def image_matches_from_file(filepath: str) -> np.array:
"""
Read the image matches
[keypoint_id_image1, keypoint_id_image2, score]
:param filepath: path to the file
:return: matches
"""
return array_from_file(filepath, dtype=np.float64, dsize=3)
def image_descriptors_from_file(filepath: str, dtype: Type,
dsize: int) -> np.array:
"""
Read the image descriptors
:param filepath: path to the file
:param dtype: data type
:param dsize: number of data per keypoint
:return: the image descriptors
"""
return array_from_file(filepath, dtype, dsize)
def image_global_features_from_file(filepath: str, dtype: Type,
dsize: int) -> np.array:
"""
Read the image global features
:param filepath: path to the file
:param dtype: data type
:param dsize: number of data per keypoint
:return: the global features
"""
return array_from_file(filepath, dtype, dsize)
def records_depth_from_file(filepath: str, size: Tuple[int, int]) -> np.array:
"""
Load the depth map from binary file to a numpy array.
:param filepath: path to the file
:param size: [width, height]
:return: the depth map as a numpy array
"""
assert isinstance(size, tuple) and len(size) == 2
dtype = kapture.RecordsDepth.dtype
dsize = int(size[0] * size[1])
bitmap = array_from_file(filepath, dtype, dsize)
bitmap = bitmap.reshape((size[1], size[0]))
return bitmap