Bloc Clino/Cam , Ok with compensation

Author: deseilligny

MMVII/include/MMVII_InstrumentalBlock.h

@@ -7,6 +7,7 @@
 #include "MMVII_Clino.h"
 #include "MMVII_Matrix.h"
 #include <tuple>
+//#include <memory>
 
 
 namespace MMVII
@@ -111,7 +112,7 @@ class cIrbCal_Cam1  : public cMemCheck
         bool          mSelIsPat;       ///< indicate if selector is pattern/file
         std::string   mImSelect;       ///< selector, indicate if an image belongs  to the block
         bool          mIsInit;         ///< was the pose in the block computed ?
-        cPoseWithUK*  mPoseInBlock;    ///< Position in the block  +- boresight
+        std::shared_ptr<cPoseWithUK>  mPoseInBlock;    ///< Position in the block  +- boresight
 };
 /// public interface to serialization
 void AddData(const  cAuxAr2007 & anAux,cIrbCal_Cam1 & aCam);
@@ -145,6 +146,8 @@ class cIrbCal_CamSet  : public cMemCheck
          void SetNumPoseInstr (const std::vector<int> & aVNums);
          // Correct -1 => master
          std::vector<int>  NumPoseInstr() const;
+         /// fails if several NumPoseInstr
+         cIrbCal_Cam1 * SingleCamPoseInstr(bool OkNot1=false) ;
      private :
          void AddCam
               (
@@ -171,19 +174,24 @@ class cIrbCal_Clino1   : public cMemCheck
     public :
         cIrbCal_Clino1();  //< required for serialisation
         cIrbCal_Clino1(const std::string & aName); //< "Real" constructor
+        ~cIrbCal_Clino1();
+
         const std::string & Name() const;  //< accessor
         void AddData(const  cAuxAr2007 & anAux); //< serializer
 
         void SetPNorm(const cPt3dr & aTr);
 
         cP3dNormWithUK&  CurPNorm();
+        cVectorUK &      PolCorr();
         bool          IsInit() const;
         void UnInit();
     private :
-        std::string        mName;             //< name of the clino
-        bool               mIsInit;           //< was values computed ?
-        cP3dNormWithUK *   mTrInBlock;        //< Position in the block
-        std::vector<tREAL8> mPolCorr;         //<  Polynomial correction 2 angles, def [0,1,0]
+        std::string                       mName;             //< name of the clino
+        bool                              mIsInit;           //< was values computed ?
+        std::shared_ptr<cP3dNormWithUK>   mTrInBlock;        //< Position in the block
+         std::shared_ptr<cVectorUK>       mPolCorr;
+        //cVectorUK *        mPolCorr;          //< Polynomial correction 2 angles, def [0,1,0,0]
+//        std::vector<tREAL8>               mPolCorr;         //<  Polynomial correction 2 angles, def [0,1,0]
        // tREAL8             mSigmaR;         //< sigma a priori  on orientation
 };
 void AddData(const  cAuxAr2007 & anAux,cIrbCal_Clino1 & aClino);
@@ -200,11 +208,13 @@ class cIrbCal_ClinoSet  : public cMemCheck
          std::vector<std::string> VNames() const;
          size_t NbClino() const;
 
-         int  IndexClinoFromName(const std::string& aName) const;
+         int  IndexClinoFromName(const std::string& aName,bool OkNone=false) const;
          cIrbCal_Clino1 &  KthClino(int aK);
 
+
+         cIrbCal_Clino1 * ClinoFromName(const std::string& aName,bool OkNone=false);
      private :
-         cIrbCal_Clino1 * ClinoFromName(const std::string& aName);
+
          void AddClino(const std::string &,tREAL8 aSigma,bool SVP=false);
 
          std::vector<cIrbCal_Clino1> mVClinos; //< set of clinos
@@ -235,6 +245,7 @@ class cIrb_CstrOrthog
       cIrb_CstrOrthog(const tREAL8 & aSigma);
       cIrb_CstrOrthog();
       void AddData(const  cAuxAr2007 & anAux);
+      tREAL8 Sigma() const;
    private :
       tREAL8 mSigma;
 };
@@ -350,7 +361,7 @@ class cIrbCal_Block  : public cMemCheck
          cIrbCal_CamSet                mSetCams;    //<  Cameras used in the bloc
          cIrbCal_ClinoSet              mSetClinos;  //<  Clinos used in the bloc
 
-         //  A priori external constraint
+         //  Sigma
          std::map<tNamePair,cIrb_SigmaInstr>   mSigmaPair;     //<  Sigmas between pair of instr
          std::map<std::string,cIrb_Desc1Intsr> mDescrIndiv;      //<  Sigmas of each instrument
 
@@ -380,11 +391,11 @@ class cIrbComp_Cam1 : public cMemCheck
          tPoseR PosBInSysA(const cIrbComp_Cam1 & aCamB) const;
 
          bool IsInit() const ;  //< Is  mCamPC set ?
-         const  cSensorCamPC * CamPC() const; //< Accessor
-         cSensorCamPC * CamPC() ; //< Accessor
+         cSensorCamPC * CamPC() const; //< Accessor
          tPoseR  Pose() const;  //< Accessor 2 mCamPC
          std::string NameIm() const; //<  Accessor 2 mCamPC
 
+
      private :
        /*  bool        mIsInit;
          tPoseR      mPoseInW;  /// C2W
@@ -407,6 +418,8 @@ class cIrbComp_CamSet  : public cMemCheck
           const std::vector<cIrbComp_Cam1> &  VCompPoses() const;  ///<  Accessor
           cIrbComp_Cam1 & KthCam(int aK) ;
 
+          cSensorCamPC * SingleCamPoseInstr(bool OkNot1=false) const ;
+
     private :
          cIrbComp_CamSet(const cIrbComp_CamSet &) = delete;
 
@@ -458,7 +471,6 @@ class   cIrbComp_TimeS : public cMemCheck
 
          tREAL8 ScoreDirClino(const cPt3dr& aDir,size_t aKClino) const;
 
-
     private :
          cIrbComp_TimeS(const cIrbComp_TimeS&) = delete;
          const cIrbComp_Block &            mCompBlock;
@@ -494,6 +506,7 @@ class   cIrbComp_Block : public cMemCheck
        size_t  NbCams() const ;                         //< Accessor of Accessor of ...
        const cIrbCal_Block & CalBlock() const ; //< Accessor
        cIrbCal_Block & CalBlock()  ; //< Accessor
+
        const tContTimeS & DataTS() const ; //< Accessor
        tContTimeS & DataTS(); //< Accessor
 
@@ -523,6 +536,9 @@ class   cIrbComp_Block : public cMemCheck
 
        /**  return the data for time stamps (cams, clino ...)  corresponding to TS, possibly init it*/
        cIrbComp_TimeS &  DataOfTimeS(const std::string & aTS);
+       // return
+       ///cIrbComp_TimeS *  PtrDataOfTimeS(const std::string & aTS);
+
 
        cIrbCal_Block *                       mCalBlock;
        bool                                  mCalIsAdopted;

MMVII/include/MMVII_PCSens.h

@@ -437,7 +437,8 @@ void AddData(const cAuxAr2007 & anAux,cPerspCamIntrCalib &);
 /** Class for modelising a pose when it is used as unknwon in non linear system
  */
 
-class cRotWithUK  :  public cObjWithUnkowns<tREAL8>
+class cRotWithUK  :  public cObjWithUnkowns<tREAL8>,
+                     public cMemCheck
 {
    public :
       cRotWithUK();
@@ -464,14 +465,17 @@ class cRotWithUK  :  public cObjWithUnkowns<tREAL8>
        // Val axiator should have to "equal" fix rot
        cPt3dr ValAxiatorFixRot(const tRotR & aRotFix) const;
 
-   private :
+       void AddIdexesAndObs(std::vector<int> &, std::vector<double>&,bool TransMatr=false);
+
        void PutUknowsInSetInterval() override ;  // add the interval on udpate
+private :
 
        tRotR      mRot;   ///< transformation Cam to Word
        cPt3dr     mOmega;  ///< vector for tiny rotation when used in unknown, mW  in code gene ...
 };
 
-class cPoseWithUK :  public cObjWithUnkowns<tREAL8>
+class cPoseWithUK :  public cObjWithUnkowns<tREAL8>,
+                     public cMemCheck
 {
      public :
          /// Fill with dummy value for case where default constructor is required
@@ -485,6 +489,8 @@ class cPoseWithUK :  public cObjWithUnkowns<tREAL8>
          void PushObs(std::vector<double> &,bool TransposeMatr);
 
          cPoseWithUK(const tPoseR & aPose);
+         void AddIdexesAndObs(std::vector<int> &, std::vector<double>&,bool TransMatr=false);
+
 
      // different accessor to the pose
          tPoseR   Pose()   const;
@@ -516,6 +522,8 @@ class cPoseWithUK :  public cObjWithUnkowns<tREAL8>
          cPt3dr ValAxiatorFixRot(const tRotR & aRotFix) const;
 
 
+         cRotWithUK & RUK();
+
      private :
          cPoseWithUK(const cPoseWithUK&) = delete;
          void PutUknowsInSetInterval() override ;  // add the interval on udpate
@@ -530,7 +538,8 @@ class cPoseWithUK :  public cObjWithUnkowns<tREAL8>
 void AddData(const  cAuxAr2007 & anAux,cPoseWithUK & aPUK);
 
 ///  class for modelizing a normaliezd 3D-Vect when used as unknown in non linear system
-class cP3dNormWithUK :  public cObjWithUnkowns<tREAL8>
+class cP3dNormWithUK :  public cObjWithUnkowns<tREAL8>,
+                        public cMemCheck
 {
    public :
         cP3dNormWithUK(const cPt3dr &aPt,const std::string& aNameType,const std::string & aNameGrp);
@@ -540,6 +549,9 @@ class cP3dNormWithUK :  public cObjWithUnkowns<tREAL8>
 
         void SetPNorm(const cPt3dr & aTr);
         cPt3dr GetPNorm () const;
+        cPt2dr & DuDv();
+
+        void AddIdexesAndObs(std::vector<int> &, std::vector<double>&);
    private :
         // normalize , compute U & V, set mDuDv to 0
       void Init();
@@ -551,6 +563,7 @@ class cP3dNormWithUK :  public cObjWithUnkowns<tREAL8>
       cPt2dr  mDuDv;   //
 
 };
+void AddData(const  cAuxAr2007 & anAux,cP3dNormWithUK & aPUK);
 
 
 /**  Class for modelizing the geometry of perspective-central image, contain essentially a pose (Centre+rotation)

MMVII/include/MMVII_PhgrDist.h

@@ -96,6 +96,8 @@ class cRandInvertibleDist
 std::vector<std::string>  NamesP3(const std::string& aPref) ;  /// x y z
 std::vector<std::string>  NamesP2(const std::string& aPref) ;  /// x y z
 std::vector<std::string>  NamesMatr(const std::string& aPref,const cPt2di & aSz);  /// m00  m10  m20  m01 ...
+std::vector<std::string>  NamesObsP3Norm(const std::string& aPref) ;  /// x y z
+
 
 //  aPref+aK0  .... aPref+aK0-1
 std::vector<std::string>  VectNames(const std::string& aPref,int aK0,int aK1) ;  /// x y z
@@ -159,8 +161,12 @@ NS_SymbolicDerivative::cCalculator<double> * EqRadiomStabilization(int aDegSens,
            // .............   Equation on rigid bloc .............
 NS_SymbolicDerivative::cCalculator<double> * EqBlocRig(bool WithDerive,int aSzBuf,bool Reuse);  // RIGIDBLOC
 NS_SymbolicDerivative::cCalculator<double> * EqBlocRig_RatE(bool WithDerive,int aSzBuf,bool Reuse);  // RIGIDBLOC
-NS_SymbolicDerivative::cCalculator<double> * EqClinoBloc(bool WithDerive,int aSzBuf,bool Reuse);  // CLINOBLOC
-NS_SymbolicDerivative::cCalculator<double> * EqClinoRot(bool WithDerive,int aSzBuf,bool Reuse);  // CLINOBLOC
+NS_SymbolicDerivative::cCalculator<double> * EqBlocRig_Clino(bool WithDerive,int aSzBuf,bool ReUse);  // RIGIDBLOC
+NS_SymbolicDerivative::cCalculator<double> * EqBlocRig_Orthog(bool WithDerive,int aSzBuf,bool ReUse);  // RIGIDBLOC
+
+
+NS_SymbolicDerivative::cCalculator<double> * Old_EqClinoBloc(bool WithDerive,int aSzBuf,bool Reuse);  // CLINOBLOC
+NS_SymbolicDerivative::cCalculator<double> * Old_EqClinoRot(bool WithDerive,int aSzBuf,bool Reuse);  // CLINOBLOC
 
 
 

MMVII/include/MMVII_SysSurR.h

@@ -1082,6 +1082,7 @@ class cVectorUK :  public cObjWithUnkowns<tREAL8>,
       ~cVectorUK();
       void PutUknowsInSetInterval() override;
       const tVect & Vect() const ; ///< Accessor
+      tVect & Vect()  ; ///< Accessor
       void  FillGetAdrInfoParam(cGetAdrInfoParam<tREAL8> &) override;
 
    private :

MMVII/src/Bench/BenchClino.cpp

@@ -14,7 +14,7 @@ namespace MMVII
         //Check Formulas_ClinoBloc
 
         cCalculator<double> * aEqClinoBloc;
-        aEqClinoBloc = EqClinoBloc(false, 1, true);
+        aEqClinoBloc = Old_EqClinoBloc(false, 1, true);
 
         // Value of axiator
         std::vector<tREAL8> aVUK = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};