Added code example for descriptors extraction

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@20 620bd6b2-0a58-f614-fd9a-1bd335dccda9

src/AddObjectDialog.cpp

@@ -1,7 +1,7 @@
 
 #include "AddObjectDialog.h"
 #include "ui_addObjectDialog.h"
-#include "Object.h"
+#include "ObjWidget.h"
 #include "KeypointItem.h"
 #include "Camera.h"
 #include "qtipl.h"
@@ -15,7 +15,7 @@
 #include <opencv2/imgproc/imgproc_c.h>
 #include <opencv2/highgui/highgui_c.h>
 
-AddObjectDialog::AddObjectDialog(QList<Object*> * objects, QWidget * parent, Qt::WindowFlags f) :
+AddObjectDialog::AddObjectDialog(QList<ObjWidget*> * objects, QWidget * parent, Qt::WindowFlags f) :
 		QDialog(parent, f),
 		camera_(0),
 		objects_(objects),
@@ -191,7 +191,7 @@ void AddObjectDialog::setState(int state)
 					selectedKeypoints.at(i).pt.y -= roi.y;
 				}
 			}
-			objects_->append(new Object(0, selectedKeypoints, descriptors, cvImage_, Settings::currentDetectorType(), Settings::currentDescriptorType()));
+			objects_->append(new ObjWidget(0, selectedKeypoints, descriptors, cvImage_, Settings::currentDetectorType(), Settings::currentDescriptorType()));
 			cvResetImageROI(cvImage_);
 
 

src/AddObjectDialog.h

@@ -7,7 +7,7 @@
 #include <opencv2/core/core_c.h>
 
 class Ui_addObjectDialog;
-class Object;
+class ObjWidget;
 class Camera;
 class KeypointItem;
 
@@ -16,7 +16,7 @@ class AddObjectDialog : public QDialog {
 	Q_OBJECT
 
 public:
-	AddObjectDialog(QList<Object*> * objects, QWidget * parent = 0, Qt::WindowFlags f = 0);
+	AddObjectDialog(QList<ObjWidget*> * objects, QWidget * parent = 0, Qt::WindowFlags f = 0);
 	virtual ~AddObjectDialog();
 
 private slots:
@@ -37,7 +37,7 @@ private:
 	Ui_addObjectDialog * ui_;
 	Camera * camera_;
 	QTimer cameraTimer_;
-	QList<Object*> * objects_;
+	QList<ObjWidget*> * objects_;
 	IplImage * cvImage_;
 
 	enum State{kTakePicture, kSelectFeatures, kVerifySelection, kClosing};

src/CMakeLists.txt

@@ -4,7 +4,7 @@
 SET(headers_ui 
 	./MainWindow.h
 	./AddObjectDialog.h
-	./Object.h
+	./ObjWidget.h
 	./Camera.h
 	./ParametersToolBox.h
 )
@@ -38,7 +38,7 @@ SET(SRC_FILES
 	./Camera.cpp
 	./ParametersToolBox.cpp
 	./Settings.cpp
-	./Object.cpp
+	./ObjWidget.cpp
 	${moc_srcs} 
 	${moc_uis} 
 	#${srcs_qrc}

src/MainWindow.cpp

@@ -4,7 +4,7 @@
 #include "ui_mainWindow.h"
 #include "qtipl.h"
 #include "KeypointItem.h"
-#include "Object.h"
+#include "ObjWidget.h"
 #include "Camera.h"
 #include "Settings.h"
 #include "ParametersToolBox.h"
@@ -87,7 +87,7 @@ void MainWindow::loadObjects()
 		QDataStream in(&file);
 		while(!in.atEnd())
 		{
-			Object * obj = new Object();
+			ObjWidget * obj = new ObjWidget();
 			obj->load(in);
 			bool alreadyLoaded = false;
 			for(int i=0; i<objects_.size(); ++i)
@@ -132,7 +132,7 @@ void MainWindow::saveObjects()
 	}
 }
 
-void MainWindow::removeObject(Object * object)
+void MainWindow::removeObject(ObjWidget * object)
 {
 	if(object)
 	{
@@ -152,12 +152,12 @@ void MainWindow::addObject()
 	}
 }
 
-void MainWindow::showObject(Object * obj)
+void MainWindow::showObject(ObjWidget * obj)
 {
 	if(obj)
 	{
 		obj->setGraphicsViewMode(false);
-		QList<Object*> objs = ui_->objects_area->findChildren<Object*>();
+		QList<ObjWidget*> objs = ui_->objects_area->findChildren<ObjWidget*>();
 		QVBoxLayout * vLayout = new QVBoxLayout();
 		int id = Settings::getGeneral_nextObjID().toInt();
 		if(obj->id() == 0)
@@ -183,7 +183,7 @@ void MainWindow::showObject(Object * obj)
 		vLayout->addLayout(hLayout);
 		vLayout->addWidget(obj);
 		objects_.last()->setDeletable(true);
-		connect(obj, SIGNAL(removalTriggered(Object*)), this, SLOT(removeObject(Object*)));
+		connect(obj, SIGNAL(removalTriggered(ObjWidget*)), this, SLOT(removeObject(ObjWidget*)));
 		connect(obj, SIGNAL(destroyed(QObject *)), title, SLOT(deleteLater()));
 		connect(obj, SIGNAL(destroyed(QObject *)), detectedLabel, SLOT(deleteLater()));
 		connect(obj, SIGNAL(destroyed(QObject *)), detectorDescriptorType, SLOT(deleteLater()));
@@ -293,6 +293,7 @@ void MainWindow::update()
 		if(cvImage)
 		{
 			QTime time;
+			time.start();
 
 			//Convert to grayscale
 			IplImage * imageGrayScale = 0;
@@ -312,13 +313,11 @@ void MainWindow::update()
 			}
 
 			// EXTRACT KEYPOINTS
-			time.start();
 			cv::FeatureDetector * detector = Settings::createFeaturesDetector();
 			std::vector<cv::KeyPoint> keypoints;
 			detector->detect(img, keypoints);
 			delete detector;
-			ui_->label_timeDetection->setText(QString::number(time.elapsed()));
-			time.start();
+			ui_->label_timeDetection->setText(QString::number(time.restart()));
 
 			// EXTRACT DESCRIPTORS
 			cv::Mat descriptors;
@@ -333,8 +332,7 @@ void MainWindow::update()
 			{
 				cvReleaseImage(&imageGrayScale);
 			}
-			ui_->label_timeExtraction->setText(QString::number(time.elapsed()));
-			time.start();
+			ui_->label_timeExtraction->setText(QString::number(time.restart()));
 
 			// COMPARE
 			int alpha = 20*255/100;
@@ -344,8 +342,7 @@ void MainWindow::update()
 				cv::Mat environment(descriptors.rows, descriptors.cols, CV_32F);
 				descriptors.convertTo(environment, CV_32F);
 				cv::flann::Index treeFlannIndex(environment, cv::flann::KDTreeIndexParams());
-				ui_->label_timeIndexing->setText(QString::number(time.elapsed()));
-				time.start();
+				ui_->label_timeIndexing->setText(QString::number(time.restart()));
 
 				// DO NEAREST NEIGHBOR
 				int k = 2;
@@ -353,8 +350,7 @@ void MainWindow::update()
 				cv::Mat results(dataTree_.rows, k, CV_32SC1); // results index
 				cv::Mat dists(dataTree_.rows, k, CV_32FC1); // Distance results are CV_32FC1
 				treeFlannIndex.knnSearch(dataTree_, results, dists, k, cv::flann::SearchParams(emax) ); // maximum number of leafs checked
-				ui_->label_timeMatching->setText(QString::number(time.elapsed()));
-				time.start();
+				ui_->label_timeMatching->setText(QString::number(time.restart()));
 
 
 				// PROCESS RESULTS
@@ -367,7 +363,7 @@ void MainWindow::update()
 				{
 					// Check if this descriptor matches with those of the objects
 					// Apply NNDR
-					if(dists.at<float>(i,0) <= Settings::getNN_nndrRatio().toFloat() * dists.at<float>(i,1))
+					if(dists.at<float>(i,0) <= Settings::getNearestNeighbor_nndrRatio().toFloat() * dists.at<float>(i,1))
 					{
 						if(j>0)
 						{
@@ -468,13 +464,11 @@ void MainWindow::update()
 
 			ui_->label_nfeatures->setText(QString::number(keypoints.size()));
 			ui_->imageView_source->update();
-			ui_->label_timeGui->setText(QString::number(time.elapsed()));
+			ui_->label_timeGui->setText(QString::number(time.restart()));
 
 			cvReleaseImage(&cvImage);
 		}
 	}
 	ui_->label_detectorDescriptorType->setText(QString("%1/%2").arg(Settings::currentDetectorType()).arg(Settings::currentDescriptorType()));
-	ui_->label_timeRefreshRate->setText(QString("(%1 Hz - %2 Hz)").arg(QString::number(1000/cameraTimer_.interval())).arg(QString::number(int(1000.0f/(float)(updateRate_.elapsed()) + 1))));
-	//printf("GUI refresh rate %f Hz\n", 1000.0f/(float)(updateRate_.elapsed()));
-	updateRate_.start();
+	ui_->label_timeRefreshRate->setText(QString("(%1 Hz - %2 Hz)").arg(QString::number(1000/cameraTimer_.interval())).arg(QString::number(int(1000.0f/(float)(updateRate_.restart()) + 1))));
 }

src/MainWindow.h

@@ -13,7 +13,7 @@
 #include <opencv2/imgproc/imgproc_c.h>
 
 class Ui_mainWindow;
-class Object;
+class ObjWidget;
 class Camera;
 class ParametersToolBox;
 class QLabel;
@@ -37,15 +37,15 @@ private slots:
 	void saveObjects();
 	void update();
 	void updateData();
-	void removeObject(Object * object);
+	void removeObject(ObjWidget * object);
 
 private:
-	void showObject(Object * obj);
+	void showObject(ObjWidget * obj);
 
 private:
 	Ui_mainWindow * ui_;
 	Camera * camera_;
-	QList<Object*> objects_;
+	QList<ObjWidget*> objects_;
 	QTimer cameraTimer_;
 	cv::Mat dataTree_;
 	QList<int> dataRange_;

src/ObjWidget.cpp

@@ -13,7 +13,7 @@
  *      Author: matlab
  */
 
-#include "Object.h"
+#include "ObjWidget.h"
 #include "KeypointItem.h"
 #include "qtipl.h"
 #include "Settings.h"
@@ -35,7 +35,7 @@
 
 #include <stdio.h>
 
-Object::Object(QWidget * parent) :
+ObjWidget::ObjWidget(QWidget * parent) :
 	QWidget(parent),
 	iplImage_(0),
 	graphicsView_(0),
@@ -46,7 +46,7 @@ Object::Object(QWidget * parent) :
 {
 	setupUi();
 }
-Object::Object(int id,
+ObjWidget::ObjWidget(int id,
 		const std::vector<cv::KeyPoint> & keypoints,
 		const cv::Mat & descriptors,
 		const IplImage * iplImage,
@@ -64,7 +64,7 @@ Object::Object(int id,
 	setupUi();
 	this->setData(keypoints, descriptors, iplImage);
 }
-Object::~Object()
+ObjWidget::~ObjWidget()
 {
 	if(iplImage_)
 	{
@@ -72,14 +72,14 @@ Object::~Object()
 	}
 }
 
-void Object::setupUi()
+void ObjWidget::setupUi()
 {
 	graphicsView_ = new QGraphicsView(this);
 	graphicsView_->setVisible(true);
 	graphicsView_->setTransformationAnchor(QGraphicsView::AnchorUnderMouse);
 	graphicsView_->setScene(new QGraphicsScene(graphicsView_));
 
-	this->setLayout(new QVBoxLayout(graphicsView_));
+	this->setLayout(new QVBoxLayout(this));
 	this->layout()->addWidget(graphicsView_);
 	this->layout()->setContentsMargins(0,0,0,0);
 
@@ -110,7 +110,7 @@ void Object::setupUi()
 	connect(graphicsView_->scene(), SIGNAL(selectionChanged()), this, SIGNAL(selectionChanged()));
 }
 
-void Object::setId(int id)
+void ObjWidget::setId(int id)
 {
 	id_=id;
 	if(id_)
@@ -119,7 +119,7 @@ void Object::setId(int id)
 	}
 }
 
-void Object::setGraphicsViewMode(bool on)
+void ObjWidget::setGraphicsViewMode(bool on)
 {
 	graphicsViewMode_ = on;
 	graphicsView_->setVisible(on);
@@ -143,7 +143,7 @@ void Object::setGraphicsViewMode(bool on)
 	this->update();
 }
 
-void Object::setData(const std::vector<cv::KeyPoint> & keypoints, const cv::Mat & descriptors, const IplImage * image)
+void ObjWidget::setData(const std::vector<cv::KeyPoint> & keypoints, const cv::Mat & descriptors, const IplImage * image)
 {
 	keypoints_ = keypoints;
 	descriptors_ = descriptors;
@@ -175,7 +175,7 @@ void Object::setData(const std::vector<cv::KeyPoint> & keypoints, const cv::Mat
 	}
 }
 
-void Object::resetKptsColor()
+void ObjWidget::resetKptsColor()
 {
 	for(int i=0; i<kptColors_.size(); ++i)
 	{
@@ -188,7 +188,7 @@ void Object::resetKptsColor()
 	rectItems_.clear();
 }
 
-void Object::setKptColor(unsigned int index, const QColor & color)
+void ObjWidget::setKptColor(unsigned int index, const QColor & color)
 {
 	if(index < kptColors_.size())
 	{
@@ -204,38 +204,38 @@ void Object::setKptColor(unsigned int index, const QColor & color)
 	}
 }
 
-void Object::addRect(QGraphicsRectItem * rect)
+void ObjWidget::addRect(QGraphicsRectItem * rect)
 {
 	graphicsView_->scene()->addItem(rect);
 	rectItems_.append(rect);
 }
 
-QList<QGraphicsItem*> Object::selectedItems() const
+QList<QGraphicsItem*> ObjWidget::selectedItems() const
 {
 	return graphicsView_->scene()->selectedItems();
 }
 
-bool Object::isImageShown() const
+bool ObjWidget::isImageShown() const
 {
 	return _showImage->isChecked();
 }
 
-bool Object::isFeaturesShown() const
+bool ObjWidget::isFeaturesShown() const
 {
 	return _showFeatures->isChecked();
 }
 
-bool Object::isMirrorView() const
+bool ObjWidget::isMirrorView() const
 {
 	return _mirrorView->isChecked();
 }
 
-void Object::setDeletable(bool deletable)
+void ObjWidget::setDeletable(bool deletable)
 {
 	_delete->setEnabled(deletable);
 }
 
-void Object::save(QDataStream & streamPtr) const
+void ObjWidget::save(QDataStream & streamPtr) const
 {
 	streamPtr << id_ << detectorType_ << descriptorType_;
 	streamPtr << (int)keypoints_.size();
@@ -259,7 +259,7 @@ void Object::save(QDataStream & streamPtr) const
 	streamPtr << image_;
 }
 
-void Object::load(QDataStream & streamPtr)
+void ObjWidget::load(QDataStream & streamPtr)
 {
 	std::vector<cv::KeyPoint> kpts;
 	cv::Mat descriptors;
@@ -291,7 +291,7 @@ void Object::load(QDataStream & streamPtr)
 	this->setMinimumSize(image_.size());
 }
 
-void Object::paintEvent(QPaintEvent *event)
+void ObjWidget::paintEvent(QPaintEvent *event)
 {
 	if(graphicsViewMode_)
 	{
@@ -367,16 +367,16 @@ void Object::paintEvent(QPaintEvent *event)
 	}
 }
 
-void Object::resizeEvent(QResizeEvent* event)
+void ObjWidget::resizeEvent(QResizeEvent* event)
 {
+	QWidget::resizeEvent(event);
 	if(graphicsViewMode_)
 	{
 		graphicsView_->fitInView(graphicsView_->sceneRect(), Qt::KeepAspectRatio);
 	}
-	QWidget::resizeEvent(event);
 }
 
-void Object::contextMenuEvent(QContextMenuEvent * event)
+void ObjWidget::contextMenuEvent(QContextMenuEvent * event)
 {
 	QAction * action = _menu->exec(event->globalPos());
 	if(action == _saveImage)
@@ -431,7 +431,7 @@ void Object::contextMenuEvent(QContextMenuEvent * event)
 	QWidget::contextMenuEvent(event);
 }
 
-QPixmap Object::getSceneAsPixmap()
+QPixmap ObjWidget::getSceneAsPixmap()
 {
 	if(graphicsViewMode_)
 	{
@@ -446,7 +446,7 @@ QPixmap Object::getSceneAsPixmap()
 	}
 }
 
-void Object::updateItemsShown()
+void ObjWidget::updateItemsShown()
 {
 	QList<QGraphicsItem*> items = graphicsView_->scene()->items();
 	for(int i=0; i<items.size(); ++i)
@@ -462,7 +462,7 @@ void Object::updateItemsShown()
 	}
 }
 
-void Object::drawKeypoints(QPainter * painter)
+void ObjWidget::drawKeypoints(QPainter * painter)
 {
 	QList<KeypointItem *> items;
 	KeypointItem * item = 0;
@@ -499,13 +499,13 @@ void Object::drawKeypoints(QPainter * painter)
 	}
 }
 
-QColor Object::defaultColor() const
+QColor ObjWidget::defaultColor() const
 {
 	int alpha = 20*255/100;
 	return QColor(255, 255, 0, alpha);
 }
 
-std::vector<cv::KeyPoint> Object::selectedKeypoints() const
+std::vector<cv::KeyPoint> ObjWidget::selectedKeypoints() const
 {
 	std::vector<cv::KeyPoint> selected;
 	if(graphicsViewMode_)
@@ -522,20 +522,23 @@ std::vector<cv::KeyPoint> Object::selectedKeypoints() const
 	return selected;
 }
 
-void Object::setupGraphicsView()
+void ObjWidget::setupGraphicsView()
 {
 	graphicsView_->scene()->clear();
-	graphicsView_->scene()->setSceneRect(image_.rect());
-	QList<KeypointItem*> items;
-	if(image_.width() > 0 && image_.height() > 0)
+	if(!image_.isNull())
 	{
-		QRectF sceneRect = graphicsView_->sceneRect();
+		graphicsView_->scene()->setSceneRect(image_.rect());
+		QList<KeypointItem*> items;
+		if(image_.width() > 0 && image_.height() > 0)
+		{
+			QRectF sceneRect = graphicsView_->sceneRect();
 
-		QGraphicsPixmapItem * pixmapItem = graphicsView_->scene()->addPixmap(image_);
-		pixmapItem->setVisible(this->isImageShown());
-		this->drawKeypoints();
+			QGraphicsPixmapItem * pixmapItem = graphicsView_->scene()->addPixmap(image_);
+			pixmapItem->setVisible(this->isImageShown());
+			this->drawKeypoints();
 
-		graphicsView_->fitInView(sceneRect, Qt::KeepAspectRatio);
+			graphicsView_->fitInView(sceneRect, Qt::KeepAspectRatio);
+		}
 	}
 }
 

src/ObjWidget.h

@@ -1,12 +1,12 @@
 /*
- * VisualObject.h
+ * ObjWidget.h
  *
  *  Created on: 2011-10-21
  *      Author: matlab
  */
 
-#ifndef OBJECT_H_
-#define OBJECT_H_
+#ifndef OBJWIDGET_H_
+#define OBJWIDGET_H_
 
 #include <opencv2/features2d/features2d.hpp>
 #include <QtGui/QWidget>
@@ -20,20 +20,20 @@ class QGraphicsScene;
 class QGraphicsRectItem;
 class QGraphicsItem;
 
-class Object : public QWidget
+class ObjWidget : public QWidget
 {
 	Q_OBJECT
 
 public:
-	Object(QWidget * parent = 0);
-	Object(int id,
+	ObjWidget(QWidget * parent = 0);
+	ObjWidget(int id,
 			const std::vector<cv::KeyPoint> & keypoints,
 			const cv::Mat & descriptors,
 			const IplImage * image,
 			const QString & detectorType = "NA",
 			const QString & descriptorType = "NA",
 			QWidget * parent = 0);
-	virtual ~Object();
+	virtual ~ObjWidget();
 
 	void setId(int id);
 	void setData(const std::vector<cv::KeyPoint> & keypoints,
@@ -71,7 +71,7 @@ protected:
 	virtual void resizeEvent(QResizeEvent* event);
 
 signals:
-	void removalTriggered(Object *);
+	void removalTriggered(ObjWidget *);
 	void selectionChanged();
 
 private:
@@ -106,4 +106,4 @@ private:
 };
 
 
-#endif /* OBJECT_H_ */
+#endif /* OBJWIDGET_H_ */

src/Settings.h

@@ -106,7 +106,7 @@ class Settings
 	PARAMETER(Surf, upright, bool, false);
 	PARAMETER(Surf, extended, bool, false);
 
-	PARAMETER(NN, nndrRatio, float, 0.8f); // NNDR RATIO
+	PARAMETER(NearestNeighbor, nndrRatio, float, 0.8f); // NNDR RATIO
 
 	PARAMETER(General, nextObjID, unsigned int, 1);
 

src/ui/addObjectDialog.ui

@@ -24,10 +24,10 @@
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_2">
      <item>
-      <widget class="Object" name="cameraView" native="true"/>
+      <widget class="ObjWidget" name="cameraView" native="true"/>
      </item>
      <item>
-      <widget class="Object" name="objectView" native="true"/>
+      <widget class="ObjWidget" name="objectView" native="true"/>
      </item>
     </layout>
    </item>
@@ -80,9 +80,9 @@
  </widget>
  <customwidgets>
   <customwidget>
-   <class>Object</class>
+   <class>ObjWidget</class>
    <extends>QWidget</extends>
-   <header>Object.h</header>
+   <header>ObjWidget.h</header>
    <container>1</container>
   </customwidget>
  </customwidgets>

src/ui/mainWindow.ui

@@ -116,7 +116,7 @@
           <number>0</number>
          </property>
          <item>
-          <widget class="Object" name="imageView_source" native="true"/>
+          <widget class="ObjWidget" name="imageView_source" native="true"/>
          </item>
         </layout>
        </widget>
@@ -433,9 +433,9 @@
  </widget>
  <customwidgets>
   <customwidget>
-   <class>Object</class>
+   <class>ObjWidget</class>
    <extends>QWidget</extends>
-   <header>Object.h</header>
+   <header>ObjWidget.h</header>
    <container>1</container>
   </customwidget>
   <customwidget>