Chg ordi

Author: deseilligny

MMVII/src/BundleAdjustment/Adjust_InstrumentalBlock.cpp

@@ -24,7 +24,8 @@ class cBA_BlockInstr : public cMemCheck
                cMMVII_BundleAdj& ,
                cIrbComp_Block*,
                const std::vector<std::string> & aVParamPair,
-               const std::vector<std::string> & aVParamGauje
+               const std::vector<std::string> & aVParamGauje,
+               const std::vector<std::string> & aVParamCur
        );
        virtual ~cBA_BlockInstr();
 
@@ -80,7 +81,8 @@ cBA_BlockInstr::cBA_BlockInstr
         cMMVII_BundleAdj& aBA,
         cIrbComp_Block * aCompBl,
         const std::vector<std::string> & aVParamsPair,
-        const std::vector<std::string> & aVParamGauje
+        const std::vector<std::string> & aVParamGauje,
+        const std::vector<std::string> & aVParamCur
 ) :
     mBA           (aBA),
     mSys          (nullptr),
@@ -95,10 +97,15 @@ cBA_BlockInstr::cBA_BlockInstr
     mModeSaveSigma(cStrIO<int>::FromStr(GetDef(aVParamsPair,3,std::string("1")))),
     mGaujeTr      (cStrIO<double>::FromStr(GetDef(aVParamGauje,0,std::string("0.0")))),
     mGaujeRot     (cStrIO<double>::FromStr(GetDef(aVParamGauje,1,std::string("0.0"))))
-
-
 {
 
+    if (! aVParamCur.empty())
+    {
+        for (auto & aCalC : mCalCams->VCams() )
+        {
+            mBA.SetIntervUK().AddOneObj(&aCalC.PoseUKInBlock());
+        }
+    }
     //  Add all the pose to construct the Time-Stamp structure
     for (auto aPtrCam : mBA.VSCPC())
         mCompbBl->AddImagePose(aPtrCam,true);
@@ -298,18 +305,22 @@ void cMMVII_BundleAdj::AddBlockInstr(const std::vector<std::vector<std::string>>
         MMVII_UnclasseUsEr("Dir for bloc of instrument not init with parameter for BOI/Compensation");
     }
 
-
-
      const std::vector<std::string> & aVParamPairCam = aVVParam.at(0);
      std::string aNameBlock = GetDef(aVParamPairCam,0,std::string(""));
      if (aNameBlock=="")
          aNameBlock = cIrbCal_Block::theDefaultName;
 
      cIrbComp_Block * aBlock = new cIrbComp_Block(*mPhProj ,aNameBlock);
 
+     std::vector<std::string> aParamCur;
+     if (aVVParam.size() >=3)
+     {
+         aParamCur = aVVParam.at(2);
+     }
+
      mVecBlockInstrAdj.push_back
      (
-          new cBA_BlockInstr(*this,aBlock,aVParamPairCam,aVVParam.at(1))
+          new cBA_BlockInstr(*this,aBlock,aVParamPairCam,aVVParam.at(1),aParamCur)
      );
 
 }

MMVII/src/BundleAdjustment/cAppliBundAdj.cpp

@@ -167,7 +167,13 @@ cCollecSpecArg2007 & cAppliBundlAdj::ArgOpt(cCollecSpecArg2007 & anArgOpt)
       << AOpt2007(mPostFixReport,NameParamPostFixReport(),CommentParamPostFixReport())
       << AOpt2007(mParamLine,"AdjLine3D","Parameter for line Adjustment [SigmaIm,NbPtsSampl]",{{eTA2007::ISizeV,"[2,2]"}})
 
-      << AOpt2007(mParamBOI,"BOI","Bloc of Instr [[Bloc?,SigTr2?=1.0,SigRot2?=1.0,SaveSig?=1],[GjTr?,GjRot?]]   ",{{eTA2007::ISizeV,"[2,2]"}})
+      << AOpt2007
+         (
+             mParamBOI,
+             "BOI",
+             "Bloc of Instr [[Bloc?,RelSigTrPair?=1.0,RelSigRotPair?=1.0,SaveSig?=1],[GjTr?,GjRot?],[RelSigTrCur,RelSigRotCur]?]",
+             {{eTA2007::ISizeV,"[2,3]"}}
+          )
       << mPhProj.DPBlockInstr().ArgDirInOpt()
       << mPhProj.DPBlockInstr().ArgDirOutOpt()
 

MMVII/src/Instrumental/cAppli_BlockInstrInitClino.cpp

@@ -79,6 +79,7 @@ int cAppli_BlockInstrInitClino::Exe()
     //  add all the camera
     for (const auto & aNameIm :  VectMainSet(0))
     {
+// StdOut() << "IiIImmm=" << aNameIm << "\n";
        mBlock->AddImagePose(aNameIm);
     }
 

MMVII/src/Instrumental/cInstrumentalBloc.cpp

@@ -289,6 +289,14 @@ void cIrbComp_Block::AddImagePose(const std::string & aNameIm,bool  okImNotInBlo
 
 void cIrbComp_Block::SetClinoValues(const cSetMeasureClino& aSetM,bool OkNewTimeS)
 {
+/*
+    StdOut() << "XXX-cIrbComp_Block::SetClinoValue\n";
+    for (const auto& [anId,aData] : mDataTS)
+    {
+       StdOut() << "IIIIiiidddd " << anId << "\n";
+    }
+*/
+
     MMVII_INTERNAL_ASSERT_tiny(aSetM.NamesClino() == mCalBlock->SetClinos().VNames(),"Names differs in SetClinoValues");
    for (const auto & aMeasure : aSetM.SetMeasures())
    {

MMVII/src/Mappings/cManifold.cpp

@@ -218,10 +218,12 @@ template<int DimE>
      typename cSphereManifold<DimE>::tResPOP
          cSphereManifold<DimE>::ParamOfPt(const tPtE & aPE) const
 {
+    // 1 - Research the coordinates maximizing the absolute value
     cWhichMax<int,tREAL8> aMaxC;
     for (int aDim=0 ; aDim<DimE ; aDim++)
         aMaxC.Add(aDim,std::abs(aPE[aDim]));
 
+    // 2- compute a point of dimension DimE-1, whithout the maximal coordinate
     int aDimMax = aMaxC.IndexExtre();
     int aCpt=0;
     tPtM aProj;
@@ -231,6 +233,8 @@ template<int DimE>
         if (aDim!= aDimMax)
             aProj[aCpt++] = aPE[aDim];
     }
+
+    // 3- if the coordinate is negative incremente the num of the map
     if (aPE[aDimMax]<0)
         aDimMax += DimE;