Full configuration
Here is an example of a full CARS configuration, as saved by CARS in the global_used_conf file.
Input
Input
input: sensors: left: image: bands: b0: path: left_image.tif band: 0 b1: path: left_image.tif band: 1 b2: path: left_image.tif band: 2 no_data: 0 geomodel: path: left_image.geom model_type: RPC mask: left_mask.tif classification: path: left_classif.tif values: - 1 - 2 - 3 - 4 right: image: bands: b0: path: left_image.tif band: 0 b1: path: left_image.tif band: 1 b2: path: left_image.tif band: 2 no_data: 0 geomodel: path: right_image.geom model_type: RPC mask: right_mask.tif classification: path: right_classif.tif values: - 1 - 2 - 3 - 4 pairing: - - left - right initial_elevation: dem: N43E007.hgt geoid: egm96.grd roi: null loaders: image: pivot classification: pivot filling: fill_with_geoid: null interpolate_from_borders: null fill_with_endogenous_dem: null fill_with_exogenous_dem: null
{
"input": {
"sensors": {
"left": {
"image": {
"bands": {
"b0": {
"path": "left_image.tif",
"band": 0
},
"b1": {
"path": "left_image.tif",
"band": 1
},
"b2": {
"path": "left_image.tif",
"band": 2
}
},
"no_data": 0
},
"geomodel": {
"path": "left_image.geom",
"model_type": "RPC"
},
"mask": "left_mask.tif",
"classification": {
"path": "left_classif.tif",
"values": [
1,
2,
3,
4
]
}
},
"right": {
"image": {
"bands": {
"b0": {
"path": "left_image.tif",
"band": 0
},
"b1": {
"path": "left_image.tif",
"band": 1
},
"b2": {
"path": "left_image.tif",
"band": 2
}
},
"no_data": 0
},
"geomodel": {
"path": "right_image.geom",
"model_type": "RPC"
},
"mask": "right_mask.tif",
"classification": {
"path": "right_classif.tif",
"values": [
1,
2,
3,
4
]
}
}
},
"pairing": [
[
"left",
"right"
]
],
"initial_elevation": {
"dem": "N43E007.hgt",
"geoid": "egm96.grd"
},
"roi": null,
"loaders": {
"image": "pivot",
"classification": "pivot"
},
"filling": {
"fill_with_geoid": null,
"interpolate_from_borders": null,
"fill_with_endogenous_dem": null,
"fill_with_exogenous_dem": null
}
}
}
Output
Output
output: directory: outresults auxiliary: image: - b0 - b1 - b2 classification: 1: 1 2: 2 3: 3 4: 4 dem_min: true dem_max: true dem_median: true weights: false mask: false performance_map: - 0 - 0.968 - 1.13375 - 1.295 - 1.604 - 2.423 - 3.428 contributing_pair: false filling: 1: fill_with_geoid 2: interpolate_from_borders 3: fill_with_endogenous_dem 4: fill_with_exogenous_dem ambiguity: false product_level: - dsm geoid: true epsg: null resolution: 0.5
{
"output": {
"directory": "outresults",
"auxiliary": {
"image": [
"b0",
"b1",
"b2"
],
"classification": {
"1": 1,
"2": 2,
"3": 3,
"4": 4
},
"dem_min": true,
"dem_max": true,
"dem_median": true,
"weights": false,
"mask": false,
"performance_map": [
0,
0.968,
1.13375,
1.295,
1.604,
2.423,
3.428
],
"contributing_pair": false,
"filling": {
"1": "fill_with_geoid",
"2": "interpolate_from_borders",
"3": "fill_with_endogenous_dem",
"4": "fill_with_exogenous_dem"
},
"ambiguity": false
},
"product_level": [
"dsm"
],
"geoid": true,
"epsg": null,
"resolution": 0.5
}
}
Orchestrator
Orchestrator
orchestrator: mode: multiprocessing nb_workers: 5 max_ram_per_worker: 2000 mp_mode: forkserver task_timeout: 600 max_tasks_per_worker: 10 dump_to_disk: true per_job_timeout: 600 factorize_tasks: true profiling: mode: cars_profiling loop_testing: false
{
"orchestrator": {
"mode": "multiprocessing",
"nb_workers": 5,
"max_ram_per_worker": 2000,
"mp_mode": "forkserver",
"task_timeout": 600,
"max_tasks_per_worker": 10,
"dump_to_disk": true,
"per_job_timeout": 600,
"factorize_tasks": true,
"profiling": {
"mode": "cars_profiling",
"loop_testing": false
}
}
}
Subsampling
Subsampling
subsampling: applications: sensors_subsampling: method: rasterio tile_size: 10000 interpolator_image: bilinear interpolator_classif: nearest interpolator_mask: nearest advanced: save_intermediate_data: true resolutions: - 16 - 4 - 1
{
"subsampling": {
"applications": {
"sensors_subsampling": {
"method": "rasterio",
"tile_size": 10000,
"interpolator_image": "bilinear",
"interpolator_classif": "nearest",
"interpolator_mask": "nearest"
}
},
"advanced": {
"save_intermediate_data": true,
"resolutions": [
16,
4,
1
]
}
}
}
Surface modeling
Surface modeling
surface_modeling: applications: '1': grid_generation: save_intermediate_data: true method: epipolar epi_step: 30 resampling: save_intermediate_data: true method: bicubic strip_height: 60 interpolator_image: bicubic interpolator_classif: nearest interpolator_mask: nearest step: 500 ground_truth_reprojection: save_intermediate_data: true dense_match_filling: save_intermediate_data: true method: zero_padding classification: null fill_valid_pixels: true dense_matching: save_intermediate_data: true method: auto min_epi_tile_size: 300 max_epi_tile_size: 1500 epipolar_tile_margin_in_percent: 60 classification_fusion_margin: -1 min_elevation_offset: null max_elevation_offset: null denoise_disparity_map: false confidence_filtering: activated: true bounds_ratio_threshold: 0.2 risk_ratio_threshold: 0.8 bounds_range_threshold: 4 risk_range_threshold: 12 nan_threshold: 0.2 win_nanratio: 20 disp_min_threshold: null disp_max_threshold: null perf_eta_max_ambiguity: 0.99 perf_eta_max_risk: 0.25 perf_eta_step: 0.04 perf_ambiguity_threshold: 0.6 use_cross_validation: fast use_global_disp_range: false local_disp_grid_step: 10 disp_range_propagation_filter_size: 50 epi_disp_grid_tile_size: 800 required_bands: - b0 used_band: b0 threshold_disp_range_to_borders: false generate_ambiguity: true performance_map_method: - risk loader: pandora loader_conf: input: {} pipeline: matching_cost: matching_cost_method: census window_size: 5 subpix: 1 band: b0 optimization: optimization_method: sgm overcounting: false penalty: P1: 8 P2: 32 p2_method: constant penalty_method: sgm_penalty cost_volume_confidence.cars_1: confidence_method: ambiguity eta_max: 0.99 eta_step: 0.04 cost_volume_confidence.cars_2: confidence_method: risk eta_max: 0.25 eta_step: 0.04 disparity: disparity_method: wta invalid_disparity: NaN refinement: refinement_method: vfit filter: filter_method: median filter_size: 3 validation: validation_method: cross_checking_fast triangulation: save_intermediate_data: true method: line_of_sight_intersection snap_to_img1: false dem_generation: save_intermediate_data: true method: bulldozer_on_raster resolution: 0.5 margin: - 0.1 - 500 morphological_filters_size: 30 preprocessing_median_filter_size: 5 postprocessing_median_filter_size: 7 dem_median_downscale: 10 dem_min_max_downscale: 2 fillnodata_max_search_distance: 50 min_dem: -500 max_dem: 1000 height_margin: 20 bulldozer_max_object_size: 8 disable_bulldozer: false compute_stats: true coregistration: true coregistration_max_shift: 180 point_cloud_outlier_removal.1: save_intermediate_data: true method: small_components on_ground_margin: 11 connection_distance: 3 nb_points_threshold: 50 clusters_distance_threshold: null half_epipolar_size: 5 point_cloud_outlier_removal.2: save_intermediate_data: true method: statistical use_median: true k: 50 filtering_constant: 0 mean_factor: 1.3 std_dev_factor: 3 half_epipolar_size: 5 pc_denoising: save_intermediate_data: true point_cloud_rasterization: save_intermediate_data: true method: simple_gaussian dsm_radius: 1 sigma: null grid_points_division_factor: null dsm_no_data: -32768 texture_no_data: null texture_dtype: null msk_no_data: 255 '4': grid_generation: save_intermediate_data: true method: epipolar epi_step: 30 resampling: save_intermediate_data: true method: bicubic strip_height: 60 interpolator_image: bicubic interpolator_classif: nearest interpolator_mask: nearest step: 500 ground_truth_reprojection: save_intermediate_data: true dense_match_filling: save_intermediate_data: true method: zero_padding classification: null fill_valid_pixels: true dense_matching: save_intermediate_data: true method: auto min_epi_tile_size: 300 max_epi_tile_size: 1500 epipolar_tile_margin_in_percent: 60 classification_fusion_margin: -1 min_elevation_offset: null max_elevation_offset: null denoise_disparity_map: false confidence_filtering: activated: true bounds_ratio_threshold: 0.2 risk_ratio_threshold: 0.8 bounds_range_threshold: 4 risk_range_threshold: 12 nan_threshold: 0.2 win_nanratio: 20 disp_min_threshold: null disp_max_threshold: null perf_eta_max_ambiguity: 0.99 perf_eta_max_risk: 0.25 perf_eta_step: 0.04 perf_ambiguity_threshold: 0.6 use_cross_validation: fast use_global_disp_range: false local_disp_grid_step: 10 disp_range_propagation_filter_size: 50 epi_disp_grid_tile_size: 800 required_bands: - b0 used_band: b0 threshold_disp_range_to_borders: false generate_ambiguity: true performance_map_method: - risk loader: pandora loader_conf: input: {} pipeline: matching_cost: matching_cost_method: census window_size: 5 subpix: 1 band: b0 optimization: optimization_method: sgm overcounting: false penalty: P1: 8 P2: 32 p2_method: constant penalty_method: sgm_penalty cost_volume_confidence.cars_1: confidence_method: ambiguity eta_max: 0.99 eta_step: 0.04 cost_volume_confidence.cars_2: confidence_method: risk eta_max: 0.25 eta_step: 0.04 disparity: disparity_method: wta invalid_disparity: NaN refinement: refinement_method: vfit filter: filter_method: median filter_size: 3 validation: validation_method: cross_checking_fast triangulation: save_intermediate_data: true method: line_of_sight_intersection snap_to_img1: false dem_generation: save_intermediate_data: true method: bulldozer_on_raster resolution: 0.5 margin: - 0.1 - 500 morphological_filters_size: 30 preprocessing_median_filter_size: 5 postprocessing_median_filter_size: 7 dem_median_downscale: 10 dem_min_max_downscale: 2 fillnodata_max_search_distance: 50 min_dem: -500 max_dem: 1000 height_margin: 20 bulldozer_max_object_size: 8 disable_bulldozer: false compute_stats: true coregistration: true coregistration_max_shift: 180 point_cloud_outlier_removal.1: save_intermediate_data: true method: small_components on_ground_margin: 11 connection_distance: 3 nb_points_threshold: 50 clusters_distance_threshold: null half_epipolar_size: 5 point_cloud_outlier_removal.2: save_intermediate_data: true method: statistical use_median: true k: 50 filtering_constant: 0 mean_factor: 1.3 std_dev_factor: 3 half_epipolar_size: 5 pc_denoising: save_intermediate_data: true point_cloud_rasterization: save_intermediate_data: true method: simple_gaussian dsm_radius: 1 sigma: null grid_points_division_factor: null dsm_no_data: -32768 texture_no_data: null texture_dtype: null msk_no_data: 255 '16': grid_generation: save_intermediate_data: true method: epipolar epi_step: 30 resampling: save_intermediate_data: true method: bicubic strip_height: 60 interpolator_image: bicubic interpolator_classif: nearest interpolator_mask: nearest step: 500 ground_truth_reprojection: save_intermediate_data: true dense_match_filling: save_intermediate_data: true method: zero_padding classification: null fill_valid_pixels: true dense_matching: save_intermediate_data: true method: auto min_epi_tile_size: 300 max_epi_tile_size: 1500 epipolar_tile_margin_in_percent: 60 classification_fusion_margin: -1 min_elevation_offset: null max_elevation_offset: null denoise_disparity_map: false confidence_filtering: activated: true bounds_ratio_threshold: 0.2 risk_ratio_threshold: 0.8 bounds_range_threshold: 4 risk_range_threshold: 12 nan_threshold: 0.2 win_nanratio: 20 disp_min_threshold: null disp_max_threshold: null perf_eta_max_ambiguity: 0.99 perf_eta_max_risk: 0.25 perf_eta_step: 0.04 perf_ambiguity_threshold: 0.6 use_cross_validation: fast use_global_disp_range: false local_disp_grid_step: 10 disp_range_propagation_filter_size: 50 epi_disp_grid_tile_size: 800 required_bands: - b0 used_band: b0 threshold_disp_range_to_borders: false generate_ambiguity: true performance_map_method: - risk loader: pandora loader_conf: input: {} pipeline: matching_cost: matching_cost_method: census window_size: 5 subpix: 1 band: b0 optimization: optimization_method: sgm overcounting: false penalty: P1: 8 P2: 32 p2_method: constant penalty_method: sgm_penalty cost_volume_confidence.cars_1: confidence_method: ambiguity eta_max: 0.99 eta_step: 0.04 cost_volume_confidence.cars_2: confidence_method: risk eta_max: 0.25 eta_step: 0.04 disparity: disparity_method: wta invalid_disparity: NaN refinement: refinement_method: vfit filter: filter_method: median filter_size: 3 validation: validation_method: cross_checking_fast triangulation: save_intermediate_data: true method: line_of_sight_intersection snap_to_img1: false dem_generation: save_intermediate_data: true method: bulldozer_on_raster resolution: 0.5 margin: - 0.1 - 500 morphological_filters_size: 30 preprocessing_median_filter_size: 5 postprocessing_median_filter_size: 7 dem_median_downscale: 10 dem_min_max_downscale: 2 fillnodata_max_search_distance: 50 min_dem: -500 max_dem: 1000 height_margin: 20 bulldozer_max_object_size: 8 disable_bulldozer: false compute_stats: true coregistration: true coregistration_max_shift: 180 point_cloud_outlier_removal.1: save_intermediate_data: true method: small_components on_ground_margin: 11 connection_distance: 3 nb_points_threshold: 50 clusters_distance_threshold: null half_epipolar_size: 5 point_cloud_outlier_removal.2: save_intermediate_data: true method: statistical use_median: true k: 50 filtering_constant: 0 mean_factor: 1.3 std_dev_factor: 3 half_epipolar_size: 5 pc_denoising: save_intermediate_data: true point_cloud_rasterization: save_intermediate_data: true method: simple_gaussian dsm_radius: 1 sigma: null grid_points_division_factor: null dsm_no_data: -32768 texture_no_data: null texture_dtype: null msk_no_data: 255 advanced: '1': save_intermediate_data: true correct_grid: false land_cover_map: global_land_cover_map.tif keep_low_res_dir: true geometry_plugin: SharelocGeometry ground_truth_dsm: null classification_to_configuration_mapping: config_mapping.json '4': save_intermediate_data: true correct_grid: false land_cover_map: global_land_cover_map.tif keep_low_res_dir: true geometry_plugin: SharelocGeometry ground_truth_dsm: null classification_to_configuration_mapping: config_mapping.json '16': save_intermediate_data: true correct_grid: false land_cover_map: global_land_cover_map.tif keep_low_res_dir: true geometry_plugin: SharelocGeometry ground_truth_dsm: null classification_to_configuration_mapping: config_mapping.json
{
"surface_modeling": {
"applications": {
"1": {
"grid_generation": {
"save_intermediate_data": true,
"method": "epipolar",
"epi_step": 30
},
"resampling": {
"save_intermediate_data": true,
"method": "bicubic",
"strip_height": 60,
"interpolator_image": "bicubic",
"interpolator_classif": "nearest",
"interpolator_mask": "nearest",
"step": 500
},
"ground_truth_reprojection": {
"save_intermediate_data": true
},
"dense_match_filling": {
"save_intermediate_data": true,
"method": "zero_padding",
"classification": null,
"fill_valid_pixels": true
},
"dense_matching": {
"save_intermediate_data": true,
"method": "auto",
"min_epi_tile_size": 300,
"max_epi_tile_size": 1500,
"epipolar_tile_margin_in_percent": 60,
"classification_fusion_margin": -1,
"min_elevation_offset": null,
"max_elevation_offset": null,
"denoise_disparity_map": false,
"confidence_filtering": {
"activated": true,
"bounds_ratio_threshold": 0.2,
"risk_ratio_threshold": 0.8,
"bounds_range_threshold": 4,
"risk_range_threshold": 12,
"nan_threshold": 0.2,
"win_nanratio": 20
},
"disp_min_threshold": null,
"disp_max_threshold": null,
"perf_eta_max_ambiguity": 0.99,
"perf_eta_max_risk": 0.25,
"perf_eta_step": 0.04,
"perf_ambiguity_threshold": 0.6,
"use_cross_validation": "fast",
"use_global_disp_range": false,
"local_disp_grid_step": 10,
"disp_range_propagation_filter_size": 50,
"epi_disp_grid_tile_size": 800,
"required_bands": [
"b0"
],
"used_band": "b0",
"threshold_disp_range_to_borders": false,
"generate_ambiguity": true,
"performance_map_method": [
"risk"
],
"loader": "pandora",
"loader_conf": {
"input": {},
"pipeline": {
"matching_cost": {
"matching_cost_method": "census",
"window_size": 5,
"subpix": 1,
"band": "b0"
},
"optimization": {
"optimization_method": "sgm",
"overcounting": false,
"penalty": {
"P1": 8,
"P2": 32,
"p2_method": "constant",
"penalty_method": "sgm_penalty"
}
},
"cost_volume_confidence.cars_1": {
"confidence_method": "ambiguity",
"eta_max": 0.99,
"eta_step": 0.04
},
"cost_volume_confidence.cars_2": {
"confidence_method": "risk",
"eta_max": 0.25,
"eta_step": 0.04
},
"disparity": {
"disparity_method": "wta",
"invalid_disparity": "NaN"
},
"refinement": {
"refinement_method": "vfit"
},
"filter": {
"filter_method": "median",
"filter_size": 3
},
"validation": {
"validation_method": "cross_checking_fast"
}
}
}
},
"triangulation": {
"save_intermediate_data": true,
"method": "line_of_sight_intersection",
"snap_to_img1": false
},
"dem_generation": {
"save_intermediate_data": true,
"method": "bulldozer_on_raster",
"resolution": 0.5,
"margin": [
0.1,
500
],
"morphological_filters_size": 30,
"preprocessing_median_filter_size": 5,
"postprocessing_median_filter_size": 7,
"dem_median_downscale": 10,
"dem_min_max_downscale": 2,
"fillnodata_max_search_distance": 50,
"min_dem": -500,
"max_dem": 1000,
"height_margin": 20,
"bulldozer_max_object_size": 8,
"disable_bulldozer": false,
"compute_stats": true,
"coregistration": true,
"coregistration_max_shift": 180
},
"point_cloud_outlier_removal.1": {
"save_intermediate_data": true,
"method": "small_components",
"on_ground_margin": 11,
"connection_distance": 3,
"nb_points_threshold": 50,
"clusters_distance_threshold": null,
"half_epipolar_size": 5
},
"point_cloud_outlier_removal.2": {
"save_intermediate_data": true,
"method": "statistical",
"use_median": true,
"k": 50,
"filtering_constant": 0,
"mean_factor": 1.3,
"std_dev_factor": 3,
"half_epipolar_size": 5
},
"pc_denoising": {
"save_intermediate_data": true
},
"point_cloud_rasterization": {
"save_intermediate_data": true,
"method": "simple_gaussian",
"dsm_radius": 1,
"sigma": null,
"grid_points_division_factor": null,
"dsm_no_data": -32768,
"texture_no_data": null,
"texture_dtype": null,
"msk_no_data": 255
}
},
"4": {
"grid_generation": {
"save_intermediate_data": true,
"method": "epipolar",
"epi_step": 30
},
"resampling": {
"save_intermediate_data": true,
"method": "bicubic",
"strip_height": 60,
"interpolator_image": "bicubic",
"interpolator_classif": "nearest",
"interpolator_mask": "nearest",
"step": 500
},
"ground_truth_reprojection": {
"save_intermediate_data": true
},
"dense_match_filling": {
"save_intermediate_data": true,
"method": "zero_padding",
"classification": null,
"fill_valid_pixels": true
},
"dense_matching": {
"save_intermediate_data": true,
"method": "auto",
"min_epi_tile_size": 300,
"max_epi_tile_size": 1500,
"epipolar_tile_margin_in_percent": 60,
"classification_fusion_margin": -1,
"min_elevation_offset": null,
"max_elevation_offset": null,
"denoise_disparity_map": false,
"confidence_filtering": {
"activated": true,
"bounds_ratio_threshold": 0.2,
"risk_ratio_threshold": 0.8,
"bounds_range_threshold": 4,
"risk_range_threshold": 12,
"nan_threshold": 0.2,
"win_nanratio": 20
},
"disp_min_threshold": null,
"disp_max_threshold": null,
"perf_eta_max_ambiguity": 0.99,
"perf_eta_max_risk": 0.25,
"perf_eta_step": 0.04,
"perf_ambiguity_threshold": 0.6,
"use_cross_validation": "fast",
"use_global_disp_range": false,
"local_disp_grid_step": 10,
"disp_range_propagation_filter_size": 50,
"epi_disp_grid_tile_size": 800,
"required_bands": [
"b0"
],
"used_band": "b0",
"threshold_disp_range_to_borders": false,
"generate_ambiguity": true,
"performance_map_method": [
"risk"
],
"loader": "pandora",
"loader_conf": {
"input": {},
"pipeline": {
"matching_cost": {
"matching_cost_method": "census",
"window_size": 5,
"subpix": 1,
"band": "b0"
},
"optimization": {
"optimization_method": "sgm",
"overcounting": false,
"penalty": {
"P1": 8,
"P2": 32,
"p2_method": "constant",
"penalty_method": "sgm_penalty"
}
},
"cost_volume_confidence.cars_1": {
"confidence_method": "ambiguity",
"eta_max": 0.99,
"eta_step": 0.04
},
"cost_volume_confidence.cars_2": {
"confidence_method": "risk",
"eta_max": 0.25,
"eta_step": 0.04
},
"disparity": {
"disparity_method": "wta",
"invalid_disparity": "NaN"
},
"refinement": {
"refinement_method": "vfit"
},
"filter": {
"filter_method": "median",
"filter_size": 3
},
"validation": {
"validation_method": "cross_checking_fast"
}
}
}
},
"triangulation": {
"save_intermediate_data": true,
"method": "line_of_sight_intersection",
"snap_to_img1": false
},
"dem_generation": {
"save_intermediate_data": true,
"method": "bulldozer_on_raster",
"resolution": 0.5,
"margin": [
0.1,
500
],
"morphological_filters_size": 30,
"preprocessing_median_filter_size": 5,
"postprocessing_median_filter_size": 7,
"dem_median_downscale": 10,
"dem_min_max_downscale": 2,
"fillnodata_max_search_distance": 50,
"min_dem": -500,
"max_dem": 1000,
"height_margin": 20,
"bulldozer_max_object_size": 8,
"disable_bulldozer": false,
"compute_stats": true,
"coregistration": true,
"coregistration_max_shift": 180
},
"point_cloud_outlier_removal.1": {
"save_intermediate_data": true,
"method": "small_components",
"on_ground_margin": 11,
"connection_distance": 3,
"nb_points_threshold": 50,
"clusters_distance_threshold": null,
"half_epipolar_size": 5
},
"point_cloud_outlier_removal.2": {
"save_intermediate_data": true,
"method": "statistical",
"use_median": true,
"k": 50,
"filtering_constant": 0,
"mean_factor": 1.3,
"std_dev_factor": 3,
"half_epipolar_size": 5
},
"pc_denoising": {
"save_intermediate_data": true
},
"point_cloud_rasterization": {
"save_intermediate_data": true,
"method": "simple_gaussian",
"dsm_radius": 1,
"sigma": null,
"grid_points_division_factor": null,
"dsm_no_data": -32768,
"texture_no_data": null,
"texture_dtype": null,
"msk_no_data": 255
}
},
"16": {
"grid_generation": {
"save_intermediate_data": true,
"method": "epipolar",
"epi_step": 30
},
"resampling": {
"save_intermediate_data": true,
"method": "bicubic",
"strip_height": 60,
"interpolator_image": "bicubic",
"interpolator_classif": "nearest",
"interpolator_mask": "nearest",
"step": 500
},
"ground_truth_reprojection": {
"save_intermediate_data": true
},
"dense_match_filling": {
"save_intermediate_data": true,
"method": "zero_padding",
"classification": null,
"fill_valid_pixels": true
},
"dense_matching": {
"save_intermediate_data": true,
"method": "auto",
"min_epi_tile_size": 300,
"max_epi_tile_size": 1500,
"epipolar_tile_margin_in_percent": 60,
"classification_fusion_margin": -1,
"min_elevation_offset": null,
"max_elevation_offset": null,
"denoise_disparity_map": false,
"confidence_filtering": {
"activated": true,
"bounds_ratio_threshold": 0.2,
"risk_ratio_threshold": 0.8,
"bounds_range_threshold": 4,
"risk_range_threshold": 12,
"nan_threshold": 0.2,
"win_nanratio": 20
},
"disp_min_threshold": null,
"disp_max_threshold": null,
"perf_eta_max_ambiguity": 0.99,
"perf_eta_max_risk": 0.25,
"perf_eta_step": 0.04,
"perf_ambiguity_threshold": 0.6,
"use_cross_validation": "fast",
"use_global_disp_range": false,
"local_disp_grid_step": 10,
"disp_range_propagation_filter_size": 50,
"epi_disp_grid_tile_size": 800,
"required_bands": [
"b0"
],
"used_band": "b0",
"threshold_disp_range_to_borders": false,
"generate_ambiguity": true,
"performance_map_method": [
"risk"
],
"loader": "pandora",
"loader_conf": {
"input": {},
"pipeline": {
"matching_cost": {
"matching_cost_method": "census",
"window_size": 5,
"subpix": 1,
"band": "b0"
},
"optimization": {
"optimization_method": "sgm",
"overcounting": false,
"penalty": {
"P1": 8,
"P2": 32,
"p2_method": "constant",
"penalty_method": "sgm_penalty"
}
},
"cost_volume_confidence.cars_1": {
"confidence_method": "ambiguity",
"eta_max": 0.99,
"eta_step": 0.04
},
"cost_volume_confidence.cars_2": {
"confidence_method": "risk",
"eta_max": 0.25,
"eta_step": 0.04
},
"disparity": {
"disparity_method": "wta",
"invalid_disparity": "NaN"
},
"refinement": {
"refinement_method": "vfit"
},
"filter": {
"filter_method": "median",
"filter_size": 3
},
"validation": {
"validation_method": "cross_checking_fast"
}
}
}
},
"triangulation": {
"save_intermediate_data": true,
"method": "line_of_sight_intersection",
"snap_to_img1": false
},
"dem_generation": {
"save_intermediate_data": true,
"method": "bulldozer_on_raster",
"resolution": 0.5,
"margin": [
0.1,
500
],
"morphological_filters_size": 30,
"preprocessing_median_filter_size": 5,
"postprocessing_median_filter_size": 7,
"dem_median_downscale": 10,
"dem_min_max_downscale": 2,
"fillnodata_max_search_distance": 50,
"min_dem": -500,
"max_dem": 1000,
"height_margin": 20,
"bulldozer_max_object_size": 8,
"disable_bulldozer": false,
"compute_stats": true,
"coregistration": true,
"coregistration_max_shift": 180
},
"point_cloud_outlier_removal.1": {
"save_intermediate_data": true,
"method": "small_components",
"on_ground_margin": 11,
"connection_distance": 3,
"nb_points_threshold": 50,
"clusters_distance_threshold": null,
"half_epipolar_size": 5
},
"point_cloud_outlier_removal.2": {
"save_intermediate_data": true,
"method": "statistical",
"use_median": true,
"k": 50,
"filtering_constant": 0,
"mean_factor": 1.3,
"std_dev_factor": 3,
"half_epipolar_size": 5
},
"pc_denoising": {
"save_intermediate_data": true
},
"point_cloud_rasterization": {
"save_intermediate_data": true,
"method": "simple_gaussian",
"dsm_radius": 1,
"sigma": null,
"grid_points_division_factor": null,
"dsm_no_data": -32768,
"texture_no_data": null,
"texture_dtype": null,
"msk_no_data": 255
}
}
},
"advanced": {
"1": {
"save_intermediate_data": true,
"correct_grid": false,
"land_cover_map": "global_land_cover_map.tif",
"keep_low_res_dir": true,
"geometry_plugin": "SharelocGeometry",
"ground_truth_dsm": null,
"classification_to_configuration_mapping": "config_mapping.json"
},
"4": {
"save_intermediate_data": true,
"correct_grid": false,
"land_cover_map": "global_land_cover_map.tif",
"keep_low_res_dir": true,
"geometry_plugin": "SharelocGeometry",
"ground_truth_dsm": null,
"classification_to_configuration_mapping": "config_mapping.json"
},
"16": {
"save_intermediate_data": true,
"correct_grid": false,
"land_cover_map": "global_land_cover_map.tif",
"keep_low_res_dir": true,
"geometry_plugin": "SharelocGeometry",
"ground_truth_dsm": null,
"classification_to_configuration_mapping": "config_mapping.json"
}
}
}
}
Tiepoints
Tiepoints
tie_points: applications: '1': grid_generation: save_intermediate_data: true method: epipolar epi_step: 30 resampling: save_intermediate_data: true method: bicubic strip_height: 60 interpolator_image: bicubic interpolator_classif: nearest interpolator_mask: nearest step: 500 sparse_matching: save_intermediate_data: true method: sift disparity_margin: 0.02 elevation_delta_lower_bound: -500 decimation_factor: 30 elevation_delta_upper_bound: 1000 strip_margin: 10 epipolar_error_upper_bound: 10 epipolar_error_maximum_bias: 50 minimum_nb_matches: 90 sift_matching_threshold: 0.7 sift_n_octave: 8 sift_n_scale_per_octave: 3 sift_peak_threshold: 4 sift_edge_threshold: 10 sift_magnification: 7 sift_window_size: 2 sift_back_matching: true match_filter_knn: 25 match_filter_constant: 0 match_filter_mean_factor: 1.3 match_filter_dev_factor: 3 used_band: b0 disparity_bounds_estimation: activated: true percentile: 1 lower_margin: 500 upper_margin: 1000 '4': grid_generation: save_intermediate_data: true method: epipolar epi_step: 30 resampling: save_intermediate_data: true method: bicubic strip_height: 60 interpolator_image: bicubic interpolator_classif: nearest interpolator_mask: nearest step: 500 sparse_matching: save_intermediate_data: true method: sift disparity_margin: 0.02 elevation_delta_lower_bound: -500 decimation_factor: 30 elevation_delta_upper_bound: 1000 strip_margin: 10 epipolar_error_upper_bound: 10 epipolar_error_maximum_bias: 50 minimum_nb_matches: 90 sift_matching_threshold: 0.7 sift_n_octave: 8 sift_n_scale_per_octave: 3 sift_peak_threshold: 4 sift_edge_threshold: 10 sift_magnification: 7 sift_window_size: 2 sift_back_matching: true match_filter_knn: 25 match_filter_constant: 0 match_filter_mean_factor: 1.3 match_filter_dev_factor: 3 used_band: b0 disparity_bounds_estimation: activated: true percentile: 1 lower_margin: 500 upper_margin: 1000 '16': grid_generation: save_intermediate_data: true method: epipolar epi_step: 30 resampling: save_intermediate_data: true method: bicubic strip_height: 60 interpolator_image: bicubic interpolator_classif: nearest interpolator_mask: nearest step: 500 sparse_matching: save_intermediate_data: true method: sift disparity_margin: 0.02 elevation_delta_lower_bound: -500 decimation_factor: 30 elevation_delta_upper_bound: 1000 strip_margin: 10 epipolar_error_upper_bound: 10 epipolar_error_maximum_bias: 50 minimum_nb_matches: 90 sift_matching_threshold: 0.7 sift_n_octave: 8 sift_n_scale_per_octave: 3 sift_peak_threshold: 4 sift_edge_threshold: 10 sift_magnification: 7 sift_window_size: 2 sift_back_matching: true match_filter_knn: 25 match_filter_constant: 0 match_filter_mean_factor: 1.3 match_filter_dev_factor: 3 used_band: b0 disparity_bounds_estimation: activated: true percentile: 1 lower_margin: 500 upper_margin: 1000 advanced: '1': save_intermediate_data: true geometry_plugin: SharelocGeometry '4': save_intermediate_data: true geometry_plugin: SharelocGeometry '16': save_intermediate_data: true geometry_plugin: SharelocGeometry
{
"tie_points": {
"applications": {
"1": {
"grid_generation": {
"save_intermediate_data": true,
"method": "epipolar",
"epi_step": 30
},
"resampling": {
"save_intermediate_data": true,
"method": "bicubic",
"strip_height": 60,
"interpolator_image": "bicubic",
"interpolator_classif": "nearest",
"interpolator_mask": "nearest",
"step": 500
},
"sparse_matching": {
"save_intermediate_data": true,
"method": "sift",
"disparity_margin": 0.02,
"elevation_delta_lower_bound": -500,
"decimation_factor": 30,
"elevation_delta_upper_bound": 1000,
"strip_margin": 10,
"epipolar_error_upper_bound": 10,
"epipolar_error_maximum_bias": 50,
"minimum_nb_matches": 90,
"sift_matching_threshold": 0.7,
"sift_n_octave": 8,
"sift_n_scale_per_octave": 3,
"sift_peak_threshold": 4,
"sift_edge_threshold": 10,
"sift_magnification": 7,
"sift_window_size": 2,
"sift_back_matching": true,
"match_filter_knn": 25,
"match_filter_constant": 0,
"match_filter_mean_factor": 1.3,
"match_filter_dev_factor": 3,
"used_band": "b0",
"disparity_bounds_estimation": {
"activated": true,
"percentile": 1,
"lower_margin": 500,
"upper_margin": 1000
}
}
},
"4": {
"grid_generation": {
"save_intermediate_data": true,
"method": "epipolar",
"epi_step": 30
},
"resampling": {
"save_intermediate_data": true,
"method": "bicubic",
"strip_height": 60,
"interpolator_image": "bicubic",
"interpolator_classif": "nearest",
"interpolator_mask": "nearest",
"step": 500
},
"sparse_matching": {
"save_intermediate_data": true,
"method": "sift",
"disparity_margin": 0.02,
"elevation_delta_lower_bound": -500,
"decimation_factor": 30,
"elevation_delta_upper_bound": 1000,
"strip_margin": 10,
"epipolar_error_upper_bound": 10,
"epipolar_error_maximum_bias": 50,
"minimum_nb_matches": 90,
"sift_matching_threshold": 0.7,
"sift_n_octave": 8,
"sift_n_scale_per_octave": 3,
"sift_peak_threshold": 4,
"sift_edge_threshold": 10,
"sift_magnification": 7,
"sift_window_size": 2,
"sift_back_matching": true,
"match_filter_knn": 25,
"match_filter_constant": 0,
"match_filter_mean_factor": 1.3,
"match_filter_dev_factor": 3,
"used_band": "b0",
"disparity_bounds_estimation": {
"activated": true,
"percentile": 1,
"lower_margin": 500,
"upper_margin": 1000
}
}
},
"16": {
"grid_generation": {
"save_intermediate_data": true,
"method": "epipolar",
"epi_step": 30
},
"resampling": {
"save_intermediate_data": true,
"method": "bicubic",
"strip_height": 60,
"interpolator_image": "bicubic",
"interpolator_classif": "nearest",
"interpolator_mask": "nearest",
"step": 500
},
"sparse_matching": {
"save_intermediate_data": true,
"method": "sift",
"disparity_margin": 0.02,
"elevation_delta_lower_bound": -500,
"decimation_factor": 30,
"elevation_delta_upper_bound": 1000,
"strip_margin": 10,
"epipolar_error_upper_bound": 10,
"epipolar_error_maximum_bias": 50,
"minimum_nb_matches": 90,
"sift_matching_threshold": 0.7,
"sift_n_octave": 8,
"sift_n_scale_per_octave": 3,
"sift_peak_threshold": 4,
"sift_edge_threshold": 10,
"sift_magnification": 7,
"sift_window_size": 2,
"sift_back_matching": true,
"match_filter_knn": 25,
"match_filter_constant": 0,
"match_filter_mean_factor": 1.3,
"match_filter_dev_factor": 3,
"used_band": "b0",
"disparity_bounds_estimation": {
"activated": true,
"percentile": 1,
"lower_margin": 500,
"upper_margin": 1000
}
}
}
},
"advanced": {
"1": {
"save_intermediate_data": true,
"geometry_plugin": "SharelocGeometry"
},
"4": {
"save_intermediate_data": true,
"geometry_plugin": "SharelocGeometry"
},
"16": {
"save_intermediate_data": true,
"geometry_plugin": "SharelocGeometry"
}
}
}
}
Filling
Filling
filling: applications: auxiliary_filling: method: auxiliary_filling_from_sensors mode: fill_nan texture_interpolator: linear activated: false use_mask: true save_intermediate_data: false dsm_filling.2: method: bulldozer classification: - '2' - '3' save_intermediate_data: false dsm_filling.3: method: border_interpolation classification: - '2' save_intermediate_data: false component_min_size: 5 border_size: 10 percentile: 10 dsm_filling.1: method: exogenous_filling classification: - '3' - '4' fill_with_geoid: - '4' save_intermediate_data: false interpolation_method: bilinear dem_generation: method: bulldozer_on_raster resolution: 0.6 margin: - 0.1 - 547.722557505166 morphological_filters_size: 30 preprocessing_median_filter_size: 5 postprocessing_median_filter_size: 7 dem_median_downscale: 10 dem_min_max_downscale: 2 fillnodata_max_search_distance: 50 min_dem: -500 max_dem: 1000 height_margin: 21.90890230020664 bulldozer_max_object_size: 8 disable_bulldozer: false compute_stats: true coregistration: true coregistration_max_shift: 180 save_intermediate_data: false advanced: save_intermediate_data: true
{
"filling": {
"applications": {
"auxiliary_filling": {
"method": "auxiliary_filling_from_sensors",
"mode": "fill_nan",
"texture_interpolator": "linear",
"activated": false,
"use_mask": true,
"save_intermediate_data": false
},
"dsm_filling.2": {
"method": "bulldozer",
"classification": [
"2",
"3"
],
"save_intermediate_data": false
},
"dsm_filling.3": {
"method": "border_interpolation",
"classification": [
"2"
],
"save_intermediate_data": false,
"component_min_size": 5,
"border_size": 10,
"percentile": 10
},
"dsm_filling.1": {
"method": "exogenous_filling",
"classification": [
"3",
"4"
],
"fill_with_geoid": [
"4"
],
"save_intermediate_data": false,
"interpolation_method": "bilinear"
},
"dem_generation": {
"method": "bulldozer_on_raster",
"resolution": 0.6,
"margin": [
0.1,
547.722557505166
],
"morphological_filters_size": 30,
"preprocessing_median_filter_size": 5,
"postprocessing_median_filter_size": 7,
"dem_median_downscale": 10,
"dem_min_max_downscale": 2,
"fillnodata_max_search_distance": 50,
"min_dem": -500,
"max_dem": 1000,
"height_margin": 21.90890230020664,
"bulldozer_max_object_size": 8,
"disable_bulldozer": false,
"compute_stats": true,
"coregistration": true,
"coregistration_max_shift": 180,
"save_intermediate_data": false
}
},
"advanced": {
"save_intermediate_data": true
}
}
}