Merge branch '900-chaine-low-cost' into 'master'

Chaine low cost: sans validation croisée

Closes #900

See merge request 3d/cars-park/cars!748

cars/applications/dense_matching/census_mccnn_sgm.py

@@ -108,6 +108,7 @@ def __init__(self, conf=None):
         self.disp_range_propagation_filter_size = self.used_config[
             "disp_range_propagation_filter_size"
         ]
+        self.use_cross_validation = self.used_config["use_cross_validation"]
         # Saving files
         self.save_intermediate_data = self.used_config["save_intermediate_data"]
 
@@ -171,6 +172,9 @@ def check_conf(self, conf):
         overloaded_conf["perf_ambiguity_threshold"] = conf.get(
             "perf_ambiguity_threshold", 0.6
         )
+        overloaded_conf["use_cross_validation"] = conf.get(
+            "use_cross_validation", False
+        )
         # Margins computation parameters
         overloaded_conf["use_global_disp_range"] = conf.get(
             "use_global_disp_range", False
@@ -213,6 +217,7 @@ def check_conf(self, conf):
             perf_eta_max_ambiguity=overloaded_conf["perf_eta_max_ambiguity"],
             perf_eta_max_risk=overloaded_conf["perf_eta_max_risk"],
             perf_eta_step=overloaded_conf["perf_eta_step"],
+            use_cross_validation=overloaded_conf["use_cross_validation"],
         )
         overloaded_conf["loader"] = loader
         overloaded_conf["loader_conf"] = loader_conf
@@ -237,6 +242,7 @@ def check_conf(self, conf):
             "perf_eta_max_risk": float,
             "perf_eta_step": float,
             "perf_ambiguity_threshold": float,
+            "use_cross_validation": bool,
             "use_global_disp_range": bool,
             "local_disp_grid_step": int,
             "disp_range_propagation_filter_size": And(

cars/applications/dense_matching/loaders/config_census_sgm.json

@@ -26,10 +26,6 @@
         "filter": {
             "filter_method": "median",
             "filter_size": 3
-        },
-        "validation": {
-            "validation_method": "cross_checking_accurate",
-            "cross_checking_threshold": 1.0
         }
     }
 }

cars/applications/dense_matching/loaders/config_mccnn.json

@@ -23,10 +23,6 @@
         "filter" : {
             "filter_method": "median",
             "filter_size": 3
-        },
-        "validation" : {
-            "validation_method": "cross_checking_accurate",
-            "cross_checking_threshold": 1
         }
     }
 }

cars/applications/dense_matching/loaders/pandora_loader.py

@@ -58,6 +58,7 @@ def __init__(  # noqa: C901
         perf_eta_max_ambiguity=0.99,
         perf_eta_max_risk=0.25,
         perf_eta_step=0.04,
+        use_cross_validation=False,
     ):
         """
         Init function of PandoraLoader
@@ -70,8 +71,11 @@ def __init__(  # noqa: C901
         :type conf: dict
         :param method_name: name of method to use
         :param performance_map_conf: true if generate performance maps
+        :param use_cross_validation: true to add crossvalidation
 
         """
+        if method_name is None:
+            method_name = "census_sgm"
 
         self.pandora_config = None
 
@@ -141,6 +145,13 @@ def __init__(  # noqa: C901
                 "confidence_method": "interval_bounds",
             }
         }
+        # Cross validation
+        cross_validation_conf = {
+            "validation": {
+                "validation_method": "cross_checking_accurate",
+                "cross_checking_threshold": 1.0,
+            }
+        }
 
         confidences = {}
         if generate_performance_map:
@@ -175,6 +186,10 @@ def __init__(  # noqa: C901
             conf["pipeline"], confidences
         )
 
+        # update with cross validation
+        if use_cross_validation and "validation" not in conf["pipeline"]:
+            conf["pipeline"].update(cross_validation_conf)
+
         if generate_confidence_intervals:
             # To ensure the consistency between the disparity map
             # and the intervals, the median filter for intervals

docs/source/usage.rst

@@ -1057,6 +1057,12 @@ The structure follows this organisation:
                   - should be > 0
                   - 300
                   - No
+                * - use_cross_validation
+                  - Add cross validation step
+                  - bool
+                  -
+                  - false
+                  - No
 
             See `Pandora documentation <https://pandora.readthedocs.io/>`_ for more information.
 

tests/applications/dense_matching/test_pandora_loader.py

@@ -25,6 +25,8 @@
 # Standard imports
 
 # Third party imports
+import copy
+
 import pytest
 
 # CARS imports
@@ -95,6 +97,67 @@ def test_configure_pandora_config():
     assert corr_config["pipeline"]["optimization"]["penalty"]["P2"] == 24
 
 
+@pytest.mark.unit_tests
+def test_configure_cross_validation():
+    """
+    Test configure pandora correlator cross validation
+    """
+
+    pandora_config = {
+        "input": {"nodata_left": "NaN", "nodata_right": "NaN"},
+        "pipeline": {
+            "right_disp_map": {"method": "accurate"},
+            "matching_cost": {
+                "matching_cost_method": "census",
+                "window_size": 5,
+                "subpix": 1,
+            },
+            "optimization": {
+                "optimization_method": "sgm",
+                "penalty": {
+                    "P1": 8,
+                    "P2": 24,
+                    "p2_method": "constant",
+                    "penalty_method": "sgm_penalty",
+                },
+                "overcounting": False,
+                "min_cost_paths": False,
+            },
+            "disparity": {
+                "disparity_method": "wta",
+                "invalid_disparity": "NaN",
+            },
+            "refinement": {"refinement_method": "vfit"},
+            "filter": {"filter_method": "median", "filter_size": 3},
+        },
+    }
+
+    # test 1, validation as input already
+    conf_with_validation = copy.deepcopy(pandora_config)
+    conf_with_validation["pipeline"].update(
+        {"validation": {"validation_method": "cross_checking"}}
+    )
+    pandora_loader = PandoraLoader(
+        conf=conf_with_validation, use_cross_validation=False
+    )
+    corr_config = pandora_loader.get_conf()
+    assert "validation" in corr_config["pipeline"]
+
+    # test 2: no validation as input, add it
+    pandora_loader = PandoraLoader(
+        conf=copy.deepcopy(pandora_config), use_cross_validation=True
+    )
+    corr_config = pandora_loader.get_conf()
+    assert "validation" in corr_config["pipeline"]
+
+    # test 3: no validation as input, do not add it
+    pandora_loader = PandoraLoader(
+        conf=copy.deepcopy(pandora_config), use_cross_validation=False
+    )
+    corr_config = pandora_loader.get_conf()
+    assert "validation" not in corr_config["pipeline"]
+
+
 @pytest.mark.unit_tests
 def test_overload_pandora_conf_with_confidence():
     """

tests/test_end2end.py

@@ -93,6 +93,7 @@ def test_end2end_gizeh_rectangle_epi_image_performance_map():
             "grid_generation": {"method": "epipolar", "epi_step": 30},
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "use_global_disp_range": True,
             },
             "point_cloud_rasterization": {
@@ -632,6 +633,7 @@ def test_end2end_ventoux_unique():
             },
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "use_global_disp_range": False,
                 "loader_conf": {
                     "input": {},
@@ -1029,6 +1031,7 @@ def test_end2end_ventoux_unique():
         dense_dsm_applications = {
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "use_global_disp_range": False,
             },
             "point_cloud_outliers_removing.1": {
@@ -1102,6 +1105,12 @@ def test_end2end_ventoux_unique_split_epsg_4326():
                 "max_ram_per_worker": 1000,
             },
         )
+        input_config_pc["applications"] = {
+            "dense_matching": {
+                "method": "census_sgm",
+                "use_cross_validation": True,
+            },
+        }
         pc_pipeline = sensor_to_dense_dsm.SensorToDenseDsmPipeline(
             input_config_pc
         )
@@ -1317,6 +1326,7 @@ def test_end2end_ventoux_unique_split():
             },
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "use_global_disp_range": False,
                 "save_intermediate_data": True,
                 "generate_confidence_intervals": False,
@@ -2222,6 +2232,7 @@ def test_end2end_use_epipolar_a_priori():
             },
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "use_global_disp_range": False,
             },
         }
@@ -2442,6 +2453,10 @@ def test_end2end_ventoux_full_output_no_elevation():
                 "disparity_margin": 0.25,
                 "save_intermediate_data": True,
             },
+            "dense_matching": {
+                "method": "census_sgm",
+                "use_cross_validation": True,
+            },
         }
         advanced_config = {"save_intermediate_data": True}
 
@@ -2840,6 +2855,7 @@ def test_end2end_ventoux_with_color():
             },
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "loader": "pandora",
                 "save_intermediate_data": True,
                 "use_global_disp_range": False,
@@ -3099,6 +3115,7 @@ def test_end2end_ventoux_with_classif():
             },
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "loader": "pandora",
                 "save_intermediate_data": True,
                 "use_global_disp_range": False,
@@ -3274,6 +3291,7 @@ def test_compute_dsm_with_roi_ventoux():
             "resampling": {"method": "bicubic", "strip_height": 80},
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "use_global_disp_range": False,
             },
             "sparse_matching": {
@@ -3435,6 +3453,7 @@ def test_compute_dsm_with_snap_to_img1():
             },
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "use_global_disp_range": False,
             },
             "triangulation": {
@@ -3554,6 +3573,7 @@ def test_end2end_quality_stats():
             },
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "use_global_disp_range": False,
             },
             "point_cloud_outliers_removing.1": {
@@ -3847,6 +3867,7 @@ def test_end2end_ventoux_egm96_geoid():
             },
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "use_global_disp_range": False,
             },
             "triangulation": {"method": "line_of_sight_intersection"},
@@ -3979,6 +4000,7 @@ def test_end2end_ventoux_egm96_geoid():
             },
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "use_global_disp_range": False,
             },
             "triangulation": {"method": "line_of_sight_intersection"},
@@ -4069,6 +4091,7 @@ def test_end2end_ventoux_egm96_geoid():
             },
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "use_global_disp_range": False,
             },
             "triangulation": {"method": "line_of_sight_intersection"},
@@ -4212,6 +4235,7 @@ def test_end2end_paca_with_mask():
             },
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "use_global_disp_range": False,
             },
             "dense_matches_filling.2": {
@@ -4323,6 +4347,7 @@ def test_end2end_disparity_filling():
         dense_dsm_applications = {
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "min_epi_tile_size": 100,
                 "save_intermediate_data": True,
                 "use_global_disp_range": False,
@@ -4455,6 +4480,7 @@ def test_end2end_disparity_filling_with_zeros():
         dense_dsm_applications = {
             "dense_matching": {
                 "method": "census_sgm",
+                "use_cross_validation": True,
                 "save_intermediate_data": True,
                 "use_global_disp_range": True,
             },