cars.applications.dense_matches_filling.plane

this module contains the fill_disp application class.

Module Contents

Classes

PlaneFill

Fill invalid area in disparity map using plane method

Functions

wrapper_fill_disparity(corresponding_tiles_left, ...)	Wrapper to Fill disparity map holes
wrapper_copy_disparity(left_disp, right_disp, window, ...)	Wrapper to copy previous disparity

class cars.applications.dense_matches_filling.plane.PlaneFill(conf=None)

Bases: cars.applications.dense_matches_filling.dense_matches_filling.DenseMatchingFilling

Fill invalid area in disparity map using plane method

check_conf(conf)

Check configuration

Parameters

conf (dict) – configuration to check

Returns

overloaded configuration

Return type

dict

get_is_activated()

Get the activated attribute

Returns

self.activated

Return type

bool

get_poly_margin()

Get the margin used for polygon

Returns

self.nb_pix

Return type

int

run(epipolar_disparity_map_left, epipolar_disparity_map_right, epipolar_images_left, holes_bbox_left, holes_bbox_right, disp_min=0, disp_max=0, orchestrator=None, pair_folder=None, pair_key='PAIR_0')

Run Refill application using plane method.

Parameters

• epipolar_disparity_map_left (CarsDataset) – left disparity

• epipolar_disparity_map_right (CarsDataset) – right disparity

• epipolar_images_left (CarsDataset) –

  tiled left epipolar CarsDataset contains:

  • N x M Delayed tiles. Each tile will be a future xarray Dataset containing:

    • data with keys : “im”, “msk”, “color”

    • 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”, “epipolar_regions_grid”

• holes_bbox_left (CarsDataset) – left holes

• holes_bbox_right (CarsDataset) – right holes

• disp_min (int) – minimum disparity

• disp_max (int) – maximum disparity

• orchestrator – orchestrator used

• pair_folder (str) – folder used for current pair

• pair_key (str) – pair id

Returns

filled left disparity map, filled right disparity map: Each 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”,

  ”epipolar_regions_grid”

Return type

Tuple(CarsDataset, CarsDataset)

cars.applications.dense_matches_filling.plane.wrapper_fill_disparity(corresponding_tiles_left, corresponding_tiles_right, corresponding_poly_left, corresponding_poly_right, window, overlap_left, overlap_right, left_epi_image, ignore_nodata_at_disp_mask_borders=True, ignore_zero_fill_disp_mask_values=True, ignore_extrema_disp_values=True, nb_pix=20, percent_to_erode=0.3, interp_options=None, saving_info_left=None, saving_info_right=None)

Wrapper to Fill disparity map holes

Parameters

• corresponding_tiles_left (list(tuple(list, list, xr.Dataset))) – left disparity map tiles

• corresponding_tiles_right (list(tuple(list, list, xr.Dataset))) – right disparity map tiles

• corresponding_poly_left (list(Polygon)) – left holes polygons

• corresponding_poly_right (list(Polygon)) – right holes polygons

• window (list) – window of base tile [row min, row max, col min col max]

• overlap_left (list) – left overlap [row min, row max, col min col max]

• overlap_right (list) – left overlap [row min, row max, col min col max]

• left_epi_image (xr.Dataset) – left epipolar image

• ignore_nodata_at_disp_mask_borders (bool) – ingore nodata

• ignore_zero_fill_disp_mask_values (bool) – ingnore zero fill

• ignore_extrema_disp_values (bool) – ignore extrema

• nb_pix (int) – margin to use

• percent_to_erode (float) – percent to erode

• interp_options (dict) – interp_options

• saving_info_left (dict) – saving infos left

• saving_info_right (dict) – saving infos right

Returns

left disp map, right disp map

Return type

xr.Dataset, xr.Dataset

cars.applications.dense_matches_filling.plane.wrapper_copy_disparity(left_disp, right_disp, window, overlap_left, overlap_right, saving_info_left=None, saving_info_right=None)

Wrapper to copy previous disparity

Parameters

• left_disp (xr.Dataset) – left disparity map

• right_disp (xr.Dataset) – right disparity map

• window (list) – window of base tile [row min, row max, col min col max]

• overlap_left (list) – left overlap [row min, row max, col min col max]

• overlap_right (list) – left overlap [row min, row max, col min col max]

• saving_info_left (dict) – saving infos left

• saving_info_right (dict) – saving infos right

Returns

left disp map, right disp map

Return type

xr.Dataset, xr.Dataset