cars 1.0.0rc3__cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

cars/pipelines/surface_modeling/surface_modeling.py

@@ -0,0 +1,2098 @@
+#!/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.
+#
+# pylint: disable=too-many-lines
+# attribute-defined-outside-init is disabled so that we can create and use
+# attributes however we need, to stick to the "everything is attribute" logic
+# introduced in issue#895
+# pylint: disable=attribute-defined-outside-init
+# pylint: disable=too-many-nested-blocks
+# pylint: disable=C0302
+"""
+CARS surface modeling pipeline class file
+"""
+# Standard imports
+from __future__ import print_function
+
+import copy
+import logging
+import os
+import warnings
+from collections import OrderedDict
+
+import numpy as np
+import rasterio
+from json_checker import Checker, OptionalKey
+from rasterio.errors import NodataShadowWarning
+
+import cars.applications.sparse_matching.sparse_matching_constants as sm_cst
+from cars import __version__
+
+# CARS imports
+from cars.applications import application_constants
+from cars.applications.application import Application
+from cars.applications.dem_generation import (
+    dem_generation_wrappers as dem_wrappers,
+)
+from cars.core import preprocessing, projection, roi_tools
+from cars.core.geometry.abstract_geometry import AbstractGeometry
+from cars.core.inputs import get_descriptions_bands
+from cars.core.utils import safe_makedirs
+from cars.data_structures import cars_dataset
+from cars.orchestrator import orchestrator
+from cars.orchestrator.cluster.log_wrapper import cars_profile
+from cars.pipelines.parameters import advanced_parameters
+from cars.pipelines.parameters import advanced_parameters_constants as adv_cst
+from cars.pipelines.parameters import application_parameters
+from cars.pipelines.parameters import output_constants as out_cst
+from cars.pipelines.parameters import output_parameters, sensor_inputs
+from cars.pipelines.parameters import sensor_inputs_constants as sens_cst
+from cars.pipelines.parameters.advanced_parameters_constants import (
+    USE_ENDOGENOUS_DEM,
+)
+from cars.pipelines.parameters.output_constants import AUXILIARY
+from cars.pipelines.pipeline import Pipeline
+from cars.pipelines.pipeline_constants import (
+    ADVANCED,
+    APPLICATIONS,
+    INPUT,
+    ORCHESTRATOR,
+    OUTPUT,
+    TIE_POINTS,
+)
+from cars.pipelines.pipeline_template import PipelineTemplate
+from cars.pipelines.tie_points.tie_points import TiePointsPipeline
+
+PIPELINE = "surface_modeling"
+
+
+@Pipeline.register(PIPELINE)
+class SurfaceModelingPipeline(PipelineTemplate):
+    """
+    SurfaceModelingPipeline
+    """
+
+    # pylint: disable=too-many-instance-attributes
+
+    def __init__(
+        self,
+        conf,
+        config_dir=None,
+    ):  # noqa: C901
+        """
+        Creates pipeline
+
+        Directly creates class attributes:
+            used_conf
+            generate_terrain_products
+            debug_with_roi
+            save_output_dsm
+            save_output_depth_map
+            save_output_point_clouds
+            geom_plugin_without_dem_and_geoid
+            geom_plugin_with_dem_and_geoid
+
+        :param pipeline_name: name of the pipeline.
+        :type pipeline_name: str
+        :param cfg: configuration {'matching_cost_method': value}
+        :type cfg: dictionary
+        :param config_dir: path to dir containing json/yaml
+        :type config_dir: str
+        """
+
+        # Used conf
+        self.used_conf = {}
+        # refined conf
+        self.refined_conf = {}
+
+        # Transform relative path to absolute path
+        if config_dir is not None:
+            config_dir = os.path.abspath(config_dir)
+        self.config_dir = config_dir
+
+        # Check global conf
+        self.check_global_schema(conf)
+
+        if PIPELINE in conf:
+            self.check_pipeline_conf(conf)
+
+        self.out_dir = conf[OUTPUT][out_cst.OUT_DIRECTORY]
+
+        # Check conf orchestrator
+        self.used_conf[ORCHESTRATOR] = self.check_orchestrator(
+            conf.get(ORCHESTRATOR, None)
+        )
+
+        # Check conf inputs
+        inputs = self.check_inputs(conf[INPUT], config_dir=config_dir)
+        self.used_conf[INPUT] = inputs
+        self.refined_conf[INPUT] = copy.deepcopy(inputs)
+
+        initial_elevation = (
+            inputs[sens_cst.INITIAL_ELEVATION]["dem"] is not None
+        )
+        self.elevation_delta_lower_bound = -500 if initial_elevation else -1000
+        self.elevation_delta_upper_bound = 1000 if initial_elevation else 9000
+
+        self.dem_scaling_coeff = None
+        if inputs[sens_cst.LOW_RES_DSM] is not None:
+            low_res_dsm = rasterio.open(inputs[sens_cst.LOW_RES_DSM])
+            self.dem_scaling_coeff = np.mean(low_res_dsm.res) * 2
+
+        # Init tie points pipelines
+        if TIE_POINTS in conf and conf[TIE_POINTS] is None:
+            self.tie_points_pipelines = None
+        else:
+            self.tie_points_pipelines = {}
+            for key1, key2 in inputs[sens_cst.PAIRING]:
+                pair_key = key1 + "_" + key2
+                tie_points_config = {}
+                tie_points_input = {}
+                tie_points_input[sens_cst.SENSORS] = {
+                    key1: inputs[sens_cst.SENSORS][key1],
+                    key2: inputs[sens_cst.SENSORS][key2],
+                }
+                tie_points_input[sens_cst.PAIRING] = [[key1, key2]]
+                tie_points_input[sens_cst.LOADERS] = inputs[sens_cst.LOADERS]
+                tie_points_input[sens_cst.INITIAL_ELEVATION] = inputs[
+                    sens_cst.INITIAL_ELEVATION
+                ]
+                tie_points_config[INPUT] = tie_points_input
+                tie_points_output = os.path.join(
+                    self.out_dir, TIE_POINTS, pair_key
+                )
+                tie_points_config["output"] = {"directory": tie_points_output}
+                if TIE_POINTS in conf:
+                    tie_points_config[TIE_POINTS] = conf[TIE_POINTS]
+                self.tie_points_pipelines[pair_key] = TiePointsPipeline(
+                    tie_points_config,
+                    config_dir=self.config_dir,
+                )
+                self.used_conf[TIE_POINTS] = {}
+                self.used_conf[TIE_POINTS][APPLICATIONS] = (
+                    self.tie_points_pipelines[pair_key].used_conf[TIE_POINTS][
+                        APPLICATIONS
+                    ]
+                )
+                self.used_conf[TIE_POINTS][ADVANCED] = (
+                    self.tie_points_pipelines[pair_key].used_conf[TIE_POINTS][
+                        ADVANCED
+                    ]
+                )
+
+        # Check advanced parameters
+        # TODO static method in the base class
+        output_dem_dir = os.path.join(
+            self.out_dir, "dump_dir", "initial_elevation"
+        )
+        pipeline_conf = conf.get(PIPELINE, {})
+        self.used_conf[PIPELINE] = {}
+        safe_makedirs(output_dem_dir)
+        (
+            inputs,
+            advanced,
+            self.geometry_plugin,
+            self.geom_plugin_without_dem_and_geoid,
+            self.geom_plugin_with_dem_and_geoid,
+            self.scaling_coeff,
+            self.land_cover_map,
+            self.classification_to_config_mapping,
+        ) = advanced_parameters.check_advanced_parameters(
+            inputs,
+            pipeline_conf.get(ADVANCED, {}),
+            output_dem_dir=output_dem_dir,
+        )
+
+        self.used_conf[PIPELINE][ADVANCED] = advanced
+
+        self.refined_conf[ADVANCED] = copy.deepcopy(advanced)
+        # Refined conf: resolutions 1
+        self.refined_conf[ADVANCED][adv_cst.RESOLUTIONS] = [1]
+
+        # Get ROI
+        (
+            self.input_roi_poly,
+            self.input_roi_epsg,
+        ) = roi_tools.generate_roi_poly_from_inputs(
+            self.used_conf[INPUT][sens_cst.ROI]
+        )
+
+        self.debug_with_roi = self.used_conf[PIPELINE][ADVANCED][
+            adv_cst.DEBUG_WITH_ROI
+        ]
+
+        # Check conf output
+        (
+            output,
+            self.scaling_coeff,
+        ) = self.check_output(inputs, conf[OUTPUT], self.scaling_coeff)
+
+        self.used_conf[OUTPUT] = output
+        self.out_dir = self.used_conf[OUTPUT][out_cst.OUT_DIRECTORY]
+        self.dump_dir = os.path.join(self.out_dir, "dump_dir")
+
+        self.refined_conf[OUTPUT] = copy.deepcopy(output)
+
+        prod_level = output[out_cst.PRODUCT_LEVEL]
+
+        self.save_output_dsm = "dsm" in prod_level
+        self.save_output_depth_map = "depth_map" in prod_level
+        self.save_output_point_cloud = "point_cloud" in prod_level
+
+        self.output_level_none = not (
+            self.save_output_dsm
+            or self.save_output_depth_map
+            or self.save_output_point_cloud
+        )
+
+        # Used classification values, for filling -> will be masked
+        self.used_classif_values_for_filling = self.get_classif_values_filling(
+            self.used_conf[INPUT]
+        )
+
+        self.phasing = self.used_conf[PIPELINE][ADVANCED][adv_cst.PHASING]
+
+        self.compute_depth_map = not self.output_level_none
+
+        if self.output_level_none:
+            self.infer_conditions_from_applications(conf[PIPELINE])
+
+        self.save_all_intermediate_data = self.used_conf[PIPELINE][ADVANCED][
+            adv_cst.SAVE_INTERMEDIATE_DATA
+        ]
+
+        self.save_all_point_clouds_by_pair = self.used_conf[OUTPUT].get(
+            out_cst.SAVE_BY_PAIR, False
+        )
+
+        # Check conf application
+        application_conf = self.check_applications(
+            pipeline_conf.get(APPLICATIONS, {})
+        )
+
+        # Check conf application vs inputs application
+        application_conf = self.check_applications_with_inputs(
+            self.used_conf[INPUT], application_conf
+        )
+
+        self.used_conf[PIPELINE][APPLICATIONS] = application_conf
+
+    def check_pipeline_conf(self, conf):
+        """
+        Check pipeline configuration
+        """
+        # Validate inputs
+        pipeline_schema = {
+            OptionalKey(ADVANCED): dict,
+            OptionalKey(APPLICATIONS): dict,
+        }
+
+        checker_inputs = Checker(pipeline_schema)
+        checker_inputs.validate(conf[PIPELINE])
+
+    def quit_on_app(self, app_name):
+        """
+        Returns whether the pipeline should end after
+        the application was called.
+
+        Only works if the output_level is empty, so that
+        the control is instead given to
+        """
+
+        if not self.output_level_none:
+            # custom quit step was not set, never quit early
+            return False
+
+        return self.app_values[app_name] >= self.last_application_to_run
+
+    def infer_conditions_from_applications(self, conf):
+        """
+        Fills the condition booleans used later in the pipeline by going
+        through the applications and infering which application we should
+        end the pipeline on.
+        """
+
+        self.last_application_to_run = 0
+
+        sensor_to_depth_apps = {
+            "dem_generation": 1,
+            "grid_generation": 2,
+            "grid_correction": 3,
+            "resampling": 4,
+            "ground_truth_reprojection": 7,
+            "dense_matching": 9,
+            "dense_match_filling": 10,
+            "triangulation": 12,
+            "point_cloud_outlier_removal.1": 13,
+            "point_cloud_outlier_removal.2": 14,
+        }
+
+        depth_to_dsm_apps = {
+            "point_cloud_rasterization": 16,
+            "dsm_filling.1": 18,
+            "dsm_filling.2": 19,
+            "dsm_filling.3": 20,
+            "auxiliary_filling": 21,
+        }
+
+        self.app_values = {}
+        self.app_values.update(sensor_to_depth_apps)
+        self.app_values.update(depth_to_dsm_apps)
+
+        app_conf = conf.get(APPLICATIONS, {})
+        for key in app_conf:
+
+            if adv_cst.SAVE_INTERMEDIATE_DATA not in app_conf[key]:
+                continue
+
+            if not app_conf[key][adv_cst.SAVE_INTERMEDIATE_DATA]:
+                continue
+
+            if key in sensor_to_depth_apps:
+                self.compute_depth_map = True
+                self.last_application_to_run = max(
+                    self.last_application_to_run, self.app_values[key]
+                )
+
+            elif key in depth_to_dsm_apps:
+                self.compute_depth_map = True
+
+                # enabled to start the depth map to dsm process
+                self.save_output_dsm = True
+
+                self.last_application_to_run = max(
+                    self.last_application_to_run, self.app_values[key]
+                )
+
+            else:
+                warn_msg = (
+                    "The application {} was not recognized. Its configuration"
+                    "will be ignored."
+                ).format(key)
+                logging.warning(warn_msg)
+
+        if not (self.compute_depth_map or self.save_output_dsm):
+            log_msg = (
+                "No product level was given. CARS has not detected any "
+                "data you wish to save. No computation will be done."
+            )
+            logging.info(log_msg)
+        else:
+            log_msg = (
+                "No product level was given. CARS has detected that you "
+                + "wish to run up to the {} application.".format(
+                    next(
+                        k
+                        for k, v in self.app_values.items()
+                        if v == self.last_application_to_run
+                    )
+                )
+            )
+            logging.warning(log_msg)
+
+    @staticmethod
+    def check_inputs(conf, config_dir=None):
+        """
+        Check the inputs given
+
+        :param conf: configuration of inputs
+        :type conf: dict
+        :param config_dir: directory of used json/yaml, if
+            user filled paths with relative paths
+        :type config_dir: str
+
+        :return: overloaded inputs
+        :rtype: dict
+        """
+        return sensor_inputs.sensors_check_inputs(conf, config_dir=config_dir)
+
+    def save_configurations(self):
+        """
+        Save used_conf and refined_conf configurations
+        """
+
+        cars_dataset.save_dict(
+            self.used_conf,
+            os.path.join(self.out_dir, "current_res_used_conf.yaml"),
+        )
+        cars_dataset.save_dict(
+            self.refined_conf,
+            os.path.join(self.out_dir, "refined_conf.yaml"),
+        )
+
+    def check_output(self, inputs, conf, scaling_coeff):
+        """
+        Check the output given
+
+        :param conf: configuration of output
+        :type conf: dict
+        :param scaling_coeff: scaling factor for resolution
+        :type scaling_coeff: float
+        :return: overloader output
+        :rtype: dict
+        """
+        return output_parameters.check_output_parameters(
+            inputs, conf, scaling_coeff
+        )
+
+    def check_applications(  # noqa: C901 : too complex
+        self,
+        conf,
+    ):
+        """
+        Check the given configuration for applications,
+        and generates needed applications for pipeline.
+
+        :param conf: configuration of applications
+        :type conf: dict
+        """
+        scaling_coeff = self.scaling_coeff
+
+        needed_applications = application_parameters.get_needed_apps(
+            True,
+            self.save_output_dsm,
+            self.save_output_point_cloud,
+            conf,
+        )
+
+        # Check if all specified applications are used
+        # Application in terrain_application are note used in
+        # the sensors_to_dense_depth_maps pipeline
+        for app_key in conf.keys():
+            if app_key not in needed_applications:
+                msg = (
+                    f"No {app_key} application used in the "
+                    + "default Cars pipeline"
+                )
+                logging.error(msg)
+                raise NameError(msg)
+
+        # Initialize used config
+        used_conf = {}
+
+        for app_key in needed_applications:
+            used_conf[app_key] = conf.get(app_key, {})
+            if used_conf[app_key] is None:
+                continue
+            used_conf[app_key]["save_intermediate_data"] = (
+                self.save_all_intermediate_data
+                or used_conf[app_key].get("save_intermediate_data", False)
+            )
+
+        self.epipolar_grid_generation_application = None
+        self.resampling_application = None
+        self.ground_truth_reprojection = None
+        self.dense_match_filling = None
+        self.sparse_mtch_app = None
+        self.dense_matching_app = None
+        self.triangulation_application = None
+        self.dem_generation_application = None
+        self.pc_outlier_removal_apps = {}
+        self.rasterization_application = None
+        self.pc_fusion_application = None
+        self.grid_correction_app = None
+
+        # Epipolar grid generation
+        self.epipolar_grid_generation_application = Application(
+            "grid_generation",
+            cfg=used_conf.get("grid_generation", {}),
+            scaling_coeff=scaling_coeff,
+        )
+        used_conf["grid_generation"] = (
+            self.epipolar_grid_generation_application.get_conf()
+        )
+
+        # Epipolar grid correction
+        self.grid_correction_app = Application(
+            "grid_correction",
+            cfg=used_conf.get("grid_correction", {}),
+        )
+        used_conf["grid_correction"] = self.grid_correction_app.get_conf()
+
+        # image resampling
+        self.resampling_application = Application(
+            "resampling",
+            cfg=used_conf.get("resampling", {}),
+            scaling_coeff=scaling_coeff,
+        )
+        used_conf["resampling"] = self.resampling_application.get_conf()
+
+        # ground truth disparity map computation
+        if self.used_conf[PIPELINE][ADVANCED][adv_cst.GROUND_TRUTH_DSM]:
+            used_conf["ground_truth_reprojection"][
+                "save_intermediate_data"
+            ] = True
+
+            if isinstance(
+                self.used_conf[PIPELINE][ADVANCED][adv_cst.GROUND_TRUTH_DSM],
+                str,
+            ):
+                self.used_conf[PIPELINE][ADVANCED][adv_cst.GROUND_TRUTH_DSM] = {
+                    "dsm": self.used_conf[PIPELINE][ADVANCED][
+                        adv_cst.GROUND_TRUTH_DSM
+                    ]
+                }
+
+            self.ground_truth_reprojection = Application(
+                "ground_truth_reprojection",
+                cfg=used_conf.get("ground_truth_reprojection", {}),
+                scaling_coeff=scaling_coeff,
+            )
+
+        # disparity filling
+        self.dense_match_filling = Application(
+            "dense_match_filling",
+            cfg=used_conf.get(
+                "dense_match_filling",
+                {"method": "zero_padding"},
+            ),
+            scaling_coeff=scaling_coeff,
+        )
+        used_conf["dense_match_filling"] = self.dense_match_filling.get_conf()
+
+        # Matching
+        generate_performance_map = bool(
+            self.used_conf[OUTPUT][out_cst.AUXILIARY][
+                out_cst.AUX_PERFORMANCE_MAP
+            ]
+        )
+
+        generate_ambiguity = (
+            self.used_conf[OUTPUT]
+            .get(out_cst.AUXILIARY, {})
+            .get(out_cst.AUX_AMBIGUITY, False)
+        )
+        dense_matching_config = used_conf.get("dense_matching", {})
+        if generate_ambiguity is True:
+            dense_matching_config["generate_ambiguity"] = True
+
+        if (
+            generate_performance_map is True
+            and dense_matching_config.get("performance_map_method", None)
+            is None
+        ):
+            dense_matching_config["performance_map_method"] = "risk"
+
+        # particular case for some epipolar resolutions
+        if not dense_matching_config:
+            used_conf["dense_matching"]["performance_map_method"] = [
+                "risk",
+                "intervals",
+            ]
+
+        self.dense_matching_app = Application(
+            "dense_matching",
+            cfg=dense_matching_config,
+            scaling_coeff=scaling_coeff,
+        )
+        used_conf["dense_matching"] = self.dense_matching_app.get_conf()
+
+        # Triangulation
+        self.triangulation_application = Application(
+            "triangulation",
+            cfg=used_conf.get("triangulation", {}),
+            scaling_coeff=scaling_coeff,
+        )
+        used_conf["triangulation"] = self.triangulation_application.get_conf()
+
+        # MNT generation
+        self.dem_generation_application = Application(
+            "dem_generation",
+            cfg=used_conf.get("dem_generation", {}),
+            scaling_coeff=(
+                self.dem_scaling_coeff
+                if self.dem_scaling_coeff is not None
+                else scaling_coeff
+            ),
+        )
+        used_conf["dem_generation"] = self.dem_generation_application.get_conf()
+
+        for app_key, app_conf in used_conf.items():
+            if not app_key.startswith("point_cloud_outlier_removal"):
+                continue
+
+            if app_conf is None:
+                self.pc_outlier_removal_apps = {}
+                # keep over multiple runs
+                used_conf["point_cloud_outlier_removal"] = None
+                break
+
+            if app_key in self.pc_outlier_removal_apps:
+                msg = (
+                    f"The key {app_key} is defined twice in the input "
+                    "configuration."
+                )
+                logging.error(msg)
+                raise NameError(msg)
+
+            if app_key[27:] == ".1":
+                app_conf.setdefault("method", "small_components")
+            if app_key[27:] == ".2":
+                app_conf.setdefault("method", "statistical")
+
+            self.pc_outlier_removal_apps[app_key] = Application(
+                "point_cloud_outlier_removal",
+                cfg=app_conf,
+                scaling_coeff=scaling_coeff,
+            )
+            used_conf[app_key] = self.pc_outlier_removal_apps[
+                app_key
+            ].get_conf()
+
+        methods_str = "\n".join(
+            f" - {k}={a.used_method}"
+            for k, a in self.pc_outlier_removal_apps.items()
+        )
+        logging.info(
+            "{} point cloud outlier removal apps registered:\n{}".format(
+                len(self.pc_outlier_removal_apps), methods_str
+            )
+        )
+
+        if self.save_output_dsm:
+            # Rasterization
+            self.rasterization_application = Application(
+                "point_cloud_rasterization",
+                cfg=used_conf.get("point_cloud_rasterization", {}),
+                scaling_coeff=scaling_coeff,
+            )
+            used_conf["point_cloud_rasterization"] = (
+                self.rasterization_application.get_conf()
+            )
+
+        return used_conf
+
+    def get_classif_values_filling(self, inputs):
+        """
+        Get values in classif, used for filling
+
+        :param inputs: inputs
+        :type inputs: dict
+
+        :return: list of values
+        :rtype: list
+        """
+
+        filling_classif_values = []
+
+        if sens_cst.FILLING not in inputs or inputs[sens_cst.FILLING] is None:
+            logging.info("No filling in input configuration")
+            return None
+
+        filling_classif_values = []
+        for _, classif_values in inputs[sens_cst.FILLING].items():
+            # Add new value to filling bands
+            if classif_values is not None:
+                if isinstance(classif_values, str):
+                    classif_values = [classif_values]
+                filling_classif_values += classif_values
+
+        simplified_list = list(OrderedDict.fromkeys(filling_classif_values))
+        res_as_string_list = [str(value) for value in simplified_list]
+        return res_as_string_list
+
+    def check_applications_with_inputs(  # noqa: C901 : too complex
+        self, inputs_conf, application_conf
+    ):
+        """
+        Check for each application the input and output configuration
+        consistency
+
+        :param inputs_conf: inputs checked configuration
+        :type inputs_conf: dict
+        :param application_conf: application checked configuration
+        :type application_conf: dict
+        """
+
+        # check classification application parameter compare
+        # to each sensors inputs classification list
+        for application_key in application_conf:
+            if application_conf[application_key] is None:
+                continue
+            if "classification" in application_conf[application_key]:
+                for item in inputs_conf["sensors"]:
+                    if "classification" in inputs_conf["sensors"][item].keys():
+                        if inputs_conf["sensors"][item]["classification"]:
+                            descriptions = get_descriptions_bands(
+                                inputs_conf["sensors"][item]["classification"]
+                            )
+                            if application_conf[application_key][
+                                "classification"
+                            ] and not set(
+                                application_conf[application_key][
+                                    "classification"
+                                ]
+                            ).issubset(
+                                set(descriptions) | {"nodata"}
+                            ):
+                                raise RuntimeError(
+                                    "The {} bands description {} ".format(
+                                        inputs_conf["sensors"][item][
+                                            "classification"
+                                        ],
+                                        list(descriptions),
+                                    )
+                                    + "and the {} config are not ".format(
+                                        application_key
+                                    )
+                                    + "consistent: {}".format(
+                                        application_conf[application_key][
+                                            "classification"
+                                        ]
+                                    )
+                                )
+        for key1, key2 in inputs_conf["pairing"]:
+            corr_cfg = self.dense_matching_app.loader.get_conf()
+            nodata_left = inputs_conf["sensors"][key2]["image"]["no_data"]
+            nodata_right = inputs_conf["sensors"][key2]["image"]["no_data"]
+            bands_left = list(
+                inputs_conf["sensors"][key1]["image"]["bands"].keys()
+            )
+            bands_right = list(
+                inputs_conf["sensors"][key2]["image"]["bands"].keys()
+            )
+            values_classif_left = None
+            values_classif_right = None
+            if (
+                "classification" in inputs_conf["sensors"][key1]
+                and inputs_conf["sensors"][key1]["classification"] is not None
+            ):
+                values_classif_left = inputs_conf["sensors"][key1][
+                    "classification"
+                ]["values"]
+                values_classif_left = list(map(str, values_classif_left))
+            if (
+                "classification" in inputs_conf["sensors"][key2]
+                and inputs_conf["sensors"][key2]["classification"] is not None
+            ):
+                values_classif_right = inputs_conf["sensors"][key2][
+                    "classification"
+                ]["values"]
+                values_classif_right = list(map(str, values_classif_right))
+            self.dense_matching_app.corr_config = (
+                self.dense_matching_app.loader.check_conf(
+                    corr_cfg,
+                    nodata_left,
+                    nodata_right,
+                    bands_left,
+                    bands_right,
+                    values_classif_left,
+                    values_classif_right,
+                )
+            )
+
+        return application_conf
+
+    def sensor_to_depth_maps(self):  # noqa: C901
+        """
+        Creates the depth map from the sensor images given in the input,
+        by following the CARS pipeline's steps.
+        """
+        # pylint:disable=too-many-return-statements
+        inputs = self.used_conf[INPUT]
+        output = self.used_conf[OUTPUT]
+
+        # Initialize epsg for terrain tiles
+        self.phasing = self.used_conf[PIPELINE][ADVANCED][adv_cst.PHASING]
+
+        if self.phasing is not None:
+            self.epsg = self.phasing["epsg"]
+        else:
+            self.epsg = output[out_cst.EPSG]
+
+        if self.epsg is not None:
+            # Compute roi polygon, in output EPSG
+            self.roi_poly = preprocessing.compute_roi_poly(
+                self.input_roi_poly, self.input_roi_epsg, self.epsg
+            )
+
+        self.resolution = output[out_cst.RESOLUTION]
+
+        # List of terrain roi corresponding to each epipolar pair
+        # Used to generate final terrain roi
+        self.list_terrain_roi = []
+
+        # Polygons representing the intersection of each pair of images
+        # Used to fill the final DSM only inside of those Polygons
+        self.list_intersection_poly = []
+
+        # initialize lists of points
+        self.list_epipolar_point_clouds = []
+        sensor_inputs.load_geomodels(
+            inputs, self.geom_plugin_without_dem_and_geoid
+        )
+        self.list_sensor_pairs = sensor_inputs.generate_pairs(
+            self.used_conf[INPUT]
+        )
+        logging.info(
+            "Received {} stereo pairs configurations".format(
+                len(self.list_sensor_pairs)
+            )
+        )
+
+        output_parameters.intialize_product_index(
+            self.cars_orchestrator,
+            output["product_level"],
+            [sensor_pair[0] for sensor_pair in self.list_sensor_pairs],
+        )
+
+        # pairs is a dict used to store the CarsDataset of
+        # all pairs, easily retrievable with pair keys
+        self.pairs = {}
+
+        # triangulated_matches_list is used to store triangulated matches
+        # used in dem generation
+        self.triangulated_matches_list = []
+
+        save_corrected_grid = (
+            self.epipolar_grid_generation_application.get_save_grids()
+        )
+
+        # Compute dems
+        dems = {}
+        if self.used_conf[INPUT][sens_cst.LOW_RES_DSM] is not None:
+            # Create dsm directory
+            dsm_dir = os.path.join(
+                self.used_conf[OUTPUT][out_cst.OUT_DIRECTORY],
+                "dsm",
+            )
+            safe_makedirs(dsm_dir)
+
+            # DSM file name
+            dsm_file_name = self.used_conf[INPUT][sens_cst.LOW_RES_DSM]
+
+            dem_generation_output_dir = os.path.join(
+                self.dump_dir, "dem_generation"
+            )
+            safe_makedirs(dem_generation_output_dir)
+
+            # Use initial elevation if provided, and generate dems
+            _, paths, _ = self.dem_generation_application.run(
+                dsm_file_name,
+                dem_generation_output_dir,
+                input_geoid=self.used_conf[INPUT][sens_cst.INITIAL_ELEVATION][
+                    sens_cst.GEOID
+                ],
+                output_geoid=self.used_conf[OUTPUT][out_cst.OUT_GEOID],
+                initial_elevation=(
+                    self.used_conf[INPUT][sens_cst.INITIAL_ELEVATION][
+                        sens_cst.DEM_PATH
+                    ]
+                ),
+                default_alt=self.geom_plugin_with_dem_and_geoid.default_alt,
+                cars_orchestrator=self.cars_orchestrator,
+            )
+
+            if self.quit_on_app("dem_generation"):
+                return True
+
+            dem_median = paths["dem_median"]
+            dem_min = paths["dem_min"]
+            dem_max = paths["dem_max"]
+
+            dems["dem_median"] = dem_median
+            dems["dem_min"] = dem_min
+            dems["dem_max"] = dem_max
+
+            # Override initial elevation
+            if (
+                inputs[sens_cst.INITIAL_ELEVATION][sens_cst.DEM_PATH] is None
+                or "dem_median"
+                in inputs[sens_cst.INITIAL_ELEVATION][sens_cst.DEM_PATH]
+            ):
+                inputs[sens_cst.INITIAL_ELEVATION][
+                    sens_cst.DEM_PATH
+                ] = dem_median
+            elif (
+                inputs[sens_cst.INITIAL_ELEVATION][sens_cst.DEM_PATH]
+                is not None
+                and self.used_conf[PIPELINE][ADVANCED][USE_ENDOGENOUS_DEM]
+            ):
+                inputs[sens_cst.INITIAL_ELEVATION][
+                    sens_cst.DEM_PATH
+                ] = dem_median
+
+            # Check advanced parameters with new initial elevation
+            output_dem_dir = os.path.join(
+                self.used_conf[OUTPUT][out_cst.OUT_DIRECTORY],
+                "dump_dir",
+                "initial_elevation",
+            )
+            safe_makedirs(output_dem_dir)
+            (
+                inputs,
+                _,
+                self.geometry_plugin,
+                self.geom_plugin_without_dem_and_geoid,
+                self.geom_plugin_with_dem_and_geoid,
+                _,
+                _,
+                _,
+            ) = advanced_parameters.check_advanced_parameters(
+                inputs,
+                self.used_conf.get(PIPELINE, {}).get(ADVANCED, {}),
+                output_dem_dir=output_dem_dir,
+            )
+
+        for (
+            pair_key,
+            sensor_image_left,
+            sensor_image_right,
+        ) in self.list_sensor_pairs:
+            # initialize pairs for current pair
+            self.pairs[pair_key] = {}
+            self.pairs[pair_key]["sensor_image_left"] = sensor_image_left
+            self.pairs[pair_key]["sensor_image_right"] = sensor_image_right
+
+            # Run applications
+
+            # Run grid generation
+            # We generate grids with dem if it is provided.
+            # If not provided, grid are generated without dem and a dem
+            # will be generated, to use later for a new grid generation**
+
+            if inputs[sens_cst.INITIAL_ELEVATION][sens_cst.DEM_PATH] is None:
+                geom_plugin = self.geom_plugin_without_dem_and_geoid
+
+            else:
+                geom_plugin = self.geom_plugin_with_dem_and_geoid
+
+            # Generate rectification grids
+            (
+                self.pairs[pair_key]["grid_left"],
+                self.pairs[pair_key]["grid_right"],
+            ) = self.epipolar_grid_generation_application.run(
+                self.pairs[pair_key]["sensor_image_left"],
+                self.pairs[pair_key]["sensor_image_right"],
+                geom_plugin,
+                orchestrator=self.cars_orchestrator,
+                pair_folder=os.path.join(
+                    self.dump_dir,
+                    "epipolar_grid_generation",
+                    "initial",
+                    pair_key,
+                ),
+                pair_key=pair_key,
+            )
+
+            if self.quit_on_app("grid_generation"):
+                continue  # keep iterating over pairs, but don't go further
+
+            # Prepare tie point pipeline
+
+            # Update tie points pipeline with rectification grids
+            if self.tie_points_pipelines is not None:
+                tie_points_config = self.tie_points_pipelines[
+                    pair_key
+                ].used_conf
+                image_keys = list(tie_points_config[INPUT][sens_cst.SENSORS])
+                tie_points_config[INPUT][sens_cst.RECTIFICATION_GRIDS] = {
+                    image_keys[0]: self.pairs[pair_key]["grid_left"],
+                    image_keys[1]: self.pairs[pair_key]["grid_right"],
+                }
+                tie_points_pipeline = TiePointsPipeline(
+                    tie_points_config,
+                    config_dir=self.config_dir,
+                )
+                sparse_mtch_app = tie_points_pipeline.sparse_matching_app
+
+                tie_points_output = tie_points_config[OUTPUT][
+                    out_cst.OUT_DIRECTORY
+                ]
+
+                # If dem are provided, launch disparity grids generation
+                disp_range_grid_dir = os.path.join(
+                    tie_points_output, "disparity_grids"
+                )
+                disp_range_grid = None
+                if dems:
+                    disp_range_grid = (
+                        self.dense_matching_app.generate_disparity_grids(
+                            self.pairs[pair_key]["sensor_image_right"],
+                            self.pairs[pair_key]["grid_right"],
+                            self.geom_plugin_with_dem_and_geoid,
+                            dem_min=dem_min,
+                            dem_max=dem_max,
+                            pair_folder=disp_range_grid_dir,
+                            orchestrator=self.cars_orchestrator,
+                        )
+                    )
+
+                # Launch tie points pipeline
+                tie_points_pipeline.run(
+                    disp_range_grid=disp_range_grid,
+                    log_dir=self.log_dir,
+                    cars_orchestrator=self.cars_orchestrator,
+                )
+                self.pairs[pair_key]["matches_array"] = np.load(
+                    os.path.join(
+                        tie_points_output, pair_key, "filtered_matches.npy"
+                    )
+                )
+
+                minimum_nb_matches = (
+                    self.grid_correction_app.get_minimum_nb_matches()
+                )
+                nb_matches = self.pairs[pair_key]["matches_array"].shape[0]
+                save_matches = sparse_mtch_app.get_save_matches()
+
+                if nb_matches > minimum_nb_matches:
+                    # Compute grid correction
+                    (self.pairs[pair_key]["corrected_grid_right"], _, _, _) = (
+                        self.grid_correction_app.run(
+                            self.pairs[pair_key]["matches_array"],
+                            self.pairs[pair_key]["grid_right"],
+                            save_matches=save_matches,
+                            pair_folder=os.path.join(
+                                self.dump_dir,
+                                "grid_correction",
+                                "initial",
+                                pair_key,
+                            ),
+                            pair_key=pair_key,
+                            orchestrator=self.cars_orchestrator,
+                            save_corrected_grid=save_corrected_grid,
+                        )
+                    )
+                else:
+                    logging.warning(
+                        "Grid correction is not applied because number of "
+                        "matches found ({}) is less than minimum number of "
+                        "matches required for grid correction ({})".format(
+                            nb_matches,
+                            minimum_nb_matches,
+                        )
+                    )
+                    self.pairs[pair_key]["corrected_grid_right"] = self.pairs[
+                        pair_key
+                    ]["grid_right"]
+            else:
+                self.pairs[pair_key]["corrected_grid_right"] = self.pairs[
+                    pair_key
+                ]["grid_right"]
+
+            self.pairs[pair_key]["corrected_grid_left"] = self.pairs[pair_key][
+                "grid_left"
+            ]
+
+            # Shrink disparity intervals according to SIFT disparities
+            disp_to_alt_ratio = self.pairs[pair_key]["grid_left"][
+                "disp_to_alt_ratio"
+            ]
+            if self.tie_points_pipelines is not None:
+                disp_bounds_params = sparse_mtch_app.disparity_bounds_estimation
+                matches = self.pairs[pair_key]["matches_array"]
+                if disp_bounds_params["activated"] and matches.shape[0] > 0:
+                    sift_disp = matches[:, 2] - matches[:, 0]
+                    disp_min = np.percentile(
+                        sift_disp, disp_bounds_params["percentile"]
+                    )
+                    disp_max = np.percentile(
+                        sift_disp, 100 - disp_bounds_params["percentile"]
+                    )
+                    logging.info(
+                        "Global disparity interval without margin : "
+                        f"[{disp_min:.2f} pix, {disp_max:.2f} pix]"
+                    )
+                    disp_min -= (
+                        disp_bounds_params["upper_margin"] / disp_to_alt_ratio
+                    )
+                    disp_max += (
+                        disp_bounds_params["lower_margin"] / disp_to_alt_ratio
+                    )
+                    logging.info(
+                        "Global disparity interval with margin : "
+                        f"[{disp_min:.2f} pix, {disp_max:.2f} pix]"
+                    )
+                else:
+                    disp_min = (
+                        -self.elevation_delta_upper_bound / disp_to_alt_ratio
+                    )
+                    disp_max = (
+                        -self.elevation_delta_lower_bound / disp_to_alt_ratio
+                    )
+                    logging.info(
+                        "Global disparity interval : "
+                        f"[{disp_min:.2f} pix, {disp_max:.2f} pix]"
+                    )
+            else:
+                disp_min = -self.elevation_delta_upper_bound / disp_to_alt_ratio
+                disp_max = -self.elevation_delta_lower_bound / disp_to_alt_ratio
+                logging.info(
+                    "Global disparity interval : "
+                    f"[{disp_min:.2f} pix, {disp_max:.2f} pix]"
+                )
+
+            if self.epsg is None:
+                # compute epsg
+                # Epsg uses global disparity min and max
+                self.epsg = preprocessing.compute_epsg(
+                    self.pairs[pair_key]["sensor_image_left"],
+                    self.pairs[pair_key]["sensor_image_right"],
+                    self.pairs[pair_key]["corrected_grid_left"],
+                    self.pairs[pair_key]["corrected_grid_right"],
+                    self.geom_plugin_with_dem_and_geoid,
+                    disp_min=0,
+                    disp_max=0,
+                )
+                # Compute roi polygon, in input EPSG
+                self.roi_poly = preprocessing.compute_roi_poly(
+                    self.input_roi_poly, self.input_roi_epsg, self.epsg
+                )
+
+        # Clean grids at the end of processing if required. Note that this will
+        # also clean refined grids
+        if not save_corrected_grid:
+            self.cars_orchestrator.add_to_clean(
+                os.path.join(self.dump_dir, "grid_correction")
+            )
+        # grids file are already cleaned in the application, but the tree
+        # structure should also be cleaned
+        if not save_corrected_grid:
+
+            self.cars_orchestrator.add_to_clean(
+                os.path.join(self.dump_dir, "epipolar_grid_generation")
+            )
+
+        # quit if any app in the loop over the pairs was the last one
+        if self.quit_on_app("grid_generation") or self.quit_on_app(
+            "resampling"
+        ):
+            return True
+
+        # Define param
+        use_global_disp_range = self.dense_matching_app.use_global_disp_range
+
+        self.pairs_names = [
+            pair_name for pair_name, _, _ in self.list_sensor_pairs
+        ]
+
+        for _, (pair_key, _, _) in enumerate(self.list_sensor_pairs):
+            # Geometry plugin with dem will be used for the grid generation
+            geom_plugin = self.geom_plugin_with_dem_and_geoid
+
+            # saved used configuration
+            self.save_configurations()
+
+            # Generate min and max disp grids
+            # Global disparity min and max will be computed from
+            # these grids
+            dense_matching_pair_folder = os.path.join(
+                self.dump_dir, "dense_matching", pair_key
+            )
+
+            if self.which_resolution in ("first", "single") and dems in (
+                None,
+                {},
+            ):
+                dmin = disp_min
+                dmax = disp_max
+                # generate_disparity_grids runs orchestrator.breakpoint()
+                self.pairs[pair_key]["disp_range_grid"] = (
+                    self.dense_matching_app.generate_disparity_grids(
+                        self.pairs[pair_key]["sensor_image_right"],
+                        self.pairs[pair_key]["corrected_grid_right"],
+                        self.geom_plugin_with_dem_and_geoid,
+                        dmin=dmin,
+                        dmax=dmax,
+                        pair_folder=dense_matching_pair_folder,
+                        orchestrator=self.cars_orchestrator,
+                    )
+                )
+
+                updating_infos = {
+                    application_constants.APPLICATION_TAG: {
+                        sm_cst.DISPARITY_RANGE_COMPUTATION_TAG: {
+                            pair_key: {
+                                sm_cst.MINIMUM_DISPARITY_TAG: dmin,
+                                sm_cst.MAXIMUM_DISPARITY_TAG: dmax,
+                            }
+                        }
+                    }
+                }
+                self.cars_orchestrator.update_out_info(updating_infos)
+            else:
+                # Generate min and max disp grids from dems
+                # generate_disparity_grids runs orchestrator.breakpoint()
+                self.pairs[pair_key]["disp_range_grid"] = (
+                    self.dense_matching_app.generate_disparity_grids(
+                        self.pairs[pair_key]["sensor_image_right"],
+                        self.pairs[pair_key]["corrected_grid_right"],
+                        self.geom_plugin_with_dem_and_geoid,
+                        dem_min=dem_min,
+                        dem_max=dem_max,
+                        pair_folder=dense_matching_pair_folder,
+                        orchestrator=self.cars_orchestrator,
+                    )
+                )
+
+                if use_global_disp_range:
+                    # Generate min and max disp grids from constants
+                    # sensor image is not used here
+                    # TODO remove when only local diparity range will be used
+                    dmin = self.pairs[pair_key]["disp_range_grid"]["global_min"]
+                    dmax = self.pairs[pair_key]["disp_range_grid"]["global_max"]
+
+                    # update orchestrator_out_json
+                    updating_infos = {
+                        application_constants.APPLICATION_TAG: {
+                            sm_cst.DISPARITY_RANGE_COMPUTATION_TAG: {
+                                pair_key: {
+                                    sm_cst.MINIMUM_DISPARITY_TAG: dmin,
+                                    sm_cst.MAXIMUM_DISPARITY_TAG: dmax,
+                                }
+                            }
+                        }
+                    }
+                    self.cars_orchestrator.update_out_info(updating_infos)
+
+                    # generate_disparity_grids runs orchestrator.breakpoint()
+                    self.pairs[pair_key]["disp_range_grid"] = (
+                        self.dense_matching_app.generate_disparity_grids(
+                            self.pairs[pair_key]["sensor_image_right"],
+                            self.pairs[pair_key]["corrected_grid_right"],
+                            self.geom_plugin_with_dem_and_geoid,
+                            dmin=dmin,
+                            dmax=dmax,
+                            pair_folder=dense_matching_pair_folder,
+                            orchestrator=self.cars_orchestrator,
+                        )
+                    )
+
+            # saved used configuration
+            self.save_configurations()
+
+            # end of for loop, to finish computing disparity range grids
+
+        for cloud_id, (pair_key, _, _) in enumerate(self.list_sensor_pairs):
+
+            # Generate roi
+            epipolar_roi = preprocessing.compute_epipolar_roi(
+                self.input_roi_poly,
+                self.input_roi_epsg,
+                self.geom_plugin_with_dem_and_geoid,
+                self.pairs[pair_key]["sensor_image_left"],
+                self.pairs[pair_key]["sensor_image_right"],
+                self.pairs[pair_key]["corrected_grid_left"],
+                self.pairs[pair_key]["corrected_grid_right"],
+                os.path.join(self.dump_dir, "compute_epipolar_roi", pair_key),
+                disp_min=self.pairs[pair_key]["disp_range_grid"]["global_min"],
+                disp_max=self.pairs[pair_key]["disp_range_grid"]["global_max"],
+            )
+
+            # Generate new epipolar images
+            # Generated with corrected grids
+            # Optimal size is computed for the worst case scenario
+            # found with epipolar disparity range grids
+
+            (
+                optimum_tile_size,
+                local_tile_optimal_size_fun,
+            ) = self.dense_matching_app.get_optimal_tile_size(
+                self.pairs[pair_key]["disp_range_grid"],
+                self.cars_orchestrator.cluster.checked_conf_cluster[
+                    "max_ram_per_worker"
+                ],
+            )
+
+            # Get required bands of third resampling
+            required_bands = self.dense_matching_app.get_required_bands()
+
+            # Add left required bands for texture
+            required_bands["left"] = sorted(
+                set(required_bands["left"]).union(set(self.texture_bands))
+            )
+
+            # Find index of texture band in left_dataset
+            texture_bands_indices = [
+                required_bands["left"].index(band)
+                for band in self.texture_bands
+            ]
+
+            # Get margins used in dense matching,
+            dense_matching_margins_fun = (
+                self.dense_matching_app.get_margins_fun(
+                    self.pairs[pair_key]["corrected_grid_left"],
+                    self.pairs[pair_key]["disp_range_grid"],
+                )
+            )
+
+            # Run third epipolar resampling
+            (
+                new_epipolar_image_left,
+                new_epipolar_image_right,
+            ) = self.resampling_application.run(
+                self.pairs[pair_key]["sensor_image_left"],
+                self.pairs[pair_key]["sensor_image_right"],
+                self.pairs[pair_key]["corrected_grid_left"],
+                self.pairs[pair_key]["corrected_grid_right"],
+                geom_plugin,
+                orchestrator=self.cars_orchestrator,
+                pair_folder=os.path.join(
+                    self.dump_dir, "resampling", "corrected_grid", pair_key
+                ),
+                pair_key=pair_key,
+                margins_fun=dense_matching_margins_fun,
+                tile_width=optimum_tile_size,
+                tile_height=optimum_tile_size,
+                add_classif=True,
+                epipolar_roi=epipolar_roi,
+                required_bands=required_bands,
+                texture_bands=self.texture_bands,
+            )
+            # Run ground truth dsm computation
+            if self.used_conf[PIPELINE][ADVANCED][adv_cst.GROUND_TRUTH_DSM]:
+                self.used_conf[PIPELINE][APPLICATIONS][
+                    "ground_truth_reprojection"
+                ]["save_intermediate_data"] = True
+                new_geomplugin_dsm = AbstractGeometry(  # pylint: disable=E0110
+                    self.geometry_plugin,
+                    dem=self.used_conf[PIPELINE][ADVANCED][
+                        adv_cst.GROUND_TRUTH_DSM
+                    ][adv_cst.INPUT_GROUND_TRUTH_DSM],
+                    geoid=self.used_conf[PIPELINE][ADVANCED][
+                        adv_cst.GROUND_TRUTH_DSM
+                    ][adv_cst.INPUT_GEOID],
+                    scaling_coeff=self.scaling_coeff,
+                )
+                self.ground_truth_reprojection.run(
+                    self.pairs[pair_key]["sensor_image_left"],
+                    self.pairs[pair_key]["sensor_image_right"],
+                    self.pairs[pair_key]["corrected_grid_left"],
+                    self.pairs[pair_key]["corrected_grid_right"],
+                    new_geomplugin_dsm,
+                    self.geom_plugin_with_dem_and_geoid,
+                    self.pairs[pair_key]["corrected_grid_left"][
+                        "disp_to_alt_ratio"
+                    ],
+                    self.used_conf[PIPELINE][ADVANCED][
+                        adv_cst.GROUND_TRUTH_DSM
+                    ][adv_cst.INPUT_AUX_PATH],
+                    self.used_conf[PIPELINE][ADVANCED][
+                        adv_cst.GROUND_TRUTH_DSM
+                    ][adv_cst.INPUT_AUX_INTERP],
+                    orchestrator=self.cars_orchestrator,
+                    pair_folder=os.path.join(
+                        self.dump_dir, "ground_truth_reprojection", pair_key
+                    ),
+                )
+
+            if self.epsg is None:
+                # compute epsg
+                # Epsg uses global disparity min and max
+                self.epsg = preprocessing.compute_epsg(
+                    self.pairs[pair_key]["sensor_image_left"],
+                    self.pairs[pair_key]["sensor_image_right"],
+                    self.pairs[pair_key]["corrected_grid_left"],
+                    self.pairs[pair_key]["corrected_grid_right"],
+                    self.geom_plugin_with_dem_and_geoid,
+                    disp_min=self.pairs[pair_key]["disp_range_grid"][
+                        "global_min"
+                    ],
+                    disp_max=self.pairs[pair_key]["disp_range_grid"][
+                        "global_max"
+                    ],
+                )
+                # Compute roi polygon, in input EPSG
+                self.roi_poly = preprocessing.compute_roi_poly(
+                    self.input_roi_poly, self.input_roi_epsg, self.epsg
+                )
+
+            self.vertical_crs = projection.get_output_crs(self.epsg, output)
+
+            if (
+                self.save_output_dsm
+                or self.save_output_point_cloud
+                or self.dense_matching_app.get_method() == "auto"
+            ):
+                # Compute terrain bounding box /roi related to
+                # current images
+                (current_terrain_roi_bbox, intersection_poly) = (
+                    preprocessing.compute_terrain_bbox(
+                        self.pairs[pair_key]["sensor_image_left"],
+                        self.pairs[pair_key]["sensor_image_right"],
+                        new_epipolar_image_left,
+                        self.pairs[pair_key]["corrected_grid_left"],
+                        self.pairs[pair_key]["corrected_grid_right"],
+                        self.epsg,
+                        self.geom_plugin_with_dem_and_geoid,
+                        resolution=self.resolution,
+                        disp_min=self.pairs[pair_key]["disp_range_grid"][
+                            "global_min"
+                        ],
+                        disp_max=self.pairs[pair_key]["disp_range_grid"][
+                            "global_max"
+                        ],
+                        roi_poly=(
+                            None if self.debug_with_roi else self.roi_poly
+                        ),
+                        orchestrator=self.cars_orchestrator,
+                        pair_key=pair_key,
+                        pair_folder=os.path.join(
+                            self.dump_dir, "terrain_bbox", pair_key
+                        ),
+                        check_inputs=False,
+                    )
+                )
+                self.list_terrain_roi.append(current_terrain_roi_bbox)
+                self.list_intersection_poly.append(intersection_poly)
+
+                # compute terrain bounds for later use
+                (
+                    self.terrain_bounds,
+                    self.optimal_terrain_tile_width,
+                ) = preprocessing.compute_terrain_bounds(
+                    self.list_terrain_roi,
+                    roi_poly=(None if self.debug_with_roi else self.roi_poly),
+                    resolution=self.resolution,
+                )
+
+                if self.which_resolution not in ("final", "single"):
+                    self.terrain_bounds = dem_wrappers.modify_terrain_bounds(
+                        self.terrain_bounds,
+                        self.dem_generation_application.margin[0],
+                        self.dem_generation_application.margin[1],
+                    )
+
+            if self.dense_matching_app.get_method() == "auto":
+                # Copy the initial corr_config in order to keep
+                # the inputs that have already been checked
+                corr_cfg = self.dense_matching_app.corr_config.copy()
+
+                # Find the conf that correspond to the land cover map
+                conf = self.dense_matching_app.loader.find_auto_conf(
+                    intersection_poly,
+                    self.land_cover_map,
+                    self.classification_to_config_mapping,
+                    self.epsg,
+                )
+
+                # Update the used_conf if order to reinitialize
+                # the dense matching app
+                # Because we kept the information regarding the ambiguity,
+                # performance_map calculus..
+                self.used_conf[PIPELINE][APPLICATIONS]["dense_matching"][
+                    "loader_conf"
+                ] = conf
+                self.used_conf[PIPELINE][APPLICATIONS]["dense_matching"][
+                    "method"
+                ] = "custom"
+
+                # Re initialization of the dense matching application
+                self.dense_matching_app = Application(
+                    "dense_matching",
+                    cfg=self.used_conf[PIPELINE][APPLICATIONS][
+                        "dense_matching"
+                    ],
+                )
+
+                # Update the corr_config with the inputs that have
+                # already been checked
+                self.dense_matching_app.corr_config["input"] = corr_cfg["input"]
+
+            # Run epipolar matching application
+            epipolar_disparity_map = self.dense_matching_app.run(
+                new_epipolar_image_left,
+                new_epipolar_image_right,
+                local_tile_optimal_size_fun,
+                orchestrator=self.cars_orchestrator,
+                pair_folder=os.path.join(
+                    self.dump_dir, "dense_matching", pair_key
+                ),
+                pair_key=pair_key,
+                disp_range_grid=self.pairs[pair_key]["disp_range_grid"],
+                compute_disparity_masks=False,
+                margins_to_keep=sum(
+                    app.get_epipolar_margin()
+                    for _, app in self.pc_outlier_removal_apps.items()
+                ),
+                texture_bands=texture_bands_indices,
+                classif_bands_to_mask=self.used_classif_values_for_filling,
+            )
+
+            if self.quit_on_app("dense_matching"):
+                continue  # keep iterating over pairs, but don't go further
+
+            # Fill with zeros
+            (filled_epipolar_disparity_map) = self.dense_match_filling.run(
+                epipolar_disparity_map,
+                orchestrator=self.cars_orchestrator,
+                pair_folder=os.path.join(
+                    self.dump_dir, "dense_match_filling", pair_key
+                ),
+                pair_key=pair_key,
+            )
+
+            if self.quit_on_app("dense_match_filling"):
+                continue  # keep iterating over pairs, but don't go further
+
+            if isinstance(output[sens_cst.GEOID], str):
+                output_geoid_path = output[sens_cst.GEOID]
+            elif (
+                isinstance(output[sens_cst.GEOID], bool)
+                and output[sens_cst.GEOID]
+            ):
+                package_path = os.path.dirname(__file__)
+                output_geoid_path = os.path.join(
+                    package_path,
+                    "..",
+                    "..",
+                    "conf",
+                    sensor_inputs.CARS_GEOID_PATH,
+                )
+            else:
+                # default case : stay on the ellipsoid
+                output_geoid_path = None
+
+            depth_map_dir = None
+            if self.save_output_depth_map:
+                depth_map_dir = os.path.join(
+                    self.out_dir, "depth_map", pair_key
+                )
+                safe_makedirs(depth_map_dir)
+
+            point_cloud_dir = None
+            if self.save_output_point_cloud:
+                point_cloud_dir = os.path.join(
+                    self.out_dir, "point_cloud", pair_key
+                )
+                safe_makedirs(point_cloud_dir)
+
+            triangulation_point_cloud_dir = (
+                point_cloud_dir
+                if (point_cloud_dir and len(self.pc_outlier_removal_apps) == 0)
+                else None
+            )
+
+            # Run epipolar triangulation application
+            epipolar_point_cloud = self.triangulation_application.run(
+                self.pairs[pair_key]["sensor_image_left"],
+                self.pairs[pair_key]["sensor_image_right"],
+                self.pairs[pair_key]["corrected_grid_left"],
+                self.pairs[pair_key]["corrected_grid_right"],
+                filled_epipolar_disparity_map,
+                self.geom_plugin_without_dem_and_geoid,
+                new_epipolar_image_left,
+                epsg=self.epsg,
+                denoising_overload_fun=None,
+                source_pc_names=self.pairs_names,
+                orchestrator=self.cars_orchestrator,
+                pair_dump_dir=os.path.join(
+                    self.dump_dir, "triangulation", pair_key
+                ),
+                pair_key=pair_key,
+                uncorrected_grid_right=self.pairs[pair_key]["grid_right"],
+                geoid_path=output_geoid_path,
+                cloud_id=cloud_id,
+                performance_maps_param=(
+                    self.dense_matching_app.get_performance_map_parameters()
+                ),
+                depth_map_dir=depth_map_dir,
+                point_cloud_dir=triangulation_point_cloud_dir,
+                save_output_coordinates=(len(self.pc_outlier_removal_apps) == 0)
+                and (
+                    self.save_output_depth_map or self.save_output_point_cloud
+                ),
+                save_output_color=bool(depth_map_dir)
+                and self.auxiliary[out_cst.AUX_IMAGE],
+                save_output_classification=bool(depth_map_dir)
+                and self.auxiliary[out_cst.AUX_CLASSIFICATION],
+                save_output_filling=bool(depth_map_dir)
+                and self.auxiliary[out_cst.AUX_FILLING],
+                save_output_performance_map=bool(depth_map_dir)
+                and self.auxiliary[out_cst.AUX_PERFORMANCE_MAP],
+                save_output_ambiguity=bool(depth_map_dir)
+                and self.auxiliary[out_cst.AUX_AMBIGUITY],
+            )
+
+            if self.quit_on_app("triangulation"):
+                continue  # keep iterating over pairs, but don't go further
+
+            filtered_epipolar_point_cloud = epipolar_point_cloud
+            for app_key, app in self.pc_outlier_removal_apps.items():
+
+                app_key_is_last = (
+                    app_key == list(self.pc_outlier_removal_apps)[-1]
+                )
+                filtering_depth_map_dir = (
+                    depth_map_dir if app_key_is_last else None
+                )
+                filtering_point_cloud_dir = (
+                    point_cloud_dir if app_key_is_last else None
+                )
+
+                filtered_epipolar_point_cloud = app.run(
+                    filtered_epipolar_point_cloud,
+                    depth_map_dir=filtering_depth_map_dir,
+                    point_cloud_dir=filtering_point_cloud_dir,
+                    dump_dir=os.path.join(
+                        self.dump_dir,
+                        (  # pylint: disable=inconsistent-quotes
+                            f"pc_outlier_removal"
+                            f"{str(app_key[27:]).replace('.', '_')}"
+                        ),
+                        pair_key,
+                    ),
+                    epsg=self.epsg,
+                    orchestrator=self.cars_orchestrator,
+                )
+            if self.quit_on_app("point_cloud_outlier_removal"):
+                continue  # keep iterating over pairs, but don't go further
+
+            self.list_epipolar_point_clouds.append(
+                filtered_epipolar_point_cloud
+            )
+
+        # quit if any app in the loop over the pairs was the last one
+        # pylint:disable=too-many-boolean-expressions
+        if (
+            self.quit_on_app("dense_matching")
+            or self.quit_on_app("dense_match_filling")
+            or self.quit_on_app("triangulation")
+            or self.quit_on_app("point_cloud_outlier_removal.1")
+            or self.quit_on_app("point_cloud_outlier_removal.2")
+        ):
+            return True
+
+        return False
+
+    def rasterize_point_cloud(self):
+        """
+        Final step of the pipeline: rasterize the point
+        cloud created in the prior steps.
+        """
+
+        self.rasterization_dump_dir = os.path.join(
+            self.dump_dir, "rasterization"
+        )
+
+        dsm_file_name = (
+            os.path.join(
+                self.out_dir,
+                out_cst.DSM_DIRECTORY,
+                "dsm.tif",
+            )
+            if self.save_output_dsm
+            else None
+        )
+
+        weights_file_name = (
+            os.path.join(
+                self.out_dir,
+                out_cst.DSM_DIRECTORY,
+                "weights.tif",
+            )
+            if self.save_output_dsm
+            and self.used_conf[OUTPUT][out_cst.AUXILIARY][out_cst.AUX_WEIGHTS]
+            else None
+        )
+
+        color_file_name = (
+            os.path.join(
+                self.out_dir,
+                out_cst.DSM_DIRECTORY,
+                "image.tif",
+            )
+            if self.save_output_dsm
+            and self.used_conf[OUTPUT][out_cst.AUXILIARY][out_cst.AUX_IMAGE]
+            else None
+        )
+
+        performance_map_file_name = (
+            os.path.join(
+                self.out_dir,
+                out_cst.DSM_DIRECTORY,
+                "performance_map.tif",
+            )
+            if self.save_output_dsm
+            and self.used_conf[OUTPUT][out_cst.AUXILIARY][
+                out_cst.AUX_PERFORMANCE_MAP
+            ]
+            else None
+        )
+
+        ambiguity_file_name = (
+            os.path.join(
+                self.out_dir,
+                out_cst.DSM_DIRECTORY,
+                "ambiguity.tif",
+            )
+            if self.save_output_dsm
+            and self.used_conf[OUTPUT][out_cst.AUXILIARY][out_cst.AUX_AMBIGUITY]
+            else None
+        )
+
+        classif_file_name = (
+            os.path.join(
+                self.out_dir,
+                out_cst.DSM_DIRECTORY,
+                "classification.tif",
+            )
+            if self.save_output_dsm
+            and self.used_conf[OUTPUT][out_cst.AUXILIARY][
+                out_cst.AUX_CLASSIFICATION
+            ]
+            else None
+        )
+
+        contributing_pair_file_name = (
+            os.path.join(
+                self.out_dir,
+                out_cst.DSM_DIRECTORY,
+                "contributing_pair.tif",
+            )
+            if self.save_output_dsm
+            and self.used_conf[OUTPUT][out_cst.AUXILIARY][
+                out_cst.AUX_CONTRIBUTING_PAIR
+            ]
+            else None
+        )
+
+        filling_file_name = (
+            os.path.join(
+                self.out_dir,
+                out_cst.DSM_DIRECTORY,
+                "filling.tif",
+            )
+            if self.save_output_dsm
+            and self.used_conf[OUTPUT][out_cst.AUXILIARY][out_cst.AUX_FILLING]
+            else None
+        )
+
+        # rasterize point cloud
+        _ = self.rasterization_application.run(
+            self.point_cloud_to_rasterize,
+            self.epsg,
+            self.vertical_crs,
+            resolution=self.resolution,
+            orchestrator=self.cars_orchestrator,
+            dsm_file_name=dsm_file_name,
+            weights_file_name=weights_file_name,
+            color_file_name=color_file_name,
+            classif_file_name=classif_file_name,
+            performance_map_file_name=performance_map_file_name,
+            ambiguity_file_name=ambiguity_file_name,
+            contributing_pair_file_name=contributing_pair_file_name,
+            filling_file_name=filling_file_name,
+            color_dtype=self.color_type,
+            dump_dir=self.rasterization_dump_dir,
+            performance_map_classes=self.used_conf[OUTPUT][AUXILIARY][
+                out_cst.AUX_PERFORMANCE_MAP
+            ],
+            phasing=self.phasing,
+        )
+
+        # Cleaning: don't keep terrain bbox if save_intermediate_data
+        # is not activated
+        if not self.used_conf[PIPELINE][ADVANCED][
+            adv_cst.SAVE_INTERMEDIATE_DATA
+        ]:
+            self.cars_orchestrator.add_to_clean(
+                os.path.join(self.dump_dir, "terrain_bbox")
+            )
+
+        if self.quit_on_app("point_cloud_rasterization"):
+            return True
+
+        # dsm needs to be saved before filling
+        self.cars_orchestrator.breakpoint()
+
+        # saved used configuration
+        self.save_configurations()
+
+        if (
+            classif_file_name is not None
+            and self.used_conf[OUTPUT][out_cst.AUXILIARY][
+                out_cst.AUX_CLASSIFICATION
+            ]
+        ):
+            self.merge_classif_bands(
+                classif_file_name,
+                self.used_conf[OUTPUT][out_cst.AUXILIARY][
+                    out_cst.AUX_CLASSIFICATION
+                ],
+                dsm_file_name,
+            )
+
+        if (
+            filling_file_name is not None
+            and self.used_conf[OUTPUT][out_cst.AUXILIARY][out_cst.AUX_FILLING]
+        ):
+            self.merge_filling_bands(
+                filling_file_name,
+                self.used_conf[OUTPUT][out_cst.AUXILIARY][out_cst.AUX_FILLING],
+                dsm_file_name,
+            )
+
+        return False
+
+    @cars_profile(name="merge filling bands", interval=0.5)
+    def merge_filling_bands(self, filling_path, aux_filling, dsm_file):
+        """
+        Merge filling bands to get mono band in output
+        """
+
+        with rasterio.open(dsm_file) as in_dsm:
+            dsm_msk = in_dsm.read_masks(1)
+
+        with rasterio.open(filling_path) as src:
+            nb_bands = src.count
+
+            if nb_bands == 1:
+                return False
+
+            filling_multi_bands = src.read()
+            filling_mono_bands = np.zeros(filling_multi_bands.shape[1:3])
+            descriptions = src.descriptions
+            dict_temp = {name: i for i, name in enumerate(descriptions)}
+            profile = src.profile
+
+            with warnings.catch_warnings():
+                warnings.simplefilter("ignore", NodataShadowWarning)
+                filling_mask = src.read_masks(1)
+
+            filling_mono_bands[filling_mask == 0] = 0
+
+            filling_bands_list = {
+                "fill_with_geoid": ["filling_exogenous"],
+                "interpolate_from_borders": [
+                    "bulldozer",
+                    "border_interpolation",
+                ],
+                "fill_with_endogenous_dem": [
+                    "filling_exogenous",
+                    "bulldozer",
+                ],
+                "fill_with_exogenous_dem": ["bulldozer"],
+            }
+
+            # To get the right footprint
+            filling_mono_bands = np.logical_or(dsm_msk, filling_mask).astype(
+                np.uint8
+            )
+
+            # to keep the previous classif convention
+            filling_mono_bands[filling_mono_bands == 0] = src.nodata
+            filling_mono_bands[filling_mono_bands == 1] = 0
+
+            no_match = False
+            for key, value in aux_filling.items():
+                if isinstance(value, str):
+                    value = [value]
+
+                if isinstance(value, list):
+                    for elem in value:
+                        if elem != "other":
+                            filling_method = filling_bands_list[elem]
+
+                            if all(
+                                method in descriptions
+                                for method in filling_method
+                            ):
+                                indices_true = [
+                                    dict_temp[m] for m in filling_method
+                                ]
+
+                                mask_true = np.all(
+                                    filling_multi_bands[indices_true, :, :]
+                                    == 1,
+                                    axis=0,
+                                )
+
+                                indices_false = [
+                                    i
+                                    for i in range(filling_multi_bands.shape[0])
+                                    if i not in indices_true
+                                ]
+
+                                mask_false = np.all(
+                                    filling_multi_bands[indices_false, :, :]
+                                    == 0,
+                                    axis=0,
+                                )
+
+                                mask = mask_true & mask_false
+
+                                filling_mono_bands[mask] = key
+                            else:
+                                no_match = True
+
+            if no_match:
+                mask_1 = np.all(
+                    filling_multi_bands[1:, :, :] == 1,
+                    axis=0,
+                )
+
+                mask_2 = np.all(
+                    filling_mono_bands == 0,
+                    axis=0,
+                )
+
+                filling_mono_bands[mask_1 & mask_2] = (
+                    aux_filling["other"] if "other" in aux_filling else 50
+                )
+
+            profile.update(count=1, dtype=filling_mono_bands.dtype)
+            with rasterio.open(filling_path, "w", **profile) as src:
+                src.write(filling_mono_bands, 1)
+
+        return True
+
+    @cars_profile(name="merge classif bands", interval=0.5)
+    def merge_classif_bands(self, classif_path, aux_classif, dsm_file):
+        """
+        Merge classif bands to get mono band in output
+        """
+        with rasterio.open(dsm_file) as in_dsm:
+            dsm_msk = in_dsm.read_masks(1)
+
+        with rasterio.open(classif_path) as src:
+            nb_bands = src.count
+
+            if nb_bands == 1:
+                return False
+
+            classif_multi_bands = src.read()
+            classif_mono_band = np.zeros(classif_multi_bands.shape[1:3])
+            descriptions = src.descriptions
+            profile = src.profile
+            classif_mask = src.read_masks(1)
+            classif_mono_band[classif_mask == 0] = 0
+
+            # To get the right footprint
+            classif_mono_band = np.logical_or(dsm_msk, classif_mask).astype(
+                np.uint8
+            )
+
+            # to keep the previous classif convention
+            classif_mono_band[classif_mono_band == 0] = src.nodata
+            classif_mono_band[classif_mono_band == 1] = 0
+
+            for key, value in aux_classif.items():
+                if isinstance(value, int):
+                    num_band = descriptions.index(str(value))
+                    mask_1 = classif_mono_band == 0
+                    mask_2 = classif_multi_bands[num_band, :, :] == 1
+                    classif_mono_band[mask_1 & mask_2] = key
+                elif isinstance(value, list):
+                    for elem in value:
+                        num_band = descriptions.index(str(elem))
+                        mask_1 = classif_mono_band == 0
+                        mask_2 = classif_multi_bands[num_band, :, :] == 1
+                        classif_mono_band[mask_1 & mask_2] = key
+
+        profile.update(count=1, dtype=classif_mono_band.dtype)
+        with rasterio.open(classif_path, "w", **profile) as src:
+            src.write(classif_mono_band, 1)
+
+        return True
+
+    @cars_profile(name="Preprocess depth maps", interval=0.5)
+    def preprocess_depth_maps(self):
+        """
+        Adds multiple processing steps to the depth maps :
+        Merging.
+        Creates the point cloud that will be rasterized in
+        the last step of the pipeline.
+        """
+
+        self.point_cloud_to_rasterize = (
+            self.list_epipolar_point_clouds,
+            self.terrain_bounds,
+        )
+        self.color_type = self.point_cloud_to_rasterize[0][0].attributes.get(
+            "color_type", None
+        )
+
+    @cars_profile(name="Final cleanup", interval=0.5)
+    def final_cleanup(self):
+        """
+        Clean temporary files and directory at the end of cars processing
+        """
+
+        if not self.used_conf[PIPELINE][ADVANCED][
+            adv_cst.SAVE_INTERMEDIATE_DATA
+        ]:
+            # delete everything in tile_processing if save_intermediate_data is
+            # not activated
+            self.cars_orchestrator.add_to_clean(
+                os.path.join(self.dump_dir, "tile_processing")
+            )
+
+            self.cars_orchestrator.add_to_clean(
+                os.path.join(self.out_dir, "tie_points")
+            )
+
+            # Remove dump_dir if no intermediate data should be written
+            if not any(
+                app.get("save_intermediate_data", False) is True
+                for app in self.used_conf[PIPELINE][APPLICATIONS].values()
+                if app is not None
+            ):
+                self.cars_orchestrator.add_to_clean(self.dump_dir)
+
+    @cars_profile(name="run_surface_modeling_pipeline", interval=0.5)
+    def run(
+        self,
+        which_resolution="single",
+        log_dir=None,
+    ):  # noqa C901
+        """
+        Run pipeline
+
+        """
+        if log_dir is not None:
+            self.log_dir = log_dir
+        else:
+            self.log_dir = os.path.join(self.out_dir, "logs")
+
+        self.texture_bands = self.used_conf[OUTPUT][AUXILIARY][
+            out_cst.AUX_IMAGE
+        ]
+
+        self.auxiliary = self.used_conf[OUTPUT][out_cst.AUXILIARY]
+
+        self.which_resolution = which_resolution
+
+        # saved used configuration
+        self.save_configurations()
+        # start cars orchestrator
+        with orchestrator.Orchestrator(
+            orchestrator_conf=self.used_conf[ORCHESTRATOR],
+            out_dir=self.out_dir,
+            log_dir=self.log_dir,
+            out_yaml_path=os.path.join(
+                self.out_dir,
+                out_cst.INFO_FILENAME,
+            ),
+        ) as self.cars_orchestrator:
+            # initialize out_json
+            self.cars_orchestrator.update_out_info({"version": __version__})
+
+            if self.compute_depth_map:
+                self.sensor_to_depth_maps()
+
+            if self.save_output_dsm or self.save_output_point_cloud:
+                self.preprocess_depth_maps()
+
+                if self.save_output_dsm:
+                    self.rasterize_point_cloud()
+
+            self.final_cleanup()