Pt3dr cMEPCoCentrik::ComputeBase()
{
Pt3dr aBest(0,0,0);
double aScoreMin = 1e20;
for (int aK1=0 ; aK1<int(mVPlanBase.size()); aK1++)
{
Pt3dr aCdtBase = mVPlanBase[aK1];
double aScore = 0;
for (int aK2=0 ; aK2<int(mVPlanBase.size()); aK2++)
{
Pt3dr aP2 = mVPlanBase[aK2];
if (scal(aP2,aCdtBase) < 0) aP2 = -aP2;
double aDist = euclid(aP2-aCdtBase);
aDist = CoutAttenueTetaMax(aDist,0.3);
aScore += aDist;
}
if (aScore < aScoreMin)
{
aScoreMin = aScore;
aBest = aCdtBase;
}
}
return aBest;
}
void cAppliOptimTriplet::Execute()
{
ElTimer aChrono;
if (! EAMIsInit(&mNbMaxSel))
{
mNbMaxSel = mQuick ? QuickDefNbMaxSel : StdDefNbMaxSel;
}
if (mShow)
mQuitExist = false;
mNbMaxInit = mQuick ? QuickNbMaxInit : StdNbMaxInit ;
if (! EAMIsInit(&mShow))
mShow = EAMIsInit(&mSzShow);
if (MMVisualMode) return;
cNewO_OneIm * mNoIm3 = new cNewO_OneIm(*mNM,m3S.mV2);
std::string aNameSauveXml = mNM->NameOriOptimTriplet(false,mNoIm1,mNoIm2,mNoIm3,false);
std::string aNameSauveBin = mNM->NameOriOptimTriplet(true ,mNoIm1,mNoIm2,mNoIm3,false);
if (ELISE_fp::exist_file(aNameSauveXml) && ELISE_fp::exist_file(aNameSauveBin) && mQuitExist)
return ;
std::string aName3R = mNM->NameOriInitTriplet(true,mNoIm1,mNoIm2,mNoIm3);
cXml_Ori3ImInit aXml3Ori = StdGetFromSI(aName3R,Xml_Ori3ImInit);
mIms.push_back(new cImOfTriplet(0,*this,mNoIm1,ElRotation3D::Id));
mIms.push_back(new cImOfTriplet(1,*this,mNoIm2,Xml2El(aXml3Ori.Ori2On1())));
mIms.push_back(new cImOfTriplet(2,*this,mNoIm3,Xml2El(aXml3Ori.Ori3On1())));
mIm1 = mIms[0];
mIm2 = mIms[1];
mIm3 = mIms[2];
mFoc = 1/ ( (1.0/mIm1->Foc()+1.0/mIm2->Foc()+1.0/mIm3->Foc()) / 3.0 ) ;
// mP12 = new cPairOfTriplet(mIm1,mIm2,mIm3);
// mP13 = new cPairOfTriplet(mIm1,mIm3,mIm2);
// mP23 = new cPairOfTriplet(mIm2,mIm3,mIm1);
mPairs.push_back(new cPairOfTriplet(mIm1,mIm2,mIm3));
mPairs.push_back(new cPairOfTriplet(mIm1,mIm3,mIm2));
mPairs.push_back(new cPairOfTriplet(mIm2,mIm3,mIm1));
mP12 = mPairs[0];
mP13 = mPairs[1];
mP23 = mPairs[2];
mNM->LoadTriplet(mIm1->Im(),mIm2->Im(),mIm3->Im(),&mIm1->VFullPtOf3(),&mIm2->VFullPtOf3(),&mIm3->VFullPtOf3());
if (EAMIsInit(&mSzShow) && (!EAMIsInit(&mNbMaxSel)))
{
mNbMaxSel = ModeShowNbMaxSel;
}
if (mShow)
std::cout << "Time load " << aChrono.uval() << "\n";
int aNb3 = round_up(CoutAttenueTetaMax(mIm2->VFullPtOf3().size() ,mNbMaxSel));
mNbMaxSel = aNb3;
// mSel3 = IndPackReduit(mIm2->VFullPtOf3(),mNbMaxInit,mNbMaxSel);
mSel3 = IndPackReduit(mIm2->VFullPtOf3(),mNbMaxInit,mNbMaxSel);
for (int aK=0 ; aK<3 ; aK++)
{
mIms[aK]->SetReduce(mSel3);
mFullH123.push_back(&(mIms[aK]->VFullPtOf3()));
mRedH123.push_back(&(mIms[aK]->VRedPtOf3()));
}
mP12->SetPackRed(false,mNbMaxInit,mNbMaxSel,mSel3,*mFullH123[1]);
mP23->SetPackRed(true ,mNbMaxInit,mNbMaxSel,mSel3,*mFullH123[1]);
mP13->SetPackRed(true ,mNbMaxInit,mNbMaxSel,mSel3,*mFullH123[0]);
mPds3 = ElMin(MaxSurPond3,(mP12->NbR()+mP13->NbR()+mP23->NbR())/double(mIm1->NbR()));
mBestResidu = ResiduGlob();
/*
TestOPA(*mP12);
*/
if (mShow)
{
std::cout << "Time reduc " << aChrono.uval() << " Pds3=" << mPds3 << "\n";
}
for (int aKP=0 ; aKP<int(mPairs.size()) ; aKP++)
{
TestOPA(*(mPairs[aKP]));
}
if (mShow)
{
std::cout << "Time opa " << aChrono.uval() << "\n";
}
if (mShow)
{
std::cout << "NB TRIPLE " << mIm2->VFullPtOf3().size() << " Resi3: " << ResiduTriplet() << " F " << mFoc << "\n";
std::cout << "RESIDU/PAIRES " << mP12->ResiduMoy() << " " << mP13->ResiduMoy() << " " << mP23->ResiduMoy() << " " << "\n";
std::cout << "R Glob " << ResiduGlob() << "\n";
}
#if (ELISE_X11)
if (EAMIsInit(&mSzShow))
{
mIm2->InitW(mSzShow);
ShowPoints(mIm2,mP12->FullVP2(),P8COL::cyan,2);
ShowPoints(mIm2,mP23->FullVP1(),P8COL::yellow,2);
ShowPointSel(mIm2,mP12->VRedP2(),P8COL::cyan);
ShowPointSel(mIm2,mP23->VRedP1(),P8COL::yellow);
std::cout << "NB 12 " << mP12->VRedP2().size() << "\n";
// ShowPoints(mIm2,mIm2->VFullPtOf3(),P8COL::blue,4);
// ShowPointSel(mSel3.mVSel,mIm2,mIm2->VFullPtOf3(),P8COL::red);
//
ShowPoints(mIm2,mIm2->VFullPtOf3(),P8COL::blue,2);
ShowPointSel(mIm2,mIm2->VRedPtOf3(),P8COL::blue);
//==================================
mIm1->InitW(mSzShow);
ShowPoints(mIm1,mP13->FullVP1(),P8COL::cyan,2);
ShowPointSel(mIm1,mP13->VRedP1(),P8COL::cyan);
ShowPoints(mIm1,mIm1->VFullPtOf3(),P8COL::blue,2);
ShowPointSel(mIm1,mIm1->VRedPtOf3(),P8COL::blue);
mIm2->W()->clik_in();
}
#endif
/*
SolveBundle3Image
(
mFoc,
mIm2->Rot(),
mIm3->Rot(),
mFullH123,
mP12->FullHoms(),
mP13->FullHoms(),
mP23->FullHoms()
);
*/
int aNbIterBundle = mQuick ? QuickNbIterBundle : StdNbIterBundle;
double aBOnH;
Pt3dr aPMed;
SolveBundle3Image
(
mFoc,
mIm2->Ori(),
mIm3->Ori(),
aPMed,
aBOnH,
mRedH123,
mP12->RedHoms(),
mP13->RedHoms(),
mP23->RedHoms(),
mPds3,
aNbIterBundle
);
cXml_Ori3ImInit aXml;
aXml.Ori2On1() = El2Xml(mIm2->Ori());
aXml.Ori3On1() = El2Xml(mIm3->Ori());
aXml.ResiduTriplet() = ResiduGlob();
aXml.NbTriplet() = (int)mRedH123[0]->size();
aXml.BSurH() = aBOnH;
aXml.PMed() = aPMed;
MakeFileXML(aXml,aNameSauveXml);
MakeFileXML(aXml,aNameSauveBin);
if (mShow)
{
std::cout << "NB TRIPLE " << mIm2->VFullPtOf3().size() << " Resi3: " << ResiduTriplet() << " F " << mFoc << "\n";
std::cout << "RESIDU/PAIRES " << mP12->ResiduMoy() << " " << mP13->ResiduMoy() << " " << mP23->ResiduMoy() << " " << "\n";
std::cout << "R Glob " << ResiduGlob() << "\n";
std::cout << "Time bundle " << aChrono.uval() << "\n";
}
for (int aK=0 ; aK<3 ; aK++)
{
delete mPairs[aK];
delete mIms[aK];
}
mPairs.clear();
mIms.clear();
mFullH123.clear();
mRedH123.clear();
}
