Added wordID in shown keypoint info, improved fixed vocabulary behavior

example/main.cpp

@@ -79,8 +79,6 @@ int main(int argc, char * argv[])
 
 	// GUI stuff
 	QApplication app(argc, argv);
-	ObjWidget objWidget;
-	ObjWidget sceneWidget;
 
 	time.start();
 	//Load as grayscale
@@ -199,8 +197,8 @@ int main(int argc, char * argv[])
 		// PROCESS NEAREST NEIGHBOR RESULTS
 		////////////////////////////
 		// Set gui data
-		objWidget.setData(objectKeypoints, cvtCvMat2QImage(objectImg));
+		ObjWidget objWidget(0, objectKeypoints, QMultiMap<int,int>(), cvtCvMat2QImage(objectImg));
-		sceneWidget.setData(sceneKeypoints, cvtCvMat2QImage(sceneImg));
+		ObjWidget sceneWidget(0, sceneKeypoints, QMultiMap<int,int>(), cvtCvMat2QImage(sceneImg));
 
 		// Find correspondences by NNDR (Nearest Neighbor Distance Ratio)
 		float nndrRatio = 0.8f;

include/find_object/FindObject.h

@@ -80,7 +80,7 @@ public:
 
 	void updateDetectorExtractor();
 	void updateObjects(const QList<int> & ids = QList<int>());
-	void updateVocabulary();
+	void updateVocabulary(const QList<int> & ids = QList<int>());
 
 	const QMap<int, ObjSignature*> & objects() const {return objects_;}
 	const Vocabulary * vocabulary() const {return vocabulary_;}

include/find_object/MainWindow.h

@@ -104,7 +104,7 @@ private Q_SLOTS:
 	void showHideControls();
 	void showObjectsFeatures();
 	void hideObjectsFeatures();
-	void updateObjects();
+	void updateObjects(const QList<int> & ids = QList<int>());
 	void notifyParametersChanged(const QStringList & param);
 	void moveCameraFrame(int frame);
 	void rectHovered(int objId);
@@ -121,8 +121,7 @@ private:
 	int addObjectFromFile(const QString & filePath);
 	void showObject(find_object::ObjWidget * obj);
 	void updateObjectSize(find_object::ObjWidget * obj);
-	void updateVocabulary();
+	void updateVocabulary(const QList<int> & ids = QList<int>());
-	void updateObjects(const QList<int> & ids);
 
 private:
 	Ui_mainWindow * ui_;

include/find_object/ObjWidget.h

@@ -53,14 +53,18 @@ class FINDOBJECT_EXP ObjWidget : public QWidget
 
 public:
 	ObjWidget(QWidget * parent = 0);
-	ObjWidget(int id, const std::vector<cv::KeyPoint> & keypoints, const QImage & image, QWidget * parent = 0);
+	ObjWidget(int id, const std::vector<cv::KeyPoint> & keypoints, const QMultiMap<int,int> & words, const QImage & image, QWidget * parent = 0);
 	virtual ~ObjWidget();
 
 	void setId(int id);
-	void setData(const std::vector<cv::KeyPoint> & keypoints, const QImage & image, const QRect & rect = QRect());
+	void updateImage(const QImage & image);
+	void updateData(const std::vector<cv::KeyPoint> & keypoints, const QMultiMap<int, int> & words=QMultiMap<int, int>());
+	void updateWords(const QMultiMap<int,int> & words);
 	void setTextLabel(const QString & text);
 	void resetKptsColor();
+	void resetKptsWordID();
 	void setKptColor(int index, const QColor & color);
+	void setKptWordID(int index, int wordId);
 	void setGraphicsViewMode(bool on);
 	void setAutoScale(bool autoScale);
 	void setSizedFeatures(bool on);
@@ -75,6 +79,7 @@ public:
 	int id() const {return id_;}
 	const QColor & color() const {return color_;}
 	const std::vector<cv::KeyPoint> keypoints() const {return keypoints_;}
+	const QMap<int,int> & words() const {return words_;}
 	const QPixmap & pixmap() const {return pixmap_;}
 	QColor defaultColor() const;
 	bool isImageShown() const;
@@ -110,6 +115,7 @@ private:
 private:
 	int id_;
 	std::vector<cv::KeyPoint> keypoints_;
+	QMap<int,int> words_; //<keypoint, word>
 	QPixmap pixmap_;
 	QRect rect_;
 	QList<KeypointItem*> keypointItems_;

include/find_object/Settings.h

@@ -275,7 +275,8 @@ class FINDOBJECT_EXP Settings
 	PARAMETER(General, multiDetectionRadius, int, 30, "Ignore detection of the same object in X pixels radius of the previous detections.");
 	PARAMETER(General, port, int, 0, "Port on objects detected are published. If port=0, a port is chosen automatically.")
 	PARAMETER(General, autoScroll, bool, true, "Auto scroll to detected object in Objects panel.");
-	PARAMETER(General, vocabularyIncremental, bool, false, "The vocabulary is created incrementally. When new objects are added, their descriptors are compared to those already in vocabulary to find if the visual word already exist or not. \"NearestNeighbor/nndrRatio\" is used to compare descriptors.");
+	PARAMETER(General, vocabularyFixed, bool, false, "If the vocabulary is fixed, no new words will be added to it when adding new objects.");
+	PARAMETER(General, vocabularyIncremental, bool, false, "The vocabulary is created incrementally. When new objects are added, their descriptors are compared to those already in vocabulary to find if the visual word already exist or not. \"NearestNeighbor/nndrRatio\" and \"NearestNeighbor/minDistance\" are used to compare descriptors.");
 	PARAMETER(General, vocabularyUpdateMinWords, int, 2000, "When the vocabulary is incremental (see \"General/vocabularyIncremental\"), after X words added to vocabulary, the internal index is updated with new words. This parameter lets avoiding to reconstruct the whole nearest neighbor index after each time descriptors of an object are added to vocabulary. 0 means no incremental update.");
 	PARAMETER(General, sendNoObjDetectedEvents, bool, true, "When there are no objects detected, send an empty object detection event.");
 	PARAMETER(General, autoPauseOnDetection, bool, false, "Auto pause the camera when an object is detected.");

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->updateObjects(idsLoaded);
-		this->updateVocabulary();
+		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
+			if(Settings::getGeneral_threads() == 1)
-			objectsDescriptors_.insert(0, cv::Mat(count, dim, type));
-			int row = 0;
-			for(int i=0; i<objectsList.size(); ++i)
 			{
-				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));
+					UASSERT(objectsDescriptors_.size() == 0);
-					objectsList.at(i)->descriptors().copyTo(dest);
+					objectsDescriptors_.insert(0, cv::Mat(count, dim, type));
-					row += objectsList.at(i)->descriptors().rows;
+				}
-					// dataRange contains the upper_bound for each
+				else
-					// object (the last descriptors position in the
+				{
-					// global object descriptors matrix)
+					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());
+						}
 					}
 				}
 			}
-
+			else
-			if(Settings::getGeneral_invertedSearch())
 			{
-				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(QMultiMap<int,int>());
-					objectsList[i]->setWords(words);
+					objectsDescriptors_.insert(objectsList.at(i)->id(), objectsList.at(i)->descriptors());
-					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());
 				}
 			}
 		}
 		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())->updateData(signatures[i]->keypoints());
-				objWidgets_.value(signatures[i]->id())->setData(signatures[i]->keypoints(), qtImage, signatures[i]->rect());
 
 				//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()
+void MainWindow::updateVocabulary(const QList<int> & ids)
-{
-	updateObjects(objWidgets_.keys());
-}
-
-void MainWindow::updateVocabulary()
 {
 	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());
+		idsTmp = objWidgets_.keys();
-		ui_->label_vocabularySize->setNum(findObject_->vocabulary()->size());
+	}
+	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_;}