cars 1.0.0rc1__cp313-cp313-musllinux_1_2_i686.whl

cars/applications/dem_generation/bulldozer_dem_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 dichotomic dem generation application class.
+"""
+# Standard library
+import logging
+import math
+import os
+import shutil
+
+# Third-party imports
+import numpy as np
+import rasterio as rio
+import skimage
+from json_checker import And, Checker, Or
+from rasterio.enums import Resampling
+from rasterio.warp import reproject
+
+# CARS imports - Applications
+from cars.applications import application_constants
+from cars.applications.dem_generation.abstract_dem_generation_app import (
+    DemGeneration,
+)
+from cars.applications.dem_generation.bulldozer_memory import (
+    can_allocate_shared_memory,
+)
+from cars.applications.dem_generation.dem_generation_algo import (
+    launch_bulldozer,
+)
+from cars.applications.dem_generation.dem_generation_wrappers import (
+    compute_stats,
+    downsample_dem,
+    edit_transform,
+    fit_initial_elevation_on_dem_median,
+    reproject_dem,
+    reverse_dem,
+)
+
+# CARS imports - Core
+from cars.core import inputs
+from cars.orchestrator.cluster.log_wrapper import cars_profile
+
+
+class BulldozerDem(DemGeneration, short_name="bulldozer_on_raster"):
+    """
+    Rasterization
+    """
+
+    # pylint: disable=too-many-instance-attributes
+
+    def __init__(self, scaling_coeff, conf=None):
+        """
+        Init function of Rasterization
+
+        :param scaling_coeff: scaling factor for resolution
+        :type scaling_coeff: float
+        :param conf: configuration for Rasterization
+        :return: an application_to_use object
+        """
+        super().__init__(scaling_coeff, conf=conf)
+
+        # check conf
+        self.used_method = self.used_config["method"]
+        self.resolution = self.used_config["resolution"]
+        self.margin = self.used_config["margin"]
+        height_margin = self.used_config["height_margin"]
+        if isinstance(height_margin, list):
+            self.min_height_margin = height_margin[0]
+            self.max_height_margin = height_margin[1]
+        else:
+            self.min_height_margin = height_margin
+            self.max_height_margin = height_margin
+        self.morphological_filters_size = self.used_config[
+            "morphological_filters_size"
+        ]
+        self.preprocessing_median_filter_size = self.used_config[
+            "preprocessing_median_filter_size"
+        ]
+        self.postprocessing_median_filter_size = self.used_config[
+            "postprocessing_median_filter_size"
+        ]
+        self.dem_median_downscale = self.used_config["dem_median_downscale"]
+        self.dem_min_max_downscale = self.used_config["dem_min_max_downscale"]
+        self.fillnodata_max_search_distance = self.used_config[
+            "fillnodata_max_search_distance"
+        ]
+        self.min_dem = self.used_config["min_dem"]
+        self.max_dem = self.used_config["max_dem"]
+        self.bulldozer_max_object_size = self.used_config[
+            "bulldozer_max_object_size"
+        ]
+        self.disable_bulldozer = self.used_config["disable_bulldozer"]
+        self.compute_stats = self.used_config["compute_stats"]
+        self.coregistration = self.used_config["coregistration"]
+        self.coregistration_max_shift = self.used_config[
+            "coregistration_max_shift"
+        ]
+        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", "bulldozer_on_raster")
+        overloaded_conf["resolution"] = conf.get(
+            "resolution", float(self.scaling_coeff * 0.5)
+        )
+        overloaded_conf["margin"] = conf.get(
+            "margin", [0.1, float(math.sqrt(self.scaling_coeff) * 500)]
+        )
+        overloaded_conf["morphological_filters_size"] = conf.get(
+            "morphological_filters_size", 30
+        )
+        overloaded_conf["preprocessing_median_filter_size"] = conf.get(
+            "preprocessing_median_filter_size", 5
+        )
+        overloaded_conf["postprocessing_median_filter_size"] = conf.get(
+            "postprocessing_median_filter_size", 7
+        )
+        overloaded_conf["dem_median_downscale"] = conf.get(
+            "dem_median_downscale", 10
+        )
+        overloaded_conf["dem_min_max_downscale"] = conf.get(
+            "dem_min_max_downscale", 2
+        )
+        overloaded_conf["fillnodata_max_search_distance"] = conf.get(
+            "fillnodata_max_search_distance", 50
+        )
+        overloaded_conf["min_dem"] = conf.get("min_dem", -500)
+        overloaded_conf["max_dem"] = conf.get("max_dem", 1000)
+        overloaded_conf["height_margin"] = conf.get(
+            "height_margin", float(math.sqrt(self.scaling_coeff) * 20)
+        )
+        overloaded_conf["bulldozer_max_object_size"] = conf.get(
+            "bulldozer_max_object_size", 8
+        )
+        overloaded_conf["disable_bulldozer"] = conf.get(
+            "disable_bulldozer", False
+        )
+        if not overloaded_conf["disable_bulldozer"]:
+            can_allocate_sm, log_message = can_allocate_shared_memory()
+            if not can_allocate_sm:
+                logging.info(log_message)
+                logging.info(
+                    "Dem generation disable_bulldozer parameter is set to True"
+                )
+                overloaded_conf["disable_bulldozer"] = True
+        overloaded_conf["compute_stats"] = conf.get("compute_stats", True)
+        overloaded_conf["coregistration"] = conf.get("coregistration", True)
+        overloaded_conf["coregistration_max_shift"] = conf.get(
+            "coregistration_max_shift", 180
+        )
+        overloaded_conf[application_constants.SAVE_INTERMEDIATE_DATA] = (
+            conf.get(application_constants.SAVE_INTERMEDIATE_DATA, False)
+        )
+
+        rectification_schema = {
+            "method": str,
+            "resolution": And(Or(float, int), lambda x: x > 0),
+            application_constants.SAVE_INTERMEDIATE_DATA: bool,
+            "margin": [Or(float, int)],
+            "morphological_filters_size": And(int, lambda x: x > 0),
+            "preprocessing_median_filter_size": And(int, lambda x: x > 0),
+            "postprocessing_median_filter_size": And(int, lambda x: x > 0),
+            "dem_median_downscale": And(int, lambda x: x > 0),
+            "dem_min_max_downscale": And(int, lambda x: x > 0),
+            "fillnodata_max_search_distance": And(int, lambda x: x > 0),
+            "min_dem": And(Or(int, float), lambda x: x < 0),
+            "max_dem": And(Or(int, float), lambda x: x > 0),
+            "height_margin": Or(list, float, int),
+            "bulldozer_max_object_size": And(int, lambda x: x > 0),
+            "disable_bulldozer": bool,
+            "compute_stats": bool,
+            "coregistration": bool,
+            "coregistration_max_shift": And(Or(int, float), lambda x: x > 0),
+            "save_intermediate_data": bool,
+        }
+
+        # Check conf
+        checker = Checker(rectification_schema)
+        checker.validate(overloaded_conf)
+
+        return overloaded_conf
+
+    @cars_profile(name="DEM Generation")
+    def run(  # pylint: disable=too-many-positional-arguments # noqa: C901
+        self,
+        dsm_file_name,
+        output_dir,
+        dem_min_file_name,
+        dem_max_file_name,
+        dem_median_file_name,
+        input_geoid,
+        output_geoid,
+        initial_elevation=None,
+        default_alt=0,
+        cars_orchestrator=None,
+    ):
+        """
+        Run dichotomic dem generation using matches
+
+        :param dsm_file_name: The dsm path
+        :type dsm_file_name: CarsDataset
+        :param output_dir: directory to save dem
+        :type output_dir: str
+        :param dem_min_file_name: path of dem_min
+        :type dem_min_file_name: str
+        :param dem_max_file_name: path of dem_max
+        :type dem_max_file_name: str
+        :param dem_median_file_name: path of dem_median
+        :type dem_median_file_name: str
+        :param input_geoid: input geoid path
+        :param output_geoid: output geoid path
+        :param dem_roi_to_use: dem roi polygon to use as roi
+
+        :return: dem data computed with mean, min and max.
+            dem is also saved in disk, and paths are available in attributes.
+            (DEM_MEDIAN_PATH, DEM_MIN_PATH, DEM_MAX_PATH)
+        :rtype: CarsDataset
+        """
+
+        # Generate point cloud
+        epsg = 4326
+
+        # Optimize the case when input and output geoid are the same
+        if output_geoid is True:
+            input_geoid = False
+            output_geoid = False
+
+        resolution_in_meters = self.resolution
+
+        # rasterize point cloud
+        dem_min_path = dem_min_file_name
+        if dem_min_path is None:
+            # File is not part of the official product, write it in dump_dir
+            dem_min_path = os.path.join(output_dir, "dem_min.tif")
+
+        dem_max_path = dem_max_file_name
+        if dem_max_path is None:
+            # File is not part of the official product, write it in dump_dir
+            dem_max_path = os.path.join(output_dir, "dem_max.tif")
+
+        dem_median_path_out = dem_median_file_name
+        if dem_median_path_out is None:
+            # File is not part of the official product, write it in dump_dir
+            dem_median_path_out = os.path.join(output_dir, "dem_median.tif")
+
+        dem_median_path_in = dsm_file_name
+
+        dem_epsg = inputs.rasterio_get_epsg(dsm_file_name)
+
+        if dem_epsg != epsg:
+            dem_median_path_in = os.path.join(output_dir, "dem_median.tif")
+            reproject_dem(dsm_file_name, "EPSG:4326", dem_median_path_in)
+
+        with rio.open(dem_median_path_in) as src:
+            dem = src.read(1)
+            profile = src.profile
+            nodata = src.nodata
+
+        if self.save_intermediate_data:
+            raw_dsm_path = os.path.join(output_dir, "raw_dsm.tif")
+            shutil.copy2(dem_median_path_in, raw_dsm_path)
+
+        dem_data = dem
+        mask = dem_data == nodata
+
+        # fill nodata
+        max_search_distance = (
+            self.fillnodata_max_search_distance
+            + self.morphological_filters_size
+        )
+        # a margin is added for following morphological operations
+        # pixels further than self.fillnodata_max_search_distance
+        # will later be turned into nodata by eroded_mask
+        dem_data = rio.fill.fillnodata(
+            dem_data,
+            mask=~mask,
+            max_search_distance=max_search_distance,
+        )
+
+        not_filled_pixels = dem_data == nodata
+
+        # Add geoid
+        if input_geoid:
+            with rio.open(input_geoid) as in_geoid:
+                # Reproject the geoid data to match the DSM
+                input_geoid_data = np.empty(
+                    dem_data.shape, dtype=in_geoid.dtypes[0]
+                )
+
+                logging.info("Reprojection of geoid data")
+
+                reproject(
+                    source=rio.band(in_geoid, 1),
+                    destination=input_geoid_data,
+                    src_transform=in_geoid.transform,
+                    src_crs=in_geoid.crs,
+                    dst_transform=profile["transform"],
+                    dst_crs=profile["crs"],
+                    resampling=Resampling.bilinear,
+                )
+            dem_data -= input_geoid_data
+
+        if output_geoid:
+            with rio.open(input_geoid) as in_geoid:
+                # Reproject the geoid data to match the DSM
+                input_geoid_data = np.empty(
+                    dem_data.shape, dtype=in_geoid.dtypes[0]
+                )
+
+                logging.info("Reprojection of geoid data")
+
+                reproject(
+                    source=rio.band(in_geoid, 1),
+                    destination=input_geoid_data,
+                    src_transform=in_geoid.transform,
+                    src_crs=in_geoid.crs,
+                    dst_transform=profile["transform"],
+                    dst_crs=profile["crs"],
+                    resampling=Resampling.bilinear,
+                )
+            dem_data += input_geoid_data
+
+        # apply morphological filters and height margin
+        footprint = skimage.morphology.disk(
+            self.morphological_filters_size // 2, decomposition="sequence"
+        )
+        logging.info("Generation of DEM min")
+        dem_data[not_filled_pixels] = -nodata
+        dem_min = (
+            skimage.morphology.erosion(dem_data, footprint=footprint)
+            - self.min_height_margin
+        )
+        dem_data[not_filled_pixels] = nodata
+        logging.info("Generation of DEM max")
+        dem_max = (
+            skimage.morphology.dilation(dem_data, footprint=footprint)
+            + self.max_height_margin
+        )
+        logging.info("Generation of DEM median")
+        dem_median = skimage.filters.median(
+            dem_data,
+            footprint=np.ones(
+                (
+                    self.preprocessing_median_filter_size,
+                    self.preprocessing_median_filter_size,
+                )
+            ),
+        )
+
+        footprint = skimage.morphology.disk(
+            self.fillnodata_max_search_distance // 2, decomposition="sequence"
+        )
+        eroded_mask = skimage.morphology.binary_erosion(
+            mask, footprint=footprint
+        )
+
+        dem_min[eroded_mask] = nodata
+        dem_median[eroded_mask] = nodata
+        dem_max[eroded_mask] = nodata
+
+        # Rectify pixels where DEM min < DEM median + min_depth
+        dem_min = np.where(
+            dem_min - dem_median < self.min_dem,
+            dem_median + self.min_dem,
+            dem_min,
+        )
+        # Rectify pixels where DEM max > DEM median + max_height
+        dem_max = np.where(
+            dem_max - dem_median > self.max_dem,
+            dem_median + self.max_dem,
+            dem_max,
+        )
+
+        # save
+        with rio.open(dem_min_path, "w", **profile) as out_dem:
+            out_dem.write(dem_min, 1)
+        with rio.open(dem_median_path_out, "w", **profile) as out_dem:
+            out_dem.write(dem_median, 1)
+        with rio.open(dem_max_path, "w", **profile) as out_dem:
+            out_dem.write(dem_max, 1)
+        dem_filled_path = os.path.join(output_dir, "dem_filled.tif")
+        with rio.open(dem_filled_path, "w", **profile) as out_dem:
+            out_dem.write(dem_data, 1)
+
+        if self.save_intermediate_data:
+            intermediate_dem_min_path = os.path.join(
+                output_dir, "dem_min_before_downsampling.tif"
+            )
+            shutil.copy2(dem_min_path, intermediate_dem_min_path)
+            intermediate_dem_max_path = os.path.join(
+                output_dir, "dem_max_before_downsampling.tif"
+            )
+            shutil.copy2(dem_max_path, intermediate_dem_max_path)
+
+            intermediate_dem_median_path = os.path.join(
+                output_dir, "dem_median_before_downsampling.tif"
+            )
+            shutil.copy2(dem_median_path_out, intermediate_dem_median_path)
+
+        # Downsample dems
+        downsample_dem(
+            dem_median_path_out,
+            scale=self.dem_median_downscale,
+            interpolator="median",
+            median_filter_size=self.postprocessing_median_filter_size,
+            default_alt=default_alt,
+        )
+
+        downsample_dem(
+            dem_min_path,
+            scale=self.dem_min_max_downscale,
+            interpolator="min",
+            default_alt=default_alt,
+        )
+
+        downsample_dem(
+            dem_max_path,
+            scale=self.dem_min_max_downscale,
+            interpolator="max",
+            default_alt=default_alt,
+        )
+
+        downsample_dem(
+            dem_filled_path,
+            scale=self.dem_min_max_downscale,
+            interpolator="nearest",
+            default_alt=default_alt,
+        )
+
+        if self.save_intermediate_data:
+            intermediate_dem_min_path = os.path.join(
+                output_dir, "dem_min_before_bulldozer.tif"
+            )
+            shutil.copy2(dem_min_path, intermediate_dem_min_path)
+            intermediate_dem_max_path = os.path.join(
+                output_dir, "dem_max_before_bulldozer.tif"
+            )
+            shutil.copy2(dem_max_path, intermediate_dem_max_path)
+
+        if not self.disable_bulldozer:
+            dem_min_max_res = resolution_in_meters * self.dem_min_max_downscale
+            # Launch Bulldozer on dem min
+            saved_transform = edit_transform(
+                dem_min_path, resolution=dem_min_max_res
+            )
+            logging.info("Launch Bulldozer on DEM min")
+            temp_output_path = launch_bulldozer(
+                dem_min_path,
+                os.path.join(output_dir, "dem_min_bulldozer"),
+                cars_orchestrator,
+                self.bulldozer_max_object_size,
+            )
+            if temp_output_path is not None:
+                shutil.copy2(temp_output_path, dem_min_path)
+            edit_transform(dem_min_path, transform=saved_transform)
+
+            # Inverse dem max and launch bulldozer
+            saved_transform = edit_transform(
+                dem_max_path, resolution=dem_min_max_res
+            )
+            reverse_dem(dem_max_path)
+            logging.info("Launch Bulldozer on DEM max")
+            temp_output_path = launch_bulldozer(
+                dem_max_path,
+                os.path.join(output_dir, "dem_max_bulldozer"),
+                cars_orchestrator,
+                self.bulldozer_max_object_size,
+            )
+            if temp_output_path is not None:
+                shutil.copy2(temp_output_path, dem_max_path)
+            reverse_dem(dem_max_path)
+            edit_transform(dem_max_path, transform=saved_transform)
+
+        else:
+            # Fill nodata
+            def fill_dem_nodata(data):
+                """
+                Fill nodata
+                """
+                # Apply max_iter times rasterio fill nodata
+                max_iter = 5
+                current_iter = 0
+                while current_iter < max_iter:
+                    data = rio.fill.fillnodata(
+                        data,
+                        mask=data != nodata,
+                        max_search_distance=max_search_distance,
+                    )
+                    current_iter += 1
+                    if np.sum(data == nodata) == 0:
+                        # no nodata left, exit loop
+                        continue
+                # fill the rest with median
+                median_value = np.nanmedian(data)
+                data[data == nodata] = median_value
+                return data
+
+            with rio.open(dem_min_path, "r+", **profile) as out_dem:
+                dem_min = out_dem.read()
+                dem_min = fill_dem_nodata(dem_min)
+                out_dem.write(dem_min)
+            with rio.open(dem_median_path_out, "r+", **profile) as out_dem:
+                dem_median = out_dem.read()
+                dem_median = fill_dem_nodata(dem_median)
+                out_dem.write(dem_median)
+            with rio.open(dem_max_path, "r+", **profile) as out_dem:
+                dem_max = out_dem.read()
+                dem_max = fill_dem_nodata(dem_max)
+                out_dem.write(dem_max)
+
+        # Check DEM min and max
+        with rio.open(dem_min_path, "r") as in_dem:
+            dem_min = in_dem.read()
+            dem_min_metadata = in_dem.meta
+            nodata = in_dem.nodata
+        with rio.open(dem_max_path, "r") as in_dem:
+            dem_max = in_dem.read()
+            dem_max_metadata = in_dem.meta
+        with rio.open(dem_filled_path, "r") as in_dem:
+            dem_data = in_dem.read()
+        dem_data[dem_data == nodata] = np.nan
+        dem_min[dem_min == nodata] = np.nan
+        dem_max[dem_max == nodata] = np.nan
+        if self.compute_stats:
+            diff = dem_data - dem_min
+            diff = diff[dem_data != 0]
+            logging.info(
+                "Statistics of difference between subsampled "
+                "DSM and DEM min (in meters)"
+            )
+            compute_stats(diff)
+
+            diff = dem_max - dem_data
+            diff = diff[dem_data != 0]
+            logging.info(
+                "Statistics of difference between DEM max "
+                "and subsampled DSM (in meters)"
+            )
+            compute_stats(diff)
+
+            diff = dem_max - dem_min
+            diff = diff[dem_data != 0]
+            logging.info(
+                "Statistics of difference between DEM max "
+                "and DEM min (in meters)"
+            )
+            compute_stats(diff)
+
+        # Rectify pixels where DEM min > DEM - margin
+        dem_min = np.where(
+            dem_min > dem_data - self.min_height_margin,
+            dem_data - self.min_height_margin,
+            dem_min,
+        )
+        # Rectify pixels where DEM max < DEM + margin
+        dem_max = np.where(
+            dem_max < dem_data + self.max_height_margin,
+            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)
+        with rio.open(dem_max_path, "w", **dem_max_metadata) as out_dem:
+            out_dem.write(dem_max)
+
+        paths = {
+            "dem_median": dem_median_path_out,
+            "dem_min": dem_min_path,
+            "dem_max": dem_max_path,
+        }
+
+        # after saving, fit initial elevation if required
+        if initial_elevation is not None and self.coregistration:
+            initial_elevation_out_path = os.path.join(
+                output_dir, "initial_elevation_fit.tif"
+            )
+
+            coreg_offsets = fit_initial_elevation_on_dem_median(
+                initial_elevation,
+                dem_median_path_out,
+                initial_elevation_out_path,
+            )
+
+            coreg_info = {
+                application_constants.APPLICATION_TAG: {
+                    "dem_generation": {"coregistration": coreg_offsets}
+                }
+            }
+
+            # save the coreg shift info in cars's main orchestrator
+            cars_orchestrator.update_out_info(coreg_info)
+
+            if (
+                coreg_offsets is None
+                or abs(coreg_offsets["shift_x"]) > self.coregistration_max_shift
+                or abs(coreg_offsets["shift_y"]) > self.coregistration_max_shift
+            ):
+                logging.warning(
+                    "The initial elevation will be used as-is because "
+                    "coregistration failed or gave inconsistent results"
+                )
+                return dem, paths, None
+
+            return dem, paths, initial_elevation_out_path
+
+        return dem, paths, None