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| # -*- coding: UTF-8 -*- | |
| from pathlib import Path | |
| from typing import Tuple | |
| import cv2 | |
| import h5py | |
| import numpy as np | |
| from .parsers import names_to_pair, names_to_pair_old | |
| def read_image(path, grayscale=False): | |
| if grayscale: | |
| mode = cv2.IMREAD_GRAYSCALE | |
| else: | |
| mode = cv2.IMREAD_COLOR | |
| image = cv2.imread(str(path), mode) | |
| if image is None: | |
| raise ValueError(f"Cannot read image {path}.") | |
| if not grayscale and len(image.shape) == 3: | |
| image = image[:, :, ::-1] # BGR to RGB | |
| return image | |
| def list_h5_names(path): | |
| names = [] | |
| with h5py.File(str(path), "r", libver="latest") as fd: | |
| def visit_fn(_, obj): | |
| if isinstance(obj, h5py.Dataset): | |
| names.append(obj.parent.name.strip("/")) | |
| fd.visititems(visit_fn) | |
| return list(set(names)) | |
| def get_keypoints( | |
| path: Path, name: str, return_uncertainty: bool = False | |
| ) -> np.ndarray: | |
| with h5py.File(str(path), "r", libver="latest") as hfile: | |
| dset = hfile[name]["keypoints"] | |
| p = dset.__array__() | |
| uncertainty = dset.attrs.get("uncertainty") | |
| if return_uncertainty: | |
| return p, uncertainty | |
| return p | |
| def find_pair(hfile: h5py.File, name0: str, name1: str): | |
| pair = names_to_pair(name0, name1) | |
| if pair in hfile: | |
| return pair, False | |
| pair = names_to_pair(name1, name0) | |
| if pair in hfile: | |
| return pair, True | |
| # older, less efficient format | |
| pair = names_to_pair_old(name0, name1) | |
| if pair in hfile: | |
| return pair, False | |
| pair = names_to_pair_old(name1, name0) | |
| if pair in hfile: | |
| return pair, True | |
| raise ValueError( | |
| f"Could not find pair {(name0, name1)}... " | |
| "Maybe you matched with a different list of pairs? " | |
| ) | |
| def get_matches(path: Path, name0: str, name1: str) -> Tuple[np.ndarray]: | |
| with h5py.File(str(path), "r", libver="latest") as hfile: | |
| pair, reverse = find_pair(hfile, name0, name1) | |
| matches = hfile[pair]["matches0"].__array__() | |
| scores = hfile[pair]["matching_scores0"].__array__() | |
| idx = np.where(matches != -1)[0] | |
| matches = np.stack([idx, matches[idx]], -1) | |
| if reverse: | |
| matches = np.flip(matches, -1) | |
| scores = scores[idx] | |
| return matches, scores | |