pandora
This module contains functions to run Pandora pipeline.
Subpackages
Submodules
Package Contents
Functions
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Run the pandora pipeline |
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Setup the logging configuration |
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Load all the registered entry points |
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Check config file and run pandora framework accordingly |
- pandora.run(pandora_machine: state_machine.PandoraMachine, img_left: xarray.Dataset, img_right: xarray.Dataset, disp_min: Union[numpy.ndarray, int], disp_max: Union[numpy.ndarray, int], cfg: Dict[str, dict], disp_min_right: Union[None, numpy.ndarray] = None, disp_max_right: Union[None, numpy.ndarray] = None) Tuple[xarray.Dataset, xarray.Dataset] [source]
Run the pandora pipeline
- Parameters:
pandora_machine (PandoraMachine) – instance of PandoraMachine
img_left (xarray.Dataset) –
left Dataset image containing :
im : 2D (row, col) or 3D (band, row, col) xarray.DataArray
msk (optional): 2D (row, col) xarray.DataArray
img_right (xarray.Dataset) –
right Dataset image containing :
im : 2D (row, col) or 3D (band, row, col) xarray.DataArray
msk (optional): 2D (row, col) xarray.DataArray
disp_min (int or np.ndarray) – minimal disparity
disp_max (int or np.ndarray) – maximal disparity
cfg (Dict[str, dict]) – pipeline configuration
disp_min_right (np.ndarray or None) – minimal disparity of the right image
disp_max_right (np.ndarray or None) – maximal disparity of the right image
- Returns:
Two xarray.Dataset :
- leftthe left dataset, which contains the variables :
disparity_map : the disparity map in the geometry of the left image 2D DataArray (row, col)
confidence_measure : the confidence measure in the geometry of the left image 3D DataArray (row, col, indicator)
validity_mask : the validity mask in the geometry of the left image 2D DataArray (row, col)
- rightthe right dataset. If there is no validation step, the right Dataset will be empty.If a validation step is configured, the dataset will contain the variables :
disparity_map : the disparity map in the geometry of the right image 2D DataArray (row, col)
confidence_measure : the confidence measure in the geometry of the left image 3D DataArray (row, col, indicator)
validity_mask : the validity mask in the geometry of the left image 2D DataArray (row, col)
- Return type:
tuple (xarray.Dataset, xarray.Dataset)