Before merge ..

Author: deseilligny

MMVII/src/BundleAdjustment/Adjust_InstrumentalBlock.cpp

@@ -148,12 +148,13 @@ void cBA_BlockInstr::OneIter_Rattach1Cam(const cIrb_Desc1Intsr& aDesc)
     cPoseWithUK &  aPUK =  mCalCams->KthCam(aKCam).PoseUKInBlock();
     tPoseR aP0 = *MapGet(mPoseInit,aDesc.NameInstr());
 
-
+/*
     StdOut() << "OneIter_Rattach1CamOneIter_Rattach1Cam "
              << aDesc.NameInstr()
              << " Tr=" << aPUK.Pose().Tr() -aP0.Tr()
              << " Rot="  << (aPUK.Pose().Rot()*aP0.Rot().MapInverse()).ToWPK()
              << "\n";
+             */
 
     if (!mUseRat2CurrBR)
        return;
@@ -318,7 +319,9 @@ void cBA_BlockInstr::OneItere()
 
    AddGauge(true);
 
-   StdOut() << " Avg  Tr:" << std::sqrt(mAvgTr.Average()) << " Rot:" << std::sqrt(mAvgRot.Average()) << "\n";
+   StdOut() << "  * Residual IntrBlocCam/Pair "
+            << " Tr=" << std::sqrt(mAvgTr.Average())
+            << " Rot=" << std::sqrt(mAvgRot.Average()) << "\n";
 }
 
 void cBA_BlockInstr::AddGauge(bool InEq)

MMVII/src/Instrumental/cInstrumentalBloc.cpp

@@ -546,9 +546,13 @@ const std::map<std::string,cIrb_Desc1Intsr> & cIrbCal_Block::DescrIndiv() const
 void cIrbCal_Block::SetSigmaPair(const  std::map<tNamePair,cIrb_SigmaInstr> & aSigmaPair)
 {
 
+    StdOut () << "    ============  SIGMA by PAIR, for cams in bloc ===========\n";
     for (const auto&  [aCple,aSig] : aSigmaPair )
     {
-        StdOut() << " SP=" << aCple.V1() << " " << aCple.V2() << " " << aSig.SigmaTr() << " " << aSig.SigmaRot() << "\n";
+        StdOut()
+                << " Tr=" << aSig.SigmaTr() << " Rot=" << aSig.SigmaRot()
+                << " : " << aCple.V1() << " " << aCple.V2()
+                << "\n";
     }
     mSigmaPair = aSigmaPair;
 }
@@ -573,7 +577,7 @@ void cIrbCal_Block::SetSigmaIndiv(const  std::map<tNamePair,cIrb_SigmaInstr> & a
     {
         NC_DescrIndiv(aCple.V1()).AddNewSigma(aSig);
         NC_DescrIndiv(aCple.V2()).AddNewSigma(aSig);
-        StdOut() << " TTRRR=" << NC_DescrIndiv(aCple.V1()).Sigma().SigmaTr() << "\n";
+        //StdOut() << " TTRRR=" << NC_DescrIndiv(aCple.V1()).Sigma().SigmaTr() << "\n";
     }
 }