In bundlelines

Author: deseilligny

MMVII/src/BundleAdjustment/BundleLines.cpp

@@ -3,37 +3,46 @@
 namespace MMVII
 {
 
+/** in cUK_Line3D_4BA with put data in a specific class to allow copy (in "OnUpdate"),
+ *  which would be forbiden due to inheritance */
+
 struct cUK_Line3D_4BA_Data
 {
     cUK_Line3D_4BA_Data (const cPt3dr & aP1,const cPt3dr & aP2);
     void Update() ;
+    void  PushObs(std::vector<double>&);
 
-    tSegComp3dr mSeg;
-    cPt3dr      mNorm_x;
-    cPt3dr      mNorm_y;
-    cPt2dr      mUkN1;
-    cPt2dr      mUkN2;
+    tSegComp3dr mSeg;        //< the segement itself
+    cPt3dr      mNorm_x;     //< the first vector normal
+    cPt3dr      mNorm_y;     //< the second vector normal
+    cPt2dr      mUkN1;       //< unknown displacement at Seg.P1, coded as "Uk1.x Nx+ Uk1.y Ny"
+    cPt2dr      mUkN2;       //<  unknown displacement at Seg.P2
 };
 
 /// class handling a 3D unknown line for bundle adjusment
 class cUK_Line3D_4BA :   public cObjWithUnkowns<tREAL8>
 {
     public :
+         //<  constructor,
          cUK_Line3D_4BA(const cPt3dr & aP1,const cPt3dr & aP2);
+         //< called to fill the "obs" in an equation
+         void PushObs(std::vector<double>&);
+
     private :
 
 
          /// "reaction" after linear update
          void OnUpdate() override;                 
+         /// method called when the object must indicate its unknowns
          void PutUknowsInSetInterval() override;
 
-         cUK_Line3D_4BA_Data mData;
+         cUK_Line3D_4BA_Data* mData;
 };
 
 
 /* *********************************************************** */
 /*                                                             */
-/*                 cUK_Line3D_4BA                              */
+/*                 cUK_Line3D_4BA_Data                         */
 /*                                                             */
 /* *********************************************************** */
 
@@ -55,18 +64,41 @@ void cUK_Line3D_4BA_Data::Update()
     *this = cUK_Line3D_4BA_Data(aNewP1,aNewP2);
 
 }
+void  cUK_Line3D_4BA_Data::PushObs(std::vector<double>& aVObs)
+{
+    mSeg.P1().PushInStdVector(aVObs);
+    mSeg.P2().PushInStdVector(aVObs);
+    mNorm_x.PushInStdVector(aVObs);
+    mNorm_y.PushInStdVector(aVObs);
+
+}
+
+/* *********************************************************** */
+/*                                                             */
+/*                 cUK_Line3D_4BA                              */
+/*                                                             */
+/* *********************************************************** */
 
 cUK_Line3D_4BA::cUK_Line3D_4BA(const cPt3dr & aP1,const cPt3dr & aP2) :
-    mData (aP1,aP2)
+    mData (nullptr)
 {
 }
 
+void cUK_Line3D_4BA::PutUknowsInSetInterval()
+{
+   mSetInterv->AddOneInterv(mData->mUkN1);
+   mSetInterv->AddOneInterv(mData->mUkN2);
+}
 
 void cUK_Line3D_4BA::OnUpdate() 
 {
-    mData.Update();
+    mData->Update();
 }
 
+void cUK_Line3D_4BA::PushObs(std::vector<double>& aVObs)
+{
+    mData->PushObs(aVObs);
+}
 
 
 };

MMVII/src/SymbDerGen/Formulas_CamStenope.h

@@ -671,8 +671,8 @@ template <typename TypeDist,typename TypeProj>  class cEqColinearityCamPPC
                    size_t aIndUk = 0;
                    size_t aIndObs = 0;
 
-		   cPtxd<tUk,2>  aPtIm    = VtoP2AutoIncr(aVObs,&aIndObs);
-		   cPtxd<tUk,2>  aPtNormIm;
+                   cPtxd<tUk,2>  aPtIm    = VtoP2AutoIncr(aVObs,&aIndObs);
+                   cPtxd<tUk,2>  aPtNormIm;
                    if (mLine)
                    {
                         aPtNormIm = VtoP2AutoIncr(aVObs,&aIndObs);
@@ -722,23 +722,23 @@ template <typename TypeDist,typename TypeProj>  class cEqColinearityCamPPC
                    cPtxd<tUk,3> aPCam =  aDeltaRot * (aRotInit * aVCP);
 #endif
 
-		   cPtxd<tUk,2>  aPProj = cHelperProj<TypeProj>::Proj(aPCam);  // project 3D-> photogram point
-		   cPtxd<tUk,2> aPDist = VtoP2(mDist.PProjToImNorm (aPProj.x(),aPProj.y(),aVUk,aIndUk));  // add distorsion
+                  cPtxd<tUk,2>  aPProj = cHelperProj<TypeProj>::Proj(aPCam);  // project 3D-> photogram point
+                  cPtxd<tUk,2> aPDist = VtoP2(mDist.PProjToImNorm (aPProj.x(),aPProj.y(),aVUk,aIndUk));  // add distorsion
 
-		   cPtxd<tUk,2> aPPix =  aPP + aPDist * aFoc; // Use Focal and PP to make pixel
+                   cPtxd<tUk,2> aPPix =  aPP + aPDist * aFoc; // Use Focal and PP to make pixel
 
 
                    MMVII_INTERNAL_ASSERT_always(aIndUk+mDist.VNamesParams().size()==aVUk.size(),"cEqColinearityCamPPC : Uk-size");
                    MMVII_INTERNAL_ASSERT_always(aIndObs== aVObs.size(),"cEqColinearityCamPPC : Obs-size");
 
-		   cPtxd<tUk,2> aResidual = aPPix - aPtIm;  // compare to mesured point
+                   cPtxd<tUk,2> aResidual = aPPix - aPtIm;  // compare to mesured point
                    if (mLine)
                    {
                        return {Scal(aPtNormIm,aResidual)};
                    }
                    else
                    {
-		      return {aResidual.x(),aResidual.y()};
+                       return {aResidual.x(),aResidual.y()};
                    }
            }