cars 1.0.0a2__cp312-cp312-win_amd64.whl → 1.0.0a4__cp312-cp312-win_amd64.whl

cars/applications/sparse_matching/sift_app.py

@@ -159,7 +159,7 @@ class Sift(SparseMatching, short_name=["sift"]):
 
         # minimum number of matches to continue with
         overloaded_conf["minimum_nb_matches"] = conf.get(
-            "minimum_nb_matches", 100
+            "minimum_nb_matches", 90
         )
 
         # sifts params
@@ -224,7 +224,7 @@ class Sift(SparseMatching, short_name=["sift"]):
             "sift_matching_threshold": And(float, lambda x: x > 0),
             "sift_n_octave": And(int, lambda x: x > 0),
             "sift_n_scale_per_octave": And(int, lambda x: x > 0),
-            "sift_peak_threshold": Or(float, None),
+            "sift_peak_threshold": Or(float, int),
             "sift_edge_threshold": float,
             "sift_magnification": And(float, lambda x: x > 0),
             "sift_window_size": And(int, lambda x: x > 0),
@@ -430,7 +430,7 @@ class Sift(SparseMatching, short_name=["sift"]):
         """
         self.decimation_factor = value
 
-    def run(
+    def run(  # pylint: disable=too-many-positional-arguments
         self,
         epipolar_image_left,
         epipolar_image_right,
@@ -514,26 +514,6 @@ class Sift(SparseMatching, short_name=["sift"]):
             epipolar_disparity_map_left.attributes.update(
                 epipolar_image_left.attributes
             )
-            # check sift_peak_threshold with image type
-            # only if sift_peak_threshold is None
-            tmp_sift_peak_threshold = self.sift_peak_threshold
-            if not self.sift_peak_threshold:
-                logging.info("The sift_peak_threshold is set to auto-mode.")
-                # sift_peak_threshold is None or not specified
-                # check input type
-                if np.issubdtype(
-                    epipolar_disparity_map_left.attributes["image_type"],
-                    np.uint8,
-                ):
-                    tmp_sift_peak_threshold = 1
-                else:
-                    tmp_sift_peak_threshold = 20
-                logging.info(
-                    "The sift_peak_threshold will be set to {}.".format(
-                        tmp_sift_peak_threshold
-                    )
-                )
-                self.sift_peak_threshold = tmp_sift_peak_threshold
 
             # Save disparity maps
             if self.save_intermediate_data:
@@ -628,7 +608,7 @@ class Sift(SparseMatching, short_name=["sift"]):
                         matching_threshold=self.sift_matching_threshold,
                         n_octave=self.sift_n_octave,
                         n_scale_per_octave=self.sift_n_scale_per_octave,
-                        peak_threshold=tmp_sift_peak_threshold,
+                        peak_threshold=self.sift_peak_threshold,
                         edge_threshold=self.sift_edge_threshold,
                         magnification=self.sift_magnification,
                         window_size=self.sift_window_size,
@@ -647,7 +627,7 @@ class Sift(SparseMatching, short_name=["sift"]):
         return epipolar_disparity_map_left, None
 
 
-def compute_matches_wrapper(
+def compute_matches_wrapper(  # pylint: disable=too-many-positional-arguments
     left_image_object: xr.Dataset,
     right_image_object: xr.Dataset,
     used_band="b0",

cars/applications/sparse_matching/sparse_matching_algo.py

@@ -37,7 +37,7 @@ from cars.applications.sparse_matching.sparse_matching_wrappers import (
 )
 
 
-def compute_matches(
+def compute_matches(  # pylint: disable=too-many-positional-arguments
     left: np.ndarray,
     right: np.ndarray,
     left_mask: np.ndarray = None,
@@ -191,6 +191,7 @@ def compute_matches(
                 right_id_offset = left_id
             else:
                 right_descr_block = []
+                right_id_offset = 0
         else:
             right_descr_block = right_descr
             right_id_offset = 0
@@ -253,7 +254,7 @@ def compute_matches(
     return matches
 
 
-def dataset_matching(
+def dataset_matching(  # pylint: disable=too-many-positional-arguments
     ds1,
     ds2,
     used_band,

cars/applications/sparse_matching/sparse_matching_wrappers.py

@@ -170,7 +170,7 @@ def compute_disp_min_disp_max(
     return dmin, dmax
 
 
-@cars_profile(name="filter_point_cloud_matches")
+@cars_profile(name="Filter_point_cloud_matches")
 def filter_point_cloud_matches(
     pd_cloud,
     match_filter_knn=25,

cars/applications/triangulation/abstract_triangulation_app.py

@@ -94,7 +94,7 @@ class Triangulation(ApplicationTemplate, metaclass=ABCMeta):
         super().__init__(conf=conf)
 
     @abstractmethod
-    def run(  # noqa: C901
+    def run(  # pylint: disable=too-many-positional-arguments  # noqa: C901
         self,
         sensor_image_left,
         sensor_image_right,

cars/applications/triangulation/line_of_sight_intersection_app.py

@@ -39,11 +39,8 @@ from shareloc.geofunctions.rectification_grid import RectificationGrid
 import cars.orchestrator.orchestrator as ocht
 from cars.applications import application_constants
 from cars.applications.grid_generation import grid_generation_algo
-from cars.applications.point_cloud_fusion import (
-    pc_fusion_algo,
-    pc_fusion_wrappers,
-)
 from cars.applications.triangulation import (
+    pc_transform,
     triangulation_algo,
     triangulation_constants,
 )
@@ -58,6 +55,7 @@ from cars.core import constants as cst
 from cars.core import inputs, projection, tiling
 from cars.core.utils import safe_makedirs
 from cars.data_structures import cars_dataset
+from cars.orchestrator.cluster.log_wrapper import cars_profile
 from cars.pipelines.parameters import sensor_inputs_constants as sens_cst
 
 
@@ -133,6 +131,8 @@ class LineOfSightIntersection(
 
         return overloaded_conf
 
+    # pylint: disable=too-many-positional-arguments
+    @cars_profile(name="Save triangulation output", interval=0.5)
     def save_triangulation_output(  # noqa: C901 function is too complex
         self,
         epipolar_point_cloud,
@@ -355,7 +355,8 @@ class LineOfSightIntersection(
                 optional_data=True,
             )
 
-    def fill_index(
+    @cars_profile(name="Fill index", interval=0.5)
+    def fill_index(  # pylint: disable=too-many-positional-arguments
         self,
         save_output_coordinates=True,
         save_output_color=True,
@@ -466,7 +467,7 @@ class LineOfSightIntersection(
 
         return csv_pc_dir_name, laz_pc_dir_name
 
-    def run(  # noqa: C901
+    def run(  # pylint: disable=too-many-positional-arguments  # noqa: C901
         self,
         sensor_image_left,
         sensor_image_right,
@@ -933,7 +934,7 @@ class LineOfSightIntersection(
         return epipolar_point_cloud
 
 
-def triangulation_wrapper(
+def triangulation_wrapper(  # pylint: disable=too-many-positional-arguments
     disparity_object: xr.Dataset,
     sensor1,
     sensor2,
@@ -1154,10 +1155,10 @@ def triangulation_wrapper(
     flatten_pc_dataset = None
     if point_cloud_csv_file_name or point_cloud_laz_file_name:
         # Convert epipolar array into point cloud
-        flatten_pc_dataset, cloud_epsg = pc_fusion_algo.create_combined_cloud(
-            [pc_dataset], [0], epsg
+        flatten_pc_dataset, cloud_epsg = (
+            pc_transform.depth_map_dataset_to_dataframe(pc_dataset, epsg)
         )
-        # Convert to UTM
+        # Convert to wanted epsg
         if epsg is not None and cloud_epsg != epsg:
             projection.point_cloud_conversion_dataframe(
                 flatten_pc_dataset, cloud_epsg, epsg
@@ -1165,7 +1166,7 @@ def triangulation_wrapper(
             cloud_epsg = epsg
 
         # Fill attributes for LAZ saving
-        color_type = pc_fusion_wrappers.get_color_type([pc_dataset])
+        color_type = pc_transform.get_color_type([pc_dataset])
         attributes = {
             "epsg": cloud_epsg,
             "color_type": color_type,
@@ -1196,6 +1197,7 @@ def triangulation_wrapper(
     return pc_dataset, flatten_pc_dataset
 
 
+# pylint: disable=too-many-positional-arguments
 def triangulation_wrapper_matches(
     matches,
     sensor1,