diff --git a/MMVII/Doc/Session-0324-Sat-Bundle-Adj/IntroMicMac.tex b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/IntroMicMac.tex
similarity index 100%
rename from MMVII/Doc/Session-0324-Sat-Bundle-Adj/IntroMicMac.tex
rename to MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/IntroMicMac.tex
diff --git a/MMVII/Doc/Session-0324-Sat-Bundle-Adj/SerialDeriv.tex b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/SerialDeriv.tex
similarity index 100%
rename from MMVII/Doc/Session-0324-Sat-Bundle-Adj/SerialDeriv.tex
rename to MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/SerialDeriv.tex
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/IGN.tex b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/IGN.tex
new file mode 100644
index 0000000000..6211b633da
--- /dev/null
+++ b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/IGN.tex
@@ -0,0 +1,132 @@
+\usetheme{default}
+%\useinnertheme{rounded}
+
+%\useoutertheme[left,hideothersubsections]{IGNsidebar}
+\useoutertheme[left,hideothersubsections]{IGNsidebar}
+
+
+
+
+%/usr/share/texmf/tex/latex/beamer/themes/font/beamerfontthemedefault.sty
+%/usr/share/texmf/tex/latex/beamer/themes/font/beamerfontthemeprofessionalfonts.sty
+%/usr/share/texmf/tex/latex/beamer/themes/font/beamerfontthemeserif.sty
+%/usr/share/texmf/tex/latex/beamer/themes/font/beamerfontthemestructurebold.sty
+%/usr/share/texmf/tex/latex/beamer/themes/font/beamerfontthemestructureitalicserif.sty
+%/usr/share/texmf/tex/latex/beamer/themes/font/beamerfontthemestructuresmallcapsserif.sty
+\usefonttheme{structurebold}
+
+\RequirePackage{tikz}
+
+\definecolor{IGNVert}{RGB}{148, 192, 22}
+\definecolor{IGNGris}{RGB}{112, 119, 122}
+
+\definecolor{IGNRouge}{RGB}{255, 100, 100}
+
+%PUCES
+\setbeamercolor{item projected}{bg=IGNGris!70}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% COLOR
+\setbeamercolor*{normal text}{fg=IGNGris}
+
+\setbeamercolor{title}{fg=IGNGris}
+\setbeamercolor{subtitle}{fg=IGNVert}
+\setbeamercolor{item}{fg=IGNVert}
+
+\setbeamercolor{caption name}{ fg=IGNGris}
+
+%\setbeamercolor{author in head/foot}{ fg=IGNGris}
+%\setbeamercolor{institute in head/foot}{fg=IGNGris}
+\setbeamercolor{title in head/foot}{ fg=IGNGris}
+\setbeamercolor{date in head/foot}{ fg=IGNGris}
+\setbeamercolor{page in head/foot}{ fg=IGNGris}
+\setbeamercolor{section in toc}{ fg=IGNGris}
+\setbeamercolor{subsection in toc}{ fg=IGNGris}
+
+\setbeamercolor*{block title alerted}{bg=IGNRouge!70}
+\setbeamercolor*{block body alerted}{bg=IGNRouge!20}
+
+\setbeamercolor*{block title example}{bg=IGNVert!70}
+\setbeamercolor*{block body example}{bg=IGNVert!20}
+
+\setbeamercolor*{block title}{bg=IGNGris!50}
+\setbeamercolor*{block body}{bg=IGNGris!20}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% NAVIGATION SYMBOLS
+\setbeamertemplate{navigation symbols}{}
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% SIDE BAR
+\setbeamersize{sidebar width left=1.5cm}
+\setbeamercolor{section in sidebar}{fg=IGNGris}
+\setbeamercolor{subsection in sidebar}{fg=IGNGris}
+
+\setbeamercolor{section in sidebar shaded}{fg=IGNVert}
+\setbeamercolor{subsection in sidebar shaded}{fg=IGNVert}
+
+
+\defbeamertemplate*{sidebar}{SSB}{}
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% HEAD LINE
+\defbeamertemplate*{frametitle}{}{
+ \begin{tikzpicture}[scale=0.503]
+ \filldraw[color=white] (0,0) rectangle(0.1,0.54);
+ \end{tikzpicture}
+
+ \textcolor{IGNGris}{ \textbf{\insertframetitle}}
+ \begin{tikzpicture}
+ \draw[very thick,color=IGNVert] (0,1)--(\paperwidth- 2.24,1);
+ \end{tikzpicture}
+}
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% HEAD LINE
+%\defbeamertemplate*{headline}{AH}{
+%}
+
+\defbeamertemplate*{headline}{}{}
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% BACKGROUND
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% FOOT LINE
+\defbeamertemplate*{footline}{}
+{
+\leavevmode%
+ \begin{tikzpicture}
+ \draw (0,0) node {};
+ \draw (0.5,0) node[right] { \textcolor{IGNGris}{\insertshorttitle}};
+ \draw (5,0) node[right] { \textcolor{IGNVert}{$\blacksquare$} \textcolor{IGNGris}{\insertshortdate{} } };
+ \draw (7.5,0) node { \textcolor{IGNVert}{$\blacksquare$} \textcolor{IGNGris}{\insertframenumber{} / \inserttotalframenumber\hspace*{2ex} }};
+ %\draw (9.75,0) node { \textcolor{IGNGris}{ \insertinstitute }};
+ \draw (12,0) node[right] { \includegraphics[height=0.25cm]{img/LOGO_IGN_p.png} };
+ \end{tikzpicture}
+
+}%
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% AT BEGIN SECTION
+
+
+\AtBeginSection[]
+{
+\setbeamercolor{section in sidebar}{fg=white }
+\setbeamercolor{subsection in sidebar}{fg=white }
+
+\setbeamercolor{section in sidebar shaded}{fg=white }
+\setbeamercolor{subsection in sidebar shaded}{fg=white }
+
+
+
+\begin{frame}{
+ \begin{tikzpicture}[scale=0.503]
+ \draw[color=IGNGris,fill=IGNGris] (0,0) rectangle (23,9);
+ \draw (1,1) node [right,text width=10cm,text justified] { \textcolor{white}{\insertsection}};
+ \end{tikzpicture}
+}
+\end{frame}
+
+
+\setbeamercolor{section in sidebar}{fg=IGNGris}
+\setbeamercolor{subsection in sidebar}{fg=IGNGris}
+
+\setbeamercolor{section in sidebar shaded}{fg=IGNVert}
+\setbeamercolor{subsection in sidebar shaded}{fg=IGNVert}
+
+\addtocounter{framenumber}{-1}
+
+}
+
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/beamer.tex b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/beamer.tex
new file mode 100644
index 0000000000..6d42f4bd38
--- /dev/null
+++ b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/beamer.tex
@@ -0,0 +1,219 @@
+\documentclass[11pt]{beamer}
+\include{IGN}
+\usepackage[english]{babel}
+\RequirePackage{tikz}
+\usetikzlibrary{arrows}
+\usepackage[utf8]{inputenc}
+\usepackage{listings}
+\usepackage{longtable,booktabs}
+%\setbeameroption{show notes}
+
+% from pandoc standalone ------------------
+\usepackage{lmodern}
+\usepackage{amssymb,amsmath}
+\usepackage{ifxetex,ifluatex}
+\ifnum 0\ifxetex 1\fi\ifluatex 1\fi=0 % if pdftex
+ \usepackage[T1]{fontenc}
+ \usepackage[utf8]{inputenc}
+ \usepackage{textcomp} % provide euro and other symbols
+\else % if luatex or xetex
+ \usepackage{unicode-math}
+ \defaultfontfeatures{Scale=MatchLowercase}
+ \defaultfontfeatures[\rmfamily]{Ligatures=TeX,Scale=1}
+\fi
+% Use upquote if available, for straight quotes in verbatim environments
+\IfFileExists{upquote.sty}{\usepackage{upquote}}{}
+\IfFileExists{microtype.sty}{% use microtype if available
+ \usepackage[]{microtype}
+ \UseMicrotypeSet[protrusion]{basicmath} % disable protrusion for tt fonts
+}{}
+\makeatletter
+\@ifundefined{KOMAClassName}{% if non-KOMA class
+ \IfFileExists{parskip.sty}{%
+ \usepackage{parskip}
+ }{% else
+ \setlength{\parindent}{0pt}
+ \setlength{\parskip}{6pt plus 2pt minus 1pt}}
+}{% if KOMA class
+ \KOMAoptions{parskip=half}}
+\makeatother
+\usepackage{xcolor}
+\IfFileExists{xurl.sty}{\usepackage{xurl}}{} % add URL line breaks if available
+\IfFileExists{bookmark.sty}{\usepackage{bookmark}}{\usepackage{hyperref}}
+\hypersetup{
+ hidelinks,
+ pdfcreator={LaTeX via pandoc}}
+\urlstyle{same} % disable monospaced font for URLs
+\newif\ifbibliography
+\usepackage{color}
+\usepackage{fancyvrb}
+\newcommand{\VerbBar}{|}
+\newcommand{\VERB}{\Verb[commandchars=\\\{\}]}
+\DefineVerbatimEnvironment{Highlighting}{Verbatim}{commandchars=\\\{\}}
+% Add ',fontsize=\small' for more characters per line
+\usepackage{framed}
+\definecolor{shadecolor}{RGB}{248,248,248}
+%\newenvironment{Shaded}{\begin{snugshade}\footnotesize}{\end{snugshade}}
+\newenvironment{Shaded}{\begin{snugshade}\small}{\end{snugshade}}
+%\newenvironment{Shaded}{\begin{snugshade}}{\end{snugshade}}
+\newcommand{\AlertTok}[1]{\textcolor[rgb]{0.94,0.16,0.16}{#1}}
+\newcommand{\AnnotationTok}[1]{\textcolor[rgb]{0.56,0.35,0.01}{\textbf{\textit{#1}}}}
+\newcommand{\AttributeTok}[1]{\textcolor[rgb]{0.77,0.63,0.00}{#1}}
+\newcommand{\BaseNTok}[1]{\textcolor[rgb]{0.00,0.00,0.81}{#1}}
+\newcommand{\BuiltInTok}[1]{#1}
+\newcommand{\CharTok}[1]{\textcolor[rgb]{0.31,0.60,0.02}{#1}}
+\newcommand{\CommentTok}[1]{\textcolor[rgb]{0.56,0.35,0.01}{\textit{#1}}}
+\newcommand{\CommentVarTok}[1]{\textcolor[rgb]{0.56,0.35,0.01}{\textbf{\textit{#1}}}}
+\newcommand{\ConstantTok}[1]{\textcolor[rgb]{0.00,0.00,0.00}{#1}}
+\newcommand{\ControlFlowTok}[1]{\textcolor[rgb]{0.13,0.29,0.53}{\textbf{#1}}}
+\newcommand{\DataTypeTok}[1]{\textcolor[rgb]{0.13,0.29,0.53}{#1}}
+\newcommand{\DecValTok}[1]{\textcolor[rgb]{0.00,0.00,0.81}{#1}}
+\newcommand{\DocumentationTok}[1]{\textcolor[rgb]{0.56,0.35,0.01}{\textbf{\textit{#1}}}}
+\newcommand{\ErrorTok}[1]{\textcolor[rgb]{0.64,0.00,0.00}{\textbf{#1}}}
+\newcommand{\ExtensionTok}[1]{#1}
+\newcommand{\FloatTok}[1]{\textcolor[rgb]{0.00,0.00,0.81}{#1}}
+\newcommand{\FunctionTok}[1]{\textcolor[rgb]{0.00,0.00,0.00}{#1}}
+\newcommand{\ImportTok}[1]{#1}
+\newcommand{\InformationTok}[1]{\textcolor[rgb]{0.56,0.35,0.01}{\textbf{\textit{#1}}}}
+\newcommand{\KeywordTok}[1]{\textcolor[rgb]{0.13,0.29,0.53}{\textbf{#1}}}
+\newcommand{\NormalTok}[1]{#1}
+\newcommand{\OperatorTok}[1]{\textcolor[rgb]{0.81,0.36,0.00}{\textbf{#1}}}
+\newcommand{\OtherTok}[1]{\textcolor[rgb]{0.56,0.35,0.01}{#1}}
+\newcommand{\PreprocessorTok}[1]{\textcolor[rgb]{0.56,0.35,0.01}{\textit{#1}}}
+\newcommand{\RegionMarkerTok}[1]{#1}
+\newcommand{\SpecialCharTok}[1]{\textcolor[rgb]{0.00,0.00,0.00}{#1}}
+\newcommand{\SpecialStringTok}[1]{\textcolor[rgb]{0.31,0.60,0.02}{#1}}
+\newcommand{\StringTok}[1]{\textcolor[rgb]{0.31,0.60,0.02}{#1}}
+\newcommand{\VariableTok}[1]{\textcolor[rgb]{0.00,0.00,0.00}{#1}}
+\newcommand{\VerbatimStringTok}[1]{\textcolor[rgb]{0.31,0.60,0.02}{#1}}
+\newcommand{\WarningTok}[1]{\textcolor[rgb]{0.56,0.35,0.01}{\textbf{\textit{#1}}}}
+\setlength{\emergencystretch}{3em} % prevent overfull lines
+\providecommand{\tightlist}{%
+ \setlength{\itemsep}{0pt}\setlength{\parskip}{0pt}}
+\setcounter{secnumdepth}{-\maxdimen} % remove section numbering
+% ----------------------------------
+
+
+
+\def\tightlist{}
+
+%% DONNES UTILES A LA PAGE DE TITRE ET AU PIED DE PAGE...
+\graphicspath{{../../images_template/}}
+
+\title[]{Python API for MMVII}
+\subtitle{IGN - 2024}
+%~ \author[shortname]{Jean-Michaël Muller}
+%\author[shortname]{Muller J.M. \inst{1} \and Poyard J.C. \inst{1} \and \\Collilieux X. \inst{2}}
+%\institute[shortinst]{\inst{1} IGN SGN, Saint-Mandé, France \and %
+% \inst{2} IGN LAREG, Université Paris Diderot - Sorbonne Paris Cité, Paris, France}
+\date{JMM}
+
+\newenvironment{smallverbatim}%
+ {\verbatim\small}%
+ {\endverbatim}
+
+
+\begin{document}
+
+
+\usebackgroundtemplate{
+ \begin{tikzpicture}
+ %\draw (0,0.5) node[right] { \includegraphics[width=12.5cm]{img/fondClair.png} };
+ \draw (0,5) node[right] { \includegraphics[height=1.5cm]{img/LOGO_IGN2.png} };
+ %\draw (4,5) node[right] { \includegraphics[height=1.5cm]{img/hrao.png} };
+ %\draw (11,5) node[right] { \includegraphics[height=1.5cm]{img/IAG.png} };
+ %\draw (7.2,5) node[right] { \includegraphics[height=1.5cm]{img/logoISPRS2016.png} };
+ %\draw (11,5) node[right] { \includegraphics[height=1.5cm]{img/LOGO_MATIS.png} };
+% \draw (1.5,4.95) node[right] { \includegraphics[width=3.5cm]{fondD.jpg} };
+ \end{tikzpicture}
+}
+
+\begin{frame}[plain,c]
+\begin{columns}
+\begin{column}{10cm}
+\begin{center}
+\vspace{2cm}
+{
+%\tiny, \scriptsize, \footnotesize, \small, \normalsize, \large, \Large, \LARGE, \huge, \Huge.
+\LARGE
+\usebeamerfont{title}\usebeamercolor[fg]{title}\inserttitle}
+
+\vspace{0.3cm}
+
+{\small \insertsubtitle}
+
+\vspace{0.3cm}
+
+\normalsize
+
+\insertauthor
+
+
+
+\normalsize
+\vspace{0.5cm}
+
+\insertinstitute
+
+
+\vspace{0.5cm}
+
+\insertdate
+
+
+\end{center}
+\end{column}
+\begin{column}{1cm}
+\end{column}
+\end{columns}
+
+\end{frame}
+
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% DEBUT DE LA PRESENTATION
+% BACKGROUND POUR AVOIR LE HAUT DE PAGE QUI VA BIEN
+\usebackgroundtemplate{
+ \begin{tikzpicture}[scale=0.503]
+ \filldraw[color=IGNGris] (0,0) rectangle(2.62,0.54);
+ \filldraw[color=IGNGris] (4.77,0) rectangle(2.62+4.77,0.54);
+
+ \filldraw[color=IGNVert] (9.50+0.27,0) -- (9.50,0.54)-- (9.50+7.41-0.27,0.54)-- (9.50+7.41,0)--cycle;
+
+ \filldraw[color=IGNGris] (19.50,0) rectangle(2.62+19.50,0.54);
+ \filldraw[color=IGNGris] (23.11,0.54)--(23.11+0.54,0)--(2.3+23.11,0)--(2.3+23.11,0.54)--cycle;;
+ \end{tikzpicture}
+}
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% PLAN
+\setbeamercolor{section in sidebar}{fg=white } %LIGNE NECESSAIRE POUR EFFACER LE PLAN DE LA SIDEBAR (PAS MIEUX)
+\setbeamercolor{subsection in sidebar}{fg=white }%LIGNE NECESSAIRE POUR EFFACER LE PLAN DE LA SIDEBAR (PAS MIEUX)
+\setbeamercolor{section in sidebar shaded}{fg=white }%LIGNE NECESSAIRE POUR EFFACER LE PLAN DE LA SIDEBAR (PAS MIEUX)
+\setbeamercolor{subsection in sidebar shaded}{fg=white }%LIGNE NECESSAIRE POUR EFFACER LE PLAN DE LA SIDEBAR (PAS MIEUX)
+\begin{frame}
+ \begin{columns}[T]
+ \begin{column}{7cm}
+ \tableofcontents[sections={1-5},hideallsubsections]
+ \end{column}
+ %\begin{column}{5cm}
+ %\tableofcontents[sections={6-10},hideallsubsections]
+ %\end{column}
+ \end{columns}
+
+\end{frame}
+\setbeamercolor{section in sidebar}{fg=IGNGris}%LIGNE NECESSAIRE POUR AFFICHER LE PLAN DE LA SIDEBAR (PAS MIEUX)
+\setbeamercolor{subsection in sidebar}{fg=IGNGris}%LIGNE NECESSAIRE POUR AFFICHER LE PLAN DE LA SIDEBAR (PAS MIEUX)
+\setbeamercolor{section in sidebar shaded}{fg=IGNVert}%LIGNE NECESSAIRE POUR AFFICHER LE PLAN DE LA SIDEBAR (PAS MIEUX)
+\setbeamercolor{subsection in sidebar shaded}{fg=IGNVert}%LIGNE NECESSAIRE POUR AFFICHER LE PLAN DE LA SIDEBAR (PAS MIEUX)
+
+
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+\input{"presentation.tex"}
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+\end{document}
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/beamerouterthemeIGNsidebar.sty b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/beamerouterthemeIGNsidebar.sty
new file mode 100644
index 0000000000..ab24c283ee
--- /dev/null
+++ b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/beamerouterthemeIGNsidebar.sty
@@ -0,0 +1,189 @@
+% Copyright 2007 by Till Tantau
+%
+% This file may be distributed and/or modified
+%
+% 1. under the LaTeX Project Public License and/or
+% 2. under the GNU Public License.
+%
+% See the file doc/licenses/LICENSE for more details.
+
+\ProvidesPackageRCS $Header: /cvsroot/latex-beamer/latex-beamer/themes/outer/beamerouterthemeIGNsidebar.sty,v 1.9 2007/01/28 20:48:30 tantau Exp $
+
+
+\newdimen\beamer@sidebarwidth
+\newdimen\beamer@headheight
+\usebeamerfont{frametitle}
+\beamer@sidebarwidth=2.5\baselineskip
+\beamer@headheight=2.5\baselineskip
+\reset@font
+
+\def\beamer@lefttext{left}
+
+\DeclareOptionBeamer{hideothersubsections}[]{\beamer@nav@subsectionstyle{show/show/hide}}
+\DeclareOptionBeamer{hideallsubsections}[]{\beamer@nav@subsectionstyle{hide}}
+
+\DeclareOptionBeamer{width}{\beamer@sidebarwidth=#1}
+\DeclareOptionBeamer{height}{\beamer@headheight=#1}
+\DeclareOptionBeamer{left}{\def\beamer@sidebarside{left}}
+\DeclareOptionBeamer{right}{\def\beamer@sidebarside{right}}
+\ExecuteOptionsBeamer{left}
+\ProcessOptionsBeamer
+
+
+\mode<presentation>
+
+\ifdim\beamer@headheight>0pt
+% if head height is 0pt, use default frame title
+
+ \setbeamercolor*{frametitle}{parent=sidebar}
+
+ \defbeamertemplate*{frametitle}{sidebar theme}
+ {%
+ \nointerlineskip%
+ \vskip-\beamer@headheight%
+ \vbox to \beamer@headheight{%
+ \vfil
+ \leftskip=-\beamer@leftmargin%
+ \advance\leftskip by0.3cm%
+ \rightskip=-\beamer@rightmargin%
+ \advance\rightskip by0.3cm plus1fil%
+ {\usebeamercolor[fg]{frametitle}\usebeamerfont{frametitle}\insertframetitle\par}%
+ {\usebeamercolor[fg]{framesubtitle}\usebeamerfont{framesubtitle}\insertframesubtitle\par}%
+ \vbox{}%
+ \vskip-1em%
+ \vfil
+ }%
+ }
+
+ \defbeamertemplate*{headline}{sidebar theme}
+ {%
+ \begin{beamercolorbox}[wd=\paperwidth]{frametitle}
+ \ifx\beamer@sidebarside\beamer@lefttext%
+ \else%
+ \hfill%
+ \fi%
+ \ifdim\beamer@sidebarwidth>0pt%
+ \usebeamercolor[bg]{logo}%
+ \vrule width\beamer@sidebarwidth height \beamer@headheight%
+ \hskip-\beamer@sidebarwidth%
+ \hbox to \beamer@sidebarwidth{\hss\vbox to
+ \beamer@headheight{\vss\hbox{\color{fg}\insertlogo}\vss}\hss}%
+ \else%
+ \vrule width0pt height \beamer@headheight%
+ \fi%
+ \end{beamercolorbox}
+ }
+\fi
+
+
+\def\beamer@sidebarformat#1#2#3{%
+ \begin{beamercolorbox}[wd=\beamer@sidebarwidth,leftskip=#1,rightskip=1ex plus1fil,vmode]{#2}
+ \vbox{}%
+ #3\par%
+ \vbox{}%
+ \vskip-1.5ex%
+ \end{beamercolorbox}
+}
+
+\defbeamertemplate*{section in sidebar}{sidebar theme}
+{%
+ \vbox{%
+ \vskip1ex%
+ \beamer@sidebarformat{3pt}{section in sidebar}{\textbf{\tiny{$\blacktriangleright$}\insertsectionhead}}%
+ }%
+}
+
+\defbeamertemplate*{section in sidebar shaded}{sidebar theme}
+{%
+ \vbox{%
+ \vskip1ex%
+ \beamer@sidebarformat{3pt}{section in sidebar shaded}{ \insertsectionhead}%
+ }%
+}
+
+\defbeamertemplate*{subsection in sidebar}{sidebar theme}
+{%
+ \beamer@sidebarformat{5pt}{subsection in sidebar}{$\blacktriangleright$\insertsubsectionhead}%
+}
+
+\defbeamertemplate*{subsection in sidebar shaded}{sidebar theme}
+{%
+ \beamer@sidebarformat{5pt}{subsection in sidebar shaded}{\insertsubsectionhead}%
+}
+
+\defbeamertemplate*{subsubsection in sidebar}{sidebar theme}
+{%
+ \beamer@sidebarformat{7pt}{subsubsection in sidebar}{\insertsubsubsectionhead}%
+}
+
+\defbeamertemplate*{subsubsection in sidebar shaded}{sidebar theme}
+{%
+ \beamer@sidebarformat{7pt}{subsubsection in sidebar shaded}{\insertsubsubsectionhead}%
+}
+
+
+\ifdim\beamer@sidebarwidth>0pt
+
+ % Sidebar
+ \setbeamersize{sidebar width \beamer@sidebarside=\beamer@sidebarwidth}
+ \defbeamertemplate*{sidebar \beamer@sidebarside}{sidebar theme}
+ {
+ \beamer@tempdim=\beamer@sidebarwidth%
+ \advance\beamer@tempdim by -6pt%
+ {
+ \vskip5em%
+ \begin{tikzpicture}
+ \draw(0,0) node[above] {\includegraphics[height=1.2cm]{img/LOGO_IGN.png}};
+ \draw(0,0) node[below] {\insertverticalnavigation{\beamer@sidebarwidth}};
+ %\draw(0,-6) node {\includegraphics[height=1.2cm]{ISPRS2012.png}};
+ \end{tikzpicture}
+ }
+% {\usebeamerfont{title in sidebar}%
+% \vskip1.5em%
+% \hskip3pt%
+% \usebeamercolor[fg]{title in sidebar}%
+% \insertshorttitle[width=\beamer@tempdim,center,respectlinebreaks]\par%
+% \vskip1.25em%
+% }%
+% {%
+% \hskip3pt%
+% \usebeamercolor[fg]{author in sidebar}%
+% \usebeamerfont{author in sidebar}%
+% \insertshortauthor[width=\beamer@tempdim,center,respectlinebreaks]\par%
+% \vskip1.25em%
+% }%
+
+ \vskip5em%
+ %\hskip0.2cm\hyperlinkdocumentstart{ \includegraphics[height=1.2cm]{LOGO_MATIS.png}}
+ \vskip2em%
+ %~ \insertverticalnavigation{\beamer@sidebarwidth}%
+ \vskip20em%
+ %\hskip0.2cm \includegraphics[height=1.2cm]{ISPRS2012.png}
+
+ \vfill
+ \ifx\beamer@sidebarside\beamer@lefttext%
+ \else%
+ \usebeamercolor{normal text}%
+ \llap{\usebeamertemplate***{navigation symbols}\hskip0.1cm}%
+ \vskip2pt%
+
+ \fi%
+ }%
+
+ \ifx\beamer@sidebarside\beamer@lefttext%
+ \defbeamertemplate*{sidebar right}{sidebar theme}
+ {%
+ \vfill%
+ \llap{\usebeamertemplate***{navigation symbols}\hskip0.1cm}%
+ \vskip2pt}
+ \fi
+ % Margins
+ \setbeamersize{text margin left=0.5cm,text margin right=0.5cm}
+\fi
+
+\mode
+<all>
+
+%%% Local Variables:
+%%% TeX-master: "~/texmf/tex/latex/beamer/test/test.tex"
+%%% End:
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/ex_cpp/CMakeLists.txt b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/ex_cpp/CMakeLists.txt
new file mode 100644
index 0000000000..4c0e157d2d
--- /dev/null
+++ b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/ex_cpp/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.15)
+project(mini2007 VERSION 0.1.0)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(MICMAC_PATH $ENV{HOME}/micmac)
+set(MMVII_SOURCE_DIR $ENV{HOME}/micmac/MMVII)
+
+set(mmv2_include_dir "${MMVII_SOURCE_DIR}/include")
+set(mmv2_external_include_dir "${MMVII_SOURCE_DIR}/ExternalInclude")
+set(EIGEN3_INCLUDE_PATH "${mmv2_external_include_dir}/eigen-3.4.0")
+
+add_executable(${CMAKE_PROJECT_NAME} main.cpp)
+include_directories(${mmv2_include_dir} ${mmv2_external_include_dir} ${EIGEN3_INCLUDE_PATH})
+target_link_libraries(${PROJECT_NAME} ${MICMAC_PATH}/MMVII/bin/libP2007.a)
+target_link_libraries(${PROJECT_NAME} ${MICMAC_PATH}/lib/libelise.a)
+target_link_libraries(${PROJECT_NAME} ${MICMAC_PATH}/lib/libANN.a)
+target_link_libraries(${PROJECT_NAME} pthread X11 stdc++fs -fopenmp)
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/ex_cpp/main.cpp b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/ex_cpp/main.cpp
new file mode 100644
index 0000000000..64086458c1
--- /dev/null
+++ b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/ex_cpp/main.cpp
@@ -0,0 +1,25 @@
+#include <iostream>
+#include <MMVII_PCSens.h>
+
+namespace MMVII {
+ void CloseRandom();
+}
+
+int main()
+{
+ MMVII::cMMVII_Appli::InitMMVIIDirs(std::string(getenv("HOME"))
+ + "/micmac/MMVII/");
+ MMVII::InitStandAloneAppli("mimi2007");
+
+ std::string oripath = std::string(getenv("HOME"))
+ + "/micmac/MMVII/MMVII-TestDir/Input/Saisies-MMV1/"
+ + "MMVII-PhgrProj/Ori/toto/Ori-PerspCentral-IMGP4168.JPG.xml";
+ MMVII::cSensorCamPC *aCam;
+ aCam = MMVII::cSensorCamPC::FromFile(oripath);
+ std::cout<<"Center: "<<aCam->Center()<<".\n";
+
+ delete aCam;
+ MMVII::CloseRandom();
+ std::cout<<"done."<<std::endl;
+ return 0;
+}
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/ex_py/ex_mmv2_circcodetargets.py b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/ex_py/ex_mmv2_circcodetargets.py
new file mode 100644
index 0000000000..846aab9fef
--- /dev/null
+++ b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/ex_py/ex_mmv2_circcodetargets.py
@@ -0,0 +1,37 @@
+import MMVII
+from pathlib import Path
+
+
+pt2dSet = MMVII.SetMesPtOf1Im.fromFile('/home/JMMuller/tmp/Circ-Code-Target/MMVII-PhgrProj/PointsMeasure/Filt/MesIm-043_0005_Scaled.tif.xml')
+
+print(pt2dSet)
+
+for mes in pt2dSet.measures():
+ print(mes.namePt, mes.pt)
+
+
+pcIntrCalib = MMVII.PerspCamIntrCalib.fromFile('/home/JMMuller/tmp/Circ-Code-Target/MMVII-PhgrProj/Ori/BA_rig/CalibIntr_CamNIKON_D5600_Add043_Foc24000.xml')
+
+
+pp2i = pcIntrCalib.mapPProj2Im()
+i2pp = pp2i.mapInverse()
+
+print(pcIntrCalib.pp, ' -> ', i2pp.value(pcIntrCalib.pp))
+
+dist = pcIntrCalib.dir_Dist()
+inv_dist = MMVII.DataInvertOfMapping2D(pcIntrCalib.dir_DistInvertible())
+
+for mes in pt2dSet.measures():
+ pt = mes.pt
+ print('Pt ', mes.namePt, ' im: ', pt)
+ print(' -> central with disto: ', i2pp.value(pt))
+ print(' -> central no disto: ', inv_dist.value(i2pp.value(pt)))
+ print(' -> lig/col no disto: ', pp2i.value(inv_dist.value(i2pp.value(pt))))
+
+
+
+for mes in pt2dSet.measures():
+ mes.pt = pp2i.value(inv_dist.value(i2pp.value(mes.pt)))
+
+pt2dSet.toFile('out_no_dist.xml')
+
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/IGN.jpg b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/IGN.jpg
new file mode 100644
index 0000000000..930fb0c19f
Binary files /dev/null and b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/IGN.jpg differ
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/LOGO_IGN.png b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/LOGO_IGN.png
new file mode 100644
index 0000000000..f5bb98869e
Binary files /dev/null and b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/LOGO_IGN.png differ
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/LOGO_IGN2.png b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/LOGO_IGN2.png
new file mode 100644
index 0000000000..3742a31328
Binary files /dev/null and b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/LOGO_IGN2.png differ
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/LOGO_IGN_p.png b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/LOGO_IGN_p.png
new file mode 100644
index 0000000000..495615cea5
Binary files /dev/null and b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/LOGO_IGN_p.png differ
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/fondClair.png b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/fondClair.png
new file mode 100644
index 0000000000..d2a5ccb78b
Binary files /dev/null and b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/fondClair.png differ
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/uml_mes_im1.png b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/uml_mes_im1.png
new file mode 100644
index 0000000000..026d5b59c0
Binary files /dev/null and b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/img/uml_mes_im1.png differ
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/main.cpp b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/main.cpp
new file mode 100644
index 0000000000..5eba37b2e8
--- /dev/null
+++ b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/main.cpp
@@ -0,0 +1,25 @@
+#include <iostream>
+#include <chrono>
+#include <opencv2/opencv.hpp>
+using namespace std::chrono;
+using ClockType = std::chrono::steady_clock;
+#define SIMPLE
+int main(int argc, char** argv )
+{
+ cv::Mat im = cv::imread( "in.png", cv::IMREAD_GRAYSCALE );
+
+ auto start = ClockType::now();
+ uint8_t* im_data = (uint8_t*)im.data;
+
+ for (int l=0; l<im.rows; ++l)
+ for (int c=0; c<im.cols; ++c)
+ im_data[l*im.cols+c] = im_data[l*im.cols+c] * c / im.cols;
+
+ auto end = ClockType::now();
+ auto duration = (end - start);
+ auto ms = duration_cast<milliseconds>(duration).count();
+ std::cout << "duration: " << ms << " ms " << '\n';
+
+ cv::imwrite("out.png", im);
+ return 0;
+}
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/makefile b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/makefile
new file mode 100644
index 0000000000..f5b3039af6
--- /dev/null
+++ b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/makefile
@@ -0,0 +1,9 @@
+#voir https://github.com/jeromyanglim/rmarkdown-rmeetup-2012/tree/master/talk
+
+pdf:
+ pandoc presentation.md --slide-level 3 -t beamer -o presentation.tex
+ pdflatex beamer.tex
+ pdflatex beamer.tex
+
+clean:
+ rm -f *.aux *.log *.out *.toc *.snm *.nav
diff --git a/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/presentation.md b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/presentation.md
new file mode 100644
index 0000000000..30b224fc82
--- /dev/null
+++ b/MMVII/Doc/Programming-Session-2024-03-Sat-Bundle-Adj/apipy_mmvii/presentation.md
@@ -0,0 +1,597 @@
+# Introduction
+
+###
+
+MMVII is easily scriptable thanks to its command line interface.
+
+\
+How to read/write MMVII files for a custom usage?
+
+\
+How to use MMVII classes and functions?
+
+###
+
+
+You can add features to MMVII by modifying its sources (the doc helps!):
+
+ - it's in C++
+ - fork or pushing right to MMVII repository
+ - quality and reasonable follow-up should be ensured
+ - adding commands for some very specific cases makes MMVII more complex for all users
+
+\
+
+You can make your own C++ project using the *libP2007.a* library...
+
+
+### Standalone C++: source (read Ori)
+
+
+``` {.cpp}
+#include <MMVII_PCSens.h>
+namespace MMVII { void CloseRandom(); }
+int main()
+{
+ MMVII::cMMVII_Appli::InitMMVIIDirs(
+ std::string(getenv("HOME"))+"/micmac/MMVII/" );
+ MMVII::InitStandAloneAppli("mini2007");
+ std::string oriPath =
+ "Ori-PerspCentral-IMGP4168.JPG.xml";
+ MMVII::cSensorCamPC *aCam;
+ aCam = MMVII::cSensorCamPC::FromFile(oriPath);
+ std::cout<<"Center: "<<aCam->Center()<<"\n";
+ delete aCam;
+ MMVII::CloseRandom();
+ return 0;
+}
+```
+
+### Standalone C++: CMakeLists
+``` {.cmake}
+cmake_minimum_required(VERSION 3.15)
+project(mini2007 VERSION 0.1.0)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(MICMAC_PATH $ENV{HOME}/micmac)
+set(MMVII_SOURCE_DIR $ENV{HOME}/micmac/MMVII)
+set(mmv2_include_dir "${MMVII_SOURCE_DIR}/include")
+set(mmv2_external_include_dir
+ "${MMVII_SOURCE_DIR}/ExternalInclude")
+set(EIGEN3_INCLUDE_PATH
+ "${mmv2_external_include_dir}/eigen-3.4.0")
+```
+
+### Standalone C++: CMakeLists
+``` {.cmake}
+add_executable(${CMAKE_PROJECT_NAME} main.cpp)
+
+include_directories(${mmv2_include_dir}
+ ${mmv2_external_include_dir}
+ ${EIGEN3_INCLUDE_PATH})
+target_link_libraries(${PROJECT_NAME}
+ ${MICMAC_PATH}/MMVII/bin/libP2007.a)
+target_link_libraries(${PROJECT_NAME}
+ ${MICMAC_PATH}/lib/libelise.a)
+target_link_libraries(${PROJECT_NAME}
+ ${MICMAC_PATH}/lib/libANN.a)
+target_link_libraries(${PROJECT_NAME}
+ pthread X11 stdc++fs -fopenmp)
+```
+
+###
+
+... or use the Python API!
+
+\
+MMVII Python API (aka *apib11*) is based on *pybind11* ([https://github.com/pybind/pybind11](https://github.com/pybind/pybind11)):
+
+\vspace{0.5cm}
+
+> pybind11 is a lightweight header-only library that exposes C++ types in Python and vice versa, mainly to create Python bindings of existing C++ code.
+
+###
+
+A selection of MMVII classes and functions is made usable in Python, with some adjustments:
+
+ - differences between C++ and Python synthax (e.g.: no overloading, no templates...)
+ - simplification if possible
+ - pythonization:
+ - define *\_\_repr\_\_()* etc.
+ - automatic conversion from lists or *np.array* into MMVII points objects etc.
+ - memory management: *return value policy*
+
+### Other tools
+
+Other tools to generate a Python API:
+
+ - *SWIG*: universal, can make APIs for many languages, but uses a specific synthax and not easy to use with modern C++. Used in an unofficial Python API for MM3D.
+
+ - *Boost.Python*: close to *pybind11*, but depends on *Boost*...
+
+### Why pybind11?
+
+ - rather simple C++ syntax
+ - good documentation
+ - home-made automatic integration of *Doxygen* comments into Python doc
+
+### Documentation
+
+ - this presentation
+ - *MMVII/apib11/README.md*
+ - MMVII documentation chapter 17
+ - examples in *MMVII/apib11/examples*
+
+
+# Compilation
+
+### Sources
+
+All sources are in *MMVII/apib11/*.
+
+The main files are:
+
+ - *py_MMVII.cpp* / *py_MMVII.h*: initialization, closing and error handling, calling all the other files
+ - *MMVII.py*: Python-side initialization
+ - *makedoc.py*: automatic C++ *Doxygen* comments conversion into Python doc
+ - *setup.py*: description of the MMVII module and its compilation
+
+### Sources
+
+Some MMVII C++ class bindings:
+
+ - *py_MMVII_Matrix.cpp*, *py_MMVII_Geom3D.cpp*: matrix, 3d rotation and isometry
+ - *py_MMVII_Images.cpp*, *py_MMVII_Image2D.cpp*: data from images
+ - *py_MMVII_MeasuresIm.cpp*: 2D and 3D measures, sets of measures
+ - *py_MMVII_PCSens.cpp*, *py_MMVII_Mappings.cpp*: cameras and mappings
+
+### Building
+
+The build system is based on a *makefile* calling *Setuptools*.
+
+For now, it only works on GNU/Linux.
+
+Extract from *MMVII/apib11/README.md*:
+
+``` {.markdown}
+Dependencies
+ sudo apt install python3-pip doxygen
+ pip3 install pybind11 wheel
+
+First, compile MMv1 and MMv2.
+Then, in 'apib11' directory:
+ make
+
+Installation:
+ make install
+```
+
+# Usage
+
+### Installation
+
+The *wheel* file \textit{dist/MMVII-*.whl}, created at compilation, can be distributed to machines with the same OS, architecture, python version...
+
+
+- it contains all the necessary files to run the module:
+MMVII does not have to be installed on the machine to use the python module.
+
+- it can be installed with:
+
+ ``` {.bash}
+ pip3 install MMVII-*.whl
+ ```
+
+### Import
+
+``` {.bash}
+>>> import MMVII
+MMVII path: /home/Toto/.local/MMVII/MMVII
+MMVII initialized.
+>>> MMVII.
+MMVII.AimeDescriptor( MMVII.Mes1GCP(
+MMVII.AimePCAR( MMVII.MesIm1Pt(
+MMVII.Box2dr( MMVII.PerspCamIntrCalib(
+MMVII.Box3di( MMVII.Rect1(
+MMVII.Box3dr( MMVII.Rect2(
+MMVII.DataIm2Df( MMVII.Rect3(
+MMVII.DataIm2Di( MMVII.Rotation3D(
+MMVII.DataIm2Dr( MMVII.SensorCamPC(
+MMVII.DataIm2Duc( MMVII.Set2D3D(
+...
+```
+
+### Example
+
+Let's read a 2D measurements file, correct the image coordinates
+from distortion and export them.
+
+The data is in:
+
+``` {.python}
+path = 'MMVII/MMVII-TestDir/' \
+ 'Input/Saisies-MMV1/MMVII-PhgrProj/'
+```
+
+- the 2D measurements file:
+
+*PointsMeasure/ Saisies_MMVII/MesIm-IMGP4167.JPG.xml*
+
+- the calibration file:
+
+*Ori/toto/ Calib-PerspCentral-Foc-28000_Cam-PENTAX_K5.xml*
+
+### 2D measurements file
+
+``` {.haskell}
+<Root>
+ <Type>"MMVII_Serialization"</Type>
+ <Version>"0.0.0"</Version>
+ <Data>
+ <SetMesIm>
+ <NameIm>"IMGP4167.JPG"</NameIm>
+ <Measures>
+ <el>
+ <Name>"Stone-6"</Name>
+ <Pt>644.2863 232.6833</Pt>
+ <Sigma2>1 0 1</Sigma2>
+ </el>
+ [...]
+ </Measures>
+ </SetMesIm>
+ </Data>
+</Root>
+```
+
+### C++ classes diagram
+
+ \begin{center}
+ \includegraphics[height = 7cm]{img/uml_mes_im1.png}
+ \end{center}
+
+
+### Reading the file
+
+``` {.python}
+pt2dSet = MMVII.SetMesPtOf1Im.fromFile(path
+ +'PointsMeasure/Saisies_MMVII/'
+ +'MesIm-IMGP4167.JPG.xml')
+```
+
+``` {.bash}
+>>> pt2dSet
+SetMesPtOf1Im MesIm-IMGP4167.JPG.xml
+Stone-6 644.28631 232.68332
+Stone-7 1265.3681 735.26883
+Grille 322.0761 766.81187
+```
+
+``` {.bash}
+>>> dir(pt2dSet)
+['AddMeasure', '__class__', [...], '__str__',
+ '__subclasshook__', 'fromFile', 'measures',
+ 'measuresOfName', 'nameHasMeasure', 'nameIm',
+ 'nearestMeasure', 'stdNameFile', 'toFile']
+```
+
+### Python integration
+
+``` {.bash}
+>>> type(pt2dSet.measures())
+<class 'list'>
+>>> type(pt2dSet.measures()[0])
+<class '_MMVII.MesIm1Pt'>
+>>> type(pt2dSet.measures()[0].pt)
+<class 'numpy.ndarray'>
+```
+
+``` {.bash}
+>>> for mes in pt2dSet.measures():
+... print(mes.namePt, mes.pt)
+...
+Stone-6 [644.286308 232.68331645]
+Stone-7 [1265.36807144 735.2688294 ]
+Grille [322.07609729 766.81186618]
+```
+
+### Errors handling
+
+``` {.bash}
+>>> MMVII.SetMesPtOf1Im.fromFile('xxx.xml')
+
+
+############## Python API error handler ######
+
+Level=[UserEr:OpenFile]
+Mes=[Cannot open file : xxx.xml in mode read]
+Traceback (most recent call last):
+ File "<stdin>", line 1, in <module>
+RuntimeError: UserEr:OpenFile Cannot open file :
+ xxx.xml in mode read
+>>>
+```
+
+### Errors handling
+
+``` {.bash}
+>>> try:
+... tmp = MMVII.SetMesPtOf1Im.fromFile('no.xml')
+... print('read OK')
+... except:
+... tmp = 79
+... print('error when reading')
+...
+
+############### Python API error handler ######
+
+Level=[UserEr:OpenFile]
+Mes=[Cannot open file : error.xml in mode read]
+error when reading
+>>> tmp
+79
+```
+
+### Calibration
+
+Get the perspective camera internal calibration object:
+
+``` {.python}
+pcIntrCalib = MMVII.PerspCamIntrCalib.fromFile(path
+ +'Ori/toto/'
+ +'Calib-PerspCentral-Foc-28000_Cam-PENTAX_K5.xml')
+```
+
+``` {.bash}
+>>> dir(pcIntrCalib)
+[[...], 'dir_Dist', 'dir_DistInvertible',
+ 'f', 'fromFile', 'infoParam', 'invProjIsDef',
+ 'inv_Proj', 'mapPProj2Im', 'name', 'pp',
+ 'szPix', 'toFile', 'value', 'values']
+
+>>> pcIntrCalib.pp
+array([856.86700874, 577.61365093])
+>>> pcIntrCalib.f
+2112.2179520972604
+```
+
+### Mappings
+
+Mapping between photogrammetric/PP and pixel/image frames:
+$$ Q_{Im} = PP + F * Q_{PP}$$
+
+``` {.python}
+pp2i = pcIntrCalib.mapPProj2Im()
+
+i2pp = pp2i.mapInverse()
+```
+
+``` {.bash}
+>>> pt = pcIntrCalib.pp
+>>> print(pt, ' -> ', i2pp.value(pt))
+[856.8670 577.6136] -> [0. 0.]
+```
+
+``` {.bash
+>>> pt = pcIntrCalib.pp + [1000, 100]
+>>> print(pt, ' -> ', i2pp.value(pt))
+[1856.8670 677.6136] -> [0.4734 0.0473 ]
+```
+
+### Distorsion
+
+Distorsion is also a mapping:
+
+``` {.python}
+dist = pcIntrCalib.dir_Dist()
+```
+
+But not easily invertible:
+
+``` {.bash}
+>>> type(pcIntrCalib.dir_Dist())
+<class '_MMVII.DataMapping2D'>
+
+>>> type(pcIntrCalib.dir_DistInvertible())
+<class '_MMVII.DataInvertibleMapping2D'>
+```
+
+``` {.python}
+inv_dist = MMVII.DataInvertOfMapping2D(
+ pcIntrCalib.dir_DistInvertible())
+```
+
+Do not use *pcIntrCalib.dir\_DistInvertible()* directly!
+
+###
+``` {.bash}
+>>> for mes in pt2dSet.measures():
+... pt = mes.pt
+... print('Pt', mes.namePt, 'im:', pt)
+... print(' -> central with disto: ',
+ i2pp.value(pt))
+... print(' -> central no disto: ',
+ inv_dist.value(i2pp.value(pt)))
+... print(' -> lig/col no disto: ',
+ pp2i.value(inv_dist.value(i2pp.value(pt))))
+...
+Pt Stone-6 im: [644.286308 232.68331645]
+ -> central with disto: [-0.10064335 -0.16330243]
+ -> central no disto: [-0.10100147 -0.1638833 ]
+ -> lig/col no disto: [643.52988797 231.45641165]
+[...]
+```
+
+### Full script
+
+``` {.python}
+import MMVII
+
+pt2dSet = MMVII.SetMesPtOf1Im.fromFile(
+ 'MesIm-XXXX.JPG.xml')
+pcIntrCalib = MMVII.PerspCamIntrCalib.fromFile(
+ 'Calib-PerspCentral-Foc-28000_Cam-PENTAX_K5.xml')
+
+pp2i = pcIntrCalib.mapPProj2Im()
+i2pp = pp2i.mapInverse()
+inv_dist = MMVII.DataInvertOfMapping2D(
+ pcIntrCalib.dir_DistInvertible())
+
+for mes in pt2dSet.measures():
+ mes.pt = pp2i.value(
+ inv_dist.value(
+ i2pp.value(mes.pt)))
+
+pt2dSet.toFile('out_no_dist.xml')
+```
+
+
+# Development
+
+### Documentation
+
+The basic documentation:
+
+[https://pybind11.readthedocs.io/en/stable/basics.html](https://pybind11.readthedocs.io/en/stable/basics.html)
+
+\
+Classes manipulation documentation:
+
+[https://pybind11.readthedocs.io/en/stable/classes.html](https://pybind11.readthedocs.io/en/stable/classes.html)
+
+
+
+### How to bind *cMesIm1Pt*
+
+*cMesIm1Pt* class is declared in
+*MMVII/include/ MMVII_MeasuresIm.h*:
+
+``` {.cpp}
+
+class cMesIm1Pt
+{
+ public :
+ cMesIm1Pt(const cPt2dr & aPt,
+ const std::string & aNamePt,
+ tREAL4 aSigma2);
+ cMesIm1Pt();
+ cPt2dr mPt;
+ std::string mNamePt;
+ tREAL4 mSigma2[3]; // xx xy yy
+};
+```
+
+###
+
+The Python-accessible version is in *MMVII/apib11/ py_MMVII_MeasuresIm.cpp*:
+
+``` {.cpp}
+
+void pyb_init_MeasuresIm(py::module_ &m) {
+ py::class_<cMesIm1Pt>(m, "MesIm1Pt",
+ DOC(MMVII_cMesIm1Pt))
+ .def(py::init<>(),
+ DOC(MMVII_cMesIm1Pt,cMesIm1Pt))
+ .def(py::init<const cPt2dr &,
+ const std::string &,tREAL4>(),
+ DOC(MMVII_cMesIm1Pt,cMesIm1Pt))
+ .def_readwrite("pt", &cMesIm1Pt::mPt,
+ DOC(MMVII_cMesIm1Pt,mPt))
+ .def_readwrite("namePt", &cMesIm1Pt::mNamePt,
+ DOC(MMVII_cMesIm1Pt,mNamePt))
+
+```
+
+The _DOC_ part is the doxygen comment.
+
+###
+``` {.cpp}
+
+ .def_property("sXX",
+ [](const cMesIm1Pt& m)
+ {return m.mSigma2[0];},
+ [](cMesIm1Pt& m, tREAL8 sXX)
+ { m.mSigma2[0] = sXX;},
+ "Sigma2 of x coordinate")
+ [...]
+ .def("__repr__",
+ [](const cMesIm1Pt &m) {
+ std::ostringstream ss;
+ ss.precision(8);
+ ss << "MesIm1Pt " << m.mNamePt << " "
+ << m.mPt << ", sigma2 (xx,xy,yy): "
+ << m.mSigma2[0] << ", "
+ << m.mSigma2[1] << ", "
+ << m.mSigma2[2] << ")";
+ return ss.str();
+ })
+ ;
+```
+
+### SetMesPtOf1Im
+
+``` {.cpp}
+class cSetMesPtOf1Im : public cMemCheck
+{
+public :
+ cSetMesPtOf1Im(const std::string & aNameIm);
+ cSetMesPtOf1Im();
+ static cSetMesPtOf1Im FromFile(const std::string&);
+ void AddMeasure(const cMesIm1Pt &);
+ void AddData(const cAuxAr2007 & anAux);
+ void ToFile(const std::string & aNameFile) const;
+ [...]
+ const std::vector<cMesIm1Pt> & Measures() const;
+ std::vector<cMesIm1Pt> & Measures() ;
+ [...]
+private :
+ [...]
+ std::string mNameIm;
+ std::vector<cMesIm1Pt> mMeasures;
+};
+```
+
+###
+
+*SetMesPtOf1Im::Measures()* returns a reference to the *mMeasures* attribute.
+The *cSetMesPtOf1Im* object must not be destroyed while the reference is still used.
+
+This function *return value policy* must be adjusted to avoid crashes and memory corruption:
+[pybind11.readthedocs.io/en/stable/advanced/functions.html](https://pybind11.readthedocs.io/en/stable/advanced/functions.html)
+
+``` {.cpp}
+py::class_<cSetMesPtOf1Im>(m, "SetMesPtOf1Im",
+ DOC(MMVII_cSetMesPtOf1Im))
+ [...]
+ .def("measures",
+ py::overload_cast<>(&cSetMesPtOf1Im::Measures),
+ py::return_value_policy::reference_internal,
+ DOC(MMVII_cSetMesPtOf1Im,Measures))
+ [...]
+```
+*py::overload_cast* is mandatory since *Measures()* is overloaded.
+
+
+### Future developments
+
+ - Distribution:
+ - modernize *setup.py* project
+ - integrate in main *cmake* build system
+ - automatize compilation on several targets
+ - integrate in *github actions*
+ - distribute on *Python Package Index* ([https://pypi.org/](https://pypi.org/))
+ - API design:
+ - based on users needs
+ - with users help: tests, documentation, development
+
+### Examples of API improvements
+
+ - fix *SetMesGCP.\_\_repr\_\_()*, points name missing
+
+ - add *cPerspCamIntrCalib.Undist()*
+
+ - fix *SetMesPtOf1Im.measuresOfName()* which crashes with an error message beyond understanding
+
+ - add *measuresOfName()* to *SetMesGCP*
+
+ - add *cBlocOfCamera* class