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fixed Debug build errors, changed all Q_ASSERT to UASSERT

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git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@417 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe 2015-01-05 23:11:15 +00:00
parent c879fae867
commit 84166e6ddc
5 changed files with 29 additions and 27 deletions
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2
src/AddObjectDialog.cpp
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@ -58,7 +58,7 @@ AddObjectDialog::AddObjectDialog(Camera * camera, const cv::Mat & image, bool mi
detector_ = Settings::createKeypointDetector(); detector_ = Settings::createKeypointDetector();
extractor_ = Settings::createDescriptorExtractor(); extractor_ = Settings::createDescriptorExtractor();
Q_ASSERT(detector_ != 0 && extractor_ != 0); UASSERT(detector_ != 0 && extractor_ != 0);
connect(ui_->pushButton_cancel, SIGNAL(clicked()), this, SLOT(cancel())); connect(ui_->pushButton_cancel, SIGNAL(clicked()), this, SLOT(cancel()));
connect(ui_->pushButton_back, SIGNAL(clicked()), this, SLOT(back())); connect(ui_->pushButton_back, SIGNAL(clicked()), this, SLOT(back()));

12
src/FindObject.cpp
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@ -49,7 +49,7 @@ FindObject::FindObject(QObject * parent) :
extractor_(Settings::createDescriptorExtractor()) extractor_(Settings::createDescriptorExtractor())
{ {
qRegisterMetaType<find_object::DetectionInfo>("find_object::DetectionInfo"); qRegisterMetaType<find_object::DetectionInfo>("find_object::DetectionInfo");
Q_ASSERT(detector_ != 0 && extractor_ != 0); UASSERT(detector_ != 0 && extractor_ != 0);
} }
FindObject::~FindObject() { FindObject::~FindObject() {
@ -117,7 +117,7 @@ const ObjSignature * FindObject::addObject(const QString & filePath)
const ObjSignature * FindObject::addObject(const cv::Mat & image, int id, const QString & filename) const ObjSignature * FindObject::addObject(const cv::Mat & image, int id, const QString & filename)
{ {
Q_ASSERT(id >= 0); UASSERT(id >= 0);
ObjSignature * s = new ObjSignature(id, image, filename); ObjSignature * s = new ObjSignature(id, image, filename);
if(!this->addObject(s)) if(!this->addObject(s))
{ {
@ -129,7 +129,7 @@ const ObjSignature * FindObject::addObject(const cv::Mat & image, int id, const
bool FindObject::addObject(ObjSignature * obj) bool FindObject::addObject(ObjSignature * obj)
{ {
Q_ASSERT(obj != 0 && obj->id() >= 0); UASSERT(obj != 0 && obj->id() >= 0);
if(obj->id() && objects_.contains(obj->id())) if(obj->id() && objects_.contains(obj->id()))
{ {
UERROR("object with id %d already added!", obj->id()); UERROR("object with id %d already added!", obj->id());
@ -171,7 +171,7 @@ void FindObject::updateDetectorExtractor()
delete extractor_; delete extractor_;
detector_ = Settings::createKeypointDetector(); detector_ = Settings::createKeypointDetector();
extractor_ = Settings::createDescriptorExtractor(); extractor_ = Settings::createDescriptorExtractor();
Q_ASSERT(detector_ != 0 && extractor_ != 0); UASSERT(detector_ != 0 && extractor_ != 0);
} }
std::vector<cv::KeyPoint> limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, int maxKeypoints) std::vector<cv::KeyPoint> limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, int maxKeypoints)
@ -664,7 +664,7 @@ public:
minMatchedDistance_(-1.0f), minMatchedDistance_(-1.0f),
maxMatchedDistance_(-1.0f) maxMatchedDistance_(-1.0f)
{ {
Q_ASSERT(index && descriptors); UASSERT(descriptors);
} }
virtual ~SearchThread() {} virtual ~SearchThread() {}
@ -760,7 +760,7 @@ public:
kptsB_(kptsB), kptsB_(kptsB),
code_(DetectionInfo::kRejectedUndef) code_(DetectionInfo::kRejectedUndef)
{ {
Q_ASSERT(matches && kptsA && kptsB); UASSERT(matches && kptsA && kptsB);
} }
virtual ~HomographyThread() {} virtual ~HomographyThread() {}

8
src/MainWindow.cpp
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@ -84,7 +84,7 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
objectsModified_(false), objectsModified_(false),
tcpServer_(0) tcpServer_(0)
{ {
Q_ASSERT(findObject_ != 0); UASSERT(findObject_ != 0);
ui_ = new Ui_mainWindow(); ui_ = new Ui_mainWindow();
ui_->setupUi(this); ui_->setupUi(this);
@ -565,7 +565,7 @@ void MainWindow::addObjectFromScene()
ObjWidget * obj = 0; ObjWidget * obj = 0;
ObjSignature * signature = 0; ObjSignature * signature = 0;
dialog->retrieveObject(&obj, &signature); dialog->retrieveObject(&obj, &signature);
Q_ASSERT(obj!=0 && signature!=0); UASSERT(obj!=0 && signature!=0);
findObject_->addObject(signature); findObject_->addObject(signature);
obj->setId(signature->id()); obj->setId(signature->id());
objWidgets_.insert(obj->id(), obj); objWidgets_.insert(obj->id(), obj);
@ -1028,7 +1028,7 @@ void MainWindow::update(const cv::Mat & image)
label->setText(QString("%1 matches").arg(jter.value().size())); label->setText(QString("%1 matches").arg(jter.value().size()));
ObjWidget * obj = objWidgets_.value(id); ObjWidget * obj = objWidgets_.value(id);
Q_ASSERT(obj != 0); UASSERT(obj != 0);
for(QMultiMap<int, int>::const_iterator iter = jter.value().constBegin(); iter!= jter.value().constEnd(); ++iter) for(QMultiMap<int, int>::const_iterator iter = jter.value().constBegin(); iter!= jter.value().constEnd(); ++iter)
{ {
@ -1084,7 +1084,7 @@ void MainWindow::update(const cv::Mat & image)
{ {
int id = iter.key(); int id = iter.key();
ObjWidget * obj = objWidgets_.value(id); ObjWidget * obj = objWidgets_.value(id);
Q_ASSERT(obj != 0); UASSERT(obj != 0);
// COLORIZE (should be done in the GUI thread) // COLORIZE (should be done in the GUI thread)
QTransform hTransform = iter.value(); QTransform hTransform = iter.value();

16
src/Settings.cpp
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@ -332,7 +332,7 @@ public:
descriptors = cv::Mat(); descriptors = cv::Mat();
else else
{ {
Q_ASSERT(descriptorsGPU.type() == CV_32F); UASSERT(descriptorsGPU.type() == CV_32F);
descriptors = cv::Mat(descriptorsGPU.size(), CV_32F); descriptors = cv::Mat(descriptorsGPU.size(), CV_32F);
descriptorsGPU.download(descriptors); descriptorsGPU.download(descriptors);
} }
@ -444,7 +444,7 @@ protected:
descriptors = cv::Mat(); descriptors = cv::Mat();
else else
{ {
Q_ASSERT(descriptorsGPU.type() == CV_8U); UASSERT(descriptorsGPU.type() == CV_8U);
descriptors = cv::Mat(descriptorsGPU.size(), CV_8U); descriptors = cv::Mat(descriptorsGPU.size(), CV_8U);
descriptorsGPU.download(descriptors); descriptorsGPU.download(descriptors);
} }
@ -626,7 +626,7 @@ KeypointDetector * Settings::createKeypointDetector()
} }
} }
Q_ASSERT(detectorGPU!=0 || detector!=0); UASSERT(detectorGPU!=0 || detector!=0);
if(detectorGPU) if(detectorGPU)
{ {
return new KeypointDetector(detectorGPU); return new KeypointDetector(detectorGPU);
@ -760,7 +760,7 @@ DescriptorExtractor * Settings::createDescriptorExtractor()
} }
} }
Q_ASSERT(extractorGPU!=0 || extractor!=0); UASSERT(extractorGPU!=0 || extractor!=0);
if(extractorGPU) if(extractorGPU)
{ {
return new DescriptorExtractor(extractorGPU); return new DescriptorExtractor(extractorGPU);
@ -987,13 +987,13 @@ KeypointDetector::KeypointDetector(cv::FeatureDetector * featureDetector) :
featureDetector_(featureDetector), featureDetector_(featureDetector),
gpuFeature2D_(0) gpuFeature2D_(0)
{ {
Q_ASSERT(featureDetector_!=0); UASSERT(featureDetector_!=0);
} }
KeypointDetector::KeypointDetector(GPUFeature2D * gpuFeature2D) : KeypointDetector::KeypointDetector(GPUFeature2D * gpuFeature2D) :
featureDetector_(0), featureDetector_(0),
gpuFeature2D_(gpuFeature2D) gpuFeature2D_(gpuFeature2D)
{ {
Q_ASSERT(gpuFeature2D_!=0); UASSERT(gpuFeature2D_!=0);
} }
void KeypointDetector::detect(const cv::Mat & image, void KeypointDetector::detect(const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints, std::vector<cv::KeyPoint> & keypoints,
@ -1013,13 +1013,13 @@ DescriptorExtractor::DescriptorExtractor(cv::DescriptorExtractor * descriptorExt
descriptorExtractor_(descriptorExtractor), descriptorExtractor_(descriptorExtractor),
gpuFeature2D_(0) gpuFeature2D_(0)
{ {
Q_ASSERT(descriptorExtractor_!=0); UASSERT(descriptorExtractor_!=0);
} }
DescriptorExtractor::DescriptorExtractor(GPUFeature2D * gpuFeature2D) : DescriptorExtractor::DescriptorExtractor(GPUFeature2D * gpuFeature2D) :
descriptorExtractor_(0), descriptorExtractor_(0),
gpuFeature2D_(gpuFeature2D) gpuFeature2D_(gpuFeature2D)
{ {
Q_ASSERT(gpuFeature2D_!=0); UASSERT(gpuFeature2D_!=0);
} }
void DescriptorExtractor::compute(const cv::Mat & image, void DescriptorExtractor::compute(const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints, std::vector<cv::KeyPoint> & keypoints,

16
src/Vocabulary.cpp
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@ -27,6 +27,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "find_object/Settings.h" #include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "Vocabulary.h" #include "Vocabulary.h"
#include <QtCore/QVector> #include <QtCore/QVector>
#include <stdio.h> #include <stdio.h>
@ -67,7 +68,7 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
bool globalSearch = false; bool globalSearch = false;
if(!indexedDescriptors_.empty() && indexedDescriptors_.rows >= (int)k) if(!indexedDescriptors_.empty() && indexedDescriptors_.rows >= (int)k)
{ {
Q_ASSERT(indexedDescriptors_.type() == descriptors.type() && indexedDescriptors_.cols == descriptors.cols); UASSERT(indexedDescriptors_.type() == descriptors.type() && indexedDescriptors_.cols == descriptors.cols);
this->search(descriptors, results, dists, k); this->search(descriptors, results, dists, k);
if( dists.type() == CV_32S ) if( dists.type() == CV_32S )
@ -88,7 +89,7 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
QMultiMap<float, int> fullResults; // nearest descriptors sorted by distance QMultiMap<float, int> fullResults; // nearest descriptors sorted by distance
if(notIndexedDescriptors_.rows) if(notIndexedDescriptors_.rows)
{ {
Q_ASSERT(newWords.type() == descriptors.type() && newWords.cols == descriptors.cols); UASSERT(notIndexedDescriptors_.type() == descriptors.type() && notIndexedDescriptors_.cols == descriptors.cols);
// Check if this descriptor matches with a word not already added to the vocabulary // Check if this descriptor matches with a word not already added to the vocabulary
// Do linear search only // Do linear search only
@ -198,8 +199,11 @@ void Vocabulary::update()
{ {
if(!notIndexedDescriptors_.empty()) if(!notIndexedDescriptors_.empty())
{ {
Q_ASSERT(indexedDescriptors_.cols == notIndexedDescriptors_.cols && if(!indexedDescriptors_.empty())
indexedDescriptors_.type() == notIndexedDescriptors_.type() ); {
UASSERT(indexedDescriptors_.cols == notIndexedDescriptors_.cols &&
indexedDescriptors_.type() == notIndexedDescriptors_.type() );
}
//concatenate descriptors //concatenate descriptors
indexedDescriptors_.push_back(notIndexedDescriptors_); indexedDescriptors_.push_back(notIndexedDescriptors_);
@ -218,11 +222,9 @@ void Vocabulary::update()
void Vocabulary::search(const cv::Mat & descriptors, cv::Mat & results, cv::Mat & dists, int k) void Vocabulary::search(const cv::Mat & descriptors, cv::Mat & results, cv::Mat & dists, int k)
{ {
Q_ASSERT(notIndexedDescriptors_.empty() && notIndexedWordIds_.size() == 0);
if(!indexedDescriptors_.empty()) if(!indexedDescriptors_.empty())
{ {
Q_ASSERT(descriptors.type() == indexedDescriptors_.type() && descriptors.cols == indexedDescriptors_.cols); UASSERT(descriptors.type() == indexedDescriptors_.type() && descriptors.cols == indexedDescriptors_.cols);
if(Settings::isBruteForceNearestNeighbor()) if(Settings::isBruteForceNearestNeighbor())
{ {