Added "save/load session" menu actions.

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@418 620bd6b2-0a58-f614-fd9a-1bd335dccda9

include/find_object/FindObject.h

@@ -65,6 +65,9 @@ public:
 	FindObject(QObject * parent = 0);
 	virtual ~FindObject();
 
+	bool loadSession(const QString & path);
+	bool saveSession(const QString & path) const;
+
 	int loadObjects(const QString & dirPath); // call updateObjects()
 	const ObjSignature * addObject(const QString & filePath);
 	const ObjSignature * addObject(const cv::Mat & image, int id=0, const QString & filename = QString());

include/find_object/MainWindow.h

@@ -81,6 +81,8 @@ public Q_SLOTS:
 	void update(const cv::Mat & image);
 
 private Q_SLOTS:
+	void loadSession();
+	void saveSession();
 	void loadSettings();
 	void saveSettings();
 	void loadObjects();
@@ -110,7 +112,7 @@ Q_SIGNALS:
 
 private:
 	bool loadSettings(const QString & path);
-	bool saveSettings(const QString & path);
+	bool saveSettings(const QString & path) const;
 	int loadObjects(const QString & dirPath);
 	int saveObjects(const QString & dirPath);
 	void setupTCPServer();

src/AddObjectDialog.cpp

@@ -358,7 +358,7 @@ void AddObjectDialog::setState(int state)
 				objSignature_ = 0;
 			}
 			objSignature_ = new ObjSignature(0, imgRoi.clone(), "");
-			objSignature_->setData(keypoints, descriptors, Settings::currentDetectorType(), Settings::currentDescriptorType());
+			objSignature_->setData(keypoints, descriptors);
 			objWidget_ = new ObjWidget(0, keypoints, cvtCvMat2QImage(imgRoi.clone()));
 
 			this->accept();

src/FindObject.cpp

@@ -59,6 +59,85 @@ FindObject::~FindObject() {
 	objectsDescriptors_.clear();
 }
 
+bool FindObject::loadSession(const QString & path)
+{
+	if(QFile::exists(path) && !path.isEmpty() && QFileInfo(path).suffix().compare("bin") == 0)
+	{
+		QFile file(path);
+		file.open(QIODevice::ReadOnly);
+		QDataStream in(&file);
+
+		ParametersMap parameters;
+
+		// load parameters
+		in >> parameters;
+		for(QMap<QString, QVariant>::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
+		{
+			Settings::setParameter(iter.key(), iter.value());
+		}
+
+		// save vocabulary
+		vocabulary_->load(in);
+
+		// load objects
+		while(!in.atEnd())
+		{
+			ObjSignature * obj = new ObjSignature();
+			obj->load(in);
+			if(obj->id() >= 0)
+			{
+				objects_.insert(obj->id(), obj);
+			}
+			else
+			{
+				UERROR("Failed to load and object!");
+				delete obj;
+			}
+		}
+		file.close();
+
+		if(!Settings::getGeneral_invertedSearch())
+		{
+			// this will fill objectsDescriptors_ matrix
+			updateVocabulary();
+		}
+
+		return true;
+	}
+	else
+	{
+		UERROR("Invalid session file (should be *.bin): \"%s\"", path.toStdString().c_str());
+	}
+	return false;
+}
+
+bool FindObject::saveSession(const QString & path) const
+{
+	if(!path.isEmpty() && QFileInfo(path).suffix().compare("bin") == 0)
+	{
+		QFile file(path);
+		file.open(QIODevice::WriteOnly);
+		QDataStream out(&file);
+
+		// save parameters
+		out << Settings::getParameters();
+
+		// save vocabulary
+		vocabulary_->save(out);
+
+		// save objects
+		for(QMultiMap<int, ObjSignature*>::const_iterator iter=objects_.constBegin(); iter!=objects_.constEnd(); ++iter)
+		{
+			iter.value()->save(out);
+		}
+
+		file.close();
+		return true;
+	}
+	UERROR("Path \"%s\" not valid (should be *.bin)", path.toStdString().c_str());
+	return false;
+}
+
 int FindObject::loadObjects(const QString & dirPath)
 {
 	int loadedObjects = 0;
@@ -143,7 +222,6 @@ bool FindObject::addObject(ObjSignature * obj)
 	Settings::setGeneral_nextObjID(obj->id()+1);
 
 	objects_.insert(obj->id(), obj);
-	clearVocabulary();
 
 	return true;
 }
@@ -512,11 +590,7 @@ void FindObject::updateObjects()
 
 				int id = threads[j]->objectId();
 
-				objects_.value(id)->setData(
+				objects_.value(id)->setData(threads[j]->keypoints(), threads[j]->descriptors());
-						threads[j]->keypoints(),
-						threads[j]->descriptors(),
-						Settings::currentDetectorType(),
-						Settings::currentDescriptorType());
 			}
 		}
 		UINFO("Features extraction from %d objects... done! (%d ms)", objects_.size(), time.elapsed());
@@ -915,13 +989,22 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
 		bool consistentNNData = (vocabulary_->size()!=0 && vocabulary_->wordToObjects().begin().value()!=-1 && Settings::getGeneral_invertedSearch()) ||
 								((vocabulary_->size()==0 || vocabulary_->wordToObjects().begin().value()==-1) && !Settings::getGeneral_invertedSearch());
 
+		bool descriptorsValid = !Settings::getGeneral_invertedSearch() &&
+								!objectsDescriptors_.empty() &&
+								objectsDescriptors_.begin().value().cols == info.sceneDescriptors_.cols &&
+								objectsDescriptors_.begin().value().type() == info.sceneDescriptors_.type();
+
+		bool vocabularyValid = Settings::getGeneral_invertedSearch() &&
+								vocabulary_->size() &&
+								!vocabulary_->indexedDescriptors().empty() &&
+								vocabulary_->indexedDescriptors().cols == info.sceneDescriptors_.cols &&
+								vocabulary_->indexedDescriptors().type() == info.sceneDescriptors_.type();
+
 		// COMPARE
 		UDEBUG("COMPARE");
-		if(!objectsDescriptors_.empty() &&
+		if((descriptorsValid || vocabularyValid) &&
 			info.sceneKeypoints_.size() &&
-		   consistentNNData &&
+		    consistentNNData)
-		   objectsDescriptors_.begin().value().cols == info.sceneDescriptors_.cols &&
-		   objectsDescriptors_.begin().value().type() == info.sceneDescriptors_.type()) // binary descriptor issue, if the dataTree is not yet updated with modified settings
 		{
 			success = true;
 			QTime time;
@@ -1243,7 +1326,7 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
 				info.timeStamps_.insert(DetectionInfo::kTimeHomography, time.restart());
 			}
 		}
-		else if(!objectsDescriptors_.empty() && info.sceneKeypoints_.size())
+		else if((descriptorsValid || vocabularyValid) && info.sceneKeypoints_.size())
 		{
 			UWARN("Cannot search, objects must be updated");
 		}

src/MainWindow.cpp

@@ -181,6 +181,7 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
 	ui_->actionStop_camera->setEnabled(false);
 	ui_->actionPause_camera->setEnabled(false);
 	ui_->actionSave_objects->setEnabled(false);
+	ui_->actionSave_session->setEnabled(false);
 
 	// Actions
 	connect(ui_->actionAdd_object_from_scene, SIGNAL(triggered()), this, SLOT(addObjectFromScene()));
@@ -200,6 +201,8 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
 	connect(ui_->actionRemove_all_objects, SIGNAL(triggered()), this, SLOT(removeAllObjects()));
 	connect(ui_->actionSave_settings, SIGNAL(triggered()), this, SLOT(saveSettings()));
 	connect(ui_->actionLoad_settings, SIGNAL(triggered()), this, SLOT(loadSettings()));
+	connect(ui_->actionSave_session, SIGNAL(triggered()), this, SLOT(saveSession()));
+	connect(ui_->actionLoad_session, SIGNAL(triggered()), this, SLOT(loadSession()));
 	connect(ui_->actionShow_objects_features, SIGNAL(triggered()), this, SLOT(showObjectsFeatures()));
 	connect(ui_->actionHide_objects_features, SIGNAL(triggered()), this, SLOT(hideObjectsFeatures()));
 
@@ -315,6 +318,84 @@ void MainWindow::setSourceImageText(const QString & text)
 	ui_->imageView_source->setTextLabel(text);
 }
 
+void MainWindow::loadSession()
+{
+	if(objWidgets_.size())
+	{
+		QMessageBox::StandardButton b = QMessageBox::question(this, tr("Loading session..."),
+				tr("There are some objects (%1) already loaded, they will be "
+				   "deleted when loading the session. Do you want to continue?").arg(objWidgets_.size()),
+				QMessageBox::Yes | QMessageBox::No, QMessageBox::NoButton);
+		if(b != QMessageBox::Yes)
+		{
+			return;
+		}
+	}
+
+	QString path = QFileDialog::getOpenFileName(this, tr("Load session..."), Settings::workingDirectory(), "*.bin");
+	if(!path.isEmpty())
+	{
+		qDeleteAll(objWidgets_);
+		objWidgets_.clear();
+		ui_->actionSave_objects->setEnabled(false);
+		findObject_->removeAllObjects();
+
+		if(findObject_->loadSession(path))
+		{
+			//update parameters tool box
+			const ParametersMap & parameters = Settings::getParameters();
+			for(ParametersMap::const_iterator iter = parameters.begin(); iter!= parameters.constEnd(); ++iter)
+			{
+				ui_->toolBox->updateParameter(iter.key());
+			}
+
+			//update object widgets
+			for(QMap<int, ObjSignature *>::const_iterator iter=findObject_->objects().constBegin(); iter!=findObject_->objects().constEnd();++iter)
+			{
+				if(iter.value())
+				{
+					ObjWidget * obj = new ObjWidget(iter.key(), iter.value()->keypoints(), cvtCvMat2QImage(iter.value()->image()));
+					objWidgets_.insert(obj->id(), obj);
+					ui_->actionSave_objects->setEnabled(true);
+					ui_->actionSave_session->setEnabled(true);
+					this->showObject(obj);
+
+					//update object labels
+					QLabel * title = qFindChild<QLabel*>(this, QString("%1title").arg(iter.value()->id()));
+					title->setText(QString("%1 (%2)").arg(iter.value()->id()).arg(QString::number(iter.value()->keypoints().size())));
+				}
+
+			}
+
+			QMessageBox::information(this, tr("Session loaded!"), tr("Session \"%1\" successfully loaded (%2 objects)!").arg(path).arg(objWidgets_.size()));
+
+			if(!camera_->isRunning() && !sceneImage_.empty())
+			{
+				this->update(sceneImage_);
+			}
+		}
+	}
+}
+void MainWindow::saveSession()
+{
+	if(objWidgets_.size())
+	{
+		QString path = QFileDialog::getSaveFileName(this, tr("Save session..."), Settings::workingDirectory(), "*.bin");
+		if(!path.isEmpty())
+		{
+			if(QFileInfo(path).suffix().compare("bin") != 0)
+			{
+				path.append(".bin");
+			}
+
+			if(findObject_->saveSession(path))
+			{
+				QMessageBox::information(this, tr("Session saved!"), tr("Session \"%1\" successfully saved (%2 objects)!").arg(path).arg(objWidgets_.size()));
+			}
+		}
+	}
+}
+
 void MainWindow::loadSettings()
 {
 	QString path = QFileDialog::getOpenFileName(this, tr("Load settings..."), Settings::workingDirectory(), "*.ini");
@@ -360,11 +441,11 @@ bool MainWindow::loadSettings(const QString & path)
 
 		return true;
 	}
-	UINFO("Path \"%s\" not valid (should be *.ini)", path.toStdString().c_str());
+	UERROR("Path \"%s\" not valid (should be *.ini)", path.toStdString().c_str());
 	return false;
 }
 
-bool MainWindow::saveSettings(const QString & path)
+bool MainWindow::saveSettings(const QString & path) const
 {
 	if(!path.isEmpty() && QFileInfo(path).suffix().compare("ini") == 0)
 	{
@@ -372,7 +453,7 @@ bool MainWindow::saveSettings(const QString & path)
 		Settings::saveWindowSettings(this->saveGeometry(), this->saveState(), path);
 		return true;
 	}
-	UINFO("Path \"%s\" not valid (should be *.ini)", path.toStdString().c_str());
+	UERROR("Path \"%s\" not valid (should be *.ini)", path.toStdString().c_str());
 	return false;
 }
 
@@ -405,7 +486,7 @@ int MainWindow::saveObjects(const QString & dirPath)
 	QDir dir(dirPath);
 	if(dir.exists())
 	{
-		for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
+		for(QMap<int, ObjWidget*>::const_iterator iter=objWidgets_.constBegin(); iter!=objWidgets_.constEnd(); ++iter)
 		{
 			if(iter.value()->pixmap().save(QString("%1/%2.png").arg(dirPath).arg(iter.key())))
 			{
@@ -464,6 +545,7 @@ void MainWindow::removeObject(find_object::ObjWidget * object)
 		if(objWidgets_.size() == 0)
 		{
 			ui_->actionSave_objects->setEnabled(false);
+			ui_->actionSave_session->setEnabled(false);
 		}
 		findObject_->removeObject(object->id());
 		object->deleteLater();
@@ -570,6 +652,7 @@ void MainWindow::addObjectFromScene()
 		obj->setId(signature->id());
 		objWidgets_.insert(obj->id(), obj);
 		ui_->actionSave_objects->setEnabled(true);
+		ui_->actionSave_session->setEnabled(true);
 		showObject(obj);
 		updateVocabulary();
 		objectsModified_ = true;
@@ -616,6 +699,7 @@ bool MainWindow::addObjectFromFile(const QString & filePath)
 		ObjWidget * obj = new ObjWidget(s->id(), std::vector<cv::KeyPoint>(), cvtCvMat2QImage(s->image()));
 		objWidgets_.insert(obj->id(), obj);
 		ui_->actionSave_objects->setEnabled(true);
+		ui_->actionSave_session->setEnabled(true);
 		this->showObject(obj);
 		return true;
 	}

src/ObjSignature.h

@@ -32,11 +32,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtCore/QString>
 #include <QtCore/QMultiMap>
 #include <QtCore/QRect>
+#include <QtCore/QDataStream>
+#include <QtCore/QByteArray>
 
 namespace find_object {
 
 class ObjSignature {
 public:
+	ObjSignature() :
+		id_(-1)
+	{}
 	ObjSignature(int id, const cv::Mat & image, const QString & filename) :
 		id_(id),
 		image_(image),
@@ -44,15 +49,10 @@ public:
 	{}
 	virtual ~ObjSignature() {}
 
-	void setData(const std::vector<cv::KeyPoint> & keypoints,
+	void setData(const std::vector<cv::KeyPoint> & keypoints, const cv::Mat & descriptors)
-				const cv::Mat & descriptors,
-				const QString & detectorType,
-				const QString & descriptorType)
 	{
 		keypoints_ = keypoints;
 		descriptors_ = descriptors;
-		detectorType_ = detectorType;
-		descriptorType_ = descriptorType;
 	}
 	void setWords(const QMultiMap<int, int> & words) {words_ = words;}
 	void setId(int id) {id_ = id;}
@@ -65,8 +65,69 @@ public:
 	const std::vector<cv::KeyPoint> & keypoints() const {return keypoints_;}
 	const cv::Mat & descriptors() const {return descriptors_;}
 	const QMultiMap<int, int> & words() const {return words_;}
-	const QString & detectorType() const {return detectorType_;}
+
-	const QString & descriptorType() const {return descriptorType_;}
+	void save(QDataStream & streamPtr) const
+	{
+		streamPtr << id_;
+		streamPtr << filename_;
+		streamPtr << (int)keypoints_.size();
+		for(unsigned int j=0; j<keypoints_.size(); ++j)
+		{
+				streamPtr << keypoints_.at(j).angle <<
+								keypoints_.at(j).class_id <<
+								keypoints_.at(j).octave <<
+								keypoints_.at(j).pt.x <<
+								keypoints_.at(j).pt.y <<
+								keypoints_.at(j).response <<
+								keypoints_.at(j).size;
+		}
+
+		qint64 dataSize = descriptors_.elemSize()*descriptors_.cols*descriptors_.rows;
+		streamPtr << descriptors_.rows <<
+						descriptors_.cols <<
+						descriptors_.type() <<
+						dataSize;
+		streamPtr << QByteArray((char*)descriptors_.data, dataSize);
+
+		streamPtr << words_;
+
+		std::vector<unsigned char> bytes;
+		cv::imencode(".png", image_, bytes);
+		streamPtr << QByteArray((char*)bytes.data(), bytes.size());
+	}
+
+	void load(QDataStream & streamPtr)
+	{
+		int nKpts;
+		streamPtr >> id_ >> filename_ >> nKpts;
+		keypoints_.resize(nKpts);
+		for(int i=0;i<nKpts;++i)
+		{
+				streamPtr >>
+				keypoints_[i].angle >>
+				keypoints_[i].class_id >>
+				keypoints_[i].octave >>
+				keypoints_[i].pt.x >>
+				keypoints_[i].pt.y >>
+				keypoints_[i].response >>
+				keypoints_[i].size;
+		}
+
+		int rows,cols,type;
+		qint64 dataSize;
+		streamPtr >> rows >> cols >> type >> dataSize;
+		QByteArray data;
+		streamPtr >> data;
+		descriptors_ = cv::Mat(rows, cols, type, data.data()).clone();
+
+		streamPtr >> words_;
+
+		QByteArray image;
+		streamPtr >> image;
+		std::vector<unsigned char> bytes(image.size());
+		memcpy(bytes.data(), image.data(), image.size());
+		image_ = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
+	}
 
 private:
 	int id_;
@@ -75,8 +136,6 @@ private:
 	std::vector<cv::KeyPoint> keypoints_;
 	cv::Mat descriptors_;
 	QMultiMap<int, int> words_; // <word id, keypoint indexes>
-	QString detectorType_;
-	QString descriptorType_;
 };
 
 } // namespace find_object

src/Vocabulary.cpp

@@ -51,6 +51,41 @@ void Vocabulary::clear()
 	notIndexedWordIds_.clear();
 }
 
+void Vocabulary::save(QDataStream & streamPtr) const
+{
+	if(!indexedDescriptors_.empty() && !wordToObjects_.empty())
+	{
+		UASSERT(notIndexedDescriptors_.empty() && notIndexedWordIds_.empty());
+
+		// save index
+		streamPtr << wordToObjects_;
+
+		// save words
+		qint64 dataSize = indexedDescriptors_.elemSize()*indexedDescriptors_.cols*indexedDescriptors_.rows;
+		streamPtr << indexedDescriptors_.rows <<
+				indexedDescriptors_.cols <<
+				indexedDescriptors_.type() <<
+				dataSize;
+		streamPtr << QByteArray((char*)indexedDescriptors_.data, dataSize);
+	}
+}
+
+void Vocabulary::load(QDataStream & streamPtr)
+{
+	// load index
+	streamPtr >> wordToObjects_;
+
+	// load words
+	int rows,cols,type;
+	qint64 dataSize;
+	streamPtr >> rows >> cols >> type >> dataSize;
+	QByteArray data;
+	streamPtr >> data;
+	indexedDescriptors_ = cv::Mat(rows, cols, type, data.data()).clone();
+
+	update();
+}
+
 QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int objectId, bool incremental)
 {
 	QMultiMap<int, int> words;

src/Vocabulary.h

@@ -45,6 +45,10 @@ public:
 	void search(const cv::Mat & descriptors, cv::Mat & results, cv::Mat & dists, int k);
 	int size() const {return indexedDescriptors_.rows + notIndexedDescriptors_.rows;}
 	const QMultiMap<int, int> & wordToObjects() const {return wordToObjects_;}
+	const cv::Mat & indexedDescriptors() const {return indexedDescriptors_;}
+
+	void save(QDataStream & streamPtr) const;
+	void load(QDataStream & streamPtr);
 
 private:
 	cv::flann::Index flannIndex_;

src/ui/mainWindow.ui

@@ -219,6 +219,9 @@
     <property name="title">
      <string>File</string>
     </property>
+    <addaction name="actionLoad_session"/>
+    <addaction name="actionSave_session"/>
+    <addaction name="separator"/>
     <addaction name="actionLoad_objects"/>
     <addaction name="actionSave_objects"/>
     <addaction name="separator"/>
@@ -850,6 +853,16 @@
     <string>Camera from TCP/IP...</string>
    </property>
   </action>
+  <action name="actionLoad_session">
+   <property name="text">
+    <string>Load session...</string>
+   </property>
+  </action>
+  <action name="actionSave_session">
+   <property name="text">
+    <string>Save session...</string>
+   </property>
+  </action>
   <action name="actionHide_objects_features">
    <property name="text">
     <string>Hide objects features</string>