cars 1.0.0rc1__cp313-cp313-musllinux_1_2_i686.whl

cars/applications/grid_generation/epipolar_grid_generation_app.py

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+#!/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.
+#
+"""
+this module contains the epipolar grid generation application class.
+"""
+
+# Standard imports
+import logging
+import os
+
+# Third party imports
+from json_checker import And, Checker
+
+import cars.orchestrator.orchestrator as ocht
+from cars.applications import application_constants
+from cars.applications.grid_generation import (
+    grid_generation_algo,
+)
+from cars.applications.grid_generation import (
+    grid_generation_constants as grid_constants,
+)
+from cars.applications.grid_generation.abstract_grid_generation_app import (
+    GridGeneration,
+)
+from cars.core import projection
+
+# CARS imports
+from cars.core.utils import safe_makedirs
+from cars.orchestrator.cluster.log_wrapper import cars_profile
+from cars.pipelines.parameters import sensor_inputs_constants as sens_cst
+
+
+class EpipolarGridGeneration(GridGeneration, short_name="epipolar"):
+    """
+    EpipolarGridGeneration
+    """
+
+    def __init__(self, conf=None):
+        """
+        Init function of EpipolarGridGeneration
+
+        :param conf: configuration for grid generation
+        :return: a application_to_use object
+        """
+
+        super().__init__(conf=conf)
+
+        # check conf
+        self.used_method = self.used_config["method"]
+        self.epi_step = self.used_config["epi_step"]
+        # Saving files
+        self.save_intermediate_data = self.used_config["save_intermediate_data"]
+
+        # Init orchestrator
+        self.orchestrator = None
+
+    def check_conf(self, conf):
+        """
+        Check configuration
+
+        :param conf: configuration to check
+        :type conf: dict
+
+        :return: overloaded configuration
+        :rtype: dict
+
+        """
+
+        # Init conf
+        if conf is not None:
+            overloaded_conf = conf.copy()
+        else:
+            conf = {}
+            overloaded_conf = {}
+
+        # Overload conf
+        overloaded_conf["method"] = conf.get("method", "epipolar")
+        overloaded_conf["epi_step"] = conf.get("epi_step", 30)
+        overloaded_conf["save_intermediate_data"] = conf.get(
+            "save_intermediate_data", False
+        )
+
+        grid_generation_schema = {
+            "method": str,
+            "epi_step": And(int, lambda x: x > 0),
+            "save_intermediate_data": bool,
+        }
+
+        # Check conf
+        checker = Checker(grid_generation_schema)
+        checker.validate(overloaded_conf)
+
+        return overloaded_conf
+
+    def get_save_grids(self):
+        """
+        Get whether the grid will be saved
+
+        :return: true is grid saving is activated
+        :rtype: bool
+        """
+
+        return self.save_intermediate_data
+
+    @cars_profile(name="Epi Grid Generation")
+    def run(  # pylint: disable=too-many-positional-arguments
+        self,
+        image_left,
+        image_right,
+        geometry_plugin,
+        orchestrator=None,
+        pair_folder=None,
+        pair_key="PAIR_0",
+    ):
+        """
+        Run EpipolarGridGeneration application
+
+        Create left and right grid files,
+        corresponding to left and right epipolar grids.
+        The returned dicts contain all the attributes of the grid & their path
+
+        :param image_left: left image. Dict Must contain keys : \
+         "image", "texture", "geomodel","no_data", "mask". Paths must be
+         absolutes
+        :type image_left: dict
+        :param image_right: right image. Dict Must contain keys :\
+         "image", "texture", "geomodel","no_data", "mask". Paths must be
+         absolutes
+        :type image_right: dict
+        :param geometry_plugin: geometry plugin to use
+        :type geometry_plugin: AbstractGeometry
+        :param pair_folder: folder used for current pair
+        :type pair_folder: str
+        :param orchestrator: orchestrator used
+        :param pair_key: pair configuration id
+        :type pair_key: str
+
+        :return: left grid, right grid. Each grid dict contains :
+            - Attributes containing: "grid_spacing", "grid_origin", \
+                "epipolar_size_x", epipolar_size_y", "epipolar_origin_x", \
+                "epipolar_origin_y","epipolar_spacing_x", \
+                "epipolar_spacing", "disp_to_alt_ratio", "path"
+
+        :rtype: Tuple(dict, dict)
+        """
+
+        # Default orchestrator
+        if orchestrator is None:
+            # Create default sequential orchestrator for current application
+            # be awere, no out_json will be shared between orchestrators
+            # No files saved
+            self.orchestrator = ocht.Orchestrator(
+                orchestrator_conf={"mode": "sequential"}
+            )
+        else:
+            self.orchestrator = orchestrator
+
+        sensor1 = image_left[sens_cst.INPUT_IMG]["bands"]["b0"]["path"]
+        sensor2 = image_right[sens_cst.INPUT_IMG]["bands"]["b0"]["path"]
+        geomodel1 = image_left[sens_cst.INPUT_GEO_MODEL]
+        geomodel2 = image_right[sens_cst.INPUT_GEO_MODEL]
+
+        # Get satellites angles from ground: Azimuth to north, Elevation angle
+        try:
+            (
+                left_az,
+                left_elev_angle,
+                right_az,
+                right_elev_angle,
+                convergence_angle,
+            ) = projection.get_ground_angles(
+                sensor1, sensor2, geomodel1, geomodel2, geometry_plugin
+            )
+
+            logging.info(
+                "Left satellite acquisition angles: "
+                "Azimuth angle: {:.1f} degrees, "
+                "Elevation angle: {:.1f} degrees".format(
+                    left_az, left_elev_angle
+                )
+            )
+
+            logging.info(
+                "Right satellite acquisition angles: "
+                "Azimuth angle: {:.1f} degrees, "
+                "Elevation angle: {:.1f} degrees".format(
+                    right_az, right_elev_angle
+                )
+            )
+
+            logging.info(
+                "Stereo satellite convergence angle from ground: "
+                "{:.1f} degrees".format(convergence_angle)
+            )
+        except Exception as exc:
+            logging.error(
+                "Error in Angles information retrieval: {}".format(exc)
+            )
+            (
+                left_az,
+                left_elev_angle,
+                right_az,
+                right_elev_angle,
+                convergence_angle,
+            ) = (
+                None,
+                None,
+                None,
+                None,
+                None,
+            )
+
+        # Generate rectification grids
+        (
+            grid1,
+            grid2,
+            grid_origin,
+            grid_spacing,
+            epipolar_size,
+            disp_to_alt_ratio,
+        ) = grid_generation_algo.generate_epipolar_grids(
+            sensor1,
+            sensor2,
+            geomodel1,
+            geomodel2,
+            geometry_plugin,
+            self.epi_step,
+        )
+
+        # Create CarsDataset
+        grid_left = {
+            "grid_spacing": grid_spacing,
+            "grid_origin": grid_origin,
+            "epipolar_size_x": epipolar_size[0],
+            "epipolar_size_y": epipolar_size[1],
+            "epipolar_origin_x": grid_origin[0],
+            "epipolar_origin_y": grid_origin[1],
+            "epipolar_spacing_x": grid_spacing[0],
+            "epipolar_spacing": grid_spacing[1],
+            "disp_to_alt_ratio": disp_to_alt_ratio,
+            "epipolar_step": self.epi_step,
+            "path": None,
+        }
+        grid_right = grid_left.copy()
+
+        grid_origin = grid_left["grid_origin"]
+        grid_spacing = grid_left["grid_spacing"]
+
+        if self.save_intermediate_data:
+            left_grid_path = os.path.join(pair_folder, "left_epi_grid.tif")
+            right_grid_path = os.path.join(pair_folder, "right_epi_grid.tif")
+            safe_makedirs(pair_folder)
+        else:
+            if pair_folder is None:
+                tmp_folder = os.path.join(self.orchestrator.out_dir, "tmp")
+            else:
+                tmp_folder = os.path.join(pair_folder, "tmp")
+            safe_makedirs(tmp_folder)
+            self.orchestrator.add_to_clean(tmp_folder)
+            left_grid_path = os.path.join(tmp_folder, "left_epi_grid.tif")
+            right_grid_path = os.path.join(tmp_folder, "right_epi_grid.tif")
+
+        grid_generation_algo.write_grid(
+            grid1, left_grid_path, grid_origin, grid_spacing
+        )
+        grid_generation_algo.write_grid(
+            grid2, right_grid_path, grid_origin, grid_spacing
+        )
+
+        grid_left["path"] = left_grid_path
+        grid_right["path"] = right_grid_path
+
+        # Add infos to orchestrator.out_json
+        updating_dict = {
+            application_constants.APPLICATION_TAG: {
+                grid_constants.GRID_GENERATION_RUN_TAG: {
+                    pair_key: {
+                        grid_constants.EPIPOLAR_SIZE_X_TAG: epipolar_size[0],
+                        grid_constants.EPIPOLAR_SIZE_Y_TAG: epipolar_size[1],
+                        grid_constants.EPIPOLAR_ORIGIN_X_TAG: grid_origin[0],
+                        grid_constants.EPIPOLAR_ORIGIN_Y_TAG: grid_origin[1],
+                        grid_constants.EPIPOLAR_SPACING_X_TAG: grid_spacing[0],
+                        grid_constants.EPIPOLAR_SPACING_Y_TAG: grid_spacing[1],
+                        grid_constants.DISP_TO_ALT_RATIO_TAG: disp_to_alt_ratio,
+                        grid_constants.LEFT_AZIMUTH_ANGLE_TAG: left_az,
+                        grid_constants.LEFT_ELEVATION_ANGLE_TAG: (
+                            left_elev_angle
+                        ),
+                        grid_constants.RIGHT_AZIMUTH_ANGLE_TAG: right_az,
+                        grid_constants.RIGHT_ELEVATION_ANGLE_TAG: (
+                            right_elev_angle
+                        ),
+                        grid_constants.CONVERGENCE_ANGLE_TAG: convergence_angle,
+                    },
+                }
+            }
+        }
+        self.orchestrator.update_out_info(updating_dict)
+
+        logging.info(
+            "Size of epipolar images: {}x{} pixels".format(
+                epipolar_size[0], epipolar_size[1]
+            )
+        )
+        logging.info(
+            "Disparity to altitude factor: {} m/pixel".format(disp_to_alt_ratio)
+        )
+
+        return grid_left, grid_right