# Copyright (c) 2025 Centre National d'Etudes Spatiales (CNES).
#
# This file is part of PANDORA
#
# https://github.com/CNES/Pandora
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
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# See the License for the specific language governing permissions and
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# pylint: skip-file
import numpy as np
from typing import Tuple
[docs]
def create_connected_graph(border_left: np.ndarray, border_right: np.ndarray, depth: int) -> np.ndarray:
"""
Create a boolean connection matrix from segment coordinates
:param border_left: array containing the coordinates of segments left border
:type border_left: (n, 2) np.ndarray where n is the number of segments
:param border_right: array containing the coordinates of segments right border
:type border_right: (n, 2) np.ndarray where n is the number of segments
:param depth: the depth for regularization. It corresponds to the number of rows
to explore below and above.
:return: A symmetric boolean matrix of shape (n, n). 1 indicating that the segment are connected
:rtype: np.ndarray of shape (n, n)
"""
...
[docs]
def graph_regularization(
interval_inf: np.ndarray,
interval_sup: np.ndarray,
border_left: np.ndarray,
border_right: np.ndarray,
connection_graph: np.ndarray,
quantile: float,
) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
"""
Regularize the intervals based on quantiles and a given connection graph.
:param interval_inf: The lower estimation of the disparity to regularize
:type interval_inf: (row, col) np.ndarray
:param interval_sup: The upper estimation of the disparity to regularize
:type interval_sup: (row, col) np.ndarray
:param border_left: array containing the coordinates of segments left border
:type border_left: (n, 2) np.ndarray where n is the number of segments
:param border_right: array containing the coordinates of segments right border
:type border_right: (n, 2) np.ndarray where n is the number of segments
:param connection graph: A matrix indicating if the segments (n in total) are connected
:type connection graph: (n, n) boolean symmetric np.ndarray
:param quantile: Which quantile to select for the regularized value
:type quantile: float. 0 <= quantile <= 1
:return: The regularized inf and sup of the disparity, and a boolean mask indicating regularization
:rtype: Tuple[np.ndarray, np.ndarray, np.ndarray]
"""
return None, None, None