otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight > Class Template Reference

#include <otbStereoSensorModelToElevationMapFilter.h>

Inheritance diagram for otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >:

Collaboration diagram for otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >:

Public Types
typedef itk::SmartPointer< const Self >	ConstPointer
typedef itk::NormalizedCorrelationImageToImageMetric< TInputImage, TInputImage >	CorrelationMetricType
typedef GenericRSTransform< double, 3, 3 >	GenericRSTransform3DType
typedef GenericRSTransform	GenericRSTransformType
typedef OutputImageType::PixelType	HeightType
typedef TInputImage	InputImageType
typedef InputImageType::PixelType	InputPixelType
typedef InterpolatorType::Pointer	InterpolatorPointerType
typedef itk::InterpolateImageFunction< TInputImage, double >	InterpolatorType
typedef TOutputHeight	OutputImageType
typedef OutputImageType::PointType	OutputPointType
typedef OutputImageType::RegionType	OutputRegionType
typedef itk::SmartPointer< Self >	Pointer
typedef InputImageType::SizeType	RadiusType
typedef StereoSensorModelToElevationFilter	Self
typedef itk::ImageToImageFilter< TInputImage, TOutputHeight >	Superclass

Public Member Functions
virtual ::itk::LightObject::Pointer	CreateAnother (void) const
TOutputHeight *	GetCorrelationOutput ()
virtual double	GetCorrelationThreshold ()
const TInputImage *	GetMasterInput () const
virtual const char *	GetNameOfClass () const
const TInputImage *	GetSlaveInput () const
virtual bool	GetSubtractInitialElevation ()
virtual double	GetVarianceThreshold ()
virtual void	SetCorrelationThreshold (double _arg)
virtual void	SetElevationStep (double _arg)
virtual void	SetHigherElevation (double _arg)
virtual void	SetLowerElevation (double _arg)
void	SetMasterInput (const TInputImage *image)
void	SetSlaveInput (const TInputImage *image)
virtual void	SetSubtractInitialElevation (bool _arg)
virtual void	SetVarianceThreshold (double _arg)
virtual void	SubtractInitialElevationOff ()
virtual void	SubtractInitialElevationOn ()

Static Public Member Functions
static Pointer	New ()
InterpolatorPointerType	m_Interpolator
RadiusType	m_Radius
double	m_LowerElevation
double	m_HigherElevation
double	m_ElevationStep
double	m_CorrelationThreshold
double	m_VarianceThreshold
bool	m_SubtractInitialElevation
GenericRSTransform3DType::Pointer	m_MasterToSlave
void	SetRadius (unsigned int radius)
	StereoSensorModelToElevationFilter ()
	~StereoSensorModelToElevationFilter () override
void	ThreadedGenerateData (const OutputRegionType &outputRegionForThread, itk::ThreadIdType threadId) override
void	GenerateInputRequestedRegion (void) override
void	BeforeThreadedGenerateData () override
void	VerifyInputInformation () override
	StereoSensorModelToElevationFilter (const Self &)=delete
void	operator= (const Self &)=delete
double	Correlation (const std::vector< double > &master, const std::vector< double > &slave) const

Detailed Description

template<class TInputImage, class TOutputHeight>
class otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >

Using sensor models to perform correlation along epipolars.

This filter uses a pair of stereo images along-track to build an elevation map.

Images are not resampled to epipolar geometry. Instead, for each patch of the master image, corresponding patches are interpolated in the slave image according to a range of candidate elevations. Colocalisation is achieved through the GenericRSTransform for each pixel of the patch, which means the interpolated path follows the warping between the two images (it is not necesseraly aligned with slave image boundary). The elevation achieving the higher correlation is kept in the final elevation map.

Setting-up the elevation exploration range is simple : the LowerElevation and HigherElevation parameters allows setting the exploration range offsets with respect to the local elevation, and the ElevationStep parameter allows setting the step between candidate elevation. The local elevation can either be constant over the whole scene, or interpolated in a Digital Elevation Model. The latter allows accounting for highly varying elevation in large scene, and allows reducing the elevation exploration range. Please note that one can also use a geoid file along with the DEM.

Correlation parameters are as follows :

• The radius allows tuning patches size (default is 3),
• The CorrelationThreshold allows setting a threshold below which correlation is considered to fail. If the correlation maxima is below this threshold, the estimated elevation is discarded (default is 0.7).

• The VarianceThreshold allows discarding master patches for which variance is too small to yield reliable correlation. If the variance of the current master patch lies below this threshold, no elevation exploration is performed at this location (default is 4).

  This filter supports multi-threading and streaming. It can process images of any size and does not requires input images size to match. If images extents do not match, elevation will only be estimated over their overlapping extent. The elevation map is produced in the geometry and grid of the master input image.

Definition at line 83 of file otbStereoSensorModelToElevationMapFilter.h.

Member Typedef Documentation

ConstPointer

template<class TInputImage , class TOutputHeight >

typedef itk::SmartPointer<const Self> otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::ConstPointer

Definition at line 91 of file otbStereoSensorModelToElevationMapFilter.h.

CorrelationMetricType

template<class TInputImage , class TOutputHeight >

typedef itk::NormalizedCorrelationImageToImageMetric<TInputImage, TInputImage> otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::CorrelationMetricType

Definition at line 111 of file otbStereoSensorModelToElevationMapFilter.h.

GenericRSTransform3DType

template<class TInputImage , class TOutputHeight >

typedef GenericRSTransform<double, 3, 3> otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::GenericRSTransform3DType

Definition at line 110 of file otbStereoSensorModelToElevationMapFilter.h.

GenericRSTransformType

template<class TInputImage , class TOutputHeight >

typedef GenericRSTransform otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::GenericRSTransformType

Definition at line 109 of file otbStereoSensorModelToElevationMapFilter.h.

HeightType

template<class TInputImage , class TOutputHeight >

typedef OutputImageType::PixelType otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::HeightType

Definition at line 104 of file otbStereoSensorModelToElevationMapFilter.h.

InputImageType

template<class TInputImage , class TOutputHeight >

typedef TInputImage otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::InputImageType

Convenient typedefs

Definition at line 97 of file otbStereoSensorModelToElevationMapFilter.h.

InputPixelType

template<class TInputImage , class TOutputHeight >

typedef InputImageType::PixelType otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::InputPixelType

Definition at line 101 of file otbStereoSensorModelToElevationMapFilter.h.

InterpolatorPointerType

template<class TInputImage , class TOutputHeight >

typedef InterpolatorType::Pointer otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::InterpolatorPointerType

Definition at line 108 of file otbStereoSensorModelToElevationMapFilter.h.

InterpolatorType

template<class TInputImage , class TOutputHeight >

typedef itk::InterpolateImageFunction<TInputImage, double> otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::InterpolatorType

Definition at line 107 of file otbStereoSensorModelToElevationMapFilter.h.

OutputImageType

template<class TInputImage , class TOutputHeight >

typedef TOutputHeight otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::OutputImageType

Definition at line 102 of file otbStereoSensorModelToElevationMapFilter.h.

OutputPointType

template<class TInputImage , class TOutputHeight >

typedef OutputImageType::PointType otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::OutputPointType

Definition at line 105 of file otbStereoSensorModelToElevationMapFilter.h.

OutputRegionType

template<class TInputImage , class TOutputHeight >

typedef OutputImageType::RegionType otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::OutputRegionType

Definition at line 103 of file otbStereoSensorModelToElevationMapFilter.h.

Pointer

template<class TInputImage , class TOutputHeight >

typedef itk::SmartPointer<Self> otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::Pointer

Definition at line 90 of file otbStereoSensorModelToElevationMapFilter.h.

RadiusType

template<class TInputImage , class TOutputHeight >

typedef InputImageType::SizeType otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::RadiusType

Definition at line 112 of file otbStereoSensorModelToElevationMapFilter.h.

Self

template<class TInputImage , class TOutputHeight >

typedef StereoSensorModelToElevationFilter otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::Self

Standard class typedefs

Definition at line 88 of file otbStereoSensorModelToElevationMapFilter.h.

Superclass

template<class TInputImage , class TOutputHeight >

typedef itk::ImageToImageFilter<TInputImage, TOutputHeight> otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::Superclass

Definition at line 89 of file otbStereoSensorModelToElevationMapFilter.h.

Constructor & Destructor Documentation

StereoSensorModelToElevationFilter() [1/2]

template<class TInputImage , class TOutputHeight >

otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::StereoSensorModelToElevationFilter

protected

Constructor

Definition at line 36 of file otbStereoSensorModelToElevationMapFilter.hxx.

~StereoSensorModelToElevationFilter()

template<class TInputImage , class TOutputHeight >

otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::~StereoSensorModelToElevationFilter

overrideprotected

Destructor

Definition at line 59 of file otbStereoSensorModelToElevationMapFilter.hxx.

StereoSensorModelToElevationFilter() [2/2]

template<class TInputImage , class TOutputHeight >

otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::StereoSensorModelToElevationFilter ( const Self &  )

privatedelete

Interpolator for slave image

Member Function Documentation

BeforeThreadedGenerateData()

template<class TInputImage , class TOutputHeight >

void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::BeforeThreadedGenerateData

overrideprotected

Things to do before the threaded generate-data

Definition at line 255 of file otbStereoSensorModelToElevationMapFilter.hxx.

References otb::GetHeightAboveEllipsoid(), and otb::DEMHandler::GetInstance().

Correlation()

template<class TInputImage , class TOutputHeight >

double otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::Correlation ( const std::vector< double > &  master, const std::vector< double > &  slave  ) const

inlineprivate

Interpolator for slave image

Definition at line 505 of file otbStereoSensorModelToElevationMapFilter.hxx.

CreateAnother()

template<class TInputImage , class TOutputHeight >

virtual::itk::LightObject::Pointer otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::CreateAnother

(

void

)

const

GenerateInputRequestedRegion()

template<class TInputImage , class TOutputHeight >

void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::GenerateInputRequestedRegion ( void  )

overrideprotected

Generate the input requested regions

Definition at line 106 of file otbStereoSensorModelToElevationMapFilter.hxx.

GetCorrelationOutput()

template<class TInputImage , class TOutputHeight >

TOutputHeight * otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::GetCorrelationOutput

Get the output correlation map

Definition at line 96 of file otbStereoSensorModelToElevationMapFilter.hxx.

GetCorrelationThreshold()

template<class TInputImage , class TOutputHeight >

virtual double otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::GetCorrelationThreshold ( )

virtual

Get the threshold of the correlation to keep estimated height. Default is 0.7.

GetMasterInput()

template<class TInputImage , class TOutputHeight >

const TInputImage * otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::GetMasterInput

Get the master input image

Definition at line 76 of file otbStereoSensorModelToElevationMapFilter.hxx.

GetNameOfClass()

template<class TInputImage , class TOutputHeight >

virtual const char* otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::GetNameOfClass ( ) const

virtual

Run-time type information (and related methods).

GetSlaveInput()

template<class TInputImage , class TOutputHeight >

const TInputImage * otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::GetSlaveInput

Get the slave input image

Definition at line 86 of file otbStereoSensorModelToElevationMapFilter.hxx.

GetSubtractInitialElevation()

template<class TInputImage , class TOutputHeight >

virtual bool otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::GetSubtractInitialElevation ( )

virtual

Get the SubtractInitialElevation flag. If set to true, the elevation map will only contains the difference between the estimated elevation and the initial one. If set to false, elevation is absolute. Default is false.

GetVarianceThreshold()

template<class TInputImage , class TOutputHeight >

virtual double otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::GetVarianceThreshold ( )

virtual

Set the threshold on the variance of the master patch to start elevation estimation. Default is 4.

New()

template<class TInputImage , class TOutputHeight >

static Pointer otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::New ( )

static

Method for creation through the object factory.

operator=()

template<class TInputImage , class TOutputHeight >

void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::operator= ( const Self &  )

privatedelete

Interpolator for slave image

SetCorrelationThreshold()

template<class TInputImage , class TOutputHeight >

virtual void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::SetCorrelationThreshold ( double  _arg )

virtual

Set the threshold of the correlation to keep estimated height. Default is 0.7.

SetElevationStep()

template<class TInputImage , class TOutputHeight >

virtual void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::SetElevationStep ( double  _arg )

virtual

Set the step of the elevation exploration. Default is 1 meters.

SetHigherElevation()

template<class TInputImage , class TOutputHeight >

virtual void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::SetHigherElevation ( double  _arg )

virtual

Set the lower offset for the local elevation exploration. Default is 20 meters.

SetLowerElevation()

template<class TInputImage , class TOutputHeight >

virtual void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::SetLowerElevation ( double  _arg )

virtual

Set the lower offset for the local elevation exploration. Default is -20 meters.

SetMasterInput()

template<class TInputImage , class TOutputHeight >

void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::SetMasterInput

(

const TInputImage *

image

)

Set the master input image

Definition at line 64 of file otbStereoSensorModelToElevationMapFilter.hxx.

SetRadius()

template<class TInputImage , class TOutputHeight >

void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::SetRadius ( unsigned int  radius )

inline

Set the radius of the patches. Default is 3.

Definition at line 181 of file otbStereoSensorModelToElevationMapFilter.h.

SetSlaveInput()

template<class TInputImage , class TOutputHeight >

void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::SetSlaveInput

(

const TInputImage *

image

)

Set the slave input image

Definition at line 70 of file otbStereoSensorModelToElevationMapFilter.hxx.

SetSubtractInitialElevation()

template<class TInputImage , class TOutputHeight >

virtual void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::SetSubtractInitialElevation ( bool  _arg )

virtual

Set the SubtractInitialElevation flag. If set to true, the elevation map will only contains the difference between the estimated elevation and the initial one. If set to false, elevation is absolute. Default is false.

SetVarianceThreshold()

template<class TInputImage , class TOutputHeight >

virtual void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::SetVarianceThreshold ( double  _arg )

virtual

Set the threshold on the variance of the master patch to start elevation estimation. Default is 4.

SubtractInitialElevationOff()

template<class TInputImage , class TOutputHeight >

virtual void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::SubtractInitialElevationOff ( )

virtual

SubtractInitialElevationOn()

template<class TInputImage , class TOutputHeight >

virtual void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::SubtractInitialElevationOn ( )

virtual

Toggle the SubtractInitialElevation flag. If set to true, the elevation map will only contains the difference between the estimated elevation and the initial one. If set to false, elevation is absolute. Default is false.

ThreadedGenerateData()

template<class TInputImage , class TOutputHeight >

void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::ThreadedGenerateData ( const OutputRegionType &  outputRegionForThread, itk::ThreadIdType  threadId  )

overrideprotected

Threaded generate data

Definition at line 297 of file otbStereoSensorModelToElevationMapFilter.hxx.

VerifyInputInformation()

template<class TInputImage , class TOutputHeight >

void otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::VerifyInputInformation ( )

inlineoverrideprotected

Override VerifyInputInformation() since this filter's inputs do not need to occupy the same physical space.

See also

ProcessObject::VerifyInputInformation

Definition at line 209 of file otbStereoSensorModelToElevationMapFilter.h.

Member Data Documentation

m_CorrelationThreshold

template<class TInputImage , class TOutputHeight >

double otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::m_CorrelationThreshold

private

Threshold of the correlation to keep estimated height.

Definition at line 236 of file otbStereoSensorModelToElevationMapFilter.h.

m_ElevationStep

template<class TInputImage , class TOutputHeight >

double otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::m_ElevationStep

private

Step of the elevation exploration.

Definition at line 233 of file otbStereoSensorModelToElevationMapFilter.h.

m_HigherElevation

template<class TInputImage , class TOutputHeight >

double otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::m_HigherElevation

private

Higher offset for the local elevation exploration.

Definition at line 230 of file otbStereoSensorModelToElevationMapFilter.h.

m_Interpolator

template<class TInputImage , class TOutputHeight >

InterpolatorPointerType otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::m_Interpolator

private

Interpolator for slave image

Definition at line 221 of file otbStereoSensorModelToElevationMapFilter.h.

m_LowerElevation

template<class TInputImage , class TOutputHeight >

double otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::m_LowerElevation

private

Lower offset for the local elevation exploration.

Definition at line 227 of file otbStereoSensorModelToElevationMapFilter.h.

m_MasterToSlave

template<class TInputImage , class TOutputHeight >

GenericRSTransform3DType::Pointer otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::m_MasterToSlave

private

Master to slave transform

Definition at line 248 of file otbStereoSensorModelToElevationMapFilter.h.

m_Radius

template<class TInputImage , class TOutputHeight >

RadiusType otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::m_Radius

private

Radius of the patches

Definition at line 224 of file otbStereoSensorModelToElevationMapFilter.h.

m_SubtractInitialElevation

template<class TInputImage , class TOutputHeight >

bool otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::m_SubtractInitialElevation

private

If set to true, the elevation map will only contains the difference between the estimated elevation and the initial one. If set to false, elevation is absolute. Default is false.

Definition at line 245 of file otbStereoSensorModelToElevationMapFilter.h.

m_VarianceThreshold

template<class TInputImage , class TOutputHeight >

double otb::StereoSensorModelToElevationFilter< TInputImage, TOutputHeight >::m_VarianceThreshold

private

Threshold on the variance of the master patch to start elevation estimation.

Definition at line 240 of file otbStereoSensorModelToElevationMapFilter.h.

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The documentation for this class was generated from the following files:

• otbStereoSensorModelToElevationMapFilter.h
• otbStereoSensorModelToElevationMapFilter.hxx