# Plugin

## Geometry plugin

Geometry plugins aim to enable the use of different geometry libraries, typically libGEO or Shareloc to perform CARS geometric operations which require the interpretation of the geometric models of the pairs to process. Those operation are:

The epipolar grids computation

The direct localization operation

The lines of sight triangulation

SharelocGeometry is an internal geometry plugin used in the baseline installations of CARS. In the current state, Shareloc has to be installed when using CARS as this class is imported in the step module.

### Geometry abstract class

The CARS abstract geometry class, named AbstractGeometry, is defined in the core geometry module (cars/core/geometry/__init__.py). Considering the geometry operations, CARS have its own internal implementation of the CARS abstract class using Shareloc External plugins can be used if they are registered correctly :

```
from cars.core.geometry.abstract_geometry import AbstractGeometry
@AbstractGeometry.register_subclass("GeometryPluginName")
class GeometryPluginName(AbstractGeometry):
...
```

In order to make an external plugin work with CARS, it is mandatory to use the entry point cars.plugins at the setup of the package to register the AbstractGeometry object. For example, if the AbstractGeometry object is defined in file cars_geometry_plugin_name.cars_geometry_plugin_name, this code has to present in the file cars_geometry_plugin_name.setup.py

```
setup(
entry_points={
"cars.plugins": [
"plugin=cars_geometry_plugin_name.cars_geometry_plugin_name :GeometryPluginName"
]
},
)
```

Mandatory methods

Currently, the AbstractGeometry class requires the implementation of the following mandatory methods and properties:

conf_schema which specify the user inputs json schema required by the geometric library

```
def conf_schema(self):
"""
Returns the input configuration fields required by the geometry plugin
as a json checker schema. The available fields are defined in the
cars/conf/input_parameters.py file
:return: the geo configuration schema
"""
```

check_products_consistency which check if the geometrical model filled by the user is readable by the geometric library.

```
def check_products_consistency(cars_conf) -> bool:
"""
Test if the product is readable by the geometry plugin
:param: cars_conf: cars input configuration
:return: True if the products are readable, False otherwise
"""
```

triangulate which is a method performing the triangulation from a disparity map or a set of matching points (mode parameter).

```
def triangulate(
sensor1,
sensor2,
geomodel1,
geomodel2,
mode: str,
matches: Union[xr.Dataset, np.ndarray],
grid1: str,
grid2: str,
roi_key: Union[None, str] = None,
) -> np.ndarray:
"""
Performs triangulation from cars disparity or matches dataset
:param sensor1: path to left sensor image
:param sensor2: path to right sensor image
:param geomodel1: path and attriutes for left geomodel
:param geomodel2: path and attriutes for right geomodel
:param mode: triangulation mode
(constants.DISP_MODE or constants.MATCHES)
:param matches: cars disparity dataset or matches as numpy array
:param grid1: path to epipolar grid of img1
:param grid2: path to epipolar grid of image 2
:param roi_key: dataset roi to use
(can be cst.ROI or cst.ROI_WITH_MARGINS)
:return: the long/lat/height numpy array in output of the triangulation
"""
```

generate_epipolar_grids which generates the left and right epipolar grids from the images of the pair and their geometrical models

```
def generate_epipolar_grids(
self,
sensor1,
sensor2,
geomodel1,
geomodel2,
epipolar_step: int = 30,
) -> Tuple[
np.ndarray, np.ndarray, List[float], List[float], List[int], float
]:
"""
Computes the left and right epipolar grids
:param sensor1: path to left sensor image
:param sensor2: path to right sensor image
:param geomodel1: path to left geomodel
:param geomodel2: path to right geomodel
: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
"""
```

direct_loc which performs direct localization operations

```
def direct_loc(
self,
sensor,
geomodel,
x_coord: list,
y_coord: list,
z_coord: list = None
) -> np.ndarray:
"""
For a given image points list, compute the latitudes, longitudes, altitudes
Advice: to be sure, use x,y,z list inputs only
:param sensor: path to sensor image
:param geomodel: path and attributes for geomodel
:param x_coord: X Coordinates list in input image sensor
:param y_coord: Y Coordinates list in input image sensor
:param z_coord: Z Altitude coordinates list to take the image
:return: Latitude, Longitude, Altitude coordinates list as a numpy array
"""
```

Where constants corresponds to the cars/core/constants.py module.

### Available methods

Some methods are available in the AbstractGeometry class that might be useful for any geometry plugin which would only perform the triangulation using sensor coordinates. CARS’ API only provides as inputs of the geometry plugin triangulation method the epipolar coordinates for each image of the pair. Thus the matches_to_sensor_coords method enables any plugin to convert those coordinates into the corresponding sensor ones.

AbstractGeometry implements the method image_envelope. It computes the ground footprint of an image in sensor geometry by projecting its four corners using the direct localization method. This method can be overloaded by any geometry plugin if necessary.