cars.applications.grid_generation.grid_generation_algo
======================================================

.. py:module:: cars.applications.grid_generation.grid_generation_algo

.. autoapi-nested-parse::

   Grids module:
   contains functions used for epipolar grid creation and correction



Functions
---------

.. autoapisummary::

   cars.applications.grid_generation.grid_generation_algo.get_new_path
   cars.applications.grid_generation.grid_generation_algo.write_grid
   cars.applications.grid_generation.grid_generation_algo.generate_epipolar_grids
   cars.applications.grid_generation.grid_generation_algo.compute_epipolar_grid_min_max
   cars.applications.grid_generation.grid_generation_algo.terrain_region_to_epipolar


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

.. py:function:: get_new_path(path)

   Check path, if exists, creates new one

   :param path: path to check
   :type path: str

   :return : new path
   :rtype: str


.. py:function:: write_grid(grid, fname, origin, spacing)

   Write an epipolar rectification grid to file

   :param grid: the grid to write
   :type grid: 3D numpy array
   :param fname: the filename to which the grid will be written
   :type fname: string
   :param origin: origin of the grid
   :type origin: (float, float)
   :param spacing: spacing of the grid
   :type spacing: (float, float)


.. py:function:: generate_epipolar_grids(sensor1, sensor2, geomodel1, geomodel2, geometry_plugin, epipolar_step)

   Computes the left and right epipolar grids

   :param sensor1: path to left sensor image
   :param sensor2: path to right sensor image
   :param geomodel1: path and attributes for left geomodel
   :param geomodel2: path and attributes for right geomodel
   :param geometry_plugin: geometry plugin to use
   :type geometry_plugin: AbstractGeometry
   :param epipolar_step: step to use to construct the epipolar grids
   :return: Tuple composed of :

       - the left epipolar grid as a numpy array
       - the right epipolar grid as a numpy array
       - the left grid origin as a list of float
       - the left grid spacing as a list of float
       - the epipolar image size as a list of int        (x-axis size is given with the index 0, y-axis size with index 1)
       - the disparity to altitude ratio as a float


.. py:function:: compute_epipolar_grid_min_max(geometry_plugin, grid, sensor1, sensor2, geomodel1, geomodel2, grid1, grid2, epsg, disp_min_tiling, disp_max_tiling)

   Compute ground terrain location of epipolar grids at disp_min and disp_max

   :param geometry_plugin: geometry plugin to use
   :type geometry_plugin: AbstractGeometry
   :param grid: The epipolar grid to project
   :type grid: np.ndarray of shape (N,M,2)
   :param sensor1: path to left sensor image
   :type sensor1: str
   :param sensor2: path to right sensor image
   :type sensor2: str
   :param geomodel1: path and attributes for left geomodel
   :type geomodel1: dict
   :param geomodel2: path and attributes for right geomodel
   :type geomodel2: dict
   :param grid1: dict of the reference image grid file
   :type grid1: dict
   :param grid2: dict of the secondary image grid file
   :type grid2: dict
   :param epsg: EPSG code of the terrain projection
   :type epsg: Int
   :param disp_min_tiling: Minimum disparity tiling
   :type disp_min_tiling: np ndarray or int
   :param disp_max_tiling: Maximum disparity tiling
   :type disp_max_tiling: np ndarray or int
   :return: a tuple of location grid at disp_min and disp_max
   :rtype: Tuple(np.ndarray, np.ndarray) same shape as grid param


.. py:function:: terrain_region_to_epipolar(region, sensor1, sensor2, geomodel1, geomodel2, grid_left, grid_right, geometry_plugin, epsg=4326, disp_min=0, disp_max=0, tile_size=100, epipolar_size_x=None, epipolar_size_y=None)

   Transform terrain region to epipolar region

   :param region: terrain region to use
   :param sensor1: path to left sensor image
   :param sensor2: path to right sensor image
   :param geomodel1: path and attributes for left geomodel
   :param geomodel2: path and attributes for right geomodel
   :param grid1: dataset of the reference image grid file
   :param grid2: dataset of the secondary image grid file
   :param geometry_plugin: geometry plugin to use
   :param epsg: epsg
   :param disp_min: minimum disparity
   :param disp_max: maximum disparity
   :param tile_size: tile size for grid
   :param epipolar_size_x: epipolar_size_x
   :param epipolar_size_y: epipolar_size_y

   :return: epipolar region to use, with tile_size a sample