def check_parameters(d):
"""
Check that the provided dictionary defines all mandatory s2p arguments.
Args:
d: python dictionary
"""
# verify that input files paths are defined
if 'images' not in d or len(d['images']) < 2:
print('ERROR: missing paths to input images')
sys.exit(1)
for i in range(len(d['images'])):
img = d['images'][i]
if not dict_has_keys(img, ['img']):
print('ERROR: missing img paths for image', img)
sys.exit(1)
if not dict_has_keys(img, ['rpc']) or img['rpc'] == '':
import tempfile # TODO: fix for common.tmpfile failure
img['rpc'] = tempfile.mktemp('.rpc')
rpc_utils.rpc_from_geotiff(img['img'], img['rpc'])
print('INFO: trying reading rpc from image', img)
# verify that roi or path to preview file are defined
if 'full_img' in d and d['full_img']:
sz = common.image_size_gdal(d['images'][0]['img'])
d['roi'] = {'x': 0, 'y': 0, 'w': sz[0], 'h': sz[1]}
elif 'roi' in d and dict_has_keys(d['roi'], ['x', 'y', 'w', 'h']):
pass
elif 'roi_utm' in d and dict_has_keys(d['roi_utm'], ['utm_band',
'hemisphere',
'x', 'y', 'w', 'h']):
d['roi'] = rpc_utils.utm_roi_to_img_roi(d['images'][0]['rpc'],
d['roi_utm'])
elif 'roi_kml' in d:
# this call defines cfg['ll_bbx'] and cfg['utm_bbx'] as side effects
d['roi'] = rpc_utils.kml_roi_process(d['images'][0]['rpc'],
d['roi_kml'])
elif 'prv' in d['images'][0]:
x, y, w, h = common.get_roi_coordinates(d['images'][0]['img'],
d['images'][0]['prv'])
d['roi'] = {'x': x, 'y': y, 'w': w, 'h': h}
else:
print('ERROR: missing or incomplete roi definition')
sys.exit(1)
# d['roi'] : all the values must be integers
d['roi']['x'] = int(np.floor(d['roi']['x']))
d['roi']['y'] = int(np.floor(d['roi']['y']))
d['roi']['w'] = int(np.ceil(d['roi']['w']))
d['roi']['h'] = int(np.ceil(d['roi']['h']))
# warn about unknown parameters. The known parameters are those defined in
# the global config.cfg dictionary, plus the mandatory 'images' and 'roi' or
# 'roi_utm'
for k in d.keys():
if k not in ['images', 'roi', 'roi_kml', 'roi_utm', 'utm_zone']:
if k not in cfg:
print('WARNING: ignoring unknown parameter {}.'.format(k))
def check_parameters(d):
"""
Check that the provided dictionary defines all mandatory s2p arguments.
Args:
d: python dictionary
"""
# verify that input files paths are defined
if 'images' not in d or len(d['images']) < 2:
print('ERROR: missing paths to input images')
sys.exit(1)
for img in d['images']:
if not dict_has_keys(img, ['img', 'rpc']):
print('ERROR: missing img or rpc paths for image', img)
sys.exit(1)
# verify that roi or path to preview file are defined
if 'full_img' in d and d['full_img']:
sz = common.image_size_gdal(d['images'][0]['img'])
d['roi'] = {'x': 0, 'y': 0, 'w': sz[0], 'h': sz[1]}
elif 'roi' in d and dict_has_keys(d['roi'], ['x', 'y', 'w', 'h']):
pass
elif 'roi_utm' in d and dict_has_keys(d['roi_utm'], ['utm_band',
'hemisphere',
'x', 'y', 'w', 'h']):
d['roi'] = rpc_utils.utm_roi_to_img_roi(d['images'][0]['rpc'],
d['roi_utm'])
elif 'roi_kml' in d:
# this call defines cfg['ll_bbx'] and cfg['utm_bbx'] as side effects
d['roi'] = rpc_utils.kml_roi_process(d['images'][0]['rpc'],
d['roi_kml'])
elif 'prv' in d['images'][0]:
x, y, w, h = common.get_roi_coordinates(d['images'][0]['img'],
d['images'][0]['prv'])
d['roi'] = {'x': x, 'y': y, 'w': w, 'h': h}
else:
print('ERROR: missing or incomplete roi definition')
sys.exit(1)
# warn about unknown parameters. The known parameters are those defined in
# the global config.cfg dictionary, plus the mandatory 'images' and 'roi' or
# 'roi_utm'
for k in d.keys():
if k not in ['images', 'roi', 'roi_kml', 'roi_utm', 'utm_zone']:
if k not in cfg:
print('WARNING: ignoring unknown parameter {}.'.format(k))
def check_parameters(d):
"""
Check that the provided dictionary defines all mandatory s2p arguments.
Args:
d: python dictionary
"""
# verify that input files paths are defined
if 'images' not in d or len(d['images']) < 2:
print('ERROR: missing paths to input images')
sys.exit(1)
for img in d['images']:
if not dict_has_keys(img, ['img', 'rpc']):
print('ERROR: missing img or rpc paths for image', img)
sys.exit(1)
# verify that roi or path to preview file are defined
if 'full_img' in d and d['full_img']:
sz = common.image_size_gdal(d['images'][0]['img'])
d['roi'] = {'x': 0, 'y': 0, 'w': sz[0], 'h': sz[1]}
elif 'roi' in d and dict_has_keys(d['roi'], ['x', 'y', 'w', 'h']):
pass
elif 'roi_utm' in d and dict_has_keys(d['roi_utm'], ['utm_band',
'hemisphere',
'x', 'y', 'w', 'h']):
d['roi'] = rpc_utils.utm_roi_to_img_roi(d['images'][0]['rpc'],
d['roi_utm'])
elif 'roi_kml' in d:
# this call defines cfg['ll_bbx'] and cfg['utm_bbx'] as side effects
d['roi'] = rpc_utils.kml_roi_process(d['images'][0]['rpc'],
d['roi_kml'])
elif 'prv' in d['images'][0]:
x, y, w, h = common.get_roi_coordinates(d['images'][0]['img'],
d['images'][0]['prv'])
d['roi'] = {'x': x, 'y': y, 'w': w, 'h': h}
else:
print('ERROR: missing or incomplete roi definition')
sys.exit(1)
# warn about unknown parameters. The known parameters are those defined in
# the global config.cfg dictionary, plus the mandatory 'images' and 'roi' or
# 'roi_utm'
for k in d.keys():
if k not in ['images', 'roi', 'roi_kml', 'roi_utm', 'utm_zone']:
if k not in cfg:
print('WARNING: ignoring unknown parameter {}.'.format(k))
def scale_image(self, image_in, write_folder, scaling_filter, scale_x,
scale_y):
image_out = self._get_output_name(write_folder, image_in, False)
# generate image
print("Generating {} ...".format(image_out))
# First get input image size
w, h, _ = common.image_size_gdal(image_in)
# Generate a temporary vrt file to have the proper geotransform
fd, tmp_vrt = tempfile.mkstemp(suffix='.vrt', dir=write_folder)
os.close(fd)
common.run('gdal_translate -of VRT -a_ullr 0 0 {} {} {} {}'.format(
w, h, image_in, tmp_vrt))
common.run(
'gdalwarp -co RPB=NO -co PROFILE=GeoTIFF -r {} -co "BIGTIFF=IF_NEEDED" -co "TILED=YES" -ovr NONE \
-to SRC_METHOD=NO_GEOTRANSFORM -to DST_METHOD=NO_GEOTRANSFORM -tr \
{} {} {} {}'.format(scaling_filter, scale_x, scale_y,
tmp_vrt, image_out))
try:
# Remove aux files if any
os.remove(image_out + ".aux.xml")
except OSError:
pass
# Clean tmp vrt file
os.remove(tmp_vrt)
print("Done")
return (0)
def compute_disparity_map(im1,
im2,
disp,
mask,
algo,
disp_min=None,
disp_max=None,
extra_params=''):
"""
Runs a block-matching binary on a pair of stereo-rectified images.
Args:
im1, im2: rectified stereo pair
disp: path to the output diparity map
mask: path to the output rejection mask
algo: string used to indicate the desired binary. Currently it can be
one among 'hirschmuller02', 'hirschmuller08',
'hirschmuller08_laplacian', 'hirschmuller08_cauchy', 'sgbm',
'msmw', 'tvl1', 'mgm', 'mgm_multi' and 'micmac'
disp_min : smallest disparity to consider
disp_max : biggest disparity to consider
extra_params: optional string with algorithm-dependent parameters
"""
if rectify_secondary_tile_only(algo) is False:
disp_min = [disp_min]
disp_max = [disp_max]
# limit disparity bounds
np.alltrue(len(disp_min) == len(disp_max))
for dim in range(len(disp_min)):
if disp_min[dim] is not None and disp_max[dim] is not None:
image_size = common.image_size_gdal(im1)
if disp_max[dim] - disp_min[dim] > image_size[dim]:
center = 0.5 * (disp_min[dim] + disp_max[dim])
disp_min[dim] = int(center - 0.5 * image_size[dim])
disp_max[dim] = int(center + 0.5 * image_size[dim])
# round disparity bounds
if disp_min[dim] is not None:
disp_min[dim] = int(np.floor(disp_min[dim]))
if disp_max is not None:
disp_max[dim] = int(np.ceil(disp_max[dim]))
if rectify_secondary_tile_only(algo) is False:
disp_min = disp_min[0]
disp_max = disp_max[0]
# define environment variables
env = os.environ.copy()
env['OMP_NUM_THREADS'] = str(cfg['omp_num_threads'])
# call the block_matching binary
if algo == 'hirschmuller02':
bm_binary = 'subpix.sh'
common.run('{0} {1} {2} {3} {4} {5} {6} {7}'.format(
bm_binary, im1, im2, disp, mask, disp_min, disp_max, extra_params))
# extra_params: LoG(0) regionRadius(3)
# LoG: Laplacian of Gaussian preprocess 1:enabled 0:disabled
# regionRadius: radius of the window
if algo == 'hirschmuller08':
bm_binary = 'callSGBM.sh'
common.run('{0} {1} {2} {3} {4} {5} {6} {7}'.format(
bm_binary, im1, im2, disp, mask, disp_min, disp_max, extra_params))
# extra_params: regionRadius(3) P1(default) P2(default) LRdiff(1)
# regionRadius: radius of the window
# P1, P2 : regularization parameters
# LRdiff: maximum difference between left and right disparity maps
if algo == 'hirschmuller08_laplacian':
bm_binary = 'callSGBM_lap.sh'
common.run('{0} {1} {2} {3} {4} {5} {6} {7}'.format(
bm_binary, im1, im2, disp, mask, disp_min, disp_max, extra_params))
if algo == 'hirschmuller08_cauchy':
bm_binary = 'callSGBM_cauchy.sh'
common.run('{0} {1} {2} {3} {4} {5} {6} {7}'.format(
bm_binary, im1, im2, disp, mask, disp_min, disp_max, extra_params))
if algo == 'sgbm':
# opencv sgbm function implements a modified version of Hirschmuller's
# Semi-Global Matching (SGM) algorithm described in "Stereo Processing
# by Semiglobal Matching and Mutual Information", PAMI, 2008
p1 = 8 # penalizes disparity changes of 1 between neighbor pixels
p2 = 32 # penalizes disparity changes of more than 1
# it is required that p2 > p1. The larger p1, p2, the smoother the disparity
win = 3 # matched block size. It must be a positive odd number
lr = 1 # maximum difference allowed in the left-right disparity check
cost = common.tmpfile('.tif')
common.run('sgbm {} {} {} {} {} {} {} {} {} {}'.format(
im1, im2, disp, cost, disp_min, disp_max, win, p1, p2, lr))
# create rejection mask (0 means rejected, 1 means accepted)
# keep only the points that are matched and present in both input images
common.run(
'plambda {0} "x 0 join" | backflow - {2} | plambda {0} {1} - "x isfinite y isfinite z isfinite and and" -o {3}'
.format(disp, im1, im2, mask))
if algo == 'tvl1':
tvl1 = 'callTVL1.sh'
common.run('{0} {1} {2} {3} {4}'.format(tvl1, im1, im2, disp, mask),
env)
if algo == 'tvl1_2d':
tvl1 = 'callTVL1.sh'
common.run(
'{0} {1} {2} {3} {4} {5}'.format(tvl1, im1, im2, disp, mask, 1),
env)
if algo == 'msmw':
bm_binary = 'iip_stereo_correlation_multi_win2'
common.run(
'{0} -i 1 -n 4 -p 4 -W 5 -x 9 -y 9 -r 1 -d 1 -t -1 -s 0 -b 0 -o 0.25 -f 0 -P 32 -m {1} -M {2} {3} {4} {5} {6}'
.format(bm_binary, disp_min, disp_max, im1, im2, disp, mask))
if algo == 'msmw2':
bm_binary = 'iip_stereo_correlation_multi_win2_newversion'
common.run(
'{0} -i 1 -n 4 -p 4 -W 5 -x 9 -y 9 -r 1 -d 1 -t -1 -s 0 -b 0 -o -0.25 -f 0 -P 32 -D 0 -O 25 -c 0 -m {1} -M {2} {3} {4} {5} {6}'
.format(bm_binary, disp_min, disp_max, im1, im2, disp, mask))
if algo == 'msmw3':
bm_binary = 'msmw'
common.run('{0} -m {1} -M {2} -il {3} -ir {4} -dl {5} -kl {6}'.format(
bm_binary, disp_min, disp_max, im1, im2, disp, mask))
if algo == 'mgm':
env['MEDIAN'] = '1'
env['CENSUS_NCC_WIN'] = str(cfg['census_ncc_win'])
env['TSGM'] = '3'
common.run(
'{0} -r {1} -R {2} -s vfit -t census -O 8 {3} {4} {5}'.format(
'mgm', disp_min, disp_max, im1, im2, disp), env)
# produce the mask: rejected pixels are marked with nan of inf in disp
# map
common.run('plambda {0} "isfinite" -o {1}'.format(disp, mask))
if algo == 'mgm_multi':
env['REMOVESMALLCC'] = '25'
env['MINDIFF'] = '1'
env['CENSUS_NCC_WIN'] = str(cfg['census_ncc_win'])
env['SUBPIX'] = '2'
common.run(
'{0} -r {1} -R {2} -S 3 -s vfit -t census {3} {4} {5}'.format(
'mgm_multi', disp_min, disp_max, im1, im2, disp), env)
# produce the mask: rejected pixels are marked with nan of inf in disp
# map
common.run('plambda {0} "isfinite" -o {1}'.format(disp, mask))
if (algo == 'micmac'):
# add micmac binaries to the PATH environment variable
s2p_dir = os.path.dirname(
os.path.dirname(os.path.realpath(os.path.abspath(__file__))))
micmac_bin = os.path.join(s2p_dir, 'bin', 'micmac', 'bin')
os.environ['PATH'] = os.environ['PATH'] + os.pathsep + micmac_bin
# prepare micmac xml params file
micmac_params = os.path.join(s2p_dir, '3rdparty', 'micmac_params.xml')
work_dir = os.path.dirname(os.path.abspath(im1))
common.run('cp {0} {1}'.format(micmac_params, work_dir))
# run MICMAC
common.run('MICMAC {0:s}'.format(
os.path.join(work_dir, 'micmac_params.xml')))
# copy output disp map
micmac_disp = os.path.join(work_dir, 'MEC-EPI',
'Px1_Num6_DeZoom1_LeChantier.tif')
disp = os.path.join(work_dir, 'rectified_disp.tif')
common.run('cp {0} {1}'.format(micmac_disp, disp))
# compute mask by rejecting the 10% of pixels with lowest correlation score
micmac_cost = os.path.join(work_dir, 'MEC-EPI',
'Correl_LeChantier_Num_5.tif')
mask = os.path.join(work_dir, 'rectified_mask.png')
common.run('plambda {0} "x x%q10 < 0 255 if" -o {1}'.format(
micmac_cost, mask))
def compute_disparity_map(im1, im2, disp, mask, algo, disp_min=None,
disp_max=None, extra_params=''):
"""
Runs a block-matching binary on a pair of stereo-rectified images.
Args:
im1, im2: rectified stereo pair
disp: path to the output diparity map
mask: path to the output rejection mask
algo: string used to indicate the desired binary. Currently it can be
one among 'hirschmuller02', 'hirschmuller08',
'hirschmuller08_laplacian', 'hirschmuller08_cauchy', 'sgbm',
'msmw', 'tvl1', 'mgm', 'mgm_multi' and 'micmac'
disp_min : smallest disparity to consider
disp_max : biggest disparity to consider
extra_params: optional string with algorithm-dependent parameters
"""
if rectify_secondary_tile_only(algo) is False:
disp_min = [disp_min]
disp_max = [disp_max]
# limit disparity bounds
np.alltrue(len(disp_min) == len(disp_max))
for dim in range(len(disp_min)):
if disp_min[dim] is not None and disp_max[dim] is not None:
image_size = common.image_size_gdal(im1)
if disp_max[dim] - disp_min[dim] > image_size[dim]:
center = 0.5 * (disp_min[dim] + disp_max[dim])
disp_min[dim] = int(center - 0.5 * image_size[dim])
disp_max[dim] = int(center + 0.5 * image_size[dim])
# round disparity bounds
if disp_min[dim] is not None:
disp_min[dim] = int(np.floor(disp_min[dim]))
if disp_max is not None:
disp_max[dim] = int(np.ceil(disp_max[dim]))
if rectify_secondary_tile_only(algo) is False:
disp_min = disp_min[0]
disp_max = disp_max[0]
# define environment variables
env = os.environ.copy()
env['OMP_NUM_THREADS'] = str(cfg['omp_num_threads'])
# call the block_matching binary
if algo == 'hirschmuller02':
bm_binary = 'subpix.sh'
common.run('{0} {1} {2} {3} {4} {5} {6} {7}'.format(bm_binary, im1, im2, disp, mask, disp_min,
disp_max, extra_params))
# extra_params: LoG(0) regionRadius(3)
# LoG: Laplacian of Gaussian preprocess 1:enabled 0:disabled
# regionRadius: radius of the window
if algo == 'hirschmuller08':
bm_binary = 'callSGBM.sh'
common.run('{0} {1} {2} {3} {4} {5} {6} {7}'.format(bm_binary, im1, im2, disp, mask, disp_min,
disp_max, extra_params))
# extra_params: regionRadius(3) P1(default) P2(default) LRdiff(1)
# regionRadius: radius of the window
# P1, P2 : regularization parameters
# LRdiff: maximum difference between left and right disparity maps
if algo == 'hirschmuller08_laplacian':
bm_binary = 'callSGBM_lap.sh'
common.run('{0} {1} {2} {3} {4} {5} {6} {7}'.format(bm_binary, im1, im2, disp, mask, disp_min,
disp_max, extra_params))
if algo == 'hirschmuller08_cauchy':
bm_binary = 'callSGBM_cauchy.sh'
common.run('{0} {1} {2} {3} {4} {5} {6} {7}'.format(bm_binary, im1, im2, disp, mask, disp_min,
disp_max, extra_params))
if algo == 'sgbm':
# opencv sgbm function implements a modified version of Hirschmuller's
# Semi-Global Matching (SGM) algorithm described in "Stereo Processing
# by Semiglobal Matching and Mutual Information", PAMI, 2008
p1 = 8 # penalizes disparity changes of 1 between neighbor pixels
p2 = 32 # penalizes disparity changes of more than 1
# it is required that p2 > p1. The larger p1, p2, the smoother the disparity
win = 3 # matched block size. It must be a positive odd number
lr = 1 # maximum difference allowed in the left-right disparity check
cost = common.tmpfile('.tif')
common.run('sgbm {} {} {} {} {} {} {} {} {} {}'.format(im1, im2,
disp, cost,
disp_min,
disp_max,
win, p1, p2, lr))
# create rejection mask (0 means rejected, 1 means accepted)
# keep only the points that are matched and present in both input images
common.run('plambda {0} "x 0 join" | backflow - {2} | plambda {0} {1} - "x isfinite y isfinite z isfinite and and" -o {3}'.format(disp, im1, im2, mask))
if algo == 'tvl1':
tvl1 = 'callTVL1.sh'
common.run('{0} {1} {2} {3} {4}'.format(tvl1, im1, im2, disp, mask),
env)
if algo == 'tvl1_2d':
tvl1 = 'callTVL1.sh'
common.run('{0} {1} {2} {3} {4} {5}'.format(tvl1, im1, im2, disp, mask,
1), env)
if algo == 'msmw':
bm_binary = 'iip_stereo_correlation_multi_win2'
common.run('{0} -i 1 -n 4 -p 4 -W 5 -x 9 -y 9 -r 1 -d 1 -t -1 -s 0 -b 0 -o 0.25 -f 0 -P 32 -m {1} -M {2} {3} {4} {5} {6}'.format(bm_binary, disp_min, disp_max, im1, im2, disp, mask))
if algo == 'msmw2':
bm_binary = 'iip_stereo_correlation_multi_win2_newversion'
common.run('{0} -i 1 -n 4 -p 4 -W 5 -x 9 -y 9 -r 1 -d 1 -t -1 -s 0 -b 0 -o -0.25 -f 0 -P 32 -D 0 -O 25 -c 0 -m {1} -M {2} {3} {4} {5} {6}'.format(
bm_binary, disp_min, disp_max, im1, im2, disp, mask))
if algo == 'msmw3':
bm_binary = 'msmw'
common.run('{0} -m {1} -M {2} -il {3} -ir {4} -dl {5} -kl {6}'.format(
bm_binary, disp_min, disp_max, im1, im2, disp, mask))
if algo == 'mgm':
env['MEDIAN'] = '1'
env['CENSUS_NCC_WIN'] = str(cfg['census_ncc_win'])
env['TSGM'] = '3'
common.run('{0} -r {1} -R {2} -s vfit -t census -O 8 {3} {4} {5}'.format('mgm',
disp_min,
disp_max,
im1, im2,
disp),
env)
# produce the mask: rejected pixels are marked with nan of inf in disp
# map
common.run('plambda {0} "isfinite" -o {1}'.format(disp, mask))
if (algo == 'micmac'):
# add micmac binaries to the PATH environment variable
s2p_dir = os.path.dirname(os.path.dirname(os.path.realpath(os.path.abspath(__file__))))
micmac_bin = os.path.join(s2p_dir, 'bin', 'micmac', 'bin')
os.environ['PATH'] = os.environ['PATH'] + os.pathsep + micmac_bin
# prepare micmac xml params file
micmac_params = os.path.join(s2p_dir, '3rdparty', 'micmac_params.xml')
work_dir = os.path.dirname(os.path.abspath(im1))
common.run('cp {0} {1}'.format(micmac_params, work_dir))
# run MICMAC
common.run('MICMAC {0:s}'.format(os.path.join(work_dir, 'micmac_params.xml')))
# copy output disp map
micmac_disp = os.path.join(work_dir, 'MEC-EPI',
'Px1_Num6_DeZoom1_LeChantier.tif')
disp = os.path.join(work_dir, 'rectified_disp.tif')
common.run('cp {0} {1}'.format(micmac_disp, disp))
# compute mask by rejecting the 10% of pixels with lowest correlation score
micmac_cost = os.path.join(work_dir, 'MEC-EPI',
'Correl_LeChantier_Num_5.tif')
mask = os.path.join(work_dir, 'rectified_mask.png')
common.run('plambda {0} "x x%q10 < 0 255 if" -o {1}'.format(micmac_cost, mask))
if len(sys.argv) == 7:
scale_y = scale_x
else:
scale_y = float(sys.argv[7])
# check if filter is valid
if filt not in available_filters:
print("Unknown filter {}. Should be one of {}".format(
filt, available_filters))
sys.exit(1)
# generate image
print("Generating {} ...".format(out_img_file))
# First get input image size
sz = common.image_size_gdal(in_img_file)
w = sz[0]
h = sz[1]
# Generate a temporary vrt file to have the proper geotransform
fd, tmp_vrt = tempfile.mkstemp(suffix='.vrt',
dir=os.path.dirname(out_img_file))
os.close(fd)
common.run('gdal_translate -of VRT -a_ullr 0 0 %d %d %s %s' %
(w, h, in_img_file, tmp_vrt))
common.run((
'gdalwarp -co RPB=NO -co PROFILE=GeoTIFF -r %s -co "BIGTIFF=IF_NEEDED" -co "TILED=YES" -ovr NONE -overwrite -to SRC_METHOD=NO_GEOTRANSFORM -to DST_METHOD=NO_GEOTRANSFORM -tr'
' %d %d %s %s') % (filt, scale_x, scale_y, tmp_vrt, out_img_file))