adj support multiple TSL raster

Author: jmmuller

MMVII/src/BundleAdjustment/BundleAdjustment.h

@@ -407,6 +407,14 @@ private :
 };
 
 
+// record all data for each scan raster
+struct cStaticLidarBAData
+{
+    std::string                    mName;
+    cStaticLidar *                 mLidarRaster;   //< raster representations of lidar
+    std::list<std::set<cPt2di>>    mLPatchesP;      //< set of patches as px in raster, consituted by 3D points in a lidar scan
+};
+
 class cBA_LidarPhotograRaster : public cBA_LidarPhotogra
 {
 public :
@@ -418,8 +426,7 @@ public :
     /// add observation
     virtual void AddObs() override;
 private :
-    cStaticLidar *                 mLidarData;      ///< Raster representations of lidar
-    std::list<std::set<cPt2di>>    mLPatchesP;      ///< set of patches as px in raster, consituted by 3D points in a lidar scan
+    std::vector<cStaticLidarBAData> mVLidarData;      ///< vector of raster representations of lidar
 };
 
 

MMVII/src/BundleAdjustment/Bundle_LidarPhotogra.cpp

@@ -117,31 +117,30 @@ cBA_LidarPhotograTri::cBA_LidarPhotograTri(cPhotogrammetricProject * aPhProj,
 cBA_LidarPhotograRaster::cBA_LidarPhotograRaster(cPhotogrammetricProject * aPhProj,
                                                  cMMVII_BundleAdj& aBA,
                                                  const std::vector<std::string>& aParam) :
-    cBA_LidarPhotogra(aPhProj, aBA, aParam), mLidarData(nullptr)
+    cBA_LidarPhotogra(aPhProj, aBA, aParam)
 {
     //read all xml files from directory?
     mPhProj->DPStaticLidar().SetDirIn(aParam.at(1));
     std::string aPat2Sup =  cStaticLidar::ScanPrefixName() + "(.*)-(.*)\\." + GlobTaggedNameDefSerial()  ;
     std::string aFullPat2Sup = mPhProj->DPStaticLidar().FullDirIn() + aPat2Sup;
     tNameSet aSet = SetNameFromPat(aFullPat2Sup);
     std::vector<std::string> aVect = ToVect(aSet);
-    MMVII_INTERNAL_ASSERT_User(aVect.size()==1,
-                               eTyUEr::eUnClassedError,"Only one scan per directory is supported for now.");
     for (const auto & aNameSens : aVect)
     {
-        // TODO: make a vector of lidar data?
-        if (mLidarData) delete mLidarData;
-        mLidarData = mPhProj->ReadStaticLidar(mPhProj->DPStaticLidar(), aNameSens, true);
+        cStaticLidar * aLidarData = mPhProj->ReadStaticLidar(mPhProj->DPStaticLidar(), aNameSens, true);
+        MMVII_INTERNAL_ASSERT_User(aLidarData,
+                                   eTyUEr::eUnClassedError,"Error opening static scans " + aNameSens);
+        mVLidarData.push_back({aNameSens, aLidarData, {}});
     }
 
-    MMVII_INTERNAL_ASSERT_User(mLidarData,
-                               eTyUEr::eUnClassedError,"Error opening static scans " + aFullPat2Sup);
-
     // Creation of the patches, choose a neigborhood around patch centers. TODO: adapt to images ground pixels size?
     if (mModeSim==eImatchCrit::eDifRad)
         mNbPointByPatch = 1;
-    mLidarData->MakePatches(mLPatchesP,mVCam,mNbPointByPatch,5);
-    StdOut() << "Nb patches: " << mLPatchesP.size() << "\n";
+    for (auto & aLidarData: mVLidarData)
+    {
+        aLidarData.mLidarRaster->MakePatches(aLidarData.mLPatchesP,mVCam,mNbPointByPatch,5);
+        StdOut() << "Nb patches for " << aLidarData.mName << ": " << aLidarData.mLPatchesP.size() << "\n";
+    }
 }
 
 
@@ -199,20 +198,22 @@ void cBA_LidarPhotograRaster::AddObs()
     mNbUsedObs = 0;
     if (mModeSim==eImatchCrit::eDifRad)
     {
-        for (const auto& aPatch : mLPatchesP)
-        {
-            Add1Patch(mWeight,{mLidarData->Image2Ground(*aPatch.begin())});
-        }
+        for (auto & aLidarData: mVLidarData)
+            for (const auto& aPatch : aLidarData.mLPatchesP)
+            {
+                Add1Patch(mWeight,{aLidarData.mLidarRaster->Image2Ground(*aPatch.begin())});
+            }
     }
     else
     {
-        for (const auto& aPatch : mLPatchesP)
-        {
-            std::vector<cPt3dr> aVP;
-            for (const auto aPt : aPatch)
-                aVP.push_back(mLidarData->Image2Ground(aPt));
-            Add1Patch(mWeight,aVP);
-        }
+        for (auto & aLidarData: mVLidarData)
+            for (const auto& aPatch : aLidarData.mLPatchesP)
+            {
+                std::vector<cPt3dr> aVP;
+                for (const auto aPt : aPatch)
+                    aVP.push_back(aLidarData.mLidarRaster->Image2Ground(aPt));
+                Add1Patch(mWeight,aVP);
+            }
     }
 
     if (mLastResidual.SW() != 0)

MMVII/src/Mesh/cStaticLidar.cpp

@@ -1127,10 +1127,10 @@ void TestRaster2Gnd2Raster(const std::vector<TYPE> &aVectPtsTest, cStaticLidar *
     long i=0;
     for (auto & aPIm: aVectPtsTest)
     {
-        std::cout<<"Test " << i << ": "<<aPIm<<"\n";
+        //std::cout<<"Test " << i << ": "<<aPIm<<"\n";
         auto aPgnd = aScan->Image2Ground(aPIm);
         auto aPImtest = aScan->Ground2ImagePrecise(aPgnd);
-        std::cout<<"Result: "<<aPIm<<" -> "<<aPgnd<<" -> "<<aPImtest<<"\n";
+        //std::cout<<"Result: "<<aPIm<<" -> "<<aPgnd<<" -> "<<aPImtest<<"\n";
         ++i;
         MMVII_INTERNAL_ASSERT_bench(Norm2(cPt2dr(aPIm.x(), aPIm.y())-aPImtest)<aPrecision ,"TestRaster2Gnd2Raster: " + std::to_string(i));
     }
@@ -1141,7 +1141,7 @@ void TestPose(const std::string & aInPath, const std::string & aCalibName, const
 {
     cStaticLidar * aScan =  cStaticLidar::FromFile(aInPath + aCalibName, aInPath + aScanName, aInPath);
     auto aRasterPx = aScan->Ground2ImagePrecise({0,0,-8.66});
-    std::cout<<"Result: "<<aRasterPx<<" - theoritical "<<aSummitPx<<" -> error "<<Norm2(aRasterPx-aSummitPx)<<"\n";
+    //std::cout<<"Result: "<<aRasterPx<<" - theoritical "<<aSummitPx<<" -> error "<<Norm2(aRasterPx-aSummitPx)<<"\n";
     MMVII_INTERNAL_ASSERT_bench(Norm2(aRasterPx-aSummitPx)<1e-3 ,"TestPose " + aScanName);
     delete aScan;
 }