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Added DetectionInfo object for easier serialization/deserialization of the detection results.

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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 2014-08-04 01:33:52 +00:00
parent cd8368f0de
commit e6fcc961b8
24 changed files with 486 additions and 426 deletions
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12
app/CMakeLists.txt
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@ -12,18 +12,6 @@ SET(LIBRARIES
${OpenCV_LIBS} ${OpenCV_LIBS}
) )
IF(JSONCPP_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${JSONCPP_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${JSONCPP_LIBRARIES}
)
ADD_DEFINITIONS("-DWITH_JSONCPP")
ENDIF(JSONCPP_FOUND)
#include files #include files
INCLUDE_DIRECTORIES(${INCLUDE_DIRS}) INCLUDE_DIRECTORIES(${INCLUDE_DIRS})

174
app/main.cpp
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@ -6,12 +6,9 @@
#include "find_object/FindObject.h" #include "find_object/FindObject.h"
#include "find_object/Camera.h" #include "find_object/Camera.h"
#include "find_object/TcpServer.h" #include "find_object/TcpServer.h"
#include "find_object/JsonWriter.h"
#include "find_object/utilite/ULogger.h" #include "find_object/utilite/ULogger.h"
#ifdef WITH_JSONCPP
#include <jsoncpp/json/writer.h>
#endif
bool running = true; bool running = true;
#ifdef WIN32 #ifdef WIN32
@ -76,89 +73,12 @@ void showUsage()
" --objects \"path\" Directory of the objects to detect.\n" " --objects \"path\" Directory of the objects to detect.\n"
" --config \"path\" Path to configuration file (default: %s).\n" " --config \"path\" Path to configuration file (default: %s).\n"
" --scene \"path\" Path to a scene image file.\n" " --scene \"path\" Path to a scene image file.\n"
#ifdef WITH_JSONCPP
" --json \"path\" Path to an output JSON file (only in --console mode with --scene).\n"
#endif
" --help Show usage.\n", Settings::iniDefaultPath().toStdString().c_str()); " --help Show usage.\n", Settings::iniDefaultPath().toStdString().c_str());
exit(-1); if(JsonWriter::available())
}
void writeJSON(const FindObject & findObject, const QString & path)
{
#ifdef WITH_JSONCPP
if(!path.isEmpty())
{ {
Json::Value root; printf(" --json \"path\" Path to an output JSON file (only in --console mode with --scene).\n");
Json::Value detections;
Json::Value matchesValues;
if(findObject.objectsDetected().size())
{
Q_ASSERT(objectsDetected.size() == findObject.inliers().size() &&
objectsDetected.size() == findObject.outliers().size());
const QMultiMap<int,QPair<QRect,QTransform> > & objectsDetected = findObject.objectsDetected();
QMultiMap<int, QMultiMap<int, int> >::const_iterator iterInliers = findObject.inliers().constBegin();
QMultiMap<int, QMultiMap<int, int> >::const_iterator iterOutliers = findObject.outliers().constBegin();
for(QMultiMap<int,QPair<QRect,QTransform> >::const_iterator iter = objectsDetected.constBegin();
iter!= objectsDetected.end();)
{
char index = 'a';
QMultiMap<int,QPair<QRect,QTransform> >::const_iterator jter = iter;
for(;jter != objectsDetected.constEnd() && jter.key() == iter.key(); ++jter)
{
QString name = QString("object_%1%2").arg(jter.key()).arg(objectsDetected.count(jter.key())>1?QString(index++):"");
detections.append(name.toStdString());
Json::Value homography;
homography.append(jter.value().second.m11());
homography.append(jter.value().second.m12());
homography.append(jter.value().second.m13());
homography.append(jter.value().second.m21());
homography.append(jter.value().second.m22());
homography.append(jter.value().second.m23());
homography.append(jter.value().second.m31()); // dx
homography.append(jter.value().second.m32()); // dy
homography.append(jter.value().second.m33());
root[name.toStdString()]["width"] = jter.value().first.width();
root[name.toStdString()]["height"] = jter.value().first.height();
root[name.toStdString()]["homography"] = homography;
root[name.toStdString()]["inliers"] = iterInliers.value().size();
root[name.toStdString()]["outliers"] = iterOutliers.value().size();
++iterInliers;
++iterOutliers;
}
iter = jter;
}
}
const QMap<int, QMultiMap<int, int> > & matches = findObject.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["objects"] = detections;
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();
UINFO("JSON written to \"%s\"", path.toStdString().c_str());
} }
#else exit(-1);
UERROR("Not built with JSON support!");
#endif
} }
int main(int argc, char* argv[]) int main(int argc, char* argv[])
@ -249,26 +169,6 @@ int main(int argc, char* argv[])
} }
continue; continue;
} }
#ifdef WITH_JSONCPP
if(strcmp(argv[i], "-json") == 0 ||
strcmp(argv[i], "--json") == 0)
{
++i;
if(i < argc)
{
jsonPath = argv[i];
if(jsonPath.contains('~'))
{
jsonPath.replace('~', QDir::homePath());
}
}
else
{
showUsage();
}
continue;
}
#endif
if(strcmp(argv[i], "-console") == 0 || if(strcmp(argv[i], "-console") == 0 ||
strcmp(argv[i], "--console") == 0) strcmp(argv[i], "--console") == 0)
{ {
@ -280,6 +180,27 @@ int main(int argc, char* argv[])
{ {
showUsage(); showUsage();
} }
if(JsonWriter::available())
{
if(strcmp(argv[i], "-json") == 0 ||
strcmp(argv[i], "--json") == 0)
{
++i;
if(i < argc)
{
jsonPath = argv[i];
if(jsonPath.contains('~'))
{
jsonPath.replace('~', QDir::homePath());
}
}
else
{
showUsage();
}
continue;
}
}
UERROR("Unrecognized option : %s", argv[i]); UERROR("Unrecognized option : %s", argv[i]);
showUsage(); showUsage();
@ -290,9 +211,10 @@ int main(int argc, char* argv[])
UINFO(" Objects path: \"%s\"", objectsPath.toStdString().c_str()); UINFO(" Objects path: \"%s\"", objectsPath.toStdString().c_str());
UINFO(" Scene path: \"%s\"", scenePath.toStdString().c_str()); UINFO(" Scene path: \"%s\"", scenePath.toStdString().c_str());
UINFO(" Settings path: \"%s\"", configPath.toStdString().c_str()); UINFO(" Settings path: \"%s\"", configPath.toStdString().c_str());
#ifdef WITH_JSONCPP if(JsonWriter::available())
UINFO(" JSON path: \"%s\"", jsonPath.toStdString().c_str()); {
#endif UINFO(" JSON path: \"%s\"", jsonPath.toStdString().c_str());
}
////////////////////////// //////////////////////////
// parse options END // parse options END
@ -353,26 +275,42 @@ int main(int argc, char* argv[])
QCoreApplication app(argc, argv); QCoreApplication app(argc, argv);
TcpServer tcpServer(Settings::getGeneral_port());
UINFO("Detection sent on port: %d (IP=%s)", tcpServer.getPort(), tcpServer.getHostAddress().toString().toStdString().c_str());
// connect stuff:
// [FindObject] ---ObjectsDetected---> [TcpServer]
QObject::connect(findObject, SIGNAL(objectsFound(QMultiMap<int,QPair<QRect,QTransform> >)), &tcpServer, SLOT(publishObjects(QMultiMap<int,QPair<QRect,QTransform> >)));
if(!scene.empty()) if(!scene.empty())
{ {
// process the scene and exit // process the scene and exit
findObject->detect(scene); // this will automatically emit objectsFound() QTime time;
time.start();
DetectionInfo info;
findObject->detect(scene, info);
if(!jsonPath.isEmpty()) if(info.objDetected_.size() > 1)
{ {
writeJSON(*findObject, jsonPath); UINFO("%d objects detected! (%d ms)", (int)info.objDetected_.size(), time.elapsed());
}
else if(info.objDetected_.size() == 1)
{
UINFO("Object %d detected! (%d ms)", (int)info.objDetected_.begin().key(), time.elapsed());
}
else if(Settings::getGeneral_sendNoObjDetectedEvents())
{
UINFO("No objects detected. (%d ms)", time.elapsed());
}
if(!jsonPath.isEmpty() && JsonWriter::available())
{
JsonWriter::write(info, jsonPath);
UINFO("JSON written to \"%s\"", jsonPath.toStdString().c_str());
} }
} }
else else
{ {
Camera camera; Camera camera;
TcpServer tcpServer(Settings::getGeneral_port());
UINFO("Detection sent on port: %d (IP=%s)", tcpServer.getPort(), tcpServer.getHostAddress().toString().toStdString().c_str());
// connect stuff:
// [FindObject] ---ObjectsDetected---> [TcpServer]
QObject::connect(findObject, SIGNAL(objectsFound(DetectionInfo)), &tcpServer, SLOT(publishDetectionInfo(DetectionInfo)));
// [Camera] ---Image---> [FindObject] // [Camera] ---Image---> [FindObject]
QObject::connect(&camera, SIGNAL(imageReceived(const cv::Mat &)), findObject, SLOT(detect(const cv::Mat &))); QObject::connect(&camera, SIGNAL(imageReceived(const cv::Mat &)), findObject, SLOT(detect(const cv::Mat &)));
@ -394,9 +332,9 @@ int main(int argc, char* argv[])
// cleanup // cleanup
camera.stop(); camera.stop();
tcpServer.close();
} }
delete findObject; delete findObject;
tcpServer.close();
} }
} }

118
include/find_object/DetectionInfo.h Normal file
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@ -0,0 +1,118 @@
/*
* DetectionInfo.h
*
* Created on: 2014-08-03
* Author: mathieu
*/
#ifndef DETECTIONINFO_H_
#define DETECTIONINFO_H_
#include <QtCore/QMultiMap>
#include <QtGui/QTransform>
#include <QtCore/QSize>
#include <QtCore/QString>
#include <opencv2/features2d/features2d.hpp>
#include <vector>
class DetectionInfo
{
public:
enum TimeStamp{kTimeKeypointDetection, kTimeDescriptorExtraction, kTimeIndexing, kTimeMatching, kTimeHomography, kTimeTotal};
public:
DetectionInfo() :
minMatchedDistance_(-1),
maxMatchedDistance_(-1)
{}
public:
QMultiMap<int, QTransform> objDetected_;
QMultiMap<int, QSize> objDetectedSizes_; // Object ID <width, height> match the number of detected objects
QMultiMap<int, QString > objDetectedFilenames_; // Object ID <filename> match the number of detected objects
QMultiMap<int, int> objDetectedInliersCount_; // ObjectID <count> match the number of detected objects
QMultiMap<int, int> objDetectedOutliersCount_; // ObjectID <count> match the number of detected objects
QMultiMap<int, QMultiMap<int, int> > objDetectedInliers_; // ObjectID Map< ObjectDescriptorIndex, SceneDescriptorIndex >, match the number of detected objects
QMultiMap<int, QMultiMap<int, int> > objDetectedOutliers_; // ObjectID Map< ObjectDescriptorIndex, SceneDescriptorIndex >, match the number of detected objects
QMap<TimeStamp, float> timeStamps_;
std::vector<cv::KeyPoint> sceneKeypoints_;
cv::Mat sceneDescriptors_;
QMultiMap<int, int> sceneWords_;
QMap<int, QMultiMap<int, int> > matches_; // ObjectID Map< ObjectDescriptorIndex, SceneDescriptorIndex >, match the number of objects
QMultiMap<int, QMultiMap<int, int> > rejectedInliers_; // ObjectID Map< ObjectDescriptorIndex, SceneDescriptorIndex >
QMultiMap<int, QMultiMap<int, int> > rejectedOutliers_; // ObjectID Map< ObjectDescriptorIndex, SceneDescriptorIndex >
float minMatchedDistance_;
float maxMatchedDistance_;
};
inline QDataStream & operator<<(QDataStream &out, const DetectionInfo & info)
{
out << quint32(info.objDetected_.size());
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_.constEnd();
++iter)
{
// ID
out << iter.key();
// Size
out << iterSizes.value();
// Transform
out << iter.value();
// Filename
out << iterFilenames.value();
// inliers and outliers count
out << iterInliers.value();
out << iterOutliers.value();
++iterInliers;
++iterOutliers;
++iterSizes;
++iterFilenames;
}
return out;
}
inline QDataStream & operator>>(QDataStream &in, DetectionInfo & info)
{
QDataStream::Status oldStatus = in.status();
in.resetStatus();
info = DetectionInfo();
quint32 n;
in >> n;
for (quint32 i = 0; i < n; ++i) {
if (in.status() != QDataStream::Ok)
break;
int id;
QSize size;
QTransform homography;
QString filename;
int inliers, outliers;
in >> id >> size >> homography >> filename >> inliers >> outliers;
info.objDetected_.insert(id, homography);
info.objDetectedSizes_.insert(id, size);
info.objDetectedFilenames_.insert(id, filename);
info.objDetectedInliersCount_.insert(id, inliers);
info.objDetectedOutliersCount_.insert(id, outliers);
}
if (in.status() != QDataStream::Ok)
info = DetectionInfo();
if (oldStatus != QDataStream::Ok)
in.setStatus(oldStatus);
return in;
}
#endif /* DETECTIONINFO_H_ */

39
include/find_object/FindObject.h
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@ -10,6 +10,8 @@
#include "find_object/FindObjectExp.h" // DLL export/import defines #include "find_object/FindObjectExp.h" // DLL export/import defines
#include "find_object/DetectionInfo.h"
#include <QtCore/QObject> #include <QtCore/QObject>
#include <QtCore/QString> #include <QtCore/QString>
#include <QtCore/QMap> #include <QtCore/QMap>
@ -30,21 +32,18 @@ class FINDOBJECT_EXP FindObject : public QObject
{ {
Q_OBJECT; Q_OBJECT;
public:
enum TimeStamp{kTimeKeypointDetection, kTimeDescriptorExtraction, kTimeIndexing, kTimeMatching, kTimeHomography, kTimeTotal};
public: public:
FindObject(QObject * parent = 0); FindObject(QObject * parent = 0);
virtual ~FindObject(); virtual ~FindObject();
int loadObjects(const QString & dirPath); // call updateObjects() int loadObjects(const QString & dirPath); // call updateObjects()
const ObjSignature * addObject(const QString & filePath); const ObjSignature * addObject(const QString & filePath);
const ObjSignature * addObject(const cv::Mat & image, int id=0); const ObjSignature * addObject(const cv::Mat & image, int id=0, const QString & filename = QString());
bool addObject(ObjSignature * obj); // take ownership when true is returned bool addObject(ObjSignature * obj); // take ownership when true is returned
void removeObject(int id); void removeObject(int id);
void removeAllObjects(); void removeAllObjects();
bool detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransform> > & objectsDetected); bool detect(const cv::Mat & image, DetectionInfo & info);
void updateDetectorExtractor(); void updateDetectorExtractor();
void updateObjects(); void updateObjects();
@ -53,24 +52,11 @@ public:
const QMap<int, ObjSignature*> & objects() const {return objects_;} const QMap<int, ObjSignature*> & objects() const {return objects_;}
const Vocabulary * vocabulary() const {return vocabulary_;} const Vocabulary * vocabulary() const {return vocabulary_;}
const QMultiMap<int,QPair<QRect,QTransform> > & objectsDetected() const {return objectsDetected_;}
const QMap<TimeStamp, float> & timeStamps() const {return timeStamps_;}
const std::vector<cv::KeyPoint> & sceneKeypoints() const {return sceneKeypoints_;}
const cv::Mat & sceneDescriptors() const {return sceneDescriptors_;}
const QMultiMap<int, int> & sceneWords() const {return sceneWords_;}
const QMap<int, QMultiMap<int, int> > & matches() const {return matches_;}
const QMultiMap<int, QMultiMap<int, int> > & inliers() const {return inliers_;}
const QMultiMap<int, QMultiMap<int, int> > & outliers() const {return outliers_;}
const QMultiMap<int, QMultiMap<int, int> > & rejectedInliers() const {return rejectedInliers_;}
const QMultiMap<int, QMultiMap<int, int> > & rejectedOutliers() const {return rejectedOutliers_;}
float minMatchedDistance() const {return minMatchedDistance_;}
float maxMatchedDistance() const {return maxMatchedDistance_;}
public Q_SLOTS: public Q_SLOTS:
void detect(const cv::Mat & image); // emit objectsfound() void detect(const cv::Mat & image); // emit objectsFound()
Q_SIGNALS: Q_SIGNALS:
void objectsFound(const QMultiMap<int, QPair<QRect, QTransform> > &); void objectsFound(const DetectionInfo &);
private: private:
void clearVocabulary(); void clearVocabulary();
@ -82,19 +68,6 @@ private:
QMap<int, int> dataRange_; // <last id of object's descriptor, id> QMap<int, int> dataRange_; // <last id of object's descriptor, id>
KeypointDetector * detector_; KeypointDetector * detector_;
DescriptorExtractor * extractor_; DescriptorExtractor * extractor_;
QMultiMap<int,QPair<QRect,QTransform> > objectsDetected_;
QMap<TimeStamp, float> timeStamps_;
std::vector<cv::KeyPoint> sceneKeypoints_;
cv::Mat sceneDescriptors_;
QMultiMap<int, int> sceneWords_;
QMap<int, QMultiMap<int, int> > matches_; // ObjectID Map< ObjectDescriptorIndex, SceneDescriptorIndex >, match the number of objects
QMultiMap<int, QMultiMap<int, int> > inliers_; // ObjectID Map< ObjectDescriptorIndex, SceneDescriptorIndex >, match the number of detected objects
QMultiMap<int, QMultiMap<int, int> > outliers_; // ObjectID Map< ObjectDescriptorIndex, SceneDescriptorIndex >, match the number of detected objects
QMultiMap<int, QMultiMap<int, int> > rejectedInliers_; // ObjectID Map< ObjectDescriptorIndex, SceneDescriptorIndex >
QMultiMap<int, QMultiMap<int, int> > rejectedOutliers_; // ObjectID Map< ObjectDescriptorIndex, SceneDescriptorIndex >
float minMatchedDistance_;
float maxMatchedDistance_;
}; };
#endif /* FINDOBJECT_H_ */ #endif /* FINDOBJECT_H_ */

21
include/find_object/JsonWriter.h Normal file
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@ -0,0 +1,21 @@
/*
* JsonWriter.h
*
* Created on: 2014-08-03
* Author: mathieu
*/
#ifndef JSONWRITER_H_
#define JSONWRITER_H_
#include "find_object/DetectionInfo.h"
class JsonWriter
{
public:
static bool available();
static void write(const DetectionInfo & info, const QString & path);
};
#endif /* JSONWRITER_H_ */

4
include/find_object/MainWindow.h
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@ -7,6 +7,8 @@
#include "find_object/FindObjectExp.h" // DLL export/import defines #include "find_object/FindObjectExp.h" // DLL export/import defines
#include "find_object/DetectionInfo.h"
#include <QtGui/QMainWindow> #include <QtGui/QMainWindow>
#include <QtCore/QSet> #include <QtCore/QSet>
#include <QtCore/QTimer> #include <QtCore/QTimer>
@ -74,7 +76,7 @@ private Q_SLOTS:
void rectHovered(int objId); void rectHovered(int objId);
Q_SIGNALS: Q_SIGNALS:
void objectsFound(const QMultiMap<int, QPair<QRect, QTransform> > &); void objectsFound(const DetectionInfo &);
private: private:
bool loadSettings(const QString & path); bool loadSettings(const QString & path);

4
include/find_object/TcpServer.h
View File

@ -10,6 +10,8 @@
#include "find_object/FindObjectExp.h" // DLL export/import defines #include "find_object/FindObjectExp.h" // DLL export/import defines
#include "find_object/DetectionInfo.h"
#include <QtNetwork/QTcpServer> #include <QtNetwork/QTcpServer>
class QNetworkSession; class QNetworkSession;
@ -25,7 +27,7 @@ public:
quint16 getPort() const; quint16 getPort() const;
public Q_SLOTS: public Q_SLOTS:
void publishObjects(const QMultiMap<int, QPair<QRect, QTransform> > & objects); void publishDetectionInfo(const DetectionInfo & info);
private Q_SLOTS: private Q_SLOTS:
void addClient(); void addClient();

2
src/AddObjectDialog.cpp
View File

@ -332,7 +332,7 @@ void AddObjectDialog::setState(int state)
delete objSignature_; delete objSignature_;
objSignature_ = 0; objSignature_ = 0;
} }
objSignature_ = new ObjSignature(0, imgRoi.clone()); objSignature_ = new ObjSignature(0, imgRoi.clone(), "");
objSignature_->setData(keypoints, descriptors, Settings::currentDetectorType(), Settings::currentDescriptorType()); objSignature_->setData(keypoints, descriptors, Settings::currentDetectorType(), Settings::currentDescriptorType());
objWidget_ = new ObjWidget(0, keypoints, cvtCvMat2QImage(imgRoi.clone())); objWidget_ = new ObjWidget(0, keypoints, cvtCvMat2QImage(imgRoi.clone()));

16
src/CMakeLists.txt
View File

@ -36,9 +36,6 @@ QT4_WRAP_UI(moc_uis ${uis})
QT4_WRAP_CPP(moc_srcs ${headers_ui}) QT4_WRAP_CPP(moc_srcs ${headers_ui})
### Qt Gui stuff end### ### Qt Gui stuff end###
SET(SRC_FILES SET(SRC_FILES
./MainWindow.cpp ./MainWindow.cpp
./AddObjectDialog.cpp ./AddObjectDialog.cpp
@ -54,6 +51,7 @@ SET(SRC_FILES
./AboutDialog.cpp ./AboutDialog.cpp
./TcpServer.cpp ./TcpServer.cpp
./Vocabulary.cpp ./Vocabulary.cpp
./JsonWriter.cpp
./utilite/ULogger.cpp ./utilite/ULogger.cpp
./utilite/UPlot.cpp ./utilite/UPlot.cpp
./utilite/UDirectory.cpp ./utilite/UDirectory.cpp
@ -79,6 +77,18 @@ SET(LIBRARIES
${OpenCV_LIBS} ${OpenCV_LIBS}
) )
IF(JSONCPP_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${JSONCPP_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${JSONCPP_LIBRARIES}
)
ADD_DEFINITIONS("-DWITH_JSONCPP")
ENDIF(JSONCPP_FOUND)
#include files #include files
INCLUDE_DIRECTORIES(${INCLUDE_DIRS}) INCLUDE_DIRECTORIES(${INCLUDE_DIRS})

147
src/FindObject.cpp
View File

@ -23,10 +23,9 @@ FindObject::FindObject(QObject * parent) :
QObject(parent), QObject(parent),
vocabulary_(new Vocabulary()), vocabulary_(new Vocabulary()),
detector_(Settings::createKeypointDetector()), detector_(Settings::createKeypointDetector()),
extractor_(Settings::createDescriptorExtractor()), extractor_(Settings::createDescriptorExtractor())
minMatchedDistance_(-1),
maxMatchedDistance_(-1)
{ {
qRegisterMetaType<DetectionInfo>("DetectionInfo");
Q_ASSERT(detector_ != 0 && extractor_ != 0); Q_ASSERT(detector_ != 0 && extractor_ != 0);
} }
@ -87,16 +86,16 @@ const ObjSignature * FindObject::addObject(const QString & filePath)
id = 0; id = 0;
} }
} }
return this->addObject(img, id); return this->addObject(img, id, file.fileName());
} }
} }
return 0; return 0;
} }
const ObjSignature * FindObject::addObject(const cv::Mat & image, int id) const ObjSignature * FindObject::addObject(const cv::Mat & image, int id, const QString & filename)
{ {
Q_ASSERT(id >= 0); Q_ASSERT(id >= 0);
ObjSignature * s = new ObjSignature(id, image); ObjSignature * s = new ObjSignature(id, image, filename);
if(!this->addObject(s)) if(!this->addObject(s))
{ {
delete s; delete s;
@ -596,25 +595,25 @@ void FindObject::detect(const cv::Mat & image)
{ {
QTime time; QTime time;
time.start(); time.start();
QMultiMap<int,QPair<QRect,QTransform> > objects; DetectionInfo info;
this->detect(image, objects); this->detect(image, info);
if(objects.size() > 0 || Settings::getGeneral_sendNoObjDetectedEvents()) if(info.objDetected_.size() > 0 || Settings::getGeneral_sendNoObjDetectedEvents())
{ {
Q_EMIT objectsFound(objects); Q_EMIT objectsFound(info);
} }
if(objects.size() > 1) if(info.objDetected_.size() > 1)
{ {
UINFO("(%s) %d objects detected! (%d ms)", UINFO("(%s) %d objects detected! (%d ms)",
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(), QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
(int)objects.size(), (int)info.objDetected_.size(),
time.elapsed()); time.elapsed());
} }
else if(objects.size() == 1) else if(info.objDetected_.size() == 1)
{ {
UINFO("(%s) Object %d detected! (%d ms)", UINFO("(%s) Object %d detected! (%d ms)",
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(), QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
(int)objects.begin().key(), (int)info.objDetected_.begin().key(),
time.elapsed()); time.elapsed());
} }
else if(Settings::getGeneral_sendNoObjDetectedEvents()) else if(Settings::getGeneral_sendNoObjDetectedEvents())
@ -625,22 +624,13 @@ void FindObject::detect(const cv::Mat & image)
} }
} }
bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransform> > & objectsDetected) bool FindObject::detect(const cv::Mat & image, DetectionInfo & info)
{ {
QTime totalTime; QTime totalTime;
totalTime.start(); totalTime.start();
// reset statistics // reset statistics
objectsDetected_.clear(); info = DetectionInfo();
timeStamps_.clear();
sceneKeypoints_.clear();
sceneDescriptors_ = cv::Mat();
sceneWords_.clear();
matches_.clear();
inliers_.clear();
outliers_.clear();
minMatchedDistance_ = -1.0f;
maxMatchedDistance_ = -1.0f;
bool success = false; bool success = false;
if(!image.empty()) if(!image.empty())
@ -660,36 +650,36 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
time.start(); time.start();
// EXTRACT KEYPOINTS // EXTRACT KEYPOINTS
detector_->detect(grayscaleImg, sceneKeypoints_); detector_->detect(grayscaleImg, info.sceneKeypoints_);
timeStamps_.insert(kTimeKeypointDetection, time.restart()); info.timeStamps_.insert(DetectionInfo::kTimeKeypointDetection, time.restart());
bool emptyScene = sceneKeypoints_.size() == 0; bool emptyScene = info.sceneKeypoints_.size() == 0;
if(sceneKeypoints_.size()) if(info.sceneKeypoints_.size())
{ {
int maxFeatures = Settings::getFeature2D_3MaxFeatures(); int maxFeatures = Settings::getFeature2D_3MaxFeatures();
if(maxFeatures > 0 && (int)sceneKeypoints_.size() > maxFeatures) if(maxFeatures > 0 && (int)info.sceneKeypoints_.size() > maxFeatures)
{ {
sceneKeypoints_ = limitKeypoints(sceneKeypoints_, maxFeatures); info.sceneKeypoints_ = limitKeypoints(info.sceneKeypoints_, maxFeatures);
} }
// EXTRACT DESCRIPTORS // EXTRACT DESCRIPTORS
extractor_->compute(grayscaleImg, sceneKeypoints_, sceneDescriptors_); extractor_->compute(grayscaleImg, info.sceneKeypoints_, info.sceneDescriptors_);
if((int)sceneKeypoints_.size() != sceneDescriptors_.rows) if((int)info.sceneKeypoints_.size() != info.sceneDescriptors_.rows)
{ {
UERROR("kpt=%d != descriptors=%d", (int)sceneKeypoints_.size(), sceneDescriptors_.rows); UERROR("kpt=%d != descriptors=%d", (int)info.sceneKeypoints_.size(), info.sceneDescriptors_.rows);
} }
} }
timeStamps_.insert(kTimeDescriptorExtraction, time.restart()); info.timeStamps_.insert(DetectionInfo::kTimeDescriptorExtraction, time.restart());
bool consistentNNData = (vocabulary_->size()!=0 && vocabulary_->wordToObjects().begin().value()!=-1 && Settings::getGeneral_invertedSearch()) || bool consistentNNData = (vocabulary_->size()!=0 && vocabulary_->wordToObjects().begin().value()!=-1 && Settings::getGeneral_invertedSearch()) ||
((vocabulary_->size()==0 || vocabulary_->wordToObjects().begin().value()==-1) && !Settings::getGeneral_invertedSearch()); ((vocabulary_->size()==0 || vocabulary_->wordToObjects().begin().value()==-1) && !Settings::getGeneral_invertedSearch());
// COMPARE // COMPARE
if(!objectsDescriptors_.empty() && if(!objectsDescriptors_.empty() &&
sceneKeypoints_.size() && info.sceneKeypoints_.size() &&
consistentNNData && consistentNNData &&
objectsDescriptors_.begin().value().cols == sceneDescriptors_.cols && objectsDescriptors_.begin().value().cols == info.sceneDescriptors_.cols &&
objectsDescriptors_.begin().value().type() == sceneDescriptors_.type()) // binary descriptor issue, if the dataTree is not yet updated with modified settings objectsDescriptors_.begin().value().type() == info.sceneDescriptors_.type()) // binary descriptor issue, if the dataTree is not yet updated with modified settings
{ {
success = true; success = true;
@ -699,17 +689,17 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
{ {
// CREATE INDEX for the scene // CREATE INDEX for the scene
vocabulary_->clear(); vocabulary_->clear();
words = vocabulary_->addWords(sceneDescriptors_, -1, Settings::getGeneral_vocabularyIncremental()); words = vocabulary_->addWords(info.sceneDescriptors_, -1, Settings::getGeneral_vocabularyIncremental());
if(!Settings::getGeneral_vocabularyIncremental()) if(!Settings::getGeneral_vocabularyIncremental())
{ {
vocabulary_->update(); vocabulary_->update();
} }
timeStamps_.insert(kTimeIndexing, time.restart()); info.timeStamps_.insert(DetectionInfo::kTimeIndexing, time.restart());
} }
for(QMap<int, ObjSignature*>::iterator iter=objects_.begin(); iter!=objects_.end(); ++iter) for(QMap<int, ObjSignature*>::iterator iter=objects_.begin(); iter!=objects_.end(); ++iter)
{ {
matches_.insert(iter.key(), QMultiMap<int, int>()); info.matches_.insert(iter.key(), QMultiMap<int, int>());
} }
if(Settings::getGeneral_invertedSearch() || Settings::getGeneral_threads() == 1) if(Settings::getGeneral_invertedSearch() || Settings::getGeneral_threads() == 1)
@ -728,9 +718,9 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
else else
{ {
//match scene to objects //match scene to objects
results = cv::Mat(sceneDescriptors_.rows, k, CV_32SC1); // results index results = cv::Mat(info.sceneDescriptors_.rows, k, CV_32SC1); // results index
dists = cv::Mat(sceneDescriptors_.rows, k, CV_32FC1); // Distance results are CV_32FC1 dists = cv::Mat(info.sceneDescriptors_.rows, k, CV_32FC1); // Distance results are CV_32FC1
vocabulary_->search(sceneDescriptors_, results, dists, k); vocabulary_->search(info.sceneDescriptors_, results, dists, k);
} }
// PROCESS RESULTS // PROCESS RESULTS
@ -761,13 +751,13 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
{ {
matched = true; // no criterion, match to the nearest descriptor matched = true; // no criterion, match to the nearest descriptor
} }
if(minMatchedDistance_ == -1 || minMatchedDistance_ > dists.at<float>(i,0)) if(info.minMatchedDistance_ == -1 || info.minMatchedDistance_ > dists.at<float>(i,0))
{ {
minMatchedDistance_ = dists.at<float>(i,0); info.minMatchedDistance_ = dists.at<float>(i,0);
} }
if(maxMatchedDistance_ == -1 || maxMatchedDistance_ < dists.at<float>(i,0)) if(info.maxMatchedDistance_ == -1 || info.maxMatchedDistance_ < dists.at<float>(i,0))
{ {
maxMatchedDistance_ = dists.at<float>(i,0); info.maxMatchedDistance_ = dists.at<float>(i,0);
} }
if(matched) if(matched)
@ -781,7 +771,7 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
// just add unique matches // just add unique matches
if(vocabulary_->wordToObjects().count(wordId, objIds[j]) == 1) if(vocabulary_->wordToObjects().count(wordId, objIds[j]) == 1)
{ {
matches_.find(objIds[j]).value().insert(objects_.value(objIds[j])->words().value(wordId), i); info.matches_.find(objIds[j]).value().insert(objects_.value(objIds[j])->words().value(wordId), i);
} }
} }
} }
@ -795,7 +785,7 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
int wordId = results.at<int>(i,0); int wordId = results.at<int>(i,0);
if(words.count(wordId) == 1) if(words.count(wordId) == 1)
{ {
matches_.find(objectId).value().insert(objectDescriptorIndex, words.value(wordId)); info.matches_.find(objectId).value().insert(objectDescriptorIndex, words.value(wordId));
} }
} }
} }
@ -825,15 +815,15 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
for(int k=0; k<threads.size(); ++k) for(int k=0; k<threads.size(); ++k)
{ {
threads[k]->wait(); threads[k]->wait();
matches_[threads[k]->getObjectId()] = threads[k]->getMatches(); info.matches_[threads[k]->getObjectId()] = threads[k]->getMatches();
if(minMatchedDistance_ == -1 || minMatchedDistance_ > threads[k]->getMinMatchedDistance()) if(info.minMatchedDistance_ == -1 || info.minMatchedDistance_ > threads[k]->getMinMatchedDistance())
{ {
minMatchedDistance_ = threads[k]->getMinMatchedDistance(); info.minMatchedDistance_ = threads[k]->getMinMatchedDistance();
} }
if(maxMatchedDistance_ == -1 || maxMatchedDistance_ < threads[k]->getMaxMatchedDistance()) if(info.maxMatchedDistance_ == -1 || info.maxMatchedDistance_ < threads[k]->getMaxMatchedDistance())
{ {
maxMatchedDistance_ = threads[k]->getMaxMatchedDistance(); info.maxMatchedDistance_ = threads[k]->getMaxMatchedDistance();
} }
delete threads[k]; delete threads[k];
} }
@ -841,7 +831,7 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
} }
} }
timeStamps_.insert(kTimeMatching, time.restart()); info.timeStamps_.insert(DetectionInfo::kTimeMatching, time.restart());
// Homographies // Homographies
if(Settings::getHomography_homographyComputed()) if(Settings::getHomography_homographyComputed())
@ -850,10 +840,10 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
int threadCounts = Settings::getGeneral_threads(); int threadCounts = Settings::getGeneral_threads();
if(threadCounts == 0) if(threadCounts == 0)
{ {
threadCounts = matches_.size(); threadCounts = info.matches_.size();
} }
QList<int> matchesId = matches_.keys(); QList<int> matchesId = info.matches_.keys();
QList<QMultiMap<int, int> > matchesList = matches_.values(); QList<QMultiMap<int, int> > matchesList = info.matches_.values();
for(int i=0; i<matchesList.size(); i+=threadCounts) for(int i=0; i<matchesList.size(); i+=threadCounts)
{ {
QVector<HomographyThread*> threads; QVector<HomographyThread*> threads;
@ -861,7 +851,7 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
for(int k=i; k<i+threadCounts && k<matchesList.size(); ++k) for(int k=i; k<i+threadCounts && k<matchesList.size(); ++k)
{ {
int objectId = matchesId[k]; int objectId = matchesId[k];
threads.push_back(new HomographyThread(&matchesList[k], objectId, &objects_.value(objectId)->keypoints(), &sceneKeypoints_)); threads.push_back(new HomographyThread(&matchesList[k], objectId, &objects_.value(objectId)->keypoints(), &info.sceneKeypoints_));
threads.back()->start(); threads.back()->start();
} }
@ -889,11 +879,11 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
matchesId.push_back(id); matchesId.push_back(id);
// compute distance from previous added same objects... // compute distance from previous added same objects...
QMultiMap<int, QPair<QRect, QTransform> >::iterator objIter = objectsDetected.find(id); QMultiMap<int, QTransform>::iterator objIter = info.objDetected_.find(id);
for(;objIter!=objectsDetected.end() && objIter.key() == id; ++objIter) for(;objIter!=info.objDetected_.end() && objIter.key() == id; ++objIter)
{ {
qreal dx = objIter.value().second.m31() - hTransform.m31(); qreal dx = objIter.value().m31() - hTransform.m31();
qreal dy = objIter.value().second.m32() - hTransform.m32(); qreal dy = objIter.value().m32() - hTransform.m32();
int d = (int)sqrt(dx*dx + dy*dy); int d = (int)sqrt(dx*dx + dy*dy);
if(d < distance) if(d < distance)
{ {
@ -905,33 +895,37 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
if(distance >= Settings::getGeneral_multiDetectionRadius()) if(distance >= Settings::getGeneral_multiDetectionRadius())
{ {
QRect rect = objects_.value(id)->rect(); QRect rect = objects_.value(id)->rect();
objectsDetected.insert(id, QPair<QRect, QTransform>(rect, hTransform)); info.objDetected_.insert(id, hTransform);
inliers_.insert(id, threads[j]->getInliers()); info.objDetectedSizes_.insert(id, rect.size());
outliers_.insert(id, threads[j]->getOutliers()); info.objDetectedInliers_.insert(id, threads[j]->getInliers());
info.objDetectedOutliers_.insert(id, threads[j]->getOutliers());
info.objDetectedInliersCount_.insert(id, threads[j]->getInliers().size());
info.objDetectedOutliersCount_.insert(id, threads[j]->getOutliers().size());
info.objDetectedFilenames_.insert(id, objects_.value(id)->filename());
} }
else else
{ {
rejectedInliers_.insert(id, threads[j]->getInliers()); info.rejectedInliers_.insert(id, threads[j]->getInliers());
rejectedOutliers_.insert(id, threads[j]->getOutliers()); info.rejectedOutliers_.insert(id, threads[j]->getOutliers());
} }
} }
else else
{ {
rejectedInliers_.insert(id, threads[j]->getInliers()); info.rejectedInliers_.insert(id, threads[j]->getInliers());
rejectedOutliers_.insert(id, threads[j]->getOutliers()); info.rejectedOutliers_.insert(id, threads[j]->getOutliers());
} }
} }
else else
{ {
rejectedInliers_.insert(id, threads[j]->getInliers()); info.rejectedInliers_.insert(id, threads[j]->getInliers());
rejectedOutliers_.insert(id, threads[j]->getOutliers()); info.rejectedOutliers_.insert(id, threads[j]->getOutliers());
} }
} }
} }
timeStamps_.insert(kTimeHomography, time.restart()); info.timeStamps_.insert(DetectionInfo::kTimeHomography, time.restart());
} }
} }
else if(!objectsDescriptors_.empty() && sceneKeypoints_.size()) else if(!objectsDescriptors_.empty() && info.sceneKeypoints_.size())
{ {
UWARN("Cannot search, objects must be updated"); UWARN("Cannot search, objects must be updated");
} }
@ -943,8 +937,7 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
} }
} }
objectsDetected_ = objectsDetected; info.timeStamps_.insert(DetectionInfo::kTimeTotal, totalTime.elapsed());
timeStamps_.insert(kTimeTotal, totalTime.elapsed());
return success; return success;
} }

106
src/JsonWriter.cpp Normal file
View File

@ -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
}

73
src/MainWindow.cpp
View File

@ -268,7 +268,7 @@ void MainWindow::setupTCPServer()
delete tcpServer_; delete tcpServer_;
} }
tcpServer_ = new TcpServer(Settings::getGeneral_port(), this); 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_ipAddress->setText(tcpServer_->getHostAddress().toString());
ui_->label_port->setNum(tcpServer_->getPort()); ui_->label_port->setNum(tcpServer_->getPort());
UINFO("Detection sent on port: %d (IP=%s)", tcpServer_->getPort(), tcpServer_->getHostAddress().toString().toStdString().c_str()); 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(); iter.value()->resetKptsColor();
} }
QMultiMap<int,QPair<QRect,QTransform> > objectsDetected; DetectionInfo info;
if(findObject_->detect(sceneImage_, objectsDetected)) if(findObject_->detect(sceneImage_, info))
{ {
ui_->label_timeDetection->setNum(findObject_->timeStamps().value(FindObject::kTimeKeypointDetection, 0)); ui_->label_timeDetection->setNum(info.timeStamps_.value(DetectionInfo::kTimeKeypointDetection, 0));
ui_->label_timeExtraction->setNum(findObject_->timeStamps().value(FindObject::kTimeDescriptorExtraction, 0)); ui_->label_timeExtraction->setNum(info.timeStamps_.value(DetectionInfo::kTimeDescriptorExtraction, 0));
ui_->imageView_source->setData(findObject_->sceneKeypoints(), cvtCvMat2QImage(sceneImage_)); ui_->imageView_source->setData(info.sceneKeypoints_, cvtCvMat2QImage(sceneImage_));
ui_->label_timeIndexing->setNum(findObject_->timeStamps().value(FindObject::kTimeIndexing, 0)); 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_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 // 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; QMap<int, int> scores;
int maxScoreId = -1; int maxScoreId = -1;
int maxScore = 0; int maxScore = 0;
@ -956,12 +957,12 @@ void MainWindow::update(const cv::Mat & image)
ui_->imageView_source->setKptColor(iter.value(), obj->color()); ui_->imageView_source->setKptColor(iter.value(), obj->color());
} }
} }
else if(!objectsDetected.contains(id)) else if(!info.objDetected_.contains(id))
{ {
// Homography could not be computed... // Homography could not be computed...
QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id)); QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id));
QMultiMap<int, int> rejectedInliers = findObject_->rejectedInliers().value(id); QMultiMap<int, int> rejectedInliers = info.rejectedInliers_.value(id);
QMultiMap<int, int> rejectedOutliers = findObject_->rejectedOutliers().value(id); QMultiMap<int, int> rejectedOutliers = info.rejectedOutliers_.value(id);
if(jter.value().size() < Settings::getHomography_minimumInliers()) if(jter.value().size() < Settings::getHomography_minimumInliers())
{ {
label->setText(QString("Too low matches (%1)").arg(jter.value().size())); 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 // 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 inliersIter = info.objDetectedInliers_.constBegin();
QMultiMap<int, QMultiMap<int,int> >::const_iterator outliersIter = findObject_->outliers().constBegin(); QMultiMap<int, QMultiMap<int,int> >::const_iterator outliersIter = info.objDetectedOutliers_.constBegin();
for(QMultiMap<int,QPair<QRect,QTransform> >::iterator iter = objectsDetected.begin(); for(QMultiMap<int,QTransform>::iterator iter = info.objDetected_.begin();
iter!=objectsDetected.end() && inliersIter!=findObject_->inliers().constEnd(); iter!=info.objDetected_.end();
++iter, ++inliersIter) ++iter, ++inliersIter, ++outliersIter)
{ {
int id = iter.key(); int id = iter.key();
ObjWidget * obj = objWidgets_.value(id); ObjWidget * obj = objWidgets_.value(id);
Q_ASSERT(obj != 0); Q_ASSERT(obj != 0);
// COLORIZE (should be done in the GUI thread) // COLORIZE (should be done in the GUI thread)
QTransform hTransform = iter.value().second; QTransform hTransform = iter.value();
QRect rect = obj->pixmap().rect(); QRect rect = obj->pixmap().rect();
// add rectangle // add rectangle
@ -1013,10 +1014,10 @@ void MainWindow::update(const cv::Mat & image)
} }
QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id)); 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 // 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 else
{ {
@ -1030,7 +1031,7 @@ void MainWindow::update(const cv::Mat & image)
QMap<int, int> inlierScores; QMap<int, int> inlierScores;
for(QMap<int, int>::iterator iter=scores.begin(); iter!=scores.end(); ++iter) 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; int maxValue = 0;
if(values.size()) if(values.size())
{ {
@ -1051,8 +1052,8 @@ void MainWindow::update(const cv::Mat & image)
ui_->likelihoodPlot->update(); ui_->likelihoodPlot->update();
} }
ui_->label_minMatchedDistance->setNum(findObject_->minMatchedDistance()); ui_->label_minMatchedDistance->setNum(info.minMatchedDistance_);
ui_->label_maxMatchedDistance->setNum(findObject_->maxMatchedDistance()); ui_->label_maxMatchedDistance->setNum(info.maxMatchedDistance_);
//Scroll objects slider to the best score //Scroll objects slider to the best score
if(maxScoreId>=0 && Settings::getGeneral_autoScroll()) if(maxScoreId>=0 && Settings::getGeneral_autoScroll())
@ -1065,17 +1066,17 @@ void MainWindow::update(const cv::Mat & image)
} }
// Emit homographies // Emit homographies
if(objectsDetected.size() > 1) if(info.objDetected_.size() > 1)
{ {
UINFO("(%s) %d objects detected!", UINFO("(%s) %d objects detected!",
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(), 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!", UINFO("(%s) Object %d detected!",
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(), QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
(int)objectsDetected.begin().key()); (int)info.objDetected_.begin().key());
} }
else if(Settings::getGeneral_sendNoObjDetectedEvents()) 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()); 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 else
{ {
this->statusBar()->showMessage(tr("Cannot search, objects must be updated!")); 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(); iter.value()->update();
} }
ui_->label_nfeatures->setNum((int)findObject_->sceneKeypoints().size()); ui_->label_nfeatures->setNum((int)info.sceneKeypoints_.size());
ui_->imageView_source->update(); ui_->imageView_source->update();
ui_->label_detectorDescriptorType->setText(QString("%1/%2").arg(Settings::currentDetectorType()).arg(Settings::currentDescriptorType())); 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_->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())); int refreshRate = qRound(1000.0f/float(updateRate_.restart()));
if(refreshRate > 0 && refreshRate < lowestRefreshRate_) if(refreshRate > 0 && refreshRate < lowestRefreshRate_)
{ {
@ -1200,7 +1201,7 @@ void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
ui_->label_timeRefreshRate->setVisible(false); ui_->label_timeRefreshRate->setVisible(false);
} }
ui_->actionCamera_from_video_file->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())); 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()); ui_->actionCamera_from_TCP_IP->setChecked(Settings::getCamera_6useTcpCamera());
} }

7
src/ObjSignature.h
View File

@ -15,9 +15,10 @@
class ObjSignature { class ObjSignature {
public: public:
ObjSignature(int id, const cv::Mat & image) : ObjSignature(int id, const cv::Mat & image, const QString & filename) :
id_(id), id_(id),
image_(image) image_(image),
filename_(filename)
{} {}
virtual ~ObjSignature() {} virtual ~ObjSignature() {}
@ -37,6 +38,7 @@ public:
QRect rect() const {return QRect(0,0,image_.cols, image_.rows);} QRect rect() const {return QRect(0,0,image_.cols, image_.rows);}
int id() const {return id_;} int id() const {return id_;}
const QString & filename() const {return filename_;}
const cv::Mat & image() const {return image_;} const cv::Mat & image() const {return image_;}
const std::vector<cv::KeyPoint> & keypoints() const {return keypoints_;} const std::vector<cv::KeyPoint> & keypoints() const {return keypoints_;}
const cv::Mat & descriptors() const {return descriptors_;} const cv::Mat & descriptors() const {return descriptors_;}
@ -47,6 +49,7 @@ public:
private: private:
int id_; int id_;
cv::Mat image_; cv::Mat image_;
QString filename_;
std::vector<cv::KeyPoint> keypoints_; std::vector<cv::KeyPoint> keypoints_;
cv::Mat descriptors_; cv::Mat descriptors_;
QMultiMap<int, int> words_; // <word id, keypoint indexes> QMultiMap<int, int> words_; // <word id, keypoint indexes>

35
src/TcpServer.cpp
View File

@ -53,38 +53,23 @@ quint16 TcpServer::getPort() const
return this->serverPort(); 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*>(); QList<QTcpSocket*> clients = this->findChildren<QTcpSocket*>();
if(clients.size()) if(clients.size())
{ {
QVector<float> data(objects.size()*12); QByteArray block;
int i=0; QDataStream out(&block, QIODevice::WriteOnly);
for(QMultiMap<int, QPair<QRect, QTransform> >::const_iterator iter=objects.constBegin(); iter!=objects.constEnd(); ++iter) out.setVersion(QDataStream::Qt_4_0);
{ out << (quint16)0;
data[i++] = iter.key();
data[i++] = iter.value().first.width(); out << info;
data[i++] = iter.value().first.height();
data[i++] = iter.value().second.m11(); out.device()->seek(0);
data[i++] = iter.value().second.m12(); out << (quint16)(block.size() - sizeof(quint16));
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();
}
for(QList<QTcpSocket*>::iterator iter = clients.begin(); iter!=clients.end(); ++iter) 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); (*iter)->write(block);
} }
} }

4
src/utilite/ULogger.cpp
View File

@ -53,13 +53,13 @@ bool ULogger::printWhereFullPath_ = false;
bool ULogger::limitWhereLength_ = false; bool ULogger::limitWhereLength_ = false;
bool ULogger::buffered_ = false; bool ULogger::buffered_ = false;
bool ULogger::exitingState_ = 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::exitLevel_ = kFatal;
ULogger::Level ULogger::eventLevel_ = kFatal; ULogger::Level ULogger::eventLevel_ = kFatal;
const char * ULogger::levelName_[5] = {"DEBUG", " INFO", " WARN", "ERROR", "FATAL"}; const char * ULogger::levelName_[5] = {"DEBUG", " INFO", " WARN", "ERROR", "FATAL"};
ULogger* ULogger::instance_ = 0; ULogger* ULogger::instance_ = 0;
UDestroyer<ULogger> ULogger::destroyer_; UDestroyer<ULogger> ULogger::destroyer_;
ULogger::Type ULogger::type_ = ULogger::kTypeNoLog; // Default nothing ULogger::Type ULogger::type_ = ULogger::kTypeConsole;
UMutex ULogger::loggerMutex_; UMutex ULogger::loggerMutex_;
const std::string ULogger::kDefaultLogFileName = "./ULog.txt"; const std::string ULogger::kDefaultLogFileName = "./ULog.txt";
std::string ULogger::logFileName_; std::string ULogger::logFileName_;

2
tools/CMakeLists.txt
View File

@ -1,4 +1,4 @@
ADD_SUBDIRECTORY( tcpObjectsClient ) ADD_SUBDIRECTORY( tcpClient )
ADD_SUBDIRECTORY( tcpImagesServer ) ADD_SUBDIRECTORY( tcpImagesServer )
ADD_SUBDIRECTORY( tcpRequest ) ADD_SUBDIRECTORY( tcpRequest )
ADD_SUBDIRECTORY( similarity ) ADD_SUBDIRECTORY( similarity )

0
tools/tcpObjectsClient/CMakeLists.txt → tools/tcpClient/CMakeLists.txt
View File

0
tools/tcpObjectsClient/TcpClient.cpp → tools/tcpClient/TcpClient.cpp
View File

0
tools/tcpObjectsClient/TcpClient.h → tools/tcpClient/TcpClient.h
View File

0
tools/tcpObjectsClient/main.cpp → tools/tcpClient/main.cpp
View File

12
tools/tcpRequest/CMakeLists.txt
View File

@ -25,18 +25,6 @@ SET(LIBRARIES
${QT_LIBRARIES} ${QT_LIBRARIES}
) )
IF(JSONCPP_FOUND)
SET(INCLUDE_DIRS
${INCLUDE_DIRS}
${JSONCPP_INCLUDE_DIRS}
)
SET(LIBRARIES
${LIBRARIES}
${JSONCPP_LIBRARIES}
)
ADD_DEFINITIONS("-DWITH_JSONCPP")
ENDIF(JSONCPP_FOUND)
# Make sure the compiler can find include files from our library. # Make sure the compiler can find include files from our library.
INCLUDE_DIRECTORIES(${INCLUDE_DIRS}) INCLUDE_DIRECTORIES(${INCLUDE_DIRS})

19
tools/tcpRequest/TcpResponse.cpp
View File

@ -44,24 +44,7 @@ void TcpResponse::readReceivedData()
blockSize_ = 0; blockSize_ = 0;
QVector<float> data; in >> info_;
in >> data;
objectsDetected_.clear();
for(int i=0; i<data.size(); i+=12)
{
// get data
int id = (int)data[i];
float width = data[i+1];
float height = data[i+2];
// Find corners Qt
QTransform homography(data[i+3], data[i+4], data[i+5],
data[i+6], data[i+7], data[i+8],
data[i+9], data[i+10], data[i+11]);
objectsDetected_.insert(id, QPair<QRect, QTransform>(QRect(0,0,width, height), homography));
}
dataReceived_ = true; dataReceived_ = true;
Q_EMIT detectionReceived(); Q_EMIT detectionReceived();

6
tools/tcpRequest/TcpResponse.h
View File

@ -8,6 +8,8 @@
#ifndef TCPRESPONSE_H_ #ifndef TCPRESPONSE_H_
#define TCPRESPONSE_H_ #define TCPRESPONSE_H_
#include "find_object/DetectionInfo.h"
#include <QtNetwork/QTcpSocket> #include <QtNetwork/QTcpSocket>
#include <QtCore/QMultiMap> #include <QtCore/QMultiMap>
#include <QtGui/QTransform> #include <QtGui/QTransform>
@ -18,7 +20,7 @@ class TcpResponse : public QTcpSocket
Q_OBJECT; Q_OBJECT;
public: public:
TcpResponse(QObject * parent = 0); TcpResponse(QObject * parent = 0);
const QMultiMap<int, QPair<QRect, QTransform> > & objectsDetected() const {return objectsDetected_;} const DetectionInfo & info() const {return info_;}
bool dataReceived() const {return dataReceived_;} bool dataReceived() const {return dataReceived_;}
private Q_SLOTS: private Q_SLOTS:
@ -31,7 +33,7 @@ Q_SIGNALS:
private: private:
quint16 blockSize_; quint16 blockSize_;
QMultiMap<int, QPair<QRect, QTransform> > objectsDetected_; DetectionInfo info_;
bool dataReceived_; bool dataReceived_;
}; };

111
tools/tcpRequest/main.cpp
View File

@ -11,10 +11,7 @@
#include <QtCore/QTime> #include <QtCore/QTime>
#include <opencv2/opencv.hpp> #include <opencv2/opencv.hpp>
#include "TcpResponse.h" #include "TcpResponse.h"
#include "find_object/JsonWriter.h"
#ifdef WITH_JSONCPP
#include <jsoncpp/json/writer.h>
#endif
void showUsage() void showUsage()
{ {
@ -22,67 +19,12 @@ void showUsage()
" \"out\" is the port to which the image is sent.\n" " \"out\" is the port to which the image is sent.\n"
" \"in\" is the port from which the detection is received.\n" " \"in\" is the port from which the detection is received.\n"
" Options:\n" " Options:\n"
" --host #.#.#.# Set host address.\n" " --host #.#.#.# Set host address.\n");
#ifdef WITH_JSONCPP if(JsonWriter::available())
" --json \"path\" Path to an output JSON file.\n"
#endif
);
exit(-1);
}
void writeJSON(const QMultiMap<int, QPair<QRect, QTransform> > & objectsDetected, const QString & path)
{
#ifdef WITH_JSONCPP
if(!path.isEmpty())
{ {
Json::Value root; printf(" --json \"path\" Path to an output JSON file.\n");
Json::Value detections;
if(objectsDetected.size())
{
for(QMultiMap<int,QPair<QRect,QTransform> >::const_iterator iter = objectsDetected.constBegin();
iter!= objectsDetected.end();)
{
char index = 'a';
QMultiMap<int,QPair<QRect,QTransform> >::const_iterator jter = iter;
for(;jter != objectsDetected.constEnd() && jter.key() == iter.key(); ++jter)
{
QString name = QString("object_%1%2").arg(jter.key()).arg(objectsDetected.count(jter.key())>1?QString(index++):"");
detections.append(name.toStdString());
Json::Value homography;
homography.append(jter.value().second.m11());
homography.append(jter.value().second.m12());
homography.append(jter.value().second.m13());
homography.append(jter.value().second.m21());
homography.append(jter.value().second.m22());
homography.append(jter.value().second.m23());
homography.append(jter.value().second.m31()); // dx
homography.append(jter.value().second.m32()); // dy
homography.append(jter.value().second.m33());
root[name.toStdString()]["width"] = jter.value().first.width();
root[name.toStdString()]["height"] = jter.value().first.height();
root[name.toStdString()]["homography"] = homography;
}
iter = jter;
}
}
root["objects"] = detections;
// 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();
printf("JSON written to \"%s\"\n", path.toStdString().c_str());
} }
#else exit(-1);
printf("Not built with JSON support!\n");
#endif
} }
int main(int argc, char * argv[]) int main(int argc, char * argv[])
@ -123,20 +65,6 @@ int main(int argc, char * argv[])
} }
continue; continue;
} }
if(strcmp(argv[i], "--json") == 0 || strcmp(argv[i], "-json") == 0)
{
++i;
if(i < argc)
{
jsonPath = argv[i];
}
else
{
printf("error parsing --json\n");
showUsage();
}
continue;
}
if(strcmp(argv[i], "--out") == 0 || strcmp(argv[i], "-out") == 0) if(strcmp(argv[i], "--out") == 0 || strcmp(argv[i], "-out") == 0)
{ {
++i; ++i;
@ -166,6 +94,24 @@ int main(int argc, char * argv[])
continue; continue;
} }
if(JsonWriter::available())
{
if(strcmp(argv[i], "--json") == 0 || strcmp(argv[i], "-json") == 0)
{
++i;
if(i < argc)
{
jsonPath = argv[i];
}
else
{
printf("error parsing --json\n");
showUsage();
}
continue;
}
}
printf("Unrecognized option: %s\n", argv[i]); printf("Unrecognized option: %s\n", argv[i]);
showUsage(); showUsage();
} }
@ -242,12 +188,12 @@ int main(int argc, char * argv[])
{ {
printf("Response received! (%d ms)\n", time.elapsed()); printf("Response received! (%d ms)\n", time.elapsed());
// print detected objects // print detected objects
if(response.objectsDetected().size()) if(response.info().objDetected_.size())
{ {
QList<int> ids = response.objectsDetected().uniqueKeys(); QList<int> ids = response.info().objDetected_.uniqueKeys();
for(int i=0; i<ids.size(); ++i) for(int i=0; i<ids.size(); ++i)
{ {
int count = response.objectsDetected().count(ids[i]); int count = response.info().objDetected_.count(ids[i]);
if(count == 1) if(count == 1)
{ {
printf("Object %d detected.\n", ids[i]); printf("Object %d detected.\n", ids[i]);
@ -263,9 +209,10 @@ int main(int argc, char * argv[])
printf("No objects detected.\n"); printf("No objects detected.\n");
} }
// write json // write json
if(!jsonPath.isEmpty()) if(!jsonPath.isEmpty() && JsonWriter::available())
{ {
writeJSON(response.objectsDetected(), jsonPath); JsonWriter::write(response.info(), jsonPath);
printf("JSON written to \"%s\"\n", jsonPath.toStdString().c_str());
} }
} }
else else