Added wordID in shown keypoint info, improved fixed vocabulary behavior

src/AddObjectDialog.cpp

@@ -316,7 +316,8 @@ void AddObjectDialog::setState(int state)
 				selectedKeypoints.clear();
 				detector_->detect(imgRoi, selectedKeypoints);
 			}
-			ui_->objectView->setData(selectedKeypoints, cvtCvMat2QImage(imgRoi.clone()));
+			ui_->objectView->updateImage(cvtCvMat2QImage(imgRoi.clone()));
+			ui_->objectView->updateData(selectedKeypoints, QMultiMap<int,int>());
 			ui_->objectView->setMinimumSize(roi_.width, roi_.height);
 			ui_->objectView->update();
 			ui_->pushButton_next->setEnabled(true);
@@ -359,7 +360,7 @@ void AddObjectDialog::setState(int state)
 			}
 			objSignature_ = new ObjSignature(0, imgRoi.clone(), "");
 			objSignature_->setData(keypoints, descriptors);
-			objWidget_ = new ObjWidget(0, keypoints, cvtCvMat2QImage(imgRoi.clone()));
+			objWidget_ = new ObjWidget(0, keypoints, QMultiMap<int,int>(), cvtCvMat2QImage(imgRoi.clone()));
 
 			this->accept();
 		}
@@ -385,7 +386,8 @@ void AddObjectDialog::update(const cv::Mat & image)
 		std::vector<cv::KeyPoint> keypoints;
 		detector_->detect(cameraImage_, keypoints);
 
-		ui_->cameraView->setData(keypoints, cvtCvMat2QImage(cameraImage_));
+		ui_->cameraView->updateImage(cvtCvMat2QImage(cameraImage_));
+		ui_->cameraView->updateData(keypoints, QMultiMap<int,int>());
 		ui_->cameraView->update();
 	}
 	else

src/FindObject.cpp

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "find_object/FindObject.h"
 #include "find_object/Settings.h"
 #include "find_object/utilite/ULogger.h"
+#include "utilite/UConversion.h"
 
 #include "ObjSignature.h"
 #include "utilite/UDirectory.h"
@@ -144,12 +145,12 @@ bool FindObject::saveSession(const QString & path)
 
 int FindObject::loadObjects(const QString & dirPath, bool recursive)
 {
-	int loadedObjects = 0;
 	QString formats = Settings::getGeneral_imageFormats().remove('*').remove('.');
 
 	QStringList paths;
 	paths.append(dirPath);
 
+	QList<int> idsLoaded;
 	while(paths.size())
 	{
 		QString currentDir = paths.front();
@@ -159,9 +160,10 @@ int FindObject::loadObjects(const QString & dirPath, bool recursive)
 			const std::list<std::string> & names = dir.getFileNames(); // sorted in natural order
 			for(std::list<std::string>::const_iterator iter=names.begin(); iter!=names.end(); ++iter)
 			{
-				if(this->addObject((currentDir.toStdString()+dir.separator()+*iter).c_str()))
+				const ObjSignature * s = this->addObject((currentDir.toStdString()+dir.separator()+*iter).c_str());
+				if(s)
 				{
-					++loadedObjects;
+					idsLoaded.push_back(s->id());
 				}
 			}
 		}
@@ -179,13 +181,13 @@ int FindObject::loadObjects(const QString & dirPath, bool recursive)
 		}
 	}
 
-	if(loadedObjects)
+	if(idsLoaded.size())
 	{
-		this->updateObjects();
-		this->updateVocabulary();
+		this->updateObjects(idsLoaded);
+		this->updateVocabulary(idsLoaded);
 	}
 
-	return loadedObjects;
+	return idsLoaded.size();
 }
 
 const ObjSignature * FindObject::addObject(const QString & filePath)
@@ -279,7 +281,7 @@ void FindObject::addObjectAndUpdate(const cv::Mat & image, int id, const QString
 		QList<int> ids;
 		ids.push_back(s->id());
 		updateObjects(ids);
-		updateVocabulary();
+		updateVocabulary(ids);
 	}
 }
 
@@ -739,14 +741,38 @@ void FindObject::clearVocabulary()
 	vocabulary_->clear();
 }
 
-void FindObject::updateVocabulary()
+void FindObject::updateVocabulary(const QList<int> & ids)
 {
-	clearVocabulary();
 	int count = 0;
 	int dim = -1;
 	int type = -1;
+	QList<ObjSignature*> objectsList;
+	if(ids.size())
+	{
+		for(int i=0; i<ids.size(); ++i)
+		{
+			if(objects_.contains(ids[i]))
+			{
+				objectsList.push_back(objects_[ids[i]]);
+			}
+			else
+			{
+				UERROR("Not found object %d!", ids[i]);
+			}
+		}
+		if(vocabulary_->size())
+		{
+			dim = vocabulary_->dim();
+			type = vocabulary_->type();
+		}
+	}
+	else
+	{
+		clearVocabulary();
+		objectsList = objects_.values();
+	}
+
 	// Get the total size and verify descriptors
-	QList<ObjSignature*> objectsList = objects_.values();
 	for(int i=0; i<objectsList.size(); ++i)
 	{
 		if(!objectsList.at(i)->descriptors().empty())
@@ -774,94 +800,119 @@ void FindObject::updateVocabulary()
 	{
 		UINFO("Updating global descriptors matrix: Objects=%d, total descriptors=%d, dim=%d, type=%d",
 				(int)objects_.size(), count, dim, type);
-		if(Settings::getGeneral_invertedSearch() || Settings::getGeneral_threads() == 1)
+		if(!Settings::getGeneral_invertedSearch())
 		{
-			// If only one thread, put all descriptors in the same cv::Mat
-			objectsDescriptors_.insert(0, cv::Mat(count, dim, type));
-			int row = 0;
-			for(int i=0; i<objectsList.size(); ++i)
+			if(Settings::getGeneral_threads() == 1)
 			{
-				if(objectsList.at(i)->descriptors().rows)
+				// If only one thread, put all descriptors in the same cv::Mat
+				int row = 0;
+				bool vocabularyEmpty = objectsDescriptors_.size() == 0;
+				if(vocabularyEmpty)
 				{
-					cv::Mat dest(objectsDescriptors_.begin().value(), cv::Range(row, row+objectsList.at(i)->descriptors().rows));
-					objectsList.at(i)->descriptors().copyTo(dest);
-					row += objectsList.at(i)->descriptors().rows;
-					// dataRange contains the upper_bound for each
-					// object (the last descriptors position in the
-					// global object descriptors matrix)
+					UASSERT(objectsDescriptors_.size() == 0);
+					objectsDescriptors_.insert(0, cv::Mat(count, dim, type));
+				}
+				else
+				{
+					row = objectsDescriptors_.begin().value().rows;
+				}
+				for(int i=0; i<objectsList.size(); ++i)
+				{
+					objectsList[i]->setWords(QMultiMap<int,int>());
 					if(objectsList.at(i)->descriptors().rows)
 					{
-						dataRange_.insert(row-1, objectsList.at(i)->id());
+						if(vocabularyEmpty)
+						{
+							cv::Mat dest(objectsDescriptors_.begin().value(), cv::Range(row, row+objectsList.at(i)->descriptors().rows));
+							objectsList.at(i)->descriptors().copyTo(dest);
+						}
+						else
+						{
+							UASSERT_MSG(objectsDescriptors_.begin().value().cols == objectsList.at(i)->descriptors().cols,
+									uFormat("%d vs %d", objectsDescriptors_.begin().value().cols, objectsList.at(i)->descriptors().cols).c_str());
+							UASSERT(objectsDescriptors_.begin().value().type() == objectsList.at(i)->descriptors().type());
+							objectsDescriptors_.begin().value().push_back(objectsList.at(i)->descriptors());
+						}
+
+						row += objectsList.at(i)->descriptors().rows;
+						// dataRange contains the upper_bound for each
+						// object (the last descriptors position in the
+						// global object descriptors matrix)
+						if(objectsList.at(i)->descriptors().rows)
+						{
+							dataRange_.insert(row-1, objectsList.at(i)->id());
+						}
 					}
 				}
 			}
-
-			if(Settings::getGeneral_invertedSearch())
+			else
 			{
-				sessionModified_ = true;
-				QTime time;
-				time.start();
-				bool incremental = Settings::getGeneral_vocabularyIncremental() && !Settings::getGeneral_vocabularyFixed();
-				if(incremental)
-				{
-					UINFO("Creating incremental vocabulary...");
-				}
-				else if(Settings::getGeneral_vocabularyFixed())
-				{
-					UINFO("Updating vocabulary correspondences only (vocabulary is fixed)...");
-				}
-				else
-				{
-					UINFO("Creating vocabulary...");
-				}
-				QTime localTime;
-				localTime.start();
-				int updateVocabularyMinWords = Settings::getGeneral_vocabularyUpdateMinWords();
-				int addedWords = 0;
 				for(int i=0; i<objectsList.size(); ++i)
 				{
-					QMultiMap<int, int> words = vocabulary_->addWords(objectsList[i]->descriptors(), objectsList.at(i)->id());
-					objectsList[i]->setWords(words);
-					addedWords += words.uniqueKeys().size();
-					bool updated = false;
-					if(incremental && addedWords && addedWords >= updateVocabularyMinWords)
-					{
-						vocabulary_->update();
-						addedWords = 0;
-						updated = true;
-					}
-					UINFO("Object %d, %d words from %d descriptors (%d words, %d ms) %s",
-							objectsList[i]->id(),
-							words.uniqueKeys().size(),
-							objectsList[i]->descriptors().rows,
-							vocabulary_->size(),
-							localTime.restart(),
-							updated?"updated":"");
-				}
-				if(addedWords && !Settings::getGeneral_vocabularyFixed())
-				{
-					vocabulary_->update();
-				}
-
-				if(incremental)
-				{
-					UINFO("Creating incremental vocabulary... done! size=%d (%d ms)", vocabulary_->size(), time.elapsed());
-				}
-				else if(Settings::getGeneral_vocabularyFixed())
-				{
-					UINFO("Updating vocabulary correspondences only (vocabulary is fixed)... done! size=%d (%d ms)", time.elapsed());
-				}
-				else
-				{
-					UINFO("Creating vocabulary... done! size=%d (%d ms)", vocabulary_->size(), time.elapsed());
+					objectsList[i]->setWords(QMultiMap<int,int>());
+					objectsDescriptors_.insert(objectsList.at(i)->id(), objectsList.at(i)->descriptors());
 				}
 			}
 		}
 		else
 		{
+			// Inverted index on (vocabulary)
+			sessionModified_ = true;
+			QTime time;
+			time.start();
+			bool incremental = Settings::getGeneral_vocabularyIncremental() && !Settings::getGeneral_vocabularyFixed();
+			if(incremental)
+			{
+				UINFO("Creating incremental vocabulary...");
+			}
+			else if(Settings::getGeneral_vocabularyFixed())
+			{
+				UINFO("Updating vocabulary correspondences only (vocabulary is fixed)...");
+			}
+			else
+			{
+				UINFO("Creating vocabulary...");
+			}
+			QTime localTime;
+			localTime.start();
+			int updateVocabularyMinWords = Settings::getGeneral_vocabularyUpdateMinWords();
+			int addedWords = 0;
 			for(int i=0; i<objectsList.size(); ++i)
 			{
-				objectsDescriptors_.insert(objectsList.at(i)->id(), objectsList.at(i)->descriptors());
+				QMultiMap<int, int> words = vocabulary_->addWords(objectsList[i]->descriptors(), objectsList.at(i)->id());
+				objectsList[i]->setWords(words);
+				addedWords += words.uniqueKeys().size();
+				bool updated = false;
+				if(incremental && addedWords && addedWords >= updateVocabularyMinWords)
+				{
+					vocabulary_->update();
+					addedWords = 0;
+					updated = true;
+				}
+				UINFO("Object %d, %d words from %d descriptors (%d words, %d ms) %s",
+						objectsList[i]->id(),
+						words.uniqueKeys().size(),
+						objectsList[i]->descriptors().rows,
+						vocabulary_->size(),
+						localTime.restart(),
+						updated?"updated":"");
+			}
+			if(addedWords && !Settings::getGeneral_vocabularyFixed())
+			{
+				vocabulary_->update();
+			}
+
+			if(incremental)
+			{
+				UINFO("Creating incremental vocabulary... done! size=%d (%d ms)", vocabulary_->size(), time.elapsed());
+			}
+			else if(Settings::getGeneral_vocabularyFixed())
+			{
+				UINFO("Updating vocabulary correspondences only (vocabulary is fixed)... done! size=%d (%d ms)", vocabulary_->size(), time.elapsed());
+			}
+			else
+			{
+				UINFO("Creating vocabulary... done! size=%d (%d ms)", vocabulary_->size(), time.elapsed());
 			}
 		}
 	}
@@ -1202,6 +1253,7 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
 				words = vocabulary_->addWords(info.sceneDescriptors_, -1);
 				vocabulary_->update();
 				info.timeStamps_.insert(DetectionInfo::kTimeIndexing, time.restart());
+				info.sceneWords_ = words;
 			}
 
 			for(QMap<int, ObjSignature*>::iterator iter=objects_.begin(); iter!=objects_.end(); ++iter)
@@ -1274,9 +1326,10 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
 
 					if(matched)
 					{
+						int wordId = results.at<int>(i,0);
 						if(Settings::getGeneral_invertedSearch())
 						{
-							int wordId = results.at<int>(i,0);
+							info.sceneWords_.insertMulti(wordId, i);
 							QList<int> objIds = vocabulary_->wordToObjects().values(wordId);
 							for(int j=0; j<objIds.size(); ++j)
 							{
@@ -1294,7 +1347,6 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
 							int fisrtObjectDescriptorIndex = (iter == dataRange_.begin())?0:(--iter).key()+1;
 							int objectDescriptorIndex = i - fisrtObjectDescriptorIndex;
 
-							int wordId = results.at<int>(i,0);
 							if(words.count(wordId) == 1)
 							{
 								info.matches_.find(objectId).value().insert(objectDescriptorIndex, words.value(wordId));

src/KeypointItem.cpp

@@ -33,11 +33,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 namespace find_object {
 
-KeypointItem::KeypointItem(int id, qreal x, qreal y, int r, const QString & info, const QColor & color, QGraphicsItem * parent) :
+KeypointItem::KeypointItem(int id, qreal x, qreal y, int r, const cv::KeyPoint & kpt, int wordID, const QColor & color, QGraphicsItem * parent) :
 	QGraphicsEllipseItem(x, y, r, r, parent),
-	info_(info),
 	placeHolder_(0),
-	id_(id)
+	id_(id),
+	kpt_(kpt),
+	wordID_(wordID)
 {
 	this->setPen(QPen(color));
 	this->setBrush(QBrush(color));
@@ -70,13 +71,21 @@ void KeypointItem::showDescription()
 	{
 		if(!placeHolder_)
 		{
+			QString info = QString( "Keypoint = %1\n"
+									"Word = %2\n"
+									"Response = %3\n"
+									"Angle = %4\n"
+									"X = %5\n"
+									"Y = %6\n"
+									"Size = %7").arg(id_).arg(wordID_).arg(kpt_.response).arg(kpt_.angle).arg(kpt_.pt.x).arg(kpt_.pt.y).arg(kpt_.size);
+
 			placeHolder_ = new QGraphicsRectItem();
 			placeHolder_->setVisible(false);
 			this->scene()->addItem(placeHolder_);
 			placeHolder_->setBrush(QBrush(QColor ( 0, 0, 0, 170 ))); // Black transparent background
 			QGraphicsTextItem * text = new QGraphicsTextItem(placeHolder_);
 			text->setDefaultTextColor(this->pen().color().rgb());
-			text->setPlainText(info_);
+			text->setPlainText(info);
 			placeHolder_->setRect(text->boundingRect());
 		}
 

src/KeypointItem.h

@@ -32,16 +32,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtGui/QGraphicsTextItem>
 #include <QtGui/QPen>
 #include <QtGui/QBrush>
+#include <opencv2/features2d/features2d.hpp>
 
 namespace find_object {
 
 class KeypointItem : public QGraphicsEllipseItem
 {
 public:
-	KeypointItem(int id, qreal x, qreal y, int r, const QString & info, const QColor & color = Qt::green, QGraphicsItem * parent = 0);
+	KeypointItem(int id, qreal x, qreal y, int r, const cv::KeyPoint & kpt, int wordID = -1, const QColor & color = Qt::green, QGraphicsItem * parent = 0);
 	virtual ~KeypointItem();
 
 	void setColor(const QColor & color);
+	void setWordID(int id) {wordID_ = id;}
 	int id() const {return id_;}
 
 protected:
@@ -55,9 +57,10 @@ private:
 	void hideDescription();
 
 private:
-	QString info_;
 	QGraphicsRectItem * placeHolder_;
 	int id_;
+	cv::KeyPoint kpt_;
+	int wordID_;
 };
 
 } // namespace find_object

src/MainWindow.cpp

@@ -183,7 +183,7 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
 
 	//buttons
 	connect(ui_->pushButton_restoreDefaults, SIGNAL(clicked()), ui_->toolBox, SLOT(resetCurrentPage()));
-	connect(ui_->pushButton_updateObjects, SIGNAL(clicked()), this, SLOT(updateObjects()));
+	connect(ui_->pushButton_updateObjects, SIGNAL(clicked()), this, SLOT(updateObjects(const QList<int> &)));
 	connect(ui_->horizontalSlider_objectsSize, SIGNAL(valueChanged(int)), this, SLOT(updateObjectsSize()));
 
 	ui_->actionStop_camera->setEnabled(false);
@@ -247,7 +247,7 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
 			iter!=findObject_->objects().constEnd();
 			++iter)
 		{
-			ObjWidget * obj = new ObjWidget(iter.key(), iter.value()->keypoints(), cvtCvMat2QImage(iter.value()->image()));
+			ObjWidget * obj = new ObjWidget(iter.key(), iter.value()->keypoints(), iter.value()->words(), cvtCvMat2QImage(iter.value()->image()));
 			objWidgets_.insert(obj->id(), obj);
 			this->showObject(obj);
 		}
@@ -366,7 +366,7 @@ void MainWindow::loadSession()
 			{
 				if(iter.value())
 				{
-					ObjWidget * obj = new ObjWidget(iter.key(), iter.value()->keypoints(), cvtCvMat2QImage(iter.value()->image()));
+					ObjWidget * obj = new ObjWidget(iter.key(), iter.value()->keypoints(), iter.value()->words(), cvtCvMat2QImage(iter.value()->image()));
 					objWidgets_.insert(obj->id(), obj);
 					ui_->actionSave_objects->setEnabled(true);
 					ui_->actionSave_session->setEnabled(true);
@@ -714,7 +714,9 @@ void MainWindow::addObjectFromScene()
 		ui_->actionSave_objects->setEnabled(true);
 		ui_->actionSave_session->setEnabled(true);
 		showObject(obj);
-		updateVocabulary();
+		QList<int> ids;
+		ids.push_back(obj->id());
+		updateVocabulary(ids);
 		objectsModified_ = true;
 	}
 	if(resumeCamera || sceneImage_.empty())
@@ -764,7 +766,7 @@ int MainWindow::addObjectFromFile(const QString & filePath)
 	const ObjSignature * s = findObject_->addObject(filePath);
 	if(s)
 	{
-		ObjWidget * obj = new ObjWidget(s->id(), std::vector<cv::KeyPoint>(), cvtCvMat2QImage(s->image()));
+		ObjWidget * obj = new ObjWidget(s->id(), std::vector<cv::KeyPoint>(), QMultiMap<int,int>(), cvtCvMat2QImage(s->image()));
 		objWidgets_.insert(obj->id(), obj);
 		ui_->actionSave_objects->setEnabled(true);
 		ui_->actionSave_session->setEnabled(true);
@@ -787,7 +789,7 @@ void MainWindow::addObjectFromTcp(const cv::Mat & image, int id, const QString &
 	const ObjSignature * s = findObject_->addObject(image, id, filePath);
 	if(s)
 	{
-		ObjWidget * obj = new ObjWidget(s->id(), std::vector<cv::KeyPoint>(), cvtCvMat2QImage(s->image()));
+		ObjWidget * obj = new ObjWidget(s->id(), std::vector<cv::KeyPoint>(), QMultiMap<int,int>(), cvtCvMat2QImage(s->image()));
 		objWidgets_.insert(obj->id(), obj);
 		ui_->actionSave_objects->setEnabled(true);
 		ui_->actionSave_session->setEnabled(true);
@@ -977,21 +979,24 @@ void MainWindow::showObject(ObjWidget * obj)
 
 void MainWindow::updateObjects(const QList<int> & ids)
 {
-	if(ids.size())
+	if(objWidgets_.size())
 	{
-		this->statusBar()->showMessage(tr("Updating %1 objects...").arg(ids.size()));
+		this->statusBar()->showMessage(tr("Updating %1 objects...").arg(ids.size()==0?objWidgets_.size():ids.size()));
 
 		findObject_->updateObjects(ids);
 
-		updateVocabulary();
+		QList<int> idsTmp = ids;
+		if(idsTmp.size() == 0)
+		{
+			idsTmp = objWidgets_.keys();
+		}
 
 		QList<ObjSignature*> signatures = findObject_->objects().values();
 		for(int i=0; i<signatures.size(); ++i)
 		{
-			if(ids.contains(signatures[i]->id()))
+			if(idsTmp.contains(signatures[i]->id()))
 			{
-				QImage qtImage = cvtCvMat2QImage(signatures[i]->image());
-				objWidgets_.value(signatures[i]->id())->setData(signatures[i]->keypoints(), qtImage, signatures[i]->rect());
+				objWidgets_.value(signatures[i]->id())->updateData(signatures[i]->keypoints());
 
 				//update object labels
 				QLabel * title = qFindChild<QLabel*>(this, QString("%1title").arg(signatures[i]->id()));
@@ -999,6 +1004,8 @@ void MainWindow::updateObjects(const QList<int> & ids)
 			}
 		}
 
+		updateVocabulary(ids);
+
 		if(!camera_->isRunning() && !sceneImage_.empty())
 		{
 			this->update(sceneImage_);
@@ -1007,23 +1014,34 @@ void MainWindow::updateObjects(const QList<int> & ids)
 	}
 }
 
-void MainWindow::updateObjects()
-{
-	updateObjects(objWidgets_.keys());
-}
-
-void MainWindow::updateVocabulary()
+void MainWindow::updateVocabulary(const QList<int> & ids)
 {
 	this->statusBar()->showMessage(tr("Updating vocabulary..."));
 
 	QTime time;
 	time.start();
-	findObject_->updateVocabulary();
+	findObject_->updateVocabulary(ids);
 
-	if(findObject_->vocabulary()->size())
+	QList<int> idsTmp = ids;
+	if(idsTmp.size() == 0)
 	{
-		ui_->label_timeIndexing->setNum(time.elapsed());
-		ui_->label_vocabularySize->setNum(findObject_->vocabulary()->size());
+		idsTmp = objWidgets_.keys();
+	}
+	QList<ObjSignature*> signatures = findObject_->objects().values();
+	for(int i=0; i<signatures.size(); ++i)
+	{
+		if(idsTmp.contains(signatures[i]->id()))
+		{
+			objWidgets_.value(signatures[i]->id())->updateWords(signatures[i]->words());
+		}
+	}
+
+	ui_->label_timeIndexing->setNum(time.elapsed());
+	ui_->label_vocabularySize->setNum(findObject_->vocabulary()->size());
+	if(ids.size() && findObject_->vocabulary()->size() == 0 && Settings::getGeneral_vocabularyFixed() && Settings::getGeneral_invertedSearch())
+	{
+		QMessageBox::warning(this, tr("Vocabulary update"), tr("\"General/VocabularyFixed=true\" and the "
+				"vocabulary is empty. New features cannot be matched to any words in the vocabulary."));
 	}
 	lastObjectsUpdateParameters_ = Settings::getParameters();
 	this->statusBar()->clearMessage();
@@ -1172,6 +1190,10 @@ void MainWindow::update(const cv::Mat & image)
 	for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
 	{
 		iter.value()->resetKptsColor();
+		if(!Settings::getGeneral_invertedSearch())
+		{
+			iter.value()->resetKptsWordID();
+		}
 	}
 
 	QTime guiRefreshTime;
@@ -1184,7 +1206,8 @@ void MainWindow::update(const cv::Mat & image)
 		ui_->label_timeSkewAffine->setNum(info.timeStamps_.value(DetectionInfo::kTimeSkewAffine, 0));
 		ui_->label_timeExtraction->setNum(info.timeStamps_.value(DetectionInfo::kTimeDescriptorExtraction, 0));
 		ui_->label_timeSubPix->setNum(info.timeStamps_.value(DetectionInfo::kTimeSubPixelRefining, 0));
-		ui_->imageView_source->setData(info.sceneKeypoints_, cvtCvMat2QImage(sceneImage_));
+		ui_->imageView_source->updateImage(cvtCvMat2QImage(sceneImage_));
+		ui_->imageView_source->updateData(info.sceneKeypoints_, info.sceneWords_);
 		if(!findObject_->vocabulary()->size())
 		{
 			ui_->label_timeIndexing->setNum(info.timeStamps_.value(DetectionInfo::kTimeIndexing, 0));
@@ -1221,6 +1244,10 @@ void MainWindow::update(const cv::Mat & image)
 				{
 					obj->setKptColor(iter.key(), obj->color());
 					ui_->imageView_source->setKptColor(iter.value(), obj->color());
+					if(!Settings::getGeneral_invertedSearch())
+					{
+						obj->setKptWordID(iter.key(), ui_->imageView_source->words().value(iter.value(), -1));
+					}
 				}
 			}
 			else if(!info.objDetected_.contains(id))
@@ -1263,6 +1290,8 @@ void MainWindow::update(const cv::Mat & image)
 		}
 
 		// Add homography rectangles when homographies are computed
+		int maxHomographyScoreId = -1;
+		int maxHomographyScore = 0;
 		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();
@@ -1270,6 +1299,13 @@ void MainWindow::update(const cv::Mat & image)
 				++iter, ++inliersIter, ++outliersIter)
 		{
 			int id = iter.key();
+
+			if(maxHomographyScoreId == -1 || maxHomographyScore < inliersIter.value().size())
+			{
+				maxHomographyScoreId = id;
+				maxHomographyScore = inliersIter.value().size();
+			}
+
 			ObjWidget * obj = objWidgets_.value(id);
 			UASSERT(obj != 0);
 
@@ -1294,6 +1330,10 @@ void MainWindow::update(const cv::Mat & image)
 			{
 				obj->setKptColor(iter.key(), obj->color());
 				ui_->imageView_source->setKptColor(iter.value(), obj->color());
+				if(!Settings::getGeneral_invertedSearch())
+				{
+					obj->setKptWordID(iter.key(), ui_->imageView_source->words().value(iter.value(), -1));
+				}
 			}
 
 			QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id));
@@ -1339,9 +1379,9 @@ void MainWindow::update(const cv::Mat & image)
 		ui_->label_maxMatchedDistance->setNum(info.maxMatchedDistance_);
 
 		//Scroll objects slider to the best score
-		if(maxScoreId>=0 && Settings::getGeneral_autoScroll())
+		if((maxScoreId>=0 || maxHomographyScoreId>=0) && Settings::getGeneral_autoScroll())
 		{
-			QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1title").arg(maxScoreId));
+			QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1title").arg(maxHomographyScoreId>=0?maxHomographyScoreId:maxScoreId));
 			if(label)
 			{
 				ui_->objects_area->verticalScrollBar()->setValue(label->pos().y());
@@ -1385,7 +1425,8 @@ void MainWindow::update(const cv::Mat & image)
 		ui_->label_timeSkewAffine->setNum(info.timeStamps_.value(DetectionInfo::kTimeSkewAffine, 0));
 		ui_->label_timeExtraction->setNum(info.timeStamps_.value(DetectionInfo::kTimeDescriptorExtraction, 0));
 		ui_->label_timeSubPix->setNum(info.timeStamps_.value(DetectionInfo::kTimeSubPixelRefining, 0));
-		ui_->imageView_source->setData(info.sceneKeypoints_, cvtCvMat2QImage(sceneImage_));
+		ui_->imageView_source->updateImage(cvtCvMat2QImage(sceneImage_));
+		ui_->imageView_source->updateData(info.sceneKeypoints_, info.sceneWords_);
 	}
 
 
@@ -1454,6 +1495,7 @@ void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
 			else if( (iter->contains("NearestNeighbor") && Settings::getGeneral_invertedSearch()) ||
 					  iter->compare(Settings::kGeneral_invertedSearch()) == 0 ||
 					  (iter->compare(Settings::kGeneral_vocabularyIncremental()) == 0 && Settings::getGeneral_invertedSearch()) ||
+					  (iter->compare(Settings::kGeneral_vocabularyFixed()) == 0 && Settings::getGeneral_invertedSearch()) ||
 					  (iter->compare(Settings::kGeneral_threads()) == 0 && !Settings::getGeneral_invertedSearch()) )
 			{
 				nearestNeighborParamsChanged = true;
@@ -1478,7 +1520,7 @@ void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
 	{
 		if(detectorDescriptorParamsChanged)
 		{
-			this->updateObjects(objWidgets_.keys());
+			this->updateObjects();
 		}
 		else if(nearestNeighborParamsChanged)
 		{

src/ObjWidget.cpp

@@ -65,7 +65,7 @@ ObjWidget::ObjWidget(QWidget * parent) :
 {
 	setupUi();
 }
-ObjWidget::ObjWidget(int id, const std::vector<cv::KeyPoint> & keypoints, const QImage & image, QWidget * parent) :
+ObjWidget::ObjWidget(int id, const std::vector<cv::KeyPoint> & keypoints, const QMultiMap<int,int> & words, const QImage & image, QWidget * parent) :
 	QWidget(parent),
 	id_(id),
 	graphicsView_(0),
@@ -74,7 +74,8 @@ ObjWidget::ObjWidget(int id, const std::vector<cv::KeyPoint> & keypoints, const
 	color_(QColor((Qt::GlobalColor)((id % 11 + 7)==Qt::yellow?Qt::gray:(id % 11 + 7))))
 {
 	setupUi();
-	this->setData(keypoints, image, image.rect());
+	this->updateImage(image);
+	this->updateData(keypoints, words);
 }
 ObjWidget::~ObjWidget()
 {
@@ -264,29 +265,42 @@ void ObjWidget::setTextLabel(const QString & text)
 	label_->setText(text);
 }
 
-void ObjWidget::setData(const std::vector<cv::KeyPoint> & keypoints, const QImage & image, const QRect & rect)
+void ObjWidget::updateImage(const QImage & image)
+{
+	pixmap_ = QPixmap::fromImage(image);
+	rect_ = pixmap_.rect();
+	label_->setVisible(image.isNull());
+}
+void ObjWidget::updateData(const std::vector<cv::KeyPoint> & keypoints, const QMultiMap<int, int> & words)
 {
 	keypoints_ = keypoints;
 	kptColors_ = QVector<QColor>((int)keypoints.size(), defaultColor());
 	keypointItems_.clear();
 	rectItems_.clear();
+	this->updateWords(words);
 	graphicsView_->scene()->clear();
 	graphicsViewInitialized_ = false;
 	mouseCurrentPos_ = mousePressedPos_; // this will reset roi selection
 
-	pixmap_ = QPixmap::fromImage(image);
-	rect_ = rect;
-	if(rect_.isNull())
-	{
-		rect_ = pixmap_.rect();
-	}
 	//this->setMinimumSize(image_.size());
 
 	if(graphicsViewMode_->isChecked())
 	{
 		this->setupGraphicsView();
 	}
-	label_->setVisible(image.isNull());
+}
+
+void ObjWidget::updateWords(const QMultiMap<int,int> & words)
+{
+	words_.clear();
+	for(QMultiMap<int,int>::const_iterator iter=words.begin(); iter!=words.end(); ++iter)
+	{
+		words_.insert(iter.value(), iter.key());
+	}
+	for(int i=0; i<keypointItems_.size(); ++i)
+	{
+		keypointItems_[i]->setWordID(words_.value(i,-1));
+	}
 }
 
 void ObjWidget::resetKptsColor()
@@ -303,6 +317,15 @@ void ObjWidget::resetKptsColor()
 	rectItems_.clear();
 }
 
+void ObjWidget::resetKptsWordID()
+{
+	words_.clear();
+	for(int i=0; i<keypointItems_.size(); ++i)
+	{
+		keypointItems_[i]->setWordID(-1);
+	}
+}
+
 void ObjWidget::setKptColor(int index, const QColor & color)
 {
 	if(index < kptColors_.size())
@@ -325,6 +348,15 @@ void ObjWidget::setKptColor(int index, const QColor & color)
 	}
 }
 
+void ObjWidget::setKptWordID(int index, int wordID)
+{
+	words_.insert(index, wordID);
+	if(index < keypointItems_.size())
+	{
+		keypointItems_.at(index)->setWordID(wordID);
+	}
+}
+
 void ObjWidget::addRect(QGraphicsRectItem * rect)
 {
 	if(graphicsViewInitialized_)
@@ -701,14 +733,8 @@ void ObjWidget::drawKeypoints(QPainter * painter)
 		QColor color(kptColors_.at(i).red(), kptColors_.at(i).green(), kptColors_.at(i).blue(), alpha_);
 		if(graphicsViewMode_->isChecked())
 		{
-			QString info = QString( "ID = %1\n"
-									"Response = %2\n"
-									"Angle = %3\n"
-									"X = %4\n"
-									"Y = %5\n"
-									"Size = %6").arg(i+1).arg(r.response).arg(r.angle).arg(r.pt.x).arg(r.pt.y).arg(r.size);
 			// YELLOW = NEW and multiple times
-			item = new KeypointItem(i+1, r.pt.x-radius, r.pt.y-radius, radius*2, info, color);
+			item = new KeypointItem(i, r.pt.x-radius, r.pt.y-radius, radius*2, r, words_.value(i, -1), color);
 			item->setVisible(this->isFeaturesShown());
 			item->setZValue(2);
 			graphicsView_->scene()->addItem(item);
@@ -743,7 +769,7 @@ std::vector<cv::KeyPoint> ObjWidget::selectedKeypoints() const
 		{
 			if(qgraphicsitem_cast<KeypointItem*>(items.at(i)))
 			{
-				selected.push_back(keypoints_.at(((KeypointItem*)items.at(i))->id()-1)); // ids start at 1
+				selected.push_back(keypoints_.at(((KeypointItem*)items.at(i))->id()));
 			}
 		}
 	}

src/Vocabulary.h

@@ -44,6 +44,8 @@ public:
 	void update();
 	void search(const cv::Mat & descriptors, cv::Mat & results, cv::Mat & dists, int k);
 	int size() const {return indexedDescriptors_.rows + notIndexedDescriptors_.rows;}
+	int dim() const {return !indexedDescriptors_.empty()?indexedDescriptors_.cols:notIndexedDescriptors_.cols;}
+	int type() const {return !indexedDescriptors_.empty()?indexedDescriptors_.type():notIndexedDescriptors_.type();}
 	const QMultiMap<int, int> & wordToObjects() const {return wordToObjects_;}
 	const cv::Mat & indexedDescriptors() const {return indexedDescriptors_;}