cars 1.0.0rc3__cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

cars/applications/dense_matching/census_mccnn_sgm_app.py

@@ -0,0 +1,1461 @@
+#!/usr/bin/env python
+# coding: utf8
+#
+# Copyright (c) 2020 Centre National d'Etudes Spatiales (CNES).
+#
+# This file is part of CARS
+# (see https://github.com/CNES/cars).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+"""
+this module contains the dense_matching application class.
+"""
+# pylint: disable=too-many-lines
+import collections
+
+# Standard imports
+import copy
+import logging
+import math
+import os
+from typing import Dict, Tuple
+
+# Third party imports
+import numpy as np
+import pandora
+import xarray as xr
+from json_checker import And, Checker, Or
+from pandora.check_configuration import check_pipeline_section
+from pandora.img_tools import add_global_disparity
+from pandora.state_machine import PandoraMachine
+from rasterio.profiles import DefaultGTiffProfile
+from scipy.ndimage import maximum_filter, minimum_filter
+
+import cars.applications.dense_matching.dense_matching_constants as dm_cst
+import cars.orchestrator.orchestrator as ocht
+from cars.applications import application_constants
+from cars.applications.dense_matching import dense_matching_algo as dm_algo
+from cars.applications.dense_matching import (
+    dense_matching_wrappers as dm_wrappers,
+)
+from cars.applications.dense_matching.abstract_dense_matching_app import (
+    DenseMatching,
+)
+from cars.applications.dense_matching.disparity_grid_algo import (
+    generate_disp_range_const_tile_wrapper,
+    generate_disp_range_from_dem_wrapper,
+)
+from cars.applications.dense_matching.loaders.pandora_loader import (
+    PandoraLoader,
+)
+
+# CARS imports
+from cars.core import constants as cst
+from cars.core import constants_disparity as cst_disp
+from cars.core import inputs, tiling
+from cars.core.utils import safe_makedirs
+from cars.data_structures import cars_dataset, format_transformation
+from cars.data_structures.cars_dict import CarsDict
+from cars.orchestrator.cluster.log_wrapper import cars_profile
+
+
+class CensusMccnnSgm(
+    DenseMatching,
+    short_name=[
+        "census_sgm_default",
+        "census_sgm_urban",
+        "census_sgm_shadow",
+        "census_sgm_mountain_and_vegetation",
+        "census_sgm_homogeneous",
+        "mccnn_sgm",
+        "auto",
+        "custom",
+    ],
+):  # pylint: disable=R0903,disable=R0902,disable=C0302
+    """
+    Census SGM & MCCNN SGM matching class
+    """
+
+    def __init__(self, conf=None):
+        """
+        Init function of DenseMatching
+
+        :param conf: configuration for matching
+        :return: an application_to_use object
+        """
+
+        super().__init__(conf=conf)
+
+        # check conf
+        self.used_method = self.used_config["method"]
+        self.min_epi_tile_size = self.used_config["min_epi_tile_size"]
+        self.max_epi_tile_size = self.used_config["max_epi_tile_size"]
+        self.epipolar_tile_margin_in_percent = self.used_config[
+            "epipolar_tile_margin_in_percent"
+        ]
+        self.min_elevation_offset = self.used_config["min_elevation_offset"]
+        self.max_elevation_offset = self.used_config["max_elevation_offset"]
+
+        # Disparity threshold
+        self.disp_min_threshold = self.used_config["disp_min_threshold"]
+        self.disp_max_threshold = self.used_config["disp_max_threshold"]
+
+        # Ambiguity
+        self.generate_ambiguity = self.used_config["generate_ambiguity"]
+
+        self.classification_fusion_margin = self.used_config[
+            "classification_fusion_margin"
+        ]
+
+        # Margins computation parameters
+        # Use local disp
+        self.use_global_disp_range = self.used_config["use_global_disp_range"]
+        self.local_disp_grid_step = self.used_config["local_disp_grid_step"]
+        self.disp_range_propagation_filter_size = self.used_config[
+            "disp_range_propagation_filter_size"
+        ]
+        self.epi_disp_grid_tile_size = self.used_config[
+            "epi_disp_grid_tile_size"
+        ]
+        self.use_cross_validation = self.used_config["use_cross_validation"]
+        self.denoise_disparity_map = self.used_config["denoise_disparity_map"]
+        self.required_bands = self.used_config["required_bands"]
+        self.used_band = self.used_config["used_band"]
+
+        # Saving files
+        self.save_intermediate_data = self.used_config["save_intermediate_data"]
+
+        self.confidence_filtering = self.used_config["confidence_filtering"]
+        self.threshold_disp_range_to_borders = self.used_config[
+            "threshold_disp_range_to_borders"
+        ]
+        self.filter_incomplete_disparity_range = self.used_config[
+            "filter_incomplete_disparity_range"
+        ]
+
+        # init orchestrator
+        self.orchestrator = None
+
+    def get_performance_map_parameters(self):
+        """
+        Get parameter linked to performance, that will be used in triangulation
+
+        :return: parameters to use
+        :type: dict
+        """
+
+        return {
+            "performance_map_method": self.used_config[
+                "performance_map_method"
+            ],
+            "perf_ambiguity_threshold": self.used_config[
+                "perf_ambiguity_threshold"
+            ],
+        }
+
+    def check_conf(self, conf):
+        """
+        Check configuration
+
+        :param conf: configuration to check
+        :type conf: dict
+        :return: overloaded configuration
+        :rtype: dict
+
+        """
+        # init conf
+        if conf is not None:
+            overloaded_conf = conf.copy()
+        else:
+            conf = {}
+            overloaded_conf = {}
+
+        # Overload conf
+        # check loader
+        loader_conf = conf.get("loader_conf", None)
+        default_method = "auto"
+        if loader_conf is not None:
+            default_method = "custom"
+        loader = conf.get("loader", "pandora")
+        overloaded_conf["method"] = conf.get(
+            "method", default_method
+        )  # change it if census_sgm is not default
+        if overloaded_conf["method"] == "auto" and loader_conf is not None:
+            raise RuntimeError(
+                "It's not possible to use auto method with custom "
+                "loader configuration"
+            )
+
+        # method called in abstract_dense_matching_app.py
+        overloaded_conf["min_epi_tile_size"] = conf.get(
+            "min_epi_tile_size", 300
+        )
+        overloaded_conf["max_epi_tile_size"] = conf.get(
+            "max_epi_tile_size", 1500
+        )
+        overloaded_conf["epipolar_tile_margin_in_percent"] = conf.get(
+            "epipolar_tile_margin_in_percent", 60
+        )
+
+        overloaded_conf["classification_fusion_margin"] = conf.get(
+            "classification_fusion_margin", -1
+        )
+        overloaded_conf["min_elevation_offset"] = conf.get(
+            "min_elevation_offset", None
+        )
+        overloaded_conf["max_elevation_offset"] = conf.get(
+            "max_elevation_offset", None
+        )
+        overloaded_conf["denoise_disparity_map"] = conf.get(
+            "denoise_disparity_map", False
+        )
+
+        # confidence filtering parameters
+        overloaded_conf["confidence_filtering"] = conf.get(
+            "confidence_filtering", {}
+        )
+
+        # Disparity threshold
+        overloaded_conf["disp_min_threshold"] = conf.get(
+            "disp_min_threshold", None
+        )
+        overloaded_conf["disp_max_threshold"] = conf.get(
+            "disp_max_threshold", None
+        )
+
+        overloaded_conf["perf_eta_max_ambiguity"] = conf.get(
+            "perf_eta_max_ambiguity", 0.99
+        )
+        overloaded_conf["perf_eta_max_risk"] = conf.get(
+            "perf_eta_max_risk", 0.25
+        )
+        overloaded_conf["perf_eta_step"] = conf.get("perf_eta_step", 0.04)
+        overloaded_conf["perf_ambiguity_threshold"] = conf.get(
+            "perf_ambiguity_threshold", 0.6
+        )
+        overloaded_conf["use_cross_validation"] = conf.get(
+            "use_cross_validation", True
+        )
+        # Margins computation parameters
+        overloaded_conf["use_global_disp_range"] = conf.get(
+            "use_global_disp_range", False
+        )
+        overloaded_conf["local_disp_grid_step"] = conf.get(
+            "local_disp_grid_step", 10
+        )
+        overloaded_conf["disp_range_propagation_filter_size"] = conf.get(
+            "disp_range_propagation_filter_size", 50
+        )
+        overloaded_conf["epi_disp_grid_tile_size"] = conf.get(
+            "epi_disp_grid_tile_size", 800
+        )
+        overloaded_conf["required_bands"] = conf.get("required_bands", ["b0"])
+        overloaded_conf["used_band"] = conf.get("used_band", "b0")
+        overloaded_conf["threshold_disp_range_to_borders"] = conf.get(
+            "threshold_disp_range_to_borders", False
+        )
+        overloaded_conf["filter_incomplete_disparity_range"] = conf.get(
+            "filter_incomplete_disparity_range", True
+        )
+
+        # Saving files
+        overloaded_conf["save_intermediate_data"] = conf.get(
+            "save_intermediate_data", False
+        )
+
+        # Permormance map parameters
+        overloaded_conf["generate_ambiguity"] = conf.get(
+            "generate_ambiguity",
+            overloaded_conf["save_intermediate_data"],
+        )
+
+        # Permormance map parameters
+        default_perf_map_method = None
+        if overloaded_conf["save_intermediate_data"]:
+            default_perf_map_method = "risk"
+        overloaded_conf["performance_map_method"] = conf.get(
+            "performance_map_method",
+            default_perf_map_method,
+        )
+
+        # Get performance map method
+        perf_map_method = overloaded_conf["performance_map_method"]
+        if isinstance(overloaded_conf["performance_map_method"], str):
+            perf_map_method = [perf_map_method]
+        elif perf_map_method is None:
+            perf_map_method = []
+
+        overloaded_conf["performance_map_method"] = perf_map_method
+
+        if overloaded_conf["use_cross_validation"] is True:
+            overloaded_conf["use_cross_validation"] = "fast"
+
+        # TODO modify, use loader directly
+        logger = logging.getLogger("transitions.core")
+        logger.addFilter(
+            lambda record: "to model due to model override policy"
+            not in record.getMessage()
+        )
+        pandora_loader = PandoraLoader(
+            conf=loader_conf,
+            method_name=overloaded_conf["method"],
+            generate_performance_map_from_risk="risk" in perf_map_method,
+            generate_performance_map_from_intervals="intervals"
+            in perf_map_method,
+            generate_ambiguity=overloaded_conf["generate_ambiguity"],
+            perf_eta_max_ambiguity=overloaded_conf["perf_eta_max_ambiguity"],
+            perf_eta_max_risk=overloaded_conf["perf_eta_max_risk"],
+            perf_eta_step=overloaded_conf["perf_eta_step"],
+            use_cross_validation=overloaded_conf["use_cross_validation"],
+            denoise_disparity_map=overloaded_conf["denoise_disparity_map"],
+            used_band=overloaded_conf["used_band"],
+        )
+
+        overloaded_conf["loader"] = loader
+
+        # Get params from loader
+        self.loader = pandora_loader
+        self.corr_config = collections.OrderedDict(pandora_loader.get_conf())
+        # Instantiate margins from pandora check conf
+        # create the dataset
+        classif_bands = pandora_loader.get_classif_bands()
+        fake_dataset = xr.Dataset(
+            data_vars={
+                "image": (["row", "col"], np.zeros((10, 10))),
+                "classif": (
+                    ["row", "col", "band_classif"],
+                    np.zeros((10, 10, len(classif_bands)), dtype=np.int32),
+                ),
+            },
+            coords={
+                "band_im": [overloaded_conf["used_band"]],
+                "band_classif": classif_bands,
+                "row": np.arange(10),
+                "col": np.arange(10),
+            },
+            attrs={"disparity_source": [-1, 1]},
+        )
+        # Import plugins before checking configuration
+        pandora.import_plugin()
+        pandora_machine = PandoraMachine()
+        corr_config_pipeline = {"pipeline": dict(self.corr_config["pipeline"])}
+        saved_schema = copy.deepcopy(
+            pandora.matching_cost.matching_cost.AbstractMatchingCost.schema
+        )
+        _ = check_pipeline_section(
+            corr_config_pipeline, fake_dataset, fake_dataset, pandora_machine
+        )
+        # quick fix to remove when the problem is solved in pandora
+        pandora.matching_cost.matching_cost.AbstractMatchingCost.schema = (
+            saved_schema
+        )
+        self.margins = pandora_machine.margins.global_margins
+
+        if overloaded_conf["method"] != "auto":
+            # not final configuration
+            overloaded_conf["loader_conf"] = self.corr_config
+        else:
+            overloaded_conf["loader_conf"] = None
+
+        application_schema = {
+            "method": str,
+            "min_epi_tile_size": And(int, lambda x: x > 0),
+            "max_epi_tile_size": And(int, lambda x: x > 0),
+            "epipolar_tile_margin_in_percent": int,
+            "min_elevation_offset": Or(None, int),
+            "max_elevation_offset": Or(None, int),
+            "disp_min_threshold": Or(None, int),
+            "disp_max_threshold": Or(None, int),
+            "save_intermediate_data": bool,
+            "generate_ambiguity": bool,
+            "performance_map_method": And(
+                list,
+                lambda x: all(y in ["risk", "intervals"] for y in x),
+            ),
+            "perf_eta_max_ambiguity": float,
+            "perf_eta_max_risk": float,
+            "perf_eta_step": float,
+            "classification_fusion_margin": int,
+            "perf_ambiguity_threshold": float,
+            "use_cross_validation": Or(bool, str),
+            "denoise_disparity_map": bool,
+            "use_global_disp_range": bool,
+            "local_disp_grid_step": int,
+            "disp_range_propagation_filter_size": And(
+                Or(int, float), lambda x: x >= 0
+            ),
+            "epi_disp_grid_tile_size": int,
+            "required_bands": [str],
+            "used_band": str,
+            "loader_conf": Or(dict, collections.OrderedDict, str, None),
+            "loader": str,
+            "confidence_filtering": dict,
+            "threshold_disp_range_to_borders": bool,
+            "filter_incomplete_disparity_range": bool,
+        }
+
+        # Check conf
+        checker = Checker(application_schema)
+        checker.validate(overloaded_conf)
+
+        self.check_conf_confidence_filtering(overloaded_conf)
+
+        # Check consistency between bounds for optimal tile size search
+        min_epi_tile_size = overloaded_conf["min_epi_tile_size"]
+        max_epi_tile_size = overloaded_conf["max_epi_tile_size"]
+        if min_epi_tile_size > max_epi_tile_size:
+            raise ValueError(
+                "Maximal tile size should be bigger than "
+                "minimal tile size for optimal tile size search"
+            )
+
+        # Check consistency between bounds for elevation offset
+        min_elevation_offset = overloaded_conf["min_elevation_offset"]
+        max_elevation_offset = overloaded_conf["max_elevation_offset"]
+        if (
+            min_elevation_offset is not None
+            and max_elevation_offset is not None
+            and min_elevation_offset > max_elevation_offset
+        ):
+            raise ValueError(
+                "Maximal elevation should be bigger than "
+                "minimal elevation for dense matching"
+            )
+
+        disp_min_threshold = overloaded_conf["disp_min_threshold"]
+        disp_max_threshold = overloaded_conf["disp_max_threshold"]
+        if (
+            disp_min_threshold is not None
+            and disp_max_threshold is not None
+            and disp_min_threshold > disp_max_threshold
+        ):
+            raise ValueError(
+                "Maximal disparity should be bigger than "
+                "minimal disparity for dense matching"
+            )
+        return overloaded_conf
+
+    def check_conf_confidence_filtering(self, overloaded_conf):
+        """
+        Check the confidence filtering conf
+        """
+        overloaded_conf["confidence_filtering"]["activated"] = overloaded_conf[
+            "confidence_filtering"
+        ].get("activated", True)
+        overloaded_conf["confidence_filtering"]["bounds_ratio_threshold"] = (
+            overloaded_conf["confidence_filtering"].get(
+                "bounds_ratio_threshold", 0.2
+            )
+        )
+        overloaded_conf["confidence_filtering"]["risk_ratio_threshold"] = (
+            overloaded_conf["confidence_filtering"].get(
+                "risk_ratio_threshold", 0.75
+            )
+        )
+        overloaded_conf["confidence_filtering"]["bounds_range_threshold"] = (
+            overloaded_conf["confidence_filtering"].get(
+                "bounds_range_threshold", 3
+            )
+        )
+        overloaded_conf["confidence_filtering"]["risk_range_threshold"] = (
+            overloaded_conf["confidence_filtering"].get(
+                "risk_range_threshold", 9
+            )
+        )
+        overloaded_conf["confidence_filtering"]["nan_threshold"] = (
+            overloaded_conf["confidence_filtering"].get("nan_threshold", 0.2)
+        )
+        overloaded_conf["confidence_filtering"]["win_nanratio"] = (
+            overloaded_conf["confidence_filtering"].get("win_nanratio", 20)
+        )
+
+        confidence_filtering_schema = {
+            "activated": bool,
+            "bounds_ratio_threshold": float,
+            "risk_ratio_threshold": float,
+            "bounds_range_threshold": int,
+            "risk_range_threshold": int,
+            "nan_threshold": float,
+            "win_nanratio": int,
+        }
+
+        checker_confidence_filtering_schema = Checker(
+            confidence_filtering_schema
+        )
+        checker_confidence_filtering_schema.validate(
+            overloaded_conf["confidence_filtering"]
+        )
+
+    @cars_profile(name="Get margin fun")
+    def get_margins_fun(self, grid_left, disp_range_grid):
+        """
+        Get Margins function that generates margins needed by
+        matching method, to use during resampling
+
+        :param grid_left: left epipolar grid
+        :type grid_left: dict
+        :param disp_range_grid: minimum and maximum disparity grid
+        :return: function that generates margin for given roi
+
+        """
+
+        disp_min_grid_arr, _ = inputs.rasterio_read_as_array(
+            disp_range_grid["grid_min_path"]
+        )
+        disp_max_grid_arr, _ = inputs.rasterio_read_as_array(
+            disp_range_grid["grid_max_path"]
+        )
+        step_row = disp_range_grid["step_row"]
+        step_col = disp_range_grid["step_col"]
+        row_range = disp_range_grid["row_range"]
+        col_range = disp_range_grid["col_range"]
+
+        # get disp_to_alt_ratio
+        disp_to_alt_ratio = grid_left["disp_to_alt_ratio"]
+
+        # Check if we need to override disp_min
+        if self.min_elevation_offset is not None:
+            user_disp_min = self.min_elevation_offset / disp_to_alt_ratio
+            if np.any(disp_min_grid_arr < user_disp_min):
+                logging.warning(
+                    (
+                        "Overridden disparity minimum "
+                        "= {:.3f} pix. (= {:.3f} m.) "
+                        "is greater than disparity minimum estimated "
+                        "in prepare step "
+                        "for current pair"
+                    ).format(
+                        user_disp_min,
+                        self.min_elevation_offset,
+                    )
+                )
+            disp_min_grid_arr[:, :] = user_disp_min
+
+        # Check if we need to override disp_max
+        if self.max_elevation_offset is not None:
+            user_disp_max = self.max_elevation_offset / disp_to_alt_ratio
+            if np.any(disp_max_grid_arr > user_disp_max):
+                logging.warning(
+                    (
+                        "Overridden disparity maximum "
+                        "= {:.3f} pix. (or {:.3f} m.) "
+                        "is lower than disparity maximum estimated "
+                        "in prepare step "
+                        "for current pair"
+                    ).format(
+                        user_disp_max,
+                        self.max_elevation_offset,
+                    )
+                )
+            disp_max_grid_arr[:, :] = user_disp_max
+
+        # Compute global range of logging
+        disp_min_global = np.min(disp_min_grid_arr)
+        disp_max_global = np.max(disp_max_grid_arr)
+
+        logging.info(
+            "Global Disparity range for current pair:  "
+            "[{:.3f} pix., {:.3f} pix.] "
+            "(or [{:.3f} m., {:.3f} m.])".format(
+                disp_min_global,
+                disp_max_global,
+                disp_min_global * disp_to_alt_ratio,
+                disp_max_global * disp_to_alt_ratio,
+            )
+        )
+
+        def margins_wrapper(row_min, row_max, col_min, col_max):
+            """
+            Generates margins Dataset used in resampling
+
+            :param row_min: row min
+            :param row_max: row max
+            :param col_min: col min
+            :param col_max: col max
+
+            :return: margins
+            :rtype: xr.Dataset
+            """
+
+            assert row_min < row_max
+            assert col_min < col_max
+
+            # Get region in grid
+
+            grid_row_min = max(0, int(np.floor((row_min - 1) / step_row)) - 1)
+            grid_row_max = min(
+                len(row_range), int(np.ceil((row_max + 1) / step_row) + 1)
+            )
+            grid_col_min = max(0, int(np.floor((col_min - 1) / step_col)) - 1)
+            grid_col_max = min(
+                len(col_range), int(np.ceil((col_max + 1) / step_col)) + 1
+            )
+
+            # Compute disp min and max in row
+            disp_min = np.min(
+                disp_min_grid_arr[
+                    grid_row_min:grid_row_max, grid_col_min:grid_col_max
+                ]
+            )
+            disp_max = np.max(
+                disp_max_grid_arr[
+                    grid_row_min:grid_row_max, grid_col_min:grid_col_max
+                ]
+            )
+            # round disp min and max
+            disp_min = int(math.floor(disp_min))
+            disp_max = int(math.ceil(disp_max))
+
+            # Compute margins for the correlator
+            margins = dm_wrappers.get_margins(self.margins, disp_min, disp_max)
+
+            return margins
+
+        return margins_wrapper
+
+    def get_method(self):
+        """
+        return the method that will be used in dense_matching
+        """
+
+        return self.used_method
+
+    @cars_profile(name="Optimal size estimation")
+    def get_optimal_tile_size(self, disp_range_grid, max_ram_per_worker):
+        """
+        Get the optimal tile size to use during dense matching.
+
+        :param disp_range_grid: minimum and maximum disparity grid
+        :param max_ram_per_worker: maximum ram per worker
+        :return: optimal tile size
+
+        """
+
+        disp_min_grids, _ = inputs.rasterio_read_as_array(
+            disp_range_grid["grid_min_path"]
+        )
+        disp_max_grids, _ = inputs.rasterio_read_as_array(
+            disp_range_grid["grid_max_path"]
+        )
+
+        # use max tile size as overlap for min and max:
+        # max Point to point diff is less than diff of tile
+
+        # use filter of size max_epi_tile_size
+        overlap = 3 * int(self.max_epi_tile_size / self.local_disp_grid_step)
+
+        disp_min_grids = minimum_filter(
+            disp_min_grids, size=[overlap, overlap], mode="nearest"
+        )
+        disp_max_grids = maximum_filter(
+            disp_max_grids, size=[overlap, overlap], mode="nearest"
+        )
+
+        # Worst cases scenario:
+        # 1: [global max - max diff, global max]
+        # 2: [global min, global min  max diff]
+
+        max_diff = np.round(np.nanmax(disp_max_grids - disp_min_grids)) + 1
+        global_min = np.floor(np.nanmin(disp_min_grids))
+        global_max = np.ceil(np.nanmax(disp_max_grids))
+
+        # Get tiling param
+        opt_epipolar_tile_size_1 = (
+            dm_wrappers.optimal_tile_size_pandora_plugin_libsgm(
+                global_min,
+                global_min + max_diff,
+                self.min_epi_tile_size,
+                self.max_epi_tile_size,
+                max_ram_per_worker,
+                margin=self.epipolar_tile_margin_in_percent,
+            )
+        )
+        opt_epipolar_tile_size_2 = (
+            dm_wrappers.optimal_tile_size_pandora_plugin_libsgm(
+                global_max - max_diff,
+                global_max,
+                self.min_epi_tile_size,
+                self.max_epi_tile_size,
+                max_ram_per_worker,
+                margin=self.epipolar_tile_margin_in_percent,
+            )
+        )
+
+        # return worst case
+        opt_epipolar_tile_size = min(
+            opt_epipolar_tile_size_1, opt_epipolar_tile_size_2
+        )
+
+        # Define function to compute local optimal size for each tile
+        def local_tile_optimal_size_fun(local_disp_min, local_disp_max):
+            """
+            Compute optimal tile size for tile
+
+            :return: local tile size, global optimal tile sizes
+
+            """
+            local_opt_tile_size = (
+                dm_wrappers.optimal_tile_size_pandora_plugin_libsgm(
+                    local_disp_min,
+                    local_disp_max,
+                    0,
+                    20000,  # arbitrary
+                    max_ram_per_worker,
+                    margin=self.epipolar_tile_margin_in_percent,
+                )
+            )
+
+            # Get max range to use with current optimal size
+            max_range = dm_wrappers.get_max_disp_from_opt_tile_size(
+                opt_epipolar_tile_size,
+                max_ram_per_worker,
+                margin=self.epipolar_tile_margin_in_percent,
+                used_disparity_range=(local_disp_max - local_disp_min),
+            )
+
+            return local_opt_tile_size, opt_epipolar_tile_size, max_range
+
+        return opt_epipolar_tile_size, local_tile_optimal_size_fun
+
+    def get_required_bands(self):
+        """
+        Get bands required by this application
+
+        :return: required bands for left and right image
+        :rtype: dict
+        """
+        required_bands = {}
+        required_bands["left"] = self.required_bands
+        required_bands["right"] = self.required_bands
+        return required_bands
+
+    # pylint: disable=too-many-positional-arguments
+    @cars_profile(name="Disp Grid Generation")
+    def generate_disparity_grids(  # noqa: C901
+        self,
+        sensor_image_right,
+        grid_right,
+        geom_plugin_with_dem_and_geoid,
+        dmin=None,
+        dmax=None,
+        dem_min=None,
+        dem_max=None,
+        pair_folder=None,
+        orchestrator=None,
+    ):
+        """
+        Generate disparity grids min and max, with given step
+
+        global mode: uses dmin and dmax
+        local mode: uses dems
+
+
+        :param sensor_image_right: sensor image right
+        :type sensor_image_right: dict
+        :param grid_right: right epipolar grid
+        :type grid_right: dict
+        :param geom_plugin_with_dem_and_geoid: geometry plugin with dem mean
+            used to generate epipolar grids
+        :type geom_plugin_with_dem_and_geoid: GeometryPlugin
+        :param dmin: minimum disparity
+        :type dmin: float
+        :param dmax: maximum disparity
+        :type dmax: float
+        :param dem_min: path to minimum dem
+        :type dem_min: str
+        :param dem_max: path to maximum dem
+        :type dem_max: str
+        :param pair_folder: folder used for current pair
+        :type pair_folder: str
+        :param orchestrator: orchestrator
+        :type orchestrator: Orchestrator
+
+
+        :return disparity grid range, containing grid min and max
+        :rtype: CarsDataset
+        """
+
+        # Default orchestrator
+        if orchestrator is None:
+            # Create default sequential orchestrator for current application
+            # be aware, no out_json will be shared between orchestrators
+            # No files saved
+            self.orchestrator = ocht.Orchestrator(
+                orchestrator_conf={"mode": "sequential"}
+            )
+        else:
+            self.orchestrator = orchestrator
+
+        epi_size_row = grid_right["epipolar_size_y"]
+        epi_size_col = grid_right["epipolar_size_x"]
+        disp_to_alt_ratio = grid_right["disp_to_alt_ratio"]
+
+        # Generate grid array
+        nb_rows = int(epi_size_row / self.local_disp_grid_step) + 1
+        nb_cols = int(epi_size_col / self.local_disp_grid_step) + 1
+        row_range, step_row = np.linspace(
+            0, epi_size_row, nb_rows, retstep=True
+        )
+        col_range, step_col = np.linspace(
+            0, epi_size_col, nb_cols, retstep=True
+        )
+
+        # Create CarsDataset
+        grid_disp_range = cars_dataset.CarsDataset(
+            "arrays", name="grid_disp_range_unknown_pair"
+        )
+        global_infos_cars_ds = cars_dataset.CarsDataset("dict")
+
+        # Generate profile
+        raster_profile = DefaultGTiffProfile(count=1)
+
+        # saving infos
+        # disp grids
+
+        if self.save_intermediate_data:
+            grid_min_path = os.path.join(pair_folder, "disp_min_grid.tif")
+            grid_max_path = os.path.join(pair_folder, "disp_max_grid.tif")
+            safe_makedirs(pair_folder)
+        else:
+            if pair_folder is None:
+                tmp_folder = os.path.join(self.orchestrator.out_dir, "tmp")
+            else:
+                tmp_folder = os.path.join(pair_folder, "tmp")
+            safe_makedirs(tmp_folder)
+            self.orchestrator.add_to_clean(tmp_folder)
+            grid_min_path = os.path.join(tmp_folder, "disp_min_grid.tif")
+            grid_max_path = os.path.join(tmp_folder, "disp_max_grid.tif")
+
+        if None not in (dmin, dmax):
+            # use global disparity range
+            if None not in (dem_min, dem_max):
+                raise RuntimeError("Mix between local and global mode")
+
+            # Only one tile
+            grid_disp_range.tiling_grid = np.array([[[0, nb_rows, 0, nb_cols]]])
+
+        elif None not in (dem_min, dem_max):
+
+            # Generate multiple tiles
+            grid_tile_size = self.epi_disp_grid_tile_size
+            grid_disp_range.tiling_grid = tiling.generate_tiling_grid(
+                0,
+                0,
+                nb_rows,
+                nb_cols,
+                grid_tile_size,
+                grid_tile_size,
+            )
+
+        # add tiling of  global_infos_cars_ds
+        global_infos_cars_ds.tiling_grid = grid_disp_range.tiling_grid
+        self.orchestrator.add_to_replace_lists(
+            global_infos_cars_ds,
+            cars_ds_name="global infos",
+        )
+
+        self.orchestrator.add_to_save_lists(
+            grid_min_path,
+            dm_cst.DISP_MIN_GRID,
+            grid_disp_range,
+            dtype=np.float32,
+            nodata=0,
+            cars_ds_name="disp_min_grid",
+        )
+
+        self.orchestrator.add_to_save_lists(
+            grid_max_path,
+            dm_cst.DISP_MAX_GRID,
+            grid_disp_range,
+            dtype=np.float32,
+            nodata=0,
+            cars_ds_name="disp_max_grid",
+        )
+        [saving_info] = (  # pylint: disable=unbalanced-tuple-unpacking
+            self.orchestrator.get_saving_infos([grid_disp_range])
+        )
+        [saving_info_global_infos] = self.orchestrator.get_saving_infos(
+            [global_infos_cars_ds]
+        )
+
+        # Generate grids on dict format
+        grid_disp_range_dict = {
+            "grid_min_path": grid_min_path,
+            "grid_max_path": grid_max_path,
+            "global_min": None,
+            "global_max": None,
+            "step_row": step_row,
+            "step_col": step_col,
+            "row_range": row_range,
+            "col_range": col_range,
+        }
+
+        if None not in (dmin, dmax):
+            # use global disparity range
+            if None not in (dem_min, dem_max):
+                raise RuntimeError("Mix between local and global mode")
+
+            saving_info_global_infos_full = ocht.update_saving_infos(
+                saving_info_global_infos, row=0, col=0
+            )
+            saving_info_full = ocht.update_saving_infos(
+                saving_info, row=0, col=0
+            )
+
+            (
+                grid_disp_range[0, 0],
+                global_infos_cars_ds[0, 0],
+            ) = self.orchestrator.cluster.create_task(
+                generate_disp_range_const_tile_wrapper, nout=2
+            )(
+                row_range,
+                col_range,
+                dmin,
+                dmax,
+                raster_profile,
+                saving_info_full,
+                saving_info_global_infos_full,
+            )
+
+        elif None not in (dem_min, dem_max):
+
+            # use filter to propagate min and max
+            filter_overlap = (
+                2
+                * int(
+                    self.disp_range_propagation_filter_size
+                    / self.local_disp_grid_step
+                )
+                + 1
+            )
+
+            for col in range(grid_disp_range.shape[1]):
+                for row in range(grid_disp_range.shape[0]):
+                    # update saving infos  for potential replacement
+                    full_saving_info = ocht.update_saving_infos(
+                        saving_info, row=row, col=col
+                    )
+                    saving_info_global_infos_full = ocht.update_saving_infos(
+                        saving_info_global_infos, row=row, col=col
+                    )
+                    array_window = grid_disp_range.get_window_as_dict(row, col)
+                    (
+                        grid_disp_range[row, col],
+                        global_infos_cars_ds[row, col],
+                    ) = self.orchestrator.cluster.create_task(
+                        generate_disp_range_from_dem_wrapper, nout=2
+                    )(
+                        array_window,
+                        row_range,
+                        col_range,
+                        sensor_image_right,
+                        grid_right,
+                        geom_plugin_with_dem_and_geoid,
+                        dem_min,
+                        dem_max,
+                        raster_profile,
+                        full_saving_info,
+                        saving_info_global_infos_full,
+                        filter_overlap,
+                        disp_to_alt_ratio,
+                        disp_min_threshold=self.disp_min_threshold,
+                        disp_max_threshold=self.disp_max_threshold,
+                    )
+
+        # Compute grid
+        self.orchestrator.breakpoint()
+
+        # Fill global infos
+        mins, maxs = [], []
+        for row in range(global_infos_cars_ds.shape[0]):
+            for col in range(global_infos_cars_ds.shape[1]):
+                try:
+                    dict_data = global_infos_cars_ds[row, col].data
+                    mins.append(dict_data["global_min"])
+                    maxs.append(dict_data["global_max"])
+                except Exception:
+                    logging.info(
+                        "Tile {} {} not computed in epi disp range"
+                        " generation".format(row, col)
+                    )
+        grid_disp_range_dict["global_min"] = np.floor(np.nanmin(mins))
+        grid_disp_range_dict["global_max"] = np.ceil(np.nanmax(maxs))
+
+        return grid_disp_range_dict
+
+    def run(  # pylint: disable=too-many-positional-arguments
+        self,
+        epipolar_images_left,
+        epipolar_images_right,
+        local_tile_optimal_size_fun,
+        orchestrator=None,
+        pair_folder=None,
+        pair_key="PAIR_0",
+        disp_range_grid=None,
+        compute_disparity_masks=False,
+        margins_to_keep=0,
+        texture_bands=None,
+        classif_bands_to_mask=None,
+    ):
+        """
+        Run Matching application.
+
+        Create CarsDataset filled with xarray.Dataset, corresponding
+        to epipolar disparities, on the same geometry than
+        epipolar_images_left.
+
+        :param epipolar_images_left: tiled left epipolar CarsDataset contains:
+
+                - N x M Delayed tiles. \
+                    Each tile will be a future xarray Dataset containing:
+
+                    - data with keys : "im", "msk", "texture"
+                    - attrs with keys: "margins" with "disp_min" and "disp_max"\
+                        "transform", "crs", "valid_pixels", "no_data_mask",\
+                        "no_data_img"
+                - attributes containing:
+                    "largest_epipolar_region","opt_epipolar_tile_size"
+        :type epipolar_images_left: CarsDataset
+        :param epipolar_images_right: tiled right epipolar CarsDataset contains:
+
+                - N x M Delayed tiles. \
+                    Each tile will be a future xarray Dataset containing:
+
+                    - data with keys : "im", "msk", "texture"
+                    - attrs with keys: "margins" with "disp_min" and "disp_max"
+                        "transform", "crs", "valid_pixels", "no_data_mask",
+                        "no_data_img"
+                - attributes containing:
+                    "largest_epipolar_region","opt_epipolar_tile_size"
+        :type epipolar_images_right: CarsDataset
+        :param local_tile_optimal_size_fun: function to compute local
+            optimal tile size
+        :type local_tile_optimal_size_fun: func
+        :param orchestrator: orchestrator used
+        :param pair_folder: folder used for current pair
+        :type pair_folder: str
+        :param pair_key: pair id
+        :type pair_key: str
+        :param disp_range_grid: minimum and maximum disparity grid
+        :type disp_range_grid: CarsDataset
+        :param margins_to_keep: margin to keep after dense matching
+        :type margins_to_keep: int
+        :param texture_bands: indices of bands from epipolar_images_left
+            used for output texture
+        :type texture_bands: list
+        :param classif_bands_to_mask: bands from classif to mask
+        :type classif_bands_to_mask: list of str / int
+
+        :return: disparity map: \
+            The CarsDataset contains:
+
+            - N x M Delayed tiles.\
+              Each tile will be a future xarray Dataset containing:
+                - data with keys : "disp", "disp_msk"
+                - attrs with keys: profile, window, overlaps
+            - attributes containing:
+                "largest_epipolar_region","opt_epipolar_tile_size",
+                 "disp_min_tiling", "disp_max_tiling"
+
+        :rtype: CarsDataset
+        """
+        # Default orchestrator
+        if orchestrator is None:
+            # Create default sequential orchestrator for current application
+            # be awere, no out_json will be shared between orchestrators
+            # No files saved
+            self.orchestrator = ocht.Orchestrator(
+                orchestrator_conf={"mode": "sequential"}
+            )
+        else:
+            self.orchestrator = orchestrator
+
+        if pair_folder is None:
+            pair_folder = os.path.join(self.orchestrator.out_dir, "tmp")
+
+        if epipolar_images_left.dataset_type == "arrays":
+            # Create CarsDataset
+            # Epipolar_disparity
+            epipolar_disparity_map = cars_dataset.CarsDataset(
+                "arrays", name="dense_matching_" + pair_key
+            )
+            epipolar_disparity_map.create_empty_copy(epipolar_images_left)
+            # Modify overlaps
+            epipolar_disparity_map.overlaps = (
+                format_transformation.reduce_overlap(
+                    epipolar_disparity_map.overlaps, margins_to_keep
+                )
+            )
+
+            # Update attributes to get epipolar info
+            epipolar_disparity_map.attributes.update(
+                epipolar_images_left.attributes
+            )
+
+            # Save disparity maps
+            if self.save_intermediate_data:
+                self.orchestrator.add_to_save_lists(
+                    os.path.join(pair_folder, "epi_disp.tif"),
+                    cst_disp.MAP,
+                    epipolar_disparity_map,
+                    cars_ds_name="epi_disp",
+                    nodata=-9999,
+                )
+
+                self.orchestrator.add_to_save_lists(
+                    os.path.join(pair_folder, "epi_disp_image.tif"),
+                    cst.EPI_TEXTURE,
+                    epipolar_disparity_map,
+                    cars_ds_name="epi_disp_color",
+                )
+
+                self.orchestrator.add_to_save_lists(
+                    os.path.join(pair_folder, "epi_disp_mask.tif"),
+                    cst_disp.VALID,
+                    epipolar_disparity_map,
+                    dtype=np.uint8,
+                    cars_ds_name="epi_disp_mask",
+                    optional_data=True,
+                )
+
+                self.orchestrator.add_to_save_lists(
+                    os.path.join(pair_folder, "epi_disp_classif.tif"),
+                    cst.EPI_CLASSIFICATION,
+                    epipolar_disparity_map,
+                    dtype=np.uint8,
+                    cars_ds_name="epi_disp_classif",
+                    optional_data=True,
+                )
+
+                self.orchestrator.add_to_save_lists(
+                    os.path.join(
+                        pair_folder,
+                        "epi_confidence.tif",
+                    ),
+                    cst_disp.CONFIDENCE,
+                    epipolar_disparity_map,
+                    cars_ds_name="confidence",
+                    optional_data=True,
+                )
+
+                # disparity grids
+                self.orchestrator.add_to_save_lists(
+                    os.path.join(
+                        pair_folder,
+                        "epi_disp_min.tif",
+                    ),
+                    cst_disp.EPI_DISP_MIN_GRID,
+                    epipolar_disparity_map,
+                    cars_ds_name="disp_min",
+                )
+                self.orchestrator.add_to_save_lists(
+                    os.path.join(
+                        pair_folder,
+                        "epi_disp_max.tif",
+                    ),
+                    cst_disp.EPI_DISP_MAX_GRID,
+                    epipolar_disparity_map,
+                    cars_ds_name="disp_max",
+                )
+                self.orchestrator.add_to_save_lists(
+                    os.path.join(
+                        pair_folder,
+                        "epi_disp_filling.tif",
+                    ),
+                    cst_disp.FILLING,
+                    epipolar_disparity_map,
+                    dtype=np.uint8,
+                    cars_ds_name="epi_disp_filling",
+                    nodata=255,
+                )
+
+            # Get saving infos in order to save tiles when they are computed
+            [saving_info] = self.orchestrator.get_saving_infos(
+                [epipolar_disparity_map]
+            )
+
+            # Add infos to orchestrator.out_json
+            updating_dict = {
+                application_constants.APPLICATION_TAG: {
+                    dm_cst.DENSE_MATCHING_RUN_TAG: {
+                        pair_key: {
+                            "global_disp_min": disp_range_grid["global_min"],
+                            "global_disp_max": disp_range_grid["global_max"],
+                        },
+                    },
+                }
+            }
+            self.orchestrator.update_out_info(updating_dict)
+            logging.info(
+                "Compute disparity: number tiles: {}".format(
+                    epipolar_disparity_map.shape[1]
+                    * epipolar_disparity_map.shape[0]
+                )
+            )
+
+            nb_total_tiles_roi = 0
+
+            # broadcast grids
+            # Transform grids to CarsDict for broadcasting
+            # due to Dask issue https://github.com/dask/dask/issues/9969
+            broadcasted_disp_range_grid = self.orchestrator.cluster.scatter(
+                CarsDict(disp_range_grid)
+            )
+
+            # Generate disparity maps
+            for col in range(epipolar_disparity_map.shape[1]):
+                for row in range(epipolar_disparity_map.shape[0]):
+                    use_tile = False
+                    crop_with_range = None
+                    if type(None) not in (
+                        type(epipolar_images_left[row, col]),
+                        type(epipolar_images_right[row, col]),
+                    ):
+                        use_tile = True
+                        nb_total_tiles_roi += 1
+
+                        # Compute optimal tile size for tile
+                        (
+                            _,
+                            _,
+                            crop_with_range,
+                        ) = local_tile_optimal_size_fun(
+                            np.array(
+                                epipolar_images_left.attributes[
+                                    "disp_min_tiling"
+                                ]
+                            )[row, col],
+                            np.array(
+                                epipolar_images_left.attributes[
+                                    "disp_max_tiling"
+                                ]
+                            )[row, col],
+                        )
+
+                    if use_tile:
+                        # update saving infos  for potential replacement
+                        full_saving_info = ocht.update_saving_infos(
+                            saving_info, row=row, col=col
+                        )
+                        # Compute disparity
+                        (
+                            epipolar_disparity_map[row, col]
+                        ) = self.orchestrator.cluster.create_task(
+                            compute_disparity_wrapper
+                        )(
+                            epipolar_images_left[row, col],
+                            epipolar_images_right[row, col],
+                            self.corr_config,
+                            self.used_band,
+                            broadcasted_disp_range_grid,
+                            saving_info=full_saving_info,
+                            compute_disparity_masks=compute_disparity_masks,
+                            crop_with_range=crop_with_range,
+                            left_overlaps=cars_dataset.overlap_array_to_dict(
+                                epipolar_disparity_map.overlaps[row, col]
+                            ),
+                            margins_to_keep=margins_to_keep,
+                            classification_fusion_margin=(
+                                self.classification_fusion_margin
+                            ),
+                            texture_bands=texture_bands,
+                            conf_filtering=self.confidence_filtering,
+                            threshold_disp_range_to_borders=(
+                                self.threshold_disp_range_to_borders
+                            ),
+                            filter_incomplete_disparity_range=(
+                                self.filter_incomplete_disparity_range
+                            ),
+                            classif_bands_to_mask=classif_bands_to_mask,
+                        )
+
+        else:
+            logging.error(
+                "DenseMatching application doesn't "
+                "support this input data format"
+            )
+        return epipolar_disparity_map
+
+
+def compute_disparity_wrapper(  # pylint: disable=too-many-positional-arguments
+    left_image_object: xr.Dataset,
+    right_image_object: xr.Dataset,
+    corr_cfg: dict,
+    used_band: str,
+    disp_range_grid,
+    saving_info=None,
+    compute_disparity_masks=False,
+    crop_with_range=None,
+    left_overlaps=None,
+    margins_to_keep=0,
+    classification_fusion_margin=-1,
+    texture_bands=None,
+    conf_filtering=None,
+    threshold_disp_range_to_borders=False,
+    filter_incomplete_disparity_range=True,
+    classif_bands_to_mask=None,
+) -> Dict[str, Tuple[xr.Dataset, xr.Dataset]]:
+    """
+    Compute disparity maps from image objects.
+    This function will be run as a delayed task.
+
+    User must provide saving infos to save properly created datasets
+
+    :param left_image_object: tiled Left image
+      - dataset with :
+
+            - cst.EPI_IMAGE
+            - cst.EPI_MSK (if given)
+            - cst.EPI_TEXTURE (for left, if given)
+    :type left_image_object: xr.Dataset
+      - dataset with :
+
+            - cst.EPI_IMAGE
+            - cst.EPI_MSK (if given)
+            - cst.EPI_TEXTURE (for left, if given)
+    :param right_image_object: tiled Right image
+    :type right_image_object: xr.Dataset
+    :param corr_cfg: Correlator configuration
+    :type corr_cfg: dict
+    :param used_band: name of band used for correlation
+    :type used_band: str
+    :param disp_range_grid: minimum and maximum disparity grid
+    :type disp_range_grid: np.ndarray
+    :param compute_disparity_masks: Compute all the disparity \
+                        pandora masks(disable by default)
+    :type compute_disparity_masks: bool
+    :param generate_performance_map: True if generate performance map
+    :type generate_performance_map: bool
+    :param perf_ambiguity_threshold: ambiguity threshold used for
+         performance map
+    :type perf_ambiguity_threshold: float
+    :param disp_to_alt_ratio: disp to alti ratio used for performance map
+    :type disp_to_alt_ratio: float
+    :param crop_with_range: range length to crop disparity range with
+    :type crop_with_range: float
+    :param left_overlaps: left overlap
+    :type: left_overlaps: dict
+    :param margins_to_keep: margin to keep after dense matching
+    :type margins_to_keep: int
+    :param classification_fusion_margin: the margin to add for the fusion
+    :type classification_fusion_margin: int
+    :param classif_bands_to_mask: bands from classif to mask
+    :type classif_bands_to_mask: list of str / int
+
+
+    :return: Left to right disparity dataset
+        Returned dataset is composed of :
+
+        - cst_disp.MAP
+        - cst_disp.VALID
+        - cst.EPI_TEXTURE
+
+    """
+    # transform disp_range_grid back to dict
+    disp_range_grid = disp_range_grid.data
+    # Generate disparity grids
+    (
+        disp_min_grid,
+        disp_max_grid,
+    ) = dm_algo.compute_disparity_grid(
+        disp_range_grid,
+        left_image_object,
+        right_image_object,
+        used_band,
+        threshold_disp_range_to_borders,
+    )
+
+    global_disp_min = disp_range_grid["global_min"]
+    global_disp_max = disp_range_grid["global_max"]
+
+    # add global disparity in case of ambiguity normalization
+    left_image_object = add_global_disparity(
+        left_image_object, global_disp_min, global_disp_max
+    )
+
+    # Crop interval if needed
+    mask_crop = np.zeros(disp_min_grid.shape, dtype=int)
+    is_cropped = False
+    if crop_with_range is not None:
+        current_min = np.min(disp_min_grid)
+        current_max = np.max(disp_max_grid)
+        if (current_max - current_min) > crop_with_range:
+            is_cropped = True
+            logging.warning("disparity range for current tile is cropped")
+            # crop
+            new_min = (
+                current_min * crop_with_range / (current_max - current_min)
+            )
+            new_max = (
+                current_max * crop_with_range / (current_max - current_min)
+            )
+
+            mask_crop = np.logical_or(
+                disp_min_grid < new_min, disp_max_grid > new_max
+            )
+            mask_crop = mask_crop.astype(bool)
+            disp_min_grid[mask_crop] = new_min
+            disp_max_grid[mask_crop] = new_max
+
+    # Compute disparity
+    # TODO : remove overwriting of EPI_MSK
+    disp_dataset = dm_algo.compute_disparity(
+        left_image_object,
+        right_image_object,
+        corr_cfg,
+        used_band,
+        disp_min_grid=disp_min_grid,
+        disp_max_grid=disp_max_grid,
+        compute_disparity_masks=compute_disparity_masks,
+        cropped_range=mask_crop,
+        margins_to_keep=margins_to_keep,
+        classification_fusion_margin=classification_fusion_margin,
+        texture_bands=texture_bands,
+        filter_incomplete_disparity_range=filter_incomplete_disparity_range,
+        classif_bands_to_mask=classif_bands_to_mask,
+    )
+
+    mask = disp_dataset["disp_msk"].values
+    disp_map = disp_dataset["disp"].values
+    disp_map[mask == 0] = np.nan
+
+    # Filtering by using the confidence
+    requested_confidence = [
+        "confidence_from_risk_min.cars_2",
+        "confidence_from_risk_max.cars_2",
+        "confidence_from_interval_bounds_inf.cars_3",
+        "confidence_from_interval_bounds_sup.cars_3",
+    ]
+
+    if (
+        all(key in disp_dataset for key in requested_confidence)
+        and conf_filtering["activated"] is True
+    ):
+        dm_wrappers.confidence_filtering(
+            disp_dataset,
+            requested_confidence,
+            conf_filtering,
+        )
+
+    # Fill with attributes
+    cars_dataset.fill_dataset(
+        disp_dataset,
+        saving_info=saving_info,
+        window=cars_dataset.get_window_dataset(left_image_object),
+        profile=cars_dataset.get_profile_rasterio(left_image_object),
+        attributes={cst.CROPPED_DISPARITY_RANGE: is_cropped},
+        overlaps=left_overlaps,
+    )
+
+    return disp_dataset