shareloc.geofunctions.triangulation
===================================

.. py:module:: shareloc.geofunctions.triangulation

.. autoapi-nested-parse::

   This module contains triangulation methods.



Functions
---------

.. autoapisummary::

   shareloc.geofunctions.triangulation.sensor_triangulation
   shareloc.geofunctions.triangulation.distance_point_los
   shareloc.geofunctions.triangulation.n_view_distance
   shareloc.geofunctions.triangulation.los_triangulation
   shareloc.geofunctions.triangulation.n_view_triangulation
   shareloc.geofunctions.triangulation.transform_disp_to_matches
   shareloc.geofunctions.triangulation.epipolar_triangulation


Module Contents
---------------

.. py:function:: sensor_triangulation(matches, geometrical_model_left, geometrical_model_right, left_min_max=None, right_min_max=None, residues=False, fill_nan=False)

   triangulation in sensor geometry

   according to the formula:
       .. math::

           x = \left(\sum_i I-\hat v_i \hat v_i^\top\right)^{-1}
           \left(\sum_i (I-\hat v_i \hat v_i^\top) s_i\right)

   Delvit J.M. et al. "The geometric supersite of Salon de Provence", ISPRS Congress Paris, 2006.

   :param matches:  matches in sensor coordinates Nx[row (left), col (left), row (right), col (right)]
   :type matches: np.array
   :param geometrical_model_left: left image geometrical model
   :type geometrical_model_left: GeomodelTemplate
   :param geometrical_model_right: right image geometrical model
   :type geometrical_model_right: GeomodelTemplate
   :param left_min_max: left min/max for los creation, if None model min/max will be used
   :type left_min_max: list
   :param right_min_max: right min/max for los creation, if None model min/max will be used
   :type right_min_max: list
   :param residues: calculates residues (distance in meters between los and 3D points)
   :type residues: boolean
   :param fill_nan: fill numpy.nan values with lon and lat offset if true (same as OTB/OSSIM), nan is returned
       otherwise
   :type fill_nan: boolean
   :return: intersections in cartesian crs, intersections in wgs84 crs and optionnaly residues
   :rtype: (numpy.array,numpy,array,numpy.array)


.. py:function:: distance_point_los(los, points)

   distance between points and LOS
   norm of cross product between vector defined by LOS sis and point and LOS vis

   :param los:  line of sight
   :type los: shareloc.los
   :param points:  3D points
   :type points: numpy.array
   :return: distance
   :rtype: numpy.array


.. py:function:: n_view_distance(sis, vis, points)

   distance between points and LOS
   norm of cross product between vector defined by LOS sis and point and LOS vis

   :param sis: LOS hat, numpy np.ndarray of size (nb_points,nb_views,3)
   :param vis: LOS viewing vector, np.ndarray of size (nb_points,nb_views,3)
   :param points: 3D points
   :return: distance


.. py:function:: los_triangulation(left_los, right_los)

   LOS triangulation

   :param left_los:  left los
   :type left_los: shareloc.los
   :param right_los:  right los
   :type right_los: shareloc.los
   :return: intersections in cartesian crs
   :rtype: numpy.array


.. py:function:: n_view_triangulation(sis, vis)

   n view triangulation for nb_points mapping

   :param sis: LOS hat as numpy np.ndarray of size (nb_points,nb_views,3)
   :param vis: LOS viewing vector np.ndarray of size (nb_points,nb_views,3)
   :return: triangulation as a np.ndarray of size (nb_points,3)


.. py:function:: transform_disp_to_matches(disp, mask=None)

   transform disparity map to matches

   :param disp:  disparity xarray
   :type disp: xarray
   :param mask:  mask
   :type mask: numpy.array
   :return: epipolar matches and logical non masked values
   :rtype: list of numpy.arrray


.. py:function:: epipolar_triangulation(matches, mask, matches_type, geometrical_model_left, geometrical_model_right, grid_left, grid_right, left_min_max=None, right_min_max=None, residues=False, fill_nan=False, is_displacement_grid=False, interpolator='linear')

   epipolar triangulation

   :param matches:  matches
   :type matches: dependent of disp or sift
   :param mask:  mask for disparity (see transform_disp_to_matches)
   :type mask: numpy.array
   :param matches_type:  'disp' or 'sift'
   :type matches_type: str
   :param geometrical_model_left: left image geometrical model
   :type geometrical_model_left: GeomodelTemplate
   :param geometrical_model_right: right image geometrical model
   :type geometrical_model_right: GeomodelTemplate
   :param grid_left: left rectification grid filename
   :type grid_left: str
   :param grid_right: right rectification grid filename
   :type grid_right: str
   :param left_min_max: left min/max for los creation, if None model min/max will be used
   :type left_min_max: list
   :param right_min_max: right min/max for los creation, if None model min/max will be used
   :type right_min_max: list
   :param residues: calculates residues (distance in meters)
   :type residues: boolean
   :param fill_nan: fill numpy.nan values with lon and lat offset if true (same as OTB/OSSIM), nan is returned
       otherwise
   :type fill_nan: boolean
   :param is_displacement_grid: True if grids are displacement grids
   :type is_displacement_grid: bool
   :param interpolator: grid interpolator
   :type interpolator: str
   :return: intersections in cartesian crs
   :rtype: numpy.array