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";
}
}
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];
}
void cMA_AffineOrient::StateOri2(const std::string & aMes)
{
// OO Pt3dr aSom = mOri2->orsommet_de_pdv_terrain();
Pt3dr aSom = mOri2->PseudoOpticalCenter();
Pt3dr aTr = mCamF2->RF().CurRot().tr();
std::cout << aMes << (aSom-aTr) << " "
<< aSom << " " << aTr << "\n";
}
ElRotation3D CombinatoireOFPA
(
bool TousDevant,
CamStenope & aCam,
INT NbTest,
const cListeAppuis1Im & aLA,
REAL * Res_Dmin
)
{
return aCam.CombinatoireOFPA(TousDevant,NbTest,Xml2EL(aLA),Res_Dmin);
}
void cChangeCamFormat::DoAll()
{
mEq = mSet.NewEqCalibCroisee(mC2M,*mPIF);
mSet.SetClosed();
for (int aKet=0 ; aKet< 30 ; aKet++)
{
if (mPIF_DR)
{
if (aKet== 1)
mPIF_DR->SetFocFree(true);
if (aKet >= 3)
{
int aDegre = ElMin(mDegRadOut,1+ (aKet-3)/3);
mPIF_DR->SetDRFDegreFige(aDegre);
}
if (aKet >= 10)
mPIF_DR->SetCDistPPLie();
if ((aKet >= 15) && (! mCDistPPLie))
mPIF_DR->SetLibertePPAndCDist(true,true);
}
else
{
ELISE_ASSERT(false,"Unknown Cam Modele");
}
int aNBP = 20;
mSet.AddContrainte(mPIF->StdContraintes(),true);
mSet.AddContrainte(mEq->RotF().StdContraintes(),true);
for (int aKx=0 ; aKx<= aNBP ; aKx++)
{
double aPdsX = aKx / double(aNBP);
for (int aKy=0 ; aKy<= aNBP ; aKy++)
{
double aPdsY = aKy / double(aNBP);
Pt2dr aP0 (mSz.x*aPdsX,mSz.y*aPdsY);
Pt3dr aDir = mCamInput->F2toDirRayonL3(aP0);
Pt2dr aPNew = ToNewCoord(aP0);
mEq->AddObservation(aPNew,aDir);
}
}
mSet.SolveResetUpdate();
}
}
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 Drunk(string aFullPattern,string aOri,string DirOut, bool Talk)
{
string aPattern,aNameDir;
SplitDirAndFile(aNameDir,aPattern,aFullPattern);
//Reading input files
list<string> ListIm=RegexListFileMatch(aNameDir,aPattern,1,false);
int nbIm=ListIm.size();
if (Talk){cout<<"Images to process: "<<nbIm<<endl;}
//Paralelizing (an instance of Drunk is called for each image)
string cmdDRUNK;
list<string> ListDrunk;
if(nbIm!=1)
{
for(int i=1;i<=nbIm;i++)
{
string aFullName=ListIm.front();
ListIm.pop_front();
cmdDRUNK=MMDir() + "bin/Drunk " + aNameDir + aFullName + " " + aOri + " Out=" + DirOut + " Talk=0";
ListDrunk.push_back(cmdDRUNK);
}
cEl_GPAO::DoComInParal(ListDrunk,aNameDir + "MkDrunk");
//Calling the banner at the end
if (Talk){Drunk_Banniere();}
}else{
//Bulding the output file system
ELISE_fp::MkDirRec(aNameDir + DirOut);
//Processing the image
string aNameIm=ListIm.front();
string aNameOut=aNameDir + DirOut + aNameIm + ".tif";
//Loading the camera
string aNameCam="Ori-"+aOri+"/Orientation-"+aNameIm+".xml";
cInterfChantierNameManipulateur * anICNM = cInterfChantierNameManipulateur::BasicAlloc(aNameDir);
CamStenope * aCam = CamOrientGenFromFile(aNameCam,anICNM);
//Reading the image and creating the objects to be manipulated
Tiff_Im aTF= Tiff_Im::StdConvGen(aNameDir + aNameIm,3,false);
Pt2di aSz = aTF.sz();
Im2D_U_INT1 aImR(aSz.x,aSz.y);
Im2D_U_INT1 aImG(aSz.x,aSz.y);
Im2D_U_INT1 aImB(aSz.x,aSz.y);
Im2D_U_INT1 aImROut(aSz.x,aSz.y);
Im2D_U_INT1 aImGOut(aSz.x,aSz.y);
Im2D_U_INT1 aImBOut(aSz.x,aSz.y);
ELISE_COPY
(
aTF.all_pts(),
aTF.in(),
Virgule(aImR.out(),aImG.out(),aImB.out())
);
U_INT1 ** aDataR = aImR.data();
U_INT1 ** aDataG = aImG.data();
U_INT1 ** aDataB = aImB.data();
U_INT1 ** aDataROut = aImROut.data();
U_INT1 ** aDataGOut = aImGOut.data();
U_INT1 ** aDataBOut = aImBOut.data();
//Parcours des points de l'image de sortie et remplissage des valeurs
Pt2dr ptOut;
for (int aY=0 ; aY<aSz.y ; aY++)
{
for (int aX=0 ; aX<aSz.x ; aX++)
{
ptOut=aCam->DistDirecte(Pt2dr(aX,aY));
aDataROut[aY][aX] = Reechantillonnage::biline(aDataR, aSz.x, aSz.y, ptOut);
aDataGOut[aY][aX] = Reechantillonnage::biline(aDataG, aSz.x, aSz.y, ptOut);
aDataBOut[aY][aX] = Reechantillonnage::biline(aDataB, aSz.x, aSz.y, ptOut);
}
}
Tiff_Im aTOut
(
aNameOut.c_str(),
aSz,
GenIm::u_int1,
Tiff_Im::No_Compr,
Tiff_Im::RGB
);
ELISE_COPY
(
aTOut.all_pts(),
Virgule(aImROut.in(),aImGOut.in(),aImBOut.in()),
aTOut.out()
);
}
}
int TestCam_main(int argc,char ** argv)
{
std::string aFullName;
std::string aNameCam;
std::string aNameDir;
std::string aNameTag = "OrientationConique";
bool ExtP = false;
bool TOC = false;
Pt2dr TDINV;
double X,Y,Z;
X = Y = Z = 0;
bool aModeGrid = false;
std::string Out;
ElInitArgMain
(
argc,argv,
LArgMain() << EAMC(aFullName,"File name", eSAM_IsPatFile)
<< EAMC(X,"x")
<< EAMC(Y,"y")
<< EAMC(Z,"z"),
LArgMain()
<< EAM(aNameTag,"Tag",true,"Tag to get cam")
<< EAM(aModeGrid,"Grid",true,"Test Grid Mode", eSAM_IsBool)
<< EAM(Out,"Out",true,"To Regenerate an orientation file",eSAM_NoInit)
<< EAM(ExtP,"ExtP",true,"Detail on external parameter", eSAM_IsBool)
<< EAM(TOC,"TOC",true,"Test corners", eSAM_IsBool)
<< EAM(TDINV,"TDINV",true,"Test Dist Inv",eSAM_NoInit)
);
SplitDirAndFile(aNameDir,aNameCam,aFullName);
cInterfChantierNameManipulateur * anICNM = cInterfChantierNameManipulateur::BasicAlloc(aNameDir);
/*
cTplValGesInit<std::string> aTplFCND;
cInterfChantierNameManipulateur * anICNM =
cInterfChantierNameManipulateur::StdAlloc(0,0,aNameDir,aTplFCND);
*/
ElCamera * aCam = Gen_Cam_Gen_From_File(aModeGrid,aFullName,aNameTag,anICNM);
CamStenope * aCS = aCam->CS();
if (ExtP)
{
std::cout << " ########### EXTERNAL ##############\n";
if (aCS)
{
std::cout << "Center " << aCS->VraiOpticalCenter() << "\n";
}
std::cout << " I : " << aCS->L3toR3(Pt3dr(1,0,0)) - aCS->L3toR3(Pt3dr(0,0,0)) << "\n";
std::cout << " J : " << aCS->L3toR3(Pt3dr(0,1,0)) - aCS->L3toR3(Pt3dr(0,0,0))<< "\n";
std::cout << " K : " << aCS->L3toR3(Pt3dr(0,0,1)) - aCS->L3toR3(Pt3dr(0,0,0))<< "\n";
std::cout << "\n";
}
if (TOC)
TestOneCorner(aCam);
if (EAMIsInit(&TDINV))
TestDistInv(aCam,TDINV);
if (aModeGrid)
{
std::cout << "Camera is grid " << aCam->IsGrid() << " " << aCam->Dist().Type() << "\n";
}
TestCamCHC(*aCam);
TestDirect(aCam,Pt3dr(X,Y,Z));
if (Out!="")
{
cOrientationConique aCO = aCam->StdExportCalibGlob();
MakeFileXML(aCO,Out);
}
return EXIT_SUCCESS;
}
void cParamIntrinsequeFormel::UpdateCamGrid( double aTol)
{
if (UseAFocal() && (! AFocalAcceptNoDist))
return;
bool aLastFiged = mFiged;
mFiged = AllParamIsFiged() ;
// Si rien n'a change
if (aLastFiged == mFiged)
return;
// On passe de fige a mobile, donc plus de grille
if (aLastFiged)
{
delete mCamGrid;
mCamGrid =0;
return;
}
// On se fige
//
CamStenope * aCS = CurPIF();
Pt2di aRab(20,20);
Pt2di aStep(10,10);
double aRabR = 0;
Pt2di aSz = aCS->Sz();
double aR = euclid(aSz)/2.0;
if (aCS->HasRayonUtile())
aR = aCS->RayonUtile();
// std::cout << "iuytml RAY = " << aR << " SZR " << euclid(aSz)/2.0 << "\n";
mCamGrid = cCamStenopeGrid::Alloc(aR+aRabR,*aCS,Pt2dr(aStep),true,true);
if (mCamGrid)
{
mRayonGrid = 1e20;
// std::cout << "iuytml END CGID \n";
double aEcMax =0;
for (int aKx=100 ; aKx< aCS->Sz().x ; aKx += 200)
{
for (int aKy=100 ; aKy< aCS->Sz().y ; aKy += 200)
{
Pt2dr aP(aKx,aKy);
// std::cout << "IZU " << mCamGrid->IsInZoneUtile(aP) << " " << aP << "\n";
if (mCamGrid->IsInZoneUtile(aP))
{
// UVGCC4.6 double aEps=1e-5;
Pt3dr aRay = aCS->F2toDirRayonL3(aP);
// UVGCC4.6 Pt3dr aRayG = mCamGrid->F2toDirRayonL3(aP);
// UVGCC4.6 Pt3dr aRayX = aRay + Pt3dr(aEps,0,0);
// UVGCC4.6 Pt3dr aRayY = aRay + Pt3dr(0,aEps,0);
Pt2dr aP1 = aCS->L3toF2(aRay);
Pt2dr aPG = mCamGrid->L3toF2(aRay);
// UVGCC4.6 Pt2dr aDx = (mCamGrid->L3toF2(aRayX)-aPG)/aEps;
// UVGCC4.6 Pt2dr aDy = (mCamGrid->L3toF2(aRayY)-aPG)/aEps;
Pt2dr aDGX,aDGY;
// UVGCC4.6 Pt2dr aPG2 = mCamGrid->L2toF2AndDer(Pt2dr(aRay.x,aRay.y),aDGX,aDGY);
// std::cout << aPG << aDx << aDy << "\n";
// std::cout << " " << aPG2 << aDGX << aDGY << "\n";
double aDist = euclid(aP1,aPG);
if ( aDist >aTol)
mRayonGrid = ElMin(mRayonGrid,euclid(aP,aSz/2.0));
aEcMax = ElMax(aDist,aEcMax);
}
}
}
/*
std::cout << "GetC ------------RTOl------------ " << mRayonGrid << " -EcMax " << aEcMax << "\n";
getchar();
*/
}
}
Im2D_REAL4 cZBuf::BasculerUnMaillage(const cMesh &aMesh, const CamStenope &aCam)
{
mRes = Im2D_REAL4(mSzRes.x,mSzRes.y,mDpDef);
mDataRes = mRes.data();
mImTriIdx = Im2D_INT4(mSzRes.x,mSzRes.y, mIdDef);
vector <cTriangle> vTriangles;
aMesh.getTriangles(vTriangles);
vector <bool> vTrianglesPartiels; //0= ok 1=partiellement vu ou caché
for (unsigned int aK =0; aK<vTriangles.size();++aK)
{
vTrianglesPartiels.push_back(false);
}
for (unsigned int aK =0; aK<vTriangles.size();++aK)
{
cTriangle aTri = vTriangles[aK];
vector <Pt3dr> Sommets;
aTri.getVertexes(Sommets);
if (Sommets.size() == 3)
{
Pt2dr A2 = aCam.R3toF2(Sommets[0]);
Pt2dr B2 = aCam.R3toF2(Sommets[1]);
Pt2dr C2 = aCam.R3toF2(Sommets[2]);
Pt2dr AB = B2-A2;
Pt2dr AC = C2-A2;
REAL aDet = AB^AC;
if (aDet!=0)
{
/* Pt2di A2i = round_down(A2);
Pt2di B2i = round_down(B2);
Pt2di C2i = round_down(C2);
//On verifie que le triangle se projete entierement dans l'image
//TODO: gerer les triangles de bord
if (A2i.x < 0 || B2i.x < 0 || C2i.x < 0 || A2i.y < 0 || B2i.y < 0 || C2i.y < 0 || A2i.x >= mSzRes.x || B2i.x >= mSzRes.x || C2i.x >= mSzRes.x || A2i.y >= mSzRes.y || B2i.y >= mSzRes.y || C2i.y >= mSzRes.y)
return;*/
Pt3dr center = aCam.OrigineProf();
REAL zA = euclid(Sommets[0] - center); //repris de ElNuage3DMaille ProfOfPtE()
REAL zB = euclid(Sommets[1] - center);
REAL zC = euclid(Sommets[2] - center);
Pt2di aP0 = round_down(Inf(A2,Inf(B2,C2)));
aP0 = Sup(aP0,Pt2di(0,0));
Pt2di aP1 = round_up(Sup(A2,Sup(B2,C2)));
aP1 = Inf(aP1,mSzRes-Pt2di(1,1));
for (INT x=aP0.x ; x<= aP1.x ; x++)
for (INT y=aP0.y ; y<= aP1.y ; y++)
{
Pt2dr AP = Pt2dr(x,y)-A2;
// Coordonnees barycentriques de P(x,y)
REAL aPdsB = (AP^AC) / aDet;
REAL aPdsC = (AB^AP) / aDet;
REAL aPdsA = 1 - aPdsB - aPdsC;
if ((aPdsA>-Eps) && (aPdsB>-Eps) && (aPdsC>-Eps))
{
REAL4 aZ = (float) (zA*aPdsA + zB*aPdsB + zC*aPdsC);
if (aZ<mDataRes[y][x])
{
int index = mImTriIdx.GetI(Pt2di(x,y));
if (index != mIdDef) vTrianglesPartiels[index] = true;
mDataRes[y][x] = aZ;
mImTriIdx.SetI(Pt2di(x,y),aTri.getIdx());
}
}
}
}
}
}
//on enleve les triangles partiellement vus
for(int aK=0; aK < mSzRes.x; aK++)
for (int bK=0; bK < mSzRes.y; bK++)
{
int index = mImTriIdx.GetI(Pt2di(aK,bK));
if (vTrianglesPartiels[index])
{
mDataRes[bK][aK] = mDpDef;
mImTriIdx.SetI(Pt2di(aK,bK),USHRT_MAX);
}
else if ((index != mIdDef) && (find(vTri.begin(), vTri.end(), index)==vTri.end())) vTri.push_back(index);
}
return mRes;
}
void cChangeCamFormat::SetDRad(bool CDistPPLie,int aDegRadOut)
{
mCDistPPLie = CDistPPLie;
mDegRadOut = aDegRadOut;
ElDistRadiale_PolynImpair aDist = ElDistRadiale_PolynImpair::DistId(mRay,mPPInit,5);
cCamStenopeDistRadPol * aCamDRInit = new cCamStenopeDistRadPol(mC2M,mFInit,mPPInit,aDist,mCamInput->ParamAF());
mCamInit = aCamDRInit;
mPIF_DR = mSet.NewIntrDistRad (mC2M,aCamDRInit,0);
mPIF_DR->SetFocFree(false);
mPIF_DR->SetLibertePPAndCDist(false,false);
mPIF = mPIF_DR;
}
