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ImageData.cpp
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/*
* Copyright (c) 2008-2010 Noah Snavely (snavely (at) cs.cornell.edu)
* and the University of Washington
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
*/
/* ImageData.cpp */
/* Simple image storage and operations */
#include <assert.h>
#include <float.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "ImageData.h"
#include "SifterUtil.h"
#include "Register.h"
#ifndef __BUNDLER__
#include "UtilGL.h"
#endif /* __BUNDLER__ */
#include "canny.h"
#include "defines.h"
#include "filter.h"
#include "fit.h"
#include "matrix.h"
#include "pgm.h"
#include "resample.h"
#include "transform.h"
#include "util.h"
#include "LoadJPEG.h"
#define SUBSAMPLE_LEVEL 1
#if 1
#define FOCAL_LENGTH 490
#define NUM_ROTATIONS 1
#define DEFAULT_WIDTH 1536
#define DEFAULT_HEIGHT 1024
#else
#define FOCAL_LENGTH 700 // 661.62760416666674
#define NUM_ROTATIONS 0
#define DEFAULT_WIDTH 2074
#define DEFAULT_HEIGHT 1382
#endif
extern double global_scale;
int CompareImageDates(ImageDate *date1, ImageDate *date2)
{
/* Check that both dates are known */
if (!date1->m_known || !date2->m_known)
return 0;
if (date1->m_year < date2->m_year)
return -1;
else if (date2->m_year < date1->m_year)
return -1;
if (date1->m_month < date2->m_month)
return -1;
else if (date2->m_month < date1->m_month)
return 1;
if (date1->m_day < date2->m_day)
return -1;
else if (date2->m_day < date1->m_day)
return 1;
return 0;
}
static const char *month_strings[] =
{ "January",
"February",
"March",
"April",
"May",
"June",
"July",
"August",
"September",
"October",
"November",
"December" };
void ImageDate::GetMonthString(char *buf)
{
if (!m_known || m_month < 1 || m_month > 12)
strcpy(buf, "Unknown");
else
strcpy(buf, month_strings[m_month - 1]);
}
void ImageDate::GetString(char *buf)
{
if (!m_known) {
strcpy(buf, "Unknown");
return;
}
if (m_month == 0) {
sprintf(buf, "%d", m_year);
} else {
char month_str[256];
GetMonthString(month_str);
sprintf(buf, "%s %d, %d, %02d:%02d",
month_str, m_day, m_year, m_hour, m_minute);
}
}
double ImageDate::GetDateDouble()
{
if (!m_known)
return DBL_MAX;
/* Return the date in the form of a double */
return (double) m_second +
60.0 * (m_minute +
60.0 * (m_hour +
24.0 * (m_day +
31.0 * (m_month +
12.0 * (m_year - 1800)))));
}
double ImageDate::GetDateOnlyDouble()
{
if (!m_known)
return DBL_MAX;
/* Return the date in the form of a double */
return (m_day + 31.0 * (m_month + 12.0 * (m_year - 1800)));
}
double ImageDate::GetTimeDouble()
{
if (!m_known)
return DBL_MAX;
/* Return the date in the form of a double */
return (double) m_second + 60.0 * (m_minute + 60.0 * (m_hour));
}
void ImageNote::Read(FILE *f, double width, double height)
{
char buf[256];
fgets(buf, 255, f);
if (buf[strlen(buf) - 1] == '\n')
buf[strlen(buf) - 1] = 0;
if (buf[strlen(buf) - 1] == '\r')
buf[strlen(buf) - 1] = 0;
for (int i = 0; i < (int) strlen(buf); i++) {
if (buf[i] == '*') buf[i] = '\n';
}
m_text = strdup(buf);
double x, y, w, h;
fscanf(f, "%lf %lf %lf %lf\n", &x, &y, &w, &h);
x -= 0.5 * width;
y = height - y - 1 - 0.5 * height;
m_bbox = BoundingBox(x, y - h, x + w, y);
}
/* Initialize the image data given a string description */
void ImageData::InitFromString(char *buf, const char *path,
bool fisheye_by_default)
{
/* Eat the newline */
if (buf[strlen(buf)-1] == '\n')
buf[strlen(buf)-1] = 0;
if (buf[strlen(buf)-1] == '\r')
buf[strlen(buf)-1] = 0;
/* Split the buffer into tokens */
std::string str(buf);
std::vector<std::string> toks;
Tokenize(str, toks, " ");
#if 0
while (t.HasMoreTokens()) {
tok = t.GetNextToken();
toks.push_back(tok);
}
#endif
int num_toks = (int) toks.size();
bool fisheye = fisheye_by_default;
if (num_toks >= 2) {
fisheye = (atoi(toks[1].c_str()) == 1);
}
bool has_init_focal = false;
double init_focal = 0.0;
if (num_toks >= 3) {
has_init_focal = true;
init_focal = atof(toks[2].c_str());
}
ImageData data;
// printf("[ImageData::InitFromFile] Adding image %s\n", toks[0].c_str());
if (path == NULL || strcmp(path, ".") == 0 || toks[0].c_str()[0] == '/') {
m_name = strdup(toks[0].c_str());
} else {
char tmp_name[512];
sprintf(tmp_name, "%s/%s", path, toks[0].c_str());
m_name = strdup(tmp_name);
}
m_img = NULL;
m_thumb = NULL;
m_thumb8 = NULL;
// m_wximage = NULL;
m_image_loaded = false;
m_keys_loaded = false;
m_keys_scale_rot_loaded = false;
m_fisheye = fisheye;
m_has_init_focal = has_init_focal;
m_init_focal = init_focal;
m_camera.m_adjusted = false;
m_texture_index = -1;
/* Extract out the user name */
char base_name[256];
GetBaseName(base_name);
char *name_end = base_name;
// char user[256];
while (*name_end != '_' && *name_end != 0)
name_end++;
if (*name_end == 0) {
strcpy(m_user_name, "Unknown");
strcpy(m_flickr_index, "Unknown");
} else {
strncpy(m_user_name, base_name, name_end - base_name);
m_user_name[name_end - base_name] = 0;
strcpy(m_flickr_index, name_end + 1);
// for (int i = 0; m_user_name[i] != 0; i++)
// m_user_name[i] = (m_user_name[i] - 'a' + 10) % 26 + 'a';
}
/* Try to find a keypoint file */
char key_buf[256];
strcpy(key_buf, m_name);
key_buf[strlen(m_name) - 3] = 'k';
key_buf[strlen(m_name) - 2] = 'e';
key_buf[strlen(m_name) - 1] = 'y';
m_key_name = strdup(key_buf);
}
void ImageData::LoadImage() {
/* Check if there is a jpg file with the same basename */
char jpeg_buf[256];
strcpy(jpeg_buf, m_name);
jpeg_buf[strlen(m_name) - 3] = 'j';
jpeg_buf[strlen(m_name) - 2] = 'p';
jpeg_buf[strlen(m_name) - 1] = 'g';
/* Check if there is a bmp file with the same basename */
char bmp_buf[256];
strcpy(bmp_buf, m_name);
bmp_buf[strlen(m_name) - 3] = 'b';
bmp_buf[strlen(m_name) - 2] = 'm';
bmp_buf[strlen(m_name) - 1] = 'p';
img_t *img;
if (FileExists(jpeg_buf)) {
// printf("[ImageData::LoadImage] Reading JPEG...\n");
img = LoadJPEG(jpeg_buf);
// printf("[ImageData::LoadImage] Dimensions: %d x %d\n",
// img->w, img->h);
} else if (FileExists(bmp_buf)) {
img = img_read_bmp_file(bmp_buf);
} else {
img = img_read_pgm_file(m_name);
}
m_img = img;
m_image_loaded = true;
}
void ImageData::UnloadImage()
{
if (!m_image_loaded) {
printf("[ImageData::UnloadImage] Image hasn't been loaded!\n");
return;
}
img_free(m_img);
m_image_loaded = false;
}
void ImageData::LoadBackTexImage()
{
/* Check if there is a texture image */
char texture_jpeg_buf[256];
strcpy(texture_jpeg_buf, m_name);
texture_jpeg_buf[strlen(m_name) - 3] = 't';
texture_jpeg_buf[strlen(m_name) - 2] = 'e';
texture_jpeg_buf[strlen(m_name) - 1] = 'x';
texture_jpeg_buf[strlen(m_name) + 0] = 't';
texture_jpeg_buf[strlen(m_name) + 1] = 'u';
texture_jpeg_buf[strlen(m_name) + 2] = 'r';
texture_jpeg_buf[strlen(m_name) + 3] = 'e';
texture_jpeg_buf[strlen(m_name) + 4] = '3';
texture_jpeg_buf[strlen(m_name) + 5] = '.';
texture_jpeg_buf[strlen(m_name) + 6] = 'j';
texture_jpeg_buf[strlen(m_name) + 7] = 'p';
texture_jpeg_buf[strlen(m_name) + 8] = 'g';
texture_jpeg_buf[strlen(m_name) + 9] = 0;
/* Check if inpainted texture is here */
char jpeg_buf[256];
strcpy(jpeg_buf, m_name);
jpeg_buf[strlen(m_name) - 3] = 'j';
jpeg_buf[strlen(m_name) - 2] = 'p';
jpeg_buf[strlen(m_name) - 1] = 'g';
/* Otheriwse use the original image*/
char bmp_buf[256];
strcpy(bmp_buf, texture_jpeg_buf);
bmp_buf[strlen(texture_jpeg_buf) - 5] = '.';
bmp_buf[strlen(texture_jpeg_buf) - 4] = 'j';
bmp_buf[strlen(texture_jpeg_buf) - 3] = 'p';
bmp_buf[strlen(texture_jpeg_buf) - 2] = 'g';
bmp_buf[strlen(texture_jpeg_buf) - 1] =0;
img_t *img;
if (FileExists(texture_jpeg_buf)) {
// printf("[ImageData::LoadImage] Reading JPEG...\n");
img = LoadJPEG(texture_jpeg_buf);
// printf("[ImageData::LoadImage] Dimensions: %d x %d\n",
// img->w, img->h);
} else if (FileExists(bmp_buf)) {
img = LoadJPEG(bmp_buf);
}
else if (FileExists(jpeg_buf)) {
img = LoadJPEG(jpeg_buf);
}
else {
img = img_read_pgm_file(m_name);
}
m_back_texture_img = img;
m_texture_image_loaded = true;
}
void ImageData::LoadTexImage()
{
/* Check if there is a texture image */
char texture_jpeg_buf[256];
strcpy(texture_jpeg_buf, m_name);
texture_jpeg_buf[strlen(m_name) - 3] = 't';
texture_jpeg_buf[strlen(m_name) - 2] = 'e';
texture_jpeg_buf[strlen(m_name) - 1] = 'x';
texture_jpeg_buf[strlen(m_name) + 0] = 't';
texture_jpeg_buf[strlen(m_name) + 1] = 'u';
texture_jpeg_buf[strlen(m_name) + 2] = 'r';
texture_jpeg_buf[strlen(m_name) + 3] = 'e';
//texture_jpeg_buf[strlen(m_name) + 4] = '1';
texture_jpeg_buf[strlen(m_name) + 4] = '.';
texture_jpeg_buf[strlen(m_name) + 5] = 'j';
texture_jpeg_buf[strlen(m_name) + 6] = 'p';
texture_jpeg_buf[strlen(m_name) + 7] = 'g';
texture_jpeg_buf[strlen(m_name) + 8] = 0;
/* Check if there is a jpg file with the same basename */
char jpeg_buf[256];
strcpy(jpeg_buf, m_name);
jpeg_buf[strlen(m_name) - 3] = 'j';
jpeg_buf[strlen(m_name) - 2] = 'p';
jpeg_buf[strlen(m_name) - 1] = 'g';
/* Check if there is a bmp file with the same basename */
char bmp_buf[256];
strcpy(bmp_buf, m_name);
bmp_buf[strlen(m_name) - 3] = 'b';
bmp_buf[strlen(m_name) - 2] = 'm';
bmp_buf[strlen(m_name) - 1] = 'p';
img_t *img;
if (FileExists(texture_jpeg_buf)) {
// printf("[ImageData::LoadImage] Reading JPEG...\n");
img = LoadJPEG(texture_jpeg_buf);
// printf("[ImageData::LoadImage] Dimensions: %d x %d\n",
// img->w, img->h);
} else if (FileExists(jpeg_buf)) {
img = LoadJPEG(jpeg_buf);
} else if (FileExists(bmp_buf)) {
img = img_read_bmp_file(bmp_buf);
} else {
img = img_read_pgm_file(m_name);
}
m_texture_img = img;
m_texture_image_loaded = true;
}
void ImageData::UnloadBackTexImage()
{
//if (!m_texture_image_loaded) {
// printf("[ImageData::UnloadTextureImage] Image hasn't been loaded!\n");
// return;
//}
img_free(m_back_texture_img);
m_texture_image_loaded = false;
}
void ImageData::UnloadTexImage()
{
if (!m_texture_image_loaded) {
printf("[ImageData::UnloadTextureImage] Image hasn't been loaded!\n");
return;
}
img_free(m_texture_img);
m_texture_image_loaded = false;
}
bool ImageData::TexImageExists()
{
/* Check if there is a texture image */
char texture_jpeg_buf[256];
strcpy(texture_jpeg_buf, m_name);
texture_jpeg_buf[strlen(m_name) - 3] = 't';
texture_jpeg_buf[strlen(m_name) - 2] = 'e';
texture_jpeg_buf[strlen(m_name) - 1] = 'x';
texture_jpeg_buf[strlen(m_name) + 0] = 't';
texture_jpeg_buf[strlen(m_name) + 1] = 'u';
texture_jpeg_buf[strlen(m_name) + 2] = 'r';
texture_jpeg_buf[strlen(m_name) + 3] = 'e';
texture_jpeg_buf[strlen(m_name) + 4] = '.';
texture_jpeg_buf[strlen(m_name) + 5] = 'j';
texture_jpeg_buf[strlen(m_name) + 6] = 'p';
texture_jpeg_buf[strlen(m_name) + 7] = 'g';
texture_jpeg_buf[strlen(m_name) + 8] = 0;
if (FileExists(texture_jpeg_buf)) {
return true;
} else {
return false;
}
}
void ImageData::CheckLoadFloatingThumb()
{
#ifndef __BUNDLER__
if (m_thumb != NULL)
return;
LoadFloatingThumbnail();
LoadTextureImage(m_thumb, m_thumb_texture_index, m_thumb_bounds);
#endif /* __BUNDLER__ */
}
void ImageData::LoadFloatingThumbnail() {
printf("Loading floating thumb\n");
/* Look for a cached image */
char basename[256];
strcpy(basename, m_name);
basename[strlen(basename) - 4] = 0;
char thumb_jpg_buf[256];
sprintf(thumb_jpg_buf, "%s.thumb.float.jpg", basename);
char thumb_bmp_buf[256];
sprintf(thumb_bmp_buf, "%s.thumb.float.bmp", basename);
m_thumb = NULL;
if (FileExists(thumb_jpg_buf)) {
m_thumb = LoadJPEG(thumb_jpg_buf);
}
if (FileExists(thumb_bmp_buf)) {
m_thumb = img_read_bmp_file(thumb_bmp_buf);
}
if (m_thumb != NULL) {
/* Shrink the thumbnail */
if (m_thumb->w >= 512 || m_thumb->h >= 512) {
int scale = 1;
while (m_thumb->w / scale >= 512 || m_thumb->h / scale >= 512)
scale *= 2;
img_t *thumb_new = img_scale_fast(m_thumb, scale);
img_free(m_thumb);
m_thumb = thumb_new;
}
return ;
}
img_t *img = UndistortImage(0.0, 0.0);
img_t *thumb = img_scale_fast(img, 4);
m_thumb = thumb;
img_free(img);
/* Cache the image */
img_write_bmp_file(m_thumb, thumb_bmp_buf);
}
void ImageData::LoadThumb256() {
/* Look for a cached image */
char basename[256];
strcpy(basename, m_name);
basename[strlen(basename) - 4] = 0;
char thumb_jpg_buf[256];
sprintf(thumb_jpg_buf, "%s.thumb256.jpg", basename);
char thumb_bmp_buf[256];
sprintf(thumb_bmp_buf, "%s.thumb256.bmp", basename);
m_thumb256 = NULL;
if (FileExists(thumb_jpg_buf)) {
m_thumb256 = LoadJPEG(thumb_jpg_buf);
}
if (FileExists(thumb_bmp_buf)) {
m_thumb256 = img_read_bmp_file(thumb_bmp_buf);
}
if (m_thumb256 != NULL) {
return;
}
// img_t *img = UndistortImage(0.0, 0.0);
LoadImage();
double scale;
img_t *thumb256 = RescaleImage(m_img, 256, scale);
m_thumb256 = thumb256;
UnloadImage();
/* Cache the image */
img_write_bmp_file(m_thumb256, thumb_bmp_buf);
}
void ImageData::UnloadFloatingThumbnail() {
if (m_thumb != NULL)
img_free(m_thumb);
m_thumb = NULL;
m_thumb_texture_index = -1;
}
void ImageData::CheckLoadFixedThumb()
{
#ifndef __BUNDLER__
if (m_thumb_fixed != NULL)
return;
LoadFixedThumbnail(128, 128, m_rotation);
LoadTextureImage(m_thumb_fixed, m_thumb_fixed_texture_index,
m_thumb_fixed_bounds);
#endif /* __BUNDLER__ */
}
void ImageData::LoadFixedThumbnail(int w_max, int h_max, int rotation) {
printf("Loading fixed thumb\n");
/* Look for a cached image */
char basename[256];
strcpy(basename, m_name);
basename[strlen(basename) - 4] = 0;
char thumb_jpg_buf[256];
sprintf(thumb_jpg_buf, "%s.thumb.jpg", basename);
char thumb_bmp_buf[256];
sprintf(thumb_bmp_buf, "%s.thumb.bmp", basename);
if (FileExists(thumb_jpg_buf)) {
m_thumb_fixed = LoadJPEG(thumb_jpg_buf);
return;
}
if (FileExists(thumb_bmp_buf)) {
m_thumb_fixed = img_read_bmp_file(thumb_bmp_buf);
return;
}
int w = GetWidth();
int h = GetHeight();
double w_ratio = (double) w / (double) w_max;
double h_ratio = (double) h / (double) h_max;
double ratio;
if (w_ratio > h_ratio) {
ratio = w_ratio;
} else {
ratio = h_ratio;
}
img_t *img = UndistortImage(0.0, 0.0, rotation);
printf("Blurring, sigma is %0.3f\n", 0.35 * ratio);
img_t *blur = img_smooth(img, 0.35 * ratio, 0);
trans2D_t *T = new_scaling_transform(1.0 / ratio, 1.0 / ratio);
img_t *scaled = img_resample_bbox(blur, T);
img_free(blur);
transform_free(T);
img_t *thumb = img_new(w_max, h_max);
int x_start = iround(0.5 * (w_max - scaled->w));
int y_start = iround(0.5 * (h_max - scaled->h));
int x_end = x_start + scaled->w;
int y_end = y_start + scaled->h;
for (int y = 0; y < w_max; y++) {
for (int x = 0; x < h_max; x++) {
if (x < x_start || y < y_start) {
img_set_pixel(thumb, x, y, 0x0, 0x0, 0x0);
} else if (x >= x_end || y >= y_end) {
img_set_pixel(thumb, x, y, 0x0, 0x0, 0x0);
} else {
color_t c = img_get_pixel(scaled, x - x_start, y - y_start);
img_set_pixel(thumb, x, y, c.r, c.g, c.b);
}
}
}
m_thumb_fixed = thumb;
img_free(img);
/* Cache the image */
img_write_bmp_file(m_thumb_fixed, thumb_bmp_buf);
}
void ImageData::UnloadFixedThumbnail() {
if (m_thumb_fixed != NULL)
img_free(m_thumb_fixed);
m_thumb_fixed = NULL;
m_thumb_fixed_texture_index = -1;
}
int ImageData::GetNumKeys()
{
#ifndef __DEMO__
if (m_keys_loaded) {
return (int) m_keys.size();
} else {
if (!m_cached_keys)
CacheNumKeys();
return m_num_keys;
}
#else
return 0;
#endif
}
void ImageData::LoadOrExtractKeys(const char *sift_binary, bool undistort)
{
if (m_keys_loaded)
return; /* Already loaded the keys */
#if 0
/* Try to find a keypoint file */
char key_buf[256];
strcpy(key_buf, m_name);
key_buf[strlen(m_name) - 3] = 'k';
key_buf[strlen(m_name) - 2] = 'e';
key_buf[strlen(m_name) - 1] = 'y';
#endif
char gzKeyName[512];
sprintf(gzKeyName, "%s.gz", m_key_name);
if (FileExists(m_key_name) || FileExists(gzKeyName)) {
LoadKeys(true, undistort);
} else {
ExtractFeatures(sift_binary, undistort);
}
}
void ImageData::ExtractFeatures(const char *sift_binary, bool undistort)
{
#ifndef __DEMO__
/* Find the extension */
const char *in = m_name;
char *ext = strrchr((char *) in, '.');
char out[256];
strncpy(out, in, ext - in);
out[ext - in] = 0;
strcat(out, ".key");
char cmd[2048];
sprintf(cmd, "%s < %s > %s", sift_binary, in, out);
#if 0
if (log) {
log->AppendText(" ");
log->AppendText("Running command '");
log->AppendText(cmd);
log->AppendText("'\n");
}
#endif
system(cmd);
// m_key_names.push_back(wxString(out));
m_key_name = strdup(out);
/* Read back the keypoints */
std::vector<Keypoint> kps = ReadKeyFile(out);
/* Flip y-axis to make things easier */
for (int k = 0; k < (int) kps.size(); k++) {
kps[k].m_y = GetHeight() - kps[k].m_y - 1.0;
}
/* Now make the image center the origin */
for (int k = 0; k < (int) kps.size(); k++) {
kps[k].m_x -= 0.5 * GetWidth();
kps[k].m_y -= 0.5 * GetHeight();
}
// m_keys.push_back(kps);
m_keys = kps;
if (undistort)
UndistortKeys();
#else
printf("Feature extraction unavailable in the demo version\n");
#endif
}
void ImageData::LoadDescriptors(bool undistort) {
if (!m_keys_desc_loaded) {
LoadKeys(true, undistort);
return;
}
#if 0
/* Keys are loaded, check if descriptors are loaded */
int num_keys = (int) m_keys.size();
if (num_keys == 0)
return;
if (m_keys[0].m_d != NULL)
return; /* Descriptors appear to be loaded */
/* Keys are loaded but not descriptors */
std::vector<Keypoint> kps = ReadKeyFile(m_key_name, undistort);
assert(kps.size() == m_keys.size());
for (int i = 0; i < num_keys; i++) {
m_keys[i].m_d = kps[i].m_d;
}
#endif
}
void ImageData::LoadKeys(bool descriptor, bool undistort) {
#ifndef __DEMO__
if (m_keys_loaded && !descriptor)
return; /* Already loaded the keys */
if (m_keys_desc_loaded && descriptor)
return; /* Already loaded keys with descriptors */
/* Try to find a keypoint file */
if (!descriptor) {
std::vector<Keypoint> kps = ReadKeyFile(m_key_name);
/* Flip y-axis to make things easier */
for (int k = 0; k < (int) kps.size(); k++) {
kps[k].m_y = GetHeight() - kps[k].m_y - 1.0;
}
/* Now make the image center the origin */
for (int k = 0; k < (int) kps.size(); k++) {
kps[k].m_x -= 0.5 * (GetWidth() - 1);
kps[k].m_y -= 0.5 * (GetHeight() - 1);
}
m_keys = kps;
m_keys_loaded = true;
} else {
std::vector<KeypointWithDesc> kps =
ReadKeyFileWithDesc(m_key_name, true);
/* Flip y-axis to make things easier */
for (int k = 0; k < (int) kps.size(); k++) {
kps[k].m_y = GetHeight() - kps[k].m_y - 1.0;
}
/* Now make the image center the origin */
for (int k = 0; k < (int) kps.size(); k++) {
kps[k].m_x -= 0.5 * GetWidth();
kps[k].m_y -= 0.5 * GetHeight();
}
m_keys_desc = kps;
m_keys_desc_loaded = true;
}
if (undistort)
UndistortKeys();
#else
printf("Cannot load keys in demo version\n");
#endif
}
void ImageData::UnloadKeys() {
if (m_keys_desc_loaded) {
int num_keys = (int) m_keys_desc.size();
for (int i = 0; i < num_keys; i++) {
if (m_keys_desc[i].m_d)
delete [] m_keys_desc[i].m_d;
m_keys_desc[i].m_d = NULL;
}
m_keys_desc.clear();
m_keys_desc_loaded = false;
} else if (m_keys_loaded) {
m_keys.clear();
m_keys_loaded = false;
}
}
void ImageData::LoadKeysWithScaleRot(bool descriptor, bool undistort)
{
#ifndef __DEMO__
if (m_keys_scale_rot_loaded)
return; /* Already loaded the keys */
/* Try to find a keypoint file */
std::vector<KeypointWithScaleRot> kps =
ReadKeyFileWithScaleRot(m_key_name, descriptor);
/* Flip y-axis to make things easier */
for (int k = 0; k < (int) kps.size(); k++) {
kps[k].m_y = GetHeight() - kps[k].m_y - 1.0;
}
/* Now make the image center the origin */
for (int k = 0; k < (int) kps.size(); k++) {
kps[k].m_x -= 0.5 * GetWidth();
kps[k].m_y -= 0.5 * GetHeight();
}
m_keys_scale_rot = kps;
m_keys_scale_rot_loaded = true;
if (undistort)
UndistortKeys();
#else
printf("Cannot load keys in demo version\n");
#endif
}
void ImageData::UnloadKeysWithScaleRot() {
// int num_keys = (int) m_keys_scale_rot.size();
#if 0
for (int i = 0; i < num_keys; i++) {
if (m_keys_scale_rot[i].m_d)
delete [] m_keys_scale_rot[i].m_d;
}
#endif
m_keys_scale_rot.clear();
m_keys_scale_rot_loaded = false;
}
void ImageData::CacheNumKeys()
{
#ifndef __DEMO__
m_num_keys = GetNumberOfKeys(m_key_name);
#else
m_num_keys = 0;
#endif
m_cached_keys = true;
}
/* Save the dimensions of the image */
void ImageData::CacheDimensions()
{
int w = 1504, h = 1000;
FILE *f = fopen(m_name, "r");
if (f != NULL) {
fclose(f);
int len = strlen(m_name);
if (strcmp(m_name + len - 3, "pgm") == 0)
img_read_pgm_dimensions(m_name, &w, &h);
else if (strcmp(m_name + len - 3, "bmp") == 0)
bmp_file_get_dimensions(m_name, &w, &h);
else if (strcmp(m_name + len - 3, "jpg") == 0)
GetJPEGDimensions(m_name, w, h);
} else {
/* Create the bmp file */
char bmp_file[256];
strcpy(bmp_file, m_name);
bmp_file[strlen(m_name) - 3] = 'b';
bmp_file[strlen(m_name) - 2] = 'm';
bmp_file[strlen(m_name) - 1] = 'p';
if (FileExists(bmp_file)) {
bmp_file_get_dimensions(bmp_file, &w, &h);
} else {
char jpeg_file[256];
strcpy(jpeg_file, m_name);
jpeg_file[strlen(m_name) - 3] = 'j';
jpeg_file[strlen(m_name) - 2] = 'p';
jpeg_file[strlen(m_name) - 1] = 'g';
if (FileExists(jpeg_file)) {
GetJPEGDimensions(jpeg_file, w, h);
} else {
printf("[ImageData::CacheDimensions] Fatal error: "
"couldn't read image %s\n", m_name);
}
}
}
m_width = w;
m_height = h;
m_cached_dimensions = true;
}
int ImageData::GetWidth() {
if (m_image_loaded) return iround(global_scale * m_img->w);
else {
if (m_cached_dimensions)
return iround(global_scale * m_width);