cars.applications.point_cloud_denoising.point_cloud_denoising

this module contains the abstract matching application class.

Module Contents

Classes

PCDenoising

denoising_method

NonePCDenoising

PCDenoising

Functions

identity_func(xr_pc_dataset, sensor_image_left, ...)

param xr_pc_dataset

point cloud dataset
class cars.applications.point_cloud_denoising.point_cloud_denoising.PCDenoising(conf=None)

Bases: cars.applications.application_template.ApplicationTemplate

denoising_method

available_applications: Dict
default_application = 'none'
classmethod __init_subclass__(short_name, **kwargs)
get_triangulation_overload()
Get function to apply to overload point cloud dataset,

in triangulation wrapper. This function must add layers with key root : cst.EPI_DENOISING_INFO_KEY_ROOT , to be propagated

Returns

fun(

xr_pc_dataset, sensor_image_left, sensor_image_right, geomodel_left, geomodel_right, grid_left, grid_right, geometry_plugin, disparity_map

):
param xr_pc_dataset

point cloud dataset

type xr_pc_dataset

xarray dataset

param sensor_image_left

sensor image left

type sensor_image_left

str

param sensor_image_right

sensor image right

type sensor_image_right

str

param geomodel_left

left geomodel

type geomodel_left

dict

param geomodel_right

right geomodel

type geomodel_right

dict

param grid_left

left grid

type

grid_left: CarsDataset

param grid_right

right grid

type

grid_right: CarsDataset

param geometry_plugin

geometry plugin

type

geometry_plugin: GeometryPlugin

param disparity_map

disparity plugin

type disparity_map

xarray Dataset

abstract run(point_cloud, orchestrator=None, pair_key='default', pair_folder=None)

Run denoising

Parameters

  • point_cloud – point cloud to denoise

  • orchestrator – orchestrator

  • pair_key – pair_key

  • pair_folder – pair_folder

Returns

denoised point cloud

cars.applications.point_cloud_denoising.point_cloud_denoising.identity_func(xr_pc_dataset, sensor_image_left, sensor_image_right, geomodel_left, geomodel_right, grid_left, grid_right, geometry_plugin, disparity_map)
Parameters

  • xr_pc_dataset (xarray dataset) – point cloud dataset

  • sensor_image_left (str) – sensor image left

  • sensor_image_right (str) – sensor image right

  • geomodel_left (dict) – left geomodel

  • geomodel_right (dict) – right geomodel

  • grid_left – left grid

  • grid_right – right grid

  • geometry_plugin – geometry plugin

  • disparity_map (xarray Dataset) – disparity plugin

Type

grid_left: CarsDataset

Type

grid_right: CarsDataset

Type

geometry_plugin: GeometryPlugin

class cars.applications.point_cloud_denoising.point_cloud_denoising.NonePCDenoising(conf=None)

Bases: PCDenoising

PCDenoising

check_conf(conf)

Check configuration

Parameters

conf (dict) – configuration to check

Returns

overloaded configuration

Return type

dict

run(point_cloud, orchestrator=None, pair_key='default', pair_folder=None)

Run Denoising

Parameters

point_cloud (CarsDatasetet) – point cloud

Returns

denoised point cloud

Return type

CarsDatas