Merge branch '218-bug-valueerror-setting-an-array-element-with-a-sequ…

…ence-py39-py310' into 'master'

Resolve "Bug: ValueError: setting an array element with a sequence py39, py310"

Closes #218

See merge request 3d/shareloc!125

Makefile

@@ -42,15 +42,22 @@ BROWSER := python -c "$$BROWSER_PYSCRIPT"
 # Python global variables definition
 PYTHON_VERSION_MIN = 3.8
 
-PYTHON=$(shell command -v python3)
 
-PYTHON_VERSION_CUR=$(shell $(PYTHON) -c 'import sys; print("%d.%d"% sys.version_info[0:2])')
-PYTHON_VERSION_OK=$(shell $(PYTHON) -c 'import sys; cur_ver = sys.version_info[0:2]; min_ver = tuple(map(int, "$(PYTHON_VERSION_MIN)".split("."))); print(int(cur_ver >= min_ver))')
+# Set PYTHON if not defined in command line
+# Example: PYTHON="python3.10" make venv to use python 3.10 for the venv
+# By default the default python3 of the system.
+ifndef PYTHON
+	PYTHON = "python3"
+endif
+PYTHON_CMD=$(shell command -v $(PYTHON))
+
+PYTHON_VERSION_CUR=$(shell $(PYTHON_CMD) -c 'import sys; print("%d.%d"% sys.version_info[0:2])')
+PYTHON_VERSION_OK=$(shell $(PYTHON_CMD) -c 'import sys; cur_ver = sys.version_info[0:2]; min_ver = tuple(map(int, "$(PYTHON_VERSION_MIN)".split("."))); print(int(cur_ver >= min_ver))')
 
 ############### Check python version supported ############
 
-ifeq (, $(PYTHON))
-    $(error "PYTHON=$(PYTHON) not found in $(PATH)")
+ifeq (, $(PYTHON_CMD))
+    $(error "$(PYTHON_CMD) not found in $(PATH)")
 endif
 
 ifeq ($(PYTHON_VERSION_OK), 0)
@@ -68,7 +75,7 @@ help: ## this help
 
 .PHONY: venv
 venv: ## create virtualenv in "venv" dir if not exists
-	@test -d ${VENV} || python3 -m venv ${VENV}
+	@test -d ${VENV} || $(PYTHON_CMD) -m venv ${VENV}
 	@${VENV}/bin/python -m pip install --upgrade pip setuptools wheel # no check to upgrade each time install is run
 	@touch ${VENV}/bin/activate
 

shareloc/geofunctions/localization.py

@@ -181,20 +181,30 @@ def coloc(model1, model2, row, col, elevation=None, image1=None, image2=None, us
     :type image2: shareloc.image.Image
     :param using_geotransform: using_geotransform
     :type using_geotransform: boolean
-    :return: Corresponding sensor position [row, col, True] in the geometric model 2
+    :return: Corresponding sensor position [row, col, altitude] in the geometric model 2
     :rtype: Tuple(1D np.array row position, 1D np.array col position, 1D np.array alt)
+       using row and col input dimensions
     """
-    geometric_model1 = Localization(model1, elevation, image=image1)
-    geometric_model2 = Localization(model2, elevation, image=image2)
-
+    # Standardize row and col inputs in ndarray
     if not isinstance(row, (list, np.ndarray)):
         row = np.array([row])
         col = np.array([col])
 
+    # Check row and col
+    if row.shape[0] != col.shape[0]:
+        raise ValueError("coloc: row and col inputs sizes are not similar")
+    # get input row or col shape for ndarray output shape.
+    output_shape = row.shape[0]
+
+    # prepare geomodel 1 and 2
+    geometric_model1 = Localization(model1, elevation, image=image1)
+    geometric_model2 = Localization(model2, elevation, image=image2)
+
+    # Direct loc on (row, col) with model 1
     ground_coord = geometric_model1.direct(row, col, using_geotransform=using_geotransform)
 
     # Estimate sensor position (row, col, altitude) using inverse localization with model2
-    sensor_coord = np.zeros((row.shape[0], 3), dtype=np.float64)
+    sensor_coord = np.zeros((output_shape, 3), dtype=np.float64)
     sensor_coord[:, 0], sensor_coord[:, 1], sensor_coord[:, 2] = geometric_model2.inverse(
         ground_coord[:, 0], ground_coord[:, 1], ground_coord[:, 2], using_geotransform
     )

shareloc/geofunctions/rectification.py

@@ -359,9 +359,15 @@ def moving_to_next_line(geom_model_left, geom_model_right, current_line, mean_sp
 
     # Find the corresponding starting point in the right image
     next_line_start_right = np.zeros(3, dtype=np.float64)
-    next_line_start_right[0], next_line_start_right[1], next_line_start_right[2] = coloc(
+    row, col, alt = coloc(
         geom_model_left, geom_model_right, next_line_start_left[0], next_line_start_left[1], elevation
     )
+    # Convert ndarray coloc output into float 64 (Bug python3.9 et 3.10 not allowed anymore)
+    # TODO: clean epipolar grids generation conversion globally with refacto/optimization
+    next_line_start_right[0] = row[0]
+    next_line_start_right[1] = col[0]
+    next_line_start_right[2] = alt[0]
+
     return next_line_start_left, next_line_start_right
 
 
@@ -452,9 +458,12 @@ def compute_stereorectification_epipolar_grids(
     # Starting points are the upper-left origin of the left epipolar image, and it's correspondent in the right image
     start_left = np.copy(footprint[0])
     start_right = np.zeros(3, dtype=start_left.dtype)
-    start_right[0], start_right[1], start_right[2] = coloc(
-        geom_model_left, geom_model_right, start_left[0], start_left[1], elevation
-    )
+    init_row, init_col, init_alt = coloc(geom_model_left, geom_model_right, start_left[0], start_left[1], elevation)
+    # Convert ndarray coloc output into float 64 (Bug python3.9 et 3.10 not allowed anymore)
+    # TODO: clean epipolar grids generation conversion globally with refacto/optimization
+    start_right[0] = init_row[0]
+    start_right[1] = init_col[0]
+    start_right[2] = init_alt[0]
 
     mean_baseline_ratio = 0