cars 0.12.0rc2__tar.gz → 0.12.2__tar.gz

cars-0.12.2/.gitlab-ci.yml

@@ -0,0 +1,179 @@
+workflow:
+  rules:
+    - if: $CI_PIPELINE_SOURCE == "merge_request_event"
+    - if: $CI_COMMIT_REF_NAME == "master"
+    - if: $CI_COMMIT_REF_NAME == "cars_0_12_patches"
+
+stages:
+  - init
+  - build
+  - test
+  - sonarqube
+  - sync
+
+
+variables: 
+    # Token used to push reports to SonarQube
+    SONARQUBE_TOKEN: "${CARS_CI_SONARQUBE_TOKEN}"
+
+    # Git variables
+    # Limit git depth to speed up cloning
+    GIT_DEPTH: 1
+
+include:
+  # Sonarqube job
+  - project: "usinelogicielle/public/gitlab-ci-templates" # Inclut le stage de qualité sonarqube
+    ref: v1.1.3 # référence de tag
+    file: "jobs/sonarqube-gitlab-ci.yml"
+  # Variable defintion
+  - component: $CI_SERVER_FQDN/dali/cars-park/cars-ci/cars-ci-variables@master
+  # Jobs for gitlab-github synchronisation
+  - component: $CI_SERVER_FQDN/dali/cars-park/cars-ci/cars-ci-github@master
+  # Docker building and image selection
+  # First case: no need to update env, use latest version
+  - local: '/ci/cars-no-docker-build.yml'
+    rules:
+      # do not trigger this case if env has changed(see second case)
+      - changes:
+        - "ci/cars-deps-env/Dockerfile"
+        - "pyproject.toml"
+        when: never
+      # do not trigger this case on master (see third case)
+      - if: $CI_COMMIT_REF_NAME == "master"
+        when: never
+      - if: $CI_COMMIT_REF_NAME == "cars_0_12_patches"
+        when: never
+      - if: $CI_COMMIT_REF_NAME == "release_0.12.2"
+        when: never
+  # Second case: env should be generated on a dev branch, create a temporary
+  # image
+  - local: '/ci/cars-docker-build.yml'
+    inputs:
+      tag: ${CI_COMMIT_REF_NAME}
+    rules:
+      - changes:
+        - "ci/cars-deps-env/Dockerfile"
+        - "pyproject.toml"
+      # do not trigger this case on master (see third case)
+      - if: $CI_COMMIT_REF_NAME == "master"
+        when: never
+      - if: $CI_COMMIT_REF_NAME == "cars_0_12_patches"
+      - if: $CI_COMMIT_REF_NAME == "release_0.12.2"
+  # Third case: master branch pipeline: generate a "latest" image
+  - local: '/ci/cars-docker-build.yml'
+    inputs:
+      tag: "latest"
+    rules:
+      - if: $CI_COMMIT_REF_NAME == "master"
+
+# Common part for jobs using python: use env image and install cars
+.cars-python-job:
+  image: ${UL_ARTIFACTORY_HOST}/${CARS_ENV_IMAGE_NAME}:${CARS_ENV_IMAGE_TAG}
+  before_script:
+    - source /app/cars/venv/bin/activate
+    # All dependencies should already be installed in the docker env
+    - pip install --no-build-isolation --editable .[dev,docs,notebook]
+
+
+# run unit tests before other tasks (lint, quality, end2end ...) to catch early
+# errors
+unit-test:
+  stage: test
+  extends:
+    - .cars-python-job
+  script:
+    - CARS_VENV="/app/cars/venv" make test/ci
+  artifacts:
+    paths:
+      - ./pytest-report.xml
+      - ./coverage.xml
+    expire_in: 1 day
+
+
+# Job testing that notebooks run properly in Python
+test-notebooks:
+  stage: test
+  needs:
+    - unit-test
+  extends:
+    - .cars-python-job
+  script:
+    # Install additional plugin dependencies required for the tests
+    - source /app/cars/venv/bin/activate
+    - pip install --no-build-isolation --editable .[pandora_mccnn,bundleadjustment]
+    - CARS_VENV="/app/cars/venv" make test/notebook
+
+# test on full cars pipelines
+test-end2end:
+  stage: test
+  needs:
+    - unit-test
+  # Use dedicated runner for end2end tests
+  tags:
+    - ${TEST_RUNNER_TAG}
+  timeout: 80 minutes 
+  extends:
+    - .cars-python-job
+  script:
+    - source /app/cars/venv/bin/activate
+    - pytest -m "end2end_tests"
+  artifacts:
+    paths:
+      - tests/data/intermediate_data
+    when: always
+    expire_in: 1 day
+
+
+
+# All lint tasks are performed in the same job to save up on job initialization
+# time
+lint:
+  stage: test
+  needs:
+    - unit-test
+  extends:
+    - .cars-python-job
+  allow_failure: true
+  script:
+    - CARS_VENV="/app/cars/venv" make lint
+  artifacts:
+    paths:
+      - ./pylint-report.txt
+    expire_in: 1 day
+
+
+doc:
+  stage: test
+  needs:
+    - unit-test
+  extends:
+    - .cars-python-job
+  script:
+    - CARS_VENV="/app/cars/venv" make docs
+  artifacts:
+    # Export documentation in artifact, it can be opened directly from gitlab
+    paths:
+      - ./docs/build/html/
+    expire_in: 1 day
+
+
+# Push git project from gitlab to github
+github-sync:
+  extends:
+    - .github-sync-base
+
+  variables:
+    BRANCH: "master"
+    GITHUB_URL: github.com/CNES/cars.git
+
+
+# Push git project from gitlab to github for the 0.12.X versions
+github-sync-0.12:
+  extends:
+    - .github-sync-base
+
+  variables:
+    BRANCH: "cars_0_12_patches"
+    GITHUB_URL: github.com/CNES/cars.git
+  rules:
+    - if: $CI_COMMIT_REF_NAME == "cars_0_12_patches"

{cars-0.12.0rc2 → cars-0.12.2}/CHANGELOG.md

@@ -1,5 +1,17 @@
 # Changelog
 
+## 0.12.2  Bugfix release (October 2025)
+
+- Fix a bug where the DEM min was higher than DEM max in dem generation [#1211]
+
+
+## 0.12.1  Bugfix release (August 2025)
+
+- Cleanup sequential orchestrator [#1123].
+- Fix missing tiles in auxiliary filling outputs [#1061].
+- Fix classification fusion artifacts in dense matching [#1109].
+
+
 ## 0.12.0  Improving Dem generations (June 2025)
 
 ### Added

{cars-0.12.0rc2 → cars-0.12.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: cars
-Version: 0.12.0rc2
+Version: 0.12.2
 Summary: A satellite multi view stereo pipeline
 Keywords: cars,3D,DEM,pandora,photogrammetry
 Author-Email: CNES <cars@cnes.fr>

{cars-0.12.0rc2 → cars-0.12.2}/cars/applications/auxiliary_filling/auxiliary_filling_tools.py

@@ -483,7 +483,7 @@ def compute_sensor_bounds(sensor_inputs, geom_plugin, output_epsg):
         if reference_sensor_image is None:
             continue
 
-        u_l, u_r, l_r, l_l = geom_plugin.image_envelope(
+        u_l, u_r, l_l, l_r = geom_plugin.image_envelope(
             reference_sensor_image, sensor["geomodel"]
         )
 

{cars-0.12.0rc2 → cars-0.12.2}/cars/applications/dem_generation/dichotomic_generation.py

@@ -444,6 +444,8 @@ class DichotomicGeneration(DemGeneration, short_name="dichotomic"):
 
         # Save
         self.orchestrator.breakpoint()
+        # cleanup
+        self.orchestrator.cleanup()
 
         # after saving, fit initial elevation if required
         if initial_elevation is not None and self.coregistration:

{cars-0.12.0rc2 → cars-0.12.2}/cars/applications/dem_generation/rasterization.py

@@ -453,6 +453,8 @@ class Rasterization(DemGeneration, short_name="bulldozer_on_raster"):
 
         # Save
         self.orchestrator.breakpoint()
+        # cleanup
+        self.orchestrator.cleanup()
 
         if self.save_intermediate_data:
             intermediate_dem_min_path = os.path.join(
@@ -550,6 +552,13 @@ class Rasterization(DemGeneration, short_name="bulldozer_on_raster"):
             dem_data + self.max_height_margin,
             dem_max,
         )
+        # Rectify pixels where DEM min > DEM max - margin, to ensure that
+        # DEM min < DEM max even on filled pixels
+        dem_min = np.where(
+            dem_min > dem_max - self.min_height_margin,
+            dem_max - self.min_height_margin,
+            dem_min,
+        )
 
         with rio.open(dem_min_path, "w", **dem_min_metadata) as out_dem:
             out_dem.write(dem_min)

{cars-0.12.0rc2 → cars-0.12.2}/cars/applications/dense_matching/census_mccnn_sgm.py

@@ -110,6 +110,10 @@ class CensusMccnnSgm(
         # Ambiguity
         self.generate_ambiguity = self.used_config["generate_ambiguity"]
 
+        self.classification_fusion_margin = self.used_config[
+            "classification_fusion_margin"
+        ]
+
         # Margins computation parameters
         # Use local disp
         self.use_global_disp_range = self.used_config["use_global_disp_range"]
@@ -175,6 +179,11 @@ class CensusMccnnSgm(
         overloaded_conf["epipolar_tile_margin_in_percent"] = conf.get(
             "epipolar_tile_margin_in_percent", 60
         )
+
+        overloaded_conf["classification_fusion_margin"] = conf.get(
+            "classification_fusion_margin", -1
+        )
+
         overloaded_conf["min_elevation_offset"] = conf.get(
             "min_elevation_offset", None
         )
@@ -321,6 +330,7 @@ class CensusMccnnSgm(
             "perf_eta_max_ambiguity": float,
             "perf_eta_max_risk": float,
             "perf_eta_step": float,
+            "classification_fusion_margin": int,
             "perf_ambiguity_threshold": float,
             "use_cross_validation": Or(bool, str),
             "denoise_disparity_map": bool,
@@ -1141,6 +1151,8 @@ class CensusMccnnSgm(
             logging.error("grid min > grid max in {}".format(pair_folder))
             raise RuntimeError("grid min > grid max in {}".format(pair_folder))
 
+        # cleanup
+        grid_orchestrator.cleanup()
         return grid_disp_range
 
     def run(
@@ -1412,6 +1424,9 @@ class CensusMccnnSgm(
                                 epipolar_disparity_map.overlaps[row, col]
                             ),
                             margins_to_keep=margins_to_keep,
+                            classification_fusion_margin=(
+                                self.classification_fusion_margin
+                            ),
                         )
 
         else:
@@ -1432,6 +1447,7 @@ def compute_disparity_wrapper(
     crop_with_range=None,
     left_overlaps=None,
     margins_to_keep=0,
+    classification_fusion_margin=-1,
 ) -> Dict[str, Tuple[xr.Dataset, xr.Dataset]]:
     """
     Compute disparity maps from image objects.
@@ -1473,6 +1489,8 @@ def compute_disparity_wrapper(
     :type: left_overlaps: dict
     :param margins_to_keep: margin to keep after dense matching
     :type margins_to_keep: int
+    :param classification_fusion_margin: the margin to add for the fusion
+    :type classification_fusion_margin: int
 
 
     :return: Left to right disparity dataset
@@ -1536,6 +1554,7 @@ def compute_disparity_wrapper(
         compute_disparity_masks=compute_disparity_masks,
         cropped_range=mask_crop,
         margins_to_keep=margins_to_keep,
+        classification_fusion_margin=classification_fusion_margin,
     )
 
     # Fill with attributes

{cars-0.12.0rc2 → cars-0.12.2}/cars/applications/dense_matching/cpp/dense_matching_cpp.py

@@ -6,7 +6,12 @@ this module contains the headers of the dense_matching_cpp module.
 
 
 def estimate_right_classif_on_left(
-    right_classif, disp_map, disp_mask, disp_min, disp_max
+    right_classif,
+    disp_map,
+    disp_mask,
+    disp_min,
+    disp_max,
+    classification_fusion_margin=-1,
 ):
     """
     Estimate right classif on left image
@@ -29,7 +34,11 @@ def estimate_right_classif_on_left(
 
 
 def mask_left_classif_from_right_mask(
-    left_classif, right_mask, disp_min, disp_max
+    left_classif,
+    right_mask,
+    disp_min,
+    disp_max,
+    classification_fusion_margin=-1,
 ):
     """
     Mask left classif with right mask.

{cars-0.12.0rc2 → cars-0.12.2}/cars/applications/dense_matching/cpp/includes/dense_matching.hpp

@@ -22,7 +22,8 @@ py::array_t<bool> estimate_right_classif_on_left(
     py::array_t<float> disp_map,  
     std::optional<py::array_t<bool>> disp_mask,
     int disp_min,
-    int disp_max
+    int disp_max,
+    int classification_fusion_margin
 );
 
 /**
@@ -38,7 +39,8 @@ py::array_t<bool> mask_left_classif_from_right_mask(
     py::array_t<bool> left_classif,
     py::array_t<bool> right_mask,
     py::array_t<int> disp_min,
-    py::array_t<int> disp_max
+    py::array_t<int> disp_max,
+    int classification_fusion_margin
 );
 
 /**

{cars-0.12.0rc2 → cars-0.12.2}/cars/applications/dense_matching/cpp/src/dense_matching.cpp

@@ -11,7 +11,8 @@ py::array_t<bool> estimate_right_classif_on_left(
     py::array_t<float> disp_map,
     std::optional<py::array_t<bool>> disp_mask,
     int disp_min,
-    int disp_max
+    int disp_max,
+    int classification_fusion_margin
 ) {
     auto r_right_classif = right_classif.unchecked<3>();
     auto r_disp_map = disp_map.unchecked<2>();
@@ -53,11 +54,20 @@ py::array_t<bool> estimate_right_classif_on_left(
 
             // else: estimate with global range
             for (size_t band = 0; band < n_bands; band++) {
-                
+
                 bool found = false;
+                int margin_min = disp_min;
+                int margin_max = disp_max;
+                if (classification_fusion_margin != -1) {
+                    margin_min = -classification_fusion_margin;
+                    margin_max = classification_fusion_margin;
+                }
                 for (
-                    size_t col_classif = std::max(0, static_cast<int>(col)+disp_min);
-                    col_classif < std::min(static_cast<int>(n_col), static_cast<int>(col)+disp_max);
+                    size_t col_classif = std::max(0, static_cast<int>(col)+margin_min);
+                    col_classif < std::min(
+                        static_cast<int>(n_col),
+                        static_cast<int>(col)+margin_max
+                    );
                     col_classif++
                 ) {
                     if (r_right_classif(band, row, col_classif)) {
@@ -74,11 +84,13 @@ py::array_t<bool> estimate_right_classif_on_left(
     return left_from_right_classif;
 }
 
+
 py::array_t<bool> mask_left_classif_from_right_mask(
     py::array_t<bool> left_classif,
     py::array_t<bool> right_mask,
     py::array_t<int> disp_min,
-    py::array_t<int> disp_max
+    py::array_t<int> disp_max,
+    int classification_fusion_margin
 ) {
 
     auto rw_left_classif = left_classif.mutable_unchecked<3>();
@@ -95,10 +107,16 @@ py::array_t<bool> mask_left_classif_from_right_mask(
 
             // estimate with global range
             bool all_masked = true;
-            size_t lower_bound = std::max(0, static_cast<int>(col)+r_disp_min(row, col));
+            int margin_min = r_disp_min(row, col);
+            int margin_max = r_disp_max(row, col);
+            if (classification_fusion_margin != -1) {
+                margin_min = -classification_fusion_margin;
+                margin_max = classification_fusion_margin;
+            }
+            size_t lower_bound = std::max(0, static_cast<int>(col)+margin_min);
             size_t upper_bound = std::min(
                 static_cast<int>(n_col),
-                static_cast<int>(col)+r_disp_max(row, col)
+                static_cast<int>(col)+margin_max
             );
             for (size_t col_classif = lower_bound; col_classif < upper_bound; col_classif++) {
                 if (!r_right_mask(row, col_classif)) {

{cars-0.12.0rc2 → cars-0.12.2}/cars/applications/dense_matching/dense_matching_tools.py

@@ -296,6 +296,7 @@ def create_disp_dataset(  # noqa: C901
     disp_max_grid=None,
     cropped_range=None,
     margins_to_keep=0,
+    classification_fusion_margin=-1,
 ) -> xr.Dataset:
     """
     Create the disparity dataset.
@@ -393,6 +394,7 @@ def create_disp_dataset(  # noqa: C901
                 epi_msk_right == msk_cst.NO_DATA_IN_EPIPOLAR_RECTIFICATION,
                 np.floor(disp_min_grid).astype(np.int16),
                 np.ceil(disp_max_grid).astype(np.int16),
+                classification_fusion_margin,
             )
 
     left_from_right_classif = None
@@ -407,6 +409,7 @@ def create_disp_dataset(  # noqa: C901
             pandora_masks[cst_disp.VALID],
             int(np.floor(np.min(disp_min_grid))),
             int(np.ceil(np.max(disp_max_grid))),
+            classification_fusion_margin,
         )
 
         # mask outside left sensor
@@ -511,7 +514,12 @@ def add_crop_info(disp_ds, cropped_range):
 
 
 def estimate_right_classif_on_left(
-    right_classif, disp_map, disp_mask, disp_min, disp_max
+    right_classif,
+    disp_map,
+    disp_mask,
+    disp_min,
+    disp_max,
+    classifiation_fusion_margin,
 ):
     """
     Estimate right classif on left image
@@ -531,12 +539,21 @@ def estimate_right_classif_on_left(
     :rtype: np nadarray
     """
     return dense_matching_cpp.estimate_right_classif_on_left(
-        right_classif, disp_map, disp_mask, disp_min, disp_max
+        right_classif,
+        disp_map,
+        disp_mask,
+        disp_min,
+        disp_max,
+        classifiation_fusion_margin,
     )
 
 
 def mask_left_classif_from_right_mask(
-    left_classif, right_mask, disp_min, disp_max
+    left_classif,
+    right_mask,
+    disp_min,
+    disp_max,
+    classifiation_fusion_margin,
 ):
     """
     Mask left classif with right mask.
@@ -554,7 +571,11 @@ def mask_left_classif_from_right_mask(
     :rtype: np nadarray
     """
     return dense_matching_cpp.mask_left_classif_from_right_mask(
-        left_classif, right_mask, disp_min, disp_max
+        left_classif,
+        right_mask,
+        disp_min,
+        disp_max,
+        classifiation_fusion_margin,
     )
 
 
@@ -731,6 +752,7 @@ def compute_disparity(
     compute_disparity_masks=False,
     cropped_range=None,
     margins_to_keep=0,
+    classification_fusion_margin=-1,
 ) -> Dict[str, xr.Dataset]:
     """
     This function will compute disparity.
@@ -753,6 +775,8 @@ def compute_disparity(
     :type cropped_range: numpy array
     :param margins_to_keep: margin to keep after dense matching
     :type margins_to_keep: int
+    :param classification_fusion_margin: the margin to add for the fusion
+    :type classification_fusion_margin: int
 
     :return: Disparity dataset
     """
@@ -839,6 +863,7 @@ def compute_disparity(
         disp_max_grid=disp_max_grid,
         cropped_range=cropped_range,
         margins_to_keep=margins_to_keep,
+        classification_fusion_margin=classification_fusion_margin,
     )
 
     return disp_dataset

{cars-0.12.0rc2 → cars-0.12.2}/cars/orchestrator/orchestrator.py

@@ -605,6 +605,22 @@ class Orchestrator:
         # reset registries
         self.reset_registries()
 
+    def cleanup(self):
+        """
+        Cleanup orchestrator
+
+        """
+
+        # close cluster
+        logging.info("Close cluster ...")
+        if self.launch_worker:
+            self.cluster.cleanup()
+
+        # # clean tmp dir
+        for tmp_dir in self.tmp_dir_list:
+            if tmp_dir is not None and os.path.exists(tmp_dir):
+                shutil.rmtree(tmp_dir)
+
     def __enter__(self):
         """
         Function run on enter
@@ -630,15 +646,8 @@ class Orchestrator:
 
         # TODO : check_json
 
-        # close cluster
-        logging.info("Close cluster ...")
-        if self.launch_worker:
-            self.cluster.cleanup()
-
-        # # clean tmp dir
-        for tmp_dir in self.tmp_dir_list:
-            if tmp_dir is not None and os.path.exists(tmp_dir):
-                shutil.rmtree(tmp_dir)
+        # cleanup
+        self.cleanup()
 
 
 def merge_dicts(dict1, dict2):

cars-0.12.2/ci/cars-deps-env/Dockerfile

@@ -0,0 +1,35 @@
+ARG BASE_IMAGE
+
+FROM ${BASE_IMAGE}
+
+ARG PIP_INDEX_URL
+
+WORKDIR /app/cars
+
+# The Dockerfile only use pyproject.toml to build the environment image
+COPY pyproject.toml .
+
+COPY certs certs
+
+# for pip
+ENV PIP_CERT="/app/cars/certs/ca-bundle.crt"
+
+# for uv
+ENV SSL_CERT_FILE="/app/cars/certs/ca-bundle.crt"
+ENV UV_DEFAULT_INDEX="${PIP_INDEX_URL}"
+
+# install uv which will then be used to find and install dependencies
+RUN pip install uv
+
+# Generate a requirements.txt file from pyproject.toml containing cars dependencies
+# without having to compile and install cars
+RUN uv pip compile pyproject.toml --extra dev \
+                                  --extra notebook \
+                                  --extra docs \
+                                  --output-file requirements.txt
+
+# uv variable defining default env
+ENV VIRTUAL_ENV=/app/cars/venv
+
+# Install cars requirements
+RUN uv venv ${VIRTUAL_ENV} && uv pip install --no-cache meson-python meson ninja setuptools_scm setuptools wheel pybind11 -r requirements.txt

cars-0.12.2/ci/cars-docker-build.yml

@@ -0,0 +1,37 @@
+spec:
+  inputs:
+    tag:
+---
+
+variables:
+  # CARS environment image configuration
+  DOCKERFILE: "ci/cars-deps-env/Dockerfile"
+  CARS_ENV_IMAGE_NAME: "${CARS_DOCKER_REGISTRY}/cars-deps-env"
+  #CARS_ENV_IMAGE_TAG: "latest"
+  CARS_ENV_DOCKERFILE: "${CI_PROJECT_DIR}/${DOCKERFILE}"
+  CARS_ENV_IMAGE_TAG: "$[[ inputs.tag ]]"
+
+# Jobs building cars-deps-env docker image
+include:
+  - component: $CI_SERVER_FQDN/dali/cars-park/cars-ci/cars-ci-docker@master
+    inputs:
+      init_stage: init
+      build_stage: build
+
+# Build cars env
+cars-dep-env-build:
+  extends:
+    - .kaniko_build
+  variables:
+    # docker generation
+    ENV_IMAGE_NAME: "${CARS_ENV_IMAGE_NAME}"
+    ENV_IMAGE_TAG: "${CARS_ENV_IMAGE_TAG}"
+    ENV_DOCKERFILE: "${CARS_ENV_DOCKERFILE}"
+    DOCKER_BUILD_OPTIONS: "--build-arg PIP_INDEX_URL=${PIP_INDEX_URL} --build-arg BASE_IMAGE=${PYTHON_IMAGE}"
+
+# Set variables for templated hadolint build
+hadolint:
+  variables:
+    HADOLINT_CONFIG_FILE: ci/hadolint_RNC_A_B_C_D.yaml
+    ENV_DOCKERFILE: "${CARS_ENV_DOCKERFILE}"
+  allow_failure: true

cars-0.12.2/ci/cars-no-docker-build.yml

@@ -0,0 +1,7 @@
+variables:
+  CARS_ENV_IMAGE_TAG: latest
+  # CARS environment image configuration
+  DOCKERFILE: "ci/cars-deps-env/Dockerfile"
+  CARS_ENV_IMAGE_NAME: "cars-ci-docker-snapshot-local/cars-deps-env"
+  #CARS_ENV_IMAGE_TAG: "latest"
+  CARS_ENV_DOCKERFILE: "${CI_PROJECT_DIR}/${DOCKERFILE}"