:py:mod:`cars.applications.ground_truth_reprojection.direct_localization`
=========================================================================

.. py:module:: cars.applications.ground_truth_reprojection.direct_localization

.. autoapi-nested-parse::

   This module contains the abstract direct_localization application class.



Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   cars.applications.ground_truth_reprojection.direct_localization.DirectLocalization



Functions
~~~~~~~~~

.. autoapisummary::

   cars.applications.ground_truth_reprojection.direct_localization.maps_generation_wrapper



.. py:class:: DirectLocalization(conf=None)


   Bases: :py:obj:`cars.applications.ground_truth_reprojection.ground_truth_reprojection.GroundTruthReprojection`

   DirectLocalization


   .. py:method:: check_conf(conf)

      Check configuration

      :param conf: configuration to check
      :type conf: dict
      :return: overloaded configuration
      :rtype: dict



   .. py:method:: run(sensor_left, sensor_right, grid_left, grid_right, geom_plugin, geom_plugin_dem_median, disp_to_alt_ratio, auxiliary_values, auxiliary_interp, orchestrator=None, pair_folder=None, pair_key='PAIR_0')

      Run direct localization for ground truth disparity

      :param sensor_left: Tiled sensor left image.
          Dict must contain keys: "image", "color", "geomodel",
          "no_data", "mask". Paths must be absolute.
      :type sensor_left: CarsDataset
      :param sensor_right: Tiled sensor right image.
          Dict must contain keys: "image", "color", "geomodel",
          "no_data", "mask". Paths must be absolute.
      :type sensor_right: CarsDataset
      :param grid_left: Grid left.
      :type grid_left: CarsDataset
      :param grid_right: Grid right.
      :type grid_right: CarsDataset
      :param geom_plugin_dem_median: Geometry plugin with dem median
      :type geom_plugin_dem_median: geometry_plugin
      :param geom_plugin: Geometry plugin with user's DSM used to
          generate epipolar grids.
      :type geom_plugin: GeometryPlugin
      :param disp_to_alt_ratio: Disp to altitude ratio used
          for performance map.
      :type disp_to_alt_ratio: float
      :param orchestrator: orchestrator used
      :type orchestrator: orchestrator
      :param pair_folder: Folder used for current pair.
      :type pair_folder: str
      :param pair_key: Pair ID.
      :type pair_key: str



.. py:function:: maps_generation_wrapper(sensor_left, grid_left, geom_plugin, disp_to_alt_ratio, target, saving_infos, window, auxiliary_values, auxiliary_interp, raster_profile=None, geom_plugin_dem_median=None, reverse=False, window_dict=None)

   Computes ground truth epipolar disparity map and sensor geometry.

   :param sensor_left: sensor data
       Dict must contain keys: "image", "color", "geomodel",
       "no_data", "mask". Paths must be absolute.
   :type sensor_left: dict
   :param grid_left: Grid left.
   :type grid_left: CarsDataset
   :param geom_plugin: Geometry plugin with user's DSM used to
       generate epipolar grids.
   :type geom_plugin: GeometryPlugin
   :param disp_to_alt_ratio: Disp to altitude ratio used for performance map.
   :type disp_to_alt_ratio: float
   :param target: "epipolar", "sensor", or both ("all") geometry.
   :type target: str
   :param saving_infos: Information about CarsDataset ID.
   :type saving_infos: dict
   :param window: size of tile
   :type window: np.ndarray
   :param raster_profile: dictionnary containing dataset information
   :type raster_profile: dict
   :param geom_plugin_dem_median: Geometry plugin with dem median
   :type geom_plugin_dem_median: geometry_plugin
   :param reverse: true if right-> left
   :type reverse: bool
   :param window_dict: window as dict