApero::ExportMesuresFromCarteProf
(
const cExportMesuresFromCarteProf & anEM,
const cCartes2Export & aC
)
{
for (std::list<std::string>::const_iterator itIm1= aC.Im1().begin() ; itIm1!=aC.Im1().end() ; itIm1++)
{
cElRegex anAutom(aC.FilterIm2().Val(),10);
std::string aNameN = mDC+mICNM->StdCorrect(aC.Nuage(),*itIm1,true);
cElNuage3DMaille * aNuage = cElNuage3DMaille::FromFileIm(aNameN);
cObsLiaisonMultiple* aPackM = PackMulOfIndAndNale(anEM.IdBdLiaisonIn(),*itIm1);
const std::vector<cOneElemLiaisonMultiple *> & aVELM = aPackM->VPoses();
for (int aKP=0 ; aKP<int(aVELM.size()) ; aKP++)
{
cPoseCam * aPose2Compl = aVELM[aKP]->Pose();
ElPackHomologue aPackH;
if (anAutom.Match(aPose2Compl->Name())
&& aPackM->InitPack(aPackH,aPose2Compl->Name())
)
{
for
(
std::list<std::string>::const_iterator itS=aC.ImN().begin();
itS!=aC.ImN().end();
itS++
)
{
if (*itS != *itIm1)
{
ExportMesuresFromCarteProf (anEM,aC,aNuage,aPackH,aPose2Compl,*itS);
}
}
if (anEM.KeyAssocAppuis().IsInit())
{
cListeAppuis1Im aXmlApp;
std::string aNameRes = mDC+mICNM->Assoc1To2(anEM.KeyAssocAppuis().Val(),aPose2Compl->Name(),*itIm1,true);
if (anEM.AppuisModeAdd().Val())
{
if (ELISE_fp::exist_file(aNameRes))
{
aXmlApp=StdGetObjFromFile<cListeAppuis1Im>
(
aNameRes,
StdGetFileXMLSpec("ParamChantierPhotogram.xml"),
"ListeAppuis1Im",
"ListeAppuis1Im"
);
}
}
aXmlApp.NameImage().SetVal(aPose2Compl->Name());
for
(
ElPackHomologue::const_iterator itH=aPackH.begin();
itH!=aPackH.end();
itH++
)
{
Pt2dr aI1 = aNuage->Plani2Index(itH->P1());
if (aNuage->IndexHasContenuForInterpol(aI1))
{
cMesureAppuis aMA;
aMA.Im() = itH->P2();
aMA.Ter() = aNuage->PtOfIndexInterpol(aI1);
aXmlApp.Mesures().push_back(aMA);
}
}
MakeFileXML<cListeAppuis1Im>(aXmlApp, aNameRes);
}
}
}
delete aNuage;
}
}
static cElComposHomographie ComputeHomFromHomologues
(
const ElPackHomologue & aPack,
bool aL2,
cElComposHomographie& aHX,
cElComposHomographie& aHY,
cElComposHomographie& aHZ
)
{
ElPackHomologue::const_iterator anIt=aPack.begin();
// 0 Point : identite
if (aPack.size() ==0)
{
aHX = cElComposHomographie(1,0,0);
aHY = cElComposHomographie(0,1,0);
aHZ = cElComposHomographie(0,0,1);
return aHX;
}
// 1 Point : translation
Pt2dr P1 = anIt->P1();
Pt2dr P2 = anIt->P2();
anIt++;
if (aPack.size() ==1)
{
Pt2dr aTr = P2 - P1;
aHX = cElComposHomographie(1,0,aTr.x);
aHY = cElComposHomographie(0,1,aTr.y);
aHZ = cElComposHomographie(0,0,1);
return aHX;
}
// 2 Point : Similitude
Pt2dr Q1 = anIt->P1();
Pt2dr Q2 = anIt->P2();
anIt++;
if (aPack.size() ==2)
{
Pt2dr W = (Q2-P2) / (Q1-P1);
Pt2dr aTr = P2 - W* P1;
aHX = cElComposHomographie(W.x,-W.y,aTr.x);
aHY = cElComposHomographie(W.y,W.x,aTr.y);
aHZ = cElComposHomographie(0,0,1);
return aHX;
}
// 3 Point : Affinite
Pt2dr R1 = anIt->P1();
Pt2dr R2 = anIt->P2();
anIt++;
if (aPack.size() ==3)
{
ElMatrix<REAL> M1(2,2); SetCol(M1,0,Q1-P1); SetCol(M1,1,R1-P1);
ElMatrix<REAL> M2(2,2); SetCol(M2,0,Q2-P2); SetCol(M2,1,R2-P2);
ElMatrix<REAL> M = M2 * gaussj(M1);
Pt2dr aTr = P2 - M* P1;
aHX = cElComposHomographie(M(0,0),M(1,0),aTr.x);
aHY = cElComposHomographie(M(0,1),M(1,1),aTr.y);
aHZ = cElComposHomographie(0,0,1);
return aHX;
}
cGenSysSurResol * aSys =
aL2 ?
( cGenSysSurResol *) new L2SysSurResol(8) :
( cGenSysSurResol *) new SystLinSurResolu(8,aPack.size());
aSys->SetPhaseEquation(0);
for ( anIt=aPack.begin() ; anIt !=aPack.end(); anIt++)
{
AddCoeffSysHom(aSys,anIt->P1(),anIt->P2(),anIt->Pds(),true );
AddCoeffSysHom(aSys,anIt->P1(),anIt->P2(),anIt->Pds(),false);
}
Im1D_REAL8 aSol = aSys->GSSR_Solve((bool *)0);
REAL * aS = aSol.data();
aHX = cElComposHomographie(aS[0],aS[1],aS[2]);
aHY = cElComposHomographie(aS[3],aS[4],aS[5]);
aHZ = cElComposHomographie(aS[6],aS[7], 1 );
delete aSys;
return aHX;
}
cElHomographie cElHomographie::RobustInit(double & aDMIn,double * aQuality,const ElPackHomologue & aPack,bool & Ok ,int aNbTestEstim, double aPerc,int aNbMaxPts)
{
cElHomographie aRes = cElHomographie::Id();
Ok = false;
Pt2dr aCdg(0,0);
for (ElPackHomologue::tCstIter itH=aPack.begin() ; itH!=aPack.end() ; itH++)
{
aCdg = aCdg + itH->P1();
}
aCdg = aCdg / double(aPack.size());
std::vector<std::pair<Pt2dr,Pt2dr> > aV00;
std::vector<std::pair<Pt2dr,Pt2dr> > aV01;
std::vector<std::pair<Pt2dr,Pt2dr> > aV10;
std::vector<std::pair<Pt2dr,Pt2dr> > aV11;
std::vector<std::pair<Pt2dr,Pt2dr> > aVAll;
int aNbPtsTot = aPack.size();
int aCpt = 0;
for (ElPackHomologue::tCstIter itH=aPack.begin() ; itH!=aPack.end() ; itH++)
{
Pt2dr aP1 = itH->P1();
Pt2dr aP2 = itH->P2();
std::pair<Pt2dr,Pt2dr> aPair(aP1,aP2);
if ( (((aCpt-1)*aNbMaxPts)/aNbPtsTot) != ((aCpt*aNbMaxPts)/aNbPtsTot))
{
aVAll.push_back(aPair);
}
if (aP1.x < aCdg.x)
{
if (aP1.y < aCdg.y) aV00.push_back(aPair);
else aV01.push_back(aPair);
}
else
{
if (aP1.y < aCdg.y) aV10.push_back(aPair);
else aV11.push_back(aPair);
}
aCpt++;
}
if (aV00.empty() || aV01.empty() || aV10.empty() || aV11.empty() )
return aRes;
aDMIn = 1e30;
int aNbPts = aVAll.size();
int aNbKth = ElMax(1,ElMin(aNbPts-1,round_ni((aPerc/100.0) * aNbPts)));
std::vector<double> aVDist;
if (aNbMaxPts<aNbPtsTot)
aNbTestEstim = (aNbTestEstim*aNbPtsTot) / aNbMaxPts;
// int aKMIN = -1;
std::vector<double> aVD; // For tuning and show in if(0) ...
while (aNbTestEstim)
{
int aK00 = NRrandom3(aV00.size());
int aK01 = NRrandom3(aV01.size());
int aK10 = NRrandom3(aV10.size());
int aK11 = NRrandom3(aV11.size());
ElPackHomologue aP4;
AddPair(aP4,aV00[aK00]);
AddPair(aP4,aV01[aK01]);
AddPair(aP4,aV10[aK10]);
AddPair(aP4,aV11[aK11]);
cElHomographie aSol = cElHomographie(aP4,true);
aVDist.clear();
for (int aK=0 ; aK< aNbPts ; aK++)
{
Pt2dr aP1 = aVAll[aK].first;
Pt2dr aP2 = aVAll[aK].second;
/*
Pt2dr aDif = aP2 -aSol.Direct(aP1);
double aDx = ElAbs(aDif.x);
double aDy = ElAbs(aDif.y);
double aDist = (aDx+aDy + ElMax(aDx,aDy))/ 2.0;
*/
double aDist = QuickDist(aP2 -aSol.Direct(aP1));
aVDist.push_back(aDist);
}
double aSom = MoyKPPVal(aVDist,aNbKth);
aVD.push_back(aSom);
//std::cout << "Robust:Hom:SOM = " << aDMIn << " " << aSom << "\n";
if (aSom <aDMIn)
{
aRes = aSol;
aDMIn = aSom;
}
aNbTestEstim--;
}
// double aDMinInit = aDMIn;
ElPackHomologue aPckPds;
for (int anIterL2 = 0 ; anIterL2 < 4 ; anIterL2++)
{
aPckPds = ElPackHomologue();
aVDist.clear();
int aCpt = 0;
for (ElPackHomologue::tCstIter itH=aPack.begin() ; itH!=aPack.end() ; itH++)
{
Pt2dr aP1 = itH->P1();
Pt2dr aP2 = itH->P2();
double aDist = QuickDist(aP2 -aRes.Direct(aP1));
aVDist.push_back(aDist);
double aPds = 1/ (1+ 4*ElSquare(aDist/aDMIn));
aPckPds.Cple_Add(ElCplePtsHomologues(aP1,aP2,aPds));
aCpt++;
}
ELISE_ASSERT(aNbPtsTot==aPack.size() ,"KKKKK ????");
int aKTh = round_ni(aNbPtsTot * (aPerc/100.0));
ELISE_ASSERT(int(aVDist.size())==aNbPtsTot,"Compat MoyKPPVal/SplitArrounKthValue");
aDMIn = MoyKPPVal(aVDist,aKTh);
aRes = cElHomographie(aPckPds,true);
}
if (aQuality)
{
std::vector<double> aVEstim;
int aNbTestValid = 71;
for (int aKTest = 0 ; aKTest <aNbTestValid ; aKTest++)
{
ElPackHomologue aPckPdsA;
ElPackHomologue aPckPdsB;
cRandNParmiQ aSelec(aNbPtsTot/2,aNbPtsTot);
for (ElPackHomologue::tCstIter itH=aPack.begin() ; itH!=aPack.end() ; itH++)
{
Pt2dr aP1 = itH->P1();
Pt2dr aP2 = itH->P2();
double aDist = QuickDist(aP2 -aRes.Direct(aP1));
aVDist.push_back(aDist);
double aPds = 1/ sqrt(1+ ElSquare(aDist/aDMIn));
// if (NRrandom3() > 0.5)
if (aSelec.GetNext())
aPckPdsA.Cple_Add(ElCplePtsHomologues(aP1,aP2,aPds));
else
aPckPdsB.Cple_Add(ElCplePtsHomologues(aP1,aP2,aPds));
}
cElHomographie aResA = cElHomographie(aPckPdsA,true);
cElHomographie aResB = cElHomographie(aPckPdsB,true);
double aSomDist = 0;
for (ElPackHomologue::tCstIter itH=aPack.begin() ; itH!=aPack.end() ; itH++)
{
Pt2dr aP1 = itH->P1();
Pt2dr aQ = aRes.Direct(aP1);
Pt2dr aQA = aResA.Direct(aP1);
Pt2dr aQB = aResB.Direct(aP1);
double aDist = (QuickDist(aQ-aQA) + QuickDist(aQ-aQB) + QuickDist(aQB-aQA)) / 3.0;
aSomDist += aDist;
}
aSomDist /= aNbPtsTot;
aVEstim.push_back(aSomDist);
}
*aQuality = MedianeSup(aVEstim);
}
Ok= true;
return aRes;
}
PtsHom ReadPtsHom(string aDir, GrpVodka aGrpVodka, string Extension)
{
PtsHom aPtsHomol;
Pt2di aSz;
//Looking for maxs of vectOfExpTimeISO
double maxExpTime=0, maxISO=0;
for (int i=0;i<int(aGrpVodka.size());i++){
if(aGrpVodka.ExpTime[i]>maxExpTime){maxExpTime=aGrpVodka.ExpTime[i];}
if(aGrpVodka.ISO[i]>maxISO){maxISO=aGrpVodka.ISO[i];}
}
//Cmpulsory for file name manipulation
cInterfChantierNameManipulateur * aICNM = cInterfChantierNameManipulateur::BasicAlloc(aDir);
//Going through every pairs of different images
int cpt=0;
for (int aK1=0 ; aK1<int(aGrpVodka.size()) ; aK1++)
{
std::cout<<"Getting homologous points from: "<<aGrpVodka.aListIm[aK1]<<endl;
//Reading the image and creating the objects to be manipulated
Tiff_Im aTF1= Tiff_Im::StdConvGen(aDir + aGrpVodka.aListIm[aK1],1,false);
aSz = aTF1.sz();
Im2D_REAL16 aIm1(aSz.x,aSz.y);
ELISE_COPY
(
aTF1.all_pts(),
aTF1.in(),
aIm1.out()
);
REAL16 ** aData1 = aIm1.data();
for (int aK2=0 ; aK2<int(aGrpVodka.size()) ; aK2++)
{
Tiff_Im aTF2= Tiff_Im::StdConvGen(aDir + aGrpVodka.aListIm[aK2],1,false);
Im2D_REAL16 aIm2(aSz.x,aSz.y);
ELISE_COPY
(
aTF2.all_pts(),
aTF2.in(),
aIm2.out()
);
REAL16 ** aData2 = aIm2.data();
string prefixe="";
if (aK1!=aK2)
{
std::string aNamePack = aDir + aICNM->Assoc1To2
(
"NKS-Assoc-CplIm2Hom@"+prefixe + "@" + Extension,
aGrpVodka.aListIm[aK1],
aGrpVodka.aListIm[aK2],
true
);
bool Exist = ELISE_fp::exist_file(aNamePack);
if (Exist)
{
ElPackHomologue aPack = ElPackHomologue::FromFile(aNamePack);
for
(
ElPackHomologue::const_iterator itP=aPack.begin();
itP!=aPack.end();
itP++
)
{
cpt++;
//Compute the distance between the point and the center of the image
double x0=aSz.x/2-0.5;
double y0=aSz.y/2-0.5;
double Dist1=sqrt(pow(itP->P1().x-x0,2)+pow(itP->P1().y-y0,2));
double Dist2=sqrt(pow(itP->P2().x-x0,2)+pow(itP->P2().y-y0,2));
//Go looking for grey value of the point, adjusted to ISO and Exposure time induced variations
double Grey1 =sqrt((aGrpVodka.ExpTime[aK1]*aGrpVodka.ISO[aK1])/(maxExpTime*maxISO))*Reechantillonnage::biline(aData1, aSz.x, aSz.y, itP->P1());
double Grey2 =sqrt((aGrpVodka.ExpTime[aK2]*aGrpVodka.ISO[aK2])/(maxExpTime*maxISO))*Reechantillonnage::biline(aData2, aSz.x, aSz.y, itP->P2());
aPtsHomol.Dist1.push_back(Dist1);
aPtsHomol.Dist2.push_back(Dist2);
aPtsHomol.Gr1.push_back(Grey1);
aPtsHomol.Gr2.push_back(Grey2);
}
}
else
std::cout << " # NO PACK FOR : " << aNamePack << "\n";
}
}
}
int nbpts=aPtsHomol.size();
std::cout<<"Total number tie points: "<<nbpts<<" out of "<<cpt<<endl;
aPtsHomol.SZ=aSz;
return aPtsHomol;
}
