apoorva/greenhouse
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Fixed a crash (Windows) after adding an object. This may be related to issue 1. The cause is that the first image acquired from the camera is blank, so no features are extracted and the code not handled this case, crashing during nearest neighbor search.

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git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@67 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe 2012-01-05 00:31:29 +00:00
parent ba1919d2c6
commit aafe4beac4
2 changed files with 34 additions and 15 deletions
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33
src/MainWindow.cpp
View File

@ -353,24 +353,31 @@ void MainWindow::update(const cv::Mat & image)
delete detector;
ui_->label_timeDetection->setText(QString::number(time.restart()));
// EXTRACT DESCRIPTORS
cv::Mat descriptors;
cv::DescriptorExtractor * extractor = Settings::createDescriptorsExtractor();
extractor->compute(img, keypoints, descriptors);
delete extractor;
if((int)keypoints.size() != descriptors.rows)
if(keypoints.size())
{
printf("ERROR : kpt=%d != descriptors=%d\n", (int)keypoints.size(), descriptors.rows);
// EXTRACT DESCRIPTORS
cv::DescriptorExtractor * extractor = Settings::createDescriptorsExtractor();
extractor->compute(img, keypoints, descriptors);
delete extractor;
if((int)keypoints.size() != descriptors.rows)
{
printf("ERROR : kpt=%d != descriptors=%d\n", (int)keypoints.size(), descriptors.rows);
}
if(imageGrayScale)
{
cvReleaseImage(&imageGrayScale);
}
ui_->label_timeExtraction->setText(QString::number(time.restart()));
}
if(imageGrayScale)
else
{
cvReleaseImage(&imageGrayScale);
printf("WARNING: no features detected !?!\n");
ui_->label_timeExtraction->setText(QString::number(0));
}
ui_->label_timeExtraction->setText(QString::number(time.restart()));
// COMPARE
int alpha = 20*255/100;
if(!dataTree_.empty() && (Settings::getNearestNeighbor_nndrRatioUsed() || Settings::getNearestNeighbor_minDistanceUsed()))
if(!dataTree_.empty() && keypoints.size() && (Settings::getNearestNeighbor_nndrRatioUsed() || Settings::getNearestNeighbor_minDistanceUsed()))
{
// CREATE INDEX
cv::Mat environment(descriptors.rows, descriptors.cols, CV_32F);
@ -390,7 +397,6 @@ void MainWindow::update(const cv::Mat & image)
treeFlannIndex.knnSearch(dataTree_, results, dists, k, cv::flann::SearchParams(emax) ); // maximum number of leafs checked
ui_->label_timeMatching->setText(QString::number(time.restart()));
// PROCESS RESULTS
if(this->isVisible())
{
@ -406,7 +412,6 @@ void MainWindow::update(const cv::Mat & image)
for(int i=0; i<dataTree_.rows; ++i)
{
QColor color((Qt::GlobalColor)(j % 12 + 7 ));
color.setAlpha(alpha);
bool matched = false;
// Check if this descriptor matches with those of the objects
if(Settings::getNearestNeighbor_nndrRatioUsed() &&
@ -497,7 +502,7 @@ void MainWindow::update(const cv::Mat & image)
}
else
{
objects_.at(j)->setKptColor(indexes_1.at(k), QColor(0,0,0,alpha));
objects_.at(j)->setKptColor(indexes_1.at(k), QColor(0,0,0));
}
}
}

14
src/ObjWidget.cpp
View File

@ -20,6 +20,7 @@
#include <QtGui/QVBoxLayout>
#include <QtGui/QGraphicsRectItem>
#include <QtGui/QInputDialog>
#include <QtGui/QPen>
#include <QtCore/QDir>
@ -201,6 +202,14 @@ void ObjWidget::setAlpha(int alpha)
color.setAlpha(alpha_);
keypointItems_.at(i)->setColor(color);
}
for(int i=0; i<rectItems_.size(); ++i)
{
QPen pen = rectItems_.at(i)->pen();
QColor color = pen.color();
color.setAlpha(alpha_);
pen.setColor(color);
rectItems_.at(i)->setPen(pen);
}
}
if(!_graphicsViewMode->isChecked())
{
@ -282,6 +291,11 @@ void ObjWidget::addRect(QGraphicsRectItem * rect)
graphicsView_->scene()->addItem(rect);
}
rect->setZValue(2);
QPen pen = rect->pen();
QColor color = pen.color();
color.setAlpha(alpha_);
pen.setColor(color);
rect->setPen(pen);
rectItems_.append(rect);
}