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Fixed some crash issues between descriptor type / nearest neighbor strategy required data type / nearest neighbor distance type.

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Added selective update on objects when parameters are changed.

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@112 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe 2012-08-29 19:04:14 +00:00
parent 3ba8c95284
commit a6dc94a31d
9 changed files with 168 additions and 43 deletions
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72
src/MainWindow.cpp
View File

@ -32,6 +32,7 @@
#include <QtGui/QProgressDialog>
#include <QtGui/QCloseEvent>
#include <QtGui/QCheckBox>
#include <QtGui/QScrollBar>
#include "utilite/UDirectory.h"
@ -48,8 +49,8 @@ MainWindow::MainWindow(Camera * camera, QWidget * parent) :
aboutDialog_ = new AboutDialog(this);
this->setStatusBar(new QStatusBar());
likelihoodCurve_ = new rtabmap::PdfPlotCurve("Likelihood", &imagesMap_);
ui_->likelihoodPlot->addCurve(likelihoodCurve_); // ownership transfered
likelihoodCurve_ = new rtabmap::PdfPlotCurve("Likelihood", &imagesMap_, this);
ui_->likelihoodPlot->addCurve(likelihoodCurve_, false);
ui_->likelihoodPlot->setGraphicsView(true);
if(!camera_)
@ -79,7 +80,7 @@ MainWindow::MainWindow(Camera * camera, QWidget * parent) :
ui_->menuView->addAction(ui_->dockWidget_parameters->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_objects->toggleViewAction());
ui_->menuView->addAction(ui_->dockWidget_plot->toggleViewAction());
connect(ui_->toolBox, SIGNAL(parametersChanged()), this, SLOT(notifyParametersChanged()));
connect(ui_->toolBox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT(notifyParametersChanged(const QStringList &)));
ui_->imageView_source->setGraphicsViewMode(false);
ui_->imageView_source->setTextLabel(tr("Press \"space\" to start camera..."));
@ -637,7 +638,7 @@ void MainWindow::updateData()
if(count)
{
objectsDescriptors_ = cv::Mat(count, dim, type);
printf("Total descriptors=%d, dim=%d, type=%d\n",count, dim, type);
printf("Updating global descriptors matrix: Total descriptors=%d, dim=%d, type=%d\n",count, dim, type);
int row = 0;
for(int i=0; i<objects_.size(); ++i)
{
@ -654,14 +655,16 @@ void MainWindow::updateData()
}
if(Settings::getGeneral_invertedSearch())
{
printf("Creating FLANN index (%s) with objects' descriptors...\n", Settings::currentNearestNeighborType().toStdString().c_str());
// CREATE INDEX
QTime time;
time.start();
cv::flann::IndexParams * params = Settings::createFlannIndexParams();
flannIndex_.build(objectsDescriptors_, *params, Settings::getFlannDistanceType());
delete params;
ui_->label_timeIndexing->setNum(time.restart());
ui_->label_timeIndexing->setNum(time.elapsed());
ui_->label_vocabularySize->setNum(objectsDescriptors_.rows);
printf("Creating FLANN index (%s) with objects' descriptors... done! (%d ms)\n", Settings::currentNearestNeighborType().toStdString().c_str(), time.elapsed());
}
}
}
@ -839,6 +842,7 @@ void MainWindow::update(const cv::Mat & image)
if(!Settings::getGeneral_invertedSearch())
{
// CREATE INDEX
//printf("Creating FLANN index (%s)\n", Settings::currentNearestNeighborType().toStdString().c_str());
cv::flann::IndexParams * params = Settings::createFlannIndexParams();
flannIndex_.build(descriptors, *params, Settings::getFlannDistanceType());
delete params;
@ -933,6 +937,8 @@ void MainWindow::update(const cv::Mat & image)
}
QMap<int, float> scores;
int maxScoreId = -1;
int maxScore = 0;
// For each object
for(int i=0; i<matches.size(); ++i)
{
@ -1052,6 +1058,11 @@ void MainWindow::update(const cv::Mat & image)
}
scores.insert(objects_.at(i)->id(), matches[i].size());
if(maxScoreId == -1 || maxScore < matches[i].size())
{
maxScoreId = objects_.at(i)->id();
maxScore = matches[i].size();
}
}
//update likelihood plot
@ -1064,6 +1075,17 @@ void MainWindow::update(const cv::Mat & image)
ui_->label_minMatchedDistance->setNum(minMatchedDistance);
ui_->label_maxMatchedDistance->setNum(maxMatchedDistance);
//Scroll objects slider to the best score
if(maxScoreId>=0)
{
QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1title").arg(maxScoreId));
if(label)
{
ui_->objects_area->verticalScrollBar()->setValue(label->pos().y());
}
}
// Emit homographies
if(objectsDetected.size())
{
emit objectsFound(objectsDetected);
@ -1120,13 +1142,49 @@ void MainWindow::update(const cv::Mat & image)
}
}
void MainWindow::notifyParametersChanged()
void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
{
printf("Parameters changed...\n");
//Selective update (to not update all objects for a simple camera's parameter modification)
bool detectorDescriptorParamsChanged = false;
bool nearestNeighborParamsChanged = false;
QString currentDetectorType = Settings::currentDetectorType();
QString currentDescriptorType = Settings::currentDescriptorType();
QString currentNNType = Settings::currentNearestNeighborType();
//printf("currentDescriptorType: %s\n", currentDescriptorType.toStdString().c_str());
//printf("currentNNType: %s\n", currentNNType.toStdString().c_str());
for(QStringList::const_iterator iter = paramChanged.begin(); iter!=paramChanged.end(); ++iter)
{
printf("Parameter changed: %s\n", iter->toStdString().c_str());
if(!detectorDescriptorParamsChanged &&
( iter->contains(currentDetectorType) ||
iter->contains(currentDescriptorType) ||
iter->compare(Settings::kDetector_Descriptor_1Detector()) == 0 ||
iter->compare(Settings::kDetector_Descriptor_2Descriptor()) == 0 ))
{
detectorDescriptorParamsChanged = true;
}
else if(!nearestNeighborParamsChanged &&
( iter->contains(currentNNType) ||
iter->compare(Settings::kGeneral_invertedSearch()) == 0 ||
iter->compare(Settings::kNearestNeighbor_1Strategy()) == 0 ||
iter->compare(Settings::kNearestNeighbor_2Distance_type()) == 0))
{
nearestNeighborParamsChanged = true;
}
}
if(Settings::getGeneral_autoUpdateObjects())
{
if(detectorDescriptorParamsChanged)
{
this->updateObjects();
}
else if(nearestNeighborParamsChanged)
{
this->updateData();
}
}
else if(objects_.size())
{
this->statusBar()->showMessage(tr("A parameter has changed... \"Update objects\" may be required."));

2
src/MainWindow.h
View File

@ -65,7 +65,7 @@ private slots:
void showHideControls();
void update(const cv::Mat & image);
void updateObjects();
void notifyParametersChanged();
void notifyParametersChanged(const QStringList & param);
void moveCameraFrame(int frame);
signals:

91
src/ParametersToolBox.cpp
View File

@ -28,8 +28,9 @@ QWidget * ParametersToolBox::getParameterWidget(const QString & key)
return this->findChild<QWidget*>(key);
}
void ParametersToolBox::resetPage(int index)
QStringList ParametersToolBox::resetPage(int index)
{
QStringList paramChanged;
const QObjectList & children = this->widget(index)->children();
for(int j=0; j<children.size();++j)
{
@ -40,49 +41,72 @@ void ParametersToolBox::resetPage(int index)
QVariant value = Settings::getDefaultParameters().value(key, QVariant());
if(value.isValid())
{
Settings::setParameter(key, value);
if(qobject_cast<QComboBox*>(children.at(j)))
{
if(((QComboBox*)children.at(j))->currentIndex() != value.toString().split(':').first().toInt())
{
((QComboBox*)children.at(j))->setCurrentIndex(value.toString().split(':').first().toInt());
paramChanged.append(key);
}
}
else if(qobject_cast<QSpinBox*>(children.at(j)))
{
if(((QSpinBox*)children.at(j))->value() != value.toInt())
{
((QSpinBox*)children.at(j))->setValue(value.toInt());
paramChanged.append(key);
}
}
else if(qobject_cast<QDoubleSpinBox*>(children.at(j)))
{
if(((QDoubleSpinBox*)children.at(j))->value() != value.toDouble())
{
((QDoubleSpinBox*)children.at(j))->setValue(value.toDouble());
paramChanged.append(key);
}
}
else if(qobject_cast<QCheckBox*>(children.at(j)))
{
if(((QCheckBox*)children.at(j))->isChecked() != value.toBool())
{
((QCheckBox*)children.at(j))->setChecked(value.toBool());
paramChanged.append(key);
}
}
else if(qobject_cast<QLineEdit*>(children.at(j)))
{
if(((QLineEdit*)children.at(j))->text().compare(value.toString()) != 0)
{
((QLineEdit*)children.at(j))->setText(value.toString());
}
Settings::setParameter(key, value);
paramChanged.append(key);
}
}
}
}
}
return paramChanged;
}
void ParametersToolBox::resetCurrentPage()
{
this->blockSignals(true);
this->resetPage(this->currentIndex());
QStringList paramChanged = this->resetPage(this->currentIndex());
this->blockSignals(false);
emit parametersChanged();
emit parametersChanged(paramChanged);
}
void ParametersToolBox::resetAllPages()
{
QStringList paramChanged;
this->blockSignals(true);
for(int i=0; i< this->count(); ++i)
{
this->resetPage(i);
paramChanged.append(this->resetPage(i));
}
this->blockSignals(false);
emit parametersChanged();
emit parametersChanged(paramChanged);
}
void ParametersToolBox::setupUi()
@ -300,7 +324,9 @@ void ParametersToolBox::changeParameter(const QString & value)
if(sender())
{
Settings::setParameter(sender()->objectName(), value);
emit parametersChanged();
QStringList paramChanged;
paramChanged.append(sender()->objectName());
emit parametersChanged(paramChanged);
}
}
void ParametersToolBox::changeParameter()
@ -322,21 +348,25 @@ void ParametersToolBox::changeParameter()
{
Settings::setParameter(sender()->objectName(), lineEdit->text());
}
emit parametersChanged();
QStringList paramChanged;
paramChanged.append(sender()->objectName());
emit parametersChanged(paramChanged);
}
}
void ParametersToolBox::changeParameter(const int & value)
{
if(sender())
{
QStringList paramChanged;
QComboBox * comboBox = qobject_cast<QComboBox*>(sender());
QCheckBox * checkBox = qobject_cast<QCheckBox*>(sender());
if(comboBox)
{
bool nnStrategyChanged = false;
//verify binary issue with nearest neighbor strategy
if(comboBox->objectName().compare(Settings::kDetector_Descriptor_2Descriptor()) == 0 ||
comboBox->objectName().compare(Settings::kNearestNeighbor_1Strategy()) == 0)
{
//verify binary issue
QComboBox * descriptorBox = (QComboBox*)this->getParameterWidget(Settings::kDetector_Descriptor_2Descriptor());
QComboBox * nnBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_1Strategy());
bool isBinaryDescriptor = descriptorBox->currentText().compare("ORB") == 0 || descriptorBox->currentText().compare("Brief") == 0;
@ -351,12 +381,15 @@ void ParametersToolBox::changeParameter(const int & value)
QString tmp = Settings::getNearestNeighbor_1Strategy();
*tmp.begin() = '5'; // set index
Settings::setNearestNeighbor_1Strategy(tmp);
nnBox->blockSignals(true);
this->updateParameter(Settings::kNearestNeighbor_1Strategy());
nnBox->blockSignals(false);
if(sender() == nnBox)
{
return;
}
nnStrategyChanged = true;
paramChanged.append(Settings::kNearestNeighbor_1Strategy());
}
else if(!isBinaryDescriptor && nnBox->currentText().compare("Lsh") == 0)
{
@ -369,11 +402,44 @@ void ParametersToolBox::changeParameter(const int & value)
QString tmp = Settings::getNearestNeighbor_1Strategy();
*tmp.begin() = '1'; // set index
Settings::setNearestNeighbor_1Strategy(tmp);
nnBox->blockSignals(true);
this->updateParameter(Settings::kNearestNeighbor_1Strategy());
nnBox->blockSignals(false);
if(sender() == nnBox)
{
return;
}
nnStrategyChanged = true;
paramChanged.append(Settings::kNearestNeighbor_1Strategy());
}
}
// Distance issue when using nearest neighbor strategy using CV_32F type, though Lsh support all type (doesn't crash at least)
if(nnStrategyChanged ||
comboBox->objectName().compare(Settings::kNearestNeighbor_1Strategy()) == 0 ||
comboBox->objectName().compare(Settings::kNearestNeighbor_2Distance_type()) == 0)
{
QComboBox * nnBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_1Strategy());
QComboBox * distBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_2Distance_type());
if(nnBox->currentText().compare("Lsh") != 0 && distBox->currentIndex() > 1)
{
QMessageBox::warning(this,
tr("Error"),
tr("Current selected nearest neighbor strategy type (\"%1\") cannot handle distance strategy (\"%2\").\n"
"Falling back to \"EUCLIDEAN_L2\" distance strategy (by default).")
.arg(nnBox->currentText())
.arg(distBox->currentText()));
QString tmp = Settings::getNearestNeighbor_2Distance_type();
*tmp.begin() = '0'; // set index
Settings::setNearestNeighbor_2Distance_type(tmp);
distBox->blockSignals(true);
this->updateParameter(Settings::kNearestNeighbor_2Distance_type());
distBox->blockSignals(false);
if(sender() == distBox)
{
return;
}
paramChanged.append(Settings::kNearestNeighbor_2Distance_type());
}
}
@ -389,6 +455,7 @@ void ParametersToolBox::changeParameter(const int & value)
{
Settings::setParameter(sender()->objectName(), value==Qt::Checked?true:false);
}
emit parametersChanged();
paramChanged.append(sender()->objectName());
emit parametersChanged(paramChanged);
}
}

4
src/ParametersToolBox.h
View File

@ -31,7 +31,7 @@ private:
void addParameter(QVBoxLayout * layout, const QString & name, QWidget * widget);
signals:
void parametersChanged();
void parametersChanged(const QStringList & name);
private slots:
void changeParameter();
@ -41,7 +41,7 @@ private slots:
void resetAllPages();
private:
void resetPage(int index);
QStringList resetPage(int index);
};
#endif /* PARAMETERSTOOLBOX_H_ */

2
src/rtabmap/PdfPlot.cpp
View File

@ -1,4 +1,4 @@
// Taken from RTAB-Map library r605 [www.rtabmap.googlecode.com]
// Taken from RTAB-Map library r606 [www.rtabmap.googlecode.com]
/*
* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke

2
src/rtabmap/PdfPlot.h
View File

@ -1,4 +1,4 @@
// Taken from RTAB-Map library r605 [www.rtabmap.googlecode.com]
// Taken from RTAB-Map library r606 [www.rtabmap.googlecode.com]
/*
* Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke

7
src/ui/mainWindow.ui
View File

@ -223,14 +223,13 @@
<addaction name="actionAdd_objects_from_files"/>
<addaction name="separator"/>
<addaction name="actionLoad_scene_from_file"/>
<addaction name="actionCamera_from_directory_of_images"/>
<addaction name="actionCamera_from_video_file"/>
<addaction name="separator"/>
<addaction name="actionStart_camera"/>
<addaction name="actionPause_camera"/>
<addaction name="actionStop_camera"/>
<addaction name="separator"/>
<addaction name="actionCamera_from_directory_of_images"/>
<addaction name="actionCamera_from_video_file"/>
<addaction name="separator"/>
<addaction name="actionRestore_all_default_settings"/>
<addaction name="separator"/>
<addaction name="actionRemove_all_objects"/>
@ -665,7 +664,7 @@
</action>
<action name="actionLoad_scene_from_file">
<property name="text">
<string>Load scene from file...</string>
<string>Camera from single file...</string>
</property>
</action>
<action name="actionPause_camera">

11
src/utilite/UPlot.cpp
View File

@ -1,4 +1,4 @@
// Taken from UtiLite library r185 [www.utilite.googlecode.com]
// Taken from UtiLite library r186 [www.utilite.googlecode.com]
/*
* utilite is a cross-platform library with
@ -296,7 +296,6 @@ void UPlotCurve::attach(UPlot * plot)
{
return;
}
this->setParent(plot);
if(_plot)
{
_plot->removeCurve(this);
@ -1738,7 +1737,7 @@ UPlotCurve * UPlot::addCurve(const QString & curveName, const QColor & color)
return curve;
}
bool UPlot::addCurve(UPlotCurve * curve)
bool UPlot::addCurve(UPlotCurve * curve, bool ownershipTransferred)
{
if(curve)
{
@ -1757,7 +1756,11 @@ bool UPlot::addCurve(UPlotCurve * curve)
// add curve
_curves.append(curve);
curve->attach(this); // ownership is transferred
curve->attach(this);
if(ownershipTransferred)
{
curve->setParent(this);
}
this->updateAxis(curve);
curve->setXStart(_axisMaximums[1]);

10
src/utilite/UPlot.h
View File

@ -1,4 +1,4 @@
// Taken from UtiLite library r185 [www.utilite.googlecode.com]
// Taken from UtiLite library r186 [www.utilite.googlecode.com]
/*
* utilite is a cross-platform library with
@ -141,7 +141,6 @@ public:
void setData(const std::vector<float> & y);
void getData(QVector<float> & x, QVector<float> & y) const; // only call in Qt MainThread
void draw(QPainter * painter);
const QVector<float> & getMinMax() const {return _minMax;}
public slots:
/**
@ -225,6 +224,7 @@ protected:
void attach(UPlot * plot);
void detach(UPlot * plot);
void updateMinMax();
const QVector<float> & getMinMax() const {return _minMax;}
int removeItem(int index);
void _addValue(UPlotItem * data);;
virtual bool isMinMaxValid() const {return _minMax.size();}
@ -475,11 +475,9 @@ public:
*/
UPlotCurve * addCurve(const QString & curveName, const QColor & color = QColor());
/**
* Add a curve. Ownership is transferred to UPlot.
* If you add the curve to more than one UPlot, the ownership is transferred
* to the last UPlot.
* Add a curve. Ownership is transferred to UPlot if ownershipTransferred=true.
*/
bool addCurve(UPlotCurve * curve);
bool addCurve(UPlotCurve * curve, bool ownershipTransferred = true);
/**
* Get all curve names.
*/