hloc/utils/io.py

from typing import Tuple
from pathlib import Path
import numpy as np
import cv2
import h5py

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