Update h5_to_db.py

h5_to_db.py

@@ -82,13 +82,14 @@ def add_keypoints(db, h5_path, image_path, img_ext, camera_model, single_camera=
     camera_id = None
     fname_to_id = {}
     
+    # Map filenames to their full paths
     all_images = {}
     for ext in ['.jpg', '.jpeg', '.png', '.JPG', '.JPEG', '.PNG']:
         for img_file in glob.glob(os.path.join(image_path, f'*{ext}')):
             base_name = os.path.splitext(os.path.basename(img_file))[0]
             all_images[base_name] = img_file
     
-    # ★★★ カメラモデルのマッピング ★★★
+    # ★★★ Camera Model Mapping ★★★
     camera_model_ids = {
         'SIMPLE_PINHOLE': 0,
         'PINHOLE': 1,
@@ -111,34 +112,35 @@ def add_keypoints(db, h5_path, image_path, img_ext, camera_model, single_camera=
         path = all_images[filename]
         fname_with_ext = os.path.basename(path)
         
-        # カメラは1回だけ作成（single_camera=Trueの場合）
+        # Initialize camera once (if single_camera=True)
         if camera_id is None:
             img = Image.open(path)
             width, height = img.size
             
+            # Use the max dimension as a heuristic for initial focal length
             focal_length = float(max(width, height))
             cx = float(width / 2.0)
             cy = float(height / 2.0)
             
-            # ★★★ カメラモデルに応じてパラメータを設定 ★★★
+            # ★★★ Set parameters based on the chosen camera model ★★★
             if camera_model == 'PINHOLE':
                 # PINHOLE: [fx, fy, cx, cy]
                 params = np.array([focal_length, focal_length, cx, cy], dtype=np.float64)
-                print(f"カメラ作成: PINHOLE, f={focal_length}, cx={cx}, cy={cy}")
+                print(f"Camera created: PINHOLE, f={focal_length}, cx={cx}, cy={cy}")
             elif camera_model == 'SIMPLE_PINHOLE':
                 # SIMPLE_PINHOLE: [f, cx, cy]
                 params = np.array([focal_length, cx, cy], dtype=np.float64)
-                print(f"カメラ作成: SIMPLE_PINHOLE, f={focal_length}, cx={cx}, cy={cy}")
+                print(f"Camera created: SIMPLE_PINHOLE, f={focal_length}, cx={cx}, cy={cy}")
             elif camera_model == 'SIMPLE_RADIAL':
                 # SIMPLE_RADIAL: [f, cx, cy, k]
-                k = 0.0
+                k = 0.0 # Initial radial distortion coefficient
                 params = np.array([focal_length, cx, cy, k], dtype=np.float64)
-                print(f"カメラ作成: SIMPLE_RADIAL, f={focal_length}, cx={cx}, cy={cy}, k={k}")
+                print(f"Camera created: SIMPLE_RADIAL, f={focal_length}, cx={cx}, cy={cy}, k={k}")
             else:
                 raise ValueError(f"Unsupported camera model: {camera_model}")
             
             camera_id = db.add_camera(
-                model=model_id,  # ★★★ 引数に基づいて設定 ★★★
+                model=model_id,  # Set based on argument
                 width=width,
                 height=height,
                 params=params
@@ -154,22 +156,28 @@ def add_keypoints(db, h5_path, image_path, img_ext, camera_model, single_camera=
 
 def add_matches(db, h5_path, fname_to_id):
     """
-    matches.h5から直接マッチを追加（COLMAPフォーマット対応）
+    Directly add matches from matches.h5 (compatible with COLMAP format).
     """
+    import h5py
+    import numpy as np
+    import os
+    from tqdm import tqdm
+
     match_file = h5py.File(os.path.join(h5_path, 'matches.h5'), 'r')
     
-    added = set()
+    added_pairs = set()
     n_keys = len(match_file.keys())
     
-    with tqdm(total=n_keys, desc="Adding matches") as pbar:
+    with tqdm(total=n_keys, desc="Importing matches to database") as pbar:
         for pair_key in match_file.keys():
+            # Parse the pair key to extract individual image filenames
             parts = pair_key.split('_')
             mid = len(parts) // 2
             key_1 = '_'.join(parts[:mid])
             key_2 = '_'.join(parts[mid:])
             
             if key_1 not in fname_to_id or key_2 not in fname_to_id:
-                print(f"Warning: {key_1} or {key_2} not found")
+                print(f"Warning: Filename lookup failed for {key_1} or {key_2}")
                 pbar.update(1)
                 continue
             
@@ -177,32 +185,35 @@ def add_matches(db, h5_path, fname_to_id):
             id_2 = fname_to_id[key_2]
             pair_id = image_ids_to_pair_id(id_1, id_2)
             
-            if pair_id in added:
+            # Skip if this pair has already been processed
+            if pair_id in added_pairs:
                 pbar.update(1)
                 continue
             
             matches = match_file[pair_key][()]
             
-            # マッチが空でないか確認
+            # Ensure the match array is not empty
             if len(matches) == 0:
                 pbar.update(1)
                 continue
             
-            # COLMAPのフォーマット: (N, 2) の uint32配列
+            # COLMAP requirement: uint32 array with shape (N, 2)
             matches = matches.astype(np.uint32)
             
-            # マッチを追加
+            # Add raw matches to the database
             db.add_matches(id_1, id_2, matches)
             
-            # two_view_geometryも追加（COLMAPが期待する）
+            # Add two-view geometry (required by COLMAP for reconstruction)
+            # This step typically marks matches as "verified"
             db.add_two_view_geometry(id_1, id_2, matches)
             
-            added.add(pair_id)
+            added_pairs.add(pair_id)
             pbar.update(1)
     
     match_file.close()
     
 
+
 def import_into_colmap(img_dir,
                        feature_dir ='.featureout',
                        database_path = 'colmap.db',