def disparity_range(rpc1, rpc2, x, y, w, h, H1, H2, matches, A=None):
"""
Compute the disparity range of a ROI from a list of point matches.
Args:
rpc1, rpc2 (rpcm.RPCModel): two RPC camera models
x, y, w, h (int): 4-tuple of integers defining the rectangular ROI in
the first image. (x, y) is the top-left corner, and (w, h) are the
dimensions of the rectangle.
H1, H2 (np.array): two rectifying homographies, stored as 3x3 arrays
matches (np.array): Nx4 array containing a list of sift matches, in the
full image coordinates frame
A (np.array): 3x3 array containing the pointing error correction for
im2. This matrix is usually estimated with the pointing_accuracy
module.
Returns:
disp: 2-uple containing the horizontal disparity range
"""
# compute exogenous disparity range if needed
if cfg['disp_range_method'] in ['exogenous', 'wider_sift_exogenous']:
exogenous_disp = rpc_utils.exogenous_disp_range_estimation(
rpc1, rpc2, x, y, w, h, H1, H2, A,
cfg['disp_range_exogenous_high_margin'],
cfg['disp_range_exogenous_low_margin'])
print("exogenous disparity range:", exogenous_disp)
# compute SIFT disparity range if needed
if cfg['disp_range_method'] in ['sift', 'wider_sift_exogenous']:
if matches is not None and len(matches) >= 2:
sift_disp = disparity_range_from_matches(matches, H1, H2, w, h)
else:
sift_disp = None
print("SIFT disparity range:", sift_disp)
# compute altitude range disparity if needed
if cfg['disp_range_method'] == 'fixed_altitude_range':
alt_disp = rpc_utils.altitude_range_to_disp_range(
cfg['alt_min'], cfg['alt_max'], rpc1, rpc2, x, y, w, h, H1, H2, A)
print("disparity range computed from fixed altitude range:", alt_disp)
# now compute disparity range according to selected method
if cfg['disp_range_method'] == 'exogenous':
disp = exogenous_disp
elif cfg['disp_range_method'] == 'sift':
disp = sift_disp
elif cfg['disp_range_method'] == 'wider_sift_exogenous':
if sift_disp is not None and exogenous_disp is not None:
disp = min(exogenous_disp[0],
sift_disp[0]), max(exogenous_disp[1], sift_disp[1])
else:
disp = sift_disp or exogenous_disp
elif cfg['disp_range_method'] == 'fixed_altitude_range':
disp = alt_disp
elif cfg['disp_range_method'] == 'fixed_pixel_range':
disp = cfg['disp_min'], cfg['disp_max']
# default disparity range to return if everything else broke
if disp is None:
disp = -3, 3
# impose a minimal disparity range (TODO this is valid only with the
# 'center' flag for register_horizontally_translation)
disp = min(-3, disp[0]), max(3, disp[1])
print("Final disparity range:", disp)
return disp
def disparity_range(rpc1, rpc2, x, y, w, h, H1, H2, matches, A=None):
"""
Compute the disparity range of a ROI from a list of point matches.
The estimation is based on the extrapolation of the affine registration
estimated from the matches. The extrapolation is done on the whole region of
interest.
Args:
rpc1, rpc2: two instances of the rpc_model.RPCModel class
x, y, w, h: four integers defining the rectangular ROI in the first
image. (x, y) is the top-left corner, and (w, h) are the dimensions
of the rectangle.
H1, H2: two rectifying homographies, stored as numpy 3x3 matrices
matches: Nx4 numpy array containing a list of sift matches, in the full
image coordinates frame
A (optional): 3x3 numpy array containing the pointing error correction
for im2. This matrix is usually estimated with the pointing_accuracy
module.
Returns:
disp: 2-uple containing the horizontal disparity range
"""
# Default disparity range to return if everything else breaks
disp = (-3, 3)
exogenous_disp = None
sift_disp = None
alt_disp = None
# Compute exogenous disparity range if needed
if (cfg['disp_range_method'] in ['exogenous', 'wider_sift_exogenous']):
exogenous_disp = rpc_utils.exogenous_disp_range_estimation(
rpc1, rpc2, x, y, w, h, H1, H2, A,
cfg['disp_range_exogenous_high_margin'],
cfg['disp_range_exogenous_low_margin'])
print("exogenous disparity range: [%f, %f]" %
(exogenous_disp[0], exogenous_disp[1]))
# Compute SIFT disparity range if needed
if (cfg['disp_range_method'] in ['sift', 'wider_sift_exogenous']):
if matches is not None and len(matches) >= 2:
sift_disp = disparity_range_from_matches(matches, H1, H2, w, h)
print("SIFT disparity range: [%f, %f]" %
(sift_disp[0], sift_disp[1]))
else:
print("No SIFT available, SIFT disparity can not be estimated")
# Compute altitude range disparity if needed
if cfg['disp_range_method'] == 'fixed_altitude_range':
if cfg['alt_min'] is not None and cfg['alt_max'] is not None:
alt_disp = rpc_utils.altitude_range_to_disp_range(
cfg['alt_min'], cfg['alt_max'], rpc1, rpc2, x, y, w, h, H1, H2,
A)
print("Altitude fixed disparity range: [%f, %f]" %
(alt_disp[0], alt_disp[1]))
# Now, compute disparity range according to selected method
if cfg['disp_range_method'] == 'exogenous':
if exogenous_disp is not None:
disp = exogenous_disp
elif cfg['disp_range_method'] == 'sift':
if sift_disp is not None:
disp = sift_disp
elif cfg['disp_range_method'] == 'wider_sift_exogenous':
if sift_disp is not None and exogenous_disp is not None:
disp = min(exogenous_disp[0],
sift_disp[0]), max(exogenous_disp[1], sift_disp[1])
else:
if sift_disp is not None:
disp = sift_disp
else:
disp = exogenous_disp
elif cfg['disp_range_method'] == 'fixed_pixel_range':
if cfg['disp_min'] is not None and cfg['disp_max'] is not None:
disp = cfg['disp_min'], cfg['disp_max']
elif cfg['disp_range_method'] == 'fixed_altitude_range':
disp = alt_disp
# impose a minimal disparity range (TODO this is valid only with the
# 'center' flag for register_horizontally_translation)
disp = min(-3, disp[0]), max(3, disp[1])
print("Final disparity range: [%f, %f]" % (disp[0], disp[1]))
return disp