Merge branch '928-integration-parametrage-sift-dem' into 'master'

Resolve "intégration paramétrage sift/ dem"

Closes #928

See merge request 3d/cars-park/cars!765

cars/applications/dem_generation/dichotomic_generation.py

@@ -83,6 +83,8 @@ def __init__(self, conf=None):
         self.fillnodata_max_search_distance = self.used_config[
             "fillnodata_max_search_distance"
         ]
+        self.min_dem = self.used_config["min_dem"]
+        self.max_dem = self.used_config["max_dem"]
 
         # Init orchestrator
         self.orchestrator = None
@@ -117,9 +119,11 @@ def check_conf(self, conf):
         overloaded_conf["min_number_matches"] = conf.get(
             "min_number_matches", 100
         )
+        overloaded_conf["min_dem"] = conf.get("min_dem", -500)
+        overloaded_conf["max_dem"] = conf.get("max_dem", 1000)
 
         overloaded_conf["fillnodata_max_search_distance"] = conf.get(
-            "fillnodata_max_search_distance", 3
+            "fillnodata_max_search_distance", 5
         )
 
         rectification_schema = {
@@ -129,6 +133,8 @@ def check_conf(self, conf):
             "height_margin": Or(list, int),
             "percentile": And(Or(int, float), lambda x: x >= 0),
             "min_number_matches": And(int, lambda x: x > 0),
+            "min_dem": And(Or(int, float), lambda x: x < 0),
+            "max_dem": And(Or(int, float), lambda x: x > 0),
             "fillnodata_max_search_distance": And(int, lambda x: x > 0),
             OptionalKey(application_constants.SAVE_INTERMEDIATE_DATA): bool,
         }
@@ -311,6 +317,17 @@ def run(
         dem_min = np.floor(dem_min).astype(int)
         dem_max = np.ceil(dem_max).astype(int)
 
+        dem_min = np.where(
+            dem_median - dem_min < self.min_dem,
+            dem_median + self.min_dem,
+            dem_min,
+        )
+        dem_max = np.where(
+            dem_max - dem_median > self.max_dem,
+            dem_median + self.max_dem,
+            dem_max,
+        )
+
         # Generate CarsDataset
 
         dem = cars_dataset.CarsDataset("arrays", name="dem_generation")

cars/applications/sparse_matching/sift.py

@@ -102,6 +102,7 @@ def __init__(self, conf=None):
         self.sift_peak_threshold = self.used_config["sift_peak_threshold"]
         self.sift_edge_threshold = self.used_config["sift_edge_threshold"]
         self.sift_magnification = self.used_config["sift_magnification"]
+        self.sift_window_size = self.used_config["sift_window_size"]
         self.sift_back_matching = self.used_config["sift_back_matching"]
 
         # sifts filter
@@ -163,21 +164,22 @@ def check_conf(self, conf):
 
         # sifts params
         overloaded_conf["sift_matching_threshold"] = conf.get(
-            "sift_matching_threshold", 0.6
+            "sift_matching_threshold", 0.7
         )
         overloaded_conf["sift_n_octave"] = conf.get("sift_n_octave", 8)
         overloaded_conf["sift_n_scale_per_octave"] = conf.get(
             "sift_n_scale_per_octave", 3
         )
         overloaded_conf["sift_peak_threshold"] = conf.get(
-            "sift_peak_threshold", None
+            "sift_peak_threshold", 4.0
         )
         overloaded_conf["sift_edge_threshold"] = conf.get(
-            "sift_edge_threshold", 5.0
+            "sift_edge_threshold", 10.0
         )
         overloaded_conf["sift_magnification"] = conf.get(
-            "sift_magnification", 2.0
+            "sift_magnification", 7.0
         )
+        overloaded_conf["sift_window_size"] = conf.get("sift_window_size", 2)
         overloaded_conf["sift_back_matching"] = conf.get(
             "sift_back_matching", True
         )
@@ -214,6 +216,7 @@ def check_conf(self, conf):
             "sift_peak_threshold": Or(float, None),
             "sift_edge_threshold": float,
             "sift_magnification": And(float, lambda x: x > 0),
+            "sift_window_size": And(int, lambda x: x > 0),
             "sift_back_matching": bool,
             "matches_filter_knn": int,
             "matches_filter_dev_factor": Or(int, float),
@@ -547,6 +550,7 @@ def run(
                         peak_threshold=tmp_sift_peak_threshold,
                         edge_threshold=self.sift_edge_threshold,
                         magnification=self.sift_magnification,
+                        window_size=self.sift_window_size,
                         backmatching=self.sift_back_matching,
                         disp_lower_bound=disp_lower_bound,
                         disp_upper_bound=disp_upper_bound,
@@ -763,6 +767,7 @@ def compute_matches_wrapper(
     peak_threshold=None,
     edge_threshold=None,
     magnification=None,
+    window_size=None,
     backmatching=None,
     disp_lower_bound=None,
     disp_upper_bound=None,
@@ -811,6 +816,7 @@ def compute_matches_wrapper(
         peak_threshold=peak_threshold,
         edge_threshold=edge_threshold,
         magnification=magnification,
+        window_size=window_size,
         backmatching=backmatching,
         disp_lower_bound=disp_lower_bound,
         disp_upper_bound=disp_upper_bound,

cars/applications/sparse_matching/sparse_matching_tools.py

@@ -60,12 +60,13 @@ def compute_matches(
     right_mask: np.ndarray = None,
     left_origin: [float, float] = None,
     right_origin: [float, float] = None,
-    matching_threshold: float = 0.6,
+    matching_threshold: float = 0.7,
     n_octave: int = 8,
     n_scale_per_octave: int = 3,
-    peak_threshold: float = 20.0,
-    edge_threshold: float = 5.0,
-    magnification: float = 2.0,
+    peak_threshold: float = 4.0,
+    edge_threshold: float = 10.0,
+    magnification: float = 7.0,
+    window_size: int = 2,
     backmatching: bool = True,
     disp_lower_bound=None,
     disp_upper_bound=None,
@@ -98,6 +99,8 @@ def compute_matches(
     :type edge_threshold: float
     :param magnification: set the descriptor magnification factor
     :type magnification: float
+    :param window_size: size of the window
+    :type window_size: int
     :param backmatching: also check that right vs. left gives same match
     :type backmatching: bool
     :return: matches
@@ -115,6 +118,7 @@ def compute_matches(
         peak_thresh=peak_threshold,
         edge_thresh=edge_threshold,
         magnification=magnification,
+        window_size=window_size,
         float_descriptors=True,
         compute_descriptor=True,
         verbose=False,
@@ -128,6 +132,7 @@ def compute_matches(
         peak_thresh=peak_threshold,
         edge_thresh=edge_threshold,
         magnification=magnification,
+        window_size=window_size,
         float_descriptors=True,
         compute_descriptor=True,
         verbose=False,
@@ -265,12 +270,13 @@ def compute_matches(
 def dataset_matching(
     ds1,
     ds2,
-    matching_threshold=0.6,
+    matching_threshold=0.7,
     n_octave=8,
     n_scale_per_octave=3,
-    peak_threshold=20.0,
-    edge_threshold=5.0,
-    magnification=2.0,
+    peak_threshold=4.0,
+    edge_threshold=10.0,
+    magnification=7.0,
+    window_size=2,
     backmatching=True,
     disp_lower_bound=None,
     disp_upper_bound=None,
@@ -294,6 +300,8 @@ def dataset_matching(
     :param edge_threshold: the edge selection threshold.
     :param magnification: set the descriptor magnification factor
     :type magnification: float
+    :param window_size: size of the window
+    :type window_size: int
     :param backmatching: also check that right vs. left gives same match
     :type backmatching: bool
     :return: matches
@@ -320,6 +328,7 @@ def dataset_matching(
         peak_threshold=peak_threshold,
         edge_threshold=edge_threshold,
         magnification=magnification,
+        window_size=window_size,
         backmatching=backmatching,
         disp_lower_bound=disp_lower_bound,
         disp_upper_bound=disp_upper_bound,

cars/pipelines/default/default_pipeline.py

@@ -460,7 +460,11 @@ def check_applications(
                 ]
 
             if self.merging:  # we have to merge point clouds, add merging apps
-                needed_applications += ["point_cloud_fusion"]
+                needed_applications += [
+                    "point_cloud_fusion",
+                    "point_cloud_outliers_removing.1",
+                    "point_cloud_outliers_removing.2",
+                ]
 
         for app_key in conf.keys():
             if app_key not in needed_applications:
@@ -668,7 +672,7 @@ def check_applications_with_inputs(self, inputs_conf, application_conf):
         )
         if self.sparse_mtch_app.elevation_delta_lower_bound is None:
             self.sparse_mtch_app.used_config["elevation_delta_lower_bound"] = (
-                -100 if initial_elevation else -1000
+                -500 if initial_elevation else -1000
             )
             self.sparse_mtch_app.elevation_delta_lower_bound = (
                 self.sparse_mtch_app.used_config["elevation_delta_lower_bound"]

docs/source/usage.rst

@@ -843,18 +843,20 @@ The structure follows this organisation:
                 +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
                 | minimum_nb_matches                   | Minimum number of matches that must be computed to continue pipeline                           | int         | should be > 0          | 100           | No       |
                 +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
-                | sift_matching_threshold              | Threshold for the ratio to nearest second match                                                | float       | should be > 0          | 0.6           | No       |
+                | sift_matching_threshold              | Threshold for the ratio to nearest second match                                                | float       | should be > 0          | 0.7           | No       |
                 +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
                 | sift_n_octave                        | The number of octaves of the Difference of Gaussians scale space                               | int         | should be > 0          | 8             | No       |
                 +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
                 | sift_n_scale_per_octave              | The numbers of levels per octave of the Difference of Gaussians scale space                    | int         | should be > 0          | 3             | No       |
                 +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
-                | sift_peak_threshold                  | Constrast threshold to discard a match (at None it will be set according to image type)        | float       | should be > 0, or None | None          | No       |
+                | sift_peak_threshold                  | Constrast threshold to discard a match (at None it will be set according to image type)        | float       | should be > 0          | 4.0           | No       |
                 +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
-                | sift_edge_threshold                  | Distance to image edge threshold to discard a match                                            | float       |                        | -5.0          | No       |
+                | sift_edge_threshold                  | Distance to image edge threshold to discard a match                                            | float       |                        | 10.0          | No       |
                 +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
-                | sift_magnification                   | The descriptor magnification factor                                                            | float       | should be > 0          | 2.0           | No       |
+                | sift_magnification                   | The descriptor magnification factor                                                            | float       | should be > 0          | 7.0           | No       |
                 +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
+                | sift_window_size                     | smaller values let the center of the descriptor count more                                     | int         | should be > 0          | 2             | No       |
+                +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+                                
                 | sift_back_matching                   | Also check that right vs. left gives same match                                                | boolean     |                        | true          | No       |
                 +--------------------------------------+------------------------------------------------------------------------------------------------+-------------+------------------------+---------------+----------+
                 | matches_filter_knn                   | Number of neighbors used to measure isolation of matches and detect isolated matches           | int         | should be > 0          | 25            | No       |
@@ -868,15 +870,6 @@ The structure follows this organisation:
 
 
                 For more information about these parameters, please refer to the `VLFEAT SIFT documentation <https://www.vlfeat.org/api/sift.html>`_.
-
-                .. note::
-
-                    By default, the sift_peak_threshold is set to None (auto-mode). In this mode, the sift_peak_threshold is determined at runtime based on the sensor image type:
-
-                    * uint8 image type : sift_peak_threshold = 1
-                    * other image type sift_peak_threshold = 20
-
-                    It is also possible to set the value to a fixed value.
 
                 **Example**
 
@@ -923,6 +916,10 @@ The structure follows this organisation:
                 +---------------------------------+------------------------------------------------------------+------------+-----------------+---------------+----------+
                 | fillnodata_max_search_distance  | Max search distance for rasterio fill nodata               | int        | should be > 0   | 3             | No       |
                 +---------------------------------+------------------------------------------------------------+------------+-----------------+---------------+----------+
+                | min_dem                         | Min value that has to be reached by dem_min                | int        | should be < 0   | -500          | No       |
+                +---------------------------------+------------------------------------------------------------+------------+-----------------+---------------+----------+
+                | max_dem                         | Max value that has to be reached by dem_max                | int        | should be > 0   | 1000          | No       |
+                +---------------------------------+------------------------------------------------------------+------------+-----------------+---------------+----------+
 
                 **Example**