Merge branch 'mpd'

deseilligny · deseilligny · commit c906cf1119b8 · 2025-09-29T19:43:14.000+02:00
diff --git a/MMVII/include/MMVII_DeclareAllCmd.h b/MMVII/include/MMVII_DeclareAllCmd.h
@@ -89,6 +89,7 @@ extern cSpecMMVII_Appli  TheSpec_ImportTxtCloud;
 extern cSpecMMVII_Appli  TheSpec_MMVII_CloudClip;
 extern cSpecMMVII_Appli  TheSpec_MMVII_Cloud2Ply;
 extern cSpecMMVII_Appli  TheSpec_MMVII_CloudColorate;
+extern cSpecMMVII_Appli  TheSpecTestLidarRevEng;
 extern cSpecMMVII_Appli  TheSpec_ImportTiePMul;
 extern cSpecMMVII_Appli  TheSpec_ImportMesImGCP;
 extern cSpecMMVII_Appli  TheSpec_ImportM32;
diff --git a/MMVII/include/MMVII_ImageInfoExtract.h b/MMVII/include/MMVII_ImageInfoExtract.h
@@ -20,6 +20,10 @@ namespace MMVII
 /*                                                 */
 /* *********************************************** */
 
+
+//  see    cPtxd<int,Dim> WhichMax(const cDataTypedIm<T1,Dim> & aIm)  in MMVII_Tpl_Images.h
+
+
 /**  Given three consecutive value interpole the extremum assumming a parabol, no value if alligned
 */
 std::optional<double>  InterpoleExtr(double V1,double V2,double V3);
diff --git a/MMVII/include/MMVII_Matrix.h b/MMVII/include/MMVII_Matrix.h
@@ -801,7 +801,7 @@ template <class TypeWeight,class TypeVal=TypeWeight> class cWeightAv
         TypeVal Average(const TypeVal  & aDef) const;
         const TypeVal & SVW() const;  /// Accessor to sum weighted vals
         const TypeWeight & SW() const;  /// Accessor to sum weighted vals
-        const long Nb() const;  /// Accessor to number of elements
+        long Nb() const;  /// Accessor to number of elements
         void  Reset();
     private :
         TypeWeight  mSW;   ///< Som of    W
@@ -824,9 +824,10 @@ class cStdStatRes
         tREAL8  ErrAtProp(tREAL8 aProp) const;
         tREAL8  Min() const;
         tREAL8  Max() const;
-	int     NbMeasures() const;
+        int     NbMeasures() const;
 
-	std::string Show(const std::string & aPrefix,const std::vector<int> & aPerc) const;
+        std::string Show(const std::string & aPrefix,const std::vector<int> & aPerc) const;
+        const std::vector<tREAL8>  & VRes() const;
      private :
         mutable std::vector<tREAL8>       mVRes;
         cWeightAv<tREAL8,tREAL8>  mAvgDist;
diff --git a/MMVII/include/MMVII_Ptxd.h b/MMVII/include/MMVII_Ptxd.h
@@ -613,7 +613,7 @@ template <class tContPts>  class cComputeCentroids
        typedef  typename tPts::tEl            tEl;
 
        static tPts   MedianCentroids(const tContPts &);
-       static tPts   LinearWeigtedCentroids(const tContPts &,const tPts & aP0,double aSigma);
+       static tPts   LinearWeigtedCentroids(const tContPts &,const tPts & aP0,double aSigma,double aExpN2=1.0,double aErRej=1e10);
        static tREAL8 SigmaDist(const tContPts &,const tPts & aP0,double aProp);
 
        static tPts  StdRobustCentroid(const tContPts &,double aProp,int aNbIter);
diff --git a/MMVII/include/MMVII_StaticLidar.h b/MMVII/include/MMVII_StaticLidar.h
@@ -27,6 +27,8 @@ class cStaticLidarImporter
     cStaticLidarImporter();
     void readPlyPoints(std::string aPlyFileName);
     void readE57Points(std::string aE57FileName);
+    bool read(const std::string & aName,bool OkNone=false); //< Addapt to adequate function from postfix, return is some read suceeded
+
     void convertToThetaPhiDist();
     void convertToXYZ();
 
diff --git a/MMVII/include/MMVII_nums.h b/MMVII/include/MMVII_nums.h
@@ -123,6 +123,7 @@ class cRandKAmongN
 /// K is the numbre to select, it will be selected regularly with a proportion aProp
 bool SelectWithProp(int aK,double aProp);
 bool SelectQAmongN(int aK,int aQ,int aN);
+int  KthSelectQAmonN(int aKTh,int aQ,int aN,tREAL8 aPhase=0.5);
 
 
 /* ============ Definition of numerical type ================*/
diff --git a/MMVII/src/Appli/cMMVII_GenArgsSpec.cpp b/MMVII/src/Appli/cMMVII_GenArgsSpec.cpp
@@ -33,7 +33,7 @@ static const std::vector<eTA2007> prjSubDirList =                           // c
 static const std::map<eTA2007,std::vector<std::string>> fileList =          // clazy:exclude=non-pod-global-static
 {
     {eTA2007::FileImage,{".tif",".tiff",".jpg",".jpeg",".png",".jp2",".bmp",".cr2",".crw",".nef"}},
-    {eTA2007::FileCloud,{".ply"}},
+    {eTA2007::FileCloud,{".ply",".e57"}},
     {eTA2007::FileDmp,{"."+PostF_DumpFiles}},
     {eTA2007::File3DRegion,{""}},
     {eTA2007::XmlOfTopTag,{".xml",".json"}},
diff --git a/MMVII/src/Appli/cSpecMMVII_Appli.cpp b/MMVII/src/Appli/cSpecMMVII_Appli.cpp
@@ -231,6 +231,7 @@ std::vector<cSpecMMVII_Appli *> & cSpecMMVII_Appli::InternVecAll()
         TheVecAll.push_back(&TheSpec_ImportTxtCloud);
         TheVecAll.push_back(&TheSpec_MMVII_CloudClip);
         TheVecAll.push_back(&TheSpec_MMVII_Cloud2Ply);
+        TheVecAll.push_back(&TheSpecTestLidarRevEng);
 	{
             TheVecAll.push_back(&TheSpec_MMVII_CloudColorate);
             TheVecAll.push_back(&TheSpec_MMVII_CloudImProj);
diff --git a/MMVII/src/Geoms/PtsBox.cpp b/MMVII/src/Geoms/PtsBox.cpp
@@ -26,18 +26,30 @@ template <class tContPts>  typename cComputeCentroids<tContPts>::tPts  cComputeC
 
 template <class tContPts>  
    typename cComputeCentroids<tContPts>::tPts  
-                cComputeCentroids<tContPts>::LinearWeigtedCentroids(const tContPts & aContPts,const tPts & aP0,tREAL8 aSigma)
+                cComputeCentroids<tContPts>::LinearWeigtedCentroids
+                (
+                     const tContPts & aContPts,
+                     const tPts & aP0,
+                     tREAL8 aSigma,
+                     tREAL8 aExpN2,
+                     double aErRej
+                )
 {
      tPts aRes = tPts::PCste(tEl(0));
      tEl  aSomW = 0.0;
-     tEl  aS2 = Square(aSigma);
+     tEl  aS2P = std::pow(Square(aSigma),aExpN2);
+     tEl  aErRej2 = Square(aErRej);
 
      for (const auto & aPt : aContPts)
      {
-         tEl aW =  aS2 / (aS2+SqN2(aPt-aP0));
-
-	 aSomW += aW;
-	 aRes += aPt * aW;
+         tEl  aErr2 = SqN2(aPt-aP0);
+         if (aErr2 < aErRej2)
+         {
+            tEl aW =  aS2P / (aS2P+std::pow(aErr2,aExpN2));
+
+	    aSomW += aW;
+	    aRes += aPt * aW;
+         }
      }
 
      return aRes/aSomW;
@@ -552,7 +564,7 @@ template <class T,const int Dim>  T CosWDef(const cPtxd<T,Dim> &aP1,const cPtxd<
 template <class T,const int Dim>  T AbsAngle(const cPtxd<T,Dim> &aP1,const cPtxd<T,Dim> & aP2)
 {
    T aCos = Cos(aP1,aP2);
-   MMVII_INTERNAL_ASSERT_tiny((aCos>=1)&&(aCos<=-1),"AbsAngle cosinus out range");
+   MMVII_INTERNAL_ASSERT_tiny((aCos<=1)&&(aCos>=-1),"AbsAngle cosinus out range");
    return acos(aCos);
 }
 
diff --git a/MMVII/src/ImagesInfoExtract/ExtracExtremum.cpp b/MMVII/src/ImagesInfoExtract/ExtracExtremum.cpp
@@ -488,6 +488,7 @@ template void ExtractExtremum3(const cDataIm2D<Type>  &anImUp,const cDataIm2D<Ty
 
 
 
+MACRO_INSTANTIATE_ExtractExtremum(tREAL8);
 MACRO_INSTANTIATE_ExtractExtremum(tREAL4);
 MACRO_INSTANTIATE_ExtractExtremum(tINT2);
 
diff --git a/MMVII/src/Mappings/cManifold.cpp b/MMVII/src/Mappings/cManifold.cpp
@@ -327,7 +327,7 @@ template<int DimE> void BenchManifold_Sphere()
 
 template<int DimE> void BenchManifold_MapSphere(int aNbTest)
 {
-   static int aCpt=0; aCpt++;
+   // static int aCpt=0; aCpt++;
 
    typedef cPtxd<tREAL8,DimE> tPtE;
    typedef cPtxd<tREAL8,DimE-1> tPtM;
diff --git a/MMVII/src/Mesh/cStaticLidar.cpp b/MMVII/src/Mesh/cStaticLidar.cpp
@@ -165,6 +165,24 @@ void cStaticLidarImporter::readE57Points(std::string aE57FileName)
     }
 }
 
+bool cStaticLidarImporter::read(const std::string & aName,bool OkNone)
+{
+    std::string aPost = LastPostfix(aName);
+    if (UCaseEqual(aPost,"ply"))
+       readPlyPoints(aName);
+    else if (UCaseEqual(aPost,"e57"))
+       readE57Points(aName);
+    else
+    {
+        if (! OkNone)
+        {
+           MMVII_UnclasseUsEr("Cannot read cloud for " + aName);
+        }
+        return false;
+    }
+    return true;
+}
+
 
 
 void cStaticLidarImporter::convertToThetaPhiDist()
diff --git a/MMVII/src/Mesh/cTestLidarInvEng.cpp b/MMVII/src/Mesh/cTestLidarInvEng.cpp
diff --git a/MMVII/src/UtiMaths/uti_rand.cpp b/MMVII/src/UtiMaths/uti_rand.cpp
diff --git a/MMVII/src/UtiMaths/uti_stat.cpp b/MMVII/src/UtiMaths/uti_stat.cpp

Original file line number	Diff line number	Diff line change
`@@ -33,7 +33,7 @@ static const std::vector<eTA2007> prjSubDirList = // c`
`33`	`33`	`static const std::map<eTA2007,std::vector<std::string>> fileList = // clazy:exclude=non-pod-global-static`
`34`	`34`	`{`
`35`	`35`	`{eTA2007::FileImage,{".tif",".tiff",".jpg",".jpeg",".png",".jp2",".bmp",".cr2",".crw",".nef"}},`
`36`		`- {eTA2007::FileCloud,{".ply"}},`
	`36`	`+ {eTA2007::FileCloud,{".ply",".e57"}},`
`37`	`37`	`{eTA2007::FileDmp,{"."+PostF_DumpFiles}},`
`38`	`38`	`{eTA2007::File3DRegion,{""}},`
`39`	`39`	`{eTA2007::XmlOfTopTag,{".xml",".json"}},`
Original file line number	Diff line number	Diff line change
`@@ -231,6 +231,7 @@ std::vector<cSpecMMVII_Appli *> & cSpecMMVII_Appli::InternVecAll()`
`231`	`231`	`TheVecAll.push_back(&TheSpec_ImportTxtCloud);`
`232`	`232`	`TheVecAll.push_back(&TheSpec_MMVII_CloudClip);`
`233`	`233`	`TheVecAll.push_back(&TheSpec_MMVII_Cloud2Ply);`
	`234`	`+ TheVecAll.push_back(&TheSpecTestLidarRevEng);`
`234`	`235`	`{`
`235`	`236`	`TheVecAll.push_back(&TheSpec_MMVII_CloudColorate);`
`236`	`237`	`TheVecAll.push_back(&TheSpec_MMVII_CloudImProj);`
Original file line number	Diff line number	Diff line change
`@@ -488,6 +488,7 @@ template void ExtractExtremum3(const cDataIm2D<Type> &anImUp,const cDataIm2D<Ty`
`488`	`488`
`489`	`489`
`490`	`490`
	`491`	`+MACRO_INSTANTIATE_ExtractExtremum(tREAL8);`
`491`	`492`	`MACRO_INSTANTIATE_ExtractExtremum(tREAL4);`
`492`	`493`	`MACRO_INSTANTIATE_ExtractExtremum(tINT2);`
`493`	`494`