cars.applications.triangulation.triangulation
this module contains the abstract triangulation application class.
Module Contents
Classes
Triangulation |
- class cars.applications.triangulation.triangulation.Triangulation(conf=None)
Bases:
cars.applications.application_template.ApplicationTemplate
Triangulation
- available_applications: Dict
- default_application = 'line_of_sight_intersection'
- classmethod __init_subclass__(short_name, **kwargs)
- abstract run(sensor_image_left, sensor_image_right, epipolar_image, grid_left, grid_right, epipolar_disparity_map, epsg, geometry_plugin, orchestrator=None, pair_folder=None, pair_key='PAIR_0', uncorrected_grid_right=None, geoid_path=None, disp_min=0, disp_max=0)
Run Triangulation application.
Created left and right CarsDataset filled with xarray.Dataset, corresponding to 3D points clouds, stored on epipolar geometry grid.
- Parameters
sensor_image_left (CarsDataset) – tiled sensor left image
sensor_image_right (CarsDataset) – tiled sensor right image
epipolar_images (CarsDataset) – tiled epipolar left image
grid_left (CarsDataset) – left epipolar grid
grid_right (CarsDataset) – right epipolar grid
epipolar_disparity_map (CarsDataset) – tiled disparity map or sparse matches
orchestrator – orchestrator used
pair_folder (str) – folder used for current pair
pair_key (str) – pair key id
uncorrected_grid_right (CarsDataset) – not corrected right epipolar grid used if self.snap_to_img1
geoid_path (str) – geoid path
disp_min (int) – minimum disparity
disp_max (int) – maximum disparity
:return left points cloud, right points cloud :rtype: CarsDataset