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();
}
}
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";
}
}
