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Added "NearestNeighbor/7ConvertBinToFloat" parameter: This will convert binary descriptors to float so that vocabulary approaches with KD-Tree or K-means can be used with binary descriptors like Brief/ORB/FREAK (use MANHATTAN_L1 too)

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This commit is contained in:
matlabbe 2016-02-01 12:53:16 -05:00
parent 138d004169
commit 91bce9ac69
5 changed files with 187 additions and 105 deletions
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2
include/find_object/Settings.h
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@ -234,6 +234,8 @@ class FINDOBJECT_EXP Settings
PARAMETER(NearestNeighbor, 4nndrRatio, float, 0.8f, "Nearest neighbor distance ratio."); PARAMETER(NearestNeighbor, 4nndrRatio, float, 0.8f, "Nearest neighbor distance ratio.");
PARAMETER(NearestNeighbor, 5minDistanceUsed, bool, false, "Minimum distance with the nearest descriptor to accept a match."); PARAMETER(NearestNeighbor, 5minDistanceUsed, bool, false, "Minimum distance with the nearest descriptor to accept a match.");
PARAMETER(NearestNeighbor, 6minDistance, float, 1.6f, "Minimum distance. You can look at top of this panel where minimum and maximum distances are shown to properly set this parameter depending of the descriptor used."); PARAMETER(NearestNeighbor, 6minDistance, float, 1.6f, "Minimum distance. You can look at top of this panel where minimum and maximum distances are shown to properly set this parameter depending of the descriptor used.");
PARAMETER(NearestNeighbor, 7ConvertBinToFloat, bool, false, "Convert binary descriptor to float before quantization, so you can use FLANN strategies with them.");
PARAMETER(NearestNeighbor, BruteForce_gpu, bool, false, "Brute force GPU"); PARAMETER(NearestNeighbor, BruteForce_gpu, bool, false, "Brute force GPU");

3
src/FindObject.cpp
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@ -1368,7 +1368,8 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
vocabulary_->size() && vocabulary_->size() &&
!vocabulary_->indexedDescriptors().empty() && !vocabulary_->indexedDescriptors().empty() &&
vocabulary_->indexedDescriptors().cols == info.sceneDescriptors_.cols && vocabulary_->indexedDescriptors().cols == info.sceneDescriptors_.cols &&
vocabulary_->indexedDescriptors().type() == info.sceneDescriptors_.type(); (vocabulary_->indexedDescriptors().type() == info.sceneDescriptors_.type() ||
(Settings::getNearestNeighbor_7ConvertBinToFloat() && vocabulary_->indexedDescriptors().type() == CV_32FC1));
// COMPARE // COMPARE
UDEBUG("COMPARE"); UDEBUG("COMPARE");

104
src/ParametersToolBox.cpp
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@ -482,7 +482,7 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
QCheckBox * widget = new QCheckBox(this); QCheckBox * widget = new QCheckBox(this);
widget->setChecked(value); widget->setChecked(value);
widget->setObjectName(key); widget->setObjectName(key);
connect(widget, SIGNAL(stateChanged(int)), this, SLOT(changeParameter(int))); connect(widget, SIGNAL(toggled(bool)), this, SLOT(changeParameter(bool)));
addParameter(layout, key, widget); addParameter(layout, key, widget);
} }
@ -549,17 +549,33 @@ void ParametersToolBox::changeParameter()
} }
} }
void ParametersToolBox::changeParameter(const int & value) void ParametersToolBox::changeParameter(bool value)
{ {
if(sender()) if(sender())
{ {
QStringList paramChanged; // Workaround as stateChanged(int) is not always emitted, using toggled(bool) instead
QComboBox * comboBox = qobject_cast<QComboBox*>(sender()); changeParameter(sender(), value?Qt::Checked:Qt::Unchecked);
QCheckBox * checkBox = qobject_cast<QCheckBox*>(sender()); }
if(comboBox) }
void ParametersToolBox::changeParameter(int value)
{
if(sender())
{ {
changeParameter(sender(), value);
}
}
void ParametersToolBox::changeParameter(QObject * sender, int value)
{
if(sender)
{
QStringList paramChanged;
QComboBox * comboBox = qobject_cast<QComboBox*>(sender);
QCheckBox * checkBox = qobject_cast<QCheckBox*>(sender);
bool descriptorChanged = false; bool descriptorChanged = false;
if(comboBox->objectName().compare(Settings::kFeature2D_1Detector()) == 0) if(comboBox && comboBox->objectName().compare(Settings::kFeature2D_1Detector()) == 0)
{ {
QComboBox * descriptorBox = (QComboBox*)this->getParameterWidget(Settings::kFeature2D_2Descriptor()); QComboBox * descriptorBox = (QComboBox*)this->getParameterWidget(Settings::kFeature2D_2Descriptor());
if(comboBox->objectName().compare(Settings::kFeature2D_1Detector()) == 0 && if(comboBox->objectName().compare(Settings::kFeature2D_1Detector()) == 0 &&
@ -597,13 +613,15 @@ void ParametersToolBox::changeParameter(const int & value)
bool nnStrategyChanged = false; bool nnStrategyChanged = false;
//verify binary issue with nearest neighbor strategy //verify binary issue with nearest neighbor strategy
if(comboBox->objectName().compare(Settings::kFeature2D_2Descriptor()) == 0 || if((comboBox && (comboBox->objectName().compare(Settings::kFeature2D_2Descriptor()) == 0 ||
comboBox->objectName().compare(Settings::kNearestNeighbor_1Strategy()) == 0 || comboBox->objectName().compare(Settings::kNearestNeighbor_1Strategy()) == 0)) ||
descriptorChanged) descriptorChanged ||
(checkBox && checkBox->objectName().compare(Settings::kNearestNeighbor_7ConvertBinToFloat()) == 0))
{ {
QComboBox * descriptorBox = (QComboBox*)this->getParameterWidget(Settings::kFeature2D_2Descriptor()); QComboBox * descriptorBox = (QComboBox*)this->getParameterWidget(Settings::kFeature2D_2Descriptor());
QComboBox * nnBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_1Strategy()); QComboBox * nnBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_1Strategy());
QComboBox * distBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_2Distance_type()); QComboBox * distBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_2Distance_type());
QCheckBox * binToFloatCheckbox = (QCheckBox*)this->getParameterWidget(Settings::kNearestNeighbor_7ConvertBinToFloat());
bool isBinaryDescriptor = descriptorBox->currentText().compare("ORB") == 0 || bool isBinaryDescriptor = descriptorBox->currentText().compare("ORB") == 0 ||
descriptorBox->currentText().compare("Brief") == 0 || descriptorBox->currentText().compare("Brief") == 0 ||
descriptorBox->currentText().compare("BRISK") == 0 || descriptorBox->currentText().compare("BRISK") == 0 ||
@ -611,7 +629,8 @@ void ParametersToolBox::changeParameter(const int & value)
descriptorBox->currentText().compare("AKAZE") == 0 || descriptorBox->currentText().compare("AKAZE") == 0 ||
descriptorBox->currentText().compare("LATCH") == 0 || descriptorBox->currentText().compare("LATCH") == 0 ||
descriptorBox->currentText().compare("LUCID") == 0; descriptorBox->currentText().compare("LUCID") == 0;
if(isBinaryDescriptor && nnBox->currentText().compare("Lsh") != 0 && nnBox->currentText().compare("BruteForce") != 0) bool binToFloat = binToFloatCheckbox->isChecked();
if(isBinaryDescriptor && !binToFloat && nnBox->currentText().compare("Lsh") != 0 && nnBox->currentText().compare("BruteForce") != 0)
{ {
QMessageBox::warning(this, QMessageBox::warning(this,
tr("Warning"), tr("Warning"),
@ -631,7 +650,7 @@ void ParametersToolBox::changeParameter(const int & value)
this->updateParameter(Settings::kNearestNeighbor_2Distance_type()); this->updateParameter(Settings::kNearestNeighbor_2Distance_type());
nnBox->blockSignals(false); nnBox->blockSignals(false);
distBox->blockSignals(false); distBox->blockSignals(false);
if(sender() == nnBox) if(sender == nnBox)
{ {
this->updateParametersVisibility(); this->updateParametersVisibility();
return; return;
@ -640,7 +659,39 @@ void ParametersToolBox::changeParameter(const int & value)
paramChanged.append(Settings::kNearestNeighbor_1Strategy()); paramChanged.append(Settings::kNearestNeighbor_1Strategy());
paramChanged.append(Settings::kNearestNeighbor_2Distance_type()); paramChanged.append(Settings::kNearestNeighbor_2Distance_type());
} }
else if(!isBinaryDescriptor && nnBox->currentText().compare("Lsh") == 0) else if((!isBinaryDescriptor || binToFloat) && nnBox->currentText().compare("Lsh") == 0)
{
if(binToFloat)
{
QMessageBox::warning(this,
tr("Warning"),
tr("Current selected descriptor type (\"%1\") is binary, but binary to float descriptors conversion is activated while nearest neighbor strategy is (\"%2\").\n"
"Disabling binary to float descriptors conversion and use Hamming distance (by default).")
.arg(descriptorBox->currentText())
.arg(nnBox->currentText()));
binToFloatCheckbox->blockSignals(true);
if(checkBox && checkBox->objectName().compare(Settings::kNearestNeighbor_7ConvertBinToFloat()) == 0)
{
Settings::setParameter(checkBox->objectName(), false);
value = 0;
}
else
{
paramChanged.append(Settings::kNearestNeighbor_7ConvertBinToFloat());
}
this->updateParameter(Settings::kNearestNeighbor_7ConvertBinToFloat());
binToFloatCheckbox->blockSignals(false);
QString tmp = Settings::getNearestNeighbor_2Distance_type();
*tmp.begin() = '8'; // set HAMMING
Settings::setNearestNeighbor_2Distance_type(tmp);
distBox->blockSignals(true);
this->updateParameter(Settings::kNearestNeighbor_2Distance_type());
distBox->blockSignals(false);
paramChanged.append(Settings::kNearestNeighbor_2Distance_type());
}
else
{ {
QMessageBox::warning(this, QMessageBox::warning(this,
tr("Warning"), tr("Warning"),
@ -648,6 +699,7 @@ void ParametersToolBox::changeParameter(const int & value)
"Falling back to \"KDTree\" nearest neighbor strategy with Euclidean_L2 distance (by default).") "Falling back to \"KDTree\" nearest neighbor strategy with Euclidean_L2 distance (by default).")
.arg(descriptorBox->currentText()) .arg(descriptorBox->currentText())
.arg(nnBox->currentText())); .arg(nnBox->currentText()));
QString tmp = Settings::getNearestNeighbor_1Strategy(); QString tmp = Settings::getNearestNeighbor_1Strategy();
*tmp.begin() = '1'; // set KDTree *tmp.begin() = '1'; // set KDTree
Settings::setNearestNeighbor_1Strategy(tmp); Settings::setNearestNeighbor_1Strategy(tmp);
@ -660,7 +712,7 @@ void ParametersToolBox::changeParameter(const int & value)
this->updateParameter(Settings::kNearestNeighbor_2Distance_type()); this->updateParameter(Settings::kNearestNeighbor_2Distance_type());
nnBox->blockSignals(false); nnBox->blockSignals(false);
distBox->blockSignals(false); distBox->blockSignals(false);
if(sender() == nnBox) if(sender == nnBox)
{ {
this->updateParametersVisibility(); this->updateParametersVisibility();
return; return;
@ -670,11 +722,12 @@ void ParametersToolBox::changeParameter(const int & value)
paramChanged.append(Settings::kNearestNeighbor_2Distance_type()); paramChanged.append(Settings::kNearestNeighbor_2Distance_type());
} }
} }
}
// Distance issue when using nearest neighbor strategy using CV_32F type, though Lsh support all type (doesn't crash at least) // Distance issue when using nearest neighbor strategy using CV_32F type, though Lsh support all type (doesn't crash at least)
if(nnStrategyChanged || if(nnStrategyChanged ||
comboBox->objectName().compare(Settings::kNearestNeighbor_1Strategy()) == 0 || (comboBox && (comboBox->objectName().compare(Settings::kNearestNeighbor_1Strategy()) == 0 ||
comboBox->objectName().compare(Settings::kNearestNeighbor_2Distance_type()) == 0) comboBox->objectName().compare(Settings::kNearestNeighbor_2Distance_type()) == 0)))
{ {
QComboBox * nnBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_1Strategy()); QComboBox * nnBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_1Strategy());
QComboBox * distBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_2Distance_type()); QComboBox * distBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_2Distance_type());
@ -692,7 +745,7 @@ void ParametersToolBox::changeParameter(const int & value)
distBox->blockSignals(true); distBox->blockSignals(true);
this->updateParameter(Settings::kNearestNeighbor_2Distance_type()); this->updateParameter(Settings::kNearestNeighbor_2Distance_type());
distBox->blockSignals(false); distBox->blockSignals(false);
if(sender() == distBox) if(sender == distBox)
{ {
this->updateParametersVisibility(); this->updateParametersVisibility();
return; return;
@ -701,22 +754,25 @@ void ParametersToolBox::changeParameter(const int & value)
} }
} }
if(comboBox)
{
QStringList items; QStringList items;
for(int i=0; i<comboBox->count(); ++i) for(int i=0; i<comboBox->count(); ++i)
{ {
items.append(comboBox->itemText(i)); items.append(comboBox->itemText(i));
} }
QString merged = QString::number(value) + QString(":") + items.join(";"); QString merged = QString::number(value) + QString(":") + items.join(";");
Settings::setParameter(sender()->objectName(), merged); Settings::setParameter(sender->objectName(), merged);
}
if(checkBox)
{
Settings::setParameter(sender->objectName(), value==Qt::Checked?true:false);
}
this->updateParametersVisibility(); this->updateParametersVisibility();
}
else if(checkBox)
{
Settings::setParameter(sender()->objectName(), value==Qt::Checked?true:false);
}
paramChanged.append(sender()->objectName()); paramChanged.append(sender->objectName());
Q_EMIT parametersChanged(paramChanged); Q_EMIT parametersChanged(paramChanged);
} }
} }

5
src/ParametersToolBox.h
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@ -55,13 +55,16 @@ private:
void addParameter(QVBoxLayout * layout, const QString & key, const bool & value); void addParameter(QVBoxLayout * layout, const QString & key, const bool & value);
void addParameter(QVBoxLayout * layout, const QString & name, QWidget * widget); void addParameter(QVBoxLayout * layout, const QString & name, QWidget * widget);
void changeParameter(QObject * sender, int value);
Q_SIGNALS: Q_SIGNALS:
void parametersChanged(const QStringList & name); void parametersChanged(const QStringList & name);
private Q_SLOTS: private Q_SLOTS:
void changeParameter(); void changeParameter();
void changeParameter(const QString & value); void changeParameter(const QString & value);
void changeParameter(const int & value); void changeParameter(bool value);
void changeParameter(int value);
void resetCurrentPage(); void resetCurrentPage();
void resetAllPages(); void resetAllPages();

26
src/Vocabulary.cpp
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@ -144,14 +144,24 @@ bool Vocabulary::load(const QString & filename)
return false; return false;
} }
QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int objectId) QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptorsIn, int objectId)
{ {
QMultiMap<int, int> words; QMultiMap<int, int> words;
if (descriptors.empty()) if (descriptorsIn.empty())
{ {
return words; return words;
} }
cv::Mat descriptors;
if(descriptorsIn.type() == CV_8U && Settings::getNearestNeighbor_7ConvertBinToFloat())
{
descriptorsIn.convertTo(descriptors, CV_32F);
}
else
{
descriptors = descriptorsIn;
}
if(Settings::getGeneral_vocabularyIncremental() || Settings::getGeneral_vocabularyFixed()) if(Settings::getGeneral_vocabularyIncremental() || Settings::getGeneral_vocabularyFixed())
{ {
int k = 2; int k = 2;
@ -350,10 +360,20 @@ void Vocabulary::update()
} }
} }
void Vocabulary::search(const cv::Mat & descriptors, cv::Mat & results, cv::Mat & dists, int k) void Vocabulary::search(const cv::Mat & descriptorsIn, cv::Mat & results, cv::Mat & dists, int k)
{ {
if(!indexedDescriptors_.empty()) if(!indexedDescriptors_.empty())
{ {
cv::Mat descriptors;
if(descriptorsIn.type() == CV_8U && Settings::getNearestNeighbor_7ConvertBinToFloat())
{
descriptorsIn.convertTo(descriptors, CV_32F);
}
else
{
descriptors = descriptorsIn;
}
UASSERT(descriptors.type() == indexedDescriptors_.type() && descriptors.cols == indexedDescriptors_.cols); UASSERT(descriptors.type() == indexedDescriptors_.type() && descriptors.cols == indexedDescriptors_.cols);
if(Settings::isBruteForceNearestNeighbor()) if(Settings::isBruteForceNearestNeighbor())