def pointing_correction(tile_info):
"""
Compute the translations that correct the pointing errors on a tile.
There is one correction per pair of images.
Args:
tile_info: dictionary containing all the information needed to process
the tile
"""
tile_dir = tile_info['directory']
x, y, w, h = tile_info['coordinates']
for i in range(1, tile_info['number_of_pairs'] + 1):
paired_tile_dir = os.path.join(tile_dir, 'pair_%d' % i)
img1, rpc1 = cfg['images'][0]['img'], cfg['images'][0]['rpc']
img2, rpc2 = cfg['images'][i]['img'], cfg['images'][i]['rpc']
roi_msk = cfg['images'][0]['roi']
cld_msk = cfg['images'][0]['cld']
wat_msk = cfg['images'][0]['wat']
# create a directory for the experiment
if not os.path.exists(paired_tile_dir):
os.makedirs(paired_tile_dir)
# output files
cwid_msk = '%s/cloud_water_image_domain_mask.png' % (paired_tile_dir)
pointing = '%s/pointing.txt' % paired_tile_dir
center = '%s/center_keypts_sec.txt' % paired_tile_dir
sift_matches = '%s/sift_matches.txt' % paired_tile_dir
# check if the tile is already done
if os.path.isfile(
'%s/pointing.txt' % paired_tile_dir) and cfg['skip_existing']:
print "pointing correction on tile %d %d (pair %d) already done, skip" % (
x, y, i)
else:
# check if the ROI is masked by water or out of image domain
H = np.array([[1, 0, -x], [0, 1, -y], [0, 0, 1]])
if masking.cloud_water_image_domain(cwid_msk, w, h, H, rpc1,
roi_msk, cld_msk, wat_msk):
print "Tile masked by water or outside definition domain, skip"
open("%s/this_tile_is_masked.txt" % paired_tile_dir,
'a').close()
else:
# correct pointing error
# A is the correction matrix and m is the list of sift matches
A, m = pointing_accuracy.compute_correction(
img1, rpc1, img2, rpc2, x, y, w, h)
if A is not None:
np.savetxt(pointing, A, fmt='%6.3f')
if m is not None:
np.savetxt(sift_matches, m, fmt='%9.3f')
np.savetxt(center, np.mean(m[:, 2:4], 0), fmt='%9.3f')
if cfg['debug']:
png = '%s/sift_matches_plot.png' % paired_tile_dir
visualisation.plot_matches_pleiades(
img1, img2, rpc1, rpc2, m, x, y, w, h, png)
def pointing_correction(tile_info):
"""
Compute the translations that correct the pointing errors on a tile.
There is one correction per pair of images.
Args:
tile_info: dictionary containing all the information needed to process
the tile
"""
tile_dir = tile_info['directory']
x, y, w, h = tile_info['coordinates']
for i in range(1, tile_info['number_of_pairs'] + 1):
paired_tile_dir = os.path.join(tile_dir, 'pair_%d' % i)
img1, rpc1 = cfg['images'][0]['img'], cfg['images'][0]['rpc']
img2, rpc2 = cfg['images'][i]['img'], cfg['images'][i]['rpc']
roi_msk = cfg['images'][0]['roi']
cld_msk = cfg['images'][0]['cld']
wat_msk = cfg['images'][0]['wat']
# create a directory for the experiment
if not os.path.exists(paired_tile_dir):
os.makedirs(paired_tile_dir)
# output files
cwid_msk = '%s/cloud_water_image_domain_mask.png' % (paired_tile_dir)
pointing = '%s/pointing.txt' % paired_tile_dir
center = '%s/center_keypts_sec.txt' % paired_tile_dir
sift_matches = '%s/sift_matches.txt' % paired_tile_dir
# check if the tile is already done
if os.path.isfile('%s/pointing.txt' % paired_tile_dir) and cfg['skip_existing']:
print "pointing correction on tile %d %d (pair %d) already done, skip" % (x, y, i)
else:
# check if the ROI is masked by water or out of image domain
H = np.array([[1, 0, -x], [0, 1, -y], [0, 0, 1]])
if masking.cloud_water_image_domain(cwid_msk, w, h, H, rpc1, roi_msk, cld_msk, wat_msk):
print "Tile masked by water or outside definition domain, skip"
open("%s/this_tile_is_masked.txt" % paired_tile_dir, 'a').close()
else:
# correct pointing error
# A is the correction matrix and m is the list of sift matches
A, m = pointing_accuracy.compute_correction(img1, rpc1, img2,
rpc2, x, y, w, h)
if A is not None:
np.savetxt(pointing, A, fmt='%6.3f')
if m is not None:
np.savetxt(sift_matches, m, fmt='%9.3f')
np.savetxt(center, np.mean(m[:, 2:4], 0), fmt='%9.3f')
if cfg['debug']:
png = '%s/sift_matches_plot.png' % paired_tile_dir
visualisation.plot_matches_pleiades(img1, img2, rpc1,
rpc2, m, x, y, w, h,
png)
def process_pair_single_tile(out_dir, img1, rpc1, img2, rpc2, x=None, y=None,
w=None, h=None, prv1=None, cld_msk=None,
roi_msk=None, A=None):
"""
Computes a disparity map from a Pair of Pleiades images, without tiling
Args:
out_dir: path to the output directory
img1: path to the reference image.
rpc1: paths to the xml file containing the rpc coefficients of the
reference image
img2: path to the secondary image.
rpc2: paths to the xml file containing the rpc coefficients of the
secondary image
x, y, w, h: four integers defining the rectangular ROI in the reference
image. (x, y) is the top-left corner, and (w, h) are the dimensions
of the rectangle.
prv1 (optional): path to a preview of the reference image
cld_msk (optional): path to a gml file containing a cloud mask
roi_msk (optional): path to a gml file containing a mask defining the
area contained in the full image.
A (optional, default None): pointing correction matrix. If None, it
will be estimated by this function.
Returns:
nothing
"""
# create a directory for the experiment
if not os.path.exists(out_dir):
os.makedirs(out_dir)
# output files
rect1 = '%s/rectified_ref.tif' % (out_dir)
rect2 = '%s/rectified_sec.tif' % (out_dir)
disp = '%s/rectified_disp.tif' % (out_dir)
mask = '%s/rectified_mask.png' % (out_dir)
cwid_msk = '%s/cloud_water_image_domain_mask.png' % (out_dir)
subsampling = '%s/subsampling.txt' % (out_dir)
pointing = '%s/pointing.txt' % out_dir
center = '%s/center_keypts_sec.txt' % out_dir
sift_matches = '%s/sift_matches.txt' % out_dir
sift_matches_plot = '%s/sift_matches_plot.png' % out_dir
H_ref = '%s/H_ref.txt' % out_dir
H_sec = '%s/H_sec.txt' % out_dir
disp_min_max = '%s/disp_min_max.txt' % out_dir
config = '%s/config.json' % out_dir
# select ROI
try:
print "ROI x, y, w, h = %d, %d, %d, %d" % (x, y, w, h)
except TypeError:
if prv1:
x, y, w, h = common.get_roi_coordinates(img1, prv1)
else:
print 'Neither a ROI nor a preview file are defined. Aborting.'
return
# redirect stdout and stderr to log file
if not cfg['debug']:
fout = open('%s/stdout.log' % out_dir, 'w', 0) # '0' for no buffering
sys.stdout = fout
sys.stderr = fout
# debug print
print 'tile %d %d running on process %s' % (x, y,
multiprocessing.current_process())
# ensure that the coordinates of the ROI are multiples of the zoom factor
z = cfg['subsampling_factor']
x, y, w, h = common.round_roi_to_nearest_multiple(z, x, y, w, h)
# check if the ROI is completely masked (water, or outside the image domain)
H = np.array([[1, 0, -x], [0, 1, -y], [0, 0, 1]])
if masking.cloud_water_image_domain(cwid_msk, w, h, H, rpc1, roi_msk,
cld_msk):
print "Tile masked by water or outside definition domain, skip"
open("%s/this_tile_is_masked.txt" % out_dir, 'a').close()
sys.stdout = sys.__stdout__
sys.stderr = sys.__stderr__
if not cfg['debug']:
fout.close()
return
# correct pointing error
# A is the correction matrix and m is the list of sift matches
if A is None:
A, m = pointing_accuracy.compute_correction(img1, rpc1, img2, rpc2, x,
y, w, h)
if A is not None:
np.savetxt(pointing, A)
if m is not None:
np.savetxt(sift_matches, m)
np.savetxt(center, np.mean(m[:, 2:4], 0))
visualisation.plot_matches_pleiades(img1, img2, rpc1, rpc2, m, x, y,
w, h, sift_matches_plot)
else:
m = None
# rectification
H1, H2, disp_min, disp_max = rectification.rectify_pair(img1, img2, rpc1,
rpc2, x, y, w, h,
rect1, rect2, A, m)
# block-matching
if cfg['disp_min'] is not None:
disp_min = cfg['disp_min']
if cfg['disp_max'] is not None:
disp_max = cfg['disp_max']
block_matching.compute_disparity_map(rect1, rect2, disp, mask,
cfg['matching_algorithm'], disp_min,
disp_max)
# intersect mask with the cloud_water_image_domain mask (recomputed here to
# get to be sampled on the epipolar grid)
ww, hh = common.image_size(rect1)
masking.cloud_water_image_domain(cwid_msk, ww, hh, H1, rpc1, roi_msk,
cld_msk)
try:
masking.intersection(mask, mask, cwid_msk)
masking.erosion(mask, mask, cfg['msk_erosion'])
except OSError:
print "file %s not produced" % mask
# save the subsampling factor, the rectifying homographies and the
# disparity bounds.
# ATTENTION if subsampling_factor is > 1 the rectified images will be
# smaller, and the homography matrices and disparity range will reflect
# this fact
np.savetxt(subsampling, np.array([z]))
np.savetxt(H_ref, H1)
np.savetxt(H_sec, H2)
np.savetxt(disp_min_max, np.array([disp_min, disp_max]))
# save json file with all the parameters needed to reproduce this tile
tile_cfg = copy.deepcopy(cfg)
tile_cfg['roi'] = {'x': x, 'y': y, 'w': w, 'h': h}
f = open(config, 'w')
json.dump(tile_cfg, f, indent=2)
f.close()
# close logs
common.garbage_cleanup()
if not cfg['debug']:
sys.stdout = sys.__stdout__
sys.stderr = sys.__stderr__
fout.close()
return