/* Read keypoints from the given file pointer and return the list of
* keypoints. The file format starts with 2 integers giving the total
* number of keypoints and the size of descriptor vector for each
* keypoint (currently assumed to be 128). Then each keypoint is
* specified by 4 floating point numbers giving subpixel row and
* column location, scale, and orientation (in radians from -PI to
* PI). Then the descriptor vector for each keypoint is given as a
* list of integers in range [0,255]. */
std::vector<Keypoint> ReadKeys(FILE *fp, bool descriptor)
{
int i, j, num, len, val;
std::vector<Keypoint> kps;
if (fscanf(fp, "%d %d", &num, &len) != 2) {
printf("Invalid keypoint file beginning.");
return kps;
}
#ifdef KEY_LIMIT
num = MIN(num, 65536); // we'll store at most 65536 features per
// image
#endif /* KEY_LIMIT */
if (len != 128) {
printf("Keypoint descriptor length invalid (should be 128).");
return kps;
}
for (i = 0; i < num; i++) {
/* Allocate memory for the keypoint. */
unsigned char *d = new unsigned char[len];
float x, y, scale, ori;
if (fscanf(fp, "%f %f %f %f", &y, &x, &scale, &ori) != 4) {
printf("Invalid keypoint file format.");
return kps;
}
for (j = 0; j < len; j++) {
if (fscanf(fp, "%d", &val) != 1 || val < 0 || val > 255) {
printf("Invalid keypoint file value.");
return kps;
}
d[j] = (unsigned char) val;
}
if (descriptor) {
kps.push_back(KeypointWithDesc(x, y, d));
} else {
delete [] d;
kps.push_back(Keypoint(x, y));
}
}
return kps;
}
std::vector<KeypointWithDesc> ReadKeysFastGzip(gzFile fp, bool descriptor,
float **scales, float **orients)
{
int i, j, num, len;
std::vector<KeypointWithDesc> kps;
char header[256];
gzgets(fp, header, 256);
if (sscanf(header, "%d %d", &num, &len) != 2) {
printf("Invalid keypoint file.\n");
return kps;
}
#ifdef KEY_LIMIT
num = MIN(num, 65536); // we'll store at most 65536 features per
// image
#endif /* KEY_LIMIT */
if (len != 128) {
printf("Keypoint descriptor length invalid (should be 128).");
return kps;
}
kps.resize(num);
if (num > 0 && scales != NULL) {
*scales = new float[num];
}
if (num > 0 && orients != NULL) {
*orients = new float[num];
}
for (i = 0; i < num; i++) {
/* Allocate memory for the keypoint. */
float x, y, scale, ori;
char buf[1024];
gzgets(fp, buf, 1024);
if (sscanf(buf, "%f %f %f %f\n", &y, &x, &scale, &ori) != 4) {
printf("Invalid keypoint file format.");
return kps;
}
if (scales != NULL) {
(*scales)[i] = scale;
}
if (orients != NULL) {
(*orients)[i] = ori;
}
/* Allocate memory for the keypoint. */
unsigned char *d = NULL;
if (descriptor)
d = new unsigned char[len];
int start = 0;
for (int line = 0; line < 7; line++) {
gzgets(fp, buf, 1024);
if (!descriptor) continue;
short int p[20];
if (line < 6) {
sscanf(buf,
"%hu %hu %hu %hu %hu %hu %hu %hu %hu %hu "
"%hu %hu %hu %hu %hu %hu %hu %hu %hu %hu",
p+0, p+1, p+2, p+3, p+4, p+5, p+6, p+7, p+8, p+9,
p+10, p+11, p+12, p+13, p+14,
p+15, p+16, p+17, p+18, p+19);
for (j = 0; j < 20; j++)
d[start + j] = p[j];
start += 20;
} else {
sscanf(buf,
"%hu %hu %hu %hu %hu %hu %hu %hu",
p+0, p+1, p+2, p+3, p+4, p+5, p+6, p+7);
for (j = 0; j < 8; j++)
d[start + j] = p[j];
}
}
// kps.push_back(KeypointWithDesc(x, y, d));
kps[i] = KeypointWithDesc(x, y, d);
}
return kps;
}
/* Read keys more quickly */
std::vector<KeypointWithDesc> ReadKeysFast(FILE *fp, bool descriptor,
float **scales, float **orients)
{
int i, j, num, len;
std::vector<KeypointWithDesc> kps;
if (fscanf(fp, "%d %d", &num, &len) != 2) {
printf("Invalid keypoint file beginning.");
return kps;
}
#ifdef KEY_LIMIT
num = MIN(num, 65536); // we'll store at most 65536 features per
// image
#endif /* KEY_LIMIT */
if (len != DESCRIPTOR_LENGTH) {
printf("Keypoint descriptor length invalid (should be DESCRIPTOR_LENGTH).");
return kps;
}
kps.resize(num);
if (num > 0 && scales != NULL) {
*scales = new float[num];
}
if (num > 0 && orients != NULL) {
*orients = new float[num];
}
for (i = 0; i < num; i++) {
/* Allocate memory for the keypoint. */
float x, y, scale, ori;
if (fscanf(fp, "%f %f %f %f\n", &y, &x, &scale, &ori) != 4) {
printf("Invalid keypoint file format.");
return kps;
}
if (scales != NULL) {
(*scales)[i] = scale;
}
if (orients != NULL) {
(*orients)[i] = ori;
}
char buf[1024];
/* Allocate memory for the keypoint. */
unsigned char *d = NULL;
if (descriptor)
d = new unsigned char[len];
int start = 0;
for (int line = 0; line < (DESCRIPTOR_LENGTH/20)+1; line++) {
fgets(buf, 1024, fp);
if (!descriptor) continue;
unsigned char p[20];
//short int p[20];
if (line < (DESCRIPTOR_LENGTH/20)) {
sscanf(buf,
"%hu %hu %hu %hu %hu %hu %hu %hu %hu %hu "
"%hu %hu %hu %hu %hu %hu %hu %hu %hu %hu",
p+0, p+1, p+2, p+3, p+4, p+5, p+6, p+7, p+8, p+9,
p+10, p+11, p+12, p+13, p+14,
p+15, p+16, p+17, p+18, p+19);
for (j = 0; j < 20; j++)
d[start + j] = p[j];
start += 20;
}
else {
for (j = 0; j < (DESCRIPTOR_LENGTH %20); j++){
sscanf(buf, "%hu", &p[j]);
d[start + j] = p[j];
/*sscanf(buf,"%hu %hu %hu %hu",p+0, p+1, p+2, p+3);*/
}
}
}
// kps.push_back(KeypointWithDesc(x, y, d));
kps[i] = KeypointWithDesc(x, y, d);
}
return kps;
}
