cars 1.0.0rc3__cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

cars/applications/grid_correction/abstract_grid_correction_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 abstract grid generation application class.
+"""
+import logging
+from abc import ABCMeta, abstractmethod
+from typing import Dict
+
+from cars.applications.application import Application
+from cars.applications.application_template import ApplicationTemplate
+
+
+@Application.register("grid_correction")
+class GridCorrection(ApplicationTemplate, metaclass=ABCMeta):
+    """
+    AbstractGridCorrection
+    """
+
+    available_applications: Dict = {}
+    default_application = "default"
+
+    def __new__(cls, conf=None):  # pylint: disable=W0613
+        """
+        Return the required application
+        :raises:
+         - KeyError when the required application is not registered
+
+        :param conf: configuration for grid generation
+        :return: a application_to_use object
+        """
+
+        grid_method = cls.default_application
+
+        if bool(conf) is False or "method" not in conf:
+            logging.info(
+                "Grid correction method not specified, default "
+                " {} is used".format(grid_method)
+            )
+        else:
+            grid_method = conf.get("method", cls.default_application)
+
+        if grid_method not in cls.available_applications:
+            logging.error(
+                "No GridCorrection application named {} registered".format(
+                    grid_method
+                )
+            )
+            raise KeyError(
+                "No GridCorrection application named {} registered".format(
+                    grid_method
+                )
+            )
+
+        logging.info(
+            "The GridCorrection({}) application will be used".format(
+                grid_method
+            )
+        )
+
+        return super(GridCorrection, cls).__new__(
+            cls.available_applications[grid_method]
+        )
+
+    def __init_subclass__(cls, short_name, **kwargs):  # pylint: disable=E0302
+        super().__init_subclass__(**kwargs)
+        cls.available_applications[short_name] = cls
+
+    def __init__(self, conf=None):
+        """
+        Init function of GridGeneration
+
+        :param conf: configuration
+        :return: an application_to_use object
+        """
+
+        super().__init__(conf=conf)
+
+    @abstractmethod
+    def run(  # pylint: disable=too-many-positional-arguments
+        self,
+    ):
+        """
+        Run GridCorrection application
+        """

cars/applications/grid_correction/grid_correction_app.py

@@ -0,0 +1,557 @@
+#!/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 correction application class.
+"""
+# Standard imports
+from __future__ import absolute_import
+
+# Standard imports
+import logging
+import os
+
+import numpy as np
+
+# Third party imports
+import rasterio as rio
+
+# Third party imports
+from json_checker import And, Checker
+from scipy.interpolate import LinearNDInterpolator
+from scipy.spatial import Delaunay  # pylint: disable=E0611
+
+import cars.orchestrator.orchestrator as ocht
+from cars.applications import application_constants
+from cars.applications.grid_correction.abstract_grid_correction_app import (
+    GridCorrection,
+)
+from cars.applications.grid_generation import (
+    grid_generation_algo,
+)
+from cars.applications.grid_generation import (
+    grid_generation_constants as grid_constants,
+)
+
+# CARS imports
+from cars.core.utils import safe_makedirs
+from cars.orchestrator.cluster.log_wrapper import cars_profile
+
+
+class GridCorrectionApp(GridCorrection, short_name="default"):
+    """
+    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.nb_matches = self.used_config["nb_matches"]
+        self.save_intermediate_data = self.used_config["save_intermediate_data"]
+
+    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", "default")
+        overloaded_conf["nb_matches"] = conf.get("nb_matches", 90)
+        overloaded_conf["save_intermediate_data"] = conf.get(
+            "save_intermediate_data", False
+        )
+
+        grid_generation_schema = {
+            "method": str,
+            "nb_matches": 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_minimum_nb_matches(self):
+        """
+        Get the minimum number of matches required for grid correction
+        """
+
+        return self.nb_matches
+
+    @cars_profile(name="Correct grid")
+    def correct_grid(self, grid, grid_correction, pair_folder, save_grid=None):
+        """
+        Correct grid
+
+        :param grid: grid to correct
+        :type grid: dict
+        :param grid_correction: grid correction to apply
+        :type grid_correction: Tuple(np.ndarray, np.ndarray)
+                (coefsx_2d, coefsy_2d) , each of size (2,2)
+        :param pair_folder: directory where grids are saved: either in
+            pair_folder/tmp, or at the root of pair_folder if save_grid is True
+        :type pair_folder: str
+        :param save_grid: if True grids are saved in root of pair_folder,
+            instead of tmp
+        :type save_grid: bool
+        """
+
+        coefsx_2d, coefsy_2d = grid_correction
+
+        with rio.open(grid["path"]) as right_grid:
+            right_grid_row = right_grid.read(1)
+            right_grid_col = right_grid.read(2)
+
+        origin = grid["grid_origin"]
+        spacing = grid["grid_spacing"]
+
+        # Form 3D array with grid positions
+        x_values_1d = np.linspace(
+            origin[0],
+            origin[0] + right_grid_row.shape[0] * spacing[0],
+            right_grid_row.shape[0],
+        )
+        y_values_1d = np.linspace(
+            origin[1],
+            origin[1] + right_grid_row.shape[1] * spacing[1],
+            right_grid_row.shape[1],
+        )
+        x_values_2d, y_values_2d = np.meshgrid(y_values_1d, x_values_1d)
+
+        # Compute corresponding point in sensor geometry
+        # (grid encodes (x_sensor -
+        # x_epi,y_sensor - y__epi)
+
+        # Interpolate the regression model at grid position
+        correction_grid_x = np.polynomial.polynomial.polyval2d(
+            x_values_2d, y_values_2d, coefsx_2d
+        )
+        correction_grid_y = np.polynomial.polynomial.polyval2d(
+            x_values_2d, y_values_2d, coefsy_2d
+        )
+
+        # Compute corrected grid
+        corrected_grid_x = right_grid_row - correction_grid_x
+        corrected_grid_y = right_grid_col - correction_grid_y
+        corrected_right_grid = np.stack(
+            (corrected_grid_x, corrected_grid_y), axis=2
+        )
+
+        # create new grid dict
+        corrected_grid_right = grid.copy()
+
+        # Dump corrected grid
+        grid_origin = grid["grid_origin"]
+        grid_spacing = grid["grid_spacing"]
+
+        # Get save folder (permanent or temporay according to
+        # save_grid parameter)
+        if save_grid:
+            safe_makedirs(pair_folder)
+            save_folder = os.path.join(
+                pair_folder, "corrected_right_epi_grid.tif"
+            )
+        else:
+            safe_makedirs(os.path.join(pair_folder, "tmp"))
+            save_folder = os.path.join(
+                pair_folder, "tmp", "corrected_right_epi_grid.tif"
+            )
+
+        grid_generation_algo.write_grid(
+            corrected_right_grid, save_folder, grid_origin, grid_spacing
+        )
+
+        corrected_grid_right["path"] = save_folder
+
+        return corrected_grid_right
+
+    @cars_profile(name="Epi Grid Generation")
+    def run(  # pylint: disable=too-many-positional-arguments
+        self,
+        matches,
+        grid_right,
+        save_matches=False,
+        minimum_nb_matches=100,
+        pair_folder="",
+        pair_key="pair_0",
+        orchestrator=None,
+        save_corrected_grid=None,
+    ):
+        """
+        Estimates grid correction, and correct matches
+
+        :param matches: matches
+        :type matches: np.ndarray
+        :param grid_right: grid to correct
+        :type grid_right: dict
+        :param save_matches: true is matches needs to be saved
+        :type save_matches: bool
+        :param minimum_nb_matches: minimum number of matches required
+        :type minimum_nb_matches: int
+        :param pair_folder: folder used for current pair
+        :type pair_folder: str
+
+        :return: grid_correction to apply, corrected_matches, info before,
+                 info after
+        :rtype: Tuple(np.ndarray, np.ndarray) , np.ndarray, dict, dict
+                grid_correction is : (coefsx_2d, coefsy_2d) , each of size (2,2)
+
+        """
+
+        # 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
+            cars_orchestrator = ocht.Orchestrator(
+                orchestrator_conf={"mode": "sequential"}
+            )
+        else:
+            cars_orchestrator = orchestrator
+
+        if matches.shape[0] < minimum_nb_matches:
+            logging.error(
+                "Insufficient amount of matches found"
+                ", can not safely estimate epipolar error correction"
+            )
+
+            raise ValueError(
+                f"Insufficient amount of matches found (< {minimum_nb_matches})"
+                ", can not safely estimate epipolar error correction"
+            )
+
+        # Get grids attributes
+        with rio.open(grid_right["path"]) as right_grid:
+            right_grid_row = right_grid.read(1)
+            right_grid_col = right_grid.read(2)
+
+        origin = grid_right["grid_origin"]
+        spacing = grid_right["grid_spacing"]
+
+        # Form 3D array with grid positions
+        x_values_1d = np.arange(
+            origin[0],
+            origin[0] + right_grid_row.shape[0] * spacing[0],
+            spacing[0],
+        )
+        y_values_1d = np.arange(
+            origin[1],
+            origin[1] + right_grid_row.shape[1] * spacing[1],
+            spacing[1],
+        )
+        x_values_2d, y_values_2d = np.meshgrid(y_values_1d, x_values_1d)
+
+        # Compute corresponding point in sensor geometry
+        # (grid encodes (x_sensor -
+        # x_epi,y_sensor - y__epi)
+
+        # Extract matches for convenience
+        matches_y1 = matches[:, 1]
+        matches_x2 = matches[:, 2]
+        matches_y2 = matches[:, 3]
+
+        # Map real matches to sensor geometry
+        points = np.column_stack((np.ravel(x_values_2d), np.ravel(y_values_2d)))
+
+        triangulation = Delaunay(points)
+
+        values = np.ravel(right_grid_row)
+
+        interpolator = LinearNDInterpolator(triangulation, values)
+        sensor_matches_raw_x = interpolator(matches_x2, matches_y2)
+
+        # Simulate matches that have no epipolar error (i.e. y2 == y1) and map
+        # them to sensor geometry
+        sensor_matches_perfect_x = interpolator(matches_x2, matches_y1)
+
+        values = np.ravel(right_grid_col)
+        interpolator = LinearNDInterpolator(triangulation, values)
+        sensor_matches_raw_y = interpolator(matches_x2, matches_y2)
+
+        sensor_matches_perfect_y = interpolator(matches_x2, matches_y1)
+
+        # Compute epipolar error in sensor geometry in both direction
+        epipolar_error_x = sensor_matches_perfect_x - sensor_matches_raw_x
+        epipolar_error_y = sensor_matches_perfect_y - sensor_matches_raw_y
+
+        # Output epipolar error stats for monitoring
+        mean_epipolar_error = [
+            np.mean(epipolar_error_x),
+            np.mean(epipolar_error_y),
+        ]
+        median_epipolar_error = [
+            np.median(epipolar_error_x),
+            np.median(epipolar_error_y),
+        ]
+        std_epipolar_error = [
+            np.std(epipolar_error_x),
+            np.std(epipolar_error_y),
+        ]
+        rms_epipolar_error = np.mean(
+            np.sqrt(
+                epipolar_error_x * epipolar_error_x
+                + epipolar_error_y * epipolar_error_y
+            )
+        )
+        rmsd_epipolar_error = np.std(
+            np.sqrt(
+                epipolar_error_x * epipolar_error_x
+                + epipolar_error_y * epipolar_error_y
+            )
+        )
+
+        in_stats = {
+            "mean_epipolar_error": mean_epipolar_error,
+            "median_epipolar_error": median_epipolar_error,
+            "std_epipolar_error": std_epipolar_error,
+            "rms_epipolar_error": rms_epipolar_error,
+            "rmsd_epipolar_error": rmsd_epipolar_error,
+        }
+
+        logging.debug(
+            "Epipolar error before correction: \n"
+            "x    = {:.3f} +/- {:.3f} pixels \n"
+            "y    = {:.3f} +/- {:.3f} pixels \n"
+            "rmse = {:.3f} +/- {:.3f} pixels \n"
+            "medianx = {:.3f} pixels \n"
+            "mediany = {:.3f} pixels".format(
+                mean_epipolar_error[0],
+                std_epipolar_error[0],
+                mean_epipolar_error[1],
+                std_epipolar_error[1],
+                rms_epipolar_error,
+                rmsd_epipolar_error,
+                median_epipolar_error[0],
+                median_epipolar_error[1],
+            )
+        )
+
+        # Perform bilinear regression for both component of epipolar error
+        nan_mask = np.logical_and(
+            ~np.isnan(epipolar_error_x), ~np.isnan(epipolar_error_y)
+        )
+        lstsq_input = np.array(
+            [
+                matches_x2[nan_mask] * 0 + 1,
+                matches_x2[nan_mask],
+                matches_y2[nan_mask],
+            ]
+        ).T
+        coefsx, residx, __, __ = np.linalg.lstsq(
+            lstsq_input, epipolar_error_x[nan_mask], rcond=None
+        )
+        coefsy, residy, __, __ = np.linalg.lstsq(
+            lstsq_input, epipolar_error_y[nan_mask], rcond=None
+        )
+
+        # Normalize residuals by number of matches
+        rmsex = np.sqrt(residx / matches.shape[0])
+        rmsey = np.sqrt(residy / matches.shape[1])
+
+        logging.debug(
+            "Root Mean Square Error of correction estimation:"
+            "rmsex={} pixels, rmsey={} pixels".format(rmsex, rmsey)
+        )
+
+        # Reshape coefs to 2D (expected by np.polynomial.polyval2d)
+        coefsx_2d = np.ndarray((2, 2))
+        coefsx_2d[0, 0] = coefsx[0]
+        coefsx_2d[1, 0] = coefsx[1]
+        coefsx_2d[0, 1] = coefsx[2]
+        coefsx_2d[1, 1] = 0.0
+
+        coefsy_2d = np.ndarray((2, 2))
+        coefsy_2d[0, 0] = coefsy[0]
+        coefsy_2d[1, 0] = coefsy[1]
+        coefsy_2d[0, 1] = coefsy[2]
+        coefsy_2d[1, 1] = 0.0
+
+        grid_correction = (coefsx_2d, coefsy_2d)
+
+        # Map corrected matches to sensor geometry
+        sensor_matches_corrected_x = (
+            sensor_matches_raw_x
+            + np.polynomial.polynomial.polyval2d(
+                matches_x2, matches_y2, coefsx_2d
+            )
+        )
+        sensor_matches_corrected_y = (
+            sensor_matches_raw_y
+            + np.polynomial.polynomial.polyval2d(
+                matches_x2, matches_y2, coefsy_2d
+            )
+        )
+
+        # Map corrected matches to epipolar geometry
+        points = np.column_stack(
+            (np.ravel(right_grid_row), np.ravel(right_grid_col))
+        )
+        triangulation = Delaunay(points)
+
+        values = np.ravel(x_values_2d)
+        interpolator = LinearNDInterpolator(triangulation, values)
+        epipolar_matches_corrected_x = interpolator(
+            sensor_matches_corrected_x, sensor_matches_corrected_y
+        )
+
+        values = np.ravel(y_values_2d)
+        interpolator = LinearNDInterpolator(triangulation, values)
+        epipolar_matches_corrected_y = interpolator(
+            sensor_matches_corrected_x, sensor_matches_corrected_y
+        )
+
+        corrected_matches = np.copy(matches)
+        corrected_matches[:, 2] = epipolar_matches_corrected_x
+        corrected_matches[:, 3] = epipolar_matches_corrected_y
+
+        # Compute epipolar error in sensor geometry in both direction after
+        # correction
+        corrected_epipolar_error_x = (
+            sensor_matches_perfect_x - sensor_matches_corrected_x
+        )
+        corrected_epipolar_error_y = (
+            sensor_matches_perfect_y - sensor_matches_corrected_y
+        )
+
+        # Output corrected epipolar error stats for monitoring
+        mean_corrected_epipolar_error = [
+            np.mean(corrected_epipolar_error_x),
+            np.mean(corrected_epipolar_error_y),
+        ]
+        median_corrected_epipolar_error = [
+            np.median(corrected_epipolar_error_x),
+            np.median(corrected_epipolar_error_y),
+        ]
+        std_corrected_epipolar_error = [
+            np.std(corrected_epipolar_error_x),
+            np.std(corrected_epipolar_error_y),
+        ]
+        rms_corrected_epipolar_error = np.mean(
+            np.sqrt(
+                corrected_epipolar_error_x * corrected_epipolar_error_x
+                + corrected_epipolar_error_y * corrected_epipolar_error_y
+            )
+        )
+        rmsd_corrected_epipolar_error = np.std(
+            np.sqrt(
+                corrected_epipolar_error_x * corrected_epipolar_error_x
+                + corrected_epipolar_error_y * corrected_epipolar_error_y
+            )
+        )
+
+        out_stats = {
+            "mean_epipolar_error": mean_corrected_epipolar_error,
+            "median_epipolar_error": median_corrected_epipolar_error,
+            "std_epipolar_error": std_corrected_epipolar_error,
+            "rms_epipolar_error": rms_corrected_epipolar_error,
+            "rmsd_epipolar_error": rmsd_corrected_epipolar_error,
+        }
+
+        logging.debug(
+            "Epipolar error after  correction: \n"
+            "x    = {:.3f} +/- {:.3f} pixels \n"
+            "y    = {:.3f} +/- {:.3f} pixels \n"
+            "rmse = {:.3f} +/- {:.3f} pixels \n"
+            "medianx = {:.3f} pixels \n"
+            "mediany = {:.3f} pixels".format(
+                mean_corrected_epipolar_error[0],
+                std_corrected_epipolar_error[0],
+                mean_corrected_epipolar_error[1],
+                std_corrected_epipolar_error[1],
+                rms_corrected_epipolar_error,
+                rmsd_corrected_epipolar_error,
+                median_corrected_epipolar_error[0],
+                median_corrected_epipolar_error[1],
+            )
+        )
+
+        corrected_epipolar_error = (
+            corrected_matches[:, 1] - corrected_matches[:, 3]
+        )
+        logging.info(
+            "Epipolar error after correction: mean = {:.3f} pix., "
+            "standard deviation = {:.3f} pix., max = {:.3f} pix.".format(
+                np.mean(corrected_epipolar_error),
+                np.std(corrected_epipolar_error),
+                np.max(np.fabs(corrected_epipolar_error)),
+            )
+        )
+
+        # Export filtered matches
+        matches_array_path = None
+        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_array_path = os.path.join(
+                current_out_dir, "corrected_filtered_matches.npy"
+            )
+            np.save(matches_array_path, corrected_matches)
+
+        # Update orchestrator out_json
+        corrected_matches_infos = {
+            application_constants.APPLICATION_TAG: {
+                grid_constants.GRID_CORRECTION_TAG: {pair_key: {}}
+            }
+        }
+        cars_orchestrator.update_out_info(corrected_matches_infos)
+
+        corrected_grid_right = self.correct_grid(
+            grid_right,
+            grid_correction,
+            pair_folder,
+            save_corrected_grid,
+        )
+
+        return (
+            corrected_grid_right,
+            corrected_matches,
+            in_stats,
+            out_stats,
+        )

cars/applications/grid_generation/__init__.py

@@ -0,0 +1,30 @@
+# !/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 grid_generation module init file
+"""
+# flake8: noqa: F401
+
+from cars.applications.grid_generation.abstract_grid_generation_app import (
+    GridGeneration,
+)
+
+from . import epipolar_grid_generation_app