cars 1.0.0rc3__cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

cars/applications/ground_truth_reprojection/direct_localization_app.py

@@ -0,0 +1,629 @@
+#!/usr/bin/env python
+# coding: utf8
+#
+# Copyright (c) 2024 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 direct_localization application class.
+"""
+
+# Standard imports
+import collections
+import logging
+import os
+
+import numpy as np
+import rasterio as rio
+import xarray as xr
+from json_checker import And, Checker
+
+# CARS imports
+import cars.orchestrator.orchestrator as ocht
+from cars.applications.ground_truth_reprojection import (
+    abstract_ground_truth_reprojection_app,
+)
+from cars.applications.ground_truth_reprojection import (
+    ground_truth_reprojection_algo as gnd_truth_algo,
+)
+
+# CARS imports
+from cars.core import constants as cst
+from cars.core import inputs
+from cars.core.utils import safe_makedirs
+from cars.data_structures import cars_dataset
+from cars.pipelines.parameters import sensor_inputs_constants as sens_cst
+
+
+class DirectLocalization(
+    abstract_ground_truth_reprojection_app.GroundTruthReprojection,
+    short_name="direct_loc",
+):
+    """
+    DirectLocalization
+
+    """
+
+    # pylint: disable=too-many-instance-attributes
+
+    def __init__(self, conf=None):
+        """
+        Init function of DirectLocalization
+        :param conf: configuration for resampling
+        :return: an application_to_use object
+
+        """
+        super().__init__(conf=conf)
+
+        # check conf
+        self.used_method = self.used_config["method"]
+        self.target = self.used_config["target"]
+        self.tile_size = self.used_config["tile_size"]
+
+        # 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", "direct_loc")
+        overloaded_conf["target"] = conf.get("target", "epipolar")
+        overloaded_conf["tile_size"] = conf.get("tile_size", 2500)
+        # save_intermediate_data not used in this app, but overiden
+        overloaded_conf["save_intermediate_data"] = True
+
+        ground_truth_reprojection_schema = {
+            "method": str,
+            "target": And(
+                str, lambda input: input in ["epipolar", "sensor", "all"]
+            ),
+            "tile_size": And(int, lambda size: size > 0),
+            "save_intermediate_data": bool,
+        }
+
+        # Check conf
+        checker = Checker(ground_truth_reprojection_schema)
+        checker.validate(overloaded_conf)
+
+        return overloaded_conf
+
+    def run(  # pylint: disable=too-many-positional-arguments  # noqa: C901
+        self,
+        sensor_left,
+        sensor_right,
+        grid_left,
+        grid_right,
+        geom_plugin,
+        geom_plugin_dem_median,
+        disp_to_alt_ratio,
+        auxiliary_values,
+        auxiliary_interp,
+        orchestrator=None,
+        pair_folder=None,
+        pair_key="PAIR_0",
+    ):
+        """
+        Run direct localization for ground truth disparity
+
+        :param sensor_left: Tiled sensor left image.
+            Dict must contain keys: "image", "texture", "geomodel",
+            "no_data", "mask". Paths must be absolute.
+        :type sensor_left: CarsDataset
+        :param sensor_right: Tiled sensor right image.
+            Dict must contain keys: "image", "texture", "geomodel",
+            "no_data", "mask". Paths must be absolute.
+        :type sensor_right: CarsDataset
+        :param grid_left: Grid left.
+        :type grid_left: CarsDataset
+        :param grid_right: Grid right.
+        :type grid_right: CarsDataset
+        :param geom_plugin_dem_median: Geometry plugin with dem median
+        :type geom_plugin_dem_median: geometry_plugin
+        :param geom_plugin: Geometry plugin with user's DSM used to
+            generate epipolar grids.
+        :type geom_plugin: GeometryPlugin
+        :param disp_to_alt_ratio: Disp to altitude ratio used
+            for performance map.
+        :type disp_to_alt_ratio: float
+        :param orchestrator: orchestrator used
+        :type orchestrator: orchestrator
+        :param pair_folder: Folder used for current pair.
+        :type pair_folder: str
+        :param pair_key: Pair ID.
+        :type pair_key: str
+        """
+
+        logging.info("Starting ground truth reprojection application")
+
+        # Default orchestrator
+        if orchestrator is None:
+            # Create default sequential orchestrator for current application
+            # be aware, no out_json will be shared between orchestrators
+            # No files saved
+            self.orchestrator = ocht.Orchestrator(
+                orchestrator_conf={"mode": "sequential"}
+            )
+        else:
+            self.orchestrator = orchestrator
+
+        if pair_folder is None:
+            pair_folder = os.path.join(self.orchestrator.out_dir, "tmp")
+        else:
+            safe_makedirs(pair_folder)
+
+        # Get profile
+        with rio.open(
+            sensor_left[sens_cst.INPUT_IMG]["bands"]["b0"]["path"]
+        ) as src_left:
+            width_left = src_left.width
+            height_left = src_left.height
+            transform_left = src_left.transform
+
+        with rio.open(
+            sensor_right[sens_cst.INPUT_IMG]["bands"]["b0"]["path"]
+        ) as src_right:
+            width_right = src_right.width
+            height_right = src_right.height
+            transform_right = src_right.transform
+
+        raster_profile_left = collections.OrderedDict(
+            {
+                "height": height_left,
+                "width": width_left,
+                "driver": "GTiff",
+                "dtype": "float32",
+                "transform": transform_left,
+                "tiled": True,
+            }
+        )
+
+        raster_profile_right = collections.OrderedDict(
+            {
+                "height": height_right,
+                "width": width_right,
+                "driver": "GTiff",
+                "dtype": "float32",
+                "transform": transform_right,
+                "tiled": True,
+            }
+        )
+
+        if self.used_config["target"] in ["all", "epipolar"]:
+
+            # Create cars datasets
+            epi_disparity_ground_truth_left = cars_dataset.CarsDataset(
+                "arrays", name="epipolar_disparity_ground_truth_left" + pair_key
+            )
+            epi_disp_ground_truth_right = cars_dataset.CarsDataset(
+                "arrays",
+                name="epipolar_disparity_ground_truth_right" + pair_key,
+            )
+
+            epi_disparity_ground_truth_left.create_grid(
+                grid_left["epipolar_size_x"],
+                grid_left["epipolar_size_y"],
+                self.tile_size,
+                self.tile_size,
+                0,
+                0,
+            )
+            epi_disp_ground_truth_right.tiling_grid = (
+                epi_disparity_ground_truth_left.tiling_grid
+            )
+
+            self.orchestrator.add_to_save_lists(
+                os.path.join(
+                    pair_folder, "epipolar_disp_ground_truth_left.tif"
+                ),
+                cst.EPI_GROUND_TRUTH,
+                epi_disparity_ground_truth_left,
+                cars_ds_name="epipolar_disparity_ground_truth",
+            )
+            self.orchestrator.add_to_save_lists(
+                os.path.join(
+                    pair_folder, "epipolar_disp_ground_truth_right.tif"
+                ),
+                cst.EPI_GROUND_TRUTH,
+                epi_disp_ground_truth_right,
+                cars_ds_name="epipolar_disparity_ground_truth",
+            )
+
+            # Save all file that are in inputs
+            if auxiliary_values is not None:
+                for key in auxiliary_values.keys():
+                    if key in (cst.DSM_COLOR, cst.DSM_WEIGHTS_SUM):
+                        option = False
+                    else:
+                        option = True
+
+                    out_file_left_name = os.path.join(
+                        pair_folder, key + "_left_epipolar.tif"
+                    )
+
+                    orchestrator.add_to_save_lists(
+                        out_file_left_name,
+                        key,
+                        epi_disparity_ground_truth_left,
+                        dtype=inputs.rasterio_get_dtype(auxiliary_values[key]),
+                        nodata=inputs.rasterio_get_nodata(
+                            auxiliary_values[key]
+                        ),
+                        cars_ds_name=key,
+                        optional_data=option,
+                    )
+
+                    out_file_right_name = os.path.join(
+                        pair_folder, key + "_right_epipolar.tif"
+                    )
+
+                    orchestrator.add_to_save_lists(
+                        out_file_right_name,
+                        key,
+                        epi_disp_ground_truth_right,
+                        dtype=inputs.rasterio_get_dtype(auxiliary_values[key]),
+                        nodata=inputs.rasterio_get_nodata(
+                            auxiliary_values[key]
+                        ),
+                        cars_ds_name=key,
+                        optional_data=option,
+                    )
+
+            # Get saving infos in order to save tiles when they are computed
+            [saving_infos_epi_left] = self.orchestrator.get_saving_infos(
+                [epi_disparity_ground_truth_left]
+            )
+            [saving_infos_epi_right] = self.orchestrator.get_saving_infos(
+                [epi_disp_ground_truth_right]
+            )
+
+            for col in range(
+                epi_disparity_ground_truth_left.tiling_grid.shape[1]
+            ):
+                for row in range(
+                    epi_disparity_ground_truth_left.tiling_grid.shape[0]
+                ):
+                    # update saving infos with row col
+                    full_saving_info_left = ocht.update_saving_infos(
+                        saving_infos_epi_left, row=row, col=col
+                    )
+                    full_saving_info_right = ocht.update_saving_infos(
+                        saving_infos_epi_right, row=row, col=col
+                    )
+
+                    # generate ground truth
+                    (
+                        epi_disparity_ground_truth_left[row, col]
+                    ) = self.orchestrator.cluster.create_task(
+                        maps_generation_wrapper, nout=1
+                    )(
+                        sensor_left,
+                        grid_left,
+                        geom_plugin,
+                        disp_to_alt_ratio,
+                        "epipolar",
+                        full_saving_info_left,
+                        epi_disparity_ground_truth_left.tiling_grid[row, col],
+                        auxiliary_values,
+                        auxiliary_interp,
+                        geom_plugin_dem_median=geom_plugin_dem_median,
+                        window_dict=(
+                            epi_disparity_ground_truth_left.get_window_as_dict(
+                                row, col
+                            )
+                        ),
+                    )
+
+                    (
+                        epi_disp_ground_truth_right[row, col]
+                    ) = self.orchestrator.cluster.create_task(
+                        maps_generation_wrapper, nout=1
+                    )(
+                        sensor_right,
+                        grid_right,
+                        geom_plugin,
+                        disp_to_alt_ratio,
+                        "epipolar",
+                        full_saving_info_right,
+                        epi_disp_ground_truth_right.tiling_grid[row, col],
+                        auxiliary_values,
+                        auxiliary_interp,
+                        geom_plugin_dem_median=geom_plugin_dem_median,
+                        reverse=True,
+                        window_dict=(
+                            epi_disp_ground_truth_right.get_window_as_dict(
+                                row, col
+                            )
+                        ),
+                    )
+
+        if self.used_config["target"] in ["all", "sensor"]:
+
+            sensor_dsm_gt_left = cars_dataset.CarsDataset(
+                "arrays", name="sensor_dsm_ground_truth_left" + pair_key
+            )
+            sensor_dsm_gt_right = cars_dataset.CarsDataset(
+                "arrays", name="sensor_dsm_ground_truth_right" + pair_key
+            )
+
+            # update grid
+            sensor_dsm_gt_left.create_grid(
+                width_left, height_left, self.tile_size, self.tile_size, 0, 0
+            )
+            sensor_dsm_gt_right.create_grid(
+                width_right, height_right, self.tile_size, self.tile_size, 0, 0
+            )
+
+            self.orchestrator.add_to_save_lists(
+                os.path.join(pair_folder, "sensor_dsm_ground_truth_left.tif"),
+                cst.SENSOR_GROUND_TRUTH,
+                sensor_dsm_gt_left,
+                cars_ds_name="sensor_dsm_ground_truth_left",
+            )
+            self.orchestrator.add_to_save_lists(
+                os.path.join(pair_folder, "sensor_dsm_ground_truth_right.tif"),
+                cst.SENSOR_GROUND_TRUTH,
+                sensor_dsm_gt_right,
+                cars_ds_name="sensor_dsm_ground_truth_right",
+            )
+
+            # Save all file that are in inputs
+            if auxiliary_values is not None:
+                for key in auxiliary_values.keys():
+                    if key in (cst.DSM_COLOR, cst.DSM_WEIGHTS_SUM):
+                        option = False
+                    else:
+                        option = True
+
+                    out_file_left_name = os.path.join(
+                        pair_folder, key + "_left_sensor.tif"
+                    )
+
+                    orchestrator.add_to_save_lists(
+                        out_file_left_name,
+                        key,
+                        sensor_dsm_gt_left,
+                        dtype=inputs.rasterio_get_dtype(auxiliary_values[key]),
+                        nodata=inputs.rasterio_get_nodata(
+                            auxiliary_values[key]
+                        ),
+                        cars_ds_name=key,
+                        optional_data=option,
+                    )
+
+                    out_file_right_name = os.path.join(
+                        pair_folder, key + "_right_sensor.tif"
+                    )
+
+                    orchestrator.add_to_save_lists(
+                        out_file_right_name,
+                        key,
+                        sensor_dsm_gt_right,
+                        dtype=inputs.rasterio_get_dtype(auxiliary_values[key]),
+                        nodata=inputs.rasterio_get_nodata(
+                            auxiliary_values[key]
+                        ),
+                        cars_ds_name=key,
+                        optional_data=option,
+                    )
+
+            # Get saving infos in order to save tiles when they are computed
+            [saving_infos_sensor_left] = self.orchestrator.get_saving_infos(
+                [sensor_dsm_gt_left]
+            )
+            [saving_infos_sensor_right] = self.orchestrator.get_saving_infos(
+                [sensor_dsm_gt_right]
+            )
+
+            # left
+            for col in range(sensor_dsm_gt_left.tiling_grid.shape[1]):
+                for row in range(sensor_dsm_gt_left.tiling_grid.shape[0]):
+                    full_saving_info_left = ocht.update_saving_infos(
+                        saving_infos_sensor_left, row=row, col=col
+                    )
+                    (
+                        sensor_dsm_gt_left[row, col]
+                    ) = self.orchestrator.cluster.create_task(
+                        maps_generation_wrapper, nout=1
+                    )(
+                        sensor_left,
+                        grid_left,
+                        geom_plugin,
+                        disp_to_alt_ratio,
+                        "sensor",
+                        full_saving_info_left,
+                        sensor_dsm_gt_left.tiling_grid[row, col],
+                        auxiliary_values,
+                        auxiliary_interp,
+                        raster_profile=raster_profile_left,
+                        window_dict=sensor_dsm_gt_left.get_window_as_dict(
+                            row, col
+                        ),
+                    )
+
+            # right
+            for col in range(sensor_dsm_gt_right.tiling_grid.shape[1]):
+                for row in range(sensor_dsm_gt_right.tiling_grid.shape[0]):
+                    full_saving_info_right = ocht.update_saving_infos(
+                        saving_infos_sensor_right, row=row, col=col
+                    )
+                    (
+                        sensor_dsm_gt_right[row, col]
+                    ) = self.orchestrator.cluster.create_task(
+                        maps_generation_wrapper, nout=1
+                    )(
+                        sensor_right,
+                        grid_right,
+                        geom_plugin,
+                        disp_to_alt_ratio,
+                        "sensor",
+                        full_saving_info_right,
+                        sensor_dsm_gt_right.tiling_grid[row, col],
+                        auxiliary_values,
+                        auxiliary_interp,
+                        raster_profile=raster_profile_right,
+                        window_dict=sensor_dsm_gt_right.get_window_as_dict(
+                            row, col
+                        ),
+                    )
+
+
+def maps_generation_wrapper(  # pylint: disable=too-many-positional-arguments
+    sensor_left,
+    grid_left,
+    geom_plugin,
+    disp_to_alt_ratio,
+    target,
+    saving_infos,
+    window,
+    auxiliary_values,
+    auxiliary_interp,
+    raster_profile=None,
+    geom_plugin_dem_median=None,
+    reverse=False,
+    window_dict=None,
+):
+    """
+    Computes ground truth epipolar disparity map and sensor geometry.
+
+    :param sensor_left: sensor data
+        Dict must contain keys: "image", "texture", "geomodel",
+        "no_data", "mask". Paths must be absolute.
+    :type sensor_left: dict
+    :param grid_left: Grid left.
+    :type grid_left: CarsDataset
+    :param geom_plugin: Geometry plugin with user's DSM used to
+        generate epipolar grids.
+    :type geom_plugin: GeometryPlugin
+    :param disp_to_alt_ratio: Disp to altitude ratio used for performance map.
+    :type disp_to_alt_ratio: float
+    :param target: "epipolar", "sensor", or both ("all") geometry.
+    :type target: str
+    :param saving_infos: Information about CarsDataset ID.
+    :type saving_infos: dict
+    :param window: size of tile
+    :type window: np.ndarray
+    :param raster_profile: dictionnary containing dataset information
+    :type raster_profile: dict
+    :param geom_plugin_dem_median: Geometry plugin with dem median
+    :type geom_plugin_dem_median: geometry_plugin
+    :param reverse: true if right-> left
+    :type reverse: bool
+    :param window_dict: window as dict
+    """
+
+    ground_truth, direct_loc = gnd_truth_algo.get_ground_truth(
+        geom_plugin,
+        grid_left,
+        sensor_left,
+        disp_to_alt_ratio,
+        target,
+        window,
+        geom_plugin_dem_median,
+        reverse=reverse,
+    )
+
+    constant_for_dataset = cst.EPI_GROUND_TRUTH
+    if target == "sensor":
+        constant_for_dataset = cst.SENSOR_GROUND_TRUTH
+
+    rows = np.arange(window[0], window[1])
+    cols = np.arange(window[2], window[3])
+
+    values = {
+        constant_for_dataset: (
+            [
+                cst.ROW,
+                cst.COL,
+            ],
+            ground_truth,
+        )
+    }
+    outputs_dataset = xr.Dataset(
+        values,
+        coords={cst.ROW: rows, cst.COL: cols},
+    )
+
+    if auxiliary_values is not None:
+        for key in auxiliary_values.keys():
+            if auxiliary_interp is not None and key in auxiliary_interp:
+                interpolation = auxiliary_interp[key]
+            else:
+                interpolation = "nearest"
+
+            band_description = inputs.get_descriptions_bands(
+                auxiliary_values[key]
+            )
+
+            keep_band = False
+            if band_description[0] is not None or len(band_description) > 1:
+                if len(band_description) == 1:
+                    band_description = np.array([band_description[0]])
+                else:
+                    band_description = list(band_description)
+
+                band_description = [
+                    "band_" + str(i + 1) if v is None else v
+                    for i, v in enumerate(band_description)
+                ]
+
+                outputs_dataset.coords[cst.BAND_IM] = (
+                    key,
+                    band_description,
+                )
+                dim = [key, cst.Y, cst.X]
+                keep_band = True
+            else:
+                dim = [cst.Y, cst.X]
+
+            interp_value = gnd_truth_algo.resample_auxiliary_values(
+                direct_loc,
+                auxiliary_values[key],
+                window,
+                interpolation,
+                keep_band,
+            )
+
+            outputs_dataset[key] = (dim, interp_value)
+
+    # Fill datasets based on target
+    attributes = {}
+    # Return results based on target
+    cars_dataset.fill_dataset(
+        outputs_dataset,
+        saving_info=saving_infos,
+        window=window_dict,
+        attributes=attributes,
+        profile=raster_profile,
+    )
+
+    return outputs_dataset