void NewOri_Info1Cple
(
const ElCamera & aCam1,
const ElPackHomologue & aPack12,
const ElCamera & aCam2,const ElPackHomologue & aPack21
)
{
cStructMergeTieP< cFixedSizeMergeTieP<2,Pt2dr> > aMap2(2,false);
NOMerge_AddPackHom(aMap2,aPack12,aCam1,0,aCam2,1);
NOMerge_AddPackHom(aMap2,aPack21,aCam2,1,aCam1,0);
aMap2.DoExport();
std::list<cFixedSizeMergeTieP<2,Pt2dr> *> aRes = aMap2.ListMerged();
int aNb1=0;
int aNb2=0;
for (std::list<cFixedSizeMergeTieP<2,Pt2dr> *>::const_iterator itR=aRes.begin() ; itR!=aRes.end() ; itR++)
{
if ((*itR)->NbArc() ==1)
{
aNb1++;
}
else if ((*itR)->NbArc() ==2)
{
aNb2++;
}
else
{
ELISE_ASSERT(false,"NO_MergeTO_Test2_0");
}
}
std::cout << "INPUT " << aPack12.size() << " " << aPack21.size() << " Exp " << aNb1 << " " << aNb2 << "\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;
}
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();
}
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 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--;
}
}
}
}
cMEPCoCentrik::cMEPCoCentrik(const ElPackHomologue & aPack,double aFoc,bool aShow,const ElRotation3D * aRef,bool Quick) :
mPack (aPack),
mRef (aRef),
mFoc (aFoc),
mCostMin (1e9),
mDoPly (true),
mEcartCo (1e9),
mMatRPur (1,1),
mShow (aShow),
mSolVraiR (ElRotation3D::Id),
mCostVraiR (1e20),
mQuick (Quick)
{
InitPackME(mVP1,mVP2,mVPds,aPack);
ElTimer aChrono;
mMatRPur = GlobMepRelCocentrique(mEcartCo,mPack,NbRanCoCInit,aPack.size());
mMatRPur = mMatRPur.transpose() ; // Retour aux convention 2 = > 1
// Car un peu optimiste comme estim init
mEcartCo *= 1.5;
if (0) // OK la descente est validee
{
double aNoise = 1e-2;
ElMatrix<double> aMP = ElMatrix<double>::Rotation(aNoise*NRrandC(),aNoise*NRrandC(),aNoise*NRrandC());
mMatRPur = mMatRPur * aMP;
}
for (int aK=0 ; aK<10 ; aK++)
{
OneItereRotPur(mMatRPur,mEcartCo);
}
if (!mQuick)
Test(aPack,mMatRPur,aRef,mEcartCo);
}
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;
}
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";
}
}
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;
}
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;
}
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;
}
