Added DetectionInfo object for easier serialization/deserialization of the detection results.
Added filename property in json files Added JsonWritter class for convenience git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@369 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe
@@ -332,7 +332,7 @@ void AddObjectDialog::setState(int state)
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delete objSignature_;
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objSignature_ = 0;
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}
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objSignature_ = new ObjSignature(0, imgRoi.clone());
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objSignature_ = new ObjSignature(0, imgRoi.clone(), "");
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objSignature_->setData(keypoints, descriptors, Settings::currentDetectorType(), Settings::currentDescriptorType());
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objWidget_ = new ObjWidget(0, keypoints, cvtCvMat2QImage(imgRoi.clone()));
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+13
-3
@@ -36,9 +36,6 @@ QT4_WRAP_UI(moc_uis ${uis})
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QT4_WRAP_CPP(moc_srcs ${headers_ui})
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### Qt Gui stuff end###
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SET(SRC_FILES
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./MainWindow.cpp
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./AddObjectDialog.cpp
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@@ -54,6 +51,7 @@ SET(SRC_FILES
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./AboutDialog.cpp
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./TcpServer.cpp
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./Vocabulary.cpp
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./JsonWriter.cpp
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./utilite/ULogger.cpp
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./utilite/UPlot.cpp
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./utilite/UDirectory.cpp
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@@ -79,6 +77,18 @@ SET(LIBRARIES
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${OpenCV_LIBS}
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)
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IF(JSONCPP_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${JSONCPP_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${JSONCPP_LIBRARIES}
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)
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ADD_DEFINITIONS("-DWITH_JSONCPP")
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ENDIF(JSONCPP_FOUND)
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#include files
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INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
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+70
-77
@@ -23,10 +23,9 @@ FindObject::FindObject(QObject * parent) :
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QObject(parent),
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vocabulary_(new Vocabulary()),
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detector_(Settings::createKeypointDetector()),
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extractor_(Settings::createDescriptorExtractor()),
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minMatchedDistance_(-1),
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maxMatchedDistance_(-1)
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extractor_(Settings::createDescriptorExtractor())
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{
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qRegisterMetaType<DetectionInfo>("DetectionInfo");
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Q_ASSERT(detector_ != 0 && extractor_ != 0);
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}
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@@ -87,16 +86,16 @@ const ObjSignature * FindObject::addObject(const QString & filePath)
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id = 0;
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}
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}
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return this->addObject(img, id);
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return this->addObject(img, id, file.fileName());
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}
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}
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return 0;
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}
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const ObjSignature * FindObject::addObject(const cv::Mat & image, int id)
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const ObjSignature * FindObject::addObject(const cv::Mat & image, int id, const QString & filename)
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{
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Q_ASSERT(id >= 0);
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ObjSignature * s = new ObjSignature(id, image);
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ObjSignature * s = new ObjSignature(id, image, filename);
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if(!this->addObject(s))
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{
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delete s;
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@@ -596,25 +595,25 @@ void FindObject::detect(const cv::Mat & image)
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{
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QTime time;
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time.start();
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QMultiMap<int,QPair<QRect,QTransform> > objects;
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this->detect(image, objects);
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if(objects.size() > 0 || Settings::getGeneral_sendNoObjDetectedEvents())
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DetectionInfo info;
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this->detect(image, info);
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if(info.objDetected_.size() > 0 || Settings::getGeneral_sendNoObjDetectedEvents())
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{
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Q_EMIT objectsFound(objects);
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Q_EMIT objectsFound(info);
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}
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if(objects.size() > 1)
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if(info.objDetected_.size() > 1)
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{
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UINFO("(%s) %d objects detected! (%d ms)",
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QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
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(int)objects.size(),
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(int)info.objDetected_.size(),
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time.elapsed());
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}
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else if(objects.size() == 1)
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else if(info.objDetected_.size() == 1)
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{
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UINFO("(%s) Object %d detected! (%d ms)",
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QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
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(int)objects.begin().key(),
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(int)info.objDetected_.begin().key(),
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time.elapsed());
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}
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else if(Settings::getGeneral_sendNoObjDetectedEvents())
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@@ -625,22 +624,13 @@ void FindObject::detect(const cv::Mat & image)
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}
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}
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bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransform> > & objectsDetected)
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bool FindObject::detect(const cv::Mat & image, DetectionInfo & info)
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{
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QTime totalTime;
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totalTime.start();
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// reset statistics
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objectsDetected_.clear();
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timeStamps_.clear();
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sceneKeypoints_.clear();
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sceneDescriptors_ = cv::Mat();
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sceneWords_.clear();
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matches_.clear();
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inliers_.clear();
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outliers_.clear();
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minMatchedDistance_ = -1.0f;
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maxMatchedDistance_ = -1.0f;
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info = DetectionInfo();
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bool success = false;
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if(!image.empty())
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@@ -660,36 +650,36 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
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time.start();
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// EXTRACT KEYPOINTS
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detector_->detect(grayscaleImg, sceneKeypoints_);
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timeStamps_.insert(kTimeKeypointDetection, time.restart());
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detector_->detect(grayscaleImg, info.sceneKeypoints_);
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info.timeStamps_.insert(DetectionInfo::kTimeKeypointDetection, time.restart());
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bool emptyScene = sceneKeypoints_.size() == 0;
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if(sceneKeypoints_.size())
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bool emptyScene = info.sceneKeypoints_.size() == 0;
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if(info.sceneKeypoints_.size())
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{
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int maxFeatures = Settings::getFeature2D_3MaxFeatures();
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if(maxFeatures > 0 && (int)sceneKeypoints_.size() > maxFeatures)
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if(maxFeatures > 0 && (int)info.sceneKeypoints_.size() > maxFeatures)
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{
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sceneKeypoints_ = limitKeypoints(sceneKeypoints_, maxFeatures);
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info.sceneKeypoints_ = limitKeypoints(info.sceneKeypoints_, maxFeatures);
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}
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// EXTRACT DESCRIPTORS
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extractor_->compute(grayscaleImg, sceneKeypoints_, sceneDescriptors_);
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if((int)sceneKeypoints_.size() != sceneDescriptors_.rows)
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extractor_->compute(grayscaleImg, info.sceneKeypoints_, info.sceneDescriptors_);
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if((int)info.sceneKeypoints_.size() != info.sceneDescriptors_.rows)
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{
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UERROR("kpt=%d != descriptors=%d", (int)sceneKeypoints_.size(), sceneDescriptors_.rows);
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UERROR("kpt=%d != descriptors=%d", (int)info.sceneKeypoints_.size(), info.sceneDescriptors_.rows);
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}
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}
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timeStamps_.insert(kTimeDescriptorExtraction, time.restart());
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info.timeStamps_.insert(DetectionInfo::kTimeDescriptorExtraction, time.restart());
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bool consistentNNData = (vocabulary_->size()!=0 && vocabulary_->wordToObjects().begin().value()!=-1 && Settings::getGeneral_invertedSearch()) ||
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((vocabulary_->size()==0 || vocabulary_->wordToObjects().begin().value()==-1) && !Settings::getGeneral_invertedSearch());
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// COMPARE
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if(!objectsDescriptors_.empty() &&
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sceneKeypoints_.size() &&
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info.sceneKeypoints_.size() &&
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consistentNNData &&
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objectsDescriptors_.begin().value().cols == sceneDescriptors_.cols &&
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objectsDescriptors_.begin().value().type() == sceneDescriptors_.type()) // binary descriptor issue, if the dataTree is not yet updated with modified settings
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objectsDescriptors_.begin().value().cols == info.sceneDescriptors_.cols &&
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objectsDescriptors_.begin().value().type() == info.sceneDescriptors_.type()) // binary descriptor issue, if the dataTree is not yet updated with modified settings
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{
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success = true;
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@@ -699,17 +689,17 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
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{
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// CREATE INDEX for the scene
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vocabulary_->clear();
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words = vocabulary_->addWords(sceneDescriptors_, -1, Settings::getGeneral_vocabularyIncremental());
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words = vocabulary_->addWords(info.sceneDescriptors_, -1, Settings::getGeneral_vocabularyIncremental());
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if(!Settings::getGeneral_vocabularyIncremental())
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{
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vocabulary_->update();
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}
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timeStamps_.insert(kTimeIndexing, time.restart());
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info.timeStamps_.insert(DetectionInfo::kTimeIndexing, time.restart());
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}
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for(QMap<int, ObjSignature*>::iterator iter=objects_.begin(); iter!=objects_.end(); ++iter)
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{
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matches_.insert(iter.key(), QMultiMap<int, int>());
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info.matches_.insert(iter.key(), QMultiMap<int, int>());
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}
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if(Settings::getGeneral_invertedSearch() || Settings::getGeneral_threads() == 1)
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@@ -728,9 +718,9 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
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else
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{
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//match scene to objects
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results = cv::Mat(sceneDescriptors_.rows, k, CV_32SC1); // results index
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dists = cv::Mat(sceneDescriptors_.rows, k, CV_32FC1); // Distance results are CV_32FC1
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vocabulary_->search(sceneDescriptors_, results, dists, k);
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results = cv::Mat(info.sceneDescriptors_.rows, k, CV_32SC1); // results index
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dists = cv::Mat(info.sceneDescriptors_.rows, k, CV_32FC1); // Distance results are CV_32FC1
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vocabulary_->search(info.sceneDescriptors_, results, dists, k);
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}
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// PROCESS RESULTS
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@@ -761,13 +751,13 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
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{
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matched = true; // no criterion, match to the nearest descriptor
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}
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if(minMatchedDistance_ == -1 || minMatchedDistance_ > dists.at<float>(i,0))
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if(info.minMatchedDistance_ == -1 || info.minMatchedDistance_ > dists.at<float>(i,0))
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{
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minMatchedDistance_ = dists.at<float>(i,0);
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info.minMatchedDistance_ = dists.at<float>(i,0);
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}
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if(maxMatchedDistance_ == -1 || maxMatchedDistance_ < dists.at<float>(i,0))
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if(info.maxMatchedDistance_ == -1 || info.maxMatchedDistance_ < dists.at<float>(i,0))
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{
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maxMatchedDistance_ = dists.at<float>(i,0);
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info.maxMatchedDistance_ = dists.at<float>(i,0);
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}
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if(matched)
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@@ -781,7 +771,7 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
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// just add unique matches
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if(vocabulary_->wordToObjects().count(wordId, objIds[j]) == 1)
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{
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matches_.find(objIds[j]).value().insert(objects_.value(objIds[j])->words().value(wordId), i);
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info.matches_.find(objIds[j]).value().insert(objects_.value(objIds[j])->words().value(wordId), i);
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}
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}
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}
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@@ -795,7 +785,7 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
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int wordId = results.at<int>(i,0);
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if(words.count(wordId) == 1)
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{
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matches_.find(objectId).value().insert(objectDescriptorIndex, words.value(wordId));
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info.matches_.find(objectId).value().insert(objectDescriptorIndex, words.value(wordId));
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}
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}
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}
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@@ -825,15 +815,15 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
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for(int k=0; k<threads.size(); ++k)
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{
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threads[k]->wait();
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matches_[threads[k]->getObjectId()] = threads[k]->getMatches();
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info.matches_[threads[k]->getObjectId()] = threads[k]->getMatches();
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if(minMatchedDistance_ == -1 || minMatchedDistance_ > threads[k]->getMinMatchedDistance())
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if(info.minMatchedDistance_ == -1 || info.minMatchedDistance_ > threads[k]->getMinMatchedDistance())
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{
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minMatchedDistance_ = threads[k]->getMinMatchedDistance();
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info.minMatchedDistance_ = threads[k]->getMinMatchedDistance();
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}
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if(maxMatchedDistance_ == -1 || maxMatchedDistance_ < threads[k]->getMaxMatchedDistance())
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if(info.maxMatchedDistance_ == -1 || info.maxMatchedDistance_ < threads[k]->getMaxMatchedDistance())
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{
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maxMatchedDistance_ = threads[k]->getMaxMatchedDistance();
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info.maxMatchedDistance_ = threads[k]->getMaxMatchedDistance();
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}
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delete threads[k];
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}
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@@ -841,7 +831,7 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
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}
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}
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timeStamps_.insert(kTimeMatching, time.restart());
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info.timeStamps_.insert(DetectionInfo::kTimeMatching, time.restart());
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// Homographies
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if(Settings::getHomography_homographyComputed())
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@@ -850,10 +840,10 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
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int threadCounts = Settings::getGeneral_threads();
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if(threadCounts == 0)
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{
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threadCounts = matches_.size();
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threadCounts = info.matches_.size();
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}
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QList<int> matchesId = matches_.keys();
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QList<QMultiMap<int, int> > matchesList = matches_.values();
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QList<int> matchesId = info.matches_.keys();
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QList<QMultiMap<int, int> > matchesList = info.matches_.values();
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for(int i=0; i<matchesList.size(); i+=threadCounts)
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{
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QVector<HomographyThread*> threads;
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@@ -861,7 +851,7 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
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for(int k=i; k<i+threadCounts && k<matchesList.size(); ++k)
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{
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int objectId = matchesId[k];
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threads.push_back(new HomographyThread(&matchesList[k], objectId, &objects_.value(objectId)->keypoints(), &sceneKeypoints_));
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threads.push_back(new HomographyThread(&matchesList[k], objectId, &objects_.value(objectId)->keypoints(), &info.sceneKeypoints_));
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threads.back()->start();
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}
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@@ -889,11 +879,11 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
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matchesId.push_back(id);
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// compute distance from previous added same objects...
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QMultiMap<int, QPair<QRect, QTransform> >::iterator objIter = objectsDetected.find(id);
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for(;objIter!=objectsDetected.end() && objIter.key() == id; ++objIter)
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QMultiMap<int, QTransform>::iterator objIter = info.objDetected_.find(id);
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for(;objIter!=info.objDetected_.end() && objIter.key() == id; ++objIter)
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{
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qreal dx = objIter.value().second.m31() - hTransform.m31();
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qreal dy = objIter.value().second.m32() - hTransform.m32();
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qreal dx = objIter.value().m31() - hTransform.m31();
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qreal dy = objIter.value().m32() - hTransform.m32();
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int d = (int)sqrt(dx*dx + dy*dy);
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if(d < distance)
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{
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@@ -905,33 +895,37 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
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if(distance >= Settings::getGeneral_multiDetectionRadius())
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{
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QRect rect = objects_.value(id)->rect();
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objectsDetected.insert(id, QPair<QRect, QTransform>(rect, hTransform));
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inliers_.insert(id, threads[j]->getInliers());
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outliers_.insert(id, threads[j]->getOutliers());
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info.objDetected_.insert(id, hTransform);
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info.objDetectedSizes_.insert(id, rect.size());
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info.objDetectedInliers_.insert(id, threads[j]->getInliers());
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info.objDetectedOutliers_.insert(id, threads[j]->getOutliers());
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info.objDetectedInliersCount_.insert(id, threads[j]->getInliers().size());
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info.objDetectedOutliersCount_.insert(id, threads[j]->getOutliers().size());
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info.objDetectedFilenames_.insert(id, objects_.value(id)->filename());
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}
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else
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{
|
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rejectedInliers_.insert(id, threads[j]->getInliers());
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rejectedOutliers_.insert(id, threads[j]->getOutliers());
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info.rejectedInliers_.insert(id, threads[j]->getInliers());
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info.rejectedOutliers_.insert(id, threads[j]->getOutliers());
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}
|
||||
}
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||||
else
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||||
{
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||||
rejectedInliers_.insert(id, threads[j]->getInliers());
|
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rejectedOutliers_.insert(id, threads[j]->getOutliers());
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info.rejectedInliers_.insert(id, threads[j]->getInliers());
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info.rejectedOutliers_.insert(id, threads[j]->getOutliers());
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}
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}
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||||
else
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{
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rejectedInliers_.insert(id, threads[j]->getInliers());
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rejectedOutliers_.insert(id, threads[j]->getOutliers());
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info.rejectedInliers_.insert(id, threads[j]->getInliers());
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info.rejectedOutliers_.insert(id, threads[j]->getOutliers());
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}
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||||
}
|
||||
}
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timeStamps_.insert(kTimeHomography, time.restart());
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info.timeStamps_.insert(DetectionInfo::kTimeHomography, time.restart());
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}
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}
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else if(!objectsDescriptors_.empty() && sceneKeypoints_.size())
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else if(!objectsDescriptors_.empty() && info.sceneKeypoints_.size())
|
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{
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UWARN("Cannot search, objects must be updated");
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}
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@@ -943,8 +937,7 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
|
||||
}
|
||||
}
|
||||
|
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objectsDetected_ = objectsDetected;
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timeStamps_.insert(kTimeTotal, totalTime.elapsed());
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info.timeStamps_.insert(DetectionInfo::kTimeTotal, totalTime.elapsed());
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||||
|
||||
return success;
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||||
}
|
||||
|
||||
@@ -0,0 +1,106 @@
|
||||
/*
|
||||
* JsonWriter.cpp
|
||||
*
|
||||
* Created on: 2014-08-03
|
||||
* Author: mathieu
|
||||
*/
|
||||
|
||||
|
||||
#include "find_object/JsonWriter.h"
|
||||
#include "find_object/utilite/ULogger.h"
|
||||
|
||||
#include <QtCore/QFile>
|
||||
#include <QtCore/QTextStream>
|
||||
|
||||
#ifdef WITH_JSONCPP
|
||||
#include <jsoncpp/json/writer.h>
|
||||
#endif
|
||||
|
||||
bool JsonWriter::available()
|
||||
{
|
||||
#ifdef WITH_JSONCPP
|
||||
return true;
|
||||
#else
|
||||
return false;
|
||||
#endif
|
||||
}
|
||||
|
||||
void JsonWriter::write(const DetectionInfo & info, const QString & path)
|
||||
{
|
||||
#ifdef WITH_JSONCPP
|
||||
if(!path.isEmpty())
|
||||
{
|
||||
Json::Value root;
|
||||
|
||||
if(info.objDetected_.size())
|
||||
{
|
||||
Json::Value detections;
|
||||
|
||||
QMultiMap<int, int>::const_iterator iterInliers = info.objDetectedInliersCount_.constBegin();
|
||||
QMultiMap<int, int>::const_iterator iterOutliers = info.objDetectedOutliersCount_.constBegin();
|
||||
QMultiMap<int, QSize>::const_iterator iterSizes = info.objDetectedSizes_.constBegin();
|
||||
QMultiMap<int, QString>::const_iterator iterFilenames = info.objDetectedFilenames_.constBegin();
|
||||
for(QMultiMap<int, QTransform>::const_iterator iter = info.objDetected_.constBegin(); iter!= info.objDetected_.end();)
|
||||
{
|
||||
char index = 'a';
|
||||
int id = iter.key();
|
||||
while(iter != info.objDetected_.constEnd() && id == iter.key())
|
||||
{
|
||||
QString name = QString("object_%1%2").arg(id).arg(info.objDetected_.count(id)>1?QString(index++):"");
|
||||
detections.append(name.toStdString());
|
||||
|
||||
Json::Value homography;
|
||||
homography.append(iter.value().m11());
|
||||
homography.append(iter.value().m12());
|
||||
homography.append(iter.value().m13());
|
||||
homography.append(iter.value().m21());
|
||||
homography.append(iter.value().m22());
|
||||
homography.append(iter.value().m23());
|
||||
homography.append(iter.value().m31()); // dx
|
||||
homography.append(iter.value().m32()); // dy
|
||||
homography.append(iter.value().m33());
|
||||
root[name.toStdString()]["width"] = iterSizes.value().width();
|
||||
root[name.toStdString()]["height"] = iterSizes.value().height();
|
||||
root[name.toStdString()]["homography"] = homography;
|
||||
root[name.toStdString()]["inliers"] = iterInliers.value();
|
||||
root[name.toStdString()]["outliers"] = iterOutliers.value();
|
||||
root[name.toStdString()]["filename"] = iterFilenames.value().toStdString();
|
||||
|
||||
++iter;
|
||||
++iterInliers;
|
||||
++iterOutliers;
|
||||
++iterSizes;
|
||||
++iterFilenames;
|
||||
}
|
||||
}
|
||||
root["objects"] = detections;
|
||||
}
|
||||
|
||||
if(info.matches_.size())
|
||||
{
|
||||
Json::Value matchesValues;
|
||||
const QMap<int, QMultiMap<int, int> > & matches = info.matches_;
|
||||
for(QMap<int, QMultiMap<int, int> >::const_iterator iter = matches.constBegin();
|
||||
iter != matches.end();
|
||||
++iter)
|
||||
{
|
||||
QString name = QString("matches_%1").arg(iter.key());
|
||||
root[name.toStdString()] = iter.value().size();
|
||||
matchesValues.append(name.toStdString());
|
||||
}
|
||||
root["matches"] = matchesValues;
|
||||
}
|
||||
|
||||
// write in a nice readible way
|
||||
Json::StyledWriter styledWriter;
|
||||
//std::cout << styledWriter.write(root);
|
||||
QFile file(path);
|
||||
file.open(QIODevice::WriteOnly | QIODevice::Text);
|
||||
QTextStream out(&file);
|
||||
out << styledWriter.write(root).c_str();
|
||||
file.close();
|
||||
}
|
||||
#else
|
||||
UERROR("Not built with JSON support!");
|
||||
#endif
|
||||
}
|
||||
+37
-36
@@ -268,7 +268,7 @@ void MainWindow::setupTCPServer()
|
||||
delete tcpServer_;
|
||||
}
|
||||
tcpServer_ = new TcpServer(Settings::getGeneral_port(), this);
|
||||
connect(this, SIGNAL(objectsFound(QMultiMap<int,QPair<QRect,QTransform> >)), tcpServer_, SLOT(publishObjects(QMultiMap<int,QPair<QRect,QTransform> >)));
|
||||
connect(this, SIGNAL(objectsFound(DetectionInfo)), tcpServer_, SLOT(publishDetectionInfo(DetectionInfo)));
|
||||
ui_->label_ipAddress->setText(tcpServer_->getHostAddress().toString());
|
||||
ui_->label_port->setNum(tcpServer_->getPort());
|
||||
UINFO("Detection sent on port: %d (IP=%s)", tcpServer_->getPort(), tcpServer_->getHostAddress().toString().toStdString().c_str());
|
||||
@@ -916,19 +916,20 @@ void MainWindow::update(const cv::Mat & image)
|
||||
iter.value()->resetKptsColor();
|
||||
}
|
||||
|
||||
QMultiMap<int,QPair<QRect,QTransform> > objectsDetected;
|
||||
if(findObject_->detect(sceneImage_, objectsDetected))
|
||||
DetectionInfo info;
|
||||
if(findObject_->detect(sceneImage_, info))
|
||||
{
|
||||
ui_->label_timeDetection->setNum(findObject_->timeStamps().value(FindObject::kTimeKeypointDetection, 0));
|
||||
ui_->label_timeExtraction->setNum(findObject_->timeStamps().value(FindObject::kTimeDescriptorExtraction, 0));
|
||||
ui_->imageView_source->setData(findObject_->sceneKeypoints(), cvtCvMat2QImage(sceneImage_));
|
||||
ui_->label_timeIndexing->setNum(findObject_->timeStamps().value(FindObject::kTimeIndexing, 0));
|
||||
ui_->label_timeDetection->setNum(info.timeStamps_.value(DetectionInfo::kTimeKeypointDetection, 0));
|
||||
ui_->label_timeExtraction->setNum(info.timeStamps_.value(DetectionInfo::kTimeDescriptorExtraction, 0));
|
||||
ui_->imageView_source->setData(info.sceneKeypoints_, cvtCvMat2QImage(sceneImage_));
|
||||
ui_->label_timeIndexing->setNum(info.timeStamps_.value(DetectionInfo::kTimeIndexing, 0));
|
||||
ui_->label_timeMatching->setNum(info.timeStamps_.value(DetectionInfo::kTimeMatching, 0));
|
||||
ui_->label_timeHomographies->setNum(info.timeStamps_.value(DetectionInfo::kTimeHomography, 0));
|
||||
|
||||
ui_->label_vocabularySize->setNum(findObject_->vocabulary()->size());
|
||||
ui_->label_timeMatching->setNum(findObject_->timeStamps().value(FindObject::kTimeMatching, 0));
|
||||
ui_->label_timeHomographies->setNum(findObject_->timeStamps().value(FindObject::kTimeHomography, 0));
|
||||
|
||||
// Colorize features matched
|
||||
const QMap<int, QMultiMap<int, int> > & matches = findObject_->matches();
|
||||
const QMap<int, QMultiMap<int, int> > & matches = info.matches_;
|
||||
QMap<int, int> scores;
|
||||
int maxScoreId = -1;
|
||||
int maxScore = 0;
|
||||
@@ -956,12 +957,12 @@ void MainWindow::update(const cv::Mat & image)
|
||||
ui_->imageView_source->setKptColor(iter.value(), obj->color());
|
||||
}
|
||||
}
|
||||
else if(!objectsDetected.contains(id))
|
||||
else if(!info.objDetected_.contains(id))
|
||||
{
|
||||
// Homography could not be computed...
|
||||
QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id));
|
||||
QMultiMap<int, int> rejectedInliers = findObject_->rejectedInliers().value(id);
|
||||
QMultiMap<int, int> rejectedOutliers = findObject_->rejectedOutliers().value(id);
|
||||
QMultiMap<int, int> rejectedInliers = info.rejectedInliers_.value(id);
|
||||
QMultiMap<int, int> rejectedOutliers = info.rejectedOutliers_.value(id);
|
||||
if(jter.value().size() < Settings::getHomography_minimumInliers())
|
||||
{
|
||||
label->setText(QString("Too low matches (%1)").arg(jter.value().size()));
|
||||
@@ -979,18 +980,18 @@ void MainWindow::update(const cv::Mat & image)
|
||||
}
|
||||
|
||||
// Add homography rectangles when homographies are computed
|
||||
QMultiMap<int, QMultiMap<int,int> >::const_iterator inliersIter = findObject_->inliers().constBegin();
|
||||
QMultiMap<int, QMultiMap<int,int> >::const_iterator outliersIter = findObject_->outliers().constBegin();
|
||||
for(QMultiMap<int,QPair<QRect,QTransform> >::iterator iter = objectsDetected.begin();
|
||||
iter!=objectsDetected.end() && inliersIter!=findObject_->inliers().constEnd();
|
||||
++iter, ++inliersIter)
|
||||
QMultiMap<int, QMultiMap<int,int> >::const_iterator inliersIter = info.objDetectedInliers_.constBegin();
|
||||
QMultiMap<int, QMultiMap<int,int> >::const_iterator outliersIter = info.objDetectedOutliers_.constBegin();
|
||||
for(QMultiMap<int,QTransform>::iterator iter = info.objDetected_.begin();
|
||||
iter!=info.objDetected_.end();
|
||||
++iter, ++inliersIter, ++outliersIter)
|
||||
{
|
||||
int id = iter.key();
|
||||
ObjWidget * obj = objWidgets_.value(id);
|
||||
Q_ASSERT(obj != 0);
|
||||
|
||||
// COLORIZE (should be done in the GUI thread)
|
||||
QTransform hTransform = iter.value().second;
|
||||
QTransform hTransform = iter.value();
|
||||
|
||||
QRect rect = obj->pixmap().rect();
|
||||
// add rectangle
|
||||
@@ -1013,10 +1014,10 @@ void MainWindow::update(const cv::Mat & image)
|
||||
}
|
||||
|
||||
QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id));
|
||||
if(objectsDetected.count(id) > 1)
|
||||
if(info.objDetected_.count(id) > 1)
|
||||
{
|
||||
// if a homography is already found, set the objects count
|
||||
label->setText(QString("%1 objects found").arg(objectsDetected.count(id)));
|
||||
label->setText(QString("%1 objects found").arg(info.objDetected_.count(id)));
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -1030,7 +1031,7 @@ void MainWindow::update(const cv::Mat & image)
|
||||
QMap<int, int> inlierScores;
|
||||
for(QMap<int, int>::iterator iter=scores.begin(); iter!=scores.end(); ++iter)
|
||||
{
|
||||
QList<QMultiMap<int, int> > values = findObject_->inliers().values(iter.key());
|
||||
QList<QMultiMap<int, int> > values = info.objDetectedInliers_.values(iter.key());
|
||||
int maxValue = 0;
|
||||
if(values.size())
|
||||
{
|
||||
@@ -1051,8 +1052,8 @@ void MainWindow::update(const cv::Mat & image)
|
||||
ui_->likelihoodPlot->update();
|
||||
}
|
||||
|
||||
ui_->label_minMatchedDistance->setNum(findObject_->minMatchedDistance());
|
||||
ui_->label_maxMatchedDistance->setNum(findObject_->maxMatchedDistance());
|
||||
ui_->label_minMatchedDistance->setNum(info.minMatchedDistance_);
|
||||
ui_->label_maxMatchedDistance->setNum(info.maxMatchedDistance_);
|
||||
|
||||
//Scroll objects slider to the best score
|
||||
if(maxScoreId>=0 && Settings::getGeneral_autoScroll())
|
||||
@@ -1065,17 +1066,17 @@ void MainWindow::update(const cv::Mat & image)
|
||||
}
|
||||
|
||||
// Emit homographies
|
||||
if(objectsDetected.size() > 1)
|
||||
if(info.objDetected_.size() > 1)
|
||||
{
|
||||
UINFO("(%s) %d objects detected!",
|
||||
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
|
||||
(int)objectsDetected.size());
|
||||
(int)info.objDetected_.size());
|
||||
}
|
||||
else if(objectsDetected.size() == 1)
|
||||
else if(info.objDetected_.size() == 1)
|
||||
{
|
||||
UINFO("(%s) Object %d detected!",
|
||||
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
|
||||
(int)objectsDetected.begin().key());
|
||||
(int)info.objDetected_.begin().key());
|
||||
}
|
||||
else if(Settings::getGeneral_sendNoObjDetectedEvents())
|
||||
{
|
||||
@@ -1083,16 +1084,16 @@ void MainWindow::update(const cv::Mat & image)
|
||||
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str());
|
||||
}
|
||||
|
||||
if(objectsDetected.size() > 0 || Settings::getGeneral_sendNoObjDetectedEvents())
|
||||
if(info.objDetected_.size() > 0 || Settings::getGeneral_sendNoObjDetectedEvents())
|
||||
{
|
||||
Q_EMIT objectsFound(objectsDetected);
|
||||
Q_EMIT objectsFound(info);
|
||||
}
|
||||
ui_->label_objectsDetected->setNum(objectsDetected.size());
|
||||
ui_->label_objectsDetected->setNum(info.objDetected_.size());
|
||||
}
|
||||
else
|
||||
{
|
||||
this->statusBar()->showMessage(tr("Cannot search, objects must be updated!"));
|
||||
ui_->imageView_source->setData(findObject_->sceneKeypoints(), cvtCvMat2QImage(sceneImage_));
|
||||
ui_->imageView_source->setData(info.sceneKeypoints_, cvtCvMat2QImage(sceneImage_));
|
||||
}
|
||||
|
||||
|
||||
@@ -1102,7 +1103,7 @@ void MainWindow::update(const cv::Mat & image)
|
||||
iter.value()->update();
|
||||
}
|
||||
|
||||
ui_->label_nfeatures->setNum((int)findObject_->sceneKeypoints().size());
|
||||
ui_->label_nfeatures->setNum((int)info.sceneKeypoints_.size());
|
||||
ui_->imageView_source->update();
|
||||
|
||||
ui_->label_detectorDescriptorType->setText(QString("%1/%2").arg(Settings::currentDetectorType()).arg(Settings::currentDescriptorType()));
|
||||
@@ -1116,7 +1117,7 @@ void MainWindow::update(const cv::Mat & image)
|
||||
ui_->horizontalSlider_frames->blockSignals(false);
|
||||
}
|
||||
|
||||
ui_->label_timeTotal->setNum(findObject_->timeStamps().value(FindObject::kTimeTotal, 0));
|
||||
ui_->label_timeTotal->setNum(info.timeStamps_.value(DetectionInfo::kTimeTotal, 0));
|
||||
int refreshRate = qRound(1000.0f/float(updateRate_.restart()));
|
||||
if(refreshRate > 0 && refreshRate < lowestRefreshRate_)
|
||||
{
|
||||
@@ -1200,7 +1201,7 @@ void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
|
||||
ui_->label_timeRefreshRate->setVisible(false);
|
||||
}
|
||||
|
||||
ui_->actionCamera_from_video_file->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && !UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
|
||||
ui_->actionCamera_from_directory_of_images->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
|
||||
ui_->actionCamera_from_video_file->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && !UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()) && !Settings::getCamera_6useTcpCamera());
|
||||
ui_->actionCamera_from_directory_of_images->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()) && !Settings::getCamera_6useTcpCamera());
|
||||
ui_->actionCamera_from_TCP_IP->setChecked(Settings::getCamera_6useTcpCamera());
|
||||
}
|
||||
|
||||
+5
-2
@@ -15,9 +15,10 @@
|
||||
|
||||
class ObjSignature {
|
||||
public:
|
||||
ObjSignature(int id, const cv::Mat & image) :
|
||||
ObjSignature(int id, const cv::Mat & image, const QString & filename) :
|
||||
id_(id),
|
||||
image_(image)
|
||||
image_(image),
|
||||
filename_(filename)
|
||||
{}
|
||||
virtual ~ObjSignature() {}
|
||||
|
||||
@@ -37,6 +38,7 @@ public:
|
||||
QRect rect() const {return QRect(0,0,image_.cols, image_.rows);}
|
||||
|
||||
int id() const {return id_;}
|
||||
const QString & filename() const {return filename_;}
|
||||
const cv::Mat & image() const {return image_;}
|
||||
const std::vector<cv::KeyPoint> & keypoints() const {return keypoints_;}
|
||||
const cv::Mat & descriptors() const {return descriptors_;}
|
||||
@@ -47,6 +49,7 @@ public:
|
||||
private:
|
||||
int id_;
|
||||
cv::Mat image_;
|
||||
QString filename_;
|
||||
std::vector<cv::KeyPoint> keypoints_;
|
||||
cv::Mat descriptors_;
|
||||
QMultiMap<int, int> words_; // <word id, keypoint indexes>
|
||||
|
||||
+10
-25
@@ -53,38 +53,23 @@ quint16 TcpServer::getPort() const
|
||||
return this->serverPort();
|
||||
}
|
||||
|
||||
void TcpServer::publishObjects(const QMultiMap<int, QPair<QRect, QTransform> > & objects)
|
||||
void TcpServer::publishDetectionInfo(const DetectionInfo & info)
|
||||
{
|
||||
QList<QTcpSocket*> clients = this->findChildren<QTcpSocket*>();
|
||||
if(clients.size())
|
||||
{
|
||||
QVector<float> data(objects.size()*12);
|
||||
int i=0;
|
||||
for(QMultiMap<int, QPair<QRect, QTransform> >::const_iterator iter=objects.constBegin(); iter!=objects.constEnd(); ++iter)
|
||||
{
|
||||
data[i++] = iter.key();
|
||||
data[i++] = iter.value().first.width();
|
||||
data[i++] = iter.value().first.height();
|
||||
data[i++] = iter.value().second.m11();
|
||||
data[i++] = iter.value().second.m12();
|
||||
data[i++] = iter.value().second.m13();
|
||||
data[i++] = iter.value().second.m21();
|
||||
data[i++] = iter.value().second.m22();
|
||||
data[i++] = iter.value().second.m23();
|
||||
data[i++] = iter.value().second.m31(); // dx
|
||||
data[i++] = iter.value().second.m32(); // dy
|
||||
data[i++] = iter.value().second.m33();
|
||||
}
|
||||
QByteArray block;
|
||||
QDataStream out(&block, QIODevice::WriteOnly);
|
||||
out.setVersion(QDataStream::Qt_4_0);
|
||||
out << (quint16)0;
|
||||
|
||||
out << info;
|
||||
|
||||
out.device()->seek(0);
|
||||
out << (quint16)(block.size() - sizeof(quint16));
|
||||
|
||||
for(QList<QTcpSocket*>::iterator iter = clients.begin(); iter!=clients.end(); ++iter)
|
||||
{
|
||||
QByteArray block;
|
||||
QDataStream out(&block, QIODevice::WriteOnly);
|
||||
out.setVersion(QDataStream::Qt_4_0);
|
||||
out << (quint16)0;
|
||||
out << data;
|
||||
out.device()->seek(0);
|
||||
out << (quint16)(block.size() - sizeof(quint16));
|
||||
(*iter)->write(block);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -53,13 +53,13 @@ bool ULogger::printWhereFullPath_ = false;
|
||||
bool ULogger::limitWhereLength_ = false;
|
||||
bool ULogger::buffered_ = false;
|
||||
bool ULogger::exitingState_ = false;
|
||||
ULogger::Level ULogger::level_ = kInfo; // By default, we show all info msgs + upper level (Warning, Error)
|
||||
ULogger::Level ULogger::level_ = kWarning;
|
||||
ULogger::Level ULogger::exitLevel_ = kFatal;
|
||||
ULogger::Level ULogger::eventLevel_ = kFatal;
|
||||
const char * ULogger::levelName_[5] = {"DEBUG", " INFO", " WARN", "ERROR", "FATAL"};
|
||||
ULogger* ULogger::instance_ = 0;
|
||||
UDestroyer<ULogger> ULogger::destroyer_;
|
||||
ULogger::Type ULogger::type_ = ULogger::kTypeNoLog; // Default nothing
|
||||
ULogger::Type ULogger::type_ = ULogger::kTypeConsole;
|
||||
UMutex ULogger::loggerMutex_;
|
||||
const std::string ULogger::kDefaultLogFileName = "./ULog.txt";
|
||||
std::string ULogger::logFileName_;
|
||||
|
||||
Reference in New Issue
Block a user