added Feature2D/MaxFeatures parameter

On graphicsView mode, if a homography rectangle is selected, the corresponding object in the objects pane is selected

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@271 620bd6b2-0a58-f614-fd9a-1bd335dccda9

app/CMakeLists.txt

@@ -9,6 +9,7 @@ SET(headers_ui
 	../src/ParametersToolBox.h
 	../src/AboutDialog.h
 	../src/TcpServer.h
+	../src/RectItem.h
 	../src/utilite/UPlot.h
 	../src/rtabmap/PdfPlot.h
 )
@@ -39,6 +40,7 @@ SET(SRC_FILES
 	../src/MainWindow.cpp
 	../src/AddObjectDialog.cpp
 	../src/KeypointItem.cpp
+	../src/RectItem.cpp
 	../src/QtOpenCV.cpp
 	../src/Camera.cpp
 	../src/ParametersToolBox.cpp

src/KeypointItem.cpp

@@ -19,15 +19,10 @@ KeypointItem::KeypointItem(int id, qreal x, qreal y, int r, const QString & info
 	this->setAcceptsHoverEvents(true);
 	this->setFlag(QGraphicsItem::ItemIsFocusable, true);
 	this->setFlag(QGraphicsItem::ItemIsSelectable, true);
-	width_ = pen().width();
 }
 
 KeypointItem::~KeypointItem()
 {
-	/*if(placeHolder_)
-	{
-		delete placeHolder_;
-	}*/
 }
 
 void KeypointItem::setColor(const QColor & color)
@@ -46,46 +41,41 @@ void KeypointItem::setColor(const QColor & color)
 
 void KeypointItem::showDescription()
 {
-	if(!placeHolder_)
+	if(!placeHolder_ || !placeHolder_->isVisible())
 	{
-		placeHolder_ = new QGraphicsRectItem();
-		placeHolder_->setVisible(false);
-		this->scene()->addItem(placeHolder_);
-		placeHolder_->setBrush(QBrush(QColor ( 0, 0, 0, 170 ))); // Black transparent background
-		QGraphicsTextItem * text = new QGraphicsTextItem(placeHolder_);
-		text->setDefaultTextColor(this->pen().color().rgb());
-		text->setPlainText(info_);
-		placeHolder_->setRect(text->boundingRect());
+		if(!placeHolder_)
+		{
+			placeHolder_ = new QGraphicsRectItem();
+			placeHolder_->setVisible(false);
+			this->scene()->addItem(placeHolder_);
+			placeHolder_->setBrush(QBrush(QColor ( 0, 0, 0, 170 ))); // Black transparent background
+			QGraphicsTextItem * text = new QGraphicsTextItem(placeHolder_);
+			text->setDefaultTextColor(this->pen().color().rgb());
+			text->setPlainText(info_);
+			placeHolder_->setRect(text->boundingRect());
+		}
+
+
+		QPen pen = this->pen();
+		this->setPen(QPen(pen.color(), pen.width()+2));
+		placeHolder_->setZValue(this->zValue()+1);
+		placeHolder_->setPos(this->mapToScene(0,0));
+		placeHolder_->setVisible(true);
 	}
-
-
-	QPen pen = this->pen();
-	this->setPen(QPen(pen.color(), width_+2));
-	placeHolder_->setZValue(this->zValue()+1);
-	placeHolder_->setPos(this->mapToScene(0,0));
-	placeHolder_->setVisible(true);
 }
 
 void KeypointItem::hideDescription()
 {
-	if(placeHolder_)
+	if(placeHolder_ && placeHolder_->isVisible())
 	{
 		placeHolder_->setVisible(false);
+		this->setPen(QPen(pen().color(), pen().width()-2));
 	}
-	this->setPen(QPen(pen().color(), width_));
 }
 
 void KeypointItem::hoverEnterEvent ( QGraphicsSceneHoverEvent * event )
 {
-	QGraphicsScene * scene = this->scene();
-	if(scene && scene->focusItem() == 0)
-	{
-		this->showDescription();
-	}
-	else
-	{
-		this->setPen(QPen(pen().color(), width_+2));
-	}
+	this->showDescription();
 	QGraphicsEllipseItem::hoverEnterEvent(event);
 }
 

src/KeypointItem.h

@@ -32,7 +32,6 @@ private:
 private:
 	QString info_;
 	QGraphicsRectItem * placeHolder_;
-	int width_;
 	int id_;
 };
 

src/MainWindow.cpp

@@ -7,6 +7,7 @@
 #include "ui_mainWindow.h"
 #include "QtOpenCV.h"
 #include "KeypointItem.h"
+#include "RectItem.h"
 #include "ObjWidget.h"
 #include "Camera.h"
 #include "Settings.h"
@@ -634,6 +635,34 @@ void MainWindow::showObject(ObjWidget * obj)
 	}
 }
 
+std::vector<cv::KeyPoint> limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, int maxKeypoints)
+{
+	std::vector<cv::KeyPoint> kptsKept;
+	if(maxKeypoints > 0 && (int)keypoints.size() > maxKeypoints)
+	{
+		// Sort words by response
+		std::multimap<float, int> reponseMap; // <response,id>
+		for(unsigned int i = 0; i <keypoints.size(); ++i)
+		{
+			//Keep track of the data, to be easier to manage the data in the next step
+			reponseMap.insert(std::pair<float, int>(fabs(keypoints[i].response), i));
+		}
+
+		// Remove them
+		std::multimap<float, int>::reverse_iterator iter = reponseMap.rbegin();
+		kptsKept.resize(maxKeypoints);
+		for(unsigned int k=0; k < kptsKept.size() && iter!=reponseMap.rend(); ++k, ++iter)
+		{
+			kptsKept[k] = keypoints[iter->second];
+		}
+	}
+	else
+	{
+		kptsKept = keypoints;
+	}
+	return kptsKept;
+}
+
 class ExtractFeaturesThread : public QThread
 {
 public:
@@ -663,6 +692,14 @@ protected:
 
 		if(keypoints_.size())
 		{
+			int maxFeatures = Settings::getFeature2D_3MaxFeatures();
+			if(maxFeatures > 0 && (int)keypoints_.size() > maxFeatures)
+			{
+				int previousCount = keypoints_.size();
+				keypoints_ = limitKeypoints(keypoints_, maxFeatures);
+				printf("obj=%d, %d keypoints removed, (kept %d), min/max response=%f/%f\n", objectId_, previousCount-(int)keypoints_.size(), (int)keypoints_.size(), keypoints_.size()?keypoints_.back().response:0.0f, keypoints_.size()?keypoints_.front().response:0.0f);
+			}
+
 			cv::DescriptorExtractor * extractor = Settings::createDescriptorsExtractor();
 			extractor->compute(image_, keypoints_, descriptors_);
 			delete extractor;
@@ -839,7 +876,7 @@ void MainWindow::updateData()
 					objects_[i]->setWords(words);
 					addedWords += words.uniqueKeys().size();
 					bool updated = false;
-					if(incremental && addedWords > updateVocabularyMinWords)
+					if(incremental && addedWords && addedWords >= updateVocabularyMinWords)
 					{
 						vocabulary_.update();
 						addedWords = 0;
@@ -984,6 +1021,18 @@ void MainWindow::moveCameraFrame(int frame)
 	}
 }
 
+void MainWindow::rectHovered(int objId)
+{
+	if(objId>=0 && Settings::getGeneral_autoScroll())
+	{
+		QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1title").arg(objId));
+		if(label)
+		{
+			ui_->objects_area->verticalScrollBar()->setValue(label->pos().y());
+		}
+	}
+}
+
 class SearchThread: public QThread
 {
 public:
@@ -1209,6 +1258,14 @@ void MainWindow::update(const cv::Mat & image)
 		cv::Mat descriptors;
 		if(keypoints.size())
 		{
+			int maxFeatures = Settings::getFeature2D_3MaxFeatures();
+			if(maxFeatures > 0 && (int)keypoints.size() > maxFeatures)
+			{
+				//int previousCount = (int)keypoints.size();
+				keypoints = limitKeypoints(keypoints, maxFeatures);
+				//printf("%d keypoints removed, (kept %d), min/max response=%f/%f\n", previousCount-(int)keypoints.size(), (int)keypoints.size(), keypoints.size()?keypoints.back().response:0.0f, keypoints.size()?keypoints.front().response:0.0f);
+			}
+
 			// EXTRACT DESCRIPTORS
 			cv::DescriptorExtractor * extractor = Settings::createDescriptorsExtractor();
 			extractor->compute(grayscaleImg, keypoints, descriptors);
@@ -1502,7 +1559,8 @@ void MainWindow::update(const cv::Mat & image)
 										}
 										QPen rectPen(color);
 										rectPen.setWidth(4);
-										QGraphicsRectItem * rectItemScene = new QGraphicsRectItem(rect);
+										RectItem * rectItemScene = new RectItem(objects_.at(index)->id(), rect);
+										connect(rectItemScene, SIGNAL(hovered(int)), this, SLOT(rectHovered(int)));
 										rectItemScene->setPen(rectPen);
 										rectItemScene->setTransform(hTransform);
 										ui_->imageView_source->addRect(rectItemScene);

src/MainWindow.h

@@ -75,6 +75,7 @@ private slots:
 	void updateObjects();
 	void notifyParametersChanged(const QStringList & param);
 	void moveCameraFrame(int frame);
+	void rectHovered(int objId);
 
 signals:
 	void objectsFound(const QMultiMap<int, QPair<QRect, QTransform> > &);

src/ObjWidget.cpp

@@ -315,7 +315,7 @@ void ObjWidget::addRect(QGraphicsRectItem * rect)
 	{
 		graphicsView_->scene()->addItem(rect);
 	}
-	rect->setZValue(2);
+	rect->setZValue(1);
 	QPen pen = rect->pen();
 	QColor color = pen.color();
 	color.setAlpha(alpha_);
@@ -723,7 +723,7 @@ void ObjWidget::drawKeypoints(QPainter * painter)
 			// YELLOW = NEW and multiple times
 			item = new KeypointItem(i+1, r.pt.x-radius, r.pt.y-radius, radius*2, info, color);
 			item->setVisible(this->isFeaturesShown());
-			item->setZValue(1);
+			item->setZValue(2);
 			graphicsView_->scene()->addItem(item);
 			keypointItems_.append(item);
 		}

src/RectItem.cpp

@@ -0,0 +1,100 @@
+/*
+ * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+ */
+
+#include "RectItem.h"
+
+#include <QtGui/QPen>
+#include <QtGui/QBrush>
+#include <QtGui/QGraphicsScene>
+
+RectItem::RectItem(int id, const QRectF &rect, QGraphicsItem * parent) :
+	QGraphicsRectItem(rect, parent),
+	placeHolder_(0),
+	id_(id)
+{
+	this->setAcceptsHoverEvents(true);
+	this->setFlag(QGraphicsItem::ItemIsFocusable, true);
+	this->setFlag(QGraphicsItem::ItemIsSelectable, true);
+}
+
+RectItem::~RectItem()
+{
+}
+
+void RectItem::setColor(const QColor & color)
+{
+	this->setPen(QPen(color));
+	this->setBrush(QBrush(color));
+	if(placeHolder_)
+	{
+		QList<QGraphicsItem *> items = placeHolder_->children();
+		if(items.size())
+		{
+			((QGraphicsTextItem *)items.front())->setDefaultTextColor(this->pen().color().rgb());
+		}
+	}
+}
+
+void RectItem::showDescription()
+{
+	if(!placeHolder_ || !placeHolder_->isVisible())
+	{
+		if(!placeHolder_)
+		{
+			placeHolder_ = new QGraphicsRectItem();
+			placeHolder_->setVisible(false);
+			this->scene()->addItem(placeHolder_);
+			placeHolder_->setBrush(QBrush(QColor ( 0, 0, 0, 170 ))); // Black transparent background
+			QGraphicsTextItem * text = new QGraphicsTextItem(placeHolder_);
+			text->setDefaultTextColor(this->pen().color().rgb());
+			text->setPlainText(tr("Object=%1").arg(id_));
+			placeHolder_->setRect(text->boundingRect());
+		}
+
+
+		QPen pen = this->pen();
+		this->setPen(QPen(pen.color(), pen.width()+2));
+		placeHolder_->setZValue(this->zValue()+1);
+		placeHolder_->setPos(0,0);
+		placeHolder_->setVisible(true);
+
+		emit hovered(id_);
+	}
+}
+
+void RectItem::hideDescription()
+{
+	if(placeHolder_ && placeHolder_->isVisible())
+	{
+		placeHolder_->setVisible(false);
+		this->setPen(QPen(pen().color(), pen().width()-2));
+	}
+}
+
+void RectItem::hoverEnterEvent ( QGraphicsSceneHoverEvent * event )
+{
+	this->showDescription();
+	QGraphicsRectItem::hoverEnterEvent(event);
+}
+
+void RectItem::hoverLeaveEvent ( QGraphicsSceneHoverEvent * event )
+{
+	if(!this->hasFocus())
+	{
+		this->hideDescription();
+	}
+	QGraphicsRectItem::hoverEnterEvent(event);
+}
+
+void RectItem::focusInEvent ( QFocusEvent * event )
+{
+	this->showDescription();
+	QGraphicsRectItem::focusInEvent(event);
+}
+
+void RectItem::focusOutEvent ( QFocusEvent * event )
+{
+	this->hideDescription();
+	QGraphicsRectItem::focusOutEvent(event);
+}

src/RectItem.h

@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2011, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+ */
+
+#ifndef RECTITEM_H_
+#define RECTITEM_H_
+
+#include <QtGui/QGraphicsRectItem>
+#include <QtGui/QGraphicsTextItem>
+#include <QtGui/QPen>
+#include <QtGui/QBrush>
+
+class RectItem : public QObject, public QGraphicsRectItem
+{
+	Q_OBJECT;
+
+public:
+	RectItem(int id, const QRectF &rect, QGraphicsItem * parent = 0);
+	virtual ~RectItem();
+
+	void setColor(const QColor & color);
+	int id() const {return id_;}
+
+signals:
+	void hovered(int);
+
+protected:
+	virtual void hoverEnterEvent ( QGraphicsSceneHoverEvent * event );
+	virtual void hoverLeaveEvent ( QGraphicsSceneHoverEvent * event );
+	virtual void focusInEvent ( QFocusEvent * event );
+	virtual void focusOutEvent ( QFocusEvent * event );
+
+private:
+	void showDescription();
+	void hideDescription();
+
+private:
+	QGraphicsRectItem * placeHolder_;
+	int id_;
+};
+
+
+#endif /* RECTITEM_H_ */

src/Settings.h

@@ -64,6 +64,7 @@ class Settings
 	//List format : [Index:item0;item1;item3;...]
 	PARAMETER(Feature2D, 1Detector, QString, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK" , "Keypoint detector.");
 	PARAMETER(Feature2D, 2Descriptor, QString, "3:Brief;ORB;SIFT;SURF;BRISK;FREAK", "Keypoint descriptor.");
+	PARAMETER(Feature2D, 3MaxFeatures, int, 0, "Maximum features per image. If the number of features extracted is over this threshold, only X features with the highest response are kept. 0 means all features are kept.");
 
 	PARAMETER(Feature2D, Brief_bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
 
@@ -178,7 +179,7 @@ class Settings
 	PARAMETER(General, port, int, 0, "Port on objects detected are published. If port=0, a port is chosen automatically.")
 	PARAMETER(General, autoScroll, bool, true, "Auto scroll to detected object in Objects panel.");
 	PARAMETER(General, vocabularyIncremental, bool, false, "The vocabulary is created incrementally. When new objects are added, their descriptors are compared to those already in vocabulary to find if the visual word already exist or not. \"NearestNeighbor/nndrRatio\" is used to compare descriptors.");
-	PARAMETER(General, vocabularyUpdateMinWords, int, 2000, "When the vocabulary is incremental (see \"General/vocabularyIncremental\"), after X words added to vocabulary, the internal index is updated with new words. This parameter lets avoiding to reconstruct the whole nearest neighbor index after each time descriptors of an object are added to vocabulary.");
+	PARAMETER(General, vocabularyUpdateMinWords, int, 2000, "When the vocabulary is incremental (see \"General/vocabularyIncremental\"), after X words added to vocabulary, the internal index is updated with new words. This parameter lets avoiding to reconstruct the whole nearest neighbor index after each time descriptors of an object are added to vocabulary. 0 means no incremental update.");
 
 	PARAMETER(Homography, homographyComputed, bool, true, "Compute homography? On ROS, this is required to publish objects detected.");
 	PARAMETER(Homography, method, QString, "1:LMEDS;RANSAC", "Type of the robust estimation algorithm: least-median algorithm or RANSAC algorithm.");