shareloc.geofunctions.triangulation

This module contains triangulation methods.

Module Contents

Functions

sensor_triangulation(matches, geometrical_model_left, ...)

triangulation in sensor geometry

distance_point_los(los, points)

distance between points and LOS

los_triangulation(left_los, right_los)

LOS triangulation

transform_disp_to_matches(disp[, mask])

transform disparity map to matches

epipolar_triangulation(matches, mask, matches_type, ...)

epipolar triangulation
shareloc.geofunctions.triangulation.sensor_triangulation(matches, geometrical_model_left, geometrical_model_right, left_min_max=None, right_min_max=None, residues=False, fill_nan=False)[source]

triangulation in sensor geometry

according to the formula:

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.

Parameters:

  • matches (np.array) – matches in sensor coordinates Nx[row (left), col (left), row (right), col (right)]

  • geometrical_model_left (GeomodelTemplate) – left image geometrical model

  • geometrical_model_right (GeomodelTemplate) – right image geometrical model

  • left_min_max (list) – left min/max for los creation, if None model min/max will be used

  • right_min_max (list) – right min/max for los creation, if None model min/max will be used

  • residues (boolean) – calculates residues (distance in meters between los and 3D points)

  • fill_nan (boolean) – fill numpy.nan values with lon and lat offset if true (same as OTB/OSSIM), nan is returned otherwise

Returns:

intersections in cartesian crs, intersections in wgs84 crs and optionnaly residues

Return type:

(numpy.array,numpy,array,numpy.array)

shareloc.geofunctions.triangulation.distance_point_los(los, points)[source]

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

Parameters:

  • los (shareloc.los) – line of sight

  • points (numpy.array) – 3D points

Returns:

distance

Return type:

numpy.array

shareloc.geofunctions.triangulation.los_triangulation(left_los, right_los)[source]

LOS triangulation

Parameters:

  • left_los (shareloc.los) – left los

  • right_los (shareloc.los) – right los

Returns:

intersections in cartesian crs

Return type:

numpy.array

shareloc.geofunctions.triangulation.transform_disp_to_matches(disp, mask=None)[source]

transform disparity map to matches

Parameters:

  • disp (xarray) – disparity xarray

  • mask (numpy.array) – mask

Returns:

epipolar matches and logical non masked values

Return type:

list of numpy.arrray

shareloc.geofunctions.triangulation.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)[source]

epipolar triangulation

Parameters:

  • matches (dependent of disp or sift) – matches

  • mask (numpy.array) – mask for disparity (see transform_disp_to_matches)

  • matches_type (str) – ‘disp’ or ‘sift’

  • geometrical_model_left (GeomodelTemplate) – left image geometrical model

  • geometrical_model_right (GeomodelTemplate) – right image geometrical model

  • grid_left (str) – left rectification grid filename

  • grid_right (str) – right rectification grid filename

  • left_min_max (list) – left min/max for los creation, if None model min/max will be used

  • right_min_max (list) – right min/max for los creation, if None model min/max will be used

  • residues (boolean) – calculates residues (distance in meters)

  • fill_nan (boolean) – fill numpy.nan values with lon and lat offset if true (same as OTB/OSSIM), nan is returned otherwise

Returns:

intersections in cartesian crs

Return type:

numpy.array