Merge branch 'mpd'

Author: deseilligny

MMVII/src/BundleAdjustment/BundleAdjustment.h

@@ -454,14 +454,16 @@ class cMMVII_BundleAdj
           void SetSharedIntrinsicParams(const std::vector<std::string> &);
 
 
-	  void AddPoseViscosity();
-	  void AddConstrainteRefPose();
+          void AddPoseViscosity();
+          void AddConstrainteRefPose();
           void AddConstrainteRefPose(cSensorCamPC & aCam,cSensorCamPC & aCamRef);
 
 
-	  void AddLineAdjust(const std::vector<std::string> &);
+          void AddLineAdjust(const std::vector<std::string> &);
+          void DeleteLineAdjust();
+          void IterAdjustOnLine();
 
-	  void SaveBlocRigid();
+          void SaveBlocRigid();
           void Save_newGCP3D();
           void SaveTopo();
 
@@ -477,7 +479,6 @@ class cMMVII_BundleAdj
 
           cSetInterUK_MultipeObj<tREAL8> &   SetIntervUK();
      private :
-	  void DeleteLineAdjust();
 
           //============== Methods =============================
           cMMVII_BundleAdj(const cMMVII_BundleAdj &) = delete;

MMVII/src/BundleAdjustment/BundleLines.cpp

@@ -106,7 +106,8 @@ cOneData_L23::cOneData_L23(cSensorCamPC * aCam,const tSeg2dr & aSeg,int aKIm) :
     mSeg   (aSeg),
     mPlane (mCam->SegImage2Ground(mSeg)),
     mKIm   (aKIm),
-    mLineM (nullptr)
+    mLineM (nullptr),
+    mCalcEqSeg (nullptr)
 {
 }
 
@@ -317,6 +318,7 @@ void cUK_Line3D_4BA::AddOneEquation(tREAL8 aLambda,tREAL8 aWeight,const cOneData
       cPt2dr aTgtL2 = aLDM->TgSpace(aPImOnL2).at(0);
       cPt2dr aNormL2 = Rot90(aTgtL2);
 
+//StdOut() << " PIMG=" << aPImPG << " PL=" <<  aPImOnL2 << "\n";
 
     //     std::vector<std::string>  aVecLIne2D = Append(NamesP2("Line2D_Pt"),NamesP2("Line2D_Norm"));
        aPImOnL2.PushInStdVector(aVObs);
@@ -352,6 +354,7 @@ void cUK_Line3D_4BA::AddOneEquation(tREAL8 aLambda,tREAL8 aWeight,const cOneData
        }
    }
 
+
     mBA->Sys()->R_CalcAndAddObs(aData.SetAndGet_CalcEqSeg(),aVIndexes,aVObs,aWeight);
 }
 
@@ -367,6 +370,12 @@ void cUK_Line3D_4BA::AddEquation()
     }
 }
 
+/* *********************************************************** */
+/*                                                             */
+/*                 cMMVII_BundleAdj                            */
+/*                                                             */
+/* *********************************************************** */
+
 void cMMVII_BundleAdj::AddLineAdjust(const std::vector<std::string> & aVParam)
 {
    tREAL8 aSigmaIm =  cStrIO<double>::FromStr(aVParam.at(0));
@@ -376,6 +385,11 @@ void cMMVII_BundleAdj::AddLineAdjust(const std::vector<std::string> & aVParam)
    mSetIntervUK.AddOneObj(mLineAdjust);
 }
 
+void cMMVII_BundleAdj::IterAdjustOnLine()
+{
+    if (mLineAdjust)
+        mLineAdjust->AddEquation();
+}
 
 
 // cUK_Line3D_4BA::cUK_Line3D_4BA(const std::vector<cSensorCamPC *> & aVCam,cPhotogrammetricProject * aPhProj,cMMVII_BundleAdj *  aBA) :

MMVII/src/BundleAdjustment/cAppliBundAdj.cpp

@@ -101,6 +101,7 @@ class cAppliBundlAdj : public cMMVII_Appli
         bool                      mShow_Cond; ///< compute and show system condition number
         std::vector<std::string>  mParamShow_UK_UC;
         std::string               mPostFixReport;
+        std::vector<std::string>  mParamLine;
 };
 
 cAppliBundlAdj::cAppliBundlAdj(const std::vector<std::string> & aVArgs,const cSpecMMVII_Appli & aSpec) :
@@ -164,6 +165,7 @@ cCollecSpecArg2007 & cAppliBundlAdj::ArgOpt(cCollecSpecArg2007 & anArgOpt)
       << AOpt2007(mShow_Cond,"Cond","Compute and show system condition number")
       << AOpt2007(mParamShow_UK_UC,"UC_UK","Param for uncertainty & Show names of unknowns (tuning)")
       << AOpt2007(mPostFixReport,NameParamPostFixReport(),CommentParamPostFixReport())
+      << AOpt2007(mParamLine,"AdjLine3D","Parameter for line Adjustment [SigmaIm,NbPtsSampl]",{{eTA2007::ISizeV,"[2,2]"}})
     ;
 }
 
@@ -324,6 +326,10 @@ int cAppliBundlAdj::Exe()
             mBA.AddCamBlocRig(aNameIm);
     }
 
+    if (IsInit(&mParamLine))
+    {
+        mBA.AddLineAdjust(mParamLine);
+    }
 
     if (mPhProj.DPClinoMeters().DirInIsInit())
     {

MMVII/src/BundleAdjustment/cMMVII_BundleAdj.cpp

@@ -388,6 +388,9 @@ void cMMVII_BundleAdj::OneIteration(tREAL8 aLVM,bool isLastIter, bool doShowCond
     for (const auto & aLidarPh : mVBA_Lidar )
        aLidarPh->AddObs();
 
+    // Add observation for line adjustment
+    IterAdjustOnLine();
+
     if (mCompute_Uncert && isLastIter)
     {
 // StdOut() <<  "mCompute_UncertmCompute_UncertmCompute_Uncert--------------------------------\n";

MMVII/src/OrientReport/BlocReport.cpp

@@ -264,7 +264,8 @@ void cAppli_ReportBlock::AddStatDistWirePt
 
      mStatWirePt[aNamePt].mStat3d.Add(Norm2(anEc));
 
-     AddOneReportCSV(mIdRepDWirePt,{aNamePt,ToStr(aD3),ToStr(aDH),ToStr(aDV)});
+    // InitReportCSV(mIdRepDWirePt,"csv",false,{"TimeStamp","NamePt","D3","DH","DV"});
+     AddOneReportCSV(mIdRepDWirePt,{anIdSync,aNamePt,ToStr(aD3),ToStr(aDH),ToStr(aDV)});
 }
 
 cPt2dr  cAppli_ReportBlock::CorrMesPt(cSensorCamPC * aCam,const cPt2dr & aPt)