Outputs

Pandora2D will store several data in the output folder which path is given in the output entry of the configuration file.

Table 9 Parameters
Name	Description	Type	Default value	Available value	Required
path	path where to save outputs	string	None		Yes
format	format used to save data	string	tiff	tiff	No
deformation_grid	deformation grid mode activation	dict with key “init_pixel_conv_grid”	None	{“init_pixel_conv_grid” : [0, 0]} {“init_pixel_conv_grid” : [0.5, 0.5]}	No

When the deformation_grid key is specified in the pandora2d output configuration, Pandora2D provides deformation grids instead of disparity maps. These deformation grids are calculated by adding the disparities calculated at the points to the initial positions of those points.

The init_pixel_conv_grid key corresponds to the convention chosen to designate pixels:

their upper left corner: {“init_pixel_conv_grid” : [0, 0]}.

their center: {“init_pixel_conv_grid” : [0.5, 0.5]}.

Thus, the values in the deformation grids correspond either to the center of the pixels or to their upper left corner, depending on the chosen convention.

Note

The deformation_grid_mode.ipynb notebook provides an example of converting disparity maps into deformation grids in API mode.

Configuration and associated output structure

Below is an example of an output configuration:

{
    "input":
    {
        // input content
    }
    ,
    "pipeline" :
    {
        // pipeline content
    },
    "output":
    {
        "path": "output/path",
        "format": "tiff"
    }
}

The configuration given in this example will result in the following tree structure:

output
└── path
    ├── config.json
    └── cost_volumes
        ├── confidence_measure.tif
    └── disparity_map
        ├── attributes.json
        ├── col_map.tif
        ├── correlation_score.tif
        ├── report.json
        ├── row_map.tif
        └── validity.tif

Below is an example of an output configuration:

{
    "input":
    {
        // input content
    }
    ,
    "pipeline" :
    {
        // pipeline content
    },
    "output":
    {
        "path": "output/path",
        "format": "tiff"
        "deformation_grid": {"init_pixel_conv_grid" : [0, 0]}
    }
}

The configuration given in this example will result in the following tree structure:

output
└── path
    ├── config.json
    └── cost_volumes
        ├── confidence_measure.tif
    └── disparity_map
        ├── attributes.json
        ├── col_deformation_map.tif
        ├── correlation_score.tif
        ├── report.json
        ├── row_deformation_map.tif
        └── validity.tif

Saved images

cost_volumes repository

confidence_measure.tif: confidence measure map (this file is present only if a cost_volume_confidence step is specified in the user pipeline).

disparity_map repository

row_map.tif, col_map.tif : disparity maps for rows and columns,

or row_deformation_map.tif, col_deformation_map.tif : deformation grids for rows and columns if the associated mode is enabled.
correlation_score.tif : correlation score map.
validity.tif : validity map containing several bands, each band encoded in 1 bit:
- a global validity map ‘validity_mask’, indicating whether each point is valid (value 0) or invalid (value 1) when at least one requested disparity cannot be computed.
- a global partial validity map ‘partial_validity_mask’, indicating whether each point is partially valid (value 0) or invalid (value 1) when all requested disparities cannot be computed.
- a band for each criteria indicating whether the corresponding criteria is raised at the point or not.

Warning

The output correlation_score map with optical flow refinement method contains the disparity step correlation score.

Saved statistic report

output/path/disparity_map/report.json : statistical report on the disparity values (row and col), saved as a JSON file.

The statistics are computed only on valid pixels: pixels whose value equals invalid_disparity (as defined in the user configuration json file) are excluded from all computations. The minimal_valid_pixel_ratio field indicates the proportion of valid pixels that were used.

The quantiles field contains the following percentiles of the disparity distribution among valid pixels:
- p10: 10th percentile
- p25: 25th percentile (first quartile)
- p50: 50th percentile (median)
- p75: 75th percentile (third quartile)
- p90: 90th percentile
Note

All values in report.json are expressed in pixels, matching the unit of the disparity maps.

Saved configuration

output/path/config.json : the config file used to run Pandora2D and estimation information if computed.

Saved attributes

output/path/disparity_map/attributes.json : the disparity maps dataset attributes saved in a json file. These attributes include:
origin_coordinates (row/col) to find the first point of the user ROI when one is used

step (row/col) corresponding to the matching cost step value

crs and transform

invalid disparity value
An example of these attributes is shown in the disparity map section of the As an API documentation part.