cars.applications.ground_truth_reprojection.direct_localization

This module contains the abstract direct_localization application class.

Module Contents

Classes

DirectLocalization

DirectLocalization

Functions

maps_generation_wrapper(sensor_left, grid_left, ...[, ...])

Computes ground truth epipolar disparity map and sensor geometry.
class cars.applications.ground_truth_reprojection.direct_localization.DirectLocalization(conf=None)[source]

Bases: cars.applications.ground_truth_reprojection.ground_truth_reprojection.GroundTruthReprojection

DirectLocalization

check_conf(conf)[source]

Check configuration

Parameters

conf (dict) – configuration to check

Returns

overloaded configuration

Return type

dict

run(sensor_left, sensor_right, grid_left, grid_right, geom_plugin, geom_plugin_dem_median, disp_to_alt_ratio, auxiliary_values, auxiliary_interp, orchestrator=None, pair_folder=None, pair_key='PAIR_0')[source]

Run direct localization for ground truth disparity

Parameters

  • sensor_left (CarsDataset) – Tiled sensor left image. Dict must contain keys: “image”, “color”, “geomodel”, “no_data”, “mask”. Paths must be absolute.

  • sensor_right (CarsDataset) – Tiled sensor right image. Dict must contain keys: “image”, “color”, “geomodel”, “no_data”, “mask”. Paths must be absolute.

  • grid_left (CarsDataset) – Grid left.

  • grid_right (CarsDataset) – Grid right.

  • geom_plugin_dem_median (geometry_plugin) – Geometry plugin with dem median

  • geom_plugin (GeometryPlugin) – Geometry plugin with user’s DSM used to generate epipolar grids.

  • disp_to_alt_ratio (float) – Disp to altitude ratio used for performance map.

  • orchestrator (orchestrator) – orchestrator used

  • pair_folder (str) – Folder used for current pair.

  • pair_key (str) – Pair ID.

cars.applications.ground_truth_reprojection.direct_localization.maps_generation_wrapper(sensor_left, grid_left, geom_plugin, disp_to_alt_ratio, target, saving_infos, window, auxiliary_values, auxiliary_interp, raster_profile=None, geom_plugin_dem_median=None, reverse=False, window_dict=None)[source]

Computes ground truth epipolar disparity map and sensor geometry.

Parameters

  • sensor_left (dict) – sensor data Dict must contain keys: “image”, “color”, “geomodel”, “no_data”, “mask”. Paths must be absolute.

  • grid_left (CarsDataset) – Grid left.

  • geom_plugin (GeometryPlugin) – Geometry plugin with user’s DSM used to generate epipolar grids.

  • disp_to_alt_ratio (float) – Disp to altitude ratio used for performance map.

  • target (str) – “epipolar”, “sensor”, or both (“all”) geometry.

  • saving_infos (dict) – Information about CarsDataset ID.

  • window (np.ndarray) – size of tile

  • raster_profile (dict) – dictionnary containing dataset information

  • geom_plugin_dem_median (geometry_plugin) – Geometry plugin with dem median

  • reverse (bool) – true if right-> left

  • window_dict – window as dict