cars 1.0.0rc3__cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

cars/core/preprocessing.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.
+#
+"""
+Preprocessing contains function used in pipelines
+"""
+# pylint: disable=too-many-lines
+
+# Standard imports
+from __future__ import print_function
+
+import json
+import logging
+import math
+import os
+
+import numpy as np
+import utm
+from pyproj import CRS
+from shapely.geometry import Polygon
+
+import cars.orchestrator.orchestrator as ocht
+from cars.applications.grid_generation import grid_generation_algo as grids_algo
+
+# CARS imports
+from cars.core import inputs, projection, tiling
+from cars.core.utils import safe_makedirs
+from cars.orchestrator.cluster.log_wrapper import cars_profile
+from cars.pipelines.parameters import sensor_inputs_constants as sens_cst
+
+PREPROCESSING_TAG = "pair_preprocessing"
+LEFT_ENVELOPE_TAG = "left_envelope"
+RIGHT_ENVELOPE_TAG = "right_envelope"
+ENVELOPES_INTERSECTION_TAG = "envelopes_intersection"
+ENVELOPES_INTERSECTION_BB_TAG = "envelopes_intersection_bounding_box"
+
+
+def get_utm_zone_as_epsg_code(lon, lat):
+    """
+    Returns the EPSG code of the UTM zone where the lat, lon point falls in
+
+    :param lon: longitude of the point
+    :type lon: float
+    :param lat: latitude of the point
+    :type lat: float
+    :return: The EPSG code corresponding to the UTM zone
+    :rtype: int
+    """
+
+    if lon is None or lat is None or np.isnan(lon) or np.isnan(lat):
+        logging.warning(
+            "An incorrect position was given when trying "
+            "to select the right EPSG for computations. "
+            "The default EPSG 32632 will be used."
+        )
+        return 32632
+
+    if lat > 84:
+        logging.warning(
+            "Since the latitude is above 84°, the EPSG 32661 will be used."
+        )
+        return 32661
+
+    if lat < -80:
+        logging.warning(
+            "Since the latitude is under -80°, the EPSG 32761 will be used."
+        )
+        return 32761
+
+    zone = utm.from_latlon(lat, lon)[2]
+
+    north_south = 600 if lat >= 0 else 700
+    return 32000 + north_south + zone
+
+
+@cars_profile(name="Compute terrain bbox")
+def compute_terrain_bbox(  # pylint: disable=too-many-positional-arguments  # noqa: 751
+    sensor_image_left,
+    sensor_image_right,
+    epipolar_image_left,
+    grid_left,
+    grid_right,
+    epsg,
+    geometry_plugin,
+    disp_min=-10,
+    disp_max=10,
+    resolution=0.5,
+    roi_poly=None,
+    pair_key="PAIR_0",
+    pair_folder=None,
+    orchestrator=None,
+    check_inputs=False,
+):
+    """
+    Compute terrain bounding box of current pair
+
+
+    :param srtm_dir: srtm directory
+    :type srtm_dir: str
+    :param default_alt: default altitude
+    :type default_alt: int
+    :param geoid: geoid path
+    :type geoid: str
+    :param sensor_image_left: left image
+           Dict Must contain keys : "image", "texture", "geomodel",
+           "no_data", "mask". Paths must be absolutes
+    :type sensor_image_left: dict
+    :param sensor_image_right: right image
+           Dict Must contain keys : "image", "texture", "geomodel",
+           "no_data", "mask". Paths must be absolutes
+    :type sensor_image_right: dict
+    :param grid_left: left grid. Grid dict contains :
+            - "grid_spacing", "grid_origin", \
+                "epipolar_size_x", "epipolar_size_y", \
+                "epipolar_origin_x", "epipolar_origin_y", \
+                "epipolar_spacing_x", "epipolar_spacing", \
+                "disp_to_alt_ratio", "path"
+    :type grid_left: dict
+    :param grid_right: right grid. Grid dict contains :
+            - "grid_spacing", "grid_origin",\
+                "epipolar_size_x", "epipolar_size_y", \
+                "epipolar_origin_x", "epipolar_origin_y", \
+                "epipolar_spacing_x", "epipolar_spacing", \
+                "disp_to_alt_ratio", "path"
+    :type grid_right: dict
+    :param epsg: epsg to use
+    :type epsg: str
+    :param geometry_plugin: geometry plugin to use
+    :type geometry_plugin: AbstractGeometry
+    :param disp_min: minimum disparity
+    :type disp_min: int
+    :param disp_max: maximum disparity
+    :type disp_max: int
+    :param resolution: resolution
+    :type resolution: float
+    :param roi_poly: roi polygon
+    :type roi_poly: Polygon
+    :param pair_key: pair key id
+    :type pair_key: str
+    :param pair_folder: pair folder to save data to
+    :type pair_folder: str
+    :param orchestrator: orchestrator
+    :type orchestrator: Orchestrator
+    :param check_inputs: true if user wants to check inputs
+    :type check_inputs: bool
+
+    :return: former post prepare configuration
+    :rtype: dict
+
+    """
+
+    # 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
+        orchestrator = ocht.Orchestrator(
+            orchestrator_conf={"mode": "sequential"}
+        )
+
+    if pair_folder is None:
+        pair_folder = os.path.join(orchestrator.out_dir, "tmp")
+    safe_makedirs(pair_folder)
+
+    out_dir = pair_folder
+
+    # Check that the envelopes intersect one another
+    logging.info("Computing images envelopes and their intersection")
+    geojson1 = os.path.join(out_dir, "left_envelope.geojson")
+    geojson2 = os.path.join(out_dir, "right_envelope.geojson")
+    out_envelopes_intersection = os.path.join(
+        out_dir, "envelopes_intersection.geojson"
+    )
+
+    sensor1 = sensor_image_left[sens_cst.INPUT_IMG]
+    sensor2 = sensor_image_right[sens_cst.INPUT_IMG]
+    geomodel1 = sensor_image_left[sens_cst.INPUT_GEO_MODEL]
+    geomodel2 = sensor_image_right[sens_cst.INPUT_GEO_MODEL]
+
+    inter_poly, (
+        inter_xmin,
+        inter_ymin,
+        inter_xmax,
+        inter_ymax,
+    ) = projection.ground_intersection_envelopes(
+        sensor1["bands"]["b0"]["path"],
+        sensor2["bands"]["b0"]["path"],
+        geomodel1,
+        geomodel2,
+        geometry_plugin,
+        geojson1,
+        geojson2,
+        out_envelopes_intersection,
+        envelope_file_driver="GeoJSON",
+        intersect_file_driver="GeoJSON",
+    )
+
+    json_data_1 = None
+    json_data_2 = None
+    json_data_intersect = None
+
+    try:
+        with open(geojson1, "r", encoding="utf-8") as file_1:
+            json_data_1 = json.load(file_1)
+
+        with open(geojson2, "r", encoding="utf-8") as file_2:
+            json_data_2 = json.load(file_2)
+
+        with open(out_envelopes_intersection, "r", encoding="utf-8") as file_3:
+            json_data_intersect = json.load(file_3)
+    except Exception as exc:
+        raise FileNotFoundError("Unable to read bbox GeoJSON files") from exc
+
+    # update out_json
+    updating_dict = {
+        PREPROCESSING_TAG: {
+            pair_key: {
+                LEFT_ENVELOPE_TAG: json_data_1,
+                RIGHT_ENVELOPE_TAG: json_data_2,
+                ENVELOPES_INTERSECTION_TAG: json_data_intersect,
+                ENVELOPES_INTERSECTION_BB_TAG: [
+                    inter_xmin,
+                    inter_ymin,
+                    inter_xmax,
+                    inter_ymax,
+                ],
+            }
+        }
+    }
+
+    orchestrator.update_out_info(updating_dict)
+
+    if check_inputs:
+        logging.info("Checking DEM coverage")
+        _, epsg1 = inputs.read_vector(geojson1)
+        __, dem_coverage = projection.compute_dem_intersection_with_poly(
+            geometry_plugin.dem, inter_poly, epsg1
+        )
+
+        if dem_coverage < 100.0:
+            logging.warning(
+                "The input DEM covers {}% of the useful zone".format(
+                    int(dem_coverage)
+                )
+            )
+
+    # Get largest epipolar regions from configuration file
+    largest_epipolar_region = [
+        0,
+        0,
+        grid_left["epipolar_size_x"],
+        grid_left["epipolar_size_y"],
+    ]
+
+    # Numpy array with corners of largest epipolar region.
+    # Order does not matter here,
+    # since it will be passed to grids.compute_epipolar_grid_min_max
+    corners = np.array(
+        [
+            [
+                [largest_epipolar_region[0], largest_epipolar_region[1]],
+                [largest_epipolar_region[0], largest_epipolar_region[3]],
+            ],
+            [
+                [largest_epipolar_region[2], largest_epipolar_region[3]],
+                [largest_epipolar_region[2], largest_epipolar_region[1]],
+            ],
+        ],
+        dtype=np.float64,
+    )
+
+    # Compute terrain min and max again, this time using estimated epsg code
+    terrain_dispmin, terrain_dispmax = grids_algo.compute_epipolar_grid_min_max(
+        geometry_plugin,
+        corners,
+        sensor1,
+        sensor2,
+        geomodel1,
+        geomodel2,
+        grid_left,
+        grid_right,
+        epsg,
+        disp_min,
+        disp_max,
+    )
+
+    # Compute bounds from epipolar image corners and dispmin/dispmax
+    terrain_bounds = np.stack((terrain_dispmin, terrain_dispmax), axis=0)
+    terrain_min = np.nanmin(terrain_bounds, axis=(0, 1))
+    terrain_max = np.nanmax(terrain_bounds, axis=(0, 1))
+
+    terrain_area = (terrain_max[0] - terrain_min[0]) * (
+        terrain_max[1] - terrain_min[1]
+    )
+
+    logging.info(
+        "Terrain area covered: {} square meters (or square degrees)".format(
+            terrain_area
+        )
+    )
+
+    # Retrieve bounding box of the ground intersection of the envelopes
+    inter_poly, inter_epsg = inputs.read_vector(out_envelopes_intersection)
+
+    # Project polygon if epsg is different
+    if epsg != inter_epsg:
+        inter_poly = projection.polygon_projection(inter_poly, inter_epsg, epsg)
+
+    (inter_xmin, inter_ymin, inter_xmax, inter_ymax) = inter_poly.bounds
+
+    # Align bounding box to integer resolution steps
+    xmin, ymin, xmax, ymax = tiling.snap_to_grid(
+        inter_xmin, inter_ymin, inter_xmax, inter_ymax, resolution
+    )
+
+    logging.info(
+        "Terrain bounding box : [{}, {}] x [{}, {}]".format(
+            xmin, xmax, ymin, ymax
+        )
+    )
+
+    terrain_bounding_box = [xmin, ymin, xmax, ymax]
+
+    # Check if roi given by user intersects with current terrain region
+    if roi_poly is not None:
+        if not roi_poly.intersects(inter_poly):
+            logging.warning(
+                "The pair composed of {} and {} "
+                "does not intersect the requested ROI".format(
+                    sensor_image_left[sens_cst.INPUT_IMG],
+                    sensor_image_right[sens_cst.INPUT_IMG],
+                )
+            )
+
+    # Get number of epipolar tiles that are previously used
+    nb_epipolar_tiles = (
+        epipolar_image_left.shape[0] * epipolar_image_left.shape[1]
+    )
+
+    # Compute average epipolar tile width
+    epipolar_average_tile_width = math.sqrt(terrain_area / nb_epipolar_tiles)
+
+    return (terrain_bounding_box, epipolar_average_tile_width), inter_poly
+
+
+@cars_profile(name="Compute roi poly")
+def compute_roi_poly(input_roi_poly, input_roi_epsg, epsg):
+    """
+    Compute roi polygon from input roi
+
+    :param input_roi_poly: roi polygon
+    :type input_roi_poly:  shapely Polygon
+    :param input_roi_epsg: epsg of roi
+    :type input_roi_epsg: str
+    :param epsg: epsg to use
+    :type epsg: str
+
+    :return: polygon of roi with right epsg
+    :rtype: Polygon
+
+    """
+    roi_poly = input_roi_poly
+
+    if input_roi_poly is not None:
+        if input_roi_epsg != epsg:
+            roi_poly = projection.polygon_projection(
+                roi_poly, input_roi_epsg, epsg
+            )
+
+    return roi_poly
+
+
+@cars_profile(name="Compute epsg")
+def compute_epsg(  # pylint: disable=too-many-positional-arguments
+    sensor_image_left,
+    sensor_image_right,
+    grid_left,
+    grid_right,
+    geometry_plugin,
+    disp_min=-10,
+    disp_max=10,
+):
+    """
+    Compute epsg to use
+
+    :param sensor_image_left: left image
+           Dict Must contain keys : "image", "texture", "geomodel",
+           "no_data", "mask". Paths must be absolutes
+    :type sensor_image_left: dict
+    :param sensor_image_right: right image
+           Dict Must contain keys : "image", "texture", "geomodel",
+           "no_data", "mask". Paths must be absolutes
+    :type sensor_image_right: dict
+    :param grid_left: left grid. Grid dict contains :
+            - Attributes containing: "grid_spacing", "grid_origin", \
+                "epipolar_size_x", "epipolar_size_y", \
+                "epipolar_origin_x", "epipolar_origin_y", \
+                "epipolar_spacing_x", "epipolar_spacing", \
+                "disp_to_alt_ratio", "path"
+    :type grid_left: dict
+    :param grid_right: right grid. Grid dict contains :
+            - Attributes containing: "grid_spacing", "grid_origin", \
+                "epipolar_size_x", "epipolar_size_y", \
+                "epipolar_origin_x", "epipolar_origin_y", \
+                "epipolar_spacing_x", "epipolar_spacing", \
+                "disp_to_alt_ratio", "path"
+    :type grid_right: dict
+    :param geometry_plugin: geometry plugin to use
+    :type geometry_plugin: AbstractGeometry
+    :param srtm_dir: srtm directory
+    :type srtm_dir: str
+    :param default_alt: default altitude
+    :type default_alt: int
+    :param disp_min: minimum disparity
+    :type disp_min: int
+    :param disp_max: maximum disparity
+    :type disp_max: int
+
+    :return: epsg
+    :rtype: str
+
+    """
+    sensor1 = sensor_image_left[sens_cst.INPUT_IMG]
+    sensor2 = sensor_image_right[sens_cst.INPUT_IMG]
+    geomodel1 = sensor_image_left[sens_cst.INPUT_GEO_MODEL]
+    geomodel2 = sensor_image_right[sens_cst.INPUT_GEO_MODEL]
+
+    # Get largest epipolar regions from configuration file
+    largest_epipolar_region = [
+        0,
+        0,
+        grid_left["epipolar_size_x"],
+        grid_left["epipolar_size_y"],
+    ]
+
+    # Numpy array with corners of largest epipolar region.
+    # Order does not matter here,
+    # since it will be passed to grids.compute_epipolar_grid_min_max
+    corners = np.array(
+        [
+            [
+                [largest_epipolar_region[0], largest_epipolar_region[1]],
+                [largest_epipolar_region[0], largest_epipolar_region[3]],
+            ],
+            [
+                [largest_epipolar_region[2], largest_epipolar_region[3]],
+                [largest_epipolar_region[2], largest_epipolar_region[1]],
+            ],
+        ],
+        dtype=np.float64,
+    )
+
+    # Compute epipolar image terrain position corners
+    # for min and max disparity
+    (
+        terrain_dispmin,
+        _,
+    ) = grids_algo.compute_epipolar_grid_min_max(
+        geometry_plugin,
+        corners,
+        sensor1,
+        sensor2,
+        geomodel1,
+        geomodel2,
+        grid_left,
+        grid_right,
+        4326,
+        disp_min,
+        disp_max,
+    )
+
+    epsg = get_utm_zone_as_epsg_code(*np.nanmean(terrain_dispmin, axis=0))
+
+    logging.info("EPSG code: {}".format(epsg))
+
+    return epsg
+
+
+def crop_terrain_bounds_with_roi(roi_poly, xmin, ymin, xmax, ymax):
+    """
+    Crop current terrain bounds with roi
+
+    :param roi_poly: Polygon of ROI
+    :type roi_poly: Shapely Polygon
+    :param xmin: xmin
+    :type xmin: float
+    :param ymin: ymin
+    :type ymin: float
+    :param xmax: xmax
+    :type xmax: float
+    :param ymax: ymax
+    :type ymax: float
+
+    :return: new xmin, ymin, xmax, ymax
+    :rtype: (float, float, float, float)
+    """
+    # terrain bounding box polygon
+    terrain_poly = Polygon(
+        [
+            (xmin, ymin),
+            (xmax, ymin),
+            (xmax, ymax),
+            (xmin, ymax),
+            (xmin, ymin),
+        ]
+    )
+
+    if not roi_poly.intersects(terrain_poly):
+        raise RuntimeError("None of the input data intersect the requested ROI")
+    # Show ROI if valid (no exception raised) :
+    logging.info("Setting terrain bounding box to the requested ROI")
+    new_xmin, new_ymin, new_xmax, new_ymax = roi_poly.bounds
+
+    return new_xmin, new_ymin, new_xmax, new_ymax
+
+
+@cars_profile(name="Compute terrain bounds")
+def compute_terrain_bounds(list_of_terrain_roi, roi_poly=None, resolution=0.5):
+    """
+    Compute Terrain bounds of merged pairs
+
+    :param list_of_terrain_roi: list of terrain roi
+            list of (terrain bbox, terrain epi_tile_size)
+    :type list_of_terrain_roi: list
+    :param roi_poly: terrain roi of given roi
+    :type roi_poly: Polygon
+    :param resolution: list of terrain roi
+    :type resolution: float
+
+    :return: bounds, optimal_terrain_tile_width_average
+
+    """
+
+    # get lists
+    (
+        list_terrain_bounding_box,
+        list_terrain_epi_tile_width,
+    ) = zip(  # noqa: B905
+        *list_of_terrain_roi
+    )
+    list_terrain_bounding_box = list(list_terrain_bounding_box)
+    list_terrain_epi_tile_width = list(list_terrain_epi_tile_width)
+
+    xmin, ymin, xmax, ymax = tiling.union(list_terrain_bounding_box)
+
+    if roi_poly is not None:
+        (xmin, ymin, xmax, ymax) = crop_terrain_bounds_with_roi(
+            roi_poly, xmin, ymin, xmax, ymax
+        )
+
+        xmin, ymin, xmax, ymax = tiling.snap_to_grid(
+            xmin, ymin, xmax, ymax, resolution
+        )
+
+    logging.info(
+        "Total terrain bounding box : [{}, {}] x [{}, {}]".format(
+            xmin, xmax, ymin, ymax
+        )
+    )
+
+    bounds = [xmin, ymin, xmax, ymax]
+
+    # Compute optimal terrain tile width
+    optimal_terrain_tile_width_average = np.nanmean(list_terrain_epi_tile_width)
+
+    optimal_terrain_tile_width = (
+        int(math.ceil(optimal_terrain_tile_width_average / resolution))
+        * resolution
+    )
+
+    logging.info(
+        "Optimal terrain tile size: {}x{} pixels".format(
+            int(optimal_terrain_tile_width / resolution),
+            int(optimal_terrain_tile_width / resolution),
+        )
+    )
+
+    return bounds, optimal_terrain_tile_width
+
+
+def get_conversion_factor(bounds, epsg, epsg_cloud):
+    """
+    Conmpute conversion factor
+
+    :param bounds: terrain bounds
+    :type bounds: list
+    :param epsg: epsg of bounds
+    :type epsg: int
+    :param epsg_cloud: epsg of the input cloud
+    :type epsg_cloud: int
+    :return: conversion factor
+    :rtype: float
+    """
+
+    conversion_factor = 1
+
+    # only if epsg and epsg_cloud are different
+    spatial_ref = CRS.from_epsg(epsg)
+    spatial_ref_cloud = CRS.from_epsg(epsg_cloud)
+    is_geographic = spatial_ref.is_geographic or spatial_ref_cloud.is_geographic
+    if is_geographic and epsg != epsg_cloud:
+        # Compute bounds and terrain grid
+        [xmin, ymin, xmax, ymax] = bounds
+        bounds_points = [
+            [xmin, ymin],
+            [xmax, ymax],
+        ]
+        bounds_point_epsg_cloud = projection.point_cloud_conversion(
+            bounds_points, epsg, epsg_cloud
+        )
+        # Compute area in both epsg
+        terrain_area_epsg = (xmax - xmin) * (ymax - ymin)
+        terrain_area_epsg_cloud = (
+            bounds_point_epsg_cloud[1][0] - bounds_point_epsg_cloud[0][0]
+        ) * (bounds_point_epsg_cloud[1][1] - bounds_point_epsg_cloud[0][1])
+        # Compute conversion factor
+        conversion_factor = math.sqrt(
+            terrain_area_epsg / terrain_area_epsg_cloud
+        )
+
+    return conversion_factor
+
+
+def convert_optimal_tile_size_with_epsg(
+    bounds, optimal_terrain_tile_width, epsg, epsg_cloud
+):
+    """
+    Convert optimal_tile_size according to epsg.
+    Only if epsg_cloud is different of the output epsg.
+
+    :param bounds: terrain bounds
+    :type bounds: list
+    :param optimal_terrain_tile_width: initial optimal_terrain_tile_width
+    :type optimal_terrain_tile_width: float
+    :param epsg: target epsg
+    :type epsg: int
+    :param epsg_cloud: epsg of the input cloud
+    :type epsg_cloud: int
+    :return: converted optimal tile size
+    :rtype: float
+    """
+
+    # Convert optimal terrain tile width
+    conversion_factor = get_conversion_factor(bounds, epsg, epsg_cloud)
+    optimal_terrain_tile_width *= conversion_factor
+    return optimal_terrain_tile_width
+
+
+@cars_profile(name="Compute epipolar roi")
+def compute_epipolar_roi(  # pylint: disable=too-many-positional-arguments
+    terrain_roi_poly,
+    terrain_roi_epsg,
+    geometry_plugin,
+    sensor_image_left,
+    sensor_image_right,
+    grid_left,
+    grid_right,
+    output_path,
+    disp_min=0,
+    disp_max=0,
+):
+    """
+    Compute epipolar roi to use
+
+    :param terrain_roi_poly: terrain  roi polygon
+    :param terrain_roi_epsg: terrain  roi epsg
+    :param geometry_plugin: geometry plugin to use
+    :param epsg: epsg
+    :param disp_min: minimum disparity
+    :param disp_max: maximum disparity
+
+    :return: epipolar region to use, with tile_size a sample
+    """
+
+    if terrain_roi_poly is None:
+        return None
+
+    roi_bbox = terrain_roi_poly.bounds
+
+    pair_folder = os.path.join(output_path, "tmp")
+    safe_makedirs(pair_folder)
+
+    sensor1 = sensor_image_left[sens_cst.INPUT_IMG]
+    sensor2 = sensor_image_right[sens_cst.INPUT_IMG]
+    geomodel1 = sensor_image_left[sens_cst.INPUT_GEO_MODEL]
+    geomodel2 = sensor_image_right[sens_cst.INPUT_GEO_MODEL]
+
+    epipolar_roi = grids_algo.terrain_region_to_epipolar(
+        roi_bbox,
+        sensor1,
+        sensor2,
+        geomodel1,
+        geomodel2,
+        grid_left,
+        grid_right,
+        geometry_plugin,
+        epsg=terrain_roi_epsg,
+        disp_min=disp_min,
+        disp_max=disp_max,
+        tile_size=100,
+        epipolar_size_x=grid_left["epipolar_size_x"],
+        epipolar_size_y=grid_left["epipolar_size_y"],
+    )
+
+    return epipolar_roi