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deseilligny
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Commentinf Bundle-Lines
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‎MMVII/src/BundleAdjustment/BundleLines.cpp‎

Lines changed: 88 additions & 74 deletions
Original file line numberDiff line numberDiff line change
@@ -5,25 +5,100 @@
55
namespace MMVII
66
{
77

8+
class cOneData_L23; //< Store data one line 2d->3d
9+
class cCam2_Line_2Dto3D; //< Compute initial "known" 3d line from 2d obs in camera
10+
class cUK_Line3D_4BA ; //< Adjust unknown 3d line
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14+
/** Store data one line 2d->3d, essentially data */
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816
class cOneData_L23
917
{
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public :
19+
/// constructor
1120
cOneData_L23(cSensorCamPC * ,const tSeg2dr & aSeg,int aKIm);
21+
/// desctructor, free mutable object
1222
~cOneData_L23();
23+
/// create, if dont exist, manifold for distorted line
1324
cLineDist_Manifold* SetAndGet_LineM() const;
25+
/// create, if dont exist, calculator for line-adjustment
1426
cCalculator<tREAL8> * SetAndGet_CalcEqSeg() const;
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1628

17-
cSensorCamPC * mCam;
18-
const tSeg2dr mSeg;
19-
const cPlane3D mPlane;
20-
const int mKIm;
21-
// cBoundVals<tREAL8> mIntAbsc;
29+
cSensorCamPC * mCam; //< camera seeing the line
30+
const tSeg2dr mSeg; //< line seen in a camera
31+
const cPlane3D mPlane; //< 3d plane projecting on the line
32+
const int mKIm; //< index in a vector (unused 4 now)
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private :
2334
mutable cLineDist_Manifold* mLineM;
2435
mutable cCalculator<tREAL8> * mCalcEqSeg;
2536
};
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/// class to handle computation
41+
class cCam2_Line_2Dto3D
42+
{
43+
public :
44+
cCam2_Line_2Dto3D(const std::vector<cSensorCamPC *> & aVCam,cPhotogrammetricProject *);
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const tSegComp3dr & Seg3d () const;
47+
const std::string & NameLine() const;
48+
std::vector<cOneData_L23> Datas_L23();
49+
cPt3dr PtOfWeight(const tREAL8 aWeight);
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private :
52+
void AssertSeg3dIsInit() const;
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54+
tSegComp3dr mSeg3d;
55+
bool mSeg3dIsInit;
56+
std::string mNameLine;
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58+
std::vector<cOneData_L23> mDatas_L23;
59+
};
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63+
/** in cUK_Line3D_4BA with put data in a specific class to allow copy (in "OnUpdate"),
64+
* which would be forbiden due to inheritance */
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/// class handling a 3D unknown line for bundle adjusment
68+
class cUK_Line3D_4BA : public cObjWithUnkowns<tREAL8>
69+
{
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public :
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//< constructor,
72+
cUK_Line3D_4BA(const std::vector<cSensorCamPC *> & aVCam,cPhotogrammetricProject *,cMMVII_BundleAdj *);
73+
74+
void AddEquation(tREAL8 aSigmaLine,int aNbSampling);
75+
private :
76+
void AddOneEquation(tREAL8 aLambda, tREAL8 aWeight,const cOneData_L23&);
77+
void InitNormals();
78+
79+
/// "reaction" after linear update
80+
void OnUpdate() override;
81+
/// method called when the object must indicate its unknowns
82+
void PutUknowsInSetInterval() override;
83+
84+
cMMVII_BundleAdj* mBA;
85+
cCam2_Line_2Dto3D mLineInit;
86+
tSegComp3dr mSeg;
87+
cPt3dr mNorm_x; //< the first vector normal
88+
cPt3dr mNorm_y; //< the second vector normal
89+
cPt2dr_UK mUkN1; //< unknown displacement at Seg.P1, coded as "Uk1.x Nx+ Uk1.y Ny"
90+
cPt2dr_UK mUkN2; //< unknown displacement at Seg.P2
91+
//cUK_Line3D_4BA_Data mData;
92+
};
93+
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95+
/* *********************************************************** */
96+
/* */
97+
/* cOneData_L23 */
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/* */
99+
/* *********************************************************** */
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27102
cOneData_L23::cOneData_L23(cSensorCamPC * aCam,const tSeg2dr & aSeg,int aKIm) :
28103
mCam (aCam),
29104
mSeg (aSeg),
@@ -53,27 +128,11 @@ cCalculator<tREAL8> * cOneData_L23::SetAndGet_CalcEqSeg() const
53128
return mCalcEqSeg;
54129
}
55130

56-
57-
/// class to handle computation
58-
class cCam2_Line_2Dto3D
59-
{
60-
public :
61-
cCam2_Line_2Dto3D(const std::vector<cSensorCamPC *> & aVCam,cPhotogrammetricProject *);
62-
63-
const tSegComp3dr & Seg3d () const;
64-
const std::string & NameLine() const;
65-
std::vector<cOneData_L23> Datas_L23();
66-
cPt3dr PtOfWeight(const tREAL8 aWeight);
67-
68-
private :
69-
void AssertSeg3dIsInit() const;
70-
71-
tSegComp3dr mSeg3d;
72-
bool mSeg3dIsInit;
73-
std::string mNameLine;
74-
75-
std::vector<cOneData_L23> mDatas_L23;
76-
};
131+
/* *********************************************************** */
132+
/* */
133+
/* cCam2_Line_2Dto3D */
134+
/* */
135+
/* *********************************************************** */
77136

78137
cCam2_Line_2Dto3D::cCam2_Line_2Dto3D(const std::vector<cSensorCamPC *> & aVCam,cPhotogrammetricProject * aPhProj) :
79138
mSeg3d (cPt3dr(0,0,0),cPt3dr(1,1,1)),
@@ -145,51 +204,6 @@ const std::string & cCam2_Line_2Dto3D::NameLine() const
145204
return mNameLine;
146205
}
147206

148-
/*
149-
cPt3dr cCam2_Line_2Dto3D::PtOfWeight(const tREAL8 aWeight)
150-
{
151-
tREAL8 aAbsc = mIntervAbsc.VMin()*(1-aWeight) + mIntervAbsc.VMax()*aWeight;
152-
153-
return mSeg3d.PtOfAbscissa(aAbsc);
154-
}
155-
*/
156-
157-
158-
/** in cUK_Line3D_4BA with put data in a specific class to allow copy (in "OnUpdate"),
159-
* which would be forbiden due to inheritance */
160-
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162-
/// class handling a 3D unknown line for bundle adjusment
163-
class cUK_Line3D_4BA : public cObjWithUnkowns<tREAL8>
164-
{
165-
public :
166-
//< constructor,
167-
cUK_Line3D_4BA(const std::vector<cSensorCamPC *> & aVCam,cPhotogrammetricProject *,cREAL8_RSNL *);
168-
//< called to fill the "obs" in an equation
169-
void PushObs(std::vector<double>&);
170-
// cCam2_Line_2Dto3D(const std::vector<cSensorCamPC *> & aVCam,cPhotogrammetricProject *);
171-
172-
void AddEquation(tREAL8 aSigmaLine,int aNbPts);
173-
private :
174-
void AddOneEquation(tREAL8 aLambda, tREAL8 aWeight,const cOneData_L23&);
175-
void InitNormals();
176-
177-
/// "reaction" after linear update
178-
void OnUpdate() override;
179-
/// method called when the object must indicate its unknowns
180-
void PutUknowsInSetInterval() override;
181-
182-
cREAL8_RSNL * mSys;
183-
cCam2_Line_2Dto3D mLineInit;
184-
tSegComp3dr mSeg;
185-
cPt3dr mNorm_x; //< the first vector normal
186-
cPt3dr mNorm_y; //< the second vector normal
187-
cPt2dr_UK mUkN1; //< unknown displacement at Seg.P1, coded as "Uk1.x Nx+ Uk1.y Ny"
188-
cPt2dr_UK mUkN2; //< unknown displacement at Seg.P2
189-
//cUK_Line3D_4BA_Data mData;
190-
};
191-
192-
193207

194208

195209
/* *********************************************************** */
@@ -198,8 +212,8 @@ class cUK_Line3D_4BA : public cObjWithUnkowns<tREAL8>
198212
/* */
199213
/* *********************************************************** */
200214

201-
cUK_Line3D_4BA::cUK_Line3D_4BA(const std::vector<cSensorCamPC *> & aVCam,cPhotogrammetricProject * aPhProj, cREAL8_RSNL * aSys) :
202-
mSys (aSys),
215+
cUK_Line3D_4BA::cUK_Line3D_4BA(const std::vector<cSensorCamPC *> & aVCam,cPhotogrammetricProject * aPhProj,cMMVII_BundleAdj * aBA) :
216+
mBA (aBA),
203217
mLineInit (aVCam,aPhProj),
204218
mSeg (mLineInit.Seg3d()),
205219
mUkN1 (cPt2dr(0,0),std::string("Line3d_Uk1") + mLineInit.NameLine()),
@@ -291,7 +305,7 @@ void cUK_Line3D_4BA::AddOneEquation(tREAL8 aLambda,tREAL8 aWeight,const cOneData
291305
}
292306
}
293307

294-
mSys->R_CalcAndAddObs(aData.SetAndGet_CalcEqSeg(),aVIndexes,aVObs,aWeight);
308+
mBA->Sys()->R_CalcAndAddObs(aData.SetAndGet_CalcEqSeg(),aVIndexes,aVObs,aWeight);
295309
}
296310

297311
void cUK_Line3D_4BA::AddEquation(tREAL8 aSigmaLine,int aNbPts)

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