ygx2011 / paopaotalk Goto Github PK

            ifkfKeys.read(reinterpret_cast<char*>(&kpn), sizeof(size_t));
            tmvKeys.resize(kpn);
            //for(size_t vit=0;vit<kpn;vit++)
            for(vector<cv::KeyPoint>::iterator vitkeys=tmvKeys.begin(), vendkeys=tmvKeys.end(); vitkeys!=vendkeys; vitkeys++)
            {
                float ptx,pty,size,angle,response;
                int octave,classid;
                ifkfKeys.read(reinterpret_cast<char*>(&ptx), sizeof(float));
                ifkfKeys.read(reinterpret_cast<char*>(&pty), sizeof(float));
                ifkfKeys.read(reinterpret_cast<char*>(&size), sizeof(float));
                ifkfKeys.read(reinterpret_cast<char*>(&angle), sizeof(float));
                ifkfKeys.read(reinterpret_cast<char*>(&response), sizeof(float));
                ifkfKeys.read(reinterpret_cast<char*>(&octave), sizeof(int));
                ifkfKeys.read(reinterpret_cast<char*>(&classid), sizeof(int));
                //tmvKeys[vit] = cv::KeyPoint(ptx,pty,size,angle,response,octave,classid);
                *vitkeys = cv::KeyPoint(ptx,pty,size,angle,response,octave,classid);
                if(ifkfKeys.fail())  cerr<<"loopcnt: "<<skfcnt<<" mnId "<<mnId<<" ifkfKeys fail. shouldn't"<<endl;
            }
            tmpKF->SetKeyPoints(tmvKeys);
        }`

                ifkfmGrid.read(reinterpret_cast<char*>(&gridN),sizeof(size_t));
                vector<size_t> gridij(gridN);
                for(size_t k=0; k< gridN; k++)
                {
                    ifkfmGrid.read(reinterpret_cast<char*>(&gridij[k]),sizeof(size_t));
                }
                mGrid[i][j] = gridij;
            }
        }
        tmpKF->SetmGrid(mGrid);
        if(ifkfmGrid.fail())	cerr<<"ifkfmGrid.fail(), shouldn't"<<endl;
        //std::vector< std::vector <std::vector<size_t> > > mGrid
    }`