Added Load/Save vocabulary actions in File menu (in console mode, see "--vocabulary" option) (issue #2)

app/main.cpp

@@ -99,15 +99,19 @@ void showUsage()
 			"  --console              Don't use the GUI (by default the camera will be\n"
 			"                           started automatically). Option --objects must also be\n"
 			"                           used with valid objects.\n"
-			"  --session \"path\"       Path to a session to load (*.bin).\n"
+			"  --session \"path\"       Path to a session to load (*.bin). Use \"--session_new\" to\n"
+			"                           create a session instead (will be saved to \"path\" on exit, only\n"
+			"                           on console mode).\n"
 			"  --object \"path\"        Path to an object to detect.\n"
 			"  --objects \"path\"       Directory of the objects to detect (--object is ignored).\n"
 			"  --config \"path\"        Path to configuration file (default: %s).\n"
-			"                           If set to \"\", default parameters are used "
+			"                           If set to \"\", default parameters are used\n"
 			"                           without saving modified parameters on closing.\n"
 			"  --scene \"path\"         Path to a scene image file.\n"
+			"  --vocabulary \"path\"    Path to a vocabulary file (*.yaml *.xml). Parameters \"General/invertedSearch\"\n"
+			"                           and \"General/vocabularyFixed\" will be also enabled. Ignored if \"--session\" is set.\n"
 			"  --images_not_saved     Don't keep images in RAM after the features are extracted (only\n"
-			"                         in console mode). Images won't be saved if an output session is set.\n"
+			"                           in console mode). Images won't be saved if an output session is set.\n"
 			"  --debug                Show debug log.\n"
 			"  --debug-time           Show debug log with time.\n"
 			"  --params               Show all parameters.\n"
@@ -133,10 +137,12 @@ int main(int argc, char* argv[])
 	//////////////////////////
 	bool guiMode = true;
 	QString sessionPath = "";
+	bool sessionNew = false;
 	QString objectsPath = "";
 	QString objectPath = "";
 	QString scenePath = "";
 	QString configPath = find_object::Settings::iniDefaultPath();
+	QString vocabularyPath = "";
 	QString jsonPath;
 	find_object::ParametersMap customParameters;
 	bool imagesSaved = true;
@@ -176,8 +182,15 @@ int main(int argc, char* argv[])
 			continue;
 		}
 		if(strcmp(argv[i], "-session") == 0 ||
-		   strcmp(argv[i], "--session") == 0)
+		   strcmp(argv[i], "--session") == 0 ||
+		   strcmp(argv[i], "-session_new") == 0 ||
+		   strcmp(argv[i], "--session_new") == 0)
 		{
+			if(strcmp(argv[i], "-session_new") == 0 ||
+			   strcmp(argv[i], "--session_new") == 0)
+			{
+				sessionNew = true;
+			}
 			++i;
 			if(i < argc)
 			{
@@ -186,9 +199,10 @@ int main(int argc, char* argv[])
 				{
 					sessionPath.replace('~', QDir::homePath());
 				}
-				if(!QFile(sessionPath).exists())
+
+				if(!sessionNew && !QFile(sessionPath).exists())
 				{
-					UERROR("Session path not valid : %s", sessionPath.toStdString().c_str());
+					UERROR("Session path not valid : %s (if you want to create a new session, use \"--session_new\")", sessionPath.toStdString().c_str());
 					showUsage();
 				}
 			}
@@ -244,6 +258,29 @@ int main(int argc, char* argv[])
 			}
 			continue;
 		}
+		if(strcmp(argv[i], "-vocabulary") == 0 ||
+		   strcmp(argv[i], "--vocabulary") == 0)
+		{
+			++i;
+			if(i < argc)
+			{
+				vocabularyPath = argv[i];
+				if(vocabularyPath.contains('~'))
+				{
+					vocabularyPath.replace('~', QDir::homePath());
+				}
+				if(!QFile(vocabularyPath).exists())
+				{
+					UERROR("Vocabulary path not valid : %s", vocabularyPath.toStdString().c_str());
+					showUsage();
+				}
+			}
+			else
+			{
+				showUsage();
+			}
+			continue;
+		}
 		if(strcmp(argv[i], "-config") == 0 ||
 		   strcmp(argv[i], "--config") == 0)
 		{
@@ -365,7 +402,14 @@ int main(int argc, char* argv[])
 	UINFO("   GUI mode = %s", guiMode?"true":"false");
 	if(!sessionPath.isEmpty())
 	{
-		UINFO("   Session path: \"%s\"", sessionPath.toStdString().c_str());
+		if(sessionNew)
+		{
+			UINFO("   Session path: \"%s\" [NEW]", sessionPath.toStdString().c_str());
+		}
+		else
+		{
+			UINFO("   Session path: \"%s\"", sessionPath.toStdString().c_str());
+		}
 	}
 	else if(!objectsPath.isEmpty())
 	{
@@ -381,6 +425,21 @@ int main(int argc, char* argv[])
 		UINFO("   JSON path: \"%s\"", jsonPath.toStdString().c_str());
 	}
 	UINFO("   Settings path: \"%s\"", configPath.toStdString().c_str());
+	UINFO("   Vocabulary path: \"%s\"", vocabularyPath.toStdString().c_str());
+
+	if(!vocabularyPath.isEmpty())
+	{
+		if(customParameters.contains(find_object::Settings::kGeneral_vocabularyFixed()))
+		{
+			UWARN("\"General/vocabularyFixed\" custom parameter overwritten as a fixed vocabulary is used.");
+		}
+		if(customParameters.contains(find_object::Settings::kGeneral_invertedSearch()))
+		{
+			UWARN("\"General/invertedSearch\" custom parameter overwritten as a fixed vocabulary is used.");
+		}
+		customParameters[find_object::Settings::kGeneral_vocabularyFixed()] = true;
+		customParameters[find_object::Settings::kGeneral_invertedSearch()] = true;
+	}
 
 	for(find_object::ParametersMap::iterator iter= customParameters.begin(); iter!=customParameters.end(); ++iter)
 	{
@@ -405,8 +464,14 @@ int main(int argc, char* argv[])
 
 	// Load objects if path is set
 	int objectsLoaded = 0;
-	if(!sessionPath.isEmpty())
+	if(!sessionPath.isEmpty() && !sessionNew)
 	{
+		if(!vocabularyPath.isEmpty() && !findObject->loadVocabulary(vocabularyPath))
+		{
+			UWARN("Vocabulary \"%s\" is not loaded as a session \"%s\" is already loaded",
+					vocabularyPath.toStdString().c_str(),
+					sessionPath.toStdString().c_str());
+		}
 		if(!findObject->loadSession(sessionPath))
 		{
 			UERROR("Could not load session \"%s\"", sessionPath.toStdString().c_str());
@@ -418,6 +483,10 @@ int main(int argc, char* argv[])
 	}
 	else if(!objectsPath.isEmpty())
 	{
+		if(!vocabularyPath.isEmpty() && !findObject->loadVocabulary(vocabularyPath))
+		{
+			UERROR("Failed to load vocabulary \"%s\"", vocabularyPath.toStdString().c_str());
+		}
 		objectsLoaded = findObject->loadObjects(objectsPath);
 		if(!objectsLoaded)
 		{
@@ -426,6 +495,11 @@ int main(int argc, char* argv[])
 	}
 	else if(!objectPath.isEmpty())
 	{
+		if(!vocabularyPath.isEmpty() && !findObject->loadVocabulary(vocabularyPath))
+		{
+			UERROR("Failed to load vocabulary \"%s\"", vocabularyPath.toStdString().c_str());
+		}
+
 		const find_object::ObjSignature * obj = findObject->addObject(objectPath);
 		if(obj)
 		{
@@ -438,6 +512,11 @@ int main(int argc, char* argv[])
 			UWARN("No object loaded from \"%s\"", objectsPath.toStdString().c_str());
 		}
 	}
+	else if(!vocabularyPath.isEmpty() && !findObject->loadVocabulary(vocabularyPath))
+	{
+		UERROR("Failed to load vocabulary \"%s\"", vocabularyPath.toStdString().c_str());
+	}
+
 	cv::Mat scene;
 	if(!scenePath.isEmpty())
 	{
@@ -468,13 +547,6 @@ int main(int argc, char* argv[])
 	}
 	else
 	{
-		if(objectsLoaded == 0)
-		{
-			UERROR("In console mode, at least one object must be loaded! See -console option.");
-			delete findObject;
-			showUsage();
-		}
-
 		QCoreApplication app(argc, argv);
 
 		if(!scene.empty())
@@ -535,13 +607,20 @@ int main(int argc, char* argv[])
 			{
 				app.exec();
 
-				if(!sessionPath.isEmpty() && findObject->isSessionModified())
+				if(!sessionPath.isEmpty())
 				{
-					UINFO("The session has been modified, updating the session file...");
+					if(findObject->isSessionModified())
-					if(findObject->saveSession(sessionPath))
 					{
-						UINFO("Session \"%s\" successfully saved (%d objects)!",
+						UINFO("The session has been modified, updating the session file...");
-								sessionPath.toStdString().c_str(), findObject->objects().size());
+						if(findObject->saveSession(sessionPath))
+						{
+							UINFO("Session \"%s\" successfully saved (%d objects)!",
+									sessionPath.toStdString().c_str(), findObject->objects().size());
+						}
+					}
+					else if(sessionNew)
+					{
+						UINFO("The session has not been modified, session file not created...");
 					}
 				}
 			}

include/find_object/FindObject.h

@@ -69,6 +69,9 @@ public:
 	bool saveSession(const QString & path);
 	bool isSessionModified() const {return sessionModified_;}
 
+	bool saveVocabulary(const QString & filePath) const;
+	bool loadVocabulary(const QString & filePath);
+
 	int loadObjects(const QString & dirPath, bool recursive = false); // call updateObjects()
 	const ObjSignature * addObject(const QString & filePath);
 	const ObjSignature * addObject(const cv::Mat & image, int id=0, const QString & filePath = QString());

include/find_object/MainWindow.h

@@ -87,6 +87,8 @@ private Q_SLOTS:
 	void saveSettings();
 	void loadObjects();
 	bool saveObjects();
+	void loadVocabulary();
+	void saveVocabulary();
 	void addObjectFromScene();
 	void addObjectsFromFiles(const QStringList & fileNames);
 	void addObjectsFromFiles();
@@ -104,7 +106,7 @@ private Q_SLOTS:
 	void showHideControls();
 	void showObjectsFeatures();
 	void hideObjectsFeatures();
-	void updateObjects(const QList<int> & ids = QList<int>());
+	void updateObjects();
 	void notifyParametersChanged(const QStringList & param);
 	void moveCameraFrame(int frame);
 	void rectHovered(int objId);
@@ -122,6 +124,7 @@ private:
 	void showObject(find_object::ObjWidget * obj);
 	void updateObjectSize(find_object::ObjWidget * obj);
 	void updateVocabulary(const QList<int> & ids = QList<int>());
+	void updateObjects(const QList<int> & ids);
 
 private:
 	Ui_mainWindow * ui_;

include/find_object/ObjWidget.h

@@ -81,7 +81,7 @@ public:
 	const std::vector<cv::KeyPoint> keypoints() const {return keypoints_;}
 	const QMap<int,int> & words() const {return words_;}
 	const QPixmap & pixmap() const {return pixmap_;}
-	QColor defaultColor() const;
+	QColor defaultColor(int id) const;
 	bool isImageShown() const;
 	bool isFeaturesShown() const;
 	bool isSizedFeatures() const;

include/find_object/Settings.h

@@ -267,7 +267,7 @@ class FINDOBJECT_EXP Settings
 	PARAMETER(General, nextObjID, uint, 1, "Next object ID to use.");
 	PARAMETER(General, imageFormats, QString, "*.png *.jpg *.bmp *.tiff *.ppm *.pgm", "Image formats supported.");
 	PARAMETER(General, videoFormats, QString, "*.avi *.m4v *.mp4", "Video formats supported.");
-	PARAMETER(General, mirrorView, bool, true, "Flip the camera image horizontally (like all webcam applications).");
+	PARAMETER(General, mirrorView, bool, false, "Flip the camera image horizontally (like all webcam applications).");
 	PARAMETER(General, invertedSearch, bool, true, "Instead of matching descriptors from the objects to those in a vocabulary created with descriptors extracted from the scene, we create a vocabulary from all the objects' descriptors and we match scene's descriptors to this vocabulary. It is the inverted search mode.");
 	PARAMETER(General, controlsShown, bool, false, "Show play/image seek controls (useful with video file and directory of images modes).");
 	PARAMETER(General, threads, int, 1, "Number of threads used for objects matching and homography computation. 0 means as many threads as objects. On InvertedSearch mode, multi-threading has only effect on homography computation.");

src/FindObject.cpp

@@ -143,6 +143,29 @@ bool FindObject::saveSession(const QString & path)
 	return false;
 }
 
+bool FindObject::saveVocabulary(const QString & filePath) const
+{
+	return vocabulary_->save(filePath);
+}
+
+bool FindObject::loadVocabulary(const QString & filePath)
+{
+	if(!Settings::getGeneral_vocabularyFixed() || !Settings::getGeneral_invertedSearch())
+	{
+		UWARN("Doesn't make sense to load a vocabulary if \"General/vocabularyFixed\" and \"General/invertedSearch\" are not enabled! It will "
+			  "be cleared at the time the objects are updated.");
+	}
+	if(vocabulary_->load(filePath))
+	{
+		if(objects_.size())
+		{
+			updateVocabulary();
+		}
+		return true;
+	}
+	return false;
+}
+
 int FindObject::loadObjects(const QString & dirPath, bool recursive)
 {
 	QString formats = Settings::getGeneral_imageFormats().remove('*').remove('.');
@@ -192,7 +215,6 @@ int FindObject::loadObjects(const QString & dirPath, bool recursive)
 
 const ObjSignature * FindObject::addObject(const QString & filePath)
 {
-	UINFO("Load file %s", filePath.toStdString().c_str());
 	if(!filePath.isNull())
 	{
 		cv::Mat img = cv::imread(filePath.toStdString().c_str(), cv::IMREAD_GRAYSCALE);
@@ -218,8 +240,26 @@ const ObjSignature * FindObject::addObject(const QString & filePath)
 					id = 0;
 				}
 			}
-			return this->addObject(img, id, filePath);
+			else
+			{
+				UERROR("File name doesn't contain \".\" (\"%s\")", filePath.toStdString().c_str());
+			}
+
+			const ObjSignature * s = this->addObject(img, id, filePath);
+			if(s)
+			{
+				UINFO("Added object %d (%s)", s->id(), filePath.toStdString().c_str());
+				return s;
+			}
 		}
+		else
+		{
+			UERROR("Could not read image \"%s\"", filePath.toStdString().c_str());
+		}
+	}
+	else
+	{
+		UERROR("File path is null!?");
 	}
 	return 0;
 }

src/KeypointItem.h

@@ -44,6 +44,7 @@ public:
 
 	void setColor(const QColor & color);
 	void setWordID(int id) {wordID_ = id;}
+	int wordID() const {return wordID_;}
 	int id() const {return id_;}
 
 protected:

src/MainWindow.cpp

@@ -183,7 +183,7 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
 
 	//buttons
 	connect(ui_->pushButton_restoreDefaults, SIGNAL(clicked()), ui_->toolBox, SLOT(resetCurrentPage()));
-	connect(ui_->pushButton_updateObjects, SIGNAL(clicked()), this, SLOT(updateObjects(const QList<int> &)));
+	connect(ui_->pushButton_updateObjects, SIGNAL(clicked()), this, SLOT(updateObjects()));
 	connect(ui_->horizontalSlider_objectsSize, SIGNAL(valueChanged(int)), this, SLOT(updateObjectsSize()));
 
 	ui_->actionStop_camera->setEnabled(false);
@@ -211,6 +211,8 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
 	connect(ui_->actionLoad_settings, SIGNAL(triggered()), this, SLOT(loadSettings()));
 	connect(ui_->actionSave_session, SIGNAL(triggered()), this, SLOT(saveSession()));
 	connect(ui_->actionLoad_session, SIGNAL(triggered()), this, SLOT(loadSession()));
+	connect(ui_->actionSave_vocabulary, SIGNAL(triggered()), this, SLOT(saveVocabulary()));
+	connect(ui_->actionLoad_vocabulary, SIGNAL(triggered()), this, SLOT(loadVocabulary()));
 	connect(ui_->actionShow_objects_features, SIGNAL(triggered()), this, SLOT(showObjectsFeatures()));
 	connect(ui_->actionHide_objects_features, SIGNAL(triggered()), this, SLOT(hideObjectsFeatures()));
 
@@ -251,6 +253,13 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
 			objWidgets_.insert(obj->id(), obj);
 			this->showObject(obj);
 		}
+		ui_->actionSave_objects->setEnabled(true);
+		ui_->actionSave_session->setEnabled(true);
+	}
+	if(findObject_->vocabulary()->size())
+	{
+		ui_->label_vocabularySize->setNum(findObject_->vocabulary()->size());
+		ui_->actionSave_session->setEnabled(true);
 	}
 
 
@@ -585,6 +594,66 @@ bool MainWindow::saveObjects()
 	return false;
 }
 
+void MainWindow::loadVocabulary()
+{
+	if(!Settings::getGeneral_vocabularyFixed() ||
+	   !Settings::getGeneral_invertedSearch())
+	{
+		QMessageBox::StandardButton b = QMessageBox::question(this, tr("Load vocabulary..."),
+				tr("Parameters \"General/vocabularyFixed\" and \"General/invertedSearch\" should be enabled to load a vocabulary. "
+					"Do you want to enable them now?"),
+					QMessageBox::Cancel | QMessageBox::Yes);
+		if(b == QMessageBox::Yes)
+		{
+			Settings::setGeneral_vocabularyFixed(true);
+			Settings::setGeneral_invertedSearch(true);
+		}
+	}
+	if(Settings::getGeneral_vocabularyFixed() &&
+	   Settings::getGeneral_invertedSearch())
+	{
+		QString path = QFileDialog::getOpenFileName(this, tr("Load vocabulary..."), Settings::workingDirectory(), "Data (*.yaml *.xml)");
+		if(!path.isEmpty())
+		{
+			if(findObject_->loadVocabulary(path))
+			{
+				ui_->label_vocabularySize->setNum(findObject_->vocabulary()->size());
+				ui_->actionSave_session->setEnabled(findObject_->vocabulary()->size() || findObject_->objects().size());
+				QMessageBox::information(this, tr("Loading..."), tr("Vocabulary loaded from \"%1\" (%2 words).").arg(path).arg(findObject_->vocabulary()->size()));
+			}
+			else
+			{
+				QMessageBox::warning(this, tr("Loading..."), tr("Failed to load vocabulary \"%1\"!").arg(path));
+			}
+		}
+	}
+}
+
+void MainWindow::saveVocabulary()
+{
+	if(findObject_->vocabulary()->size() == 0)
+	{
+		QMessageBox::warning(this, tr("Saving vocabulary..."), tr("Vocabulary is empty!"));
+		return;
+	}
+	QString path = QFileDialog::getSaveFileName(this, tr("Save vocabulary..."), Settings::workingDirectory(), "Data (*.yaml *.xml)");
+	if(!path.isEmpty())
+	{
+		if(QFileInfo(path).suffix().compare("yaml") != 0 && QFileInfo(path).suffix().compare("xml") != 0)
+		{
+			path.append(".yaml");
+		}
+		if(findObject_->saveVocabulary(path))
+		{
+			QMessageBox::information(this, tr("Saving..."), tr("Vocabulary saved to \"%1\" (%2 words).").arg(path).arg(findObject_->vocabulary()->size()));
+		}
+		else
+		{
+			QMessageBox::warning(this, tr("Saving..."), tr("Failed to save vocabulary \"%1\"!").arg(path));
+		}
+	}
+}
+
 void MainWindow::removeObject(find_object::ObjWidget * object)
 {
 	if(object)
@@ -977,6 +1046,11 @@ void MainWindow::showObject(ObjWidget * obj)
 	}
 }
 
+void MainWindow::updateObjects()
+{
+	updateObjects(QList<int>());
+}
+
 void MainWindow::updateObjects(const QList<int> & ids)
 {
 	if(objWidgets_.size())
@@ -1045,6 +1119,7 @@ void MainWindow::updateVocabulary(const QList<int> & ids)
 	}
 	lastObjectsUpdateParameters_ = Settings::getParameters();
 	this->statusBar()->clearMessage();
+	ui_->dockWidget_objects->update();
 }
 
 void MainWindow::startProcessing()

src/ObjWidget.cpp

@@ -71,7 +71,7 @@ ObjWidget::ObjWidget(int id, const std::vector<cv::KeyPoint> & keypoints, const
 	graphicsView_(0),
 	graphicsViewInitialized_(false),
 	alpha_(100),
-	color_(QColor((Qt::GlobalColor)((id % 11 + 7)==Qt::yellow?Qt::gray:(id % 11 + 7))))
+	color_(QColor((Qt::GlobalColor)((id % 10 + 7)==Qt::yellow?Qt::darkYellow:(id % 10 + 7))))
 {
 	setupUi();
 	this->updateImage(image);
@@ -136,7 +136,7 @@ void ObjWidget::setupUi()
 
 void ObjWidget::setId(int id)
 {
-	color_ = QColor((Qt::GlobalColor)((id % 11 + 7)==Qt::yellow?Qt::gray:(id % 11 + 7)));
+	color_ = QColor((Qt::GlobalColor)((id % 10 + 7)==Qt::yellow?Qt::darkYellow:(id % 10 + 7)));
 	id_=id;
 	if(id_)
 	{
@@ -274,7 +274,7 @@ void ObjWidget::updateImage(const QImage & image)
 void ObjWidget::updateData(const std::vector<cv::KeyPoint> & keypoints, const QMultiMap<int, int> & words)
 {
 	keypoints_ = keypoints;
-	kptColors_ = QVector<QColor>((int)keypoints.size(), defaultColor());
+	kptColors_ = QVector<QColor>((int)keypoints.size(), defaultColor(0));
 	keypointItems_.clear();
 	rectItems_.clear();
 	this->updateWords(words);
@@ -297,9 +297,14 @@ void ObjWidget::updateWords(const QMultiMap<int,int> & words)
 	{
 		words_.insert(iter.value(), iter.key());
 	}
-	for(int i=0; i<keypointItems_.size(); ++i)
+	for(int i=0; i<kptColors_.size(); ++i)
 	{
-		keypointItems_[i]->setWordID(words_.value(i,-1));
+		kptColors_[i] = defaultColor(words_.size()?words_.value(i,-1):0);
+		if(keypointItems_.size() == kptColors_.size())
+		{
+			keypointItems_[i]->setWordID(words_.value(i,-1));
+			keypointItems_[i]->setColor(defaultColor(words_.size()?keypointItems_[i]->wordID():0));
+		}
 	}
 }
 
@@ -307,10 +312,14 @@ void ObjWidget::resetKptsColor()
 {
 	for(int i=0; i<kptColors_.size(); ++i)
 	{
-		kptColors_[i] = defaultColor();
+		if(keypointItems_.size() == kptColors_.size())
-		if(graphicsViewMode_->isChecked())
 		{
-			keypointItems_[i]->setColor(this->defaultColor());
+			kptColors_[i] = defaultColor(keypointItems_[i]->wordID());
+			keypointItems_[i]->setColor(this->defaultColor(keypointItems_[i]->wordID()));
+		}
+		else
+		{
+			kptColors_[i] = defaultColor(words_.value(i,-1));
 		}
 	}
 	qDeleteAll(rectItems_.begin(), rectItems_.end());
@@ -738,6 +747,8 @@ void ObjWidget::drawKeypoints(QPainter * painter)
 			item->setVisible(this->isFeaturesShown());
 			item->setZValue(2);
 			graphicsView_->scene()->addItem(item);
+			item->setColor(defaultColor(item->wordID()));
+			kptColors_[i] = defaultColor(item->wordID());
 			keypointItems_.append(item);
 		}
 
@@ -752,9 +763,9 @@ void ObjWidget::drawKeypoints(QPainter * painter)
 	}
 }
 
-QColor ObjWidget::defaultColor() const
+QColor ObjWidget::defaultColor(int id) const
 {
-	QColor color(Qt::yellow);
+	QColor color(id >= 0 ? Qt::yellow : Qt::white);
 	color.setAlpha(alpha_);
 	return color;
 }

src/Vocabulary.cpp

@@ -60,6 +60,8 @@ void Vocabulary::clear()
 
 	if(Settings::getGeneral_vocabularyFixed() && Settings::getGeneral_invertedSearch())
 	{
+		this->update(); // if vocabulary structure has changed
+
 		// If the dictionary is fixed, don't clear indexed descriptors
 		return;
 	}
@@ -67,41 +69,81 @@ void Vocabulary::clear()
 	indexedDescriptors_ = cv::Mat();
 }
 
-void Vocabulary::save(QDataStream & streamPtr) const
+void Vocabulary::save(QDataStream & streamSessionPtr) const
 {
-	if(!indexedDescriptors_.empty() && !wordToObjects_.empty())
+	// save index
-	{
+	streamSessionPtr << wordToObjects_;
-		UASSERT(notIndexedDescriptors_.empty() && notIndexedWordIds_.empty());
 
-		// save index
+	// save words
-		streamPtr << wordToObjects_;
+	qint64 dataSize = indexedDescriptors_.elemSize()*indexedDescriptors_.cols*indexedDescriptors_.rows;
-
+	streamSessionPtr << indexedDescriptors_.rows <<
-		// save words
+			indexedDescriptors_.cols <<
-		qint64 dataSize = indexedDescriptors_.elemSize()*indexedDescriptors_.cols*indexedDescriptors_.rows;
+			indexedDescriptors_.type() <<
-		streamPtr << indexedDescriptors_.rows <<
+			dataSize;
-				indexedDescriptors_.cols <<
+	streamSessionPtr << QByteArray((char*)indexedDescriptors_.data, dataSize);
-				indexedDescriptors_.type() <<
-				dataSize;
-		streamPtr << QByteArray((char*)indexedDescriptors_.data, dataSize);
-	}
 }
 
-void Vocabulary::load(QDataStream & streamPtr)
+void Vocabulary::load(QDataStream & streamSessionPtr)
 {
 	// load index
-	streamPtr >> wordToObjects_;
+	streamSessionPtr >> wordToObjects_;
 
 	// load words
 	int rows,cols,type;
 	qint64 dataSize;
-	streamPtr >> rows >> cols >> type >> dataSize;
+	streamSessionPtr >> rows >> cols >> type >> dataSize;
 	QByteArray data;
-	streamPtr >> data;
+	streamSessionPtr >> data;
 	indexedDescriptors_ = cv::Mat(rows, cols, type, data.data()).clone();
 
 	update();
 }
 
+bool Vocabulary::save(const QString & filename) const
+{
+	// save descriptors
+	cv::FileStorage fs(filename.toStdString(), cv::FileStorage::WRITE);
+	if(fs.isOpened())
+	{
+		fs << "Descriptors" << indexedDescriptors_;
+		return true;
+	}
+	else
+	{
+		UERROR("Failed to open vocabulary file \"%s\"", filename.toStdString().c_str());
+	}
+	return false;
+}
+
+bool Vocabulary::load(const QString & filename)
+{
+	// save descriptors
+	cv::FileStorage fs(filename.toStdString(), cv::FileStorage::READ);
+	if(fs.isOpened())
+	{
+		cv::Mat tmp;
+		fs["Descriptors"] >> tmp;
+
+		if(!tmp.empty())
+		{
+			// clear index
+			wordToObjects_.clear();
+			indexedDescriptors_ = tmp;
+			update();
+			return true;
+		}
+		else
+		{
+			UERROR("Failed to read \"Descriptors\" matrix field (doesn't exist or is empty) from vocabulary file \"%s\"", filename.toStdString().c_str());
+		}
+	}
+	else
+	{
+		UERROR("Failed to open vocabulary file \"%s\"", filename.toStdString().c_str());
+	}
+	return false;
+}
+
 QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int objectId)
 {
 	QMultiMap<int, int> words;
@@ -119,7 +161,21 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
 		bool globalSearch = false;
 		if(!indexedDescriptors_.empty() && indexedDescriptors_.rows >= (int)k)
 		{
-			UASSERT(indexedDescriptors_.type() == descriptors.type() && indexedDescriptors_.cols == descriptors.cols);
+			if(indexedDescriptors_.type() != descriptors.type() || indexedDescriptors_.cols != descriptors.cols)
+			{
+				if(Settings::getGeneral_vocabularyFixed())
+				{
+					UERROR("Descriptors (type=%d size=%d) to search in vocabulary are not the same type/size as those in the vocabulary (type=%d size=%d)! Empty words returned.",
+							descriptors.type(), descriptors.cols, indexedDescriptors_.type(), indexedDescriptors_.cols);
+					return words;
+				}
+				else
+				{
+					UFATAL("Descriptors (type=%d size=%d) to search in vocabulary are not the same type/size as those in the vocabulary (type=%d size=%d)!",
+							descriptors.type(), descriptors.cols, indexedDescriptors_.type(), indexedDescriptors_.cols);
+				}
+			}
+
 			this->search(descriptors, results, dists, k);
 
 			if( dists.type() == CV_32S )

src/Vocabulary.h

@@ -49,8 +49,10 @@ public:
 	const QMultiMap<int, int> & wordToObjects() const {return wordToObjects_;}
 	const cv::Mat & indexedDescriptors() const {return indexedDescriptors_;}
 
-	void save(QDataStream & streamPtr) const;
+	void save(QDataStream & streamSessionPtr) const;
-	void load(QDataStream & streamPtr);
+	void load(QDataStream & streamSessionPtr);
+	bool save(const QString & filename) const;
+	bool load(const QString & filename);
 
 private:
 	cv::flann::Index flannIndex_;

src/ui/mainWindow.ui

@@ -225,6 +225,9 @@
     <addaction name="actionLoad_objects"/>
     <addaction name="actionSave_objects"/>
     <addaction name="separator"/>
+    <addaction name="actionLoad_vocabulary"/>
+    <addaction name="actionSave_vocabulary"/>
+    <addaction name="separator"/>
     <addaction name="actionLoad_settings"/>
     <addaction name="actionSave_settings"/>
     <addaction name="separator"/>
@@ -894,6 +897,16 @@
     <string>Show objects features</string>
    </property>
   </action>
+  <action name="actionLoad_vocabulary">
+   <property name="text">
+    <string>Load vocabulary...</string>
+   </property>
+  </action>
+  <action name="actionSave_vocabulary">
+   <property name="text">
+    <string>Save vocabulary...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>