cars 1.0.0rc2__cp312-cp312-win_amd64.whl

cars/applications/dem_generation/dem_generation_algo.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 tools for the dem generation
+"""
+
+import contextlib
+import logging
+
+# Standard imports
+import os
+
+# Third party imports
+import yaml
+from bulldozer.pipeline.bulldozer_pipeline import dsm_to_dtm
+
+
+def launch_bulldozer(
+    input_dem,
+    output_dir,
+    cars_orchestrator,
+    max_object_size,
+):
+    """
+    Launch bulldozer on a DEM to smooth it
+
+    :param input_dem: path of DEM to reverse
+    :type input_dem: str
+    :param output_dir: directory where bulldozer output is dumped
+    :type output_dir: str
+    :param cars_orchestrator: orchestrator of the whole pipeline
+                              (used to get number of workers)
+    :type cars_orchestrator: Orchestrator
+    :param max_object_size: bulldozer parameter "max_object_size"
+    :type max_object_size: int
+    """
+    bull_conf_path = os.path.join(
+        os.path.dirname(__file__), "bulldozer_config/base_config.yaml"
+    )
+    with open(bull_conf_path, "r", encoding="utf8") as bull_conf_file:
+        bull_conf = yaml.safe_load(bull_conf_file)
+
+    bull_conf["dsm_path"] = input_dem
+    bull_conf["output_dir"] = output_dir
+    if cars_orchestrator is not None:
+        if (
+            cars_orchestrator.get_conf()["mode"] == "multiprocessing"
+            or cars_orchestrator.get_conf()["mode"] == "local_dask"
+        ):
+            bull_conf["nb_max_workers"] = cars_orchestrator.get_conf()[
+                "nb_workers"
+            ]
+    else:
+        bull_conf["nb_max_workers"] = 4
+    bull_conf["max_object_size"] = max_object_size
+
+    os.makedirs(output_dir, exist_ok=True)
+    bull_conf_path = os.path.join(output_dir, "bulldozer_config.yaml")
+    with open(bull_conf_path, "w", encoding="utf8") as bull_conf_file:
+        yaml.dump(bull_conf, bull_conf_file)
+
+    output_dem = os.path.join(bull_conf["output_dir"], "dtm.tif")
+
+    try:
+        try:
+            # suppress prints in bulldozer by redirecting stdout&stderr
+            with open(os.devnull, "w", encoding="utf8") as devnull:
+                with (
+                    contextlib.redirect_stdout(devnull),
+                    contextlib.redirect_stderr(devnull),
+                ):
+                    dsm_to_dtm(bull_conf_path)
+        except Exception:
+            logging.info("Bulldozer failed on its first execution. Retrying")
+            # suppress prints in bulldozer by redirecting stdout&stderr
+            with open(os.devnull, "w", encoding="utf8") as devnull:
+                with (
+                    contextlib.redirect_stdout(devnull),
+                    contextlib.redirect_stderr(devnull),
+                ):
+                    dsm_to_dtm(bull_conf_path)
+    except Exception:
+        logging.error(
+            "Bulldozer failed on its second execution."
+            + " The DSM could not be smoothed."
+        )
+        output_dem = None
+
+    return output_dem

cars/applications/dem_generation/dem_generation_constants.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 dem generation constants.
+"""
+
+
+DEM_MEDIAN = "dem_median"
+DEM_MIN = "dem_min"
+DEM_MAX = "dem_max"
+
+DEM_MEDIAN_PATH = "dem_median_path"
+DEM_MIN_PATH = "dem_min_path"
+DEM_MAX_PATH = "dem_max_path"

cars/applications/dem_generation/dem_generation_wrappers.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 tools for the dem generation
+"""
+import contextlib
+import logging
+import os
+
+import numpy as np
+import rasterio as rio
+import xdem
+
+# Third-party imports
+from affine import Affine
+from rasterio.coords import BoundingBox
+from rasterio.enums import Resampling
+from rasterio.warp import calculate_default_transform, reproject
+from scipy.ndimage import median_filter
+
+
+def fit_initial_elevation_on_dem_median(
+    dem_to_fit_path: str, dem_ref_path: str, dem_out_path: str
+):
+    """
+    Coregistrates the two DEMs given then saves the result.
+    The initial elevation will be cropped to reduce computation costs.
+    Returns the transformation applied.
+
+    :param dem_to_fit_path: Path to the dem to be fitted
+    :type dem_to_fit_path: str
+    :param dem_ref_path: Path to the dem to fit onto
+    :type dem_ref_path: str
+    :param dem_out_path: Path to save the resulting dem into
+    :type dem_out_path: str
+
+    :return: coregistration transformation applied
+    :rtype: dict
+    """
+    # suppress all outputs of xdem
+    with open(os.devnull, "w", encoding="utf8") as devnull:
+        with (
+            contextlib.redirect_stdout(devnull),
+            contextlib.redirect_stderr(devnull),
+        ):
+
+            # load DEMs
+            dem_to_fit = xdem.DEM(dem_to_fit_path)
+            dem_ref = xdem.DEM(dem_ref_path)
+
+            # get the crs needed to reproject the data
+            crs_out = dem_ref.crs
+            crs_metric = dem_ref.get_metric_crs()
+
+            # Crop dem_to_fit with dem_ref to reduce
+            # computation costs.
+            bbox = dem_ref.bounds
+            bbox = add_margin(bbox)
+            dem_to_fit = dem_to_fit.crop(bbox).reproject(crs=crs_metric)
+            # Reproject dem_ref to dem_to_fit resolution to reduce
+            # computation costs
+            dem_ref = dem_ref.reproject(dem_to_fit)
+            bbox = dem_ref.bounds
+            bbox = add_margin(bbox)
+
+            coreg_pipeline = xdem.coreg.NuthKaab()
+
+            try:
+                # fit dem_to_fit onto dem_ref, crop it, then reproject it
+                # set a random state to always get the same results
+                fit_dem = (
+                    coreg_pipeline.fit_and_apply(
+                        dem_ref, dem_to_fit, random_state=0
+                    )
+                    .crop(bbox)
+                    .reproject(crs=crs_out)
+                )
+                # save the results
+                fit_dem.save(dem_out_path)
+                coreg_offsets = coreg_pipeline.meta["outputs"]["affine"]
+            except (ValueError, AssertionError, TypeError):
+                logging.warning(
+                    "xDEM coregistration failed. This can happen when sensor "
+                    "images are too small. No shift will be applied on DEM"
+                )
+                coreg_offsets = None
+
+    return coreg_offsets
+
+
+def add_margin(bbox, ratio=1):
+    """
+    Add margin to a bounding box
+    :param bbox: input bounding box
+    :type bbox: rasterio.coords.BoundingBox
+    :param ratio: factor of bbox size to add to each side of bbox
+    :type ratio: float
+
+    :return: bounding box with margins
+    :rtype: rasterio.coords.BoundingBox
+    """
+    try:
+        assert bbox.left < bbox.right
+        assert bbox.bottom < bbox.top
+        width = bbox.right - bbox.left
+        height = bbox.top - bbox.bottom
+        new_left = bbox.left - ratio * width
+        new_right = bbox.right + ratio * width
+        new_bottom = bbox.bottom - ratio * height
+        new_top = bbox.top + ratio * height
+        new_bbox = BoundingBox(new_left, new_bottom, new_right, new_top)
+    except AssertionError:
+        logging.warning("Bounding box {} cannot be read".format(bbox))
+        new_bbox = bbox
+    return new_bbox
+
+
+def compute_stats(diff):
+    """
+    Compute and display statistics of difference between two DEM :
+    Minimum, median, percentiles and maximum
+
+    :param diff: altimetric difference between two DEM
+    :type diff: numpy.array
+
+    """
+    mini = ("Min", np.nanmin(diff))
+    median = ("Median", np.nanmedian(diff))
+    p90 = ("p90", np.nanpercentile(diff, 90))
+    p95 = ("p95", np.nanpercentile(diff, 95))
+    p99 = ("p99", np.nanpercentile(diff, 99))
+    maxi = ("Max", np.nanmax(diff))
+    logging.info(  # pylint: disable=logging-fstring-interpolation
+        f"| {mini[0]:6} | {median[0]:6} | {p90[0]:6} | "
+        f"{p95[0]:6} | {p99[0]:6} | {maxi[0]:6} |"
+    )
+    logging.info(  # pylint: disable=logging-fstring-interpolation
+        f"| {mini[1]:6.2f} | {median[1]:6.2f} | {p90[1]:6.2f} | "
+        f"{p95[1]:6.2f} | {p99[1]:6.2f} | {maxi[1]:6.2f} |"
+    )
+
+
+def edit_transform(input_dem, resolution=None, transform=None):
+    """
+    Change transform of an image
+    :param input_res: path of image
+    :type input_dem: str
+    :param resolution: image resolution for new transform to apply
+    :type resolution: float
+    :param transform: new transform to apply if resolution is not given
+    :type transform: affine.Affine
+    """
+    if resolution is not None:
+        if transform is None:
+            transform = Affine.from_gdal(0, resolution, 0, 0, 0, resolution)
+        else:
+            raise ValueError(
+                "Function edit_transform take resolution or "
+                "transform as parameter but not both"
+            )
+    with rio.open(input_dem, "r+") as in_dem:
+        previous_transform = in_dem.transform
+        in_dem.transform = transform
+    return previous_transform
+
+
+def reverse_dem(input_dem):
+    """
+    Compute the opposite of a DEM :
+    Altitudes sign is changed
+
+    :param input_dem: path of DEM to reverse
+    :type input_dem: str
+    """
+    with rio.open(input_dem, "r") as in_dem:
+        data = in_dem.read()
+        metadata = in_dem.meta
+        nodata = in_dem.nodata
+    with rio.open(input_dem, "w", **metadata) as out_dem:
+        out_dem.write(-data)
+        out_dem.nodata = -nodata
+
+
+def downsample_dem(
+    input_dem,
+    scale,
+    interpolator,
+    median_filter_size=None,
+    default_alt=0,
+):
+    """
+    Downsample median DEM with median resampling
+
+    :param input_dem: path of DEM to downsample (only one band)
+    :type input_dem: str
+    """
+    with rio.open(input_dem) as in_dem:
+        data = in_dem.read(1)
+        metadata = in_dem.meta
+        src_transform = in_dem.transform
+        width = in_dem.width
+        height = in_dem.height
+        crs = in_dem.crs
+        nodata = in_dem.nodata
+
+    dst_transform = src_transform * Affine.scale(scale)
+    dst_height = int(height // scale) + 1
+    dst_width = int(width // scale) + 1
+    metadata["transform"] = dst_transform
+    metadata["height"] = dst_height
+    metadata["width"] = dst_width
+    dem_data = np.zeros((dst_height, dst_width))
+    interpolator_dict = {
+        "min": Resampling.min,
+        "median": Resampling.med,
+        "max": Resampling.max,
+        "nearest": Resampling.nearest,
+    }
+    interpolator = interpolator_dict[interpolator]
+    reproject(
+        data,
+        dem_data,
+        src_transform=src_transform,
+        src_crs=crs,
+        dst_transform=dst_transform,
+        dst_crs=crs,
+        dst_nodata=nodata,
+        resampling=interpolator,
+    )
+
+    # Post-processing
+
+    # Median filter
+    if median_filter_size is not None:
+        dem_data = median_filter(dem_data, size=median_filter_size)
+
+    # Fill nodata
+    dem_data = rio.fill.fillnodata(
+        dem_data,
+        mask=~(dem_data == nodata),
+    )
+
+    dem_data[dem_data == nodata] = default_alt
+
+    with rio.open(input_dem, "w", **metadata) as dst:
+        dst.write(dem_data, 1)
+
+
+def modify_terrain_bounds(terrain_bounds, linear_margin, constant_margin):
+    """
+    Modify the terrain bounds
+
+    :param terrain_bounds: Input region of interest for DEM
+    :type terrain_bounds: list
+    :param margin: Margin of the output ROI in meters
+    :type margin: int
+    """
+    xsize = terrain_bounds[2] - terrain_bounds[0]
+    ysize = terrain_bounds[3] - terrain_bounds[1]
+    xmin = terrain_bounds[0] - linear_margin * xsize - constant_margin
+    ymin = terrain_bounds[1] - linear_margin * ysize - constant_margin
+    xmax = terrain_bounds[2] + linear_margin * xsize + constant_margin
+    ymax = terrain_bounds[3] + linear_margin * ysize + constant_margin
+
+    terrain_bounds = [xmin, ymin, xmax, ymax]
+
+    return terrain_bounds
+
+
+def reproject_dem(dsm_file_name, epsg_out, out_file_name):
+    """
+    Reproject the DEM
+
+    :param dsm_file_name: the path to dsm
+    :type dsm_file_name: str
+    :param epsg_out: the epsg code
+    :type epsg_out: int
+    :param out_file_name: the out path file
+    :type out_file_name: str
+    """
+    with rio.open(dsm_file_name) as src:
+        transform, width, height = calculate_default_transform(
+            src.crs, epsg_out, src.width, src.height, *src.bounds
+        )
+        kwargs = src.meta.copy()
+        kwargs.update(
+            {
+                "crs": epsg_out,
+                "transform": transform,
+                "width": width,
+                "height": height,
+            }
+        )
+
+        with rio.open(out_file_name, "w", **kwargs) as dst:
+            for i in range(1, src.count + 1):
+                reproject(
+                    source=rio.band(src, i),
+                    destination=rio.band(dst, i),
+                    src_transform=src.transform,
+                    src_crs=src.crs,
+                    dst_transform=transform,
+                    dst_crs=epsg_out,
+                    resampling=Resampling.nearest,
+                )

cars/applications/dense_match_filling/__init__.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.
+#
+"""
+CARS core fill disparity map module init file
+"""
+# flake8: noqa: F401
+
+from cars.applications.dense_match_filling.abstract_dense_match_filling_app import (  # pylint: disable=C0301
+    DenseMatchFilling,
+)
+
+from . import zero_padding_app