cars 1.0.0rc1__cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl

cars/core/geometry/abstract_geometry.py

@@ -0,0 +1,1119 @@
+#!/usr/bin/env python
+# coding: utf8
+#
+# Copyright (c) 2020 Centre National d'Etudes Spatiales (CNES).
+#
+# This file is part of CARS
+# (see https://github.com/CNES/cars).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+# pylint: disable=C0302
+
+"""
+this module contains the abstract geometry class to use in the
+geometry plugins
+"""
+import logging
+import os
+from abc import ABCMeta, abstractmethod
+from typing import Dict, List, Tuple, Union
+
+import numpy as np
+import rasterio as rio
+import xarray as xr
+from affine import Affine
+from json_checker import And, Checker
+from rasterio.enums import Resampling
+from rasterio.warp import reproject
+from scipy import interpolate
+from scipy.interpolate import LinearNDInterpolator
+from shapely.geometry import Polygon
+from shareloc import proj_utils
+from shareloc.geofunctions.rectification_grid import RectificationGrid
+
+from cars.core import constants as cst
+from cars.core import inputs, outputs, projection
+from cars.core.utils import safe_makedirs
+from cars.data_structures import cars_dataset
+from cars.orchestrator.cluster.log_wrapper import cars_profile
+
+
+class AbstractGeometry(metaclass=ABCMeta):  # pylint: disable=R0902
+    """
+    AbstractGeometry
+    """
+
+    available_plugins: Dict = {}
+
+    def __new__(
+        cls,
+        geometry_plugin_conf=None,
+        pairs_for_roi=None,
+        scaling_coeff=1,
+        **kwargs,
+    ):
+        """
+        Return the required plugin
+        :raises:
+         - KeyError when the required plugin is not registered
+
+        :param geometry_plugin_conf: plugin name or plugin configuration
+            to instantiate
+        :type geometry_plugin_conf: str or dict
+        :param scaling_coeff: scaling factor for resolution
+        :type scaling_coeff: float
+        :return: a geometry_plugin object
+        """
+        if geometry_plugin_conf is not None:
+            if isinstance(geometry_plugin_conf, str):
+                geometry_plugin = geometry_plugin_conf
+            elif isinstance(geometry_plugin_conf, dict):
+                geometry_plugin = geometry_plugin_conf.get(
+                    "plugin_name", "SharelocGeometry"
+                )
+            else:
+                raise RuntimeError("Not a supported type")
+
+            if geometry_plugin not in cls.available_plugins:
+                logging.error(
+                    "No geometry plugin named {} registered".format(
+                        geometry_plugin
+                    )
+                )
+                raise KeyError(
+                    "No geometry plugin named {} registered".format(
+                        geometry_plugin
+                    )
+                )
+
+            logging.info(
+                "The AbstractGeometry {} plugin will be used".format(
+                    geometry_plugin
+                )
+            )
+
+            return super(AbstractGeometry, cls).__new__(
+                cls.available_plugins[geometry_plugin]
+            )
+        return super().__new__(cls)
+
+    def __init__(  # pylint: disable=too-many-positional-arguments
+        self,
+        geometry_plugin_conf,
+        dem=None,
+        geoid=None,
+        default_alt=None,
+        pairs_for_roi=None,
+        scaling_coeff=1,
+        output_dem_dir=None,
+        **kwargs,
+    ):
+        self.scaling_coeff = scaling_coeff
+
+        self.used_config = self.check_conf(geometry_plugin_conf)
+
+        self.plugin_name = self.used_config["plugin_name"]
+        self.interpolator = self.used_config["interpolator"]
+        self.dem_roi_margin = self.used_config["dem_roi_margin"]
+        self.dem = None
+        self.dem_roi = None
+        self.dem_roi_epsg = None
+        self.geoid = geoid
+        self.default_alt = default_alt
+        self.elevation = default_alt
+        # a margin is needed for cubic interpolation
+        self.rectification_grid_margin = 0
+        if self.interpolator == "cubic":
+            self.rectification_grid_margin = 5
+        self.kwargs = kwargs
+
+        # compute roi only when generating geometry object with dem
+        if dem is not None:
+            self.dem = dem
+            self.default_alt = self.get_dem_median_value()
+            self.elevation = self.default_alt
+            logging.info(
+                "Median value of DEM ({}) will be used as default_alt".format(
+                    self.default_alt
+                )
+            )
+            if pairs_for_roi is not None:
+                self.dem_roi_epsg = inputs.rasterio_get_epsg(dem)
+                self.dem_roi = self.get_roi(
+                    pairs_for_roi,
+                    self.dem_roi_epsg,
+                    z_min=-1000,
+                    z_max=9000,
+                    linear_margin=self.dem_roi_margin[0],
+                    constant_margin=self.dem_roi_margin[1],
+                )
+                if output_dem_dir is not None:
+                    self.dem = self.extend_dem_to_roi(dem, output_dem_dir)
+
+    def get_dem_median_value(self):
+        """
+        Compute dem median value
+        :param dem: path of DEM
+        """
+        with rio.open(self.dem) as dem_file:
+            dem_data = dem_file.read(1)
+            median_value = np.nanmedian(dem_data)
+        median_value = float(median_value)
+        return median_value
+
+    def get_roi(  # pylint: disable=too-many-positional-arguments
+        self,
+        pairs_for_roi,
+        epsg,
+        z_min=0,
+        z_max=0,
+        linear_margin=0,
+        constant_margin=0.012,
+    ):
+        """
+        Compute region of interest for intersection of DEM
+
+        :param pairs_for_roi: list of pairs of images and geomodels
+        :type pairs_for_roi: List[(str, dict, str, dict)]
+        :param dem_epsg: output EPSG code for ROI
+        :type dem_epsg: int
+        :param linear_margin: margin for ROI (factor of initial ROI size)
+        :type linear_margin: float
+        :param constant_margin: margin for ROI in degrees
+        :type constant_margin: float
+        """
+        coords_list = []
+        z_min = np.array(z_min)
+        z_max = np.array(z_max)
+        for image1, geomodel1, image2, geomodel2 in pairs_for_roi:
+            # Footprint of left image with altitude z_min
+            coords_list.extend(
+                self.image_envelope(
+                    image1["bands"]["b0"]["path"], geomodel1, elevation=z_min
+                )
+            )
+            # Footprint of left image with altitude z_max
+            coords_list.extend(
+                self.image_envelope(
+                    image1["bands"]["b0"]["path"], geomodel1, elevation=z_max
+                )
+            )
+            # Footprint of right image with altitude z_min
+            coords_list.extend(
+                self.image_envelope(
+                    image2["bands"]["b0"]["path"], geomodel2, elevation=z_min
+                )
+            )
+            # Footprint of right image with altitude z_max
+            coords_list.extend(
+                self.image_envelope(
+                    image2["bands"]["b0"]["path"], geomodel2, elevation=z_max
+                )
+            )
+        lon_list, lat_list = list(zip(*coords_list))  # noqa: B905
+        roi = [
+            min(lon_list) - constant_margin,
+            min(lat_list) - constant_margin,
+            max(lon_list) + constant_margin,
+            max(lat_list) + constant_margin,
+        ]
+        points = np.array(
+            [
+                (roi[0], roi[1], 0),
+                (roi[2], roi[3], 0),
+                (roi[0], roi[1], 0),
+                (roi[2], roi[3], 0),
+            ]
+        )
+        new_points = projection.point_cloud_conversion(points, 4326, epsg)
+        roi = [
+            min(new_points[:, 0]),
+            min(new_points[:, 1]),
+            max(new_points[:, 0]),
+            max(new_points[:, 1]),
+        ]
+
+        lon_size = roi[2] - roi[0]
+        lat_size = roi[3] - roi[1]
+
+        roi[0] -= linear_margin * lon_size
+        roi[1] -= linear_margin * lat_size
+        roi[2] += linear_margin * lon_size
+        roi[3] += linear_margin * lat_size
+
+        return roi
+
+    def extend_dem_to_roi(self, dem, output_dem_dir):
+        """
+        Extend the size of the dem to the required ROI and fill
+        :param dem: path to the input DEM
+        :param output_dem_dir: path to write the output extended DEM
+        """
+        with rio.open(dem) as in_dem:
+            src_dem = in_dem.read(1)
+            metadata = in_dem.meta
+            src_transform = in_dem.transform
+            crs = in_dem.crs
+            bounds = in_dem.bounds
+
+        logging.info(
+            "DEM bounds : {}, {}, {}, {}".format(
+                bounds.left, bounds.top, bounds.right, bounds.bottom
+            )
+        )
+        logging.info(
+            "ROI bounds : {}, {}, {}, {}".format(
+                self.dem_roi[0],
+                self.dem_roi[1],
+                self.dem_roi[2],
+                self.dem_roi[3],
+            )
+        )
+
+        # Longitude
+        lon_res = src_transform[0]
+        lon_shift = (self.dem_roi[0] - bounds.left) / lon_res
+        dst_width = int((self.dem_roi[2] - self.dem_roi[0]) / abs(lon_res)) + 1
+        # Latitude
+        lat_res = src_transform[4]
+        lat_shift = (self.dem_roi[3] - bounds.top) / lat_res
+        dst_height = int((self.dem_roi[3] - self.dem_roi[1]) / abs(lat_res)) + 1
+
+        shift = Affine.translation(lon_shift, lat_shift)
+        dst_transform = src_transform * shift
+        dst_dem = np.zeros((dst_height, dst_width))
+
+        reproject(
+            source=src_dem,
+            destination=dst_dem,
+            src_transform=src_transform,
+            src_crs=crs,
+            dst_transform=dst_transform,
+            dst_crs=crs,
+            resampling=Resampling.bilinear,
+        )
+        # Fill nodata
+        dst_dem = rio.fill.fillnodata(
+            dst_dem,
+            mask=~(dst_dem == 0),
+        )
+        metadata["transform"] = dst_transform
+        metadata["height"] = dst_height
+        metadata["width"] = dst_width
+        metadata["driver"] = "GTiff"
+
+        out_dem_path = os.path.join(output_dem_dir, "initial_elevation.tif")
+
+        with rio.open(out_dem_path, "w", **metadata) as dst:
+            dst.write(dst_dem, 1)
+
+        return out_dem_path
+
+    @classmethod
+    def register_subclass(cls, short_name: str):
+        """
+        Allows to register the subclass with its short name
+        :param short_name: the subclass to be registered
+        :type short_name: string
+        """
+
+        def decorator(subclass):
+            """
+            Registers the subclass in the available methods
+            :param subclass: the subclass to be registered
+            :type subclass: object
+            """
+            cls.available_plugins[short_name] = subclass
+            return subclass
+
+        return decorator
+
+    def check_conf(self, conf):
+        """
+        Check configuration
+
+        :param conf: configuration to check
+        :type conf: str or dict
+
+        :return: full dict
+        :rtype: dict
+
+        """
+
+        if conf is None:
+            raise RuntimeError("Geometry plugin configuration is None")
+
+        overloaded_conf = {}
+
+        if isinstance(conf, str):
+            conf = {"plugin_name": conf}
+
+        # overload conf
+        overloaded_conf["plugin_name"] = conf.get(
+            "plugin_name", "SharelocGeometry"
+        )
+        overloaded_conf["interpolator"] = conf.get("interpolator", "cubic")
+        overloaded_conf["dem_roi_margin"] = conf.get(
+            "dem_roi_margin", [0.75, 0.02]
+        )
+
+        geometry_schema = {
+            "plugin_name": str,
+            "interpolator": And(str, lambda x: x in ["cubic", "linear"]),
+            "dem_roi_margin": [float],
+        }
+
+        # Check conf
+        checker = Checker(geometry_schema)
+        checker.validate(overloaded_conf)
+
+        return overloaded_conf
+
+    @abstractmethod
+    def triangulate(  # pylint: disable=too-many-positional-arguments
+        self,
+        sensor1,
+        sensor2,
+        geomodel1,
+        geomodel2,
+        mode: str,
+        matches: Union[xr.Dataset, np.ndarray],
+        grid1: str,
+        grid2: str,
+        roi_key: Union[None, str] = None,
+        interpolation_method=None,
+    ) -> np.ndarray:
+        """
+        Performs triangulation from cars disparity or matches dataset
+
+        :param sensor1: path to left sensor image
+        :param sensor2: path to right sensor image
+        :param geomodel1: path and attributes for left geomodel
+        :param geomodel2: path and attributes for right geomodel
+        :param mode: triangulation mode
+               (constants.DISP_MODE or constants.MATCHES)
+        :param matches: cars disparity dataset or matches as numpy array
+        :param grid1: path to epipolar grid of img1
+        :param grid2: path to epipolar grid of image 2
+        :param roi_key: dataset roi to use
+               (can be cst.ROI or cst.ROI_WITH_MARGINS)
+        :return: the long/lat/height numpy array in output of the triangulation
+        """
+
+    @staticmethod
+    @abstractmethod
+    def check_product_consistency(sensor: str, geomodel: str, **kwargs) -> bool:
+        """
+        Test if the product is readable by the geometry plugin
+
+        :param sensor: path to sensor image
+        :param geomodel: path to geomodel
+        :return: True if the products are readable, False otherwise
+        """
+
+    # pylint: disable=too-many-positional-arguments
+    @abstractmethod
+    def generate_epipolar_grids(
+        self, sensor1, sensor2, geomodel1, geomodel2, epipolar_step: int = 30
+    ) -> Tuple[
+        np.ndarray, np.ndarray, List[float], List[float], List[int], float
+    ]:
+        """
+        Computes the left and right epipolar grids
+
+        :param sensor1: path to left sensor image
+        :param sensor2: path to right sensor image
+        :param geomodel1: path and attributes for left geomodel
+        :param geomodel2: path and attributes for right geomodel
+        :param epipolar_step: step to use to construct the epipolar grids
+        :return: Tuple composed of :
+
+            - the left epipolar grid as a numpy array
+            - the right epipolar grid as a numpy array
+            - the left grid origin as a list of float
+            - the left grid spacing as a list of float
+            - the epipolar image size as a list of int \
+            (x-axis size is given with the index 0, y-axis size with index 1)
+            - the disparity to altitude ratio as a float
+        """
+
+    def load_geomodel(self, geomodel: dict) -> dict:
+        """
+        By default return the geomodel
+        This method can be overloaded by plugins to load geomodel in memory
+
+        :param geomodel
+        """
+        return geomodel
+
+    # pylint: disable=too-many-positional-arguments
+    def matches_to_sensor_coords(
+        self,
+        grid1: Union[str, cars_dataset.CarsDataset, RectificationGrid],
+        grid2: Union[str, cars_dataset.CarsDataset, RectificationGrid],
+        matches: np.ndarray,
+        matches_type: str,
+        matches_msk: np.ndarray = None,
+        ul_matches_shift: Tuple[int, int] = None,
+        interpolation_method=None,
+    ) -> Tuple[np.ndarray, np.ndarray]:
+        """
+        Convert matches (sparse or dense matches) given in epipolar
+        coordinates to sensor coordinates. This function is available for
+        plugins if it requires matches in sensor coordinates to perform
+        the triangulation.
+
+        This function returns a tuple composed of the matches left and right
+        sensor coordinates as numpy arrays. For each original image, the sensor
+        coordinates are arranged as follows :
+
+            - if the matches are a vector of matching points: a numpy array of\
+            size [number of matches, 2].\
+            The last index indicates the 'x' coordinate(last index set to 0) or\
+            the 'y' coordinate (last index set to 1).
+            - if matches is a cars disparity dataset: a numpy array of size \
+            [nb_epipolar_line, nb_epipolar_col, 2]. Where\
+            [nb_epipolar_line, nb_epipolar_col] is the size of the disparity \
+            map. The last index indicates the 'x' coordinate (last index set \
+            to 0) or the 'y' coordinate (last index set to 1).
+
+        :param grid1: path to epipolar grid of image 1
+        :param grid2: path to epipolar grid of image 2
+        :param matches: cars disparity dataset or matches as numpy array
+        :param matches_type: matches type (cst.DISP_MODE or cst.MATCHES)
+        :param matches_msk: matches mask to provide for cst.DISP_MODE
+        :param ul_matches_shift: coordinates (x, y) of the upper left corner of
+               the matches map (for cst.DISP_MODE) in the original epipolar
+               geometry (use this if the map have been cropped)
+        :return: a tuple of numpy array. The first array corresponds to the
+                 left matches in sensor coordinates, the second one is the right
+                 matches in sensor coordinates.
+        """
+        vec_epi_pos_left = None
+        vec_epi_pos_right = None
+
+        if matches_type == cst.MATCHES_MODE:
+            # retrieve left and right matches
+            vec_epi_pos_left = matches[:, 0:2]
+            vec_epi_pos_right = matches[:, 2:4]
+
+        elif matches_type == cst.DISP_MODE:
+            if matches_msk is None:
+                logging.error("No disparity mask given in input")
+                raise RuntimeError("No disparity mask given in input")
+
+            if ul_matches_shift is None:
+                ul_matches_shift = (0, 0)
+
+            # convert disparity to matches
+            epi_pos_left_y, epi_pos_left_x = np.mgrid[
+                ul_matches_shift[1] : ul_matches_shift[1] + matches.shape[0],
+                ul_matches_shift[0] : ul_matches_shift[0] + matches.shape[1],
+            ]
+
+            epi_pos_left_x = epi_pos_left_x.astype(np.float64)
+            epi_pos_left_y = epi_pos_left_y.astype(np.float64)
+            epi_pos_right_y = np.copy(epi_pos_left_y)
+            epi_pos_right_x = np.copy(epi_pos_left_x)
+            epi_pos_right_x[np.where(matches_msk == 255)] += matches[
+                np.where(matches_msk == 255)
+            ]
+
+            # vectorize matches
+            vec_epi_pos_left = np.transpose(
+                np.vstack([epi_pos_left_x.ravel(), epi_pos_left_y.ravel()])
+            )
+            vec_epi_pos_right = np.transpose(
+                np.vstack([epi_pos_right_x.ravel(), epi_pos_right_y.ravel()])
+            )
+
+        # convert epipolar matches to sensor coordinates
+        sensor_pos_left = self.sensor_position_from_grid(
+            grid1, vec_epi_pos_left, interpolation_method=interpolation_method
+        )
+        sensor_pos_right = self.sensor_position_from_grid(
+            grid2, vec_epi_pos_right, interpolation_method=interpolation_method
+        )
+
+        if matches_type == cst.DISP_MODE:
+            # rearrange matches in the original epipolar geometry
+            sensor_pos_left_x = sensor_pos_left[:, 0].reshape(matches_msk.shape)
+            sensor_pos_left_x[np.where(matches_msk != 255)] = np.nan
+            sensor_pos_left_y = sensor_pos_left[:, 1].reshape(matches_msk.shape)
+            sensor_pos_left_y[np.where(matches_msk != 255)] = np.nan
+
+            sensor_pos_right_x = sensor_pos_right[:, 0].reshape(
+                matches_msk.shape
+            )
+            sensor_pos_right_x[np.where(matches_msk != 255)] = np.nan
+            sensor_pos_right_y = sensor_pos_right[:, 1].reshape(
+                matches_msk.shape
+            )
+            sensor_pos_right_y[np.where(matches_msk != 255)] = np.nan
+
+            sensor_pos_left = np.zeros(
+                (matches_msk.shape[0], matches_msk.shape[1], 2)
+            )
+            sensor_pos_left[:, :, 0] = sensor_pos_left_x
+            sensor_pos_left[:, :, 1] = sensor_pos_left_y
+            sensor_pos_right = np.zeros(
+                (matches_msk.shape[0], matches_msk.shape[1], 2)
+            )
+            sensor_pos_right[:, :, 0] = sensor_pos_right_x
+            sensor_pos_right[:, :, 1] = sensor_pos_right_y
+
+        return sensor_pos_left, sensor_pos_right
+
+    def sensor_position_from_grid(
+        self,
+        grid: Union[dict, RectificationGrid],
+        positions: np.ndarray,
+        interpolation_method=None,
+    ) -> np.ndarray:
+        """
+        Interpolate the positions given as inputs using the grid
+
+        :param grid: rectification grid dict, or RectificationGrid object
+        :type grid: Union[dict, RectificationGrid]
+        :param positions: epipolar positions to interpolate given as a numpy
+               array of size [number of points, 2]. The last index indicates
+               the 'x' coordinate (last index set to 0) or the 'y' coordinate
+               (last index set to 1).
+        :return: sensors positions as a numpy array of size
+                 [number of points, 2]. The last index indicates the 'x'
+                 coordinate (last index set to 0) or
+                 the 'y' coordinate (last index set to 1).
+        """
+
+        if isinstance(grid, RectificationGrid):
+            return grid.interpolate(positions)
+
+        if not isinstance(grid, dict):
+            raise RuntimeError(
+                f"Grid type {type(grid)} not a dict or RectificationGrid"
+            )
+
+        # Ensure positions is a numpy array
+        positions = np.asarray(positions)
+
+        # Get data
+        with rio.open(grid["path"]) as grid_data:
+            row_dep = grid_data.read(2)
+            col_dep = grid_data.read(1)
+
+        # Get step
+        step_col = grid["grid_spacing"][1]
+        step_row = grid["grid_spacing"][0]
+        ori_col = grid["grid_origin"][1]
+        ori_row = grid["grid_origin"][0]
+        last_col = ori_col + step_col * row_dep.shape[1]
+        last_row = ori_row + step_row * row_dep.shape[0]
+
+        cols = np.arange(ori_col, last_col, step_col)
+        rows = np.arange(ori_row, last_row, step_row)
+
+        # Determine margin based on interpolator type
+        margin = 6 if self.interpolator == "cubic" else 3
+
+        # Find the bounds of positions to determine crop region
+        min_col = np.nanmin(positions[:, 0])
+        max_col = np.nanmax(positions[:, 0])
+        min_row = np.nanmin(positions[:, 1])
+        max_row = np.nanmax(positions[:, 1])
+
+        # Convert position bounds to grid indices with margin
+        min_col_idx = max(0, int((min_col - ori_col) / step_col) - margin)
+        max_col_idx = min(
+            len(cols) - 1, int((max_col - ori_col) / step_col) + margin
+        )
+        min_row_idx = max(0, int((min_row - ori_row) / step_row) - margin)
+        max_row_idx = min(
+            len(rows) - 1, int((max_row - ori_row) / step_row) + margin
+        )
+
+        # Crop the grids and coordinate arrays
+        cols_cropped = cols[min_col_idx : max_col_idx + 1]
+        rows_cropped = rows[min_row_idx : max_row_idx + 1]
+        sensor_row_positions_cropped = row_dep[
+            min_row_idx : max_row_idx + 1, min_col_idx : max_col_idx + 1
+        ]
+        sensor_col_positions_cropped = col_dep[
+            min_row_idx : max_row_idx + 1, min_col_idx : max_col_idx + 1
+        ]
+
+        if interpolation_method is not None:
+            method = interpolation_method
+        else:
+            method = self.interpolator
+
+        # interpolate sensor positions
+        interpolator = interpolate.RegularGridInterpolator(
+            (cols_cropped, rows_cropped),
+            np.stack(
+                (
+                    sensor_row_positions_cropped.transpose(),
+                    sensor_col_positions_cropped.transpose(),
+                ),
+                axis=2,
+            ),
+            method=method,
+            bounds_error=False,
+            fill_value=None,
+        )
+
+        sensor_positions = interpolator(positions)
+
+        min_row = np.min(sensor_row_positions_cropped)
+        max_row = np.max(sensor_row_positions_cropped)
+        min_col = np.min(sensor_col_positions_cropped)
+        max_col = np.max(sensor_col_positions_cropped)
+
+        valid_rows = np.logical_and(
+            sensor_positions[:, 0] > min_row,
+            sensor_positions[:, 0] < max_row,
+        )
+        valid_cols = np.logical_and(
+            sensor_positions[:, 1] > min_col,
+            sensor_positions[:, 1] < max_col,
+        )
+        valid = np.logical_and(valid_rows, valid_cols)
+
+        if np.sum(~valid) > 0:
+            logging.warning(
+                "{}/{} points are outside of epipolar grid".format(
+                    np.sum(~valid), valid.size
+                )
+            )
+
+        # swap
+        sensor_positions[:, [0, 1]] = sensor_positions[:, [1, 0]]
+
+        return sensor_positions
+
+    def epipolar_position_from_grid(self, grid, sensor_positions, step=30):
+        """
+        Compute epipolar position from grid
+
+        :param grid: epipolar grid
+        :param sensor_positions: sensor positions
+        :param step: step of grid interpolator
+
+        :return epipolar positions
+        """
+        # Generate interpolations grid to compute reverse
+
+        epi_size_x = grid["epipolar_size_x"]
+        epi_size_y = grid["epipolar_size_y"]
+
+        epi_grid_row, epi_grid_col = np.mgrid[
+            0:epi_size_x:step, 0:epi_size_y:step
+        ]
+
+        full_epi_pos = np.stack(
+            [epi_grid_row.flatten(), epi_grid_col.flatten()], axis=1
+        )
+
+        sensor_interp_pos = self.sensor_position_from_grid(grid, full_epi_pos)
+        interp_row = LinearNDInterpolator(
+            list(
+                zip(  # noqa: B905
+                    sensor_interp_pos[:, 0], sensor_interp_pos[:, 1]
+                )
+            ),
+            epi_grid_row.flatten(),
+        )
+        epi_interp_row = interp_row(
+            sensor_positions[:, 0], sensor_positions[:, 1]
+        )
+
+        interp_col = LinearNDInterpolator(
+            list(
+                zip(  # noqa: B905
+                    sensor_interp_pos[:, 0], sensor_interp_pos[:, 1]
+                )
+            ),
+            epi_grid_col.flatten(),
+        )
+        epi_interp_col = interp_col(
+            sensor_positions[:, 0], sensor_positions[:, 1]
+        )
+
+        epipolar_positions = np.stack(
+            (epi_interp_row, epi_interp_col)
+        ).transpose()
+
+        return epipolar_positions
+
+    @cars_profile(name="Transform matches", interval=0.5)
+    def transform_matches_from_grids(
+        self,
+        sensor_matches_left,
+        sensor_matches_right,
+        new_grid_left,
+        new_grid_right,
+    ):
+        """
+        Transform epipolar matches with grid transformation
+
+        :param new_grid_left: path to epipolar grid of image 1
+        :param new_grid_right: path to epipolar grid of image 2
+        :param matches: cars disparity dataset or matches as numpy array
+
+        """
+
+        # Transform to new grids
+        new_grid_matches_left = self.epipolar_position_from_grid(
+            new_grid_left, sensor_matches_left
+        )
+        new_grid_matches_right = self.epipolar_position_from_grid(
+            new_grid_right, sensor_matches_right
+        )
+
+        # Concatenate matches
+        new_matches_array = np.concatenate(
+            [new_grid_matches_left, new_grid_matches_right], axis=1
+        )
+
+        # Linear interpolation might generate nan on the borders
+        new_matches_array = new_matches_array[
+            ~np.isnan(new_matches_array).any(axis=1)
+        ]
+
+        return new_matches_array
+
+    @cars_profile(name="Get sensor matches")
+    def get_sensor_matches(  # pylint: disable=too-many-positional-arguments
+        self,
+        matches_array,
+        grid_left,
+        grid_right,
+        pair_folder,
+        save_matches,
+    ):
+        """
+        Get sensor matches
+
+        :param grid_left: path to epipolar grid of image 1
+        :param grid_left: path to epipolar grid of image 2
+        """
+        # Transform to sensors
+        sensor_matches_left = self.sensor_position_from_grid(
+            grid_left, matches_array[:, 0:2]
+        )
+        sensor_matches_right = self.sensor_position_from_grid(
+            grid_right, matches_array[:, 2:4]
+        )
+
+        current_out_dir = None
+        if save_matches:
+            logging.info("Writing matches file")
+            if pair_folder is None:
+                logging.error("Pair folder not provided")
+            else:
+                safe_makedirs(pair_folder)
+                current_out_dir = pair_folder
+            matches_sensor_left_path = os.path.join(
+                current_out_dir, "sensor_matches_left.npy"
+            )
+            matches_sensor_right_path = os.path.join(
+                current_out_dir, "sensor_matches_right.npy"
+            )
+            np.save(matches_sensor_left_path, sensor_matches_left)
+            np.save(matches_sensor_right_path, sensor_matches_right)
+
+        return sensor_matches_left, sensor_matches_right
+
+    @abstractmethod
+    def direct_loc(  # pylint: disable=too-many-positional-arguments
+        self,
+        sensor,
+        geomodel,
+        x_coord: np.array,
+        y_coord: np.array,
+        z_coord: np.array = None,
+    ) -> np.ndarray:
+        """
+        For a given image points list, compute the latitudes,
+        longitudes, altitudes
+
+        Advice: to be sure, use x,y,z list inputs only
+
+        :param sensor: path to sensor image
+        :param geomodel: path and attributes for geomodel
+        :param x_coord: X Coordinates list in input image sensor
+        :param y_coord: Y Coordinate list in input image sensor
+        :param z_coord: Z Altitude list coordinate to take the image
+        :return: Latitude, Longitude, Altitude coordinates list as a numpy array
+        """
+
+    def safe_direct_loc(  # pylint: disable=too-many-positional-arguments
+        self,
+        sensor,
+        geomodel,
+        x_coord: np.array,
+        y_coord: np.array,
+        z_coord: np.array = None,
+    ) -> np.ndarray:
+        """
+        For a given image points list, compute the latitudes,
+        longitudes, altitudes
+
+        Advice: to be sure, use x,y,z list inputs only
+
+        :param sensor: path to sensor image
+        :param geomodel: path and attributes for geomodel
+        :param x_coord: X Coordinates list in input image sensor
+        :param y_coord: Y Coordinate list in input image sensor
+        :param z_coord: Z Altitude list coordinate to take the image
+        :return: Latitude, Longitude, Altitude coordinates list as a numpy array
+        """
+        if len(x_coord) > 0:
+            ground_points = self.direct_loc(
+                sensor,
+                geomodel,
+                x_coord,
+                y_coord,
+                z_coord,
+            )
+        else:
+            logging.warning("Direct loc function launched on empty list")
+            return []
+        if z_coord is None:
+            status = np.any(np.isnan(ground_points), axis=0)
+            if sum(status) > 0:
+                logging.warning(
+                    "{} errors have been detected on direct "
+                    "loc and will be re-launched".format(sum(status))
+                )
+                ground_points_retry = self.direct_loc(
+                    sensor,
+                    geomodel,
+                    x_coord[status],
+                    y_coord[status],
+                    np.array([0]),
+                )
+                ground_points[:, status] = ground_points_retry
+        return ground_points
+
+    @abstractmethod
+    def inverse_loc(  # pylint: disable=too-many-positional-arguments
+        self,
+        sensor,
+        geomodel,
+        lat_coord: np.array,
+        lon_coord: np.array,
+        z_coord: np.array = None,
+    ) -> np.ndarray:
+        """
+        For a given image points list, compute the latitudes,
+        longitudes, altitudes
+
+        Advice: to be sure, use x,y,z list inputs only
+
+        :param sensor: path to sensor image
+        :param geomodel: path and attributes for geomodel
+        :param lat_coord: latitute Coordinate list
+        :param lon_coord: longitude Coordinates list
+        :param z_coord: Z Altitude list
+        :return: X  / Y / Z Coordinates list in input image as a numpy array
+        """
+
+    def safe_inverse_loc(  # pylint: disable=too-many-positional-arguments
+        self,
+        sensor,
+        geomodel,
+        lat_coord: np.array,
+        lon_coord: np.array,
+        z_coord: np.array = None,
+    ) -> np.ndarray:
+        """
+        For a given image points list, compute the latitudes,
+        longitudes, altitudes
+
+        Advice: to be sure, use x,y,z list inputs only
+
+        :param sensor: path to sensor image
+        :param geomodel: path and attributes for geomodel
+        :param lat_coord: latitute Coordinate list
+        :param lon_coord: longitude Coordinates list
+        :param z_coord: Z Altitude list
+        :return: X  / Y / Z Coordinates list in input image as a numpy array
+        """
+        if len(lat_coord) > 0:
+            image_points = self.inverse_loc(
+                sensor,
+                geomodel,
+                lat_coord,
+                lon_coord,
+                z_coord,
+            )
+            image_points = np.array(image_points)
+        else:
+            logging.warning("Inverse loc function launched on empty list")
+            return [], [], []
+        if z_coord is None:
+            image_points = np.array(image_points)
+            status = np.any(np.isnan(image_points), axis=0)
+            if sum(status) > 0:
+                logging.warning(
+                    "{} errors have been detected on inverse "
+                    "loc and will be re-launched".format(sum(status))
+                )
+            image_points_retry = self.inverse_loc(
+                sensor,
+                geomodel,
+                lat_coord[status],
+                lon_coord[status],
+                np.array([self.default_alt]),
+            )
+
+            image_points[:, status] = image_points_retry
+        return image_points[0], image_points[1], image_points[2]
+
+    def image_envelope(  # pylint: disable=too-many-positional-arguments
+        self,
+        sensor,
+        geomodel,
+        out_path=None,
+        out_driver="ESRI Shapefile",
+        elevation=None,
+    ):
+        """
+        Export the image footprint to a vector file
+
+        :param sensor: path to sensor image
+        :param geomodel: path and attributes for geometrical model
+        :param out_path: Path to the output vector file
+        :param out_driver: OGR driver to use to write output file
+        """
+        # retrieve image size
+        img_size_x, img_size_y = inputs.rasterio_get_size(sensor)
+
+        # compute corners ground coordinates
+        shift_x = -0.5
+        shift_y = -0.5
+        # TODO call 1 time with multipoint
+        lat_upper_left, lon_upper_left, _ = self.direct_loc(
+            sensor,
+            geomodel,
+            np.array(shift_x),
+            np.array(shift_y),
+            elevation,
+        )
+        lat_upper_right, lon_upper_right, _ = self.direct_loc(
+            sensor,
+            geomodel,
+            np.array(img_size_x + shift_x),
+            np.array(shift_y),
+            elevation,
+        )
+        lat_bottom_left, lon_bottom_left, _ = self.direct_loc(
+            sensor,
+            geomodel,
+            np.array(shift_x),
+            np.array(img_size_y + shift_y),
+            elevation,
+        )
+        lat_bottom_right, lon_bottom_right, _ = self.direct_loc(
+            sensor,
+            geomodel,
+            np.array(img_size_x + shift_x),
+            np.array(img_size_y + shift_y),
+            elevation,
+        )
+
+        u_l = (lon_upper_left, lat_upper_left)
+        u_r = (lon_upper_right, lat_upper_right)
+        l_l = (lon_bottom_left, lat_bottom_left)
+        l_r = (lon_bottom_right, lat_bottom_right)
+
+        if out_path is not None:
+            # create envelope polygon and save it as a shapefile
+            poly_bb = Polygon([u_l, u_r, l_r, l_l, u_l])
+            outputs.write_vector([poly_bb], out_path, 4326, driver=out_driver)
+
+        return u_l, u_r, l_l, l_r
+
+
+def min_max_to_physical_min_max(xmin, xmax, ymin, ymax, transform):
+    """
+    Transform min max index to position min max
+
+    :param xmin: xmin
+    :type xmin: int
+    :param xmax: xmax
+    :type xmax: int
+    :param ymin: ymin
+    :type ymin: int
+    :param ymax: ymax
+    :type ymax: int
+    :param transform: transform
+    :type transform: Affine
+
+    :return: xmin, xmax, ymin, ymax
+    :rtype: list(int)
+    """
+
+    cols_ind = np.array([xmin, xmin, xmax, xmax])
+    rows_ind = np.array([ymin, ymax, ymin, ymax])
+
+    rows_pos, cols_pos = proj_utils.transform_index_to_physical_point(
+        transform,
+        rows_ind,
+        cols_ind,
+    )
+
+    return (
+        np.min(cols_pos),
+        np.max(cols_pos),
+        np.min(rows_pos),
+        np.max(rows_pos),
+    )
+
+
+def min_max_to_index_min_max(xmin, xmax, ymin, ymax, transform):
+    """
+    Transform min max position to index min max
+
+    :param xmin: xmin
+    :type xmin: int
+    :param xmax: xmax
+    :type xmax: int
+    :param ymin: ymin
+    :type ymin: int
+    :param ymax: ymax
+    :type ymax: int
+    :param transform: transform
+    :type transform: Affine
+
+    :return: xmin, xmax, ymin, ymax
+    :rtype: list(int)
+    """
+
+    cols_ind = np.array([xmin, xmin, xmax, xmax])
+    rows_ind = np.array([ymin, ymax, ymin, ymax])
+
+    rows_pos, cols_pos = proj_utils.transform_physical_point_to_index(
+        ~transform,
+        rows_ind,
+        cols_ind,
+    )
+
+    return (
+        np.min(cols_pos),
+        np.max(cols_pos),
+        np.min(rows_pos),
+        np.max(rows_pos),
+    )