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Merge branch 'release' into 'master'
Release alpha 1.6.2a1 See merge request 3d/PandoraBox/pandora!367
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‎AUTHORS.md

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* Mathis Roux <[email protected]>
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* David Youssefi <[email protected]>
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* Roman Malinowski <[email protected]>
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* Tommy Calendini <[email protected]>
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Update here with new contributors.
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‎CHANGELOG.md

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# Changelog
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## 1.6.2a1 (September 2024)
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### Added
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- Using the numba cache. [#413]
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- Modification of check_conf to compare the disparity interval with the image size. [#411]
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- Addition of a spline order parameter to the shift_right_img method. [#420]
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- Add possibility to not use numba cache. [#421]
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### Changed
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- Update criteria documentation. [#410]
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- Changing the after callback to before in the state machine. [#407]
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- Updating the filtering.rst, a documentation file. [#414]
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- Remove numpy warning. [#408]
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### Fixed
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- Solving problems displaying images in notebooks. [#409]
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- Move the _indicator parameter to remove the sphinx warning. [#416]
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- Risk normalisation by external global interval. [#418]
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- Use of ‘max’ measurement type with ambiguity. [#404]
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## 1.6.1 (June 2024)
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### Changed

‎docs/source/exploring_the_field/criteria.rst

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- Information
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- pixel interval regularized
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These criteria are stored in a xarray `validity_mask` in cost volume et disparity map datasets.
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These criteria are stored in a Xarray.DataArray `validity_mask` in cost volume and disparity map Xarray.Datasets.
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The `validity_mask` is the same size as the left image.
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Criteria can be linked to user configuration, disparity range, or mismatch and occlusion for instance.
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Criteria 1 is also set after the cost volume computation for points that meet two conditions:
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- their cost volume is equal to nan for all disparities in the disparity range.
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- their cost volume are NaN for all disparities in the disparity range.
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- they are not on the edge of the image.
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**Criteria 2: right incomplete disparity range**
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.. image:: ../Images/validity_mask_before_cv.drawio.png
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As explained before, the validity_mask is also updated after the cost volume computation : we add criteria 1 for points which have
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cost volume equals to nan for all disparities and which are not on the border.
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As explained before, the validity_mask is also updated after the cost volume computation : we add criteria 1 for points which are NaN in the
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cost volume for all disparities and which are not on the border.
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Then, at the end of the matching cost step we obtain the following validity mask:
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.. image:: ../Images/validity_mask_matching_cost.drawio.png
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Validity mask after refinement step
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-----------------------------------
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In our previous example, after a refinement step with a quadratic method with obtain the following validity mask:
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In our previous example, after a refinement step with a quadratic method we obtain the following validity mask:
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.. image:: ../Images/validity_mask_refinement.drawio.png
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‎docs/source/userguide/faq.rst

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****************************************
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Some functions of Pandora are parallelized using the numba package. To prevent the use of this tool, it is possible to set
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an environment variable named **PANDORA_NUMBA_PARALLEL** to **false**.
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an environment variable named **PANDORA_NUMBA_PARALLEL** to **false**.
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How can I disable numba cache?
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******************************
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Some Pandora functions have a cache of the numba package. This cache can improve execution speed. To do this, you can set
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an environment variable named **PANDORA_NUMBA_PAR** to **true**.

‎docs/source/userguide/step_by_step/filtering.rst

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.. note:: Invalid pixels are not filtered. If a valid pixel contains an invalid pixel in its filter, the invalid pixel is ignored for the calculation
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**Configuration and parameters**
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.. list-table:: Configuration and parameters
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:widths: 19 19 19 19 19 19
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:header-rows: 1
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* - Name
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- Description
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- Type
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- Default value
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- Available value
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- Required
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* - *filter_method*
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- Filtering method
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- str
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-
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- | "median",
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| "bilateral",
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| "median_for_intervals"
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- Yes
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* - *filter_size*
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- Filter's size
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- int
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- 3
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- >=1
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- No. Only available if "median" or "median_for_intervals" filter
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* - *sigma_color*
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- Bilateral filter parameter
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- float
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- 2.0
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-
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- No. Only available if "bilateral" filter
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* - *sigma_space*
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- Bilateral filter parameter
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- float
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- 6.0
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-
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- No. Only available if "bilateral" filter
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* - *interval_indicator*
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- | Indicator for which interval to filter.
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| Ex: If *cfg* contains a step "cost_volume_confidence.intervals"
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| then *interval_indicator* should be "intervals"
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- str
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- ""
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-
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- No. Only available if "median_for_intervals" filter
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* - *regularization*
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- Activate regularization
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- bool
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- false
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- true, false
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- No. Only available if "median_for_intervals" filter
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* - *ambiguity_indicator*
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- | Indicator for which ambiguity to use during regularization.
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| Ex: If *cfg* contains a step "cost_volume_confidence.amb"
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| then *ambiguity_indicator* should be "amb"
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- str
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- ""
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-
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- No. Only available if "median_for_intervals" filter
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* - *ambiguity_threshold*
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- A pixel is regularized if threshold>ambiguity
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- float
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- 0.6
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- >0 and <1
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- No. Only available if "median_for_intervals" filter
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* - *ambiguity_kernel_size*
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- Ambiguity kernel size for regularization. See publication for details.
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- int
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- 5
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- >=0
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- No. Only available if "median_for_intervals" filter
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* - *vertical_depth*
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- Depth for graph regularization. See publication for details.
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- int
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- 2
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- >=0
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- No. Only available if "median_for_intervals" filter
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* - *quantile_regularization*
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- Quantile used for regularization
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- float
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- 0.9
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- >=0 and <=1
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- No. Only available if "median_for_intervals" filter
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.. tabs::
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.. tab:: Median
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.. tabs::
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.. list-table::
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:widths: 19 19 19 19 19 19
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:header-rows: 1
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* - Name
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- Description
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- Type
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- Default value
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- Available value
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- Required
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* - filter_method
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- Filtering method
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- str
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-
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- "median"
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- Yes
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* - filter_size
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- Filter's size
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- int
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- 3
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- >=1
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- No
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.. tab:: Bilateral
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.. tabs::
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.. list-table::
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:widths: 19 19 19 19 19 19
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:header-rows: 1
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* - Name
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- Description
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- Type
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- Default value
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- Available value
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- Required
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* - filter_method
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- Filtering method
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- str
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-
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- "bilateral"
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- Yes
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* - sigma_color
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- Bilateral filter parameter
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- float
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- 2.0
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-
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- No
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* - sigma_space
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- Bilateral filter parameter
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- float
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- 6.0
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-
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- No
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.. tab:: Median for intervals
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.. tabs::
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.. list-table::
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:widths: 19 19 19 19 19 19
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:header-rows: 1
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* - Name
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- Description
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- Type
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- Default value
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- Available value
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- Required
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* - filter_method
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- Filtering method
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- str
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-
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- "median_for_intervals"
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- Yes
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* - filter_size
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- Filter’s size
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- int
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- 3
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- >=1
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- No
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* - interval_indicator
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- | Indicator for which interval to filter.
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|
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| Ex: If cfg contains a step
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| “cost_volume_confidence.intervals” then
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| interval_indicator should be “intervals”
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- str
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- ""
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-
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- No
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* - regularization
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- Activate regularization
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- bool
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- False
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- True, False
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- No
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* - ambiguity_indicator
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- | Indicator for which ambiguity to use during
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| regularization.
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|
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| Ex: If cfg contains a step
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| “cost_volume_confidence.amb” then
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| ambiguity_indicator should be “amb”
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- str
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- ""
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-
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- No
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* - ambiguity_threshold
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- A pixel is regularized if threshold>ambiguity
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- float
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- 0.6
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- >0 and <1
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- No
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* - ambiguity_kernel_size
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- | Ambiguity kernel size for regularization.
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| See publication for details.
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- int
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- 5
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- >=0
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- No
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* - vertical_depth
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- | Depth for graph regularization.
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| See publication for details.
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- int
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- 2
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- >=0
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- No
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* - quantile_regularization
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- Quantile used for regularization
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- float
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- 0.9
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- >=0 and <=1
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- No
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**Example**
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‎notebooks/introduction_and_basic_usage.ipynb

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]
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},
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{
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"cell_type": "markdown",
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"<img src=\"../docs/source/Images/Machine_state_diagram.png\" width=\"700\">"
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"Image(\"../docs/source/Images/Machine_state_diagram.png\")"
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]
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},
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{

‎notebooks/usage_with_multiscale.ipynb

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]
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},
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{
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"cell_type": "markdown",
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"<img src=\"../docs/source/Images/Machine_state_diagram.png\" width=\"700\">"
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"Image(\"../docs/source/Images/Machine_state_diagram.png\")"
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]
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},
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{

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