Merge branch 'mpd'

MMVII/include/MMVII_DeclareAllCmd.h

@@ -112,10 +112,11 @@ 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;
-
 extern cSpecMMVII_Appli  TheSpec_ExifData;
+
+extern cSpecMMVII_Appli  TheSpec_PerturbRandomOri;
+
 };
 
 #endif  //  _MMVII_DeclareAllCmd_H_

MMVII/include/MMVII_PCSens.h

@@ -485,6 +485,8 @@ class cSensorCamPC : public cSensorImage
 	 const cPixelDomain & PixelDomain() const override;
 
          void SetPose(const tPose & aPose);
+         void SetOrient(const tRotR & anOrient);
+         void SetCenter(const cPt3dr & aC);
 
 	 bool  HasImageAndDepth() const override;  // true
          cPt3dr Ground2ImageAndDepth(const cPt3dr &) const override;
@@ -523,6 +525,7 @@ class cSensorCamPC : public cSensorImage
 
 	 // different accessor to the pose
          const tPose &   Pose()   const;
+         const tRotR &   Orient()   const;
          const cPt3dr &  Center() const;
          cPt3dr &  Center() ;
          cPt3dr  AxeI()   const;
@@ -568,6 +571,11 @@ class cSensorCamPC : public cSensorImage
 	 cPt3dr  Vec_L2W(const cPt3dr &) const;  ///< Coordinat local of cam to coordinate word for a "vector"
 	 cPt3dr  Vec_W2L(const cPt3dr &) const;  ///< Coordinat word to coordinate local of cam for a "vector"
 
+         //  Cast to possible heriting class
+         bool  IsSensorCamPC() const  override ;
+         const cSensorCamPC * GetSensorCamPC() const override;
+         cSensorCamPC * GetSensorCamPC()  override;
+
      private :
         void Bench();
         cSensorCamPC(const cSensorCamPC&) = delete;

MMVII/include/MMVII_Sensor.h

@@ -243,6 +243,14 @@ class cSensorImage  :   public cObj2DelAtEnd,
 	 void TransferateCoordSys(const cSensorImage & aSI); ///< Transferat coordinate sys  aSI if it has any
          static const std::string TagCoordSys;
 
+         //  Cast to possible heriting class
+         virtual bool  IsSensorCamPC() const  ;
+         virtual const cSensorCamPC * GetSensorCamPC() const;
+         virtual cSensorCamPC * GetSensorCamPC() ;
+         /// generete a user error 
+         const cSensorCamPC * UserGetSensorCamPC() const;
+         cSensorCamPC * UserGetSensorCamPC() ;
+
      private :
 
 	 std::string                                   mNameImage;

MMVII/include/MMVII_enums.h

@@ -90,6 +90,7 @@ enum class eApF
                Cloud,       ///< Cloud processing
                CodedTarget,  ///< Coded target (generate, match )
                Topo,        ///< Topo survey
+               Simul,       ///< Simulation of datas
                NoGui,        ///< Will not have a GUI frontend
                Perso,      ///< Personnal
                eNbVals     ///< Tag for number of value

MMVII/include/V1VII.h

@@ -2,7 +2,8 @@
 #define _V1V2_H_
 
 #ifndef MMVII_KEEP_LIBRARY_MMV1
-#define MMVII_KEEP_LIBRARY_MMV1 false
+// Maintain it for now, require for converting V1 TiePoints...
+#define MMVII_KEEP_LIBRARY_MMV1 true
 #endif 
 
 #if (MMVII_KEEP_LIBRARY_MMV1)

MMVII/src/Appli/cSpecMMVII_Appli.cpp

@@ -258,10 +258,11 @@ std::vector<cSpecMMVII_Appli *> & cSpecMMVII_Appli::InternVecAll()
         TheVecAll.push_back(&TheSpecAppliExtractLine);
         TheVecAll.push_back(&TheSpec_CERN_ImportClino);
         TheVecAll.push_back(&TheSpec_MMV2_MesIm_2_MMV1);
-
         TheVecAll.push_back(&TheSpec_MergeMesImGCP);
-
         TheVecAll.push_back(&TheSpec_ExifData);
+        TheVecAll.push_back(&TheSpec_PerturbRandomOri);
+
+
         std::sort(TheVecAll.begin(),TheVecAll.end(),CmpCmd);
    }
 

MMVII/src/ImagesBase/FileImages.cpp

@@ -4,8 +4,10 @@
 #include "MMVII_Ptxd.h"
 #include "cGdalApi.h"
 
-#define MMVII_KEEP_LIBRARY_MMV1 true
+
+
 #ifdef MMVII_KEEP_MMV1_IMAGE
+#define MMVII_KEEP_LIBRARY_MMV1 true
 # include "V1VII.h"
 #endif
 
@@ -25,6 +27,7 @@ namespace MMVII
 #ifdef MMVII_KEEP_MMV1_IMAGE
 static GenIm::type_el ToMMV1(eTyNums aV2)
 {
+ // StdOut() << "jjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjjj\n";
     switch (aV2)
     {
     case eTyNums::eTN_INT1 : return GenIm::int1  ;

MMVII/src/MMV1/ExportHomMMV1.cpp

@@ -89,11 +89,13 @@ cInterfImportHom * cInterfImportHom::CreateImportV1(const std::string&aDir,const
         MMVII_INTERNAL_ERROR("No CreateImportV1 ");
 	return nullptr;
 }
+#endif // MMVII_KEEP_LIBRARY_MMV1
+
+
 cInterfImportHom::~cInterfImportHom()
 {
 }
 
-#endif // MMVII_KEEP_LIBRARY_MMV1
 
 
 

MMVII/src/Sensors/SensorBases.cpp

@@ -446,6 +446,33 @@ void cSensorImage::TransferateCoordSys(const cSensorImage & aSI)
 }
 const std::string cSensorImage::TagCoordSys = "CoordinateSys";
 
+bool  cSensorImage::IsSensorCamPC() const  { return false; }
+const cSensorCamPC * cSensorImage::GetSensorCamPC() const
+{
+    MMVII_INTERNAL_ERROR("impossible required cast to cSensorCamPC");
+    return nullptr;
+}
+cSensorCamPC * cSensorImage::GetSensorCamPC() 
+{
+    MMVII_INTERNAL_ERROR("impossible required cast to cSensorCamPC");
+    return nullptr;
+}
+
+cSensorCamPC * cSensorImage::UserGetSensorCamPC() 
+{
+   if (!IsSensorCamPC())
+   {
+      MMVII_UnclasseUsEr("Camera " +  NameImage() + " was not central perspective");
+   }
+   return GetSensorCamPC();
+}
+
+
+const cSensorCamPC * cSensorImage::UserGetSensorCamPC() const
+{
+    return const_cast<cSensorImage*>(this)->UserGetSensorCamPC();
+}
+
 
 
 /* ******************************************************* */

MMVII/src/Sensors/cSensorCamPC.cpp

@@ -41,6 +41,7 @@ const cPt3dr &   cPoseWithUK::Tr() const {return mPose.Tr();}
 cPt3dr &  cPoseWithUK::Tr()  {return mPose.Tr();}
 
 
+
 cPt3dr &  cPoseWithUK::Omega()  {return mOmega;}
 const cPt3dr &  cPoseWithUK::Omega() const {return mOmega;}
 
@@ -156,7 +157,17 @@ void cSensorCamPC::SetPose(const tPose & aPose)
    mPose_WU.SetPose(aPose);
 }
 
+         // void SetCenter(const cPt3dr & aC);
 
+void cSensorCamPC::SetOrient(const tRotR & anOrient)
+{
+     SetPose(tPose(Center(),anOrient));
+}
+
+void cSensorCamPC::SetCenter(const cPt3dr & aC)
+{
+     SetPose(tPose(aC,Orient()));
+}
 
 
 #if (1)
@@ -307,7 +318,9 @@ const cPixelDomain & cSensorCamPC::PixelDomain() const
 
 cPerspCamIntrCalib * cSensorCamPC::InternalCalib() const {return mInternalCalib;}
 
-const cPt3dr & cSensorCamPC::Center() const {return mPose_WU.Tr();}
+const cPt3dr & cSensorCamPC::Center()  const {return mPose_WU.Tr();}
+const tRotR &   cSensorCamPC::Orient() const {return mPose_WU.Pose().Rot();}
+
 const cPt3dr & cSensorCamPC::Omega()  const {return mPose_WU.Omega();}
 cPt3dr & cSensorCamPC::Center() {return mPose_WU.Tr();}
 cPt3dr & cSensorCamPC::Omega()  {return mPose_WU.Omega();}
@@ -584,6 +597,13 @@ void cSensorCamPC::BenchOneCalib(cPerspCamIntrCalib * aCalib)
     aCam.Bench();
 }
 
+     // =================  Cast ===================
+
+bool  cSensorCamPC::IsSensorCamPC() const  { return true; }
+const cSensorCamPC * cSensorCamPC::GetSensorCamPC() const { return this; }
+cSensorCamPC * cSensorCamPC::GetSensorCamPC() { return this; }
+
+
 
 }; // MMVII
 

MMVII/src/Serial/ElemStrToVal.cpp

@@ -271,6 +271,7 @@ template<> cE2Str<eApF>::tMapE2Str cE2Str<eApF>::mE2S
                 {eApF::Cloud,"Cloud"},
                 {eApF::CodedTarget,"CodedTarget"},
                 {eApF::Topo,"Topo"},
+                {eApF::Simul,"Simul"},
                 {eApF::NoGui,"NoGui"},
                 {eApF::Perso,"Perso"}
            };