Merge branch 'mpd'

MMVII/Doc/Doc2007.tex

@@ -1,5 +1,7 @@
 \usepackage[english]{babel}
 %\usepackage[english,french]{babel}
+\usepackage{algpseudocode}
+\usepackage{algorithm}
 \usepackage{amsmath}
 \usepackage{amsfonts}
 \usepackage{mathtools}
@@ -129,6 +131,9 @@
 %\newcommand{\DeuxExtre}{\ensuremath{\nabla}}
 \newcommand{\RefFantome}{{\bf ?2Def?}}
 \newcommand{\TOMODIF}[1]{\textcolor{red}{\textbf{#1}}}
+
+\newcommand{\TOIMPROVE}[1]{\textcolor{red}{\textbf{Possible improvement (??)} : [#1]}}
+
 \newcommand{\PourLecteurAverti}{{\Large \bf \emph{Ce paragraphe peut
 facilement \^etre omis
 en premi\`ere lecture.}}}
@@ -151,6 +156,8 @@
 \newcommand{\doxy}{\emph{doxygen}}
 \newcommand{\MMNONE}{NONE}
 
+%\includeonly{Methods/Line-Detection-Theory}
+
 %---------------------------------------------
 \begin{document}
 \selectlanguage{english}
@@ -188,6 +195,7 @@ \part{Methodologies}
 \include{Methods/PushBroomSensor-Theory}
 \include{Methods/PoseEstimation}
 \include{Methods/CodedTarget-Theory}
+\include{Methods/Line-Detection-Theory}
 \include{Methods/AimeDesc}
 \include{Methods/TiePoints}
 \include{Methods/Vrac}

MMVII/MMVII-TestDir/Input/TestParseFile1.txt

@@ -16,6 +16,8 @@ this one also
 # blabla
 # blabla again 
 
+#  here we add a line identic to already done, will ne skiped
+0  Zero 3.14 0.0  0.0  1.0  2.0 3.0  0.0 0 #   some comment after line
 2  Two  3.14 2.0  2.0  1.0  2.0 3.0  2.0 2
 
 

MMVII/include/MMVII_DeclareAllCmd.h

@@ -111,6 +111,8 @@ extern cSpecMMVII_Appli  TheSpec_ExportUndistMesIm;
 extern cSpecMMVII_Appli  TheSpecAppliExtractLine;
 extern cSpecMMVII_Appli  TheSpec_CERN_ImportClino;
 extern cSpecMMVII_Appli  TheSpec_MMV2_MesIm_2_MMV1;
+
+extern cSpecMMVII_Appli TheSpec_MergeMesImGCP;
 };
 
 #endif  //  _MMVII_DeclareAllCmd_H_

MMVII/include/MMVII_ExtractLines.h

@@ -43,7 +43,7 @@ class cHoughPS // : public cMemCheck
 
 	 void Test(const cHoughPS & ) const;
 	 bool Match(const cHoughPS &,bool IsDark,tREAL8 aMaxTeta,tREAL8 aDMin,tREAL8 aDMax) const;
-	 static std::vector<cPt2di> GetMatches(std::vector<cHoughPS>&  mVPS,bool IsLight,tREAL8 aMaxTeta,tREAL8 aDMin,tREAL8 aDMax);
+	 static std::vector<std::pair<int,int>> GetMatches(const std::vector<cHoughPS>&  mVPS,bool IsLight,tREAL8 aMaxTeta,tREAL8 aDMin,tREAL8 aDMax);
 
          void UpdateSegImage(const tSeg & aNewSeg,tREAL8 aNewCumul);
 
@@ -210,6 +210,20 @@ template<class Type> void ComputeDericheAndNorm(cImGradWithN<Type> & aResGrad,co
 
 /**  Class for extracting line using gradient & hough transform*/
 
+enum class eIsWhite
+{
+     Yes,
+     No
+};
+
+enum class eIsQuick
+{
+     Yes,
+     No
+};
+
+template <class Type> bool IsYes(const Type & aVal) {return aVal==Type::Yes;}
+
 template <class Type> class  cExtractLines
 {
       public :
@@ -221,8 +235,12 @@ template <class Type> class  cExtractLines
           cExtractLines(tIm anIm);  ///< constructor , memorize image
           ~cExtractLines();
 
+          // isWhite is necessary for oriented test on max loc
+
 	  /// initialize the gradient
-          void SetDericheGradAndMasq(tREAL8 aAlphaDerich,tREAL8 aRayMaxLoc,int aBorder,bool Show=false);
+          void SetSobelAndMasq(eIsWhite,tREAL8 aRayMaxLoc,int aBorder,bool Show=false);
+          void SetDericheAndMasq(eIsWhite,tREAL8 aAlphaDerich,tREAL8 aRayMaxLoc,int aBorder,bool Show=false);
+
 
 	  ///  Initialize the hough transform
           void SetHough(const cPt2dr & aMulTetaRho,tREAL8 aSigmTeta,cPerspCamIntrCalib *,bool Accurate,bool Show=false);
@@ -241,6 +259,8 @@ template <class Type> class  cExtractLines
 
 
       private :
+          void SetGradAndMasq(eIsQuick Quick,eIsWhite isWhite,tREAL8 aRayMaxLoc,int aBorder,bool Show=false);
+
           cPt2di                mSz;        ///<  Size of the image
           tIm                   mIm;        ///< Memorize the image
           cIm2D<tU_INT1>        mImMasqCont;    ///<  Masq of point selected as contour

MMVII/include/MMVII_MeasuresIm.h

@@ -98,6 +98,9 @@ class cSetMesPtOf1Im : public cMemCheck
           void AddMeasure(const cMesIm1Pt &);
           void AddData(const  cAuxAr2007 & anAux);
 
+
+          void AddSetMeasure(const cSetMesPtOf1Im &,bool SuprNone,bool OkDupl);
+
 	  void ToFile(const std::string & aNameFile) const;
 	  static std::string StdNameFileOfIm(const std::string &);
 	  std::string StdNameFile() const;

MMVII/include/MMVII_ReadFileStruct.h

@@ -29,17 +29,19 @@ class cNRFS_ParamRead
 {
      public :
 	 cNRFS_ParamRead();
-	 cNRFS_ParamRead(int aL0,int aLast,char aComment);
+	 cNRFS_ParamRead(int aL0,int aLast,char aComment,bool noDupL=false);
 
 	 int  L0()      const;
 	 int  LLast()   const;
 	 char Comment() const;
+         bool NoDupLine() const;
 
 	 void   AddArgOpt(cCollecSpecArg2007 &);
      private :
          int    mL0;
          int    mLLast;
          char   mComment;
+         bool   mNoDupLine;
 };
 
 

MMVII/include/MMVII_Sensor.h

@@ -549,6 +549,9 @@ class cPhotogrammetricProject
 	  void SaveMeasureIm(const cSetMesPtOf1Im & aSetM) const;
 	  ///  Does the measure exist
 	  bool HasMeasureIm(const std::string & aNameIm,bool InDir=true) const;
+          /// Does it exist for a specific folder
+          bool HasMeasureImFolder(const std::string & aFolder,const std::string & aNameIma) const;
+
           /// return from Std Dir, can be out in case of reload
 	  cSetMesPtOf1Im LoadMeasureIm(const std::string &,bool InDir=true) const;
 

MMVII/src/Appli/cSpecMMVII_Appli.cpp

@@ -258,6 +258,7 @@ std::vector<cSpecMMVII_Appli *> & cSpecMMVII_Appli::InternVecAll()
         TheVecAll.push_back(&TheSpec_CERN_ImportClino);
         TheVecAll.push_back(&TheSpec_MMV2_MesIm_2_MMV1);
 
+        TheVecAll.push_back(&TheSpec_MergeMesImGCP);
         std::sort(TheVecAll.begin(),TheVecAll.end(),CmpCmd);
    }
 

MMVII/src/CodedTarget/cCircTargetExtract.cpp

@@ -809,7 +809,8 @@ cCollecSpecArg2007 & cAppliExtractCircTarget::ArgObl(cCollecSpecArg2007 & anArgO
    // Standard use, we put args of  cAppliParseBoxIm first
    return
              APBI_ArgObl(anArgObl)
-        <<   Arg2007(mNameSpec,"Xml/Json name for bit encoding struct",{{eTA2007::XmlOfTopTag,cFullSpecifTarget::TheMainTag}})
+        // <<   Arg2007(mNameSpec,"Xml/Json name for bit encoding struct",{{eTA2007::XmlOfTopTag,cFullSpecifTarget::TheMainTag}})
+        <<   Arg2007(mNameSpec,"Xml/Json name for bit encoding struct",{{eTA2007::FileAny}})
    ;
 }
 

MMVII/src/CodedTarget/cGenerateEncoding.cpp

@@ -270,6 +270,7 @@ cCollecSpecArg2007 & cAppliGenerateEncoding::ArgOpt(cCollecSpecArg2007 & anArgOp
                << AOpt2007(mSpec.mUseHammingCode,"UHC","Use Hamming code")
                << AOpt2007(mSpec.mPrefix,"Prefix","Prefix for output files")
                << AOpt2007(mMiror,"Mir","Unify mirro codes")
+               << AOpt2007(mNameOut,"Out","Name for output file")
           ;
 }
 
@@ -381,7 +382,8 @@ int  cAppliGenerateEncoding::Exe()
                        + "_Hamm" + ToStr(mSpec.mMinHammingD)
                        + "_Run" + ToStr(mSpec.mMaxRunL.x()) + "_" + ToStr(mSpec.mMaxRunL.y());
    }
-   mNameOut  =   mSpec.mPrefix + "_SpecEncoding." + TaggedNameDefSerial();
+   if (! IsInit(&mNameOut))
+      mNameOut  =   mSpec.mPrefix + "_SpecEncoding." + TaggedNameDefSerial();
 
    // calls method in cMMVII_Appli, to show current value of params, as many transformation have been made
    ShowAllParams();

MMVII/src/CodedTarget/cGenerateTarget.cpp

@@ -1050,6 +1050,7 @@ class cAppliGenCodedTarget : public cMMVII_Appli
 	bool               mDoMarkC;
 	std::string        mPatternDoImage;
 	int                mNbPixBin;
+        std::string        mNameOut;
 };
 
 eTyCodeTarget cAppliGenCodedTarget::Type() {return mBE.Specs().mType ;}
@@ -1068,7 +1069,8 @@ cCollecSpecArg2007 & cAppliGenCodedTarget::ArgObl(cCollecSpecArg2007 & anArgObl)
 {
  return
       anArgObl
-          <<   Arg2007(mNameBE,"Xml/Json name for bit encoding struct",{{eTA2007::XmlOfTopTag,cBitEncoding::TheMainTag}})
+          // <<   Arg2007(mNameBE,"Xml/Json name for bit encoding struct",{{eTA2007::XmlOfTopTag,cBitEncoding::TheMainTag}})
+          <<   Arg2007(mNameBE,"Xml/Json/Dmp name for bit encoding struct",{{eTA2007::FileAny}})
    ;
 }
 
@@ -1093,6 +1095,7 @@ cCollecSpecArg2007 & cAppliGenCodedTarget::ArgOpt(cCollecSpecArg2007 & anArgOpt)
           << AOpt2007(mDoMarkC,"MarkC","Mark center of bits, just for verif ",{eTA2007::HDV,eTA2007::Tuning})
           << AOpt2007(mZoomShow,"ZoomShow","Zoom to generate a high resolution check images",{eTA2007::Tuning})
           << AOpt2007(mNbPixBin,"NbPixBin","Size of binary image when printing",{eTA2007::HDV})
+          << AOpt2007(mNameOut,"Out","Name for out file")
    ;
 }
 
@@ -1136,19 +1139,21 @@ int  cAppliGenCodedTarget::Exe()
       }
    }
 
-   std::string aName = aFullSpec.Prefix()+"_FullSpecif."+TaggedNameDefSerial();
-   SaveInFile(aFullSpec, aName);
+   // std::string aName = aFullSpec.Prefix()+"_FullSpecif."+TaggedNameDefSerial();
+   if (! IsInit(&mNameOut)) 
+      mNameOut = aFullSpec.Prefix()+"_FullSpecif."+  LastPostfix(mNameBE);
+   SaveInFile(aFullSpec, mNameOut);
 
    if (0)  // test reload
    {
-         auto aPtr = cFullSpecifTarget::CreateFromFile(aName);
-	 StdOut() << "NNN=" << aName << std::endl;
+         auto aPtr = cFullSpecifTarget::CreateFromFile(mNameOut);
+	 StdOut() << "NNN=" << mNameOut << std::endl;
 	 delete aPtr;
    }
 
    if (IsInit(&mZoomShow))
    {
-      TestReloadAndShow_cFullSpecifTarget(aDirVisu,aName,mZoomShow);
+      TestReloadAndShow_cFullSpecifTarget(aDirVisu,mNameOut,mZoomShow);
    }
 
 

MMVII/src/ImagesInfoExtract/cAppliExtractLine.cpp

@@ -283,7 +283,8 @@ void  cAppliExtractLine::DoOneImage(const std::string & aNameIm)
 
     // Compute Gradient and extract max-loc in gradient direction
     cAutoTimerSegm  anATSDerAndMasq (mTimeSeg,"DericheAndMasq");
-    mExtrL->SetDericheGradAndMasq(2.0,10.0,12,mShow); // aAlphaDerich,aRayMaxLoc,aBorder
+    mExtrL->SetSobelAndMasq(eIsWhite::Yes,10.0,12,mShow);  // aRayMaxLoc,aBorder
+    // mExtrL->SetDericheGradAndMasq(2.0,10.0,12,mShow); // aAlphaDerich,aRayMaxLoc,aBorder
 
     // Compute Hough-Transform
     cAutoTimerSegm  anATSHough (mTimeSeg,"Hough");
@@ -330,11 +331,11 @@ void  cAppliExtractLine::DoOneImage(const std::string & aNameIm)
 
     {
         cAutoTimerSegm  anATSMatchHough (mTimeSeg,"MatchLocHough");
-	std::vector<cPt2di>  aVMatches = cHoughPS::GetMatches(mVPS,mLineIsWhite,mParamMatch.at(0),mParamMatch.at(1),mParamMatch.at(2));
+	std::vector<std::pair<int,int>>  aVMatches = cHoughPS::GetMatches(mVPS,mLineIsWhite,mParamMatch.at(0),mParamMatch.at(1),mParamMatch.at(2));
 
-	for (const auto aPair : aVMatches)
+	for (const auto & [aK1,aK2] : aVMatches)
 	{
-		mParalLines.push_back(cParalLine(mVPS.at(aPair.x()),mVPS.at(aPair.y())));
+		mParalLines.push_back(cParalLine(mVPS.at(aK1),mVPS.at(aK2)));
 	}
         StdOut() << " # NBMatched " << aVMatches.size() << "\n";
 	SortOnCriteria

MMVII/src/ImagesInfoExtract/cExtractLines.cpp

@@ -122,11 +122,37 @@ template <class Type> void cExtractLines<Type>::SetHough
      }
 }
 
-template <class Type> void cExtractLines<Type>::SetDericheGradAndMasq(tREAL8 aAlpha,tREAL8 aRay,int aBorder,bool Show)
+template <class Type> void cExtractLines<Type>::SetSobelAndMasq(eIsWhite isWhite,tREAL8 aRayMaxLoc,int aBorder,bool Show)
 {
      // Create the data for storing gradient & init gradient
      mGrad = new cImGradWithN<Type>(mIm.DIm().Sz());
 
+     mTabG->TabulateNeighMaxLocGrad(63,1.7,aRayMaxLoc);  // 1.7=> maintain 8-neighboor,  63 number of direction
+     mGrad->SetQuickSobel(mIm.DIm(),*mTabG,2);
+
+     SetGradAndMasq(eIsQuick::Yes,isWhite, aRayMaxLoc,aBorder,Show);
+}
+
+/*  The behaviour is not coherent with "SetSobelAndMasq" , to modify later probably, for now comment 
+     
+template <class Type>  void cExtractLines<Type>::SetDericheAndMasq(eIsWhite isWhite,tREAL8 aAlphaDerich,tREAL8 aRayMaxLoc,int aBorder,bool Show)
+{
+     // Create the data for storing gradient & init gradient
+     mGrad = new cImGradWithN<Type>(mIm.DIm().Sz());
+
+     mGrad->SetDeriche(mIm.DIm(),aAlphaDerich);
+
+     SetGradAndMasq(eIsQuick::No,isWhite, aRayMaxLoc,aBorder,Show);
+}
+*/
+
+template <class Type> void cExtractLines<Type>::SetGradAndMasq(eIsQuick isQuick,eIsWhite isWhite,tREAL8 aRayMaxLoc,int aBorder,bool Show)
+
+{
+     // Create the data for storing gradient & init gradient
+/*
+     mGrad = new cImGradWithN<Type>(mIm.DIm().Sz());
+
      bool Quick = true;
      bool IsWhite = true;
 
@@ -139,9 +165,10 @@ template <class Type> void cExtractLines<Type>::SetDericheGradAndMasq(tREAL8 aAl
      {
          mGrad->SetDeriche(mIm.DIm(),aAlpha);
      }
+*/
 
      cRect2 aRect(mImMasqCont.DIm().Dilate(-aBorder)); // rect interior 
-     std::vector<cPt2di>  aVecNeigh = cImGradWithN<Type>::NeighborsForMaxLoc(aRay); // neigbours for compute max
+     std::vector<cPt2di>  aVecNeigh = cImGradWithN<Type>::NeighborsForMaxLoc(aRayMaxLoc); // neigbours for compute max
 
      //  count pts & pts of contour for stat
      mNbPtsCont = 0;
@@ -150,8 +177,8 @@ template <class Type> void cExtractLines<Type>::SetDericheGradAndMasq(tREAL8 aAl
      for (const auto & aPix :  aRect)
      {
          aNbPt++;
-	 bool IsMaxLoc =  Quick                                             ?
-		            mGrad->TabIsMaxLocDirGrad(aPix,*mTabG,IsWhite)  :
+	 bool IsMaxLoc =    IsYes(isQuick)                                  ?
+		            mGrad->TabIsMaxLocDirGrad(aPix,*mTabG,IsYes(isWhite))  :
 			    mGrad->IsMaxLocDirGrad(aPix,aVecNeigh,1.0)      ;
          if (IsMaxLoc)
          {
@@ -164,6 +191,8 @@ template <class Type> void cExtractLines<Type>::SetDericheGradAndMasq(tREAL8 aAl
      if (Show)
         StdOut()<< " Prop Contour = " << mNbPtsCont / double(aNbPt) << "\n";
 }
+/*
+*/
 
 /* Generate a RGB-image :
  *     - background is initial image

MMVII/src/ImagesInfoExtract/cHoughTransform.cpp

@@ -307,9 +307,9 @@ bool cHoughPS::Match(const cHoughPS & aPS2,bool IsLight,tREAL8 aMaxTeta,tREAL8 a
 }
 
 
-std::vector<cPt2di> cHoughPS::GetMatches(std::vector<cHoughPS>&  aVPS,bool IsLight,tREAL8 aMaxTeta,tREAL8 aDMin,tREAL8 aDMax)
+std::vector<std::pair<int,int>> cHoughPS::GetMatches(const std::vector<cHoughPS>&  aVPS,bool IsLight,tREAL8 aMaxTeta,tREAL8 aDMin,tREAL8 aDMax)
 {
-     std::vector<cPt2di>    aVMatches;
+     std::vector<std::pair<int,int>>    aVMatches;
      std::vector<int>       aIndM( aVPS.size(),-1);
      std::vector<tREAL8>    aCostM( aVPS.size(),1e30);
 
@@ -341,7 +341,7 @@ std::vector<cPt2di> cHoughPS::GetMatches(std::vector<cHoughPS>&  aVPS,bool IsLig
           // test to get only one way && reciprocity
           if ((aIndM[aK] > aK) && (aIndM[aIndM[aK]] == aK))
           {
-              aVMatches.push_back(cPt2di(aK,aIndM[aK]));
+              aVMatches.push_back(std::pair<int,int>(aK,aIndM[aK]));
           }
      }
      return aVMatches;

MMVII/src/ImagesInfoExtract/cImGradWithN.cpp

@@ -204,6 +204,7 @@ template<class Type> bool  cImGradWithN<Type>::TabIsMaxLocDirGrad(const cPt2di&
     cPt2di aGrad(this->mDGx->GetV(aPix),this->mDGy->GetV(aPix));
     auto [aPtrVecNeigh,aIndR0] = aTabul.TabNeighMaxLocGrad(aGrad);
 
+    // first check in "small" neighboorhood if it's max lox
     for (int anInd=0 ; anInd<aIndR0 ; anInd++)
     {
         for (auto aSign : {-1,1})
@@ -218,6 +219,7 @@ template<class Type> bool  cImGradWithN<Type>::TabIsMaxLocDirGrad(const cPt2di&
 	}
     }
 
+    // first check in "big" half neighboorhood (opposed to posible matching seg of the wire) if it's max lox
     for (size_t anInd=aIndR0 ; anInd<aPtrVecNeigh->size() ; anInd++)
     {
         cPt2di aNeigh = aPtrVecNeigh->at(anInd) * aSignGlob;
@@ -229,6 +231,8 @@ template<class Type> bool  cImGradWithN<Type>::TabIsMaxLocDirGrad(const cPt2di&
            return false;
     }
 
+    // then  check in other big  half neighboorhood , if its max loc, but only with point in same direction
+    // to avoid elimination by anti-paralell seg
     for (size_t anInd=aIndR0 ; anInd<aPtrVecNeigh->size() ; anInd++)
     {
         cPt2di aNeigh = aPtrVecNeigh->at(anInd) * (-aSignGlob);