lidar: add theta/phi err images

Author: jmmuller

MMVII/include/MMVII_StaticLidar.h

@@ -36,6 +36,12 @@ private :
     std::string mRasterX;
     std::string mRasterY;
     std::string mRasterZ;
+    std::string mRasterTheta;
+    std::string mRasterPhi;
+    std::string mRasterThetaErr;
+    std::string mRasterPhiErr;
+
+
 
     tREAL8 mThetaStart, mThetaStep;
     tREAL8 mPhiStart, mPhiStep;

MMVII/src/BundleAdjustment/Bundle_LidarPhotogra.cpp

@@ -15,7 +15,7 @@ namespace MMVII
 
 cBA_LidarPhotogra::cBA_LidarPhotogra(cMMVII_BundleAdj& aBA,const std::vector<std::string>& aParam) :
     mBA         (aBA),                                 // memorize the bundel adj class itself (access to optimizer)
-    mModeSim    (Str2E<eImatchCrit>(aParam.at(0))),    // mode of matching (int 4 now) 0 ponct, 1 Census
+    mModeSim    (Str2E<eImatchCrit>(aParam.at(0))),    // mode of matching
     mTri        (aParam.at(1)),                        // Lidar point themself, stored as a triangulation
     mInterp     (nullptr),                             // interpolator see bellow
     mEqLidPhgr  (nullptr),                             // equation of egalisation Lidar/Phgr

MMVII/src/ImportFormat/ImportStaticScan.cpp

@@ -804,6 +804,11 @@ int cAppli_ImportStaticScan::Exe()
     mSL_data.mRasterY = mSL_data.mStationName + "_" + mSL_data.mScanName + "_Y.tif";
     mSL_data.mRasterZ = mSL_data.mStationName + "_" + mSL_data.mScanName + "_Z.tif";
 
+    mSL_data.mRasterTheta = mSL_data.mStationName + "_" + mSL_data.mScanName + "_Theta.tif";
+    mSL_data.mRasterPhi = mSL_data.mStationName + "_" + mSL_data.mScanName + "_Phi.tif";
+    mSL_data.mRasterThetaErr = mSL_data.mStationName + "_" + mSL_data.mScanName + "_ThetaErr.tif";
+    mSL_data.mRasterPhiErr = mSL_data.mStationName + "_" + mSL_data.mScanName + "_PhiErr.tif";
+
     fillRaster<tU_INT1>(mSL_data.mRasterMask, [this](int i){auto aPtAng = mVectPtsTPD[i];return (aPtAng.z()<mDistMinToExist)?0:255;} );
     if (mHasIntensity)
         fillRaster<tU_INT1>( mSL_data.mRasterIntensity, [this](int i){return mVectPtsIntens[i]*255;} );
@@ -813,9 +818,24 @@ int cAppli_ImportStaticScan::Exe()
     fillRaster<float>(mSL_data.mRasterY, [this](int i){auto aPtXYZ = mVectPtsXYZ[i];return aPtXYZ.y();} );
     fillRaster<float>(mSL_data.mRasterZ, [this](int i){auto aPtXYZ = mVectPtsXYZ[i];return aPtXYZ.z();} );
 
+    fillRaster<float>(mSL_data.mRasterTheta, [this](int i){auto aPtAng = mVectPtsTPD[i];return aPtAng.x();} );
+    fillRaster<float>(mSL_data.mRasterPhi, [this](int i){auto aPtAng = mVectPtsTPD[i];return aPtAng.y();} );
+    fillRaster<float>(mSL_data.mRasterThetaErr, [this](int i)
+        {
+            auto aPtAng = mVectPtsTPD[i];
+            tREAL8 aThetaCol = mSL_data.mThetaStart + mSL_data.mThetaStep * mVectPtsCol[i];
+            aThetaCol = toMinusPiPlusPi(aThetaCol);
+            return aPtAng.x()-aThetaCol;
+        } );
+    fillRaster<float>(mSL_data.mRasterPhiErr, [this](int i)
+        {
+            auto aPtAng = mVectPtsTPD[i];
+            tREAL8 aPhiLine = mSL_data.mPhiStart + mSL_data.mPhiStep * mVectPtsLine[i];
+            aPhiLine = toMinusPiPlusPi(aPhiLine);
+            return aPtAng.y()-aPhiLine;
+        } );
+
     fillRaster<tU_INT4>("titiIndex.png", [](int i){return i;} );
-    fillRaster<float>("titiTheta.tif", [this](int i){auto aPtAng = mVectPtsTPD[i];return aPtAng.x();} );
-    fillRaster<float>("titiPhi.tif", [this](int i){auto aPtAng = mVectPtsTPD[i];return aPtAng.y();} );
 
     SaveInFile(mSL_data, mPhProj.DPStaticLidar().FullDirOut() +  mSL_data.mStationName + "_" + mSL_data.mScanName + ".xml");
 

MMVII/src/Mesh/cStaticLidar.cpp

@@ -102,6 +102,11 @@ void cStaticLidar::AddData(const  cAuxAr2007 & anAux)
     MMVII::AddData(cAuxAr2007("RasterX",anAux),mRasterX);
     MMVII::AddData(cAuxAr2007("RasterY",anAux),mRasterY);
     MMVII::AddData(cAuxAr2007("RasterZ",anAux),mRasterZ);
+
+    MMVII::AddData(cAuxAr2007("RasterTheta",anAux),mRasterTheta);
+    MMVII::AddData(cAuxAr2007("RasterPhi",anAux),mRasterPhi);
+    MMVII::AddData(cAuxAr2007("RasterThetaErr",anAux),mRasterThetaErr);
+    MMVII::AddData(cAuxAr2007("RasterPhiErr",anAux),mRasterPhiErr);
 }
 
 void AddData(const  cAuxAr2007 & anAux,cStaticLidar & aSL)