Merge branch '975-decimer-les-bandeaux-pour-les-sifts' into 'master'

Resolve "Decimer les bandeaux pour les sifts" Closes #975 See merge request 3d/cars-park/cars!800
CNES · Jan 29, 2025 · ead3395 · ead3395
2 parents 403bea3 + 666dec2
commit ead3395
Show file tree

Hide file tree

Showing 15 changed files with 103 additions and 31 deletions.
diff --git a/cars/applications/dense_matching/census_mccnn_sgm.py b/cars/applications/dense_matching/census_mccnn_sgm.py
@@ -233,7 +233,7 @@ def check_conf(self, conf):
         fake_dataset = xr.Dataset(
             data_vars={},
             coords={
-                "band_im": [(None)],
+                "band_im": [None],
                 "row": np.arange(10),
                 "col": np.arange(10),
             },

diff --git a/cars/applications/dense_matching/loaders/pandora_loader.py b/cars/applications/dense_matching/loaders/pandora_loader.py
@@ -317,7 +317,7 @@ def get_config_input_custom_cars(user_cfg: Dict[str, dict]) -> Dict[str, dict]:
 
 
 def check_input_section_custom_cars(
-    user_cfg: Dict[str, dict]
+    user_cfg: Dict[str, dict],
 ) -> Dict[str, dict]:
     """
     Complete and check if the dictionary is correct

diff --git a/cars/applications/grid_generation/grid_correction.py b/cars/applications/grid_generation/grid_correction.py
@@ -172,6 +172,7 @@ def estimate_right_grid_correction(
     grid_right,
     initial_cars_ds=None,
     save_matches=False,
+    minimum_nb_matches=100,
     pair_folder="",
     pair_key="pair_0",
     orchestrator=None,
@@ -185,6 +186,8 @@ def estimate_right_grid_correction(
     :type grid_right: CarsDataset
     :param save_matches: true is matches needs to be saved
     :type save_matches: bool
+    :param minimum_nb_matches: minimum number of matches required
+    :type minimum_nb_matches: int
     :param pair_folder: folder used for current pair
     :type pair_folder: str
 
@@ -206,15 +209,15 @@ def estimate_right_grid_correction(
     else:
         cars_orchestrator = orchestrator
 
-    if matches.shape[0] < 100:
+    if matches.shape[0] < minimum_nb_matches:
         logging.error(
-            "Insufficient amount of matches found (< 100), can not safely "
-            "estimate epipolar error correction"
+            "Insufficient amount of matches found"
+            ", can not safely estimate epipolar error correction"
         )
 
         raise ValueError(
-            "Insufficient amount of matches found (< 100), can not safely "
-            "estimate epipolar error correction"
+            f"Insufficient amount of matches found (< {minimum_nb_matches})"
+            ", can not safely estimate epipolar error correction"
         )
 
     # Get grids attributes

diff --git a/cars/applications/sparse_matching/sift.py b/cars/applications/sparse_matching/sift.py
@@ -106,6 +106,7 @@ def __init__(self, conf=None):
         self.matches_filter_dev_factor = self.used_config[
             "matches_filter_dev_factor"
         ]
+        self.decimation_factor = self.used_config["decimation_factor"]
 
         # Saving files
         self.save_intermediate_data = self.used_config["save_intermediate_data"]
@@ -138,6 +139,9 @@ def check_conf(self, conf):
         overloaded_conf["elevation_delta_lower_bound"] = conf.get(
             "elevation_delta_lower_bound", None
         )
+        overloaded_conf["decimation_factor"] = conf.get(
+            "decimation_factor", 100
+        )
         overloaded_conf["elevation_delta_upper_bound"] = conf.get(
             "elevation_delta_upper_bound", None
         )
@@ -212,6 +216,7 @@ def check_conf(self, conf):
             "sift_edge_threshold": float,
             "sift_magnification": And(float, lambda x: x > 0),
             "sift_window_size": And(int, lambda x: x > 0),
+            "decimation_factor": And(int, lambda x: x > 0),
             "sift_back_matching": bool,
             "matches_filter_knn": int,
             "matches_filter_dev_factor": Or(int, float),
@@ -321,6 +326,22 @@ def get_matches_filter_dev_factor(self):
         """
         return self.matches_filter_dev_factor
 
+    def get_decimation_factor(self):
+        """
+        Get decimation_factor
+
+        :return: decimation_factor
+
+        """
+        return self.decimation_factor
+
+    def set_decimation_factor(self, value):
+        """
+        set decimation_factor
+
+        """
+        self.decimation_factor = value
+
     def run(
         self,
         epipolar_image_left,
@@ -489,7 +510,16 @@ def run(
                 epipolar_disparity_map_left, cars_ds_name="epi_matches_left"
             )
             # Generate disparity maps
-            for row in range(epipolar_disparity_map_left.shape[0]):
+            total_nb_band_sift = epipolar_disparity_map_left.shape[0]
+
+            step = int(np.round(100 / self.decimation_factor))
+
+            if total_nb_band_sift in (1, 2):
+                step = 1
+            elif total_nb_band_sift == 3:
+                step = 2
+
+            for row in range(0, total_nb_band_sift, step):
                 # initialize list of matches
                 full_saving_info_left = ocht.update_saving_infos(
                     saving_info_left, row=row, col=0

diff --git a/cars/pipelines/default/default_pipeline.py b/cars/pipelines/default/default_pipeline.py
@@ -858,6 +858,13 @@ def check_applications_with_inputs(self, inputs_conf, application_conf):
                 )
             )
 
+        if (
+            self.sparse_mtch_pandora_app.used_config.get("activated", False)
+            is True
+            and self.sparse_mtch_sift_app.get_decimation_factor() == 100
+        ):
+            self.sparse_mtch_sift_app.set_decimation_factor(30)
+
         return application_conf
 
     def sensor_to_depth_maps(self):  # noqa: C901
@@ -1102,6 +1109,10 @@ def sensor_to_depth_maps(self):  # noqa: C901
                     )
                 )
 
+                minimum_nb_matches = (
+                    self.sparse_mtch_sift_app.get_minimum_nb_matches()
+                )
+
                 # Compute grid correction
                 (
                     self.pairs[pair_key]["grid_correction_coef"],
@@ -1116,6 +1127,7 @@ def sensor_to_depth_maps(self):  # noqa: C901
                         "epipolar_matches_left"
                     ],
                     save_matches=save_matches,
+                    minimum_nb_matches=minimum_nb_matches,
                     pair_folder=os.path.join(
                         self.dump_dir, "grid_correction", "initial", pair_key
                     ),

diff --git a/docs/source/usage/configuration.rst b/docs/source/usage/configuration.rst
@@ -984,28 +984,33 @@ The structure follows this organization:
 
                 **Sift:**
 
-                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
-                | Name                                 | Description                                                                                    | Type        | Available value        | Default value | Required |
-                +======================================+================================================================================================+=============+========================+===============+==========+
-                | disparity_outliers_rejection_percent | Percentage of outliers to reject                                                               | float       | between 0 and 1        | 0.1           | No       |
-                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
-                | sift_matching_threshold              | Threshold for the ratio to nearest second match                                                | float       | should be > 0          | 0.7           | No       |
-                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
-                | sift_n_octave                        | The number of octaves of the Difference of Gaussians scale space                               | int         | should be > 0          | 8             | No       |
-                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
-                | sift_n_scale_per_octave              | The numbers of levels per octave of the Difference of Gaussians scale space                    | int         | should be > 0          | 3             | No       |
-                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
-                | sift_peak_threshold                  | Constrast threshold to discard a match (at None it will be set according to image type)        | float       | should be > 0          | 4.0           | No       |
-                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
-                | sift_edge_threshold                  | Distance to image edge threshold to discard a match                                            | float       |                        | 10.0          | No       |
-                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
-                | sift_magnification                   | The descriptor magnification factor                                                            | float       | should be > 0          | 7.0           | No       |
-                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
-                | sift_window_size                     | smaller values let the center of the descriptor count more                                     | int         | should be > 0          | 2             | No       |
-                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
+                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+-------------------------------------------+----------+
+                | Name                                 | Description                                                                                    | Type        | Available value        | Default value                             | Required |
+                +======================================+================================================================================================+=============+========================+===========================================+==========+
+                | disparity_outliers_rejection_percent | Percentage of outliers to reject                                                               | float       | between 0 and 1        | 0.1                                       | No       |
+                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+-------------------------------------------+----------+
+                | sift_matching_threshold              | Threshold for the ratio to nearest second match                                                | float       | should be > 0          | 0.7                                       | No       |
+                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+-------------------------------------------+----------+
+                | sift_n_octave                        | The number of octaves of the Difference of Gaussians scale space                               | int         | should be > 0          | 8                                         | No       |
+                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+-------------------------------------------+----------+
+                | sift_n_scale_per_octave              | The numbers of levels per octave of the Difference of Gaussians scale space                    | int         | should be > 0          | 3                                         | No       |
+                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+-------------------------------------------+----------+
+                | sift_peak_threshold                  | Constrast threshold to discard a match (at None it will be set according to image type)        | float       | should be > 0          | 4.0                                       | No       |
+                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+-------------------------------------------+----------+
+                | sift_edge_threshold                  | Distance to image edge threshold to discard a match                                            | float       |                        | 10.0                                      | No       |
+                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+-------------------------------------------+----------+
+                | sift_magnification                   | The descriptor magnification factor                                                            | float       | should be > 0          | 7.0                                       | No       |
+                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+-------------------------------------------+----------+
+                | sift_window_size                     | smaller values let the center of the descriptor count more                                     | int         | should be > 0          | 2                                         | No       |
+                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+-------------------------------------------+----------+
+                | decimation_factor                    | Reduce the number of sifts                                                                     | int         | should be > 0          | 20 if pandora is activated, 100 otherwise | No       |
+                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+-------------------------------------------+----------+
 
                 For more information about these parameters, please refer to the `VLFEAT SIFT documentation <https://www.vlfeat.org/api/sift.html>`_.
 
+                .. note::
+                    For the decimation factor, a value of 33 means that we divide the number of sift by 3, a value of 100 means that we do not decimate them
+
 
                 **Pandora:**
 

diff --git a/tests/data/ref_output/color_end2end_gizeh_crop_no_merging.tif b/tests/data/ref_output/color_end2end_gizeh_crop_no_merging.tif
diff --git a/tests/data/ref_output/color_end2end_gizeh_fill_with_zero.tif b/tests/data/ref_output/color_end2end_gizeh_fill_with_zero.tif
diff --git a/tests/data/ref_output/color_end2end_ventoux_split_4326.tif b/tests/data/ref_output/color_end2end_ventoux_split_4326.tif
diff --git a/tests/data/ref_output/dsm_end2end_gizeh_crop_no_merging.tif b/tests/data/ref_output/dsm_end2end_gizeh_crop_no_merging.tif
diff --git a/tests/data/ref_output/dsm_end2end_gizeh_fill_with_zero.tif b/tests/data/ref_output/dsm_end2end_gizeh_fill_with_zero.tif
diff --git a/tests/data/ref_output/dsm_end2end_ventoux_split_4326.tif b/tests/data/ref_output/dsm_end2end_ventoux_split_4326.tif
diff --git a/tests/data/ref_output/performance_map_end2end_gizeh_crop_no_merging.tif b/tests/data/ref_output/performance_map_end2end_gizeh_crop_no_merging.tif
diff --git a/tests/data/ref_output/source_pc_end2end_ventoux_split_4326.tif b/tests/data/ref_output/source_pc_end2end_ventoux_split_4326.tif