Merge branch '971-deal_with_margins' into 'master'

Gestion des marges sur la grille de rectification

Closes #971

See merge request 3d/cars-park/cars!798

cars/applications/resampling/resampling_tools.py

@@ -310,13 +310,26 @@ def resample_image(
             oversampling = int(res_x)
             assert res_x == oversampling
 
+            grid_origin_x = grid_reader.transform[2]
+            grid_origin_y = grid_reader.transform[5]
+            assert grid_origin_x == grid_origin_y
+            grid_margin = -grid_origin_x / oversampling - 0.5
+            assert grid_margin == int(grid_margin)
+            grid_margin = int(grid_margin)
+
             # Convert resampled region to grid region with oversampling
-            grid_region = [
-                math.floor(xmin / oversampling),
-                math.floor(ymin / oversampling),
-                math.ceil(xmax / oversampling),
-                math.ceil(ymax / oversampling),
-            ]
+            grid_region = np.array(
+                [
+                    math.floor(xmin / oversampling),
+                    math.floor(ymin / oversampling),
+                    math.ceil(xmax / oversampling),
+                    math.ceil(ymax / oversampling),
+                ]
+            )
+            # Out region of epipolar image
+            out_region = oversampling * grid_region
+            # Grid region
+            grid_region += grid_margin
 
             grid_window = Window.from_slices(
                 (grid_region[1], grid_region[3] + 1),
@@ -399,7 +412,6 @@ def resample_image(
                     ).astype(int)
 
                 # extract exact region
-                out_region = oversampling * np.array(grid_region)
                 ext_region = block_region - out_region
                 block_resamp = block_resamp[
                     ...,

cars/core/geometry/shareloc_geometry.py

@@ -63,6 +63,7 @@ def __init__(
         geoid=None,
         default_alt=None,
         pairs_for_roi=None,
+        rectification_grid_margin=0,
     ):
         super().__init__(
             geometry_plugin,
@@ -75,6 +76,7 @@ def __init__(
         self.dem_roi = None
         self.roi_shareloc = None
         self.elevation = None
+        self.rectification_grid_margin = rectification_grid_margin
 
         # compute roi only when generating geometry object with dem
         # even if dem is None
@@ -136,12 +138,15 @@ def get_roi(self, pairs_for_roi, epsg, margin=0.006):
             coords_list.extend(self.image_envelope(image1, geomodel1))
             # Footprint of right image
             coords_list.extend(self.image_envelope(image2, geomodel2))
-            # Epipolar extent
+            # Footprint of rectification grid (with margins)
             image1 = SharelocGeometry.load_image(image1)
             geomodel1 = self.load_geom_model(geomodel1)
             geomodel2 = self.load_geom_model(geomodel2)
             epipolar_extent = rectif.get_epipolar_extent(
-                image1, geomodel1, geomodel2
+                image1,
+                geomodel1,
+                geomodel2,
+                grid_margin=self.rectification_grid_margin,
             )
             lat_min, lon_min, lat_max, lon_max = list(epipolar_extent)
             coords_list.extend([(lon_min, lat_min), (lon_max, lat_max)])
@@ -380,6 +385,7 @@ def generate_epipolar_grids(
             shareloc_model2,
             self.elevation,
             epi_step=epipolar_step,
+            margin=self.rectification_grid_margin,
         )
 
         # rearrange output to match the expected structure of CARS
@@ -390,7 +396,10 @@ def generate_epipolar_grids(
         epipolar_size_x = int(np.floor(epipolar_size_x))
         epipolar_size_y = int(np.floor(epipolar_size_y))
 
-        origin = [0.0, 0.0]
+        origin = [
+            float(-self.rectification_grid_margin * epipolar_step),
+            float(-self.rectification_grid_margin * epipolar_step),
+        ]
         spacing = [float(epipolar_step), float(epipolar_step)]
 
         # alt_to_disp_ratio does not consider image resolution

cars/pipelines/parameters/sensor_inputs.py

@@ -246,7 +246,8 @@ def check_geometry_plugin(conf_inputs, conf_advanced, conf_geom_plugin):
     # Initialize the desired geometry plugin without elevation information
     geom_plugin_without_dem_and_geoid = (
         AbstractGeometry(  # pylint: disable=abstract-class-instantiated
-            conf_geom_plugin, default_alt=sens_cst.CARS_DEFAULT_ALT
+            conf_geom_plugin,
+            default_alt=sens_cst.CARS_DEFAULT_ALT,
         )
     )
 

setup.cfg

@@ -82,7 +82,7 @@ install_requires =
     cars-resample==0.1.*
     cars-filter==0.1.*
     vlsift==0.1.*
-    shareloc==0.2.4
+    shareloc==0.2.5
     bulldozer-dtm==1.0.*
 
 package_dir =

tests/core/geometry/test_shareloc_geometry.py

@@ -135,6 +135,29 @@ def test_get_roi():
     ]
     np.testing.assert_allclose(roi, ref_roi)
 
+    # Add a 5 pixel margin on rectification grid
+    geo_plugin_with_margin_on_grid = (
+        AbstractGeometry(  # pylint: disable=abstract-class-instantiated
+            "SharelocGeometry",
+            dem=dem,
+            geoid=geoid,
+            rectification_grid_margin=5,
+        )
+    )
+    pairs_for_roi = [(sensor1, geomodel1, sensor2, geomodel2)]
+    roi = geo_plugin_with_margin_on_grid.get_roi(
+        pairs_for_roi, 4326, margin=0.005
+    )
+    ref_roi = [
+        44.198651,
+        5.185954,
+        44.21382,
+        5.203201,
+    ]
+    # Returned ROI is the footprint of the rectification
+    # It takes into account the 5 pixels margin
+    np.testing.assert_allclose(roi, ref_roi)
+
 
 @pytest.mark.unit_tests
 def test_sensors_arrangement_left_right():

tests/test_end2end.py

@@ -3265,6 +3265,15 @@ def test_end2end_ventoux_with_color():
         input_config_sparse_res["output"].update(output_config)
 
         sparse_res_pipeline = default.DefaultPipeline(input_config_sparse_res)
+
+        # Add a margin on recitification grid
+        # TODO change this when the new API with
+        # bicubic interpolator is implemented
+        geom_plugin_1 = sparse_res_pipeline.geom_plugin_with_dem_and_geoid
+        geom_plugin_2 = sparse_res_pipeline.geom_plugin_without_dem_and_geoid
+        geom_plugin_1.rectification_grid_margin = 5
+        geom_plugin_2.rectification_grid_margin = 5
+
         sparse_res_pipeline.run()
 
         out_dir = input_config_sparse_res["output"]["directory"]
@@ -3338,6 +3347,15 @@ def test_end2end_ventoux_with_color():
         input_config_dense_dsm["output"]["product_level"] = ["dsm"]
 
         dense_dsm_pipeline = default.DefaultPipeline(input_config_dense_dsm)
+
+        # Add a margin on recitification grid
+        # TODO change this when the new API with
+        # bicubic interpolator is implemented
+        geom_plugin_1 = dense_dsm_pipeline.geom_plugin_with_dem_and_geoid
+        geom_plugin_2 = dense_dsm_pipeline.geom_plugin_without_dem_and_geoid
+        geom_plugin_1.rectification_grid_margin = 5
+        geom_plugin_2.rectification_grid_margin = 5
+
         dense_dsm_pipeline.run()
 
         out_dir = input_config_dense_dsm["output"]["directory"]
@@ -4755,6 +4773,19 @@ def test_end2end_paca_with_mask():
         dense_dsm_pipeline_bulldozer = default.DefaultPipeline(
             input_config_dense_dsm
         )
+
+        # Add a margin on recitification grid
+        # TODO change this when the new API with
+        # bicubic interpolator is implemented
+        geom_plugin_1 = (
+            dense_dsm_pipeline_bulldozer.geom_plugin_with_dem_and_geoid
+        )
+        geom_plugin_2 = (
+            dense_dsm_pipeline_bulldozer.geom_plugin_without_dem_and_geoid
+        )
+        geom_plugin_1.rectification_grid_margin = 5
+        geom_plugin_2.rectification_grid_margin = 5
+
         dense_dsm_pipeline_bulldozer.run()
 
         out_dir = input_config_dense_dsm["output"]["directory"]
@@ -4851,6 +4882,19 @@ def test_end2end_paca_with_mask():
         dense_dsm_pipeline_matches = default.DefaultPipeline(
             input_config_dense_dsm
         )
+
+        # Add a margin on recitification grid
+        # TODO change this when the new API with
+        # bicubic interpolator is implemented
+        geom_plugin_1 = (
+            dense_dsm_pipeline_matches.geom_plugin_with_dem_and_geoid
+        )
+        geom_plugin_2 = (
+            dense_dsm_pipeline_matches.geom_plugin_without_dem_and_geoid
+        )
+        geom_plugin_1.rectification_grid_margin = 5
+        geom_plugin_2.rectification_grid_margin = 5
+
         dense_dsm_pipeline_matches.run()
 
         # copy2(