Can produce dense matches in --correlator-mode

docs/stereodefault.rst

@@ -830,10 +830,10 @@ num-matches-from-disp-triplets (*integer*) (default = 0)
     (:numref:`heights_from_dem`).
 
 num-matches-from-disparity (*integer*) (default = 0)
-    Create a match file with roughly this many points uniformly sampled from
-    the stereo disparity. The matches are between original images
-    (that is, before any alignment or map-projection). See also
-    ``num-matches-from-disp-triplets``.
+    Create a match file with roughly this many points uniformly sampled from the
+    stereo disparity. The matches are between original images (that is, before
+    any alignment or map-projection). These can be used in bundle adjustment
+    See also ``num-matches-from-disp-triplets``.
 
 compute-point-cloud-center-only
     Only compute the center of triangulated point cloud and exit. Hence,

docs/tools/correlator.rst

@@ -30,6 +30,11 @@ Example::
 This will create the filtered subpixel disparity
 ``run_corr/run-F.tif`` (:numref:`outputfiles`).
 
+If the options ``--num-matches-from-disparity`` or
+``--num-matches-from-disp-triplets`` are specified, dense matches from disparity
+will be produced (:numref:`stereodefault`). These can be used in bundle adjustment
+(:numref:`dense_ip`).
+
 All the usual options of ``parallel_stereo`` apply. See
 :numref:`nextsteps` for a discussion regarding various quality vs
 speed tradeoffs. Since the images are assumed to be aligned, the

src/asp/Tools/parallel_stereo

@@ -700,7 +700,7 @@ def normal_run(prog, opt, args, **kw):
     if code != 0:
         raise Exception('Stereo step ' + kw['msg'] + ' failed')
 
-def keepOnlySpecified(keep_only, out_prefix, subdirs):
+def keepOnlySpecified(keep_only, out_prefix, subdirs, settings):
     """
     Merge all VRTs and wipe any files the user does not want to keep.
     """
@@ -734,6 +734,11 @@ def keepOnlySpecified(keep_only, out_prefix, subdirs):
         return
 
     for f in keep_files:
+
+        if int(settings['correlator_mode'][0]) != 0 and 'PC.tif' in f:
+           # No PC.tif in correlator-mode 
+           continue
+
         print("Keeping: " + f)
         if isVrt(f):
             f_merged = os.path.splitext(f)[0] + "_merged.tif"
@@ -768,7 +773,7 @@ def keepOnlySpecified(keep_only, out_prefix, subdirs):
     # It looks useful to print the final cloud, as the messages above
     # can be quite verbose.
     pc_file = glob.glob(out_prefix + "-PC.tif")
-    if len(pc_file) > 0:
+    if len(pc_file) > 0 and int(settings['correlator_mode'][0]) == 0:
         print("Output point cloud: " + pc_file[0])
 
 def set_collar_size(new_collar_size, args, settings):
@@ -1265,7 +1270,9 @@ if __name__ == '__main__':
                 sys.exit()
 
             # TODO(oalexan1): Must wipe the subdirs!
-            if int(settings['correlator_mode'][0]) != 0:
+            if int(settings['correlator_mode'][0]) != 0 and \
+                '--num-matches-from-disparity' not in parallel_args and \
+                '--num-matches-from-disp-triplets' not in parallel_args:
                 # Skip triangulation, but continue further down with cleanup.
                 print("Skipping triangulation with --correlator-mode.")
             else:
@@ -1286,14 +1293,15 @@ if __name__ == '__main__':
                 subdirs = create_subdirs_symlink(opt, args, settings)
                 # Run triangulation on multiple machines
                 spawn_to_nodes(step, opt, settings, parallel_args, subdirs)
-                build_vrt('stereo_tri', opt, args, settings, georef, "-PC.tif", "-PC.tif")
+                if int(settings['correlator_mode'][0]) == 0:
+                  build_vrt('stereo_tri', opt, args, settings, georef, "-PC.tif", "-PC.tif")
 
         # If the run concluded successfully, merge and wipe
         if (opt.stop_point > Step.tri):
           if len(subdirs) == 0:
             # If this was not created by now, do it now
             subdirs = create_subdirs_symlink(opt, args, settings)
-          keepOnlySpecified(opt.keep_only, out_prefix, subdirs)
+          keepOnlySpecified(opt.keep_only, out_prefix, subdirs, settings)
 
        # End main process case
     else:

src/asp/Tools/stereo

@@ -194,7 +194,9 @@ if __name__ == '__main__':
             if (opt.stop_point <= step):
                 sys.exit()
 
-            if int(settings['correlator_mode'][0]) != 0:
+            if int(settings['correlator_mode'][0]) != 0 and \
+                '--num-matches-from-disparity' not in args and \
+                '--num-matches-from-disp-triplets' not in args:
                 print("Skipping triangulation with --correlator-mode.")
                 sys.exit()
 

src/asp/Tools/stereo_tri.cc

@@ -697,6 +697,12 @@ void stereo_triangulation(std::string const& output_prefix,
                            cameras);
     }
 
+    // In correlator mode, can go no further
+    if (asp::stereo_settings().correlator_mode) {
+      vw_out() << "\t--> Skipping triangulation in correlator mode.\n";
+      return;
+    }
+
     if (is_map_projected)
       vw_out() << "\t--> Inputs are map projected." << std::endl;
 
@@ -776,6 +782,10 @@ void stereo_triangulation(std::string const& output_prefix,
                             left_aligned_bathy_mask, right_aligned_bathy_mask),
          universe_radius_func);
 
+    // In correlator mode, can go no further
+    if (asp::stereo_settings().correlator_mode)
+      return;
+
     // If we crop the left and right images, at each run we must
     // recompute the cloud center, as the cropping windows may have changed.
     bool crop_left  = (stereo_settings().left_image_crop_win  != BBox2i(0, 0, 0, 0));
@@ -835,7 +845,9 @@ void stereo_triangulation(std::string const& output_prefix,
 
 int main(int argc, char* argv[]) {
 
-  if (asp::stereo_settings().correlator_mode) {
+  if (asp::stereo_settings().correlator_mode && 
+      asp::stereo_settings().num_matches_from_disparity <= 0 && 
+      asp::stereo_settings().num_matches_from_disp_triplets <= 0) {
     vw_out() << "The triangulation step is skipped with --correlator-mode.\n";
     return 0;
   }