cars 1.0.0rc2__cp312-cp312-win_amd64.whl

cars/core/tiling.py

@@ -0,0 +1,774 @@
+#!/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.
+#
+"""
+Tiling module:
+contains functions related to regions and tiles management
+"""
+# pylint: disable=too-many-lines
+
+import logging
+
+# Standard imports
+import math
+from typing import Dict, List, Tuple
+
+# Third party imports
+import numpy as np
+from pyproj import CRS
+from scipy.ndimage import generic_filter
+from scipy.spatial import Delaunay  # pylint: disable=no-name-in-module
+from scipy.spatial import cKDTree  # pylint: disable=no-name-in-module
+from scipy.spatial import tsearch  # pylint: disable=no-name-in-module
+from shapely.geometry import box, mapping
+from shapely.geometry.multipolygon import MultiPolygon
+
+from cars.orchestrator.cluster.log_wrapper import cars_profile
+
+
+def grid(  # pylint: disable=too-many-positional-arguments
+    xmin: float, ymin: float, xmax: float, ymax: float, xsplit: int, ysplit: int
+) -> np.ndarray:
+    """
+    Generate grid of positions by splitting [xmin, xmax]x[ymin, ymax]
+        in splits of xsplit x ysplit size
+
+    :param xmin : xmin of the bounding box of the region to split
+    :param ymin : ymin of the bounding box of the region to split
+    :param xmax : xmax of the bounding box of the region to split
+    :param ymax : ymax of the bounding box of the region to split
+    :param xsplit: width of splits
+    :param ysplit: height of splits
+
+    :return: The output ndarray grid with nb_ysplits splits in first direction
+             and nb_xsplits in second direction for 2 dimensions 0:x, 1:y
+    :rtype: numpy array
+    """
+    nb_xsplits = math.ceil((xmax - xmin) / xsplit)
+    nb_ysplits = math.ceil((ymax - ymin) / ysplit)
+
+    out_grid = np.ndarray(
+        shape=(nb_ysplits + 1, nb_xsplits + 1, 2), dtype=float
+    )
+
+    for i in range(0, nb_xsplits + 1):
+        for j in range(0, nb_ysplits + 1):
+            out_grid[j, i, 0] = min(xmax, xmin + i * xsplit)
+            out_grid[j, i, 1] = min(ymax, ymin + j * ysplit)
+
+    return out_grid
+
+
+@cars_profile(name="Transform four layers to two layers grid", interval=0.5)
+def transform_four_layers_to_two_layers_grid(tiling_grid, terrain=False):
+    """
+    Transform a 4 layer grid: (N, M, 4) containing
+        [rowmin, rowmax, colmin, colmax] when epipolar
+        and [xmin, xmax, ymin, ymax]
+        with x = col and y = row
+        into a 2 layer grid: (N+1, M+1, 2) containing x and y
+        defined like : grid[j, i, 0] = min(xmax, xmin + i * xsplit)
+        and grid[j, i, 1] = min(ymax, ymin + j * ysplit)
+
+    :param tiling_grid: tiling grid
+    :type tiling_grid: np.ndarray
+
+    :return: 2D grid
+    :rtype: np.ndarray
+    """
+
+    if terrain is False:
+        tiling_grid_ = tiling_grid.copy()
+        tiling_grid_[:, :, [0, 1, 2, 3]] = tiling_grid_[:, :, [2, 3, 0, 1]]
+    else:
+        tiling_grid_ = tiling_grid.transpose(1, 0, 2).copy()
+
+    arr = np.ndarray(
+        shape=(tiling_grid_.shape[0] + 1, tiling_grid_.shape[1] + 1, 2),
+        dtype=float,
+    )
+
+    # Fill x
+    arr[0:-1, 0:-1, 0] = tiling_grid_[:, :, 0]
+    arr[0:-1, -1, 0] = tiling_grid_[:, -1, 1]
+    arr[-1, :, 0] = arr[0, :, 0]  # All rows are identical
+
+    # Fill y
+    arr[0:-1, 0:-1, 1] = tiling_grid_[:, :, 2]
+    arr[-1, 0:-1, 1] = tiling_grid_[-1, :, 3]
+    arr[:, -1, 1] = arr[:, 0, 1]  # All cols are identical
+
+    return arr
+
+
+@cars_profile(name="Transform disp range grid to two layers", interval=0.5)
+def transform_disp_range_grid_to_two_layers(disp_min_grid, disp_max_grid):
+    """
+    Transform tiling disp min and max to N+1 M+1 array corresponding
+        to N+1, M+1 , 2  tiling grid
+
+    :param disp_min_grid: disp min tiling
+    :type disp_min_grid: np ndarray
+    :param disp_max_grid: disp max tiling
+    :type disp_max_grid: np ndarray
+
+    :return: disp_min_grid, disp_max_grid
+    :rtype: np ndarray , np ndarray
+    """
+
+    # Create a 2xN+1, 2xM+1 matrix to apply filter on it
+    nb_row = 2 * disp_min_grid.shape[0] + 1
+    nb_col = 2 * disp_min_grid.shape[1] + 1
+
+    disp_min = np.full((nb_row, nb_col), np.nan)
+    disp_max = np.full((nb_row, nb_col), np.nan)
+
+    disp_min[1::2, 1::2] = disp_min_grid
+    disp_max[1::2, 1::2] = disp_max_grid
+
+    # Apply filter min and max:
+    # as each cell represent a node of 4 tiles from a regular grid
+    # we want for each node to
+    # represent the min and max of 4 cells
+
+    disp_min = generic_filter(disp_min, np.nanmin, [3, 3])
+    disp_max = generic_filter(disp_max, np.nanmax, [3, 3])
+
+    # eliminate odd indexes
+    disp_min = disp_min[::2, ::2]
+    disp_max = disp_max[::2, ::2]
+
+    return disp_min, disp_max
+
+
+def generate_tiling_grid(  # pylint: disable=too-many-positional-arguments
+    row_min: float,
+    col_min: float,
+    row_max: float,
+    col_max: float,
+    row_split: int,
+    col_split: int,
+) -> np.ndarray:
+    """
+    Generate grid of positions by splitting [row_min, row_max] x
+     [col_min, col_max]
+     in splits of row_split x col_split size
+
+    :param row_min : row_min of the bounding box of the region to split
+    :param col_min : col_min of the bounding box of the region to split
+    :param row_max : row_max of the bounding box of the region to split
+    :param col_max : col_max of the bounding box of the region to split
+    :param row_split: height of splits
+    :param col_split: width of splits
+
+    :return: The output ndarray grid with nb_row_split splits in first direction
+             and nb_col_split in second direction for 2 dimensions 0:y, 1:x
+             [row, col, :] containing [row_min, row_max, col_min, col_max]
+    :rtype: numpy array
+    """
+
+    nb_col_split = math.ceil((col_max - col_min) / col_split)
+    nb_row_split = math.ceil((row_max - row_min) / row_split)
+
+    out_grid = np.ndarray(shape=(nb_row_split, nb_col_split, 4), dtype=float)
+
+    for row in range(0, nb_row_split):
+        for col in range(0, nb_col_split):
+            out_grid[row, col, 0] = min(row_max, row_min + row * row_split)
+            out_grid[row, col, 1] = min(
+                row_max, row_min + (row + 1) * row_split
+            )
+            out_grid[row, col, 2] = min(col_max, col_min + col * col_split)
+            out_grid[row, col, 3] = min(
+                col_max, col_min + (col + 1) * col_split
+            )
+
+    return out_grid
+
+
+def split(
+    xmin, ymin, xmax, ymax, xsplit, ysplit
+):  # pylint: disable=too-many-positional-arguments
+    """
+    Split a region defined by [xmin, xmax] x [ymin, ymax]
+        in splits of xsplit x ysplit size
+
+    :param xmin : xmin of the bounding box of the region to split
+    :type xmin: float
+    :param ymin : ymin of the bounding box of the region to split
+    :type ymin: float
+    :param xmax : xmax of the bounding box of the region to split
+    :type xmax: float
+    :param ymax : ymax of the bounding box of the region to split
+    :type ymax: float
+    :param xsplit: width of splits
+    :type xsplit: int
+    :param ysplit: height of splits
+    :type ysplit: int
+
+    :return: A list of splits represented
+             by arrays of 4 elements [xmin, ymin, xmax, ymax]
+    :rtype: list of 4 float
+    """
+    nb_xsplits = math.ceil((xmax - xmin) / xsplit)
+    nb_ysplits = math.ceil((ymax - ymin) / ysplit)
+
+    terrain_regions = []
+
+    for i in range(0, nb_xsplits):
+        for j in range(0, nb_ysplits):
+            region = [
+                xmin + i * xsplit,
+                ymin + j * ysplit,
+                xmin + (i + 1) * xsplit,
+                ymin + (j + 1) * ysplit,
+            ]
+
+            # Crop to largest region
+            region = crop(region, [xmin, ymin, xmax, ymax])
+
+            terrain_regions.append(region)
+
+    return terrain_regions
+
+
+def crop(region1, region2):
+    """
+    Crop a region by another one
+
+    :param region1: The region to crop as an array [xmin, ymin, xmax, ymax]
+    :type region1: list of four float
+    :param region2: The region used for cropping
+           as an array [xmin, ymin, xmax, ymax]
+    :type region2: list of four float
+
+    :return: The cropped regiona as an array [xmin, ymin, xmax, ymax].
+             If region1 is outside region2, might result in inconsistent region
+    :rtype: list of four float
+    """
+    out = region1[:]
+    out[0] = min(region2[2], max(region2[0], region1[0]))
+    out[2] = min(region2[2], max(region2[0], region1[2]))
+    out[1] = min(region2[3], max(region2[1], region1[1]))
+    out[3] = min(region2[3], max(region2[1], region1[3]))
+
+    return out
+
+
+def pad(region, margins):
+    """
+    Pad region according to a margin
+
+    :param region: The region to pad
+    :type region: list of four floats
+    :param margins: Margin to add
+    :type margins: list of four floats
+    :return: padded region
+    :rtype: list of four float
+    """
+    out = region[:]
+    out[0] -= margins[0]
+    out[1] -= margins[1]
+    out[2] += margins[2]
+    out[3] += margins[3]
+
+    return out
+
+
+def empty(region):
+    """
+    Check if a region is empty or inconsistent
+
+    :param region: region as an array [xmin, ymin, xmax, ymax]
+    :type region: list of four float
+    :return: True if the region is considered empty (no pixels inside),
+             False otherwise
+    :rtype: bool"""
+    return region[0] >= region[2] or region[1] >= region[3]
+
+
+def union(regions):
+    """
+    Returns union of all regions
+
+    :param regions: list of region as an array [xmin, ymin, xmax, ymax]
+    :type regions: list of list of four float
+    :return: xmin, ymin, xmax, ymax
+    :rtype: list of 4 float
+    """
+
+    xmin = min((r[0] for r in regions))
+    xmax = max((r[2] for r in regions))
+    ymin = min((r[1] for r in regions))
+    ymax = max((r[3] for r in regions))
+
+    return xmin, ymin, xmax, ymax
+
+
+def list_tiles(region, largest_region, tile_size, margin=1):
+    """
+    Given a region, cut largest_region into tiles of size tile_size
+    and return tiles that intersect region within margin pixels.
+
+    :param region: The region to list intersecting tiles
+    :type region: list of four float
+    :param largest_region: The region to split
+    :type largest_region: list of four float
+    :param tile_size: Width of tiles for splitting (squared tiles)
+    :type tile_size: int
+    :param margin: Also include margin neighboring tiles
+    :type margin: int
+    :return: A list of tiles as dicts containing idx and idy
+    :rtype: list of dict
+    """
+    # Find tile indices covered by region
+    min_tile_idx_x = int(math.floor(region[0] / tile_size))
+    max_tile_idx_x = int(math.ceil(region[2] / tile_size))
+    min_tile_idx_y = int(math.floor(region[1] / tile_size))
+    max_tile_idx_y = int(math.ceil(region[3] / tile_size))
+
+    # Include additional tiles
+    min_tile_idx_x -= margin
+    min_tile_idx_y -= margin
+    max_tile_idx_x += margin
+    max_tile_idx_y += margin
+
+    out = []
+
+    # Loop on tile idx
+    for tile_idx_x in range(min_tile_idx_x, max_tile_idx_x):
+        for tile_idx_y in range(min_tile_idx_y, max_tile_idx_y):
+            # Derive tile coordinates
+            tile = [
+                tile_idx_x * tile_size,
+                tile_idx_y * tile_size,
+                (tile_idx_x + 1) * tile_size,
+                (tile_idx_y + 1) * tile_size,
+            ]
+
+            # Crop to largest region
+            tile = crop(tile, largest_region)
+
+            # Check if tile is empty
+            if not empty(tile):
+                out.append({"idx": tile_idx_x, "idy": tile_idx_y, "tile": tile})
+
+    return out
+
+
+def roi_to_start_and_size(region, resolution):
+    """
+    Convert roi as array of [xmin, ymin, xmax, ymax]
+    to xmin, ymin, xsize, ysize given a resolution
+
+    Beware that a negative spacing is considered for y axis,
+    and thus returned ystart is in fact ymax
+
+    :param region: The region to convert
+    :type region: list of four float
+    :param resolution: The resolution to use to determine sizes
+    :type resolution: float
+    :return: xstart, ystart, xsize, ysize tuple
+    :rtype: list of two float + two int
+    """
+    xstart = region[0]
+    ystart = region[3]
+    xsize = int(np.round((region[2] - region[0]) / resolution))
+    ysize = int(np.round((region[3] - region[1]) / resolution))
+
+    return xstart, ystart, xsize, ysize
+
+
+def snap_to_grid(xmin, ymin, xmax, ymax, resolution):
+    """
+    Given a roi as xmin, ymin, xmax, ymax, snap values to entire step
+    of resolution
+
+    :param xmin: xmin of the roi
+    :type xmin: float
+    :param ymin: ymin of the roi
+    :type ymin: float
+    :param xmax: xmax of the roi
+    :type xmax: float
+    :param ymax: ymax of the roi
+    :type ymax: float
+    :param resolution: size of cells for snapping
+    :type resolution: float
+    :return: xmin, ymin, xmax, ymax snapped tuple
+    :rtype: list of four float
+    """
+    xmin = math.floor(xmin / resolution) * resolution
+    xmax = math.ceil(xmax / resolution) * resolution
+    ymin = math.floor(ymin / resolution) * resolution
+    ymax = math.ceil(ymax / resolution) * resolution
+
+    return xmin, ymin, xmax, ymax
+
+
+def filter_simplices_on_the_edges(
+    original_grid_shape: Tuple, tri: Delaunay, simplices: np.ndarray
+):
+    """
+    Filter simplices on the edges which allows to cut triangles out of the
+    concave Delaunay triangulation.
+
+    :param original_grid_shape: shape of the original grid (almost regular) used
+           to create delaunay triangulation
+    :param tri: Delaunay triangulation
+    :param simplices: Selected simplices to filter: set -1 if selected simplex
+           is on the edges
+    """
+
+    # Filter simplices on the edges
+    edges = np.zeros((4, *original_grid_shape))
+
+    # left, bottom, right, top
+    edges[0, :, 0] = 1
+    edges[1, -1, :] = 1
+    edges[2, :, -1] = 1
+    edges[3, 0, :] = 1
+
+    for idx in range(edges.shape[0]):
+        edges_ravel = np.ravel(edges[idx, :, :])
+        # simplices filtered if all points are on an edge
+        edges_simplices = np.sum(edges_ravel[tri.simplices], axis=1) == 3
+        simplices[edges_simplices[simplices]] = -1
+
+
+def terrain_grid_to_epipolar(
+    terrain_tiling_grid,
+    epipolar_tiling_grid,
+    epipolar_grid_min,
+    epipolar_grid_max,
+    epsg,
+):
+    """
+    Transform terrain grid to epipolar region
+    """
+
+    terrain_regions_grid = transform_four_layers_to_two_layers_grid(
+        terrain_tiling_grid, terrain=True
+    )
+    epipolar_regions_grid = transform_four_layers_to_two_layers_grid(
+        epipolar_tiling_grid
+    )
+
+    epipolar_regions_grid_shape = np.shape(epipolar_regions_grid)[:2]
+    epipolar_regions_grid_flat = epipolar_regions_grid.reshape(
+        -1, epipolar_regions_grid.shape[-1]
+    )
+
+    # in the following code a factor is used to increase the precision
+    spatial_ref = CRS.from_epsg(epsg)
+    if spatial_ref.is_geographic:
+        precision_factor = 1000.0
+    else:
+        precision_factor = 1.0
+
+    # Build delaunay_triangulation
+    tri_min = Delaunay(epipolar_grid_min * precision_factor)
+    tri_max = Delaunay(epipolar_grid_max * precision_factor)
+
+    # Build kdtrees
+    tree_min = cKDTree(epipolar_grid_min * precision_factor)
+    tree_max = cKDTree(epipolar_grid_max * precision_factor)
+
+    # Look-up terrain_regions_grid with Delaunay
+    s_min = tsearch(tri_min, terrain_regions_grid * precision_factor)
+    s_max = tsearch(tri_max, terrain_regions_grid * precision_factor)
+
+    # Filter simplices on the edges
+    filter_simplices_on_the_edges(epipolar_regions_grid_shape, tri_min, s_min)
+    filter_simplices_on_the_edges(epipolar_regions_grid_shape, tri_max, s_max)
+
+    points_disp_min = epipolar_regions_grid_flat[tri_min.simplices[s_min]]
+
+    points_disp_max = epipolar_regions_grid_flat[tri_max.simplices[s_max]]
+
+    nn_disp_min = epipolar_regions_grid_flat[
+        tree_min.query(terrain_regions_grid * precision_factor)[1]
+    ]
+
+    nn_disp_max = epipolar_regions_grid_flat[
+        tree_max.query(terrain_regions_grid * precision_factor)[1]
+    ]
+
+    points_disp_min_min = np.min(points_disp_min, axis=2)
+    points_disp_min_max = np.max(points_disp_min, axis=2)
+    points_disp_max_min = np.min(points_disp_max, axis=2)
+    points_disp_max_max = np.max(points_disp_max, axis=2)
+
+    # Use either Delaunay search or NN search
+    # if delaunay search fails (point outside triangles)
+    points_disp_min_min = np.where(
+        np.stack((s_min, s_min), axis=-1) != -1,
+        points_disp_min_min,
+        nn_disp_min,
+    )
+
+    points_disp_min_max = np.where(
+        np.stack((s_min, s_min), axis=-1) != -1,
+        points_disp_min_max,
+        nn_disp_min,
+    )
+
+    points_disp_max_min = np.where(
+        np.stack((s_max, s_max), axis=-1) != -1,
+        points_disp_max_min,
+        nn_disp_max,
+    )
+
+    points_disp_max_max = np.where(
+        np.stack((s_max, s_max), axis=-1) != -1,
+        points_disp_max_max,
+        nn_disp_max,
+    )
+
+    points = np.stack(
+        (
+            points_disp_min_min,
+            points_disp_min_max,
+            points_disp_max_min,
+            points_disp_max_max,
+        ),
+        axis=0,
+    )
+
+    points_min = np.min(points, axis=0)
+    points_max = np.max(points, axis=0)
+
+    return points_min, points_max
+
+
+def region_hash_string(region: Tuple):
+    """
+    This lambda will allow to derive a key
+    to index region in the previous dictionary
+
+    :param region: region to hash
+    """
+    return "{}_{}_{}_{}".format(region[0], region[1], region[2], region[3])
+
+
+# pylint: disable=too-many-positional-arguments
+def get_corresponding_tiles_row_col(
+    terrain_tiling_grid: np.ndarray,
+    row: int,
+    col: int,
+    list_point_clouds: list,
+    list_epipolar_points_min: list,
+    list_epipolar_points_max: list,
+) -> Tuple[List, List, List]:
+    """
+    This function allows to get required point cloud for each
+    terrain region.
+
+    :param terrain_tiling_grid: terrain grid positions
+    :param row: row
+    :param col: column
+           epipolar input tiles where keys are image pairs index and values are
+           epipolar_points_min, epipolar_points_max, largest_epipolar_region,
+           opt_epipolar_tile_size
+
+    :return: Terrain regions
+             Corresponding tiles selected from delayed_point_clouds with
+             associated id
+             Terrain regions "rank" allowing to sorting tiles for dask
+             processing
+    """
+
+    logging.debug(
+        "Processing tile located at {},{} in tile grid".format(row, col)
+    )
+
+    # Terrain grid [row, j, :] = [xmin, xmax, ymin, ymax]
+    # terrain region = [xmin, ymin, xmax, ymax]
+    terrain_region = [
+        terrain_tiling_grid[row, col, 0],
+        terrain_tiling_grid[row, col, 2],
+        terrain_tiling_grid[row, col, 1],
+        terrain_tiling_grid[row, col, 3],
+    ]
+
+    # reverse convention as row and col correspond to new format
+    # Former format is transposed
+    row, col = col, row
+
+    logging.debug("Corresponding terrain region: {}".format(terrain_region))
+
+    # This list will hold the required points clouds for this terrain tile
+    required_point_clouds = []
+
+    # This list contains indexes of tiles (debug purpose)
+    list_indexes = []
+
+    # For each stereo configuration
+    for pc_id, (
+        point_cloud,
+        epipolar_points_min,
+        epipolar_points_max,
+    ) in enumerate(
+        zip(  # noqa: B905
+            list_point_clouds,
+            list_epipolar_points_min,
+            list_epipolar_points_max,
+        )
+    ):
+        largest_epipolar_region = point_cloud.attributes[
+            "largest_epipolar_region"
+        ]
+        opt_epipolar_tile_size = point_cloud.attributes[
+            "opt_epipolar_tile_size"
+        ]
+
+        tile_min = np.minimum(
+            np.minimum(
+                np.minimum(
+                    epipolar_points_min[row, col],
+                    epipolar_points_min[row + 1, col],
+                ),
+                np.minimum(
+                    epipolar_points_min[row + 1, col + 1],
+                    epipolar_points_min[row, col + 1],
+                ),
+            ),
+            np.minimum(
+                np.minimum(
+                    epipolar_points_max[row, col],
+                    epipolar_points_max[row + 1, col],
+                ),
+                np.minimum(
+                    epipolar_points_max[row + 1, col + 1],
+                    epipolar_points_max[row, col + 1],
+                ),
+            ),
+        )
+
+        tile_max = np.maximum(
+            np.maximum(
+                np.maximum(
+                    epipolar_points_min[row, col],
+                    epipolar_points_min[row + 1, col],
+                ),
+                np.maximum(
+                    epipolar_points_min[row + 1, col + 1],
+                    epipolar_points_min[row, col + 1],
+                ),
+            ),
+            np.maximum(
+                np.maximum(
+                    epipolar_points_max[row, col],
+                    epipolar_points_max[row + 1, col],
+                ),
+                np.maximum(
+                    epipolar_points_max[row + 1, col + 1],
+                    epipolar_points_max[row, col + 1],
+                ),
+            ),
+        )
+
+        # Bounding region of corresponding cell
+        epipolar_region_minx = tile_min[0]
+        epipolar_region_miny = tile_min[1]
+        epipolar_region_maxx = tile_max[0]
+        epipolar_region_maxy = tile_max[1]
+
+        epipolar_region = [
+            epipolar_region_minx,
+            epipolar_region_miny,
+            epipolar_region_maxx,
+            epipolar_region_maxy,
+        ]
+
+        # Crop epipolar region to largest region
+        epipolar_region = crop(epipolar_region, largest_epipolar_region)
+
+        logging.debug(
+            "Corresponding epipolar region: {}".format(epipolar_region)
+        )
+
+        # Check if the epipolar region contains any pixels to process
+        if empty(epipolar_region):
+            logging.debug(
+                "Skipping terrain region "
+                "because corresponding epipolar region is empty"
+            )
+        else:
+            # Loop on all epipolar tiles covered by epipolar region
+            for epipolar_tile in list_tiles(
+                epipolar_region,
+                largest_epipolar_region,
+                opt_epipolar_tile_size,
+            ):
+                id_x = epipolar_tile["idx"]
+                id_y = epipolar_tile["idy"]
+
+                epi_grid_shape = point_cloud.tiling_grid.shape
+
+                if (
+                    0 <= id_x < epi_grid_shape[1]
+                    and 0 <= id_y < epi_grid_shape[0]
+                ):
+                    required_point_clouds.append(
+                        (point_cloud[id_y, id_x], pc_id)
+                    )
+                    list_indexes.append([id_y, id_x])
+
+    rank = col * col + row * row
+
+    return (
+        terrain_region,
+        required_point_clouds,
+        rank,
+        list_indexes,
+    )
+
+
+def get_paired_regions_as_geodict(
+    terrain_regions: List, epipolar_regions: List
+) -> Tuple[Dict, Dict]:
+    """
+    Get paired regions (terrain/epipolar) as "geodictionnaries": these
+    objects can be dumped into geojson files to be visualized.
+
+    :param terrain_regions: terrain region respecting cars tiling
+    :param epipolar_regions: corresponding epipolar regions
+
+    :return: Terrain dictionary and Epipolar dictionary containing
+             respectively Terrain tiles in terrain projection and Epipolar tiles
+             in epipolar projection
+    """
+
+    ter_geodict = {"type": "FeatureCollection", "features": []}
+    epi_geodict = {"type": "FeatureCollection", "features": []}
+
+    for idx, (ter, epi_list) in enumerate(
+        zip(terrain_regions, epipolar_regions)  # noqa: B905
+    ):
+        feature = {}
+        feature["type"] = "Feature"
+        feature["properties"] = {"id": idx, "nb_epi": len(epi_list)}
+        feature["geometry"] = mapping(box(*ter))
+        ter_geodict["features"].append(feature.copy())
+        feature["geometry"] = mapping(MultiPolygon(box(*x) for x in epi_list))
+
+        epi_geodict["features"].append(feature.copy())
+
+    return ter_geodict, epi_geodict