pandora2d.state_machine

This module contains class associated to the pandora state machine

Module Contents

Classes

MarginsProperties

Properties of Margins used in Margins transitions.

Pandora2DMachine

Pandora2DMacine class to create and use a state machine
class pandora2d.state_machine.MarginsProperties[source]

Bases: TypedDict

Properties of Margins used in Margins transitions.

type: Literal[aggregate, maximum][source]
margins: typing_extensions.Annotated[List[int], ["left, "up", "right", "down"]][source]
class pandora2d.state_machine.Pandora2DMachine[source]

Bases: transitions.Machine

Pandora2DMacine class to create and use a state machine

_transitions_run[source]
_transitions_check[source]
margins[source]
run_prepare(img_left: xarray.Dataset, img_right: xarray.Dataset) → None[source]

Prepare the machine before running

Parameters:

  • img_left (xarray.Dataset) –

    left Dataset image containing :

    • im : 2D (row, col) xarray.DataArray

    • msk : 2D (row, col) xarray.DataArray

  • img_right (xarray.Dataset) –

    left Dataset image containing :

    • im : 2D (row, col) xarray.DataArray

    • msk : 2D (row, col) xarray.DataArray

run(input_step: str, cfg: Dict[str, dict]) → None[source]

Run pandora 2D step by triggering the corresponding machine transition

Parameters:

  • input_step (str) – step to trigger

  • cfg (dict) – pipeline configuration

Returns:

None

run_exit() → None[source]

Clear transitions and return to state begin

Returns:

None

check_conf(cfg: Dict[str, dict]) → None[source]

Check configuration and transitions

Parameters:

cfg (dict) – pipeline configuration

Returns:

remove_transitions(transition_list: Dict[str, dict]) → None[source]

Delete all transitions defined in the input list

Parameters:

transition_list (dict) – list of transitions

Returns:

None

get_global_margins()[source]

Aggregation margins

matching_cost_check_conf(cfg: Dict[str, dict], input_step: str) → None[source]

Check the disparity computation configuration

Parameters:

  • cfg (dict) – configuration

  • input_step (string) – current step

Returns:

None

disparity_check_conf(cfg: Dict[str, dict], input_step: str) → None[source]

Check the disparity computation configuration

Parameters:

  • cfg (dict) – configuration

  • input_step (string) – current step

Returns:

None

refinement_check_conf(cfg: Dict[str, dict], input_step: str) → None[source]

Check the refinement configuration

Parameters:

  • cfg (dict) – configuration

  • input_step (string) – current step

Returns:

None

matching_cost_prepare(cfg: Dict[str, dict], input_step: str) → None[source]

Matching cost prepare

Parameters:

  • cfg (dict) – pipeline configuration

  • input_step (str) – step to trigger

Returns:

None

matching_cost_run(_, __) → None[source]

Matching cost computation

Returns:

None

disp_maps_run(cfg: Dict[str, dict], input_step: str) → None[source]

Disparity computation and validity mask

Parameters:

  • cfg (dict) – pipeline configuration

  • input_step (str) – step to trigger

Returns:

None

refinement_run(cfg: Dict[str, dict], input_step: str) → None[source]

Subpixel disparity refinement

Parameters:

  • cfg (dict) – pipeline configuration

  • input_step (str) – step to trigger

Returns:

None