cars 1.0.0rc3__cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

cars/pipelines/tie_points/__init__.py

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+#!/usr/bin/env python
+# coding: utf8
+#
+# Copyright (c) 2025 Centre National d'Etudes Spatiales (CNES).
+#
+# This file is part of CARS
+# (see https://github.com/CNES/cars).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+"""
+CARS tie points pipeline module init file
+"""
+
+# Cars imports
+from cars.pipelines.tie_points import tie_points  # noqa: F401

cars/pipelines/tie_points/tie_points.py

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+#!/usr/bin/env python
+# coding: utf8
+#
+# Copyright (c) 2025 Centre National d'Etudes Spatiales (CNES).
+#
+# This file is part of CARS
+# (see https://github.com/CNES/cars).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+"""
+CARS tie points pipeline class file
+"""
+import logging
+import os
+
+from json_checker import Checker, Or
+
+from cars.applications.application import Application
+from cars.core.utils import safe_makedirs
+from cars.orchestrator import orchestrator
+from cars.pipelines.parameters import advanced_parameters_constants as adv_cst
+from cars.pipelines.parameters import output_constants as out_cst
+from cars.pipelines.parameters import sensor_inputs
+from cars.pipelines.parameters import sensor_inputs_constants as sens_cst
+from cars.pipelines.pipeline import Pipeline
+from cars.pipelines.pipeline_constants import (
+    ADVANCED,
+    APPLICATIONS,
+    INPUT,
+    ORCHESTRATOR,
+    OUTPUT,
+)
+from cars.pipelines.pipeline_template import PipelineTemplate
+
+PIPELINE = "tie_points"
+
+
+@Pipeline.register(
+    PIPELINE,
+)
+class TiePointsPipeline(PipelineTemplate):
+    """
+    Tie points pipeline
+    """
+
+    def __init__(self, conf, config_dir=None):
+        """
+        Creates pipeline
+
+        Directly creates class attributes:
+            used_conf
+            geom_plugin_without_dem_and_geoid
+            geom_plugin_with_dem_and_geoid
+
+        :param conf: configuration
+        :type conf: dictionary
+        :param config_dir: path to dir containing json/yaml
+        :type config_dir: str
+        """
+
+        # Used conf
+        self.used_conf = {}
+
+        # Transform relative path to absolute path
+        if config_dir is not None:
+            config_dir = os.path.abspath(config_dir)
+
+        # Check global conf
+        self.check_global_schema(conf)
+
+        # 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
+
+        # Check conf output
+        output = self.check_output(conf[OUTPUT])
+
+        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")
+
+        # Check advanced parameters
+        output_dem_dir = os.path.join(self.dump_dir, "initial_elevation")
+        safe_makedirs(output_dem_dir)
+        pipeline_conf = conf.get(PIPELINE, {})
+        self.used_conf[PIPELINE] = {}
+        (
+            inputs,
+            advanced,
+            self.geometry_plugin,
+            self.geom_plugin_without_dem_and_geoid,
+            self.geom_plugin_with_dem_and_geoid,
+        ) = self.check_advanced_parameters(
+            inputs,
+            pipeline_conf.get(ADVANCED, {}),
+            output_dem_dir=output_dem_dir,
+        )
+        self.used_conf[PIPELINE][ADVANCED] = advanced
+        self.resampling_tile_width = advanced["resampling_tile_width"]
+        self.resampling_tile_height = advanced["resampling_tile_height"]
+
+        # Check conf output
+        output = self.check_output(conf[OUTPUT])
+
+        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.save_all_intermediate_data = self.used_conf[PIPELINE][ADVANCED][
+            adv_cst.SAVE_INTERMEDIATE_DATA
+        ]
+
+        # 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
+
+        self.out_dir = self.used_conf[OUTPUT][out_cst.OUT_DIRECTORY]
+
+    @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
+        """
+        overloaded_conf = conf.copy()
+
+        overloaded_conf[sens_cst.RECTIFICATION_GRIDS] = conf.get(
+            sens_cst.RECTIFICATION_GRIDS, None
+        )
+
+        overloaded_conf[sens_cst.PAIRING] = conf.get(sens_cst.PAIRING, None)
+
+        overloaded_conf[sens_cst.ROI] = conf.get(sens_cst.ROI, None)
+
+        overloaded_conf[sens_cst.INITIAL_ELEVATION] = (
+            sensor_inputs.get_initial_elevation(
+                conf.get(sens_cst.INITIAL_ELEVATION, None)
+            )
+        )
+        overloaded_conf[sens_cst.LOADERS] = sensor_inputs.check_loaders(
+            conf.get(sens_cst.LOADERS, {})
+        )
+
+        classif_loader = overloaded_conf[sens_cst.LOADERS][
+            sens_cst.INPUT_CLASSIFICATION
+        ]
+
+        overloaded_conf[sens_cst.FILLING] = sensor_inputs.check_filling(
+            conf.get(sens_cst.FILLING, {}), classif_loader
+        )
+
+        # Validate inputs
+        inputs_schema = {
+            sens_cst.SENSORS: dict,
+            sens_cst.PAIRING: Or([[str]], None),
+            sens_cst.RECTIFICATION_GRIDS: Or(dict, None),
+            sens_cst.INITIAL_ELEVATION: Or(str, dict, None),
+            sens_cst.ROI: Or(str, dict, None),
+            sens_cst.LOADERS: dict,
+            sens_cst.FILLING: dict,
+        }
+
+        checker_inputs = Checker(inputs_schema)
+        checker_inputs.validate(overloaded_conf)
+
+        sensor_inputs.check_sensors(conf, overloaded_conf, config_dir)
+
+        # Check srtm dir
+        sensor_inputs.check_srtm(
+            overloaded_conf[sens_cst.INITIAL_ELEVATION][sens_cst.DEM_PATH]
+        )
+
+        return overloaded_conf
+
+    def check_applications_with_inputs(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
+        """
+        initial_elevation = (
+            inputs_conf[sens_cst.INITIAL_ELEVATION]["dem"] is not None
+        )
+        if self.sparse_matching_app.elevation_delta_lower_bound is None:
+            self.sparse_matching_app.used_config[
+                "elevation_delta_lower_bound"
+            ] = (-500 if initial_elevation else -1000)
+            self.sparse_matching_app.elevation_delta_lower_bound = (
+                self.sparse_matching_app.used_config[
+                    "elevation_delta_lower_bound"
+                ]
+            )
+        if self.sparse_matching_app.elevation_delta_upper_bound is None:
+            self.sparse_matching_app.used_config[
+                "elevation_delta_upper_bound"
+            ] = (1000 if initial_elevation else 9000)
+            self.sparse_matching_app.elevation_delta_upper_bound = (
+                self.sparse_matching_app.used_config[
+                    "elevation_delta_upper_bound"
+                ]
+            )
+        application_conf["sparse_matching"] = (
+            self.sparse_matching_app.get_conf()
+        )
+
+        return application_conf
+
+    @staticmethod
+    def check_advanced_parameters(inputs, conf, output_dem_dir=None):
+        """
+        Check the advanced parameters consistency
+
+        :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
+        """
+
+        overloaded_conf = conf.copy()
+
+        overloaded_conf["resampling_tile_width"] = conf.get(
+            "resampling_tile_width", 5000
+        )
+        overloaded_conf["resampling_tile_height"] = conf.get(
+            "resampling_tile_height", 60
+        )
+
+        overloaded_conf[adv_cst.SAVE_INTERMEDIATE_DATA] = conf.get(
+            adv_cst.SAVE_INTERMEDIATE_DATA, False
+        )
+
+        # Check geometry plugin and overwrite geomodel in conf inputs
+        (
+            inputs,
+            overloaded_conf[adv_cst.GEOMETRY_PLUGIN],
+            geom_plugin_without_dem_and_geoid,
+            geom_plugin_with_dem_and_geoid,
+            _,
+        ) = sensor_inputs.check_geometry_plugin(
+            inputs,
+            conf.get(adv_cst.GEOMETRY_PLUGIN, None),
+            output_dem_dir,
+        )
+
+        # Validate inputs
+        schema = {
+            adv_cst.SAVE_INTERMEDIATE_DATA: Or(dict, bool),
+            adv_cst.GEOMETRY_PLUGIN: Or(str, dict),
+            "resampling_tile_width": int,
+            "resampling_tile_height": int,
+        }
+
+        checker_advanced_parameters = Checker(schema)
+        checker_advanced_parameters.validate(overloaded_conf)
+
+        return (
+            inputs,
+            overloaded_conf,
+            overloaded_conf[adv_cst.GEOMETRY_PLUGIN],
+            geom_plugin_without_dem_and_geoid,
+            geom_plugin_with_dem_and_geoid,
+        )
+
+    @staticmethod
+    def check_output(conf):
+        """
+        Check the output given
+
+        :param conf: configuration of output
+        :type conf: dict
+        :return: overloader output
+        :rtype: dict
+        """
+        overloaded_conf = conf.copy()
+        out_dir = conf[out_cst.OUT_DIRECTORY]
+        out_dir = os.path.abspath(out_dir)
+        # Ensure that output directory and its subdirectories exist
+        safe_makedirs(out_dir)
+
+        # Overload some parameters
+        overloaded_conf[out_cst.OUT_DIRECTORY] = out_dir
+
+        # Check schema
+        output_schema = {out_cst.OUT_DIRECTORY: str}
+        checker_output = Checker(output_schema)
+        checker_output.validate(overloaded_conf)
+
+        return overloaded_conf
+
+    def check_applications(self, conf):
+        """
+        Check the given configuration for applications,
+        and generates needed applications for pipeline.
+
+        :param conf: configuration of applications
+        :type conf: dict
+        """
+
+        # Initialize used config
+        used_conf = {}
+
+        needed_applications = [
+            "grid_generation",
+            "resampling",
+            "sparse_matching",
+        ]
+
+        for app_key in needed_applications:
+            used_conf[app_key] = conf.get(app_key, {})
+            if used_conf[app_key] is not None:
+                used_conf[app_key]["save_intermediate_data"] = (
+                    self.save_all_intermediate_data
+                    or used_conf[app_key].get("save_intermediate_data", False)
+                )
+
+        # Epipolar grid generation
+        self.epipolar_grid_generation_application = Application(
+            "grid_generation",
+            cfg=used_conf.get("grid_generation", {}),
+        )
+        used_conf["grid_generation"] = (
+            self.epipolar_grid_generation_application.get_conf()
+        )
+
+        # Image resampling
+        self.resampling_application = Application(
+            "resampling",
+            cfg=used_conf.get("resampling", {}),
+        )
+        used_conf["resampling"] = self.resampling_application.get_conf()
+
+        # Sparse Matching
+        self.sparse_matching_app = Application(
+            "sparse_matching",
+            cfg=used_conf.get("sparse_matching", {}),
+        )
+        used_conf["sparse_matching"] = self.sparse_matching_app.get_conf()
+
+        return used_conf
+
+    def run(self, log_dir=None, disp_range_grid=None, cars_orchestrator=None):
+        """
+        Run pipeline
+
+        """
+        if log_dir is None:
+            log_dir = os.path.join(self.out_dir, "logs")
+
+        # Load geomodels directly on conf object
+        sensor_inputs.load_geomodels(
+            self.used_conf[INPUT], self.geom_plugin_without_dem_and_geoid
+        )
+        list_sensor_pairs = sensor_inputs.generate_pairs(self.used_conf[INPUT])
+
+        inherent_orchestrator = False
+        if cars_orchestrator is None:
+            cars_orchestrator = orchestrator.Orchestrator(
+                orchestrator_conf=self.used_conf[ORCHESTRATOR],
+                out_dir=self.out_dir,
+                log_dir=log_dir,
+                out_yaml_path=os.path.join(
+                    self.out_dir,
+                    out_cst.INFO_FILENAME,
+                ),
+            )
+            inherent_orchestrator = True
+
+        # Run applications
+
+        # Run grid generation
+        # We generate grids with dem if it is provided.
+        if self.geom_plugin_with_dem_and_geoid.dem is None:
+            geom_plugin = self.geom_plugin_without_dem_and_geoid
+        else:
+            geom_plugin = self.geom_plugin_with_dem_and_geoid
+
+        for (
+            pair_key,
+            sensor_image_left,
+            sensor_image_right,
+        ) in list_sensor_pairs:
+
+            if self.used_conf[INPUT][sens_cst.RECTIFICATION_GRIDS] is None:
+                # Generate rectification grids
+                (
+                    grid_left,
+                    grid_right,
+                ) = self.epipolar_grid_generation_application.run(
+                    sensor_image_left,
+                    sensor_image_right,
+                    geom_plugin,
+                    orchestrator=cars_orchestrator,
+                    pair_folder=os.path.join(
+                        self.dump_dir,
+                        "epipolar_grid_generation",
+                        "initial",
+                        pair_key,
+                    ),
+                    pair_key=pair_key,
+                )
+            else:
+                image_keys = list(self.used_conf[INPUT][sens_cst.SENSORS])
+                grid_left = self.used_conf[INPUT][sens_cst.RECTIFICATION_GRIDS][
+                    image_keys[0]
+                ]
+                grid_right = self.used_conf[INPUT][
+                    sens_cst.RECTIFICATION_GRIDS
+                ][image_keys[1]]
+
+            # Get required bands of resampling
+            required_bands = self.sparse_matching_app.get_required_bands()
+
+            if disp_range_grid is not None:
+                tile_width = self.resampling_tile_width
+                tile_height = self.resampling_tile_height
+                margins_fun = self.sparse_matching_app.get_margins_tile_fun(
+                    grid_left, disp_range_grid
+                )
+
+                disp_min = disp_range_grid["global_min"]
+                disp_max = disp_range_grid["global_max"]
+                logging.info(
+                    "Global disparity range for sparse matching : "
+                    "[{} pix, {} pix]".format(disp_min, disp_max)
+                )
+
+                disp_to_alt_ratio = grid_left["disp_to_alt_ratio"]
+                self.sparse_matching_app.elevation_delta_lower_bound = (
+                    -disp_max * disp_to_alt_ratio
+                )
+                self.sparse_matching_app.elevation_delta_upper_bound = (
+                    -disp_min * disp_to_alt_ratio
+                )
+
+            else:
+
+                tile_width = None
+                tile_height = None
+                margins_fun = self.sparse_matching_app.get_margins_strip_fun()
+
+            (
+                epipolar_image_left,
+                epipolar_image_right,
+            ) = self.resampling_application.run(
+                sensor_image_left,
+                sensor_image_right,
+                grid_left,
+                grid_right,
+                geom_plugin,
+                orchestrator=cars_orchestrator,
+                pair_folder=os.path.join(
+                    self.dump_dir, "resampling", "initial", pair_key
+                ),
+                pair_key=pair_key,
+                margins_fun=margins_fun,
+                tile_width=tile_width,
+                tile_height=tile_height,
+                required_bands=required_bands,
+            )
+
+            # Compute sparse matching
+            (
+                epipolar_matches_left,
+                _,
+            ) = self.sparse_matching_app.run(
+                epipolar_image_left,
+                epipolar_image_right,
+                grid_left["disp_to_alt_ratio"],
+                orchestrator=cars_orchestrator,
+                pair_folder=os.path.join(
+                    self.dump_dir,
+                    "sparse_matching",
+                    pair_key,
+                ),
+                pair_key=pair_key,
+            )
+
+            cars_orchestrator.breakpoint()
+
+            # Filter and save matches
+            _ = self.sparse_matching_app.filter_matches(
+                epipolar_matches_left,
+                grid_left,
+                grid_right,
+                geom_plugin,
+                orchestrator=cars_orchestrator,
+                pair_folder=os.path.join(
+                    self.out_dir,
+                    pair_key,
+                ),
+                pair_key=pair_key,
+                save_matches=True,
+            )
+
+        if inherent_orchestrator:
+            cars_orchestrator.cleanup()