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Add 'find-object/' from commit '635efcd6220cabc258b88c54b1ae4279035bbe31'

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git-subtree-dir: find-object
git-subtree-mainline: 9bd639e88c266d990f53b2799ba476d34cfc9c89
git-subtree-split: 635efcd6220cabc258b88c54b1ae4279035bbe31
This commit is contained in:
Apoorva Gupta 2023-02-25 14:20:22 +05:30
commit fabea45044
142 changed files with 33699 additions and 0 deletions
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55
find-object/.appveyor.yml Normal file
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branches:
only:
- master
- devel
os: Visual Studio 2015
clone_folder: c:\projects\find-object
platform: x64
configuration: Release
init:
- cmake --version
- call "C:\Program Files\Microsoft SDKs\Windows\v7.1\Bin\SetEnv.cmd" /x64
- call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86_amd64
install:
# Qt
- set QTDIR=C:\Qt\5.10.1\msvc2015_64
# make sure Qt bin path is before cmake bin path to avoid copying qt5 dlls from cmake before qt installation
- set PATH=%QTDIR%\bin;%PATH%
# OpenCV
- ps: wget 'https://dl.dropboxusercontent.com/s/o6ofn491bc0jso1/opencv450_vc14.exe?dl=0' -outfile opencv.exe
- cmd: opencv.exe -o"C:\Program Files" -y
- ECHO "Installed OpenCV:"
- ps: "ls \"C:/Program Files/opencv\""
- set PATH=%PATH%;C:\Program Files\opencv\x64\vc14\bin
# zlib
- ps: wget 'https://docs.google.com/uc?authuser=0&id=0B46akLGdg-uaYm9MTTI4MUtUcmc&export=download' -outfile zlib-1.2.8-vc2010-x64.zip
- ps: Expand-Archive zlib-1.2.8-vc2010-x64.zip -DestinationPath 'C:\Program Files'
- ECHO "Installed zlib:"
- ps: "ls \"C:/Program Files/zlib\""
- set PATH=%PATH%;C:\Program Files\zlib\bin
before_build:
- cd c:\projects\find-object\build
- ECHO %PROGRAMFILES%
- ECHO %PATH%
- cmake -G "Visual Studio 14 2015 Win64" -DOpenCV_DIR="C:\Program Files\opencv\build" ..
after_build :
- cmake --build . --config Release --target package
artifacts:
- path: build\Find-Object-*
notifications:
- provider: Email
to:
- matlabbe@email.com
on_build_success: false
on_build_failure: false
on_build_status_changed: true

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36
find-object/.github/workflows/cmake.yml vendored Normal file
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name: CMake
on:
push:
branches: [ master ]
pull_request:
branches: [ master ]
env:
BUILD_TYPE: Release
jobs:
build:
name: ${{ matrix.os }}
runs-on: ${{ matrix.os }}
strategy:
matrix:
os: [ubuntu-22.04, ubuntu-20.04, ubuntu-18.04]
steps:
- name: Install dependencies
run: |
DEBIAN_FRONTEND=noninteractive
sudo apt-get update
sudo apt-get -y install libopencv-dev qtbase5-dev git cmake software-properties-common
- uses: actions/checkout@v2
- name: Configure CMake
run: |
cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
- name: Build
run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

59
find-object/.github/workflows/ros1.yml vendored Normal file
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name: ros1
on:
push:
branches: [ master ]
pull_request:
branches: [ master ]
env:
# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
BUILD_TYPE: Release
jobs:
build:
# The CMake configure and build commands are platform agnostic and should work equally
# well on Windows or Mac. You can convert this to a matrix build if you need
# cross-platform coverage.
# See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
name: Build on ros ${{ matrix.ros_distro }} and ${{ matrix.os }}
runs-on: ${{ matrix.os }}
strategy:
matrix:
os: [ubuntu-20.04, ubuntu-18.04]
include:
- os: ubuntu-20.04
ros_distro: 'noetic'
- os: ubuntu-18.04
ros_distro: 'melodic'
steps:
- uses: ros-tooling/setup-ros@v0.2
with:
required-ros-distributions: ${{ matrix.ros_distro }}
- name: Install dependencies
run: |
sudo apt-get update
sudo apt-get -y install ros-${{ matrix.ros_distro }}-cv-bridge qtbase5-dev
- name: Setup catkin workspace
run: |
source /opt/ros/${{ matrix.ros_distro }}/setup.bash
mkdir -p ${{github.workspace}}/catkin_ws/src
cd ${{github.workspace}}/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
- uses: actions/checkout@v2
with:
path: 'catkin_ws/src/find_object_2d'
- name: caktkin_make
run: |
source /opt/ros/${{ matrix.ros_distro }}/setup.bash
source ${{github.workspace}}/catkin_ws/devel/setup.bash
cd ${{github.workspace}}/catkin_ws
catkin_make -DSETUPTOOLS_DEB_LAYOUT=OFF
catkin_make install

58
find-object/.github/workflows/ros2.yml vendored Normal file
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name: ros2
on:
push:
branches: [ master ]
pull_request:
branches: [ master ]
env:
# Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
BUILD_TYPE: Release
jobs:
build:
# The CMake configure and build commands are platform agnostic and should work equally
# well on Windows or Mac. You can convert this to a matrix build if you need
# cross-platform coverage.
# See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
name: Build on ros2 ${{ matrix.ros_distro }} and ${{ matrix.os }}
runs-on: ${{ matrix.os }}
strategy:
matrix:
ros_distro: [foxy, galactic, humble]
include:
- ros_distro: 'foxy'
os: ubuntu-20.04
- ros_distro: 'galactic'
os: ubuntu-20.04
- ros_distro: 'humble'
os: ubuntu-22.04
steps:
- uses: ros-tooling/setup-ros@v0.4
with:
required-ros-distributions: ${{ matrix.ros_distro }}
- name: Install dependencies
run: |
sudo apt-get update
sudo apt-get -y install ros-${{ matrix.ros_distro }}-cv-bridge qtbase5-dev
- name: Setup ros2 workspace
run: |
source /opt/ros/${{ matrix.ros_distro }}/setup.bash
mkdir -p ${{github.workspace}}/ros2_ws/src
cd ${{github.workspace}}/ros2_ws
colcon build
- uses: actions/checkout@v2
with:
path: 'ros2_ws/src/find_object_2d'
- name: colcon build
run: |
source /opt/ros/${{ matrix.ros_distro }}/setup.bash
cd ${{github.workspace}}/ros2_ws
colcon build --event-handlers console_direct+

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find-object/.project Normal file
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<nature>org.eclipse.cdt.core.ccnature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
</natures>
</projectDescription>

22
find-object/.travis.yml Normal file
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@ -0,0 +1,22 @@
sudo: true
dist: trusty
language: cpp
compiler:
- gcc
- clang
addons:
apt:
packages:
- cmake
- libopencv-dev
- libqt4-dev
script:
- mkdir -p build && cd build
- cmake ..
- make
notifications:
email: false

472
find-object/CMakeLists.txt Normal file
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@ -0,0 +1,472 @@
cmake_minimum_required(VERSION 3.5)
SET(CATKIN_BUILD FALSE)
SET(COLCON_BUILD FALSE)
# Detect if it is called by catkin (ros1)
IF(CATKIN_TOPLEVEL OR CATKIN_BUILD_BINARY_PACKAGE OR CATKIN_SKIP_TESTING OR CATKIN_ENABLE_TESTING OR CATKIN_DEVEL_PREFIX)
SET(CATKIN_BUILD TRUE)
ELSE()
# Detect if it is called by colcon (ros2)
IF(DEFINED AMENT_PREFIX_PATH) # buildfarm
SET(COLCON_BUILD TRUE)
ELSE() # colcon local build in ros2_ws
string(FIND ${CMAKE_BINARY_DIR} ${CMAKE_SOURCE_DIR} POS)
IF(${POS} EQUAL -1)
SET(COLCON_BUILD TRUE)
ENDIF()
ENDIF()
ENDIF()
MESSAGE(STATUS "CATKIN_BUILD=${CATKIN_BUILD}")
MESSAGE(STATUS "COLCON_BUILD=${COLCON_BUILD}")
SET(ROS_BUILD FALSE)
IF(CATKIN_BUILD OR COLCON_BUILD)
SET(ROS_BUILD TRUE)
ENDIF()
IF(NOT ROS_BUILD)
#Standalone build
PROJECT( Find-Object )
ELSE()
#ROS build
PROJECT( find_object_2d )
MESSAGE(STATUS "ROS_DISTRO=$ENV{ROS_DISTRO}")
ENDIF()
# Catkin doesn't support multiarch library path,
# fix to "lib" if not set by user.
IF(NOT DEFINED CMAKE_INSTALL_LIBDIR)
set(CMAKE_INSTALL_LIBDIR "lib")
ENDIF(NOT DEFINED CMAKE_INSTALL_LIBDIR)
INCLUDE(GNUInstallDirs)
####### local cmake modules #######
SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
# Policy CMP0043 introduced in cmake version 3.0 IGNORES the use of COMPILE_DEFINITIONS suffixed variables, e.g. COMPILE_DEFINITIONS_DEBUG
# Set to OLD behavior until minimum cmake version >= 2.8.10 (version that COMPILE_DEFINITIONS can be set by generator expressions instead)
if (POLICY CMP0043)
cmake_policy(SET CMP0043 OLD)
endif (POLICY CMP0043)
# Policy CMP0042 introduced in cmake version 3.0 enables the use of @rpath in an install name via MACOSX_RPATH by default
# Set to OLD behavior so that all versions use the same behavior, or until minimum cmake version >= 2.8.12 (version where @rpath is available)
if (POLICY CMP0042)
cmake_policy(SET CMP0042 OLD)
endif (POLICY CMP0042)
#######################
# VERSION
#######################
SET(PROJECT_VERSION "0.7.0")
SET(PROJECT_PREFIX find_object)
STRING(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}")
LIST(GET PROJECT_VERSION_PARTS 0 PROJECT_VERSION_MAJOR)
LIST(GET PROJECT_VERSION_PARTS 1 PROJECT_VERSION_MINOR)
LIST(GET PROJECT_VERSION_PARTS 2 PROJECT_VERSION_PATCH)
ADD_DEFINITIONS(-DPROJECT_PREFIX="${PROJECT_PREFIX}")
ADD_DEFINITIONS(-DPROJECT_VERSION="${PROJECT_VERSION}")
ADD_DEFINITIONS(-DPROJECT_NAME="${PROJECT_NAME}")
####### DEPENDENCIES #######
FIND_PACKAGE(OpenCV REQUIRED) # tested on 2.3.1
# check if version status is "-dev" (SIFT compatibility issue between 4.3.0 vs 4.3.0-dev)
FIND_FILE(OpenCV_VERSION_HPP opencv2/core/version.hpp
PATHS ${OpenCV_INCLUDE_DIRS}
NO_DEFAULT_PATH)
FILE(READ ${OpenCV_VERSION_HPP} TMPTXT)
STRING(FIND "${TMPTXT}" "-dev" matchres)
IF(NOT ${matchres} EQUAL -1)
add_definitions(-DOPENCV_DEV)
ENDIF(NOT ${matchres} EQUAL -1)
# For SuperPoint
SET(TORCH 0)
FIND_PACKAGE(Torch QUIET)
IF(TORCH_FOUND)
MESSAGE(STATUS "Found Torch: ${TORCH_INCLUDE_DIRS}")
SET(TORCH 1)
ENDIF(TORCH_FOUND)
IF(NOT MSVC)
IF(TORCH_FOUND)
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
IF(COMPILER_SUPPORTS_CXX14)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
set(CMAKE_CXX_STANDARD 14)
ELSE()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use Torch.")
ENDIF()
ENDIF(TORCH_FOUND)
IF( NOT CMAKE_CXX_STANDARD AND OpenCV_VERSION_MAJOR EQUAL 4)
#Newest versions require std11
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
IF(COMPILER_SUPPORTS_CXX17)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
ELSEIF(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ELSEIF(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
ENDIF()
ENDIF()
ENDIF()
# look for Qt5 before Qt4
FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Network QUIET)
IF(NOT Qt5_FOUND)
FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtNetwork REQUIRED)
ENDIF(NOT Qt5_FOUND)
ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals used in ROS
FIND_PACKAGE(Tcmalloc QUIET)
FIND_PACKAGE(ZLIB REQUIRED QUIET)
SET(NONFREE 1)
IF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
SET(NONFREE 0)
ELSEIF(OpenCV_VERSION VERSION_GREATER "3.4.2")
FIND_FILE(OpenCV_MODULES_HPP opencv2/opencv_modules.hpp
PATHS ${OpenCV_INCLUDE_DIRS}
NO_DEFAULT_PATH)
FILE(READ ${OpenCV_MODULES_HPP} TMPTXT)
STRING(FIND "${TMPTXT}" "#define OPENCV_ENABLE_NONFREE" matchres)
IF(${matchres} EQUAL -1)
SET(NONFREE 0)
ENDIF(${matchres} EQUAL -1)
ENDIF()
CONFIGURE_FILE(Version.h.in ${PROJECT_SOURCE_DIR}/include/${PROJECT_PREFIX}/Version.h)
IF(NOT ROS_BUILD)
#Standalone build
IF(WIN32 AND NOT MINGW)
ADD_DEFINITIONS("-wd4251")
ELSE ()
ADD_DEFINITIONS( "-Wall" )
ENDIF()
#ADD_DEFINITIONS("-DUNICODE") # to test with UNICODE projects
####### COMPILATION PARAMS #######
# In case of Makefiles if the user does not setup CMAKE_BUILD_TYPE, assume it's Release:
IF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
IF("${CMAKE_BUILD_TYPE}" STREQUAL "")
set(CMAKE_BUILD_TYPE Release)
ENDIF("${CMAKE_BUILD_TYPE}" STREQUAL "")
ENDIF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
SET(CMAKE_DEBUG_POSTFIX "d")
####### Build libraries as shared or static #######
OPTION( BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON )
####### OUTPUT DIR #######
SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
####### INSTALL DIR #######
# Offer the user the choice of overriding the installation directories
set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR} CACHE PATH
"Installation directory for header files")
if(WIN32 AND NOT CYGWIN)
set(DEF_INSTALL_CMAKE_DIR CMake)
else()
set(DEF_INSTALL_CMAKE_DIR ${CMAKE_INSTALL_LIBDIR}/${PROJECT_PREFIX}-${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR})
endif()
set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
"Installation directory for CMake files")
####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
IF(APPLE)
OPTION(BUILD_AS_BUNDLE "Set to ON to build as bundle (DragNDrop)" OFF)
ENDIF(APPLE)
IF(APPLE AND BUILD_AS_BUNDLE)
# Required when packaging, and set CMAKE_INSTALL_PREFIX to "/".
SET(CPACK_SET_DESTDIR TRUE)
SET(CMAKE_BUNDLE_NAME
"${PROJECT_NAME}")
SET(CMAKE_BUNDLE_LOCATION "/")
# make sure CMAKE_INSTALL_PREFIX ends in /
SET(CMAKE_INSTALL_PREFIX
"/${CMAKE_BUNDLE_NAME}.app/Contents")
ENDIF(APPLE AND BUILD_AS_BUNDLE)
####### SOURCES (Projects) #######
ADD_SUBDIRECTORY( src )
ADD_SUBDIRECTORY( app )
ADD_SUBDIRECTORY( tools )
IF(NONFREE OR OpenCV_VERSION VERSION_GREATER "4.2.0") # SIFT is free from 4.3.0
ADD_SUBDIRECTORY( example )
ENDIF(NONFREE OR OpenCV_VERSION VERSION_GREATER "4.2.0")
#######################
# Uninstall target, for "make uninstall"
#######################
CONFIGURE_FILE(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
ADD_CUSTOM_TARGET(uninstall
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
#######################
# Setup FindObjectConfig.cmake
#######################
# Create the FindObjectConfig.cmake and FindObjectConfigVersion files
file(RELATIVE_PATH REL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
file(RELATIVE_PATH REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
# ... for the build tree
set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/include")
set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
configure_file(FindObjectConfig.cmake.in
"${PROJECT_BINARY_DIR}/FindObjectConfig.cmake" @ONLY)
# ... for the install tree
set(CONF_INCLUDE_DIRS "\${FindObject_CMAKE_DIR}/${REL_INCLUDE_DIR}")
set(CONF_LIB_DIR "\${FindObject_CMAKE_DIR}/${REL_LIB_DIR}")
configure_file(FindObjectConfig.cmake.in
"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/FindObjectConfig.cmake" @ONLY)
# ... for both
configure_file(FindObjectConfigVersion.cmake.in
"${PROJECT_BINARY_DIR}/FindObjectConfigVersion.cmake" @ONLY)
# Install the FindObjectConfig.cmake and FindObjectConfigVersion.cmake
install(FILES
"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/FindObjectConfig.cmake"
"${PROJECT_BINARY_DIR}/FindObjectConfigVersion.cmake"
DESTINATION "${INSTALL_CMAKE_DIR}" COMPONENT devel)
####
#######################
# CPACK (Packaging)
#######################
INCLUDE(InstallRequiredSystemLibraries)
SET(CPACK_PACKAGE_NAME "${PROJECT_NAME}")
SET(CPACK_PACKAGE_VENDOR "${PROJECT_NAME} project")
SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Find-Object")
SET(CPACK_PACKAGE_VERSION_MAJOR "${PROJECT_VERSION_MAJOR}")
SET(CPACK_PACKAGE_VERSION_MINOR "${PROJECT_VERSION_MINOR}")
SET(CPACK_PACKAGE_VERSION_PATCH "${PROJECT_VERSION_PATCH}")
SET(CPACK_PACKAGE_CONTACT "matlabbe@gmail.com")
set(CPACK_SOURCE_IGNORE_FILES
"\\\\.svn/"
"${PROJECT_SOURCE_DIR}/build/[a-zA-Z0-9_]+"
"~$"
"${PROJECT_SOURCE_DIR}/bin/.*${PROJECT_PREFIX}"
"${PROJECT_SOURCE_DIR}/bin/.*${PROJECT_NAME}"
"\\\\.DS_Store"
)
IF(WIN32)
SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/LICENSE")
IF(CMAKE_CL_64)
SET(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES64")
ELSE()
SET(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES")
ENDIF()
SET(CPACK_GENERATOR "ZIP;NSIS")
SET(CPACK_SOURCE_GENERATOR "ZIP")
SET(CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME}")
SET(ICON_PATH "${PROJECT_SOURCE_DIR}/app/${PROJECT_NAME}.ico")
SET(CPACK_NSIS_MUI_ICON ${ICON_PATH})
SET(CPACK_NSIS_MUI_UNIICON ${ICON_PATH})
SET(CPACK_NSIS_DISPLAY_NAME "${PROJECT_NAME}")
SET(CPACK_NSIS_CONTACT ${CPACK_PACKAGE_CONTACT})
# Set the icon used for the Windows "Add or Remove Programs" tool.
SET(CPACK_NSIS_INSTALLED_ICON_NAME bin\\\\${PROJECT_NAME}.exe)
SET(CPACK_PACKAGE_EXECUTABLES "${PROJECT_NAME}" "${PROJECT_NAME}" ${CPACK_PACKAGE_EXECUTABLES})
SET(CPACK_CREATE_DESKTOP_LINKS "${PROJECT_NAME}" ${CPACK_CREATE_DESKTOP_LINKS})
SET(CPACK_PACKAGE_INSTALL_DIRECTORY "${PROJECT_NAME}")
ELSEIF(APPLE)
IF(BUILD_AS_BUNDLE)
# On APPLE and if BUILD_AS_BUNDLE=ON, the project is created as a bundle
# over the main app (see ./src).Here we package only this bundle. Note
# that we set CMAKE_INSTALL_PREFIX to "/" when packaging to DragNDrop...
SET(CPACK_GENERATOR "DragNDrop")
ELSE()
SET(CPACK_GENERATOR "PackageMaker;TBZ2")
ENDIF()
SET(CPACK_SOURCE_GENERATOR "TBZ2")
SET(CPACK_PACKAGE_ICON "${PROJECT_SOURCE_DIR}/app/${PROJECT_NAME}.icns")
ELSE()
SET(CPACK_SOURCE_GENERATOR "ZIP")
ENDIF()
INCLUDE(CPack)
#######################
# OUTPUT INFO
#######################
MESSAGE(STATUS "--------------------------------------------")
MESSAGE(STATUS "Info :")
MESSAGE(STATUS " CMAKE_INSTALL_PREFIX = ${CMAKE_INSTALL_PREFIX}")
MESSAGE(STATUS " CMAKE_BUILD_TYPE = ${CMAKE_BUILD_TYPE}")
MESSAGE(STATUS " PROJECT_VERSION = ${PROJECT_VERSION}")
IF(OpenCV_VERSION_MAJOR EQUAL 2)
IF(OPENCV_NONFREE_FOUND)
MESSAGE(STATUS " With OpenCV 2 nonfree module (SIFT/SURF) = YES")
ELSE()
MESSAGE(STATUS " With OpenCV 2 nonfree module (SIFT/SURF) = NO (not found)")
ENDIF()
ELSE()
IF(OPENCV_XFEATURES2D_FOUND)
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION} xfeatures2d module (BRIEF/FREAK/KAZE) = YES")
ELSE()
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION} xfeatures2d module (BRIEF/FREAK/KAZE) = NO (not found)")
ENDIF()
IF(OpenCV_VERSION VERSION_GREATER "4.2.0")
IF(NONFREE)
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION} nonfree module (SURF) = YES")
ELSE()
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION} nonfree module (SURF) = NO")
ENDIF()
ELSEIF()
IF(NONFREE)
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION} nonfree module (SIFT/SURF) = YES")
ELSE()
MESSAGE(STATUS " With OpenCV ${OpenCV_VERSION} nonfree module (SIFT/SURF) = NO")
ENDIF()
ENDIF()
ENDIF()
IF(QT4_FOUND)
MESSAGE(STATUS " With Qt4 = YES")
ELSEIF(Qt5_FOUND)
MESSAGE(STATUS " With Qt5 = YES")
ELSE()
MESSAGE(STATUS " With Qt = NO (Qt not found)")
ENDIF()
IF(Tcmalloc_FOUND)
MESSAGE(STATUS " With tcmalloc = YES")
ELSE()
MESSAGE(STATUS " With tcmalloc = NO (tcmalloc not found)")
ENDIF(Tcmalloc_FOUND)
IF(TORCH_FOUND)
MESSAGE(STATUS " With Torch = YES")
ELSE()
MESSAGE(STATUS " With Torch = NO (libtorch not found)")
ENDIF(TORCH_FOUND)
IF(APPLE)
MESSAGE(STATUS " BUILD_AS_BUNDLE = ${BUILD_AS_BUNDLE}")
ENDIF(APPLE)
MESSAGE(STATUS "--------------------------------------------")
ELSEIF(CATKIN_BUILD)
#ROS Catkin build
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
cv_bridge roscpp sensor_msgs std_msgs image_transport message_filters tf message_generation
)
## Generate messages in the 'msg' folder
add_message_files(
FILES
ObjectsStamped.msg
DetectionInfo.msg
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
sensor_msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
CATKIN_DEPENDS cv_bridge roscpp sensor_msgs std_msgs image_transport message_filters tf message_runtime
DEPENDS OpenCV
)
###########
## Build ##
###########
ADD_SUBDIRECTORY( src )
#############
## Install ##
#############
## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY
launch/ros1
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
ELSE() # COLCON_BUILD
#ROS Colcon build
find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(image_transport REQUIRED)
find_package(message_filters REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
## Generate messages and services
rosidl_generate_interfaces(${PROJECT_NAME}
msg/ObjectsStamped.msg
msg/DetectionInfo.msg
DEPENDENCIES std_msgs sensor_msgs
)
ament_export_dependencies(rosidl_default_runtime)
###########
## Build ##
###########
ADD_SUBDIRECTORY( src )
#############
## Install ##
#############
install(DIRECTORY
launch/ros2/.
DESTINATION share/${PROJECT_NAME}/launch
)
ament_package()
ENDIF()

10
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# - Config file for the FindObject package
# It defines the following variables
# FindObject_INCLUDE_DIRS - include directories for FindObject
# FindObject_LIBRARIES - libraries to link against
# Compute paths
get_filename_component(FindObject_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
set(FindObject_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
find_library(FindObject_LIBRARIES NAMES find_object NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")

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set(PACKAGE_VERSION "@PROJECT_VERSION@")
# Check whether the requested PACKAGE_FIND_VERSION is compatible
if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
set(PACKAGE_VERSION_COMPATIBLE FALSE)
else()
set(PACKAGE_VERSION_COMPATIBLE TRUE)
if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
set(PACKAGE_VERSION_EXACT TRUE)
endif()
endif()

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find-object/LICENSE Normal file
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Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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# find-object
<table>
<tbody>
<tr>
<td>Linux</td>
<td><a href="https://github.com/introlab/find-object/actions/workflows/cmake.yml"><img src="https://github.com/introlab/find-object/actions/workflows/cmake.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/find-object/actions/workflows/ros1.yml"><img src="https://github.com/introlab/find-object/actions/workflows/ros1.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/find-object/actions/workflows/ros2.yml"><img src="https://github.com/introlab/find-object/actions/workflows/ros2.yml/badge.svg" alt="Build Status"/>
</td>
</tr>
<tr>
<td>Windows</td>
<td><a href="https://ci.appveyor.com/project/matlabbe/find-object/branch/master"><img src="https://ci.appveyor.com/api/projects/status/hn51r6p5c0peqctb/branch/master?svg=true" alt="Build Status"/>
</td>
</tr>
</tbody>
</table>
## Standalone
Find-Object project, visit the [home page](http://introlab.github.io/find-object/) for more information.
## ROS1
### Install
Binaries:
```bash
sudo apt-get install ros-$ROS_DISTRO-find-object-2d
```
Source:
* To include `xfeatures2d` and/or `nonfree` modules of OpenCV, to avoid conflicts with `cv_bridge`, build same OpenCV version that is used by `cv_bridge`. Install it in `/usr/local` (default).
```bash
cd ~/catkin_ws
git clone https://github.com/introlab/find-object.git src/find_object_2d
catkin_make
```
### Run
```bash
roscore
# Launch your preferred usb camera driver
rosrun uvc_camera uvc_camera_node
rosrun find_object_2d find_object_2d image:=image_raw
```
See [find_object_2d](http://wiki.ros.org/find_object_2d) for more information.
## ROS2
### Install
Binaries:
```bash
To come...
```
Source:
```bash
cd ~/ros2_ws
git clone https://github.com/introlab/find-object.git src/find_object_2d
colcon build
```
### Run
```bash
# Launch your preferred usb camera driver
ros2 launch realsense2_camera rs_launch.py
# Launch find_object_2d node:
ros2 launch find_object_2d find_object_2d.launch.py image:=/camera/color/image_raw
# Draw objects detected on an image:
ros2 run find_object_2d print_objects_detected --ros-args -r image:=/camera/color/image_raw
```
#### 3D Pose (TF)
A RGB-D camera is required. Example with Realsense D400 camera:
```bash
# Launch your preferred usb camera driver
ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true
# Launch find_object_2d node:
ros2 launch find_object_2d find_object_3d.launch.py \
rgb_topic:=/camera/color/image_raw \
depth_topic:=/camera/aligned_depth_to_color/image_raw \
camera_info_topic:=/camera/color/camera_info
# Show 3D pose in camera frame:
ros2 run find_object_2d tf_example
```
See [find_object_2d](http://wiki.ros.org/find_object_2d) for more information (same parameters/topics are used between ROS1 and ROS2 versions).

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/*
Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef VERSION_H_
#define VERSION_H_
// This is auto-generated!
#define FINDOBJECT_VERSION "@PROJECT_VERSION@"
#define FINDOBJECT_VERSION_MAJOR @PROJECT_VERSION_MAJOR@
#define FINDOBJECT_VERSION_MINOR @PROJECT_VERSION_MINOR@
#define FINDOBJECT_VERSION_PATCH @PROJECT_VERSION_PATCH@
#define FINDOBJECT_VERSION_COMPARE(major, minor, patch) (major>=@PROJECT_VERSION_MAJOR@ || (major==@PROJECT_VERSION_MAJOR@ && minor>=@PROJECT_VERSION_MINOR@) || (major==@PROJECT_VERSION_MAJOR@ && minor==@PROJECT_VERSION_MINOR@ && patch >=@PROJECT_VERSION_PATCH@))
#define FINDOBJECT_NONFREE @NONFREE@
#define FINDOBJECT_TORCH @TORCH@
#endif /* VERSION_H_ */

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SET(headers_ui
TcpServerPool.h
)
IF(QT4_FOUND)
QT4_WRAP_CPP(moc_srcs ${headers_ui})
ELSE()
QT5_WRAP_CPP(moc_srcs ${headers_ui})
ENDIF()
SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS}
)
IF(QT4_FOUND)
INCLUDE(${QT_USE_FILE})
ENDIF(QT4_FOUND)
SET(LIBRARIES
${QT_LIBRARIES}
${OpenCV_LIBS}
)
if(Tcmalloc_FOUND)
SET(LIBRARIES
${LIBARIES}
${Tcmalloc_LIBRARIES}
)
endif(Tcmalloc_FOUND)
#include files
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
SET(SRC_FILES main.cpp ${moc_srcs} )
# For Apple set the icns file containing icons
IF(APPLE AND BUILD_AS_BUNDLE)
# set how it shows up in the Info.plist file
SET(MACOSX_BUNDLE_ICON_FILE ${PROJECT_NAME}.icns)
# set where in the bundle to put the icns file
SET_SOURCE_FILES_PROPERTIES(${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.icns PROPERTIES MACOSX_PACKAGE_LOCATION Resources)
# include the icns file in the target
SET(SRC_FILES ${SRC_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.icns)
ENDIF(APPLE AND BUILD_AS_BUNDLE)
# Add exe icon resource
IF(WIN32)
IF( MINGW )
# resource compilation for MinGW
ADD_CUSTOM_COMMAND( OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o
COMMAND windres.exe -I${CMAKE_CURRENT_SOURCE_DIR} -i${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.rc
-o ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o )
SET(SRC_FILES ${SRC_FILES} ${CMAKE_CURRENT_BINARY_DIR}/AppIco.o)
ELSE( MINGW )
SET(SRC_FILES ${SRC_FILES} ${PROJECT_NAME}.rc) # Error on visual studio 2008
ENDIF( MINGW )
ENDIF(WIN32)
# create an executable file
IF(APPLE AND BUILD_AS_BUNDLE)
ADD_EXECUTABLE(find_object_app MACOSX_BUNDLE ${SRC_FILES})
ELSEIF(MINGW)
ADD_EXECUTABLE(find_object_app WIN32 ${SRC_FILES})
ELSE()
ADD_EXECUTABLE(find_object_app ${SRC_FILES})
ENDIF()
# Linking with Qt libraries
TARGET_LINK_LIBRARIES(find_object_app find_object ${LIBRARIES})
IF(Qt5_FOUND)
QT5_USE_MODULES(find_object_app Widgets Core Gui Network PrintSupport)
ENDIF(Qt5_FOUND)
IF(APPLE AND BUILD_AS_BUNDLE)
SET_TARGET_PROPERTIES(find_object_app PROPERTIES
OUTPUT_NAME ${CMAKE_BUNDLE_NAME})
ELSEIF(WIN32)
SET_TARGET_PROPERTIES(find_object_app PROPERTIES
OUTPUT_NAME ${PROJECT_NAME})
ELSE()
SET_TARGET_PROPERTIES(find_object_app PROPERTIES
OUTPUT_NAME ${PROJECT_PREFIX})
ENDIF()
#---------------------------
# Installation stuff
#---------------------------
INSTALL(TARGETS find_object_app
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
#---------------------------
# Dependencies packaging
#---------------------------
IF(APPLE AND BUILD_AS_BUNDLE)
INSTALL(CODE "execute_process(COMMAND ln -s \"../MacOS/${CMAKE_BUNDLE_NAME}\" ${PROJECT_NAME}
WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin)")
ENDIF(APPLE AND BUILD_AS_BUNDLE)
IF((APPLE AND BUILD_AS_BUNDLE) OR WIN32)
SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin/${PROJECT_NAME}${CMAKE_EXECUTABLE_SUFFIX}")
SET(plugin_dest_dir bin)
SET(qtconf_dest_dir bin)
IF(APPLE)
SET(plugin_dest_dir MacOS)
SET(qtconf_dest_dir Resources)
SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${CMAKE_BUNDLE_NAME}")
ENDIF(APPLE)
# Install needed Qt plugins by copying directories from the qt installation
# One can cull what gets copied by using 'REGEX "..." EXCLUDE'
# Exclude debug libraries
IF(QT_PLUGINS_DIR)
INSTALL(DIRECTORY "${QT_PLUGINS_DIR}/imageformats"
DESTINATION ${plugin_dest_dir}/plugins
COMPONENT runtime
REGEX ".*d4.dll" EXCLUDE
REGEX ".*d4.a" EXCLUDE)
ELSE()
#Qt5
foreach(plugin ${Qt5Gui_PLUGINS})
get_target_property(plugin_loc ${plugin} LOCATION)
get_filename_component(plugin_dir ${plugin_loc} DIRECTORY)
string(REPLACE "plugins" ";" loc_list ${plugin_dir})
list(GET loc_list 1 plugin_type)
#MESSAGE(STATUS "Qt5 plugin \"${plugin_loc}\" installed in \"${plugin_dest_dir}/plugins${plugin_type}\"")
INSTALL(FILES ${plugin_loc}
DESTINATION ${plugin_dest_dir}/plugins${plugin_type}
COMPONENT runtime)
endforeach()
ENDIF()
# install a qt.conf file
# this inserts some cmake code into the install script to write the file
SET(QT_CONF_FILE [Paths]\nPlugins=plugins)
IF(APPLE)
SET(QT_CONF_FILE [Paths]\nPlugins=MacOS/plugins)
ENDIF(APPLE)
INSTALL(CODE "
file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
" COMPONENT runtime)
# directories to look for dependencies
SET(DIRS ${QT_LIBRARY_DIRS} ${PROJECT_SOURCE_DIR}/bin)
IF(APPLE)
SET(DIRS ${DIRS} /usr/local /usr/local/lib)
ENDIF(APPLE)
# Now the work of copying dependencies into the bundle/package
# The quotes are escaped and variables to use at install time have their $ escaped
# An alternative is the do a configure_file() on a script and use install(SCRIPT ...).
# Note that the image plugins depend on QtSvg and QtXml, and it got those copied
# over.
# To find dependencies, cmake use "otool" on Apple and "dumpbin" on Windows (make sure you have one of them).
install(CODE "
file(GLOB_RECURSE QTPLUGINS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/plugins/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
include(\"BundleUtilities\")
fixup_bundle(\"${APPS}\" \"\${QTPLUGINS}\" \"${DIRS}\")
" COMPONENT runtime)
ENDIF((APPLE AND BUILD_AS_BUNDLE) OR WIN32)

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IDI_ICON1 ICON DISCARDABLE "Find-Object.ico"

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/*
* TcpServerPool.h
*
* Created on: Nov 29, 2015
* Author: mathieu
*/
#ifndef TCPSERVERPOOL_H_
#define TCPSERVERPOOL_H_
#include <find_object/FindObject.h>
#include <find_object/TcpServer.h>
#include <find_object/utilite/ULogger.h>
#include <QtCore/QThread>
#include <QtCore/QSemaphore>
class FindObjectWorker : public QObject
{
Q_OBJECT;
public:
FindObjectWorker(
find_object::FindObject * sharedFindObject,
QSemaphore * sharedSemaphore,
int maxSemaphoreResources,
QObject * parent = 0) :
QObject(parent),
sharedFindObject_(sharedFindObject),
sharedSemaphore_(sharedSemaphore),
maxSemaphoreResources_(maxSemaphoreResources)
{
UASSERT(sharedFindObject != 0);
UASSERT(sharedSemaphore != 0);
UASSERT(maxSemaphoreResources > 0);
}
public Q_SLOTS:
void detect(const cv::Mat & image)
{
sharedSemaphore_->acquire(1);
UINFO("Thread %p detecting...", (void *)this->thread());
find_object::DetectionInfo info;
sharedFindObject_->detect(image, info);
Q_EMIT objectsFound(info);
sharedSemaphore_->release(1);
}
void addObjectAndUpdate(const cv::Mat & image, int id, const QString & filePath)
{
//block everyone!
sharedSemaphore_->acquire(maxSemaphoreResources_);
UINFO("Thread %p adding object %d (%s)...", (void *)this->thread(), id, filePath.toStdString().c_str());
sharedFindObject_->addObjectAndUpdate(image, id, filePath);
sharedSemaphore_->release(maxSemaphoreResources_);
}
void removeObjectAndUpdate(int id)
{
//block everyone!
sharedSemaphore_->acquire(maxSemaphoreResources_);
UINFO("Thread %p removing object %d...", (void *)this->thread(), id);
sharedFindObject_->removeObjectAndUpdate(id);
sharedSemaphore_->release(maxSemaphoreResources_);
}
Q_SIGNALS:
void objectsFound(const find_object::DetectionInfo &);
private:
find_object::FindObject * sharedFindObject_; //shared findobject
QSemaphore * sharedSemaphore_;
int maxSemaphoreResources_;
};
class TcpServerPool : public QObject
{
Q_OBJECT;
public:
TcpServerPool(find_object::FindObject * sharedFindObject, int threads, int port) :
sharedSemaphore_(threads)
{
UASSERT(sharedFindObject != 0);
UASSERT(threads>=1);
qRegisterMetaType<cv::Mat>("cv::Mat");
threadPool_.resize(threads);
for(int i=0; i<threads; ++i)
{
find_object::TcpServer * tcpServer = new find_object::TcpServer(port!=0?port++:0);
UINFO("TcpServer set on port: %d (IP=%s)",
tcpServer->getPort(),
tcpServer->getHostAddress().toString().toStdString().c_str());
threadPool_[i] = new QThread(this);
FindObjectWorker * worker = new FindObjectWorker(sharedFindObject, &sharedSemaphore_, threads);
tcpServer->moveToThread(threadPool_[i]);
worker->moveToThread(threadPool_[i]);
connect(threadPool_[i], SIGNAL(finished()), tcpServer, SLOT(deleteLater()));
connect(threadPool_[i], SIGNAL(finished()), worker, SLOT(deleteLater()));
// connect stuff:
QObject::connect(worker, SIGNAL(objectsFound(find_object::DetectionInfo)), tcpServer, SLOT(publishDetectionInfo(find_object::DetectionInfo)));
QObject::connect(tcpServer, SIGNAL(detectObject(const cv::Mat &)), worker, SLOT(detect(const cv::Mat &)));
QObject::connect(tcpServer, SIGNAL(addObject(const cv::Mat &, int, const QString &)), worker, SLOT(addObjectAndUpdate(const cv::Mat &, int, const QString &)));
QObject::connect(tcpServer, SIGNAL(removeObject(int)), worker, SLOT(removeObjectAndUpdate(int)));
threadPool_[i]->start();
}
}
virtual ~TcpServerPool()
{
for(int i=0; i<threadPool_.size(); ++i)
{
threadPool_[i]->quit();
threadPool_[i]->wait();
}
}
private:
QVector<QThread*> threadPool_;
QSemaphore sharedSemaphore_;
};
#endif /* TCPSERVERPOOL_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <QApplication>
#include <QtCore/QDir>
#include <QtCore/QFile>
#include <iostream>
#include <iomanip>
#include "find_object/MainWindow.h"
#include "find_object/Settings.h"
#include "find_object/FindObject.h"
#include "find_object/Camera.h"
#include "find_object/TcpServer.h"
#include "find_object/JsonWriter.h"
#include "find_object/utilite/ULogger.h"
#include "TcpServerPool.h"
bool running = true;
#ifdef WIN32
#include <windows.h>
BOOL WINAPI my_handler(DWORD signal)
{
if (signal == CTRL_C_EVENT)
{
printf("\nCtrl-C caught! Quitting application...\n");
QCoreApplication::quit();
}
return TRUE;
running = false;
}
#else
#include <signal.h>
void my_handler(int s)
{
printf("\nCtrl-C caught! Quitting application...\n");
QCoreApplication::quit();
running = false;
}
inline void Sleep(unsigned int ms)
{
struct timespec req;
struct timespec rem;
req.tv_sec = ms / 1000;
req.tv_nsec = (ms - req.tv_sec * 1000) * 1000 * 1000;
nanosleep (&req, &rem);
}
#endif
void setupQuitSignal()
{
// Catch ctrl-c to close Qt
#ifdef WIN32
if (!SetConsoleCtrlHandler(my_handler, TRUE))
{
UERROR("Could not set control (ctrl-c) handler");
}
#else
struct sigaction sigIntHandler;
sigIntHandler.sa_handler = my_handler;
sigemptyset(&sigIntHandler.sa_mask);
sigIntHandler.sa_flags = 0;
sigaction(SIGINT, &sigIntHandler, NULL);
#endif
}
void showUsage()
{
printf("\nUsage:\n"
#ifdef WIN32
" Find-Object.exe [options]\n"
#else
" find_object [options]\n"
#endif
"Options:\n"
" --console Don't use the GUI (by default the camera will be\n"
" started automatically). Option --objects must also be\n"
" used with valid objects.\n"
" --session \"path\" Path to a session to load (*.bin). Use \"--session_new\" to\n"
" create a session instead (will be saved to \"path\" on exit, only\n"
" on console mode).\n"
" --object \"path\" Path to an object to detect.\n"
" --objects \"path\" Directory of the objects to detect (--object is ignored).\n"
" --config \"path\" Path to configuration file (default: %s).\n"
" If set to \"\", default parameters are used\n"
" without saving modified parameters on closing.\n"
" --scene \"path\" Path to a scene image file.\n"
" --vocabulary \"path\" Path to a vocabulary file (*.yaml *.xml). Parameters \"General/invertedSearch\"\n"
" and \"General/vocabularyFixed\" will be also enabled. Ignored if \"--session\" is set.\n"
" --images_not_saved Don't keep images in RAM after the features are extracted (only\n"
" in console mode). Images won't be saved if an output session is set.\n"
" --tcp_threads # Number of TCP threads (default 1, only in --console mode). \"--General/port\" parameter should not be 0.\n"
" Port numbers start from \"General/port\" value. \"Detect\" TCP service can be\n"
" executed at the same time by multiple threads. \"Add/Remove\" TCP services\n"
" cannot be called by multiple threads, so calling these services on a port\n "
" will block all other threads on the other ports.\n"
" --debug Show debug log.\n"
" --log-time Show log with time.\n"
" --params Show all parameters.\n"
" --defaults Use default parameters (--config is ignored).\n"
" --My/Parameter \"value\" Set find-Object's parameter (look --params for parameters' name).\n"
" It will override the one in --config. Example to set 4 threads:\n"
" $ find_object --General/threads 4\n"
" --json \"path\" Path to an output JSON file (only in --console mode with --scene).\n"
" --help Show usage.\n"
, find_object::Settings::iniDefaultPath().toStdString().c_str());
exit(-1);
}
int main(int argc, char* argv[])
{
ULogger::setType(ULogger::kTypeConsole);
ULogger::setLevel(ULogger::kInfo);
ULogger::setPrintWhere(false);
ULogger::setPrintTime(false);
//////////////////////////
// parse options BEGIN
//////////////////////////
bool guiMode = true;
QString sessionPath = "";
bool sessionNew = false;
QString objectsPath = "";
QString objectPath = "";
QString scenePath = "";
QString configPath = "";
QString vocabularyPath = "";
QString jsonPath;
find_object::ParametersMap customParameters;
bool imagesSaved = true;
int tcpThreads = 1;
for(int i=1; i<argc; ++i)
{
#ifdef __APPLE__
if(QString(argv[i]).startsWith("-psn"))
{
//safely ignore
continue;
}
#endif
if(strcmp(argv[i], "-objs") == 0 ||
strcmp(argv[i], "--objs") == 0 ||
strcmp(argv[i], "-objects") == 0 ||
strcmp(argv[i], "--objects") == 0)
{
++i;
if(i < argc)
{
objectsPath = argv[i];
if(objectsPath.contains('~'))
{
objectsPath.replace('~', QDir::homePath());
}
if(!QDir(objectsPath).exists())
{
UERROR("Objects path not valid : %s", objectsPath.toStdString().c_str());
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-session") == 0 ||
strcmp(argv[i], "--session") == 0 ||
strcmp(argv[i], "-session_new") == 0 ||
strcmp(argv[i], "--session_new") == 0)
{
if(strcmp(argv[i], "-session_new") == 0 ||
strcmp(argv[i], "--session_new") == 0)
{
sessionNew = true;
}
++i;
if(i < argc)
{
sessionPath = argv[i];
if(sessionPath.contains('~'))
{
sessionPath.replace('~', QDir::homePath());
}
if(!sessionNew && !QFile(sessionPath).exists())
{
UERROR("Session path not valid : %s (if you want to create a new session, use \"--session_new\")", sessionPath.toStdString().c_str());
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-object") == 0 ||
strcmp(argv[i], "--object") == 0)
{
++i;
if(i < argc)
{
objectPath = argv[i];
if(objectPath.contains('~'))
{
objectPath.replace('~', QDir::homePath());
}
if(!QFile(objectPath).exists())
{
UERROR("Object path not valid : %s", objectPath.toStdString().c_str());
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-scene") == 0 ||
strcmp(argv[i], "--scene") == 0)
{
++i;
if(i < argc)
{
scenePath = argv[i];
if(scenePath.contains('~'))
{
scenePath.replace('~', QDir::homePath());
}
if(!QFile(scenePath).exists())
{
UERROR("Scene path not valid : %s", scenePath.toStdString().c_str());
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-vocabulary") == 0 ||
strcmp(argv[i], "--vocabulary") == 0)
{
++i;
if(i < argc)
{
vocabularyPath = argv[i];
if(vocabularyPath.contains('~'))
{
vocabularyPath.replace('~', QDir::homePath());
}
if(!QFile(vocabularyPath).exists())
{
UERROR("Vocabulary path not valid : %s", vocabularyPath.toStdString().c_str());
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-config") == 0 ||
strcmp(argv[i], "--config") == 0)
{
++i;
if(i < argc)
{
configPath = argv[i];
if(configPath.contains('~'))
{
configPath.replace('~', QDir::homePath());
}
if(!configPath.isEmpty() && !QFile::exists(configPath))
{
UWARN("Configuration file \"%s\" doesn't exist, it will be created with default values...", configPath.toStdString().c_str());
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-console") == 0 ||
strcmp(argv[i], "--console") == 0)
{
guiMode = false;
continue;
}
if(strcmp(argv[i], "-images_not_saved") == 0 ||
strcmp(argv[i], "--images_not_saved") == 0)
{
imagesSaved = false;
continue;
}
if(strcmp(argv[i], "-debug") == 0 ||
strcmp(argv[i], "--debug") == 0)
{
customParameters.insert(find_object::Settings::kGeneral_debug(), true);
continue;
}
if(strcmp(argv[i], "-log-time") == 0 ||
strcmp(argv[i], "--log-time") == 0)
{
ULogger::setPrintWhere(true);
ULogger::setPrintTime(true);
continue;
}
if(strcmp(argv[i], "-help") == 0 ||
strcmp(argv[i], "--help") == 0)
{
showUsage();
}
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;
}
if(strcmp(argv[i], "-tcp_threads") == 0 ||
strcmp(argv[i], "--tcp_threads") == 0)
{
++i;
if(i < argc)
{
tcpThreads = atoi(argv[i]);
if(tcpThreads < 1)
{
printf("tcp_threads should be >= 1!\n");
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "--params") == 0)
{
find_object::ParametersMap parameters = find_object::Settings::getDefaultParameters();
for(find_object::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
{
std::string str = "Param: " + iter.key().toStdString() + " = \"" + iter.value().toString().toStdString() + "\"";
std::cout <<
str <<
std::setw(60 - str.size()) <<
" [" <<
find_object::Settings::getDescriptions().value(iter.key()).toStdString().c_str() <<
"]" <<
std::endl;
}
UINFO("Node will now exit after showing default Find-Object's parameters because "
"argument \"--params\" is detected!");
exit(0);
}
// Check for custom parameters:
find_object::ParametersMap parameters = find_object::Settings::getDefaultParameters();
QString name = argv[i];
if(name.size() > 2)
{
//strip the "--"
name.remove(0, 2);
if(parameters.contains(name))
{
++i;
if(i < argc)
{
customParameters.insert(name, argv[i]);
}
else
{
showUsage();
}
continue;
}
}
UERROR("Unrecognized option : %s", argv[i]);
showUsage();
}
UINFO("Options:");
UINFO(" GUI mode = %s", guiMode?"true":"false");
if(!sessionPath.isEmpty())
{
if(sessionNew)
{
UINFO(" Session path: \"%s\" [NEW]", sessionPath.toStdString().c_str());
if(configPath.isEmpty() && guiMode)
{
configPath = find_object::Settings::iniDefaultPath();
}
}
else
{
UINFO(" Session path: \"%s\"", sessionPath.toStdString().c_str());
if(!vocabularyPath.isEmpty())
{
UWARN("Vocabulary \"%s\" is not loaded as a session \"%s\" is already "
"loaded, ignoring vocabulary file...",
vocabularyPath.toStdString().c_str(),
sessionPath.toStdString().c_str());
vocabularyPath.clear();
}
if(!configPath.isEmpty())
{
UWARN("A session \"%s\" is loaded and a config file is also used, "
"the parameters of the session will be overwritten by "
"those in the config file \"%s\".",
sessionPath.toStdString().c_str(),
configPath.toStdString().c_str());
}
}
}
else if(configPath.isEmpty() && guiMode)
{
configPath = find_object::Settings::iniDefaultPath();
}
if(!objectsPath.isEmpty())
{
UINFO(" Objects path: \"%s\"", objectsPath.toStdString().c_str());
}
else if(!objectPath.isEmpty())
{
UINFO(" Object path: \"%s\"", objectPath.toStdString().c_str());
}
UINFO(" Scene path: \"%s\"", scenePath.toStdString().c_str());
if(!guiMode)
{
UINFO(" JSON path: \"%s\"", jsonPath.toStdString().c_str());
}
UINFO(" Settings path: \"%s\"", configPath.toStdString().c_str());
UINFO(" Vocabulary path: \"%s\"", vocabularyPath.toStdString().c_str());
if(!vocabularyPath.isEmpty())
{
if(customParameters.contains(find_object::Settings::kGeneral_vocabularyFixed()))
{
UWARN("\"General/vocabularyFixed\" custom parameter overwritten as a fixed vocabulary is used.");
}
if(customParameters.contains(find_object::Settings::kGeneral_invertedSearch()))
{
UWARN("\"General/invertedSearch\" custom parameter overwritten as a fixed vocabulary is used.");
}
customParameters[find_object::Settings::kGeneral_vocabularyFixed()] = true;
customParameters[find_object::Settings::kGeneral_invertedSearch()] = true;
}
for(find_object::ParametersMap::iterator iter= customParameters.begin(); iter!=customParameters.end(); ++iter)
{
UINFO(" Param \"%s\"=\"%s\"", iter.key().toStdString().c_str(), iter.value().toString().toStdString().c_str());
}
//////////////////////////
// parse options END
//////////////////////////
// Load settings, should be loaded before creating other objects
find_object::ParametersMap parameters;
if(!configPath.isEmpty())
{
parameters = find_object::Settings::init(configPath);
}
// Override custom parameters:
for(find_object::ParametersMap::iterator iter= customParameters.begin(); iter!=customParameters.end(); ++iter)
{
find_object::Settings::setParameter(iter.key(), iter.value());
parameters.insert(iter.key(), iter.value());
}
// Create FindObject
find_object::FindObject * findObject = new find_object::FindObject(guiMode || imagesSaved);
// Load objects if path is set
int objectsLoaded = 0;
if(!sessionPath.isEmpty() && !sessionNew)
{
if(!findObject->loadSession(sessionPath, parameters))
{
UERROR("Could not load session \"%s\"", sessionPath.toStdString().c_str());
}
else
{
objectsLoaded = findObject->objects().size();
}
}
else if(!vocabularyPath.isEmpty() && !findObject->loadVocabulary(vocabularyPath))
{
UERROR("Failed to load vocabulary \"%s\"", vocabularyPath.toStdString().c_str());
}
if(!objectsPath.isEmpty())
{
if(!vocabularyPath.isEmpty() && !findObject->loadVocabulary(vocabularyPath))
{
UERROR("Failed to load vocabulary \"%s\"", vocabularyPath.toStdString().c_str());
}
objectsLoaded = findObject->loadObjects(objectsPath);
if(!objectsLoaded)
{
UWARN("No objects loaded from \"%s\"", objectsPath.toStdString().c_str());
}
}
else if(!objectPath.isEmpty())
{
if(!vocabularyPath.isEmpty() && !findObject->loadVocabulary(vocabularyPath))
{
UERROR("Failed to load vocabulary \"%s\"", vocabularyPath.toStdString().c_str());
}
const find_object::ObjSignature * obj = findObject->addObject(objectPath);
if(obj)
{
++objectsLoaded;
findObject->updateObjects();
findObject->updateVocabulary();
}
else
{
UWARN("No object loaded from \"%s\"", objectsPath.toStdString().c_str());
}
}
cv::Mat scene;
if(!scenePath.isEmpty())
{
scene = cv::imread(scenePath.toStdString());
if(scene.empty())
{
UERROR("Failed to load scene \"%s\"", scenePath.toStdString().c_str());
}
}
if(guiMode)
{
QApplication app(argc, argv);
find_object::MainWindow mainWindow(findObject, 0); // ownership transfered
app.connect( &app, SIGNAL( lastWindowClosed() ), &app, SLOT( quit() ) );
mainWindow.show();
if(!scene.empty())
{
mainWindow.update(scene);
}
app.exec();
// Save settings
find_object::Settings::saveSettings();
}
else
{
QCoreApplication app(argc, argv);
if(!scene.empty())
{
// process the scene and exit
QTime time;
time.start();
find_object::DetectionInfo info;
findObject->detect(scene, info);
if(info.objDetected_.size() > 1)
{
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(find_object::Settings::getGeneral_sendNoObjDetectedEvents())
{
UINFO("No objects detected. (%d ms)", time.elapsed());
}
if(!jsonPath.isEmpty())
{
find_object::JsonWriter::write(info, jsonPath);
UINFO("JSON written to \"%s\"", jsonPath.toStdString().c_str());
}
}
else
{
TcpServerPool tcpServerPool(findObject, tcpThreads, find_object::Settings::getGeneral_port());
setupQuitSignal();
//If TCP camera is used
find_object::Camera * camera = 0;
if(find_object::Settings::getCamera_6useTcpCamera())
{
camera = new find_object::Camera();
// [Camera] ---Image---> [FindObject]
QObject::connect(camera, SIGNAL(imageReceived(const cv::Mat &)), findObject, SLOT(detect(const cv::Mat &)));
QObject::connect(camera, SIGNAL(finished()), &app, SLOT(quit()));
if(!camera->start())
{
UERROR("Camera initialization failed!");
running = false;
}
}
// start processing!
if(running)
{
app.exec();
if(!sessionPath.isEmpty())
{
if(findObject->isSessionModified())
{
UINFO("The session has been modified, updating the session file...");
if(findObject->saveSession(sessionPath))
{
UINFO("Session \"%s\" successfully saved (%d objects)!",
sessionPath.toStdString().c_str(), findObject->objects().size());
}
}
else if(sessionNew)
{
UINFO("The session has not been modified, session file not created...");
}
}
}
// cleanup
if(camera)
{
camera->stop();
delete camera;
}
}
delete findObject;
}
return 0;
}

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# Ignore everything in this directory
*
# Except this file
!.gitignore
!box_in_scene.png
!box.png
!multi-objs
!multi-scene.jpg

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# Ignore everything in this directory
*
# Except this file
!.gitignore

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# - Find Tcmalloc
# Find the native Tcmalloc library
#
# Tcmalloc_LIBRARIES - List of libraries when using Tcmalloc.
# Tcmalloc_FOUND - True if Tcmalloc found.
if (USE_TCMALLOC)
set(Tcmalloc_NAMES tcmalloc)
else ()
set(Tcmalloc_NAMES tcmalloc_minimal tcmalloc)
endif ()
find_library(Tcmalloc_LIBRARY NAMES ${Tcmalloc_NAMES})
if (Tcmalloc_LIBRARY)
set(Tcmalloc_FOUND TRUE)
set( Tcmalloc_LIBRARIES ${Tcmalloc_LIBRARY} )
else ()
set(Tcmalloc_FOUND FALSE)
set( Tcmalloc_LIBRARIES )
endif ()
if (Tcmalloc_FOUND)
message(STATUS "Found Tcmalloc: ${Tcmalloc_LIBRARY}")
else ()
message(STATUS "Not Found Tcmalloc: ${Tcmalloc_LIBRARY}")
if (Tcmalloc_FIND_REQUIRED)
message(STATUS "Looked for Tcmalloc libraries named ${Tcmalloc_NAMES}.")
message(FATAL_ERROR "Could NOT find Tcmalloc library")
endif ()
endif ()
mark_as_advanced(Tcmalloc_LIBRARY)

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# -----------------------------------------------
# File that provides "make uninstall" target
# We use the file 'install_manifest.txt'
# -----------------------------------------------
IF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
MESSAGE(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
ENDIF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
STRING(REGEX REPLACE "\n" ";" files "${files}")
FOREACH(file ${files})
MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
IF(EXISTS "$ENV{DESTDIR}${file}")
EXEC_PROGRAM(
"@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
OUTPUT_VARIABLE rm_out
RETURN_VALUE rm_retval
)
IF(NOT "${rm_retval}" STREQUAL 0)
MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
ENDIF(NOT "${rm_retval}" STREQUAL 0)
ELSE(EXISTS "$ENV{DESTDIR}${file}")
MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
ENDIF(EXISTS "$ENV{DESTDIR}${file}")
ENDFOREACH(file)

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SET(SRC_FILES
main.cpp
)
SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}/../include
)
IF(QT4_FOUND)
INCLUDE(${QT_USE_FILE})
ENDIF(QT4_FOUND)
SET(LIBRARIES
${OpenCV_LIBS}
${QT_LIBRARIES}
)
# Make sure the compiler can find include files from our library.
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
# Add binary called "example" that is built from the source file "main.cpp".
# The extension is automatically found.
ADD_EXECUTABLE(example ${SRC_FILES})
TARGET_LINK_LIBRARIES(example find_object ${LIBRARIES})
IF(Qt5_FOUND)
QT5_USE_MODULES(example Widgets Core Gui Network PrintSupport)
ENDIF(Qt5_FOUND)
SET_TARGET_PROPERTIES( example
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-example)
INSTALL(TARGETS example
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <stdio.h>
// Qt stuff
#include <QtCore/QTime>
#include <QtCore/QTimer>
#include <QApplication>
#include <QGraphicsRectItem>
#include <QPen>
#include <QColor>
// OpenCV stuff
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/calib3d/calib3d.hpp> // for homography
#include <opencv2/opencv_modules.hpp>
#ifdef HAVE_OPENCV_NONFREE
#if CV_MAJOR_VERSION == 2 && CV_MINOR_VERSION >=4
#include <opencv2/nonfree/gpu.hpp>
#include <opencv2/nonfree/features2d.hpp>
#endif
#endif
#ifdef HAVE_OPENCV_XFEATURES2D
#include <opencv2/xfeatures2d.hpp>
#include <opencv2/xfeatures2d/cuda.hpp>
#endif
// From this project
#include "find_object/ObjWidget.h"
#include "find_object/QtOpenCV.h"
using namespace find_object;
void showUsage()
{
printf("\n");
printf("Usage :\n");
printf(" ./example object.png scene.png\n");
exit(1);
}
int main(int argc, char * argv[])
{
if(argc<3)
{
showUsage();
}
QTime time;
// GUI stuff
QApplication app(argc, argv);
time.start();
//Load as grayscale
cv::Mat objectImg = cv::imread(argv[1], cv::IMREAD_GRAYSCALE);
cv::Mat sceneImg = cv::imread(argv[2], cv::IMREAD_GRAYSCALE);
if(!objectImg.empty() && !sceneImg.empty())
{
printf("Loading images: %d ms\n", time.restart());
std::vector<cv::KeyPoint> objectKeypoints;
std::vector<cv::KeyPoint> sceneKeypoints;
cv::Mat objectDescriptors;
cv::Mat sceneDescriptors;
////////////////////////////
// EXTRACT KEYPOINTS
////////////////////////////
cv::Ptr<cv::FeatureDetector> detector;
// The detector can be any of (see OpenCV features2d.hpp):
#if CV_MAJOR_VERSION == 2
// detector = cv::Ptr(new cv::DenseFeatureDetector());
// detector = cv::Ptr(new cv::FastFeatureDetector());
// detector = cv::Ptr(new cv::GFTTDetector());
// detector = cv::Ptr(new cv::MSER());
// detector = cv::Ptr(new cv::ORB());
detector = cv::Ptr<cv::FeatureDetector>(new cv::SIFT());
// detector = cv::Ptr(new cv::StarFeatureDetector());
// detector = cv::Ptr(new cv::SURF(600.0));
// detector = cv::Ptr(new cv::BRISK());
#elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
detector = cv::xfeatures2d::SIFT::create();
#else // >= 4.3.0
detector = cv::SIFT::create();
#endif
detector->detect(objectImg, objectKeypoints);
printf("Object: %d keypoints detected in %d ms\n", (int)objectKeypoints.size(), time.restart());
detector->detect(sceneImg, sceneKeypoints);
printf("Scene: %d keypoints detected in %d ms\n", (int)sceneKeypoints.size(), time.restart());
////////////////////////////
// EXTRACT DESCRIPTORS
////////////////////////////
cv::Ptr<cv::DescriptorExtractor> extractor;
#if CV_MAJOR_VERSION == 2
// The extractor can be any of (see OpenCV features2d.hpp):
// extractor = cv::Ptr(new cv::BriefDescriptorExtractor());
// extractor = cv::Ptr(new cv::ORB());
extractor = cv::Ptr<cv::DescriptorExtractor>(new cv::SIFT());
// extractor = cv::Ptr(new cv::SURF(600.0));
// extractor = cv::Ptr(new cv::BRISK());
// extractor = cv::Ptr(new cv::FREAK());
#elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
extractor = cv::xfeatures2d::SIFT::create();
#else // >= 4.3.0
extractor = cv::SIFT::create();
#endif
extractor->compute(objectImg, objectKeypoints, objectDescriptors);
printf("Object: %d descriptors extracted in %d ms\n", objectDescriptors.rows, time.restart());
extractor->compute(sceneImg, sceneKeypoints, sceneDescriptors);
printf("Scene: %d descriptors extracted in %d ms\n", sceneDescriptors.rows, time.restart());
////////////////////////////
// NEAREST NEIGHBOR MATCHING USING FLANN LIBRARY (included in OpenCV)
////////////////////////////
cv::Mat results;
cv::Mat dists;
std::vector<std::vector<cv::DMatch> > matches;
int k=2; // find the 2 nearest neighbors
bool useBFMatcher = false; // SET TO TRUE TO USE BRUTE FORCE MATCHER
if(objectDescriptors.type()==CV_8U)
{
// Binary descriptors detected (from ORB, Brief, BRISK, FREAK)
printf("Binary descriptors detected...\n");
if(useBFMatcher)
{
cv::BFMatcher matcher(cv::NORM_HAMMING); // use cv::NORM_HAMMING2 for ORB descriptor with WTA_K == 3 or 4 (see ORB constructor)
matcher.knnMatch(objectDescriptors, sceneDescriptors, matches, k);
}
else
{
// Create Flann LSH index
cv::flann::Index flannIndex(sceneDescriptors, cv::flann::LshIndexParams(12, 20, 2), cvflann::FLANN_DIST_HAMMING);
printf("Time creating FLANN LSH index = %d ms\n", time.restart());
// search (nearest neighbor)
flannIndex.knnSearch(objectDescriptors, results, dists, k, cv::flann::SearchParams() );
}
}
else
{
// assume it is CV_32F
printf("Float descriptors detected...\n");
if(useBFMatcher)
{
cv::BFMatcher matcher(cv::NORM_L2);
matcher.knnMatch(objectDescriptors, sceneDescriptors, matches, k);
}
else
{
// Create Flann KDTree index
cv::flann::Index flannIndex(sceneDescriptors, cv::flann::KDTreeIndexParams(), cvflann::FLANN_DIST_EUCLIDEAN);
printf("Time creating FLANN KDTree index = %d ms\n", time.restart());
// search (nearest neighbor)
flannIndex.knnSearch(objectDescriptors, results, dists, k, cv::flann::SearchParams() );
}
}
printf("Time nearest neighbor search = %d ms\n", time.restart());
// Conversion to CV_32F if needed
if(dists.type() == CV_32S)
{
cv::Mat temp;
dists.convertTo(temp, CV_32F);
dists = temp;
}
////////////////////////////
// PROCESS NEAREST NEIGHBOR RESULTS
////////////////////////////
// Set gui data
ObjWidget objWidget(0, objectKeypoints, QMultiMap<int,int>(), cvtCvMat2QImage(objectImg));
ObjWidget sceneWidget(0, sceneKeypoints, QMultiMap<int,int>(), cvtCvMat2QImage(sceneImg));
// Find correspondences by NNDR (Nearest Neighbor Distance Ratio)
float nndrRatio = 0.8f;
std::vector<cv::Point2f> mpts_1, mpts_2; // Used for homography
std::vector<int> indexes_1, indexes_2; // Used for homography
std::vector<uchar> outlier_mask; // Used for homography
// Check if this descriptor matches with those of the objects
if(!useBFMatcher)
{
for(int i=0; i<objectDescriptors.rows; ++i)
{
// Apply NNDR
//printf("q=%d dist1=%f dist2=%f\n", i, dists.at<float>(i,0), dists.at<float>(i,1));
if(results.at<int>(i,0) >= 0 && results.at<int>(i,1) >= 0 &&
dists.at<float>(i,0) <= nndrRatio * dists.at<float>(i,1))
{
mpts_1.push_back(objectKeypoints.at(i).pt);
indexes_1.push_back(i);
mpts_2.push_back(sceneKeypoints.at(results.at<int>(i,0)).pt);
indexes_2.push_back(results.at<int>(i,0));
}
}
}
else
{
for(unsigned int i=0; i<matches.size(); ++i)
{
// Apply NNDR
//printf("q=%d dist1=%f dist2=%f\n", matches.at(i).at(0).queryIdx, matches.at(i).at(0).distance, matches.at(i).at(1).distance);
if(matches.at(i).size() == 2 &&
matches.at(i).at(0).distance <= nndrRatio * matches.at(i).at(1).distance)
{
mpts_1.push_back(objectKeypoints.at(matches.at(i).at(0).queryIdx).pt);
indexes_1.push_back(matches.at(i).at(0).queryIdx);
mpts_2.push_back(sceneKeypoints.at(matches.at(i).at(0).trainIdx).pt);
indexes_2.push_back(matches.at(i).at(0).trainIdx);
}
}
}
// FIND HOMOGRAPHY
unsigned int minInliers = 8;
if(mpts_1.size() >= minInliers)
{
time.start();
cv::Mat H = findHomography(mpts_1,
mpts_2,
cv::RANSAC,
1.0,
outlier_mask);
printf("Time finding homography = %d ms\n", time.restart());
int inliers=0, outliers=0;
for(unsigned int k=0; k<mpts_1.size();++k)
{
if(outlier_mask.at(k))
{
++inliers;
}
else
{
++outliers;
}
}
QTransform hTransform(
H.at<double>(0,0), H.at<double>(1,0), H.at<double>(2,0),
H.at<double>(0,1), H.at<double>(1,1), H.at<double>(2,1),
H.at<double>(0,2), H.at<double>(1,2), H.at<double>(2,2));
// GUI : Change color and add homography rectangle
QColor color(Qt::green);
int alpha = 130;
color.setAlpha(alpha);
for(unsigned int k=0; k<mpts_1.size();++k)
{
if(outlier_mask.at(k))
{
objWidget.setKptColor(indexes_1.at(k), color);
sceneWidget.setKptColor(indexes_2.at(k), color);
}
else
{
objWidget.setKptColor(indexes_1.at(k), QColor(255,0,0,alpha));
sceneWidget.setKptColor(indexes_2.at(k), QColor(255,0,0,alpha));
}
}
QPen rectPen(color);
rectPen.setWidth(4);
QGraphicsRectItem * rectItem = new QGraphicsRectItem(objWidget.pixmap().rect());
rectItem->setPen(rectPen);
rectItem->setTransform(hTransform);
sceneWidget.addRect(rectItem);
printf("Inliers=%d Outliers=%d\n", inliers, outliers);
}
else
{
printf("Not enough matches (%d) for homography...\n", (int)mpts_1.size());
}
// Wait for gui
objWidget.setGraphicsViewMode(false);
objWidget.setWindowTitle("Object");
if(objWidget.pixmap().width() <= 800)
{
objWidget.setMinimumSize(objWidget.pixmap().width(), objWidget.pixmap().height());
}
else
{
objWidget.setMinimumSize(800, 600);
objWidget.setAutoScale(false);
}
sceneWidget.setGraphicsViewMode(false);
sceneWidget.setWindowTitle("Scene");
if(sceneWidget.pixmap().width() <= 800)
{
sceneWidget.setMinimumSize(sceneWidget.pixmap().width(), sceneWidget.pixmap().height());
}
else
{
sceneWidget.setMinimumSize(800, 600);
sceneWidget.setAutoScale(false);
}
sceneWidget.show();
objWidget.show();
int r = app.exec();
printf("Closing...\n");
return r;
}
else
{
printf("Images are not valid!\n");
showUsage();
}
return 1;
}

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/Version.h

81
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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef CAMERA_H_
#define CAMERA_H_
#include <find_object/Header.h>
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <opencv2/highgui/highgui.hpp>
#include <QtCore/QObject>
#include <QtCore/QTimer>
#include <QtGui/QImage>
namespace find_object {
class CameraTcpServer;
class FINDOBJECT_EXP Camera : public QObject {
Q_OBJECT
public:
Camera(QObject * parent = 0);
virtual ~Camera();
virtual bool start();
virtual void stop();
virtual bool isRunning() {return cameraTimer_.isActive();}
void pause();
int getTotalFrames();
int getCurrentFrameIndex();
int getPort();
void moveToFrame(int frame);
Q_SIGNALS:
void imageReceived(const cv::Mat & image);
void imageReceived(const cv::Mat & image, const find_object::Header & header, const cv::Mat & depth, float depthConstant);
void finished();
public Q_SLOTS:
virtual void updateImageRate();
virtual void takeImage();
protected:
void startTimer();
void stopTimer();
private:
cv::VideoCapture capture_;
QTimer cameraTimer_;
QList<std::string> images_;
unsigned int currentImageIndex_;
CameraTcpServer * cameraTcpServer_;
};
} // namespace find_object
#endif /* CAMERA_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#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>
namespace find_object {
class DetectionInfo
{
public:
enum TimeStamp{
kTimeKeypointDetection,
kTimeDescriptorExtraction,
kTimeSubPixelRefining,
kTimeSkewAffine,
kTimeIndexing,
kTimeMatching,
kTimeHomography,
kTimeTotal
};
enum RejectedCode{
kRejectedUndef,
kRejectedLowMatches,
kRejectedLowInliers,
kRejectedSuperposed,
kRejectedAllInliers,
kRejectedNotValid,
kRejectedCornersOutside,
kRejectedByAngle
};
public:
DetectionInfo() :
minMatchedDistance_(-1),
maxMatchedDistance_(-1)
{}
public:
// Those maps have the same size
QMultiMap<int, QTransform> objDetected_;
QMultiMap<int, QSize> objDetectedSizes_; // Object ID <width, height> match the number of detected objects
QMultiMap<int, QString > objDetectedFilePaths_; // 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
// Those maps have the same size
QMultiMap<int, QMultiMap<int, int> > rejectedInliers_; // ObjectID Map< ObjectDescriptorIndex, SceneDescriptorIndex >
QMultiMap<int, QMultiMap<int, int> > rejectedOutliers_; // ObjectID Map< ObjectDescriptorIndex, SceneDescriptorIndex >
QMultiMap<int, RejectedCode> rejectedCodes_; // ObjectID rejected code
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.objDetectedFilePaths_.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.objDetectedFilePaths_.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;
}
} // namespace find_object
#endif /* DETECTIONINFO_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef FINDOBJECT_H_
#define FINDOBJECT_H_
#include <find_object/Header.h>
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include "find_object/DetectionInfo.h"
#include "find_object/Settings.h"
#include <QtCore/QObject>
#include <QtCore/QString>
#include <QtCore/QMap>
#include <QtCore/QMultiMap>
#include <QtCore/QPair>
#include <QtCore/QVector>
#include <QtGui/QTransform>
#include <QtCore/QRect>
#include <opencv2/opencv.hpp>
#include <vector>
namespace find_object {
class ObjSignature;
class Vocabulary;
class Feature2D;
class FINDOBJECT_EXP FindObject : public QObject
{
Q_OBJECT;
public:
static void affineSkew(float tilt,
float phi,
const cv::Mat & image,
cv::Mat & skewImage,
cv::Mat & skewMask,
cv::Mat & Ai);
public:
FindObject(bool keepImagesInRAM_ = true, QObject * parent = 0);
virtual ~FindObject();
bool loadSession(const QString & path, const ParametersMap & customParameters = ParametersMap());
bool saveSession(const QString & path);
bool isSessionModified() const {return sessionModified_;}
bool saveVocabulary(const QString & filePath) const;
bool loadVocabulary(const QString & filePath);
int loadObjects(const QString & dirPath, bool recursive = false); // call updateObjects()
const ObjSignature * addObject(const QString & filePath);
const ObjSignature * addObject(const cv::Mat & image, int id=0, const QString & filePath = QString());
bool addObject(ObjSignature * obj); // take ownership when true is returned
void removeObject(int id);
void removeAllObjects();
bool detect(const cv::Mat & image, find_object::DetectionInfo & info) const;
void updateDetectorExtractor();
void updateObjects(const QList<int> & ids = QList<int>());
void updateVocabulary(const QList<int> & ids = QList<int>());
const QMap<int, ObjSignature*> & objects() const {return objects_;}
const Vocabulary * vocabulary() const {return vocabulary_;}
public Q_SLOTS:
void addObjectAndUpdate(const cv::Mat & image, int id=0, const QString & filePath = QString());
void removeObjectAndUpdate(int id);
void detect(const cv::Mat & image); // emit objectsFound()
void detect(const cv::Mat & image, const find_object::Header & header, const cv::Mat & depth, float depthConstant); // emit objectsFound()
Q_SIGNALS:
void objectsFound(const find_object::DetectionInfo &, const find_object::Header &, const cv::Mat &, float);
private:
void clearVocabulary();
private:
QMap<int, ObjSignature*> objects_;
Vocabulary * vocabulary_;
QMap<int, cv::Mat> objectsDescriptors_;
QMap<int, int> dataRange_; // <last id of object's descriptor, id>
Feature2D * detector_;
Feature2D * extractor_;
bool sessionModified_;
bool keepImagesInRAM_;
};
} // namespace find_object
#endif /* FINDOBJECT_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef FINDOBJECTEXP_H
#define FINDOBJECTEXP_H
#if defined(_WIN32)
#if defined(find_object_EXPORTS)
#define FINDOBJECT_EXP __declspec( dllexport )
#else
#define FINDOBJECT_EXP __declspec( dllimport )
#endif
#else
#define FINDOBJECT_EXP
#endif
#endif // RTABMAPEXP_H

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/*
Copyright (c) 2011-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef INCLUDE_FIND_OBJECT_HEADER_H_
#define INCLUDE_FIND_OBJECT_HEADER_H_
#include <stdint.h>
#include <QString>
namespace find_object {
class Header {
public:
Header() :
sec_(0),
nsec_(0)
{
}
Header(const char * frameId, uint64_t sec, uint64_t nsec) :
frameId_(frameId),
sec_(sec),
nsec_(nsec)
{
}
QString frameId_;
uint64_t sec_;
uint64_t nsec_;
};
}
#endif /* INCLUDE_FIND_OBJECT_HEADER_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef JSONWRITER_H_
#define JSONWRITER_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include "find_object/DetectionInfo.h"
namespace find_object {
class FINDOBJECT_EXP JsonWriter
{
public:
static void write(const DetectionInfo & info, const QString & path);
};
} // namespace find_object
#endif /* JSONWRITER_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef MAINWINDOW_H_
#define MAINWINDOW_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include "find_object/DetectionInfo.h"
#include "find_object/Header.h"
#include <QMainWindow>
#include <QtCore/QSet>
#include <QtCore/QTimer>
#include <QtCore/QTime>
#include <QtCore/QMap>
#include <QtCore/QByteArray>
#include <opencv2/opencv.hpp>
namespace rtabmap
{
class PdfPlotCurve;
}
class Ui_mainWindow;
class QLabel;
namespace find_object {
class ObjWidget;
class Camera;
class ParametersToolBox;
class AboutDialog;
class TcpServer;
class KeypointDetector;
class DescriptorExtractor;
class Vocabulary;
class FindObject;
class FINDOBJECT_EXP MainWindow : public QMainWindow
{
Q_OBJECT
public:
MainWindow(find_object::FindObject * findObject, find_object::Camera * camera = 0, QWidget * parent = 0);
virtual ~MainWindow();
void setSourceImageText(const QString & text);
protected:
virtual void closeEvent(QCloseEvent * event);
virtual void keyPressEvent(QKeyEvent *event);
public Q_SLOTS:
void startProcessing();
void stopProcessing();
void pauseProcessing();
void update(const cv::Mat & image);
void update(const cv::Mat & image, const find_object::Header & header, const cv::Mat & depth, float depthConstant);
private Q_SLOTS:
void loadSession();
void saveSession();
void loadSettings();
void saveSettings();
void loadObjects();
bool saveObjects();
void loadVocabulary();
void saveVocabulary();
void addObjectFromScene();
void addObjectsFromFiles(const QStringList & fileNames);
void addObjectsFromFiles();
void addObjectFromTcp(const cv::Mat & image, int id, const QString & filePath);
void loadSceneFromFile(const QStringList & fileNames);
void loadSceneFromFile();
void setupCameraFromVideoFile();
void setupCameraFromImagesDirectory();
void setupCameraFromTcpIp();
void removeObject(find_object::ObjWidget * object);
void removeObject(int id);
void removeAllObjects();
void updateObjectsSize();
void updateMirrorView();
void showHideControls();
void showObjectsFeatures();
void hideObjectsFeatures();
void updateObjects();
void notifyParametersChanged(const QStringList & param);
void moveCameraFrame(int frame);
void rectHovered(int objId);
Q_SIGNALS:
void objectsFound(const find_object::DetectionInfo &, const find_object::Header & header, const cv::Mat & depth, float depthConstant);
private:
bool loadSettings(const QString & path);
bool saveSettings(const QString & path) const;
int loadObjects(const QString & dirPath, bool recursive = false);
int saveObjects(const QString & dirPath);
void setupTCPServer();
int addObjectFromFile(const QString & filePath);
void showObject(find_object::ObjWidget * obj);
void updateObjectSize(find_object::ObjWidget * obj);
void updateVocabulary(const QList<int> & ids = QList<int>());
void updateObjects(const QList<int> & ids);
private:
Ui_mainWindow * ui_;
Camera * camera_;
FindObject * findObject_;
rtabmap::PdfPlotCurve * likelihoodCurve_;
rtabmap::PdfPlotCurve * inliersCurve_;
AboutDialog * aboutDialog_;
QMap<int, find_object::ObjWidget*> objWidgets_;
QTime updateRate_;
QTime refreshStartTime_;
int lowestRefreshRate_;
bool objectsModified_;
QMap<int, QByteArray> imagesMap_;
QMap<QString, QVariant> lastObjectsUpdateParameters_; // ParametersMap
TcpServer * tcpServer_;
cv::Mat sceneImage_;
};
} // namespace find_object
#endif /* MainWindow_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef OBJWIDGET_H_
#define OBJWIDGET_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <opencv2/features2d/features2d.hpp>
#include <QWidget>
#include <QtCore/QMultiMap>
class QAction;
class QMenu;
class QGraphicsView;
class QGraphicsScene;
class QGraphicsRectItem;
class QGraphicsItem;
class QLabel;
namespace find_object {
class KeypointItem;
class ImageKptsView;
class FINDOBJECT_EXP ObjWidget : public QWidget
{
Q_OBJECT
public:
ObjWidget(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 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);
void setMirrorView(bool on);
void setAlpha(int alpha);
void setDeletable(bool deletable);
void setImageShown(bool shown);
void setFeaturesShown(bool shown);
void addRect(QGraphicsRectItem * rect);
void clearRoiSelection() {mousePressedPos_ = mouseCurrentPos_ = QPoint();update();}
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(int id) const;
bool isImageShown() const;
bool isFeaturesShown() const;
bool isSizedFeatures() const;
bool isMirrorView() const;
//QGraphicsScene * scene() const;
std::vector<cv::KeyPoint> selectedKeypoints() const;
QList<QGraphicsItem*> selectedItems() const;
QPixmap getSceneAsPixmap();
protected:
virtual void paintEvent(QPaintEvent *event);
virtual void contextMenuEvent(QContextMenuEvent * event);
virtual void resizeEvent(QResizeEvent* event);
virtual void mousePressEvent(QMouseEvent * event);
virtual void mouseMoveEvent(QMouseEvent * event);
virtual void mouseReleaseEvent(QMouseEvent * event);
Q_SIGNALS:
void removalTriggered(find_object::ObjWidget *);
void selectionChanged();
void roiChanged(const cv::Rect &);
private:
void setupGraphicsView();
void drawKeypoints(QPainter * painter = 0);
void setupUi();
void updateItemsShown();
void computeScaleOffsets(float & scale, float & offsetX, float & offsetY);
private:
int id_;
std::vector<cv::KeyPoint> keypoints_;
QMap<int,int> words_; //<keypoint, word>
QPixmap pixmap_;
QRect rect_;
QList<KeypointItem*> keypointItems_;
QGraphicsView * graphicsView_;
QVector<QColor> kptColors_;
QList<QGraphicsRectItem*> rectItems_;
bool graphicsViewInitialized_;
int alpha_;
QLabel * label_;
QColor color_;
// menu stuff
QString savedFileName_;
QMenu * menu_;
QAction * showImage_;
QAction * showFeatures_;
QAction * saveImage_;
QAction * mirrorView_;
QAction * delete_;
QAction * graphicsViewMode_;
QAction * autoScale_;
QAction * sizedFeatures_;
QAction * setAlpha_;
QAction * setColor_;
// selection stuff
QPoint mousePressedPos_;
QPoint mouseCurrentPos_;
};
} // namespace find_object
#endif /* OBJWIDGET_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef QTOPENCV_H
#define QTOPENCV_H
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include <QtGui/QImage>
#include <opencv2/core/core.hpp>
namespace find_object {
// Convert OpenCV matrix to QImage
FINDOBJECT_EXP QImage cvtCvMat2QImage(const cv::Mat & image, bool isBgr = true);
// Convert QImage to OpenCV matrix
FINDOBJECT_EXP cv::Mat cvtQImage2CvMat(const QImage & image);
#if CV_MAJOR_VERSION < 3
// Convert IplImage to QImage
FINDOBJECT_EXP QImage cvtIplImage2QImage(const IplImage * image);
// Convert QImage to IplImage
FINDOBJECT_EXP IplImage * cvtQImage2IplImage(const QImage & image);
#endif
} // namespace find_object
#endif // QTOPENCV_H

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef SETTINGS_H_
#define SETTINGS_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include "find_object/Version.h" // DLL export/import defines
#include <QtCore/QMap>
#include <QtCore/QVariant>
#include <QtCore/QByteArray>
#include <opencv2/features2d/features2d.hpp>
namespace find_object {
class Feature2D;
typedef QMap<QString, QVariant> ParametersMap; // Key, value
typedef QMap<QString, QString> ParametersType; // Key, type
typedef QMap<QString, QString> DescriptionsMap; // Key, description
typedef unsigned int uint;
// MACRO BEGIN
#define PARAMETER_GETTER_bool(PREFIX, NAME) \
static bool get##PREFIX##_##NAME() {return parameters_.value(#PREFIX "/" #NAME).toBool();}
#define PARAMETER_GETTER_int(PREFIX, NAME) \
static int get##PREFIX##_##NAME() {return parameters_.value(#PREFIX "/" #NAME).toInt();}
#define PARAMETER_GETTER_uint(PREFIX, NAME) \
static uint get##PREFIX##_##NAME() {return parameters_.value(#PREFIX "/" #NAME).toUInt();}
#define PARAMETER_GETTER_float(PREFIX, NAME) \
static float get##PREFIX##_##NAME() {return parameters_.value(#PREFIX "/" #NAME).toFloat();}
#define PARAMETER_GETTER_double(PREFIX, NAME) \
static double get##PREFIX##_##NAME() {return parameters_.value(#PREFIX "/" #NAME).toDouble();}
#define PARAMETER_GETTER_QString(PREFIX, NAME) \
static QString get##PREFIX##_##NAME() {return parameters_.value(#PREFIX "/" #NAME).toString();}
#define PARAMETER(PREFIX, NAME, TYPE, DEFAULT_VALUE, DESCRIPTION) \
public: \
static QString k##PREFIX##_##NAME() {return QString(#PREFIX "/" #NAME);} \
static TYPE default##PREFIX##_##NAME() {return DEFAULT_VALUE;} \
static QString type##PREFIX##_##NAME() {return QString(#TYPE);} \
static QString description##PREFIX##_##NAME() {return QString(DESCRIPTION);} \
PARAMETER_GETTER_##TYPE(PREFIX, NAME) \
static void set##PREFIX##_##NAME(const TYPE & value) {parameters_[#PREFIX "/" #NAME] = value;} \
private: \
class Dummy##PREFIX##_##NAME { \
public: \
Dummy##PREFIX##_##NAME() { \
defaultParameters_.insert(#PREFIX "/" #NAME, QVariant(DEFAULT_VALUE)); \
parameters_.insert(#PREFIX "/" #NAME, DEFAULT_VALUE); \
parametersType_.insert(#PREFIX "/" #NAME, #TYPE); \
descriptions_.insert(#PREFIX "/" #NAME, DESCRIPTION);} \
}; \
Dummy##PREFIX##_##NAME dummy##PREFIX##_##NAME;
#define PARAMETER_COND(PREFIX, NAME, TYPE, COND, DEFAULT_VALUE1, DEFAULT_VALUE2, DESCRIPTION) \
public: \
static QString k##PREFIX##_##NAME() {return QString(#PREFIX "/" #NAME);} \
static TYPE default##PREFIX##_##NAME() {return COND?DEFAULT_VALUE1:DEFAULT_VALUE2;} \
static QString type##PREFIX##_##NAME() {return QString(#TYPE);} \
static QString description##PREFIX##_##NAME() {return QString(DESCRIPTION);} \
PARAMETER_GETTER_##TYPE(PREFIX, NAME) \
static void set##PREFIX##_##NAME(const TYPE & value) {parameters_[#PREFIX "/" #NAME] = value;} \
private: \
class Dummy##PREFIX##_##NAME { \
public: \
Dummy##PREFIX##_##NAME() { \
defaultParameters_.insert(#PREFIX "/" #NAME, QVariant(COND?DEFAULT_VALUE1:DEFAULT_VALUE2)); \
parameters_.insert(#PREFIX "/" #NAME, COND?DEFAULT_VALUE1:DEFAULT_VALUE2); \
parametersType_.insert(#PREFIX "/" #NAME, #TYPE); \
descriptions_.insert(#PREFIX "/" #NAME, DESCRIPTION);} \
}; \
Dummy##PREFIX##_##NAME dummy##PREFIX##_##NAME;
// MACRO END
class FINDOBJECT_EXP Settings
{
PARAMETER(Camera, 1deviceId, int, 0, "Device ID (default 0).");
PARAMETER(Camera, 2imageWidth, int, 0, "Image width (0 means default width from camera).");
PARAMETER(Camera, 3imageHeight, int, 0, "Image height (0 means default height from camera).");
PARAMETER(Camera, 4imageRate, double, 10.0, "Image rate in Hz (0 Hz means as fast as possible)."); // Hz
PARAMETER(Camera, 5mediaPath, QString, "", "Video file or directory of images. If set, the camera is not used. See General->videoFormats and General->imageFormats for available formats.");
PARAMETER(Camera, 6useTcpCamera, bool, false, "Use TCP/IP input camera.");
PARAMETER(Camera, 8port, int, 0, "The images server's port when useTcpCamera is checked. Only one client at the same time is allowed.");
PARAMETER(Camera, 9queueSize, int, 1, "Maximum images buffered from TCP. If 0, all images are buffered.");
//List format : [Index:item0;item1;item3;...]
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
#if CV_MAJOR_VERSION >= 3 // NONFREE=SURF, DEFAULT=KAZE
PARAMETER_COND(Feature2D, 1Detector, QString, FINDOBJECT_NONFREE, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch" , "10:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch", "Keypoint detector.");
PARAMETER_COND(Feature2D, 2Descriptor, QString, FINDOBJECT_NONFREE, "3:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch", "6:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch", "Keypoint descriptor.");
#else // NONFREE=SURF, DEFAULT=ORB
PARAMETER_COND(Feature2D, 1Detector, QString, FINDOBJECT_NONFREE, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch" , "4:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch", "Keypoint detector.");
PARAMETER_COND(Feature2D, 2Descriptor, QString, FINDOBJECT_NONFREE, "3:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch", "1:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch", "Keypoint descriptor.");
#endif
#else // >=4.4 >=3.4.11: NONFREE=SURF, DEFAULT=SIFT
PARAMETER_COND(Feature2D, 1Detector, QString, FINDOBJECT_NONFREE, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch" , "5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch", "Keypoint detector.");
PARAMETER_COND(Feature2D, 2Descriptor, QString, FINDOBJECT_NONFREE, "3:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch", "2:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch", "Keypoint descriptor.");
#endif
PARAMETER(Feature2D, 3MaxFeatures, int, 0, "Maximum features per image. If the number of features extracted is over this threshold, only X features with the highest response are kept. 0 means all features are kept.");
PARAMETER(Feature2D, 4Affine, bool, false, "(ASIFT) Extract features on multiple affine transformations of the image.");
PARAMETER(Feature2D, 5AffineCount, int, 6, "(ASIFT) Higher the value, more affine transformations will be done.");
PARAMETER(Feature2D, 6SubPix, bool, false, "Refines the corner locations. With SIFT/SURF, features are already subpixel, so no need to activate this.");
PARAMETER(Feature2D, 7SubPixWinSize, int, 3, "Half of the side length of the search window. For example, if winSize=Size(5,5) , then a 5*2+1 x 5*2+1 = 11 x 11 search window is used.");
PARAMETER(Feature2D, 8SubPixIterations, int, 30, "The process of corner position refinement stops after X iterations.");
PARAMETER(Feature2D, 9SubPixEps, float, 0.02f, "The process of corner position refinement stops when the corner position moves by less than epsilon on some iteration.");
PARAMETER(Feature2D, Brief_bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
#if CV_MAJOR_VERSION < 3
PARAMETER(Feature2D, Dense_initFeatureScale, float, 1.f, "");
PARAMETER(Feature2D, Dense_featureScaleLevels, int, 1, "");
PARAMETER(Feature2D, Dense_featureScaleMul, float, 0.1f, "");
PARAMETER(Feature2D, Dense_initXyStep, int, 6, "");
PARAMETER(Feature2D, Dense_initImgBound, int, 0, "");
PARAMETER(Feature2D, Dense_varyXyStepWithScale, bool, true, "");
PARAMETER(Feature2D, Dense_varyImgBoundWithScale, bool, false, "");
#endif
PARAMETER(Feature2D, Fast_threshold, int, 10, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
PARAMETER(Feature2D, Fast_nonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints).");
PARAMETER(Feature2D, Fast_gpu, bool, false, "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
PARAMETER(Feature2D, Fast_keypointsRatio, double, 0.05, "Used with FAST GPU (OpenCV 2).");
PARAMETER(Feature2D, Fast_maxNpoints, int, 5000, "Used with FAST GPU (OpenCV 3).");
PARAMETER(Feature2D, AGAST_threshold, int, 10, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
PARAMETER(Feature2D, AGAST_nonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints).");
PARAMETER(Feature2D, KAZE_extended, bool, false, "Set to enable extraction of extended (128-byte) descriptor.");
PARAMETER(Feature2D, KAZE_upright, bool, false, "Set to enable use of upright descriptors (non rotation-invariant).");
PARAMETER(Feature2D, KAZE_threshold, float, 0.001f, "Detector response threshold to accept point");
PARAMETER(Feature2D, KAZE_nOctaves, int, 4, "Maximum octave evolution of the image.");
PARAMETER(Feature2D, KAZE_nOctaveLayers, int, 4, "Default number of sublevels per scale level.");
PARAMETER(Feature2D, AKAZE_descriptorSize, int, 0, "Size of the descriptor in bits. 0 -> Full size.");
PARAMETER(Feature2D, AKAZE_descriptorChannels, int, 3, "Number of channels in the descriptor (1, 2, 3).");
PARAMETER(Feature2D, AKAZE_threshold, float, 0.001f, "Detector response threshold to accept point.");
PARAMETER(Feature2D, AKAZE_nOctaves, int, 4, "Maximum octave evolution of the image.");
PARAMETER(Feature2D, AKAZE_nOctaveLayers, int, 4, "Default number of sublevels per scale level.");
PARAMETER(Feature2D, GFTT_maxCorners, int, 1000, "Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.");
PARAMETER(Feature2D, GFTT_qualityLevel, double, 0.01, "Parameter characterizing the minimal accepted quality of image corners. The parameter value is multiplied by the best corner quality measure, which is the minimal eigenvalue (see cornerMinEigenVal ) or the Harris function response (see cornerHarris ). The corners with the quality measure less than the product are rejected. For example, if the best corner has the quality measure = 1500, and the qualityLevel=0.01 , then all the corners with the quality measure less than 15 are rejected.");
PARAMETER(Feature2D, GFTT_minDistance, double, 1, "Minimum possible Euclidean distance between the returned corners.");
PARAMETER(Feature2D, GFTT_blockSize, int, 3, "Size of an average block for computing a derivative covariation matrix over each pixel neighborhood. See cornerEigenValsAndVecs.");
PARAMETER(Feature2D, GFTT_useHarrisDetector, bool, false, "Parameter indicating whether to use a Harris detector (see cornerHarris) or cornerMinEigenVal.");
PARAMETER(Feature2D, GFTT_k, double, 0.04, "Free parameter of the Harris detector.");
PARAMETER(Feature2D, ORB_nFeatures, int, 500, "The maximum number of features to retain.");
PARAMETER(Feature2D, ORB_scaleFactor, float, 1.2f, "Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.");
PARAMETER(Feature2D, ORB_nLevels, int, 8, "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).");
PARAMETER(Feature2D, ORB_edgeThreshold, int, 31, "This is size of the border where the features are not detected. It should roughly match the patchSize parameter.");
PARAMETER(Feature2D, ORB_firstLevel, int, 0, "It should be 0 in the current implementation.");
PARAMETER(Feature2D, ORB_WTA_K, int, 2, "The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).");
PARAMETER(Feature2D, ORB_scoreType, int, 0, "The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute.");
PARAMETER(Feature2D, ORB_patchSize, int, 31, "size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger.");
PARAMETER(Feature2D, ORB_gpu, bool, false, "GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
PARAMETER(Feature2D, ORB_blurForDescriptor, bool, false, "GPU-ORB: blurForDescriptor parameter (OpenCV 3).");
PARAMETER(Feature2D, MSER_delta, int, 5, "");
PARAMETER(Feature2D, MSER_minArea, int, 60, "");
PARAMETER(Feature2D, MSER_maxArea, int, 14400, "");
PARAMETER(Feature2D, MSER_maxVariation, double, 0.25, "");
PARAMETER(Feature2D, MSER_minDiversity, double, 0.2, "");
PARAMETER(Feature2D, MSER_maxEvolution, int, 200, "");
PARAMETER(Feature2D, MSER_areaThreshold, double, 1.01, "");
PARAMETER(Feature2D, MSER_minMargin, double, 0.003, "");
PARAMETER(Feature2D, MSER_edgeBlurSize, int, 5, "");
PARAMETER(Feature2D, SIFT_nfeatures, int, 0, "The number of best features to retain. The features are ranked by their scores (measured in SIFT algorithm as the local contrast).");
PARAMETER(Feature2D, SIFT_nOctaveLayers, int, 3, "The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution.");
PARAMETER(Feature2D, SIFT_contrastThreshold, double, 0.04, "The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector.");
PARAMETER(Feature2D, SIFT_edgeThreshold, double, 10, "The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).");
PARAMETER(Feature2D, SIFT_sigma, double, 1.6, "The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.");
PARAMETER(Feature2D, SIFT_rootSIFT, bool, false, "RootSIFT descriptors.");
PARAMETER(Feature2D, SURF_hessianThreshold, double, 600.0, "Threshold for hessian keypoint detector used in SURF.");
PARAMETER(Feature2D, SURF_nOctaves, int, 4, "Number of pyramid octaves the keypoint detector will use.");
PARAMETER(Feature2D, SURF_nOctaveLayers, int, 2, "Number of octave layers within each octave.");
PARAMETER(Feature2D, SURF_extended, bool, true, "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).");
PARAMETER(Feature2D, SURF_upright, bool, false, "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).");
PARAMETER(Feature2D, SURF_gpu, bool, false, "GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
PARAMETER(Feature2D, SURF_keypointsRatio, float, 0.01f, "Used with SURF GPU.");
PARAMETER(Feature2D, Star_maxSize, int, 45, "");
PARAMETER(Feature2D, Star_responseThreshold, int, 30, "");
PARAMETER(Feature2D, Star_lineThresholdProjected, int, 10, "");
PARAMETER(Feature2D, Star_lineThresholdBinarized, int, 8, "");
PARAMETER(Feature2D, Star_suppressNonmaxSize, int, 5, "");
PARAMETER(Feature2D, BRISK_thresh, int, 30, "FAST/AGAST detection threshold score.");
PARAMETER(Feature2D, BRISK_octaves, int, 3, "Detection octaves. Use 0 to do single scale.");
PARAMETER(Feature2D, BRISK_patternScale, float, 1.0f, "Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.");
PARAMETER(Feature2D, FREAK_orientationNormalized, bool, true, "Enable orientation normalization.");
PARAMETER(Feature2D, FREAK_scaleNormalized, bool, true, "Enable scale normalization.");
PARAMETER(Feature2D, FREAK_patternScale, float, 22.0f, "Scaling of the description pattern.");
PARAMETER(Feature2D, FREAK_nOctaves, int, 4, "Number of octaves covered by the detected keypoints.");
PARAMETER(Feature2D, LUCID_kernel, int, 1, "Kernel for descriptor construction, where 1=3x3, 2=5x5, 3=7x7 and so forth.");
PARAMETER(Feature2D, LUCID_blur_kernel, int, 2, "Kernel for blurring image prior to descriptor construction, where 1=3x3, 2=5x5, 3=7x7 and so forth.");
PARAMETER(Feature2D, LATCH_bytes, int, 32, "Size of the descriptor - can be 64, 32, 16, 8, 4, 2 or 1.");
PARAMETER(Feature2D, LATCH_rotationInvariance, bool, true, "Whether or not the descriptor should compansate for orientation changes.");
PARAMETER(Feature2D, LATCH_half_ssd_size, int, 3, "The size of half of the mini-patches size. For example, if we would like to compare triplets of patches of size 7x7x then the half_ssd_size should be (7-1)/2 = 3.");
PARAMETER(Feature2D, DAISY_radius, float, 15, "Radius of the descriptor at the initial scale.");
PARAMETER(Feature2D, DAISY_q_radius, int, 3, "Amount of radial range division quantity.");
PARAMETER(Feature2D, DAISY_q_theta, int, 8, "Amount of angular range division quantity.");
PARAMETER(Feature2D, DAISY_q_hist, int, 8, "Amount of gradient orientations range division quantity.");
PARAMETER(Feature2D, DAISY_interpolation, bool, true, "Switch to disable interpolation for speed improvement at minor quality loss.");
PARAMETER(Feature2D, DAISY_use_orientation, bool, false, "Sample patterns using keypoints orientation, disabled by default.");
PARAMETER(Feature2D, SuperPointTorch_modelPath, QString, "", "[Required] Path to pre-trained weights Torch file of SuperPoint (*.pt).");
PARAMETER(Feature2D, SuperPointTorch_threshold, float, 0.2, "Detector response threshold to accept keypoint.");
PARAMETER(Feature2D, SuperPointTorch_NMS, bool, true, "If true, non-maximum suppression is applied to detected keypoints.");
PARAMETER(Feature2D, SuperPointTorch_NMS_radius, int, 4, "[%s=true] Minimum distance (pixels) between keypoints");
PARAMETER(Feature2D, SuperPointTorch_cuda, bool, false, "Use Cuda device for Torch, otherwise CPU device is used by default.");
PARAMETER_COND(NearestNeighbor, 1Strategy, QString, FINDOBJECT_NONFREE || CV_MAJOR_VERSION >= 3, "1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce", "6:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce", "Nearest neighbor strategy.");
PARAMETER_COND(NearestNeighbor, 2Distance_type, QString, FINDOBJECT_NONFREE || CV_MAJOR_VERSION >= 3, "0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING", "1:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING", "Distance type.");
PARAMETER(NearestNeighbor, 3nndrRatioUsed, bool, true, "Nearest neighbor distance ratio approach to accept the best match.");
PARAMETER(NearestNeighbor, 4nndrRatio, float, 0.8f, "Nearest neighbor distance ratio.");
PARAMETER(NearestNeighbor, 5minDistanceUsed, bool, false, "Minimum distance with the nearest descriptor to accept a match.");
PARAMETER(NearestNeighbor, 6minDistance, float, 1.6f, "Minimum distance. You can look at top of this panel where minimum and maximum distances are shown to properly set this parameter depending of the descriptor used.");
PARAMETER(NearestNeighbor, 7ConvertBinToFloat, bool, false, "Convert binary descriptor to float before quantization, so you can use FLANN strategies with them.");
PARAMETER(NearestNeighbor, BruteForce_gpu, bool, false, "Brute force GPU");
PARAMETER(NearestNeighbor, search_checks, int, 32, "The number of times the tree(s) in the index should be recursively traversed. A higher value for this parameter would give better search precision, but also take more time. If automatic configuration was used when the index was created, the number of checks required to achieve the specified precision was also computed, in which case this parameter is ignored.");
PARAMETER(NearestNeighbor, search_eps, float, 0, "");
PARAMETER(NearestNeighbor, search_sorted, bool, true, "");
PARAMETER(NearestNeighbor, KDTree_trees, int, 4, "The number of parallel kd-trees to use. Good values are in the range [1..16].");
PARAMETER(NearestNeighbor, Composite_trees, int, 4, "The number of parallel kd-trees to use. Good values are in the range [1..16].");
PARAMETER(NearestNeighbor, Composite_branching, int, 32, "The branching factor to use for the hierarchical k-means tree.");
PARAMETER(NearestNeighbor, Composite_iterations, int, 11, "The maximum number of iterations to use in the k-means clustering stage when building the k-means tree. A value of -1 used here means that the k-means clustering should be iterated until convergence.");
PARAMETER(NearestNeighbor, Composite_centers_init, QString, "0:RANDOM;GONZALES;KMEANSPP", "The algorithm to use for selecting the initial centers when performing a k-means clustering step. The possible values are CENTERS_RANDOM (picks the initial cluster centers randomly), CENTERS_GONZALES (picks the initial centers using Gonzales’ algorithm) and CENTERS_KMEANSPP (picks the initial centers using the algorithm suggested in arthur_kmeanspp_2007 ).");
PARAMETER(NearestNeighbor, Composite_cb_index, double, 0.2, "This parameter (cluster boundary index) influences the way exploration is performed in the hierarchical kmeans tree. When cb_index is zero the next kmeans domain to be explored is chosen to be the one with the closest center. A value greater then zero also takes into account the size of the domain.");
PARAMETER(NearestNeighbor, Autotuned_target_precision, double, 0.8, "Is a number between 0 and 1 specifying the percentage of the approximate nearest-neighbor searches that return the exact nearest-neighbor. Using a higher value for this parameter gives more accurate results, but the search takes longer. The optimum value usually depends on the application.");
PARAMETER(NearestNeighbor, Autotuned_build_weight, double, 0.01, "Specifies the importance of the index build time raported to the nearest-neighbor search time. In some applications it’s acceptable for the index build step to take a long time if the subsequent searches in the index can be performed very fast. In other applications it’s required that the index be build as fast as possible even if that leads to slightly longer search times.");
PARAMETER(NearestNeighbor, Autotuned_memory_weight, double, 0, "Is used to specify the tradeoff between time (index build time and search time) and memory used by the index. A value less than 1 gives more importance to the time spent and a value greater than 1 gives more importance to the memory usage.");
PARAMETER(NearestNeighbor, Autotuned_sample_fraction, double, 0.1, "Is a number between 0 and 1 indicating what fraction of the dataset to use in the automatic parameter configuration algorithm. Running the algorithm on the full dataset gives the most accurate results, but for very large datasets can take longer than desired. In such case using just a fraction of the data helps speeding up this algorithm while still giving good approximations of the optimum parameters.");
PARAMETER(NearestNeighbor, KMeans_branching, int, 32, "The branching factor to use for the hierarchical k-means tree.");
PARAMETER(NearestNeighbor, KMeans_iterations, int, 11, "The maximum number of iterations to use in the k-means clustering stage when building the k-means tree. A value of -1 used here means that the k-means clustering should be iterated until convergence.");
PARAMETER(NearestNeighbor, KMeans_centers_init, QString, "0:RANDOM;GONZALES;KMEANSPP", "The algorithm to use for selecting the initial centers when performing a k-means clustering step. The possible values are CENTERS_RANDOM (picks the initial cluster centers randomly), CENTERS_GONZALES (picks the initial centers using Gonzales’ algorithm) and CENTERS_KMEANSPP (picks the initial centers using the algorithm suggested in arthur_kmeanspp_2007 ).");
PARAMETER(NearestNeighbor, KMeans_cb_index, double, 0.2, "This parameter (cluster boundary index) influences the way exploration is performed in the hierarchical kmeans tree. When cb_index is zero the next kmeans domain to be explored is chosen to be the one with the closest center. A value greater then zero also takes into account the size of the domain.");
PARAMETER(NearestNeighbor, Lsh_table_number, int, 12, "The number of hash tables to use (between 10 and 30 usually).");
PARAMETER(NearestNeighbor, Lsh_key_size, int, 20, "The size of the hash key in bits (between 10 and 20 usually).");
PARAMETER(NearestNeighbor, Lsh_multi_probe_level, int, 2, "The number of bits to shift to check for neighboring buckets (0 is regular LSH, 2 is recommended).");
PARAMETER(General, autoStartCamera, bool, false, "Automatically start the camera when the application is opened.");
PARAMETER(General, autoUpdateObjects, bool, true, "Automatically update objects on every parameter changes, otherwise you would need to press \"Update objects\" on the objects panel.");
PARAMETER(General, nextObjID, uint, 1, "Next object ID to use.");
PARAMETER(General, imageFormats, QString, "*.png *.jpg *.bmp *.tiff *.ppm *.pgm", "Image formats supported.");
PARAMETER(General, videoFormats, QString, "*.avi *.m4v *.mp4", "Video formats supported.");
PARAMETER(General, mirrorView, bool, false, "Flip the camera image horizontally (like all webcam applications).");
PARAMETER(General, invertedSearch, bool, true, "Instead of matching descriptors from the objects to those in a vocabulary created with descriptors extracted from the scene, we create a vocabulary from all the objects' descriptors and we match scene's descriptors to this vocabulary. It is the inverted search mode.");
PARAMETER(General, controlsShown, bool, false, "Show play/image seek controls (useful with video file and directory of images modes).");
PARAMETER(General, threads, int, 1, "Number of threads used for objects matching and homography computation. 0 means as many threads as objects. On InvertedSearch mode, multi-threading has only effect on homography computation.");
PARAMETER(General, multiDetection, bool, false, "Multiple detection of the same object.");
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, 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.");
PARAMETER(General, autoScreenshotPath, QString, "", "Path to a directory to save screenshot of the current camera view when there is a detection.");
PARAMETER(General, debug, bool, false, "Show debug logs on terminal.");
PARAMETER(Homography, homographyComputed, bool, true, "Compute homography? On ROS, this is required to publish objects detected.");
PARAMETER(Homography, method, QString, "1:LMEDS;RANSAC;RHO", "Type of the robust estimation algorithm: least-median algorithm or RANSAC algorithm.");
PARAMETER(Homography, ransacReprojThr, double, 3.0, "Maximum allowed reprojection error to treat a point pair as an inlier (used in the RANSAC method only). It usually makes sense to set this parameter somewhere in the range of 1 to 10.");
#if CV_MAJOR_VERSION >= 3
PARAMETER(Homography, maxIterations, int, 2000, "The maximum number of RANSAC iterations, 2000 is the maximum it can be.");
PARAMETER(Homography, confidence, double, 0.995, "Confidence level, between 0 and 1.");
#endif
PARAMETER(Homography, minimumInliers, int, 10, "Minimum inliers to accept the homography. Value must be >= 4.");
PARAMETER(Homography, ignoreWhenAllInliers, bool, false, "Ignore homography when all features are inliers (sometimes when the homography doesn't converge, it returns the best homography with all features as inliers).");
PARAMETER(Homography, rectBorderWidth, int, 4, "Homography rectangle border width.");
PARAMETER(Homography, allCornersVisible, bool, false, "All corners of the detected object must be visible in the scene.");
PARAMETER(Homography, minAngle, int, 0, "(Degrees) Homography minimum angle. Set 0 to disable. When the angle is very small, this is a good indication that the homography is wrong. A good value is over 60 degrees.");
PARAMETER(Homography, opticalFlow, bool, false, "Activate optical flow to refine matched features before computing the homography.");
PARAMETER(Homography, opticalFlowWinSize, int, 16, "Size of the search window at each pyramid level.");
PARAMETER(Homography, opticalFlowMaxLevel, int, 3, "0-based maximal pyramid level number; if set to 0, pyramids are not used (single level), if set to 1, two levels are used, and so on; if pyramids are passed to input then algorithm will use as many levels as pyramids have but no more than maxLevel.");
PARAMETER(Homography, opticalFlowIterations, int, 30, "Specifying the termination criteria of the iterative search algorithm (after the specified maximum number of iterations).");
PARAMETER(Homography, opticalFlowEps, float, 0.01f, "Specifying the termination criteria of the iterative search algorithm (when the search window moves by less than epsilon).");
public:
virtual ~Settings(){}
static QString workingDirectory();
static QString iniDefaultPath();
static QString iniDefaultFileName() {return "config.ini";}
static QString iniPath();
static ParametersMap init(const QString & fileName);
static ParametersMap loadSettings(const QString & fileName = QString());
static void loadWindowSettings(QByteArray & windowGeometry, QByteArray & windowState, const QString & fileName = QString());
static void saveSettings(const QString & fileName = QString());
static void saveWindowSettings(const QByteArray & windowGeometry, const QByteArray & windowState, const QString & fileName = QString());
static const ParametersMap & getDefaultParameters() {return defaultParameters_;}
static const ParametersMap & getParameters() {return parameters_;}
static const ParametersType & getParametersType() {return parametersType_;}
static const DescriptionsMap & getDescriptions() {return descriptions_;}
static void setParameter(const QString & key, const QVariant & value) {if(parameters_.contains(key))parameters_[key] = value;}
static void resetParameter(const QString & key) {if(defaultParameters_.contains(key)) parameters_.insert(key, defaultParameters_.value(key));}
static QVariant getParameter(const QString & key) {return parameters_.value(key, QVariant());}
static Feature2D * createKeypointDetector();
static Feature2D * createDescriptorExtractor();
static QString currentDescriptorType();
static QString currentDetectorType();
static QString currentNearestNeighborType();
static bool isBruteForceNearestNeighbor();
static cv::flann::IndexParams * createFlannIndexParams();
static cvflann::flann_distance_t getFlannDistanceType();
static int getHomographyMethod();
private:
Settings(){}
private:
static ParametersMap defaultParameters_;
static ParametersMap parameters_;
static ParametersType parametersType_;
static DescriptionsMap descriptions_;
static Settings dummyInit_;
static QString iniPath_;
};
class Feature2D
{
public:
#if CV_MAJOR_VERSION < 3
Feature2D(cv::Ptr<cv::FeatureDetector> featureDetector);
Feature2D(cv::Ptr<cv::DescriptorExtractor> descriptorExtractor);
#endif
Feature2D(cv::Ptr<cv::Feature2D> feature2D);
Feature2D() {}
virtual ~Feature2D() {}
virtual void detect(const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & mask = cv::Mat());
virtual void compute(const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints,
cv::Mat & descriptors);
virtual void detectAndCompute(const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints,
cv::Mat & descriptors,
const cv::Mat & mask = cv::Mat());
private:
#if CV_MAJOR_VERSION < 3
cv::Ptr<cv::FeatureDetector> featureDetector_;
cv::Ptr<cv::DescriptorExtractor> descriptorExtractor_;
#endif
cv::Ptr<cv::Feature2D> feature2D_;
};
} // namespace find_object
#endif /* SETTINGS_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef TCPSERVER_H_
#define TCPSERVER_H_
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include "find_object/DetectionInfo.h"
#include <opencv2/opencv.hpp>
#include <QtNetwork/QTcpServer>
namespace find_object {
class QNetworkSession;
class FINDOBJECT_EXP TcpServer : public QTcpServer
{
Q_OBJECT
public:
enum Service {
kAddObject, // id fileName imageSize image
kRemoveObject, // id
kDetectObject // image
};
public:
TcpServer(quint16 port = 0, QObject * parent = 0);
QHostAddress getHostAddress() const;
quint16 getPort() const;
public Q_SLOTS:
void publishDetectionInfo(const find_object::DetectionInfo & info);
private Q_SLOTS:
void addClient();
void readReceivedData();
void displayError(QAbstractSocket::SocketError socketError);
void connectionLost();
Q_SIGNALS:
void addObject(const cv::Mat &, int, const QString &);
void removeObject(int);
void detectObject(const cv::Mat &);
private:
QMap<int, quint64> blockSizes_;
};
} // namespace find_object
#endif /* TCPSERVER_H_ */

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/*
* utilite is a cross-platform library with
* useful utilities for fast and small developing.
* Copyright (C) 2010 Mathieu Labbe
*
* utilite is free library: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* utilite is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef UDESTROYER_H
#define UDESTROYER_H
//#include "utilite/UtiLiteExp.h" // DLL export/import defines
/**
* This class is used to delete a dynamically created
* objects. It was mainly designed to remove dynamically created Singleton.
* Created on the stack of a Singleton, when the
* application is finished, his destructor make sure that the
* Singleton is deleted.
*
*/
template <class T>
class UDestroyer
{
public:
/**
* The constructor. Set the doomed object (take ownership of the object). The object is deleted
* when this object is deleted.
*/
UDestroyer(T* doomed = 0) : doomed_(doomed) {}
~UDestroyer()
{
if(doomed_)
{
delete doomed_;
doomed_ = 0;
}
}
/**
* Set the doomed object. If a doomed object is already set, the function returns false.
* @param doomed the doomed object
* @return false if an object is already set and the new object is not null, otherwise true
*/
bool setDoomed(T* doomed)
{
if(doomed_ && doomed)
{
return false;
}
doomed_ = doomed;
return true;
}
private:
// Prevent users from making copies of a
// Destroyer to avoid double deletion:
UDestroyer(const UDestroyer<T>&);
void operator=(const UDestroyer<T>&);
private:
T* doomed_;
};
#endif // UDESTROYER_H

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/*
* utilite is a cross-platform library with
* useful utilities for fast and small developing.
* Copyright (C) 2010 Mathieu Labbe
*
* utilite is free library: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* utilite is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef ULOGGER_H
#define ULOGGER_H
#include "find_object/FindObjectExp.h" // DLL export/import defines
#include "find_object/utilite/UMutex.h"
#include "find_object/utilite/UDestroyer.h"
#include <stdio.h>
#include <time.h>
#include <string>
#include <vector>
#include <stdarg.h>
#if _MSC_VER
#undef min
#undef max
#endif
/**
* \file ULogger.h
* \brief ULogger class and convenient macros
*
* This contains macros useful for logging a message anywhere in the
* application. Once the ULogger is set, use these macros like a printf to
* print debug messages.
*/
/*
* Convenient macros for logging...
*/
#define ULOGGER_LOG(level, ...) ULogger::write(level, __FILE__, __LINE__, __FUNCTION__, __VA_ARGS__)
#define ULOGGER_DEBUG(...) ULOGGER_LOG(ULogger::kDebug, __VA_ARGS__)
#define ULOGGER_INFO(...) ULOGGER_LOG(ULogger::kInfo, __VA_ARGS__)
#define ULOGGER_WARN(...) ULOGGER_LOG(ULogger::kWarning, __VA_ARGS__)
#define ULOGGER_ERROR(...) ULOGGER_LOG(ULogger::kError, __VA_ARGS__)
#define ULOGGER_FATAL(...) ULOGGER_LOG(ULogger::kFatal, __VA_ARGS__)
#define UDEBUG(...) ULOGGER_DEBUG(__VA_ARGS__)
#define UINFO(...) ULOGGER_INFO(__VA_ARGS__)
#define UWARN(...) ULOGGER_WARN(__VA_ARGS__)
#define UERROR(...) ULOGGER_ERROR(__VA_ARGS__)
#define UFATAL(...) ULOGGER_FATAL(__VA_ARGS__)
#define UASSERT(condition) if(!(condition)) ULogger::write(ULogger::kFatal, __FILE__, __LINE__, __FUNCTION__, "Condition (%s) not met!", #condition)
#define UASSERT_MSG(condition, msg_str) if(!(condition)) ULogger::write(ULogger::kFatal, __FILE__, __LINE__, __FUNCTION__, "Condition (%s) not met! [%s]", #condition, msg_str)
/**
* \def UDEBUG(...)
* Print a debug level message in the logger. Format is the same as a printf:
* @code
* UDEBUG("This is a debug message with the number %d", 42);
* @endcode
*/
/**
* \def UINFO(...)
* Print a information level message in the logger. Format is the same as a printf:
* @code
* UINFO("This is a information message with the number %d", 42);
* @endcode
*/
/**
* \def UWARN(...)
* Print a warning level message in the logger. Format is the same as a printf:
* @code
* UWARN("This is a warning message with the number %d", 42);
* @endcode
*/
/**
* \def UERROR(...)
* Print an error level message in the logger. Format is the same as a printf:
* @code
* UERROR("This is an error message with the number %d", 42);
* @endcode
*/
/**
* \def UFATAL(...)
* Print a fatal error level message in the logger. The application will exit on
* fatal error. Format is the same as a printf:
* @code
* UFATAL("This is a fatal error message with the number %d", 42);
* @endcode
*/
/**
* \def UASSERT(condition, ...)
* Print a fatal error level message in the logger if condition is not met. The application will exit on
* fatal error. Format is the same as a printf:
* @code
* UASSERT(a!=42, "This is a fatal error message with the number %d", 42);
* @endcode
*/
/**
* This class is used to log messages with time on a console, in a file
* and/or with an event. At the start of the application, call
* ULogger::setType() with the type of the logger you want (see ULogger::Type, the type of the output
* can be changed at the run-time.). To use it,
* simply call the convenient macros UDEBUG(), UINFO(), UWARN(), UERROR(), UFATAL() depending of
* the severity of the message. You can disable some messages by setting the logger
* level ULogger::setLevel() to severity you want, defined by ULogger::Level. A fatal message
* will make the application to exit, printing the message on console (whatever the logger type) and
* posting a ULogEvent (synchronously... see UEventsManager::post()) before exiting.
*
* The display of the logged messages can be modified:
* - If you don't want the level label, set ULogger::setPrintLevel() to false.
* - If you don't want the time label, set ULogger::setPrintTime() to false.
* - If you don't want the end of line added, set ULogger::setPrintEndline() to false.
* - If you don't the full path of the message, set ULogger::setPrintWhereFullPath() to false.
* - If you don't the path of the message, set ULogger::setPrintWhere() to false.
*
* When using a file logger (kTypeLogger), it can be useful in some
* application to buffer messages before writing them to hard drive (avoiding
* hard drive latencies). You can set ULogger::setBuffered() to true to do that. When the
* buffered messages will be written to file on appllciation exit (ULogger destructor) or when
* ULogger::flush() is called.
*
* If you want the application to exit on a lower severity level than kFatal,
* you can set ULogger::setExitLevel() to any ULogger::Type you want.
*
* Example:
* @code
* #include <utilite/ULogger.h>
* int main(int argc, char * argv[])
* {
* // Set the logger type. The choices are kTypeConsole,
* // kTypeFile or kTypeNoLog (nothing is logged).
* ULogger::setType(ULogger::kTypeConsole);
*
* // Set the logger severity level (kDebug, kInfo, kWarning, kError, kFatal).
* // All log entries under the severity level are not logged. Here,
* // only debug messages are not logged.
* ULogger::setLevel(ULogger::kInfo);
*
* // Use a predefined Macro to easy logging. It can be
* // called anywhere in the application as the logger is
* // a Singleton.
* UDEBUG("This message won't be logged because the "
* "severity level of the logger is set to kInfo.");
*
* UINFO("This message is logged.");
*
* UWARN("A warning message...");
*
* UERROR("An error message with code %d.", 42);
*
* return 0;
* }
* @endcode
* Output:
* @code
* [ INFO] (2010-09-25 18:08:20) main.cpp:18::main() This message is logged.
* [ WARN] (2010-09-25 18:08:20) main.cpp:20::main() A warning message...
* [ERROR] (2010-09-25 18:08:20) main.cpp:22::main() An error message with code 42.
* @endcode
*
* Another useful form of the ULogger is to use it with the UTimer class. Here an example:
* @code
* #include <utilite/ULogger.h>
* #include <utilite/UTimer.h>
* ...
* UTimer timer; // automatically starts
* // do some works for part A
* UINFO("Time for part A = %f s", timer.ticks());
* // do some works for part B
* UINFO("Time for part B = %f s", timer.ticks());
* // do some works for part C
* UINFO("Time for part C = %f s", timer.ticks());
* ...
* @endcode
*
* @see setType()
* @see setLevel()
* @see UDEBUG(), UINFO(), UWARN(), UERROR(), UFATAL()
*
*/
class FINDOBJECT_EXP ULogger
{
public:
/**
* The default log file name.
*/
static const std::string kDefaultLogFileName;
/**
* Loggers available:
* @code
* kTypeNoLog, kTypeConsole, kTypeFile
* @endcode
*/
enum Type{kTypeNoLog, kTypeConsole, kTypeFile};
/**
* Logger levels, from lowest severity to highest:
* @code
* kDebug, kInfo, kWarning, kError, kFatal
* @endcode
*/
enum Level{kDebug, kInfo, kWarning, kError, kFatal};
/**
* Set the type of the logger. When using kTypeFile, the parameter "fileName" would be
* changed (default is "./ULog.txt"), and optionally "append" if we want the
* logger to append messages to file or to overwrite the file.
* @param type the ULogger::Type of the logger.
* @param fileName file name used with a file logger type.
* @param append if true, the file isn't overwritten, otherwise it is.
*
* TODO : Can it be useful to have 2 or more types at the same time ? Print
* in console and file at the same time.
*/
static void setType(Type type, const std::string &fileName = kDefaultLogFileName, bool append = true);
static Type type() {return type_;}
// Setters
/**
* Print time: default true.
* @param printTime true to print time, otherwise set to false.
*/
static void setPrintTime(bool printTime) {printTime_ = printTime;}
static bool isPrintTime() {return printTime_;}
/**
* Print level: default true.
* @param printLevel true to print level, otherwise set to false.
*/
static void setPrintLevel(bool printLevel) {printLevel_ = printLevel;}
static bool isPrintLevel() {return printLevel_;}
/**
* Print end of line: default true.
* @param printLevel true to print end of line, otherwise set to false.
*/
static void setPrintEndline(bool printEndline) {printEndline_ = printEndline;}
static bool isPrintEndLine() {return printEndline_;}
/**
* Print text with color: default true.
* Dark green for Debug, white for Info, yellow for Warning, red for Error and Fatal.
* @param printColored true to print text with color, otherwise set to false.
*/
static void setPrintColored(bool printColored) {printColored_ = printColored;}
static bool isPrintColored() {return printColored_;}
/**
* Print where is this message in source code: default true.
* @param printWhere true to print where, otherwise set to false.
*/
static void setPrintWhere(bool printWhere) {printWhere_ = printWhere;}
static bool isPrintWhere() {return printWhere_;}
/**
* Print the full path: default true. ULogger::setPrintWhere() must be true to have path printed.
* @param printWhereFullPath true to print the full path, otherwise set to false.
*/
static void setPrintWhereFullPath(bool printWhereFullPath) {printWhereFullPath_ = printWhereFullPath;}
static bool isPrintWhereFullPath() {return printWhereFullPath_;}
/**
* Set is the logger buffers messages, default false. When true, the messages are
* buffered until the application is closed or ULogger::flush() is called.
* @see ULogger::flush()
* @param buffered true to buffer messages, otherwise set to false.
*/
static void setBuffered(bool buffered);
static bool isBuffered() {return buffered_;}
/**
* Set logger level: default kInfo. All messages over the severity set
* are printed, other are ignored. The severity is from the lowest to
* highest:
* - kDebug
* - kInfo
* - kWarning
* - kError
* - kFatal
* @param level the minimum level of the messages printed.
*/
static void setLevel(ULogger::Level level) {level_ = level;}
static ULogger::Level level() {return level_;}
/**
* Make application to exit when a log with level is written (useful for debugging). The message is printed to
* console (whatever the logger type) and an ULogEvent is sent (synchronously... see UEventsManager::post()) before exiting.
*
* Note : A kFatal level will always exit whatever the level specified here.
*/
static void setExitLevel(ULogger::Level exitLevel) {exitLevel_ = exitLevel;}
static ULogger::Level exitLevel() {return exitLevel_;}
/**
* An ULogEvent is sent on each message logged at the specified level.
* Note : On message with level >= exitLevel, the event is sent synchronously (see UEventsManager::post()).
* @see ULogEvent
* @see setExitLevel()
*/
static void setEventLevel(ULogger::Level eventSentLevel) {eventLevel_ = eventSentLevel;}
static ULogger::Level eventLevel() {return eventLevel_;}
/**
* Reset to default parameters.
*/
static void reset();
/**
* Flush buffered messages.
* @see setBuffered()
*/
static void flush();
/**
* Write a message directly to logger without level handling.
* @param msg the message to write.
* @param ... the variable arguments
* @deprecated use UDEBUG(), UINFO(), UWARN(), UERROR() or UFATAL()
*/
static void write(const char* msg, ...);
/*
* Write a message to logger: use UDEBUG(), UINFO(), UWARN(), UERROR() or UFATAL() instead.
* @param level the log level of this message
* @param file the file path
* @param line the line in the file
* @param function the function name in which the message is logged
* @param msg the message to write
* @param ... the variable arguments
*/
static void write(ULogger::Level level,
const char * file,
int line,
const char *function,
const char* msg,
...);
/**
* Get the time in the format "2008-7-13 12:23:44".
* @param timeStr string were the time will be copied.
* @return the number of characters written, or 0 if an error occurred.
*/
static int getTime(std::string &timeStr);
protected:
/*
* This method is used to have a reference on the
* Logger. When no Logger exists, one is
* created. There is only one instance in the application.
* Must be protected by loggerMutex_.
* See the Singleton pattern for further explanation.
*
* @return the reference on the Logger
*/
static ULogger* getInstance();
/*
* Called only once in getInstance(). It can't be instanciated
* by the user.
*
* @see getInstance()
*/
ULogger() {}
/*
* Only called by a Destroyer.
* @see Destroyer
*/
virtual ~ULogger();
/*
* Flush buffered messages
*/
void _flush();
/*
* A Destroyer is used to remove a dynamicaly created
* Singleton. It is friend here to have access to the
* destructor.
*
* @see Destroyer
*/
friend class UDestroyer<ULogger>;
/*
* The log file name.
*/
static std::string logFileName_;
/*
* Default true, it doesn't overwrite the file.
*/
static bool append_;
private:
/*
* Create an instance according to type. See the Abstract factory
* pattern for further explanation.
* @see type_
* @return the reference on the new logger
*/
static ULogger* createInstance();
/*
* Write a message on the output with the format :
* "A message". Inherited class
* must override this method to output the message. It
* does nothing by default.
* @param msg the message to write.
* @param arg the variable arguments
*/
virtual void _write(const char* msg, va_list arg) {} // Do nothing by default
virtual void _writeStr(const char* msg) {} // Do nothing by default
private:
/*
* The Logger instance pointer.
*/
static ULogger* instance_;
/*
* The Logger's destroyer
*/
static UDestroyer<ULogger> destroyer_;
/*
* If the logger prints the time for each message.
* Default is true.
*/
static bool printTime_;
/*
* If the logger prints the level for each message.
* Default is true.
*/
static bool printLevel_;
/*
* If the logger prints the end line for each message.
* Default is true.
*/
static bool printEndline_;
/*
* If the logger prints text with color.
* Default is true.
*/
static bool printColored_;
/*
* If the logger prints where the message is logged (fileName::function():line).
* Default is true.
*/
static bool printWhere_;
/*
* If the logger prints the full path of the source file
* where the message is written. Only works when
* "printWhere_" is true.
* Default is false.
*/
static bool printWhereFullPath_;
/*
* If the logger limit the size of the "where" path to
* characters. If the path is over 8 characters, a "~"
* is added. Only works when "printWhereFullPath_" is false.
* Default is false.
*/
static bool limitWhereLength_;
/*
* The type of the logger.
*/
static Type type_;
/*
* The severity of the log.
*/
static Level level_;
/*
* The severity at which the application exits.
* Note : A FATAL level will always exit whatever the level specified here.
*/
static Level exitLevel_;
/*
* The severity at which the message is also sent in a ULogEvent.
*/
static Level eventLevel_;
static const char * levelName_[5];
/*
* Mutex used when accessing public functions.
*/
static UMutex loggerMutex_;
/*
* If the logger prints messages only when ULogger::flush() is called.
* Default is false.
*/
static bool buffered_;
static std::string bufferedMsgs_;
/*
* State attribute. This state happens when an exit level
* message is received.
* Messages received during this state are not logged.
* @see exitLevel_
*/
static bool exitingState_;
};
#endif // ULOGGER_H

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/*
* utilite is a cross-platform library with
* useful utilities for fast and small developing.
* Copyright (C) 2010 Mathieu Labbe
*
* utilite is free library: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* utilite is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef UMUTEX_H
#define UMUTEX_H
#include <errno.h>
#ifdef WIN32
#include "find_object/utilite/UWin32.h"
#else
#include <pthread.h>
#endif
/**
* A mutex class.
*
* On a lock() call, the calling thread is blocked if the
* UMutex was previously locked by another thread. It is unblocked when unlock() is called.
*
* On Unix (not yet tested on Windows), UMutex is recursive: the same thread can
* call multiple times lock() without being blocked.
*
* Example:
* @code
* UMutex m; // Mutex shared with another thread(s).
* ...
* m.lock();
* // Data is protected here from the second thread
* //(assuming the second one protects also with the same mutex the same data).
* m.unlock();
*
* @endcode
*
* @see USemaphore
*/
class UMutex
{
public:
/**
* The constructor.
*/
UMutex()
{
#ifdef WIN32
InitializeCriticalSection(&C);
#else
pthread_mutexattr_t attr;
pthread_mutexattr_init(&attr);
pthread_mutexattr_settype(&attr,PTHREAD_MUTEX_RECURSIVE);
pthread_mutex_init(&M,&attr);
pthread_mutexattr_destroy(&attr);
#endif
}
virtual ~UMutex()
{
#ifdef WIN32
DeleteCriticalSection(&C);
#else
pthread_mutex_unlock(&M); pthread_mutex_destroy(&M);
#endif
}
/**
* Lock the mutex.
*/
int lock() const
{
#ifdef WIN32
EnterCriticalSection(&C); return 0;
#else
return pthread_mutex_lock(&M);
#endif
}
#ifdef WIN32
#if(_WIN32_WINNT >= 0x0400)
int lockTry() const
{
return (TryEnterCriticalSection(&C)?0:EBUSY);
}
#endif
#else
int lockTry() const
{
return pthread_mutex_trylock(&M);
}
#endif
/**
* Unlock the mutex.
*/
int unlock() const
{
#ifdef WIN32
LeaveCriticalSection(&C); return 0;
#else
return pthread_mutex_unlock(&M);
#endif
}
private:
#ifdef WIN32
mutable CRITICAL_SECTION C;
#else
mutable pthread_mutex_t M;
#endif
void operator=(UMutex &M) {}
UMutex( const UMutex &M ) {}
};
/**
* Automatically lock the referenced mutex on constructor and unlock mutex on destructor.
*
* Example:
* @code
* UMutex m; // Mutex shared with another thread(s).
* ...
* int myMethod()
* {
* UScopeMutex sm(m); // automatically lock the mutex m
* if(cond1)
* {
* return 1; // automatically unlock the mutex m
* }
* else if(cond2)
* {
* return 2; // automatically unlock the mutex m
* }
* return 0; // automatically unlock the mutex m
* }
*
* @endcode
*
* @see UMutex
*/
class UScopeMutex
{
public:
UScopeMutex(const UMutex & mutex) :
mutex_(mutex)
{
mutex_.lock();
}
// backward compatibility
UScopeMutex(UMutex * mutex) :
mutex_(*mutex)
{
mutex_.lock();
}
~UScopeMutex()
{
mutex_.unlock();
}
private:
const UMutex & mutex_;
};
#endif // UMUTEX_H

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/////////////////////////////////////////////////////////////////////
// Written by Phillip Sitbon
// Copyright 2003
//
// Win32.h
// - Windows includes
//
/////////////////////////////////////////////////////////////////////
#ifndef _U_Win32_
#define _U_Win32_
#if !defined(_WINDOWS_)
// WIN32 Excludes
#ifdef WIN32_LEAN_AND_MEAN
# define VC_EXTRALEAN
# define WIN32_LEAN_AND_MEAN
# define _PRSHT_H_
# define NOGDICAPMASKS // CC_*, LC_*, PC_*, CP_*, TC_*, RC_
# define NOVIRTUALKEYCODES // VK_*
# define NOWINMESSAGES // WM_*, EM_*, LB_*, CB_*
# define NOWINSTYLES // WS_*, CS_*, ES_*, LBS_*, SBS_*, CBS_*
# define NOSYSMETRICS // SM_*
# define NOMENUS // MF_*
# define NOICONS // IDI_*
# define NOKEYSTATES // MK_*
# define NOSYSCOMMANDS // SC_*
# define NORASTEROPS // Binary and Tertiary raster ops
# define NOSHOWWINDOW // SW_*
# define OEMRESOURCE // OEM Resource values
# define NOATOM // Atom Manager routines
# define NOCLIPBOARD // Clipboard routines
# define NOCOLOR // Screen colors
# define NOCTLMGR // Control and Dialog routines
# define NODRAWTEXT // DrawText() and DT_*
# define NOGDI // All GDI defines and routines
# define NOKERNEL // All KERNEL defines and routines
# define NOUSER // All USER defines and routines
# define NONLS // All NLS defines and routines
# define NOMB // MB_* and MessageBox()
# define NOMEMMGR // GMEM_*, LMEM_*, GHND, LHND, associated routines
# define NOMETAFILE // typedef METAFILEPICT
# define NOMINMAX // Macros min(a,b) and max(a,b)
# define NOMSG // typedef MSG and associated routines
# define NOOPENFILE // OpenFile(), OemToAnsi, AnsiToOem, and OF_*
# define NOSCROLL // SB_* and scrolling routines
# define NOSERVICE // All Service Controller routines, SERVICE_ equates, etc.
# define NOSOUND // Sound driver routines
# define NOTEXTMETRIC // typedef TEXTMETRIC and associated routines
# define NOWH // SetWindowsHook and WH_*
# define NOWINOFFSETS // GWL_*, GCL_*, associated routines
# define NOCOMM // COMM driver routines
# define NOKANJI // Kanji support stuff.
# define NOHELP // Help engine interface.
# define NOPROFILER // Profiler interface.
# define NODEFERWINDOWPOS // DeferWindowPos routines
# define NOMCX // Modem Configuration Extensions
#endif // WIN32_LEAN_AND_MEAN
//
# include <windows.h>
#endif
#endif // !_U_Win32_

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<launch>
<arg name="gui" default="true"/>
<arg name="image_topic" default="image"/>
<arg name="objects_path" default="~/objects"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<!-- Nodes -->
<node name="find_object_2d" pkg="find_object_2d" type="find_object_2d" output="screen">
<remap from="image" to="$(arg image_topic)"/>
<param name="gui" value="$(arg gui)" type="bool"/>
<param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="settings_path" value="$(arg settings_path)" type="str"/>
</node>
</launch>

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<launch>
<!-- Example finding 3D poses of the objects detected -->
<!-- $roslaunch openni_launch openni.launch depth_registration:=true -->
<arg name="object_prefix" default="object"/>
<arg name="objects_path" default=""/>
<arg name="gui" default="true"/>
<arg name="approx_sync" default="true"/>
<arg name="pnp" default="true"/>
<arg name="tf_example" default="true"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<arg name="rgb_topic" default="camera/rgb/image_rect_color"/>
<arg name="depth_topic" default="camera/depth_registered/image_raw"/>
<arg name="camera_info_topic" default="camera/rgb/camera_info"/>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="$(arg gui)" type="bool"/>
<param name="settings_path" value="$(arg settings_path)" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
<param name="approx_sync" value="$(arg approx_sync)" type="bool"/>
<param name="pnp" value="$(arg pnp)" type="bool"/>
<remap from="rgb/image_rect_color" to="$(arg rgb_topic)"/>
<remap from="depth_registered/image_raw" to="$(arg depth_topic)"/>
<remap from="depth_registered/camera_info" to="$(arg camera_info_topic)"/>
</node>
<!-- Example of tf synchronisation with the objectsStamped message -->
<node if="$(arg tf_example)" name="tf_example" pkg="find_object_2d" type="tf_example" output="screen">
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
</node>
</launch>

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<launch>
<!-- Example finding 3D poses of the objects detected -->
<!-- $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true -->
<!-- Which image resolution: sd, qhd, hd -->
<arg name="resolution" default="qhd" />
<arg name="object_prefix" default="object"/>
<arg name="objects_path" default=""/>
<arg name="gui" default="true"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="$(arg gui)" type="bool"/>
<param name="settings_path" value="$(arg settings_path)" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
<param name="approx_sync" value="false" type="bool"/>
<remap from="rgb/image_rect_color" to="/kinect2/$(arg resolution)/image_color_rect"/>
<remap from="depth_registered/image_raw" to="/kinect2/$(arg resolution)/image_depth_rect"/>
<remap from="depth_registered/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
</node>
</launch>

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<launch>
<!-- Example finding 3D poses of the objects detected -->
<!-- $ roslaunch zed_wrapper zed.launch -->
<arg name="zed_prefix" default="/zed/zed_node"/>
<arg name="object_prefix" default="object"/>
<arg name="objects_path" default=""/>
<arg name="gui" default="true"/>
<arg name="settings_path" default="~/.ros/find_object_2d.ini"/>
<node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
<param name="gui" value="$(arg gui)" type="bool"/>
<param name="settings_path" value="$(arg settings_path)" type="str"/>
<param name="subscribe_depth" value="true" type="bool"/>
<param name="objects_path" value="$(arg objects_path)" type="str"/>
<param name="object_prefix" value="$(arg object_prefix)" type="str"/>
<param name="approx_sync" value="false" type="bool"/>
<remap from="rgb/image_rect_color" to="$(arg zed_prefix)/rgb/image_rect_color"/>
<remap from="depth_registered/image_raw" to="$(arg zed_prefix)/depth/depth_registered"/>
<remap from="depth_registered/camera_info" to="$(arg zed_prefix)/rgb/camera_info"/>
</node>
</launch>

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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),
# Launch arguments
DeclareLaunchArgument('gui', default_value='true', description='Launch GUI.'),
DeclareLaunchArgument('image_topic', default_value='image', description='Image topic to subscribe to.'),
DeclareLaunchArgument('objects_path', default_value='~/objects', description='Directory containing objects to load on initialization.'),
DeclareLaunchArgument('settings_path', default_value='~/.ros/find_object_2d.ini', description='Config file.'),
# Nodes to launch
Node(
package='find_object_2d', executable='find_object_2d', output='screen',
parameters=[{
'gui':LaunchConfiguration('gui'),
'objects_path':LaunchConfiguration('objects_path'),
'settings_path':LaunchConfiguration('settings_path')
}],
remappings=[
('image', LaunchConfiguration('image_topic'))]),
])

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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),
# Launch arguments
DeclareLaunchArgument('gui', default_value='true', description='Launch GUI.'),
DeclareLaunchArgument('approx_sync', default_value='true', description=''),
DeclareLaunchArgument('pnp', default_value='true', description=''),
DeclareLaunchArgument('object_prefix', default_value='object', description='TF prefix of objects.'),
DeclareLaunchArgument('objects_path', default_value='~/objects', description='Directory containing objects to load on initialization.'),
DeclareLaunchArgument('settings_path', default_value='~/.ros/find_object_2d.ini', description='Config file.'),
DeclareLaunchArgument('rgb_topic', default_value='camera/rgb/image_rect_color', description='Image topic.'),
DeclareLaunchArgument('depth_topic', default_value='camera/depth_registered/image_raw', description='Registered depth topic.'),
DeclareLaunchArgument('camera_info_topic', default_value='camera/rgb/camera_info', description='Camera info topic.'),
# Nodes to launch
Node(
package='find_object_2d', executable='find_object_2d', output='screen',
parameters=[{
'subscribe_depth':True,
'gui':LaunchConfiguration('gui'),
'approx_sync':LaunchConfiguration('approx_sync'),
'pnp':LaunchConfiguration('pnp'),
'object_prefix':LaunchConfiguration('object_prefix'),
'objects_path':LaunchConfiguration('objects_path'),
'settings_path':LaunchConfiguration('settings_path')
}],
remappings=[
('rgb/image_rect_color', LaunchConfiguration('rgb_topic')),
('depth_registered/image_raw', LaunchConfiguration('depth_topic')),
('depth_registered/camera_info', LaunchConfiguration('camera_info_topic'))]),
])

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std_msgs/Header header
# All arrays should have the same size
std_msgs/Int32[] ids
std_msgs/Int32[] widths
std_msgs/Int32[] heights
std_msgs/String[] file_paths
std_msgs/Int32[] inliers
std_msgs/Int32[] outliers
# 3x3 homography matrix: [h11, h12, h13, h21, h22, h23, h31, h32, h33] (h31 = dx and h32 = dy, see QTransform)
std_msgs/Float32MultiArray[] homographies

5
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# objects format:
# [ObjectId1, objectWidth, objectHeight, h11, h12, h13, h21, h22, h23, h31, h32, h33, ObjectId2...]
# where h## is a 3x3 homography matrix (h31 = dx and h32 = dy, see QTransform)
std_msgs/Header header
std_msgs/Float32MultiArray objects

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>find_object_2d</name>
<version>0.7.0</version>
<description>The find_object_2d package</description>
<maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
<author>Mathieu Labbe</author>
<license>BSD</license>
<url type="bugtracker">https://github.com/introlab/find-object/issues</url>
<url type="repository">https://github.com/introlab/find-object</url>
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
<depend condition="$ROS_VERSION == 1">roscpp</depend>
<depend condition="$ROS_VERSION == 1">tf</depend>
<depend condition="$ROS_VERSION == 2">rclcpp</depend>
<depend condition="$ROS_VERSION == 2">tf2</depend>
<depend condition="$ROS_VERSION == 2">tf2_ros</depend>
<depend condition="$ROS_VERSION == 2">tf2_geometry_msgs</depend>
<build_depend condition="$ROS_VERSION == 2">ros_environment</build_depend>
<depend condition="$ROS_VERSION == 2">builtin_interfaces</depend>
<build_depend condition="$ROS_VERSION == 2">rosidl_default_generators</build_depend>
<exec_depend condition="$ROS_VERSION == 2">rosidl_default_runtime</exec_depend>
<member_of_group condition="$ROS_VERSION == 2">rosidl_interface_packages</member_of_group>
<build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
<build_depend>qtbase5-dev</build_depend>
<build_depend>cv_bridge</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>std_srvs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>image_transport</build_depend>
<build_depend>message_filters</build_depend>
<exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
<exec_depend>qtbase5-dev</exec_depend>
<exec_depend>cv_bridge</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>std_srvs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>image_transport</exec_depend>
<exec_depend>message_filters</exec_depend>
<export>
<build_type condition="$ROS_VERSION == 1">catkin</build_type>
<build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
</export>
</package>

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name: find-object
base: core18
version: '@PROJECT_VERSION@+git'
summary: Find-Object project, visit http://introlab.github.io/find-object/
description: |
Features:
- You can change any parameters at runtime, make it easier to test feature detectors and descriptors without always recompiling.
- Detectors/descriptors supported (from OpenCV): BRIEF, Dense, FAST, GoodFeaturesToTrack, MSER, ORB, SIFT, STAR, SURF, FREAK and BRISK.
- Sample code with the OpenCV C++ interface below...
- For an example of an application using SURF descriptors: see my project RTAB-Map (an appearance-based loop closure detector for SLAM).
grade: devel # must be 'stable' to release into candidate/stable channels
confinement: devmode # use 'strict' once you have the right plugs and slots
apps:
find-object:
command: desktop-launch find_object
plugs: [unity7, x11, opengl, home, network, network-bind, removable-media, raw-usb, wayland, desktop-legacy, desktop]
parts:
desktop-qt5:
source: https://github.com/ubuntu/snapcraft-desktop-helpers.git
source-subdir: qt
plugin: make
make-parameters: ["FLAVOR=qt5"]
build-packages:
- qtbase5-dev
- dpkg-dev
stage-packages:
- libxkbcommon0
- ttf-ubuntu-font-family
- dmz-cursor-theme
- light-themes
- adwaita-icon-theme
- gnome-themes-standard
- shared-mime-info
- libqt5gui5
- libgdk-pixbuf2.0-0
- libgtk2.0-0
- libqt5svg5 # for loading icon themes which are svg
- try: [appmenu-qt5] # not available on core18
- locales-all
find-object:
after: [desktop-qt5]
plugin: cmake
source: .
build-packages:
- libopencv-dev
- qtbase5-dev
organize:
usr/lib/x86_64-linux-gnu/blas/libblas.so.3: usr/lib/x86_64-linux-gnu/libblas.so.3
usr/lib/x86_64-linux-gnu/blas/libblas.so.3.7.1: usr/lib/x86_64-linux-gnu/libblas.so.3.7.1
usr/lib/x86_64-linux-gnu/lapack/liblapack.so.3: usr/lib/x86_64-linux-gnu/liblapack.so.3
usr/lib/x86_64-linux-gnu/lapack/liblapack.so.3.7.1: usr/lib/x86_64-linux-gnu/liblapack.so.3.7.1
stage-packages:
- libopencv-calib3d3.2
- libopencv-core3.2
- libopencv-features2d3.2
- libopencv-flann3.2
- libopencv-imgcodecs3.2
- libopencv-imgproc3.2
- libopencv-video3.2
- libqt5core5a
- libqt5gui5
- libqt5network5
- libqt5widgets5

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "AboutDialog.h"
#include "ui_aboutDialog.h"
#include <opencv2/core/version.hpp>
#include "find_object/Version.h"
namespace find_object {
AboutDialog::AboutDialog(QWidget * parent) :
QDialog(parent)
{
ui_ = new Ui_aboutDialog();
ui_->setupUi(this);
ui_->label_version->setText(PROJECT_VERSION);
QString cv_version = CV_VERSION;
#if FINDOBJECT_NONFREE == 1
cv_version.append(" [With nonfree]");
#else
cv_version.append(" [Without nonfree]");
#endif
ui_->label_version_opencv->setText(cv_version);
ui_->label_version_qt->setText(QT_VERSION_STR);
}
AboutDialog::~AboutDialog()
{
delete ui_;
}
}

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ABOUTDIALOG_H_
#define ABOUTDIALOG_H_
#include <QDialog>
#include <QtCore/QUrl>
class Ui_aboutDialog;
namespace find_object {
class AboutDialog : public QDialog
{
Q_OBJECT
public:
AboutDialog(QWidget * parent = 0);
virtual ~AboutDialog();
private:
Ui_aboutDialog * ui_;
};
} // namespace find_object
#endif /* ABOUTDIALOG_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "find_object/Camera.h"
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "find_object/ObjWidget.h"
#include "find_object/QtOpenCV.h"
#include "AddObjectDialog.h"
#include "ui_addObjectDialog.h"
#include "KeypointItem.h"
#include "ObjSignature.h"
#include <stdio.h>
#include <QGraphicsScene>
#include <QGraphicsPixmapItem>
#include <QMessageBox>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc_c.h>
namespace find_object {
AddObjectDialog::AddObjectDialog(Camera * camera, const cv::Mat & image, bool mirrorView, QWidget * parent, Qt::WindowFlags f) :
QDialog(parent, f),
camera_(camera),
objWidget_(0),
objSignature_(0)
{
ui_ = new Ui_addObjectDialog();
ui_->setupUi(this);
detector_ = Settings::createKeypointDetector();
extractor_ = Settings::createDescriptorExtractor();
UASSERT(detector_ != 0 && extractor_ != 0);
connect(ui_->pushButton_cancel, SIGNAL(clicked()), this, SLOT(cancel()));
connect(ui_->pushButton_back, SIGNAL(clicked()), this, SLOT(back()));
connect(ui_->pushButton_next, SIGNAL(clicked()), this, SLOT(next()));
connect(ui_->pushButton_takePicture, SIGNAL(clicked()), this, SLOT(takePicture()));
connect(ui_->comboBox_selection, SIGNAL(currentIndexChanged(int)), this, SLOT(changeSelectionMode()));
connect(ui_->cameraView, SIGNAL(selectionChanged()), this, SLOT(updateNextButton()));
connect(ui_->cameraView, SIGNAL(roiChanged(const cv::Rect &)), this, SLOT(updateNextButton(const cv::Rect &)));
ui_->cameraView->setMirrorView(mirrorView);
if((camera_ && camera_->isRunning()) || image.empty())
{
this->setState(kTakePicture);
}
else if(!image.empty())
{
update(image);
this->setState(kSelectFeatures);
}
}
AddObjectDialog::~AddObjectDialog()
{
delete detector_;
delete extractor_;
if(objWidget_)
{
delete objWidget_;
objWidget_ = 0;
}
if(objSignature_)
{
delete objSignature_;
objSignature_ = 0;
}
delete ui_;
}
void AddObjectDialog::retrieveObject(ObjWidget ** widget, ObjSignature ** signature)
{
*widget = objWidget_;
objWidget_= 0;
*signature = objSignature_;
objSignature_ = 0;
}
void AddObjectDialog::closeEvent(QCloseEvent* event)
{
if(camera_)
{
disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)), this, SLOT(update(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)));
}
QDialog::closeEvent(event);
}
void AddObjectDialog::next()
{
setState(state_+1);
}
void AddObjectDialog::back()
{
setState(state_-1);
}
void AddObjectDialog::cancel()
{
this->reject();
}
void AddObjectDialog::takePicture()
{
next();
}
void AddObjectDialog::updateNextButton()
{
updateNextButton(cv::Rect());
}
void AddObjectDialog::updateNextButton(const cv::Rect & rect)
{
roi_ = rect;
if(roi_.height && roi_.width && cameraImage_.cols)
{
//clip roi
if( roi_.x >= cameraImage_.cols ||
roi_.x+roi_.width <= 0 ||
roi_.y >= cameraImage_.rows ||
roi_.y+roi_.height <= 0)
{
//Not valid...
roi_ = cv::Rect();
}
else
{
if(roi_.x < 0)
{
roi_.x = 0;
}
if(roi_.x + roi_.width > cameraImage_.cols)
{
roi_.width = cameraImage_.cols - roi_.x;
}
if(roi_.y < 0)
{
roi_.y = 0;
}
if(roi_.y + roi_.height > cameraImage_.rows)
{
roi_.height = cameraImage_.rows - roi_.y;
}
}
}
if(state_ == kSelectFeatures)
{
if(ui_->comboBox_selection->currentIndex() == 1)
{
if(ui_->cameraView->selectedItems().size() > 0)
{
ui_->pushButton_next->setEnabled(true);
}
else
{
ui_->pushButton_next->setEnabled(false);
}
}
else
{
if(roi_.width == 0 || roi_.height == 0)
{
ui_->pushButton_next->setEnabled(false);
}
else
{
ui_->pushButton_next->setEnabled(true);
}
}
}
}
void AddObjectDialog::changeSelectionMode()
{
this->setState(kSelectFeatures);
}
void AddObjectDialog::setState(int state)
{
state_ = state;
if(state == kTakePicture)
{
ui_->pushButton_cancel->setEnabled(true);
ui_->pushButton_back->setEnabled(false);
ui_->pushButton_next->setEnabled(false);
ui_->pushButton_takePicture->setEnabled(true);
ui_->label_instruction->setText(tr("Place the object in front of the camera and click \"Take picture\"."));
ui_->pushButton_next->setText(tr("Next"));
ui_->cameraView->setVisible(true);
ui_->cameraView->clearRoiSelection();
ui_->objectView->setVisible(false);
ui_->cameraView->setGraphicsViewMode(false);
ui_->comboBox_selection->setVisible(false);
if(!camera_ || !camera_->start())
{
QMessageBox::critical(this, tr("Camera error"), tr("Camera is not started!"));
ui_->pushButton_takePicture->setEnabled(false);
}
else
{
connect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
connect(camera_, SIGNAL(imageReceived(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)), this, SLOT(update(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)));
}
}
else if(state == kSelectFeatures)
{
if(camera_)
{
disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)), this, SLOT(update(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)));
camera_->pause();
}
ui_->pushButton_cancel->setEnabled(true);
ui_->pushButton_back->setEnabled(camera_);
ui_->pushButton_next->setEnabled(false);
ui_->pushButton_takePicture->setEnabled(false);
ui_->pushButton_next->setText(tr("Next"));
ui_->cameraView->setVisible(true);
ui_->cameraView->clearRoiSelection();
ui_->objectView->setVisible(false);
ui_->comboBox_selection->setVisible(true);
if(ui_->comboBox_selection->currentIndex() == 1)
{
ui_->label_instruction->setText(tr("Select features representing the object."));
ui_->cameraView->setGraphicsViewMode(true);
}
else
{
ui_->label_instruction->setText(tr("Select region representing the object."));
ui_->cameraView->setGraphicsViewMode(false);
}
updateNextButton(cv::Rect());
}
else if(state == kVerifySelection)
{
if(camera_)
{
disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(update(const cv::Mat &)));
disconnect(camera_, SIGNAL(imageReceived(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)), this, SLOT(update(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)));
camera_->pause();
}
ui_->pushButton_cancel->setEnabled(true);
ui_->pushButton_back->setEnabled(true);
ui_->pushButton_takePicture->setEnabled(false);
ui_->pushButton_next->setText(tr("End"));
ui_->cameraView->setVisible(true);
ui_->objectView->setVisible(true);
ui_->objectView->setMirrorView(ui_->cameraView->isMirrorView());
ui_->objectView->setSizedFeatures(ui_->cameraView->isSizedFeatures());
ui_->comboBox_selection->setVisible(false);
if(ui_->comboBox_selection->currentIndex() == 1)
{
ui_->cameraView->setGraphicsViewMode(true);
}
else
{
ui_->cameraView->setGraphicsViewMode(false);
}
std::vector<cv::KeyPoint> selectedKeypoints = ui_->cameraView->selectedKeypoints();
// Select keypoints
if(!cameraImage_.empty() &&
((ui_->comboBox_selection->currentIndex() == 1 && selectedKeypoints.size()) ||
(ui_->comboBox_selection->currentIndex() == 0 && roi_.width && roi_.height)))
{
if(ui_->comboBox_selection->currentIndex() == 1)
{
roi_ = computeROI(selectedKeypoints);
}
cv::Mat imgRoi = cv::Mat(cameraImage_, roi_).clone();
if(ui_->comboBox_selection->currentIndex() == 1)
{
if(roi_.x != 0 || roi_.y != 0)
{
for(unsigned int i=0; i<selectedKeypoints.size(); ++i)
{
selectedKeypoints.at(i).pt.x -= roi_.x;
selectedKeypoints.at(i).pt.y -= roi_.y;
}
}
}
else
{
// Extract keypoints
selectedKeypoints.clear();
detector_->detect(imgRoi, selectedKeypoints);
}
ui_->objectView->updateImage(cvtCvMat2QImage(imgRoi));
ui_->objectView->updateData(selectedKeypoints, QMultiMap<int,int>());
ui_->objectView->setMinimumSize(roi_.width, roi_.height);
ui_->objectView->update();
ui_->pushButton_next->setEnabled(true);
}
else
{
UINFO("Please select items");
ui_->pushButton_next->setEnabled(false);
}
ui_->label_instruction->setText(tr("Selection : %1 features").arg(selectedKeypoints.size()));
}
else if(state == kClosing)
{
std::vector<cv::KeyPoint> keypoints = ui_->objectView->keypoints();
if((ui_->comboBox_selection->currentIndex() == 1 && keypoints.size()) ||
(ui_->comboBox_selection->currentIndex() == 0 && roi_.width && roi_.height))
{
cv::Mat descriptors;
cv::Mat imgRoi(cameraImage_, roi_);
if(keypoints.size())
{
// Extract descriptors
if(Settings::currentDetectorType() == Settings::currentDescriptorType())
{
detector_->compute(imgRoi, keypoints, descriptors);
}
else
{
extractor_->compute(imgRoi, keypoints, descriptors);
}
if(keypoints.size() != (unsigned int)descriptors.rows)
{
UERROR("keypoints=%d != descriptors=%d", (int)keypoints.size(), descriptors.rows);
}
}
if(objWidget_)
{
delete objWidget_;
objWidget_ = 0;
}
if(objSignature_)
{
delete objSignature_;
objSignature_ = 0;
}
objSignature_ = new ObjSignature(0, imgRoi.clone(), "");
objSignature_->setData(keypoints, descriptors);
objWidget_ = new ObjWidget(0, keypoints, QMultiMap<int,int>(), cvtCvMat2QImage(imgRoi.clone()));
this->accept();
}
}
}
void AddObjectDialog::update(const cv::Mat & image)
{
update(image, Header(), cv::Mat(), 0.0);
}
void AddObjectDialog::update(const cv::Mat & image, const Header & header, const cv::Mat & depth, float depthConstant)
{
cameraImage_ = cv::Mat();
if(!image.empty())
{
// convert to grayscale
if(image.channels() != 1 || image.depth() != CV_8U)
{
cv::cvtColor(image, cameraImage_, CV_BGR2GRAY);
}
else
{
cameraImage_ = image.clone();
}
// Extract keypoints
std::vector<cv::KeyPoint> keypoints;
detector_->detect(cameraImage_, keypoints);
ui_->cameraView->updateImage(cvtCvMat2QImage(cameraImage_));
ui_->cameraView->updateData(keypoints, QMultiMap<int,int>());
ui_->cameraView->update();
}
else
{
UWARN("Camera cannot get more images (maybe the end of stream is reached)...");
camera_->stop();
}
}
cv::Rect AddObjectDialog::computeROI(const std::vector<cv::KeyPoint> & kpts)
{
cv::Rect roi(0,0,0,0);
int x1=0,x2=0,h1=0,h2=0;
for(unsigned int i=0; i<kpts.size(); ++i)
{
float radius = kpts.at(i).size / 2;
if(i==0)
{
x1 = int(kpts.at(i).pt.x - radius);
x2 = int(kpts.at(i).pt.x + radius);
h1 = int(kpts.at(i).pt.y - radius);
h2 = int(kpts.at(i).pt.y + radius);
}
else
{
if(x1 > int(kpts.at(i).pt.x - radius))
{
x1 = int(kpts.at(i).pt.x - radius);
}
else if(x2 < int(kpts.at(i).pt.x + radius))
{
x2 = int(kpts.at(i).pt.x + radius);
}
if(h1 > int(kpts.at(i).pt.y - radius))
{
h1 = int(kpts.at(i).pt.y - radius);
}
else if(h2 < int(kpts.at(i).pt.y + radius))
{
h2 = int(kpts.at(i).pt.y + radius);
}
}
roi.x = x1;
roi.y = h1;
roi.width = x2-x1;
roi.height = h2-h1;
//UINFO("ptx=%d, pty=%d", (int)kpts.at(i).pt.x, (int)kpts.at(i).pt.y);
//UINFO("x=%d, y=%d, w=%d, h=%d", roi.x, roi.y, roi.width, roi.height);
}
return roi;
}
} // namespace find_object

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ADDOBJECTDIALOG_H_
#define ADDOBJECTDIALOG_H_
#include <QDialog>
#include <QtCore/QTimer>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/core/core.hpp>
#include "find_object/Header.h"
class Ui_addObjectDialog;
namespace find_object {
class ObjWidget;
class Camera;
class KeypointItem;
class Feature2D;
class ObjSignature;
class AddObjectDialog : public QDialog {
Q_OBJECT
public:
AddObjectDialog(Camera * camera, const cv::Mat & image, bool mirrorView, QWidget * parent = 0, Qt::WindowFlags f = 0);
virtual ~AddObjectDialog();
// ownership transferred to caller
void retrieveObject(ObjWidget ** widget, ObjSignature ** signature);
private Q_SLOTS:
void update(const cv::Mat &);
void update(const cv::Mat &, const find_object::Header &, const cv::Mat &, float);
void next();
void back();
void cancel();
void takePicture();
void updateNextButton();
void updateNextButton(const cv::Rect &);
void changeSelectionMode();
protected:
virtual void closeEvent(QCloseEvent* event);
private:
void setState(int state);
cv::Rect computeROI(const std::vector<cv::KeyPoint> & kpts);
private:
Ui_addObjectDialog * ui_;
Camera * camera_;
ObjWidget * objWidget_;
ObjSignature * objSignature_;
cv::Mat cameraImage_;
cv::Rect roi_;
Feature2D * detector_;
Feature2D * extractor_;
enum State{kTakePicture, kSelectFeatures, kVerifySelection, kClosing};
int state_;
};
} // namespace find_object
#endif /* ADDOBJECTDIALOG_H_ */

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### Qt Gui stuff ###
SET(headers_ui
../include/${PROJECT_PREFIX}/MainWindow.h
../include/${PROJECT_PREFIX}/FindObject.h
../include/${PROJECT_PREFIX}/Camera.h
../include/${PROJECT_PREFIX}/TcpServer.h
../include/${PROJECT_PREFIX}/ObjWidget.h
./AddObjectDialog.h
./CameraTcpServer.h
./ParametersToolBox.h
./AboutDialog.h
./RectItem.h
./ImageDropWidget.h
./rtabmap/PdfPlot.h
./utilite/UPlot.h
)
IF(CATKIN_BUILD)
SET(headers_ui
${headers_ui}
./ros1/CameraROS.h
./ros1/FindObjectROS.h
)
ENDIF(CATKIN_BUILD)
IF(COLCON_BUILD)
SET(headers_ui
${headers_ui}
./ros2/CameraROS.h
./ros2/FindObjectROS.h
)
ENDIF(COLCON_BUILD)
SET(uis
./ui/mainWindow.ui
./ui/addObjectDialog.ui
./ui/aboutDialog.ui
)
SET(qrc
./resources.qrc
)
IF(QT4_FOUND)
# generate rules for building source files from the resources
QT4_ADD_RESOURCES(srcs_qrc ${qrc})
#Generate .h files from the .ui files
QT4_WRAP_UI(moc_uis ${uis})
#This will generate moc_* for Qt
QT4_WRAP_CPP(moc_srcs ${headers_ui})
### Qt Gui stuff end###
ELSE()
QT5_ADD_RESOURCES(srcs_qrc ${qrc})
QT5_WRAP_UI(moc_uis ${uis})
QT5_WRAP_CPP(moc_srcs ${headers_ui})
ENDIF()
SET(SRC_FILES
./MainWindow.cpp
./AddObjectDialog.cpp
./KeypointItem.cpp
./RectItem.cpp
./QtOpenCV.cpp
./Camera.cpp
./CameraTcpServer.cpp
./ParametersToolBox.cpp
./Settings.cpp
./ObjWidget.cpp
./ImageDropWidget.cpp
./FindObject.cpp
./AboutDialog.cpp
./TcpServer.cpp
./Vocabulary.cpp
./JsonWriter.cpp
./utilite/ULogger.cpp
./utilite/UPlot.cpp
./utilite/UDirectory.cpp
./utilite/UFile.cpp
./utilite/UConversion.cpp
./rtabmap/PdfPlot.cpp
./json/jsoncpp.cpp
./Compression.cpp
${moc_srcs}
${moc_uis}
${srcs_qrc}
)
IF(CATKIN_BUILD)
SET(SRC_FILES
${SRC_FILES}
./ros1/CameraROS.cpp
./ros1/FindObjectROS.cpp
)
ENDIF(CATKIN_BUILD)
IF(COLCON_BUILD)
SET(SRC_FILES
${SRC_FILES}
./ros2/CameraROS.cpp
./ros2/FindObjectROS.cpp
)
ENDIF(COLCON_BUILD)
SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/../include
${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS}
${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
${ZLIB_INCLUDE_DIRS}
)
IF(QT4_FOUND)
INCLUDE(${QT_USE_FILE})
ENDIF(QT4_FOUND)
SET(LIBRARIES
${QT_LIBRARIES}
${OpenCV_LIBS}
${ZLIB_LIBRARIES}
)
IF(CATKIN_BUILD)
SET(LIBRARIES
${LIBRARIES}
${catkin_LIBRARIES}
)
ENDIF(CATKIN_BUILD)
IF(COLCON_BUILD)
SET(AMENT_LIBRARIES
rclcpp
rclcpp_components
cv_bridge
sensor_msgs
std_msgs
image_transport
message_filters
tf2
tf2_ros
tf2_geometry_msgs
geometry_msgs
)
ENDIF(COLCON_BUILD)
IF(TORCH_FOUND)
SET(LIBRARIES
${LIBRARIES}
${TORCH_LIBRARIES}
)
SET(SRC_FILES
${SRC_FILES}
superpoint_torch/SuperPoint.cc
)
SET(INCLUDE_DIRS
${TORCH_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}/superpoint_torch
${INCLUDE_DIRS}
)
ADD_DEFINITIONS("-DWITH_TORCH")
ENDIF(TORCH_FOUND)
#include files
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
IF(CATKIN_BUILD)
INCLUDE_DIRECTORIES(SYSTEM ${catkin_INCLUDE_DIRS})
ENDIF(CATKIN_BUILD)
# create a library from the source files
ADD_LIBRARY(find_object ${SRC_FILES})
# Linking with Qt libraries
IF(Qt5_FOUND)
QT5_USE_MODULES(find_object Widgets Core Gui Network PrintSupport)
ENDIF(Qt5_FOUND)
IF(NOT COLCON_BUILD)
TARGET_LINK_LIBRARIES(find_object ${LIBRARIES})
ENDIF()
IF(CATKIN_BUILD)
set_target_properties(find_object PROPERTIES OUTPUT_NAME find_object_2d)
add_dependencies(find_object ${${PROJECT_NAME}_EXPORTED_TARGETS})
ENDIF(CATKIN_BUILD)
IF(COLCON_BUILD)
ament_target_dependencies(find_object ${AMENT_LIBRARIES})
if("$ENV{ROS_DISTRO}" STRGREATER_EQUAL "humble")
rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
target_link_libraries(find_object ${cpp_typesupport_target} ${LIBRARIES})
else()
# foxy, galatic
target_link_libraries(find_object ${LIBRARIES})
rosidl_target_interfaces(find_object ${PROJECT_NAME} "rosidl_typesupport_cpp")
function(rosidl_get_typesupport_target var generate_interfaces_target typesupport_name)
rosidl_target_interfaces(${var} ${generate_interfaces_target} ${typesupport_name})
endfunction()
add_definitions(-DPRE_ROS_HUMBLE)
endif()
ENDIF(COLCON_BUILD)
IF(NOT ROS_BUILD)
INSTALL(TARGETS find_object
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel)
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/ DESTINATION "${INSTALL_INCLUDE_DIR}" COMPONENT devel FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE)
ELSEIF(CATKIN_BUILD)
add_executable(find_object_2d ros1/find_object_2d_node.cpp)
target_link_libraries(find_object_2d find_object ${LIBRARIES})
add_executable(print_objects_detected ros1/print_objects_detected_node.cpp)
target_link_libraries(print_objects_detected ${LIBRARIES})
add_dependencies(print_objects_detected ${${PROJECT_NAME}_EXPORTED_TARGETS})
add_executable(tf_example ros1/tf_example_node.cpp)
target_link_libraries(tf_example ${LIBRARIES})
add_dependencies(tf_example ${${PROJECT_NAME}_EXPORTED_TARGETS})
IF(Qt5_FOUND)
QT5_USE_MODULES(find_object_2d Widgets Core Gui Network PrintSupport)
QT5_USE_MODULES(print_objects_detected Widgets Core Gui Network PrintSupport)
QT5_USE_MODULES(tf_example Widgets Core Gui Network PrintSupport)
ENDIF(Qt5_FOUND)
## Mark executables and/or libraries for installation
install(TARGETS
find_object
find_object_2d
print_objects_detected
tf_example
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
ELSE() # COLCON_BUILD
add_executable(find_object_2d_node ros2/find_object_2d_node.cpp)
set_target_properties(find_object_2d_node PROPERTIES OUTPUT_NAME find_object_2d)
ament_target_dependencies(find_object_2d_node ${AMENT_LIBRARIES})
target_link_libraries(find_object_2d_node find_object ${LIBRARIES})
add_executable(print_objects_detected ros2/print_objects_detected_node.cpp)
ament_target_dependencies(print_objects_detected ${AMENT_LIBRARIES})
target_link_libraries(print_objects_detected find_object ${LIBRARIES})
add_executable(tf_example ros2/tf_example_node.cpp)
ament_target_dependencies(tf_example ${AMENT_LIBRARIES})
target_link_libraries(tf_example find_object ${LIBRARIES})
# Only required when using messages built from the same package
# https://index.ros.org/doc/ros2/Tutorials/Rosidl-Tutorial/
get_default_rmw_implementation(rmw_implementation)
find_package("${rmw_implementation}" REQUIRED)
get_rmw_typesupport(typesupport_impls "${rmw_implementation}" LANGUAGE "cpp")
foreach(typesupport_impl ${typesupport_impls})
rosidl_get_typesupport_target(find_object_2d_node
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_get_typesupport_target(print_objects_detected
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_get_typesupport_target(tf_example
${PROJECT_NAME} ${typesupport_impl}
)
endforeach()
## Mark executables and/or libraries for installation
install(TARGETS
find_object
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(TARGETS
find_object_2d_node
print_objects_detected
tf_example
DESTINATION lib/${PROJECT_NAME}
)
ENDIF()

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "find_object/Camera.h"
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "find_object/QtOpenCV.h"
#include <stdio.h>
#include <opencv2/imgproc/imgproc.hpp>
#if CV_MAJOR_VERSION > 3
#include <opencv2/videoio/videoio_c.h>
#endif
#include <QtCore/QFile>
#include "utilite/UDirectory.h"
#include "CameraTcpServer.h"
namespace find_object {
Camera::Camera(QObject * parent) :
QObject(parent),
currentImageIndex_(0),
cameraTcpServer_(0)
{
qRegisterMetaType<cv::Mat>("cv::Mat");
connect(&cameraTimer_, SIGNAL(timeout()), this, SLOT(takeImage()));
}
Camera::~Camera()
{
this->stop();
}
void Camera::stop()
{
stopTimer();
capture_.release();
images_.clear();
currentImageIndex_ = 0;
if(cameraTcpServer_)
{
cameraTcpServer_->close();
delete cameraTcpServer_;
cameraTcpServer_ = 0;
}
}
void Camera::pause()
{
stopTimer();
}
int Camera::getTotalFrames()
{
if(images_.size())
{
return images_.size();
}
else if(capture_.isOpened())
{
return (int)capture_.get(CV_CAP_PROP_FRAME_COUNT);
}
return 0;
}
int Camera::getCurrentFrameIndex()
{
if(images_.size())
{
return currentImageIndex_;
}
else if(capture_.isOpened())
{
return (int)capture_.get(CV_CAP_PROP_POS_FRAMES);
}
return 0;
}
void Camera::moveToFrame(int frame)
{
if(frame < images_.size())
{
currentImageIndex_ = frame;
}
else if(capture_.isOpened() && frame < (int)capture_.get(CV_CAP_PROP_FRAME_COUNT))
{
capture_.set(CV_CAP_PROP_POS_FRAMES, frame);
}
}
int Camera::getPort()
{
if(cameraTcpServer_)
{
return cameraTcpServer_->getPort();
}
return 0;
}
void Camera::takeImage()
{
cv::Mat img;
if(capture_.isOpened())
{
capture_.read(img);// capture a frame
}
else if(!images_.empty())
{
if(currentImageIndex_ < (unsigned int)images_.size())
{
img = cv::imread(images_[currentImageIndex_++]);
}
}
else if(cameraTcpServer_)
{
img = cameraTcpServer_->getImage();
if(cameraTcpServer_->imagesBuffered() > 0 && Settings::getCamera_9queueSize() == 0)
{
UWARN("%d images buffered so far...", cameraTcpServer_->imagesBuffered());
}
}
if(img.empty())
{
if(cameraTcpServer_)
{
if(!cameraTcpServer_->isConnected())
{
cameraTcpServer_->waitForNewConnection(100);
}
}
else
{
// In case of a directory of images or a video
this->stop();
Q_EMIT finished(); // notify that there are no more images
}
}
else
{
//resize
if( Settings::getCamera_2imageWidth() &&
Settings::getCamera_3imageHeight() &&
Settings::getCamera_2imageWidth() != img.cols &&
Settings::getCamera_3imageHeight() != img.rows)
{
cv::Mat resampled;
cv::resize(img, resampled, cv::Size(Settings::getCamera_2imageWidth(), Settings::getCamera_3imageHeight()));
Q_EMIT imageReceived(resampled);
}
else if(capture_.isOpened())
{
Q_EMIT imageReceived(img.clone()); // clone required with VideoCapture::read()
}
else
{
Q_EMIT imageReceived(img); // clone not required with cv::imread()
}
}
}
bool Camera::start()
{
if(!capture_.isOpened() && images_.empty() && cameraTcpServer_ == 0)
{
if(Settings::getCamera_6useTcpCamera())
{
cameraTcpServer_ = new CameraTcpServer(Settings::getCamera_8port(), this);
if(!cameraTcpServer_->isListening())
{
UWARN("CameraTCP: Cannot listen to port %d", cameraTcpServer_->getPort());
delete cameraTcpServer_;
cameraTcpServer_ = 0;
}
else
{
UINFO("CameraTCP: listening to port %d (IP=%s)",
cameraTcpServer_->getPort(),
cameraTcpServer_->getHostAddress().toString().toStdString().c_str());
}
}
else
{
QString path = Settings::getCamera_5mediaPath();
if(UDirectory::exists(path.toStdString()))
{
//Images directory
QString ext = Settings::getGeneral_imageFormats();
ext.remove('*');
ext.remove('.');
UDirectory dir(path.toStdString(), ext.toStdString()); // this will load fileNames matching the extensions (in natural order)
const std::list<std::string> & fileNames = dir.getFileNames();
currentImageIndex_ = 0;
images_.clear();
// Modify to have full path
for(std::list<std::string>::const_iterator iter = fileNames.begin(); iter!=fileNames.end(); ++iter)
{
images_.append(path.toStdString() + UDirectory::separator() + *iter);
}
UINFO("Camera: Reading %d images from directory \"%s\"...", (int)images_.size(), path.toStdString().c_str());
if(images_.isEmpty())
{
UWARN("Camera: Directory \"%s\" is empty (no images matching the \"%s\" extensions). "
"If you want to disable loading automatically this directory, "
"clear the Camera/mediaPath parameter. By default, webcam will be used instead of the directory.",
path.toStdString().c_str(),
ext.toStdString().c_str());
}
}
else if(!path.isEmpty())
{
//Video file
capture_.open(path.toStdString().c_str());
if(!capture_.isOpened())
{
UWARN("Camera: Cannot open file \"%s\". If you want to disable loading "
"automatically this video file, clear the Camera/mediaPath parameter. "
"By default, webcam will be used instead of the file.", path.toStdString().c_str());
}
else
{
UINFO("Camera: Reading from video file \"%s\"...", path.toStdString().c_str());
}
}
if(!capture_.isOpened() && images_.empty())
{
//set camera device
capture_.open(Settings::getCamera_1deviceId());
if(Settings::getCamera_2imageWidth() && Settings::getCamera_3imageHeight())
{
capture_.set(CV_CAP_PROP_FRAME_WIDTH, double(Settings::getCamera_2imageWidth()));
capture_.set(CV_CAP_PROP_FRAME_HEIGHT, double(Settings::getCamera_3imageHeight()));
}
UINFO("Camera: Reading from camera device %d...", Settings::getCamera_1deviceId());
}
}
}
if(!capture_.isOpened() && images_.empty() && cameraTcpServer_ == 0)
{
UERROR("Camera: Failed to open a capture object!");
return false;
}
startTimer();
return true;
}
void Camera::startTimer()
{
updateImageRate();
cameraTimer_.start();
}
void Camera::stopTimer()
{
cameraTimer_.stop();
}
void Camera::updateImageRate()
{
if(Settings::getCamera_4imageRate())
{
cameraTimer_.setInterval((int)(1000.0/Settings::getCamera_4imageRate()));
}
else
{
cameraTimer_.setInterval(0);
}
}
} // namespace find_object

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "CameraTcpServer.h"
#include <QtNetwork/QTcpSocket>
#include <QtNetwork/QNetworkInterface>
#include <QtCore/QDataStream>
namespace find_object {
CameraTcpServer::CameraTcpServer(quint16 port, QObject *parent) :
QTcpServer(parent),
blockSize_(0)
{
if (!this->listen(QHostAddress::Any, port))
{
UERROR("Unable to start the Camera TCP server: %s", this->errorString().toStdString().c_str());
return;
}
}
cv::Mat CameraTcpServer::getImage()
{
cv::Mat img;
if(images_.size())
{
// if queue changed after tcp connection ended with images still in the buffer
int queue = Settings::getCamera_9queueSize();
while(queue > 0 && images_.size() > queue)
{
images_.pop_front();
}
img = images_.front();
images_.pop_front();
}
if(this->findChildren<QTcpSocket*>().size() == 1)
{
this->findChildren<QTcpSocket*>().first()->waitForReadyRead(100);
}
return img;
}
bool CameraTcpServer::isConnected() const
{
return this->findChildren<QTcpSocket*>().size() > 0;
}
QHostAddress CameraTcpServer::getHostAddress() const
{
QHostAddress hostAddress;
QList<QHostAddress> ipAddressesList = QNetworkInterface::allAddresses();
// use the first non-localhost IPv4 address
for (int i = 0; i < ipAddressesList.size(); ++i)
{
if (ipAddressesList.at(i) != QHostAddress::LocalHost && ipAddressesList.at(i).toIPv4Address())
{
hostAddress = ipAddressesList.at(i).toString();
break;
}
}
// if we did not find one, use IPv4 localhost
if (hostAddress.isNull())
{
hostAddress = QHostAddress(QHostAddress::LocalHost);
}
return hostAddress;
}
quint16 CameraTcpServer::getPort() const
{
return this->serverPort();
}
#if QT_VERSION >= 0x050000
void CameraTcpServer::incomingConnection(qintptr socketDescriptor)
#else
void CameraTcpServer::incomingConnection(int socketDescriptor)
#endif
{
QList<QTcpSocket*> clients = this->findChildren<QTcpSocket*>();
if(clients.size() >= 1)
{
UWARN("A client is already connected. Only one connection allowed at the same time.");
QTcpSocket socket;
socket.setSocketDescriptor(socketDescriptor);
socket.close(); // close without sending an acknowledge
}
else
{
QTcpSocket * socket = new QTcpSocket(this);
connect(socket, SIGNAL(readyRead()), this, SLOT(readReceivedData()));
connect(socket, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(displayError(QAbstractSocket::SocketError)));
connect(socket, SIGNAL(disconnected()), this, SLOT(connectionLost()));
socket->setSocketDescriptor(socketDescriptor);
socket->write(QByteArray("1")); // send acknowledge
}
}
void CameraTcpServer::readReceivedData()
{
QTcpSocket * client = (QTcpSocket*)sender();
QDataStream in(client);
in.setVersion(QDataStream::Qt_4_0);
if (blockSize_ == 0)
{
if (client->bytesAvailable() < (int)sizeof(quint64))
{
return;
}
in >> blockSize_;
}
if (client->bytesAvailable() < (int)blockSize_)
{
return;
}
std::vector<unsigned char> buf(blockSize_);
in.readRawData((char*)buf.data(), blockSize_);
images_.push_back(cv::imdecode(buf, cv::IMREAD_UNCHANGED));
int queue = Settings::getCamera_9queueSize();
while(queue > 0 && images_.size() > queue)
{
images_.pop_front();
}
blockSize_ = 0;
}
void CameraTcpServer::displayError(QAbstractSocket::SocketError socketError)
{
switch (socketError)
{
case QAbstractSocket::RemoteHostClosedError:
break;
case QAbstractSocket::HostNotFoundError:
UWARN("CameraTcp: Tcp error: The host was not found. Please "
"check the host name and port settings.\n");
break;
case QAbstractSocket::ConnectionRefusedError:
UWARN("CameraTcp: The connection was refused by the peer. "
"Make sure your images server is running, "
"and check that the host name and port "
"settings are correct.");
break;
default:
//UERROR("The following error occurred: %s.", this->errorString().toStdString().c_str());
break;
}
}
void CameraTcpServer::connectionLost()
{
//printf("[WARNING] CameraTcp: Connection lost!\n");
((QTcpSocket*)sender())->close();
sender()->deleteLater();
blockSize_ = 0; // reset
}
} // namespace find_object

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef CAMERATCPCLIENT_H_
#define CAMERATCPCLIENT_H_
#include <QtGlobal>
#include <QtNetwork/QTcpServer>
#include <opencv2/opencv.hpp>
namespace find_object {
class CameraTcpServer : public QTcpServer
{
Q_OBJECT;
public:
CameraTcpServer(quint16 port = 0, QObject * parent = 0);
cv::Mat getImage();
int imagesBuffered() const {return images_.size();}
bool isConnected() const;
QHostAddress getHostAddress() const;
quint16 getPort() const;
protected:
#if QT_VERSION >= 0x050000
virtual void incomingConnection ( qintptr socketDescriptor );
#else
virtual void incomingConnection ( int socketDescriptor );
#endif
private Q_SLOTS:
void readReceivedData();
void displayError(QAbstractSocket::SocketError socketError);
void connectionLost();
private:
quint64 blockSize_;
QVector<cv::Mat> images_;
};
} // namespace find_object
#endif /* CAMERATCPCLIENT_H_ */

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/*
* Compression.cpp
*
* Created on: Sep 10, 2018
* Author: labm2414
*/
#include <Compression.h>
#include <zlib.h>
#include "find_object/utilite/ULogger.h"
namespace find_object {
std::vector<unsigned char> compressData(const cv::Mat & data)
{
std::vector<unsigned char> bytes;
if(!data.empty())
{
uLong sourceLen = uLong(data.total())*uLong(data.elemSize());
uLong destLen = compressBound(sourceLen);
bytes.resize(destLen);
int errCode = compress(
(Bytef *)bytes.data(),
&destLen,
(const Bytef *)data.data,
sourceLen);
bytes.resize(destLen+3*sizeof(int));
*((int*)&bytes[destLen]) = data.rows;
*((int*)&bytes[destLen+sizeof(int)]) = data.cols;
*((int*)&bytes[destLen+2*sizeof(int)]) = data.type();
if(errCode == Z_MEM_ERROR)
{
UERROR("Z_MEM_ERROR : Insufficient memory.");
}
else if(errCode == Z_BUF_ERROR)
{
UERROR("Z_BUF_ERROR : The buffer dest was not large enough to hold the uncompressed data.");
}
}
return bytes;
}
cv::Mat uncompressData(const unsigned char * bytes, unsigned long size)
{
cv::Mat data;
if(bytes && size>=3*sizeof(int))
{
//last 3 int elements are matrix size and type
int height = *((int*)&bytes[size-3*sizeof(int)]);
int width = *((int*)&bytes[size-2*sizeof(int)]);
int type = *((int*)&bytes[size-1*sizeof(int)]);
data = cv::Mat(height, width, type);
uLongf totalUncompressed = uLongf(data.total())*uLongf(data.elemSize());
int errCode = uncompress(
(Bytef*)data.data,
&totalUncompressed,
(const Bytef*)bytes,
uLong(size));
if(errCode == Z_MEM_ERROR)
{
UERROR("Z_MEM_ERROR : Insufficient memory.");
}
else if(errCode == Z_BUF_ERROR)
{
UERROR("Z_BUF_ERROR : The buffer dest was not large enough to hold the uncompressed data.");
}
else if(errCode == Z_DATA_ERROR)
{
UERROR("Z_DATA_ERROR : The compressed data (referenced by source) was corrupted.");
}
}
return data;
}
} /* namespace find_object */

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/*
* Compression.h
*
* Created on: Sep 10, 2018
* Author: labm2414
*/
#ifndef SRC_COMPRESSION_H_
#define SRC_COMPRESSION_H_
#include <opencv2/opencv.hpp>
namespace find_object {
std::vector<unsigned char> compressData(const cv::Mat & data);
cv::Mat uncompressData(const unsigned char * bytes, unsigned long size);
}
#endif /* SRC_COMPRESSION_H_ */

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/*
* ImageDropWidget.cpp
*
* Created on: Dec 22, 2014
* Author: mathieu
*/
#include <ImageDropWidget.h>
#include <find_object/Settings.h>
#include <QtGui/QDragEnterEvent>
#include <QtCore/QRegExp>
#include <QtCore/QUrl>
#include <QMimeData>
namespace find_object {
ImageDropWidget::ImageDropWidget(QWidget *parent, Qt::WindowFlags flags) :
QWidget(parent, flags)
{
setAcceptDrops(true);
}
ImageDropWidget::~ImageDropWidget()
{
}
void ImageDropWidget::dragEnterEvent(QDragEnterEvent *event)
{
if (event->mimeData()->hasUrls())
{
event->acceptProposedAction();
}
}
void ImageDropWidget::dropEvent(QDropEvent *event)
{
QStringList fileNames;
QStringList extensions = Settings::getGeneral_imageFormats().split(" ");
QList<QUrl> urls = event->mimeData()->urls();
for(int i=0; i<urls.size(); ++i)
{
QString path = urls.at(i).toLocalFile();
for(int j=0; j<extensions.size(); ++j)
{
QRegExp reg(extensions[j]);
reg.setPatternSyntax(QRegExp::Wildcard);
if(reg.exactMatch(path))
{
fileNames.push_back(path);
break;
}
}
}
if(fileNames.size())
{
Q_EMIT imagesReceived(fileNames);
}
event->acceptProposedAction();
}
}

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/*
* ImageDropWidget.h
*
* Created on: Dec 22, 2014
* Author: mathieu
*/
#ifndef IMAGEDROPWIDGET_H_
#define IMAGEDROPWIDGET_H_
#include <QWidget>
namespace find_object {
class ImageDropWidget : public QWidget {
Q_OBJECT;
public:
ImageDropWidget(QWidget *parent = 0, Qt::WindowFlags flags = 0);
virtual ~ImageDropWidget();
Q_SIGNALS:
void imagesReceived(const QStringList &);
protected:
virtual void dragEnterEvent(QDragEnterEvent *event);
virtual void dropEvent(QDropEvent *event);
};
}
#endif /* IMAGEDROPWIDGET_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "find_object/JsonWriter.h"
#include "find_object/utilite/ULogger.h"
#include <QtCore/QFile>
#include <QtCore/QTextStream>
#include <QtCore/QFileInfo>
#include "json/json.h"
namespace find_object {
void JsonWriter::write(const DetectionInfo & info, const QString & path)
{
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 iterFilePaths = info.objDetectedFilePaths_.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()]["filepath"] = iterFilePaths.value().toStdString();
QString filename;
if(!iterFilePaths.value().isEmpty())
{
QFileInfo file(iterFilePaths.value());
filename=file.fileName();
}
root[name.toStdString()]["filename"] = filename.toStdString();
++iter;
++iterInliers;
++iterOutliers;
++iterSizes;
++iterFilePaths;
}
}
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();
}
}
} // namespace find_object

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "KeypointItem.h"
#include <QtGui/QPen>
#include <QtGui/QBrush>
#include <QGraphicsScene>
namespace find_object {
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),
placeHolder_(0),
id_(id),
kpt_(kpt),
wordID_(wordID)
{
this->setPen(QPen(color));
this->setBrush(QBrush(color));
this->setAcceptHoverEvents(true);
this->setFlag(QGraphicsItem::ItemIsFocusable, true);
this->setFlag(QGraphicsItem::ItemIsSelectable, true);
}
KeypointItem::~KeypointItem()
{
}
void KeypointItem::setColor(const QColor & color)
{
this->setPen(QPen(color));
this->setBrush(QBrush(color));
if(placeHolder_)
{
QList<QGraphicsItem *> items = placeHolder_->childItems();
if(items.size())
{
((QGraphicsTextItem *)items.front())->setDefaultTextColor(this->pen().color().rgb());
}
}
}
void KeypointItem::showDescription()
{
if(!placeHolder_ || !placeHolder_->isVisible())
{
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);
placeHolder_->setRect(text->boundingRect());
}
QPen pen = this->pen();
this->setPen(QPen(pen.color(), pen.width()+2));
placeHolder_->setZValue(this->zValue()+1);
placeHolder_->setPos(this->mapToScene(0,0));
placeHolder_->setVisible(true);
}
}
void KeypointItem::hideDescription()
{
if(placeHolder_ && placeHolder_->isVisible())
{
placeHolder_->setVisible(false);
this->setPen(QPen(pen().color(), pen().width()-2));
}
}
void KeypointItem::hoverEnterEvent ( QGraphicsSceneHoverEvent * event )
{
this->showDescription();
QGraphicsEllipseItem::hoverEnterEvent(event);
}
void KeypointItem::hoverLeaveEvent ( QGraphicsSceneHoverEvent * event )
{
if(!this->hasFocus())
{
this->hideDescription();
}
QGraphicsEllipseItem::hoverEnterEvent(event);
}
void KeypointItem::focusInEvent ( QFocusEvent * event )
{
this->showDescription();
QGraphicsEllipseItem::focusInEvent(event);
}
void KeypointItem::focusOutEvent ( QFocusEvent * event )
{
this->hideDescription();
QGraphicsEllipseItem::focusOutEvent(event);
}
} // namespace find_object

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef KEYPOINTITEM_H_
#define KEYPOINTITEM_H_
#include <QGraphicsEllipseItem>
#include <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 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 wordID() const {return wordID_;}
int id() const {return id_;}
protected:
virtual void hoverEnterEvent ( QGraphicsSceneHoverEvent * event );
virtual void hoverLeaveEvent ( QGraphicsSceneHoverEvent * event );
virtual void focusInEvent ( QFocusEvent * event );
virtual void focusOutEvent ( QFocusEvent * event );
private:
void showDescription();
void hideDescription();
private:
QGraphicsRectItem * placeHolder_;
int id_;
cv::KeyPoint kpt_;
int wordID_;
};
} // namespace find_object
#endif /* KEYPOINTITEM_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef OBJSIGNATURE_H_
#define OBJSIGNATURE_H_
#include <opencv2/opencv.hpp>
#include <QtCore/QString>
#include <QtCore/QMultiMap>
#include <QtCore/QRect>
#include <QtCore/QDataStream>
#include <QtCore/QByteArray>
#include <QtCore/QFileInfo>
#include <Compression.h>
namespace find_object {
class ObjSignature {
public:
ObjSignature() :
id_(-1)
{}
ObjSignature(int id, const cv::Mat & image, const QString & filePath) :
id_(id),
image_(image),
rect_(0,0,image.cols, image.rows),
filePath_(filePath)
{}
virtual ~ObjSignature() {}
void setData(const std::vector<cv::KeyPoint> & keypoints, const cv::Mat & descriptors)
{
keypoints_ = keypoints;
descriptors_ = descriptors;
}
void setWords(const QMultiMap<int, int> & words) {words_ = words;}
void setId(int id) {id_ = id;}
void removeImage() {image_ = cv::Mat();}
const QRect & rect() const {return rect_;}
int id() const {return id_;}
const QString & filePath() const {return filePath_;}
const cv::Mat & image() const {return image_;}
const std::vector<cv::KeyPoint> & keypoints() const {return keypoints_;}
const cv::Mat & descriptors() const {return descriptors_;}
const QMultiMap<int, int> & words() const {return words_;}
void save(QDataStream & streamPtr) const
{
streamPtr << id_;
streamPtr << filePath_;
streamPtr << (int)keypoints_.size();
for(unsigned int j=0; j<keypoints_.size(); ++j)
{
streamPtr << keypoints_.at(j).angle <<
keypoints_.at(j).class_id <<
keypoints_.at(j).octave <<
keypoints_.at(j).pt.x <<
keypoints_.at(j).pt.y <<
keypoints_.at(j).response <<
keypoints_.at(j).size;
}
std::vector<unsigned char> bytes = compressData(descriptors_);
qint64 dataSize = bytes.size();
int old = 0;
if(dataSize <= std::numeric_limits<int>::max())
{
// old: rows, cols, type
streamPtr << old << old << old << dataSize;
streamPtr << QByteArray::fromRawData((const char*)bytes.data(), dataSize);
}
else
{
UERROR("Descriptors (compressed) are too large (%d MB) to be saved! Limit is 2 GB (based on max QByteArray size).",
dataSize/(1024*1024));
// old: rows, cols, type, dataSize
streamPtr << old << old << old << old;
streamPtr << QByteArray(); // empty
}
streamPtr << words_;
if(!image_.empty())
{
std::vector<unsigned char> bytes;
QString ext = QFileInfo(filePath_).suffix();
if(ext.isEmpty())
{
// default png
cv::imencode(".png", image_, bytes);
}
else
{
cv::imencode(std::string(".")+ext.toStdString(), image_, bytes);
}
streamPtr << QByteArray::fromRawData((const char*)bytes.data(), (int)bytes.size());
}
else
{
streamPtr << QByteArray();
}
streamPtr << rect_;
}
void load(QDataStream & streamPtr, bool ignoreImage)
{
int nKpts;
streamPtr >> id_ >> filePath_ >> nKpts;
keypoints_.resize(nKpts);
for(int i=0;i<nKpts;++i)
{
streamPtr >>
keypoints_[i].angle >>
keypoints_[i].class_id >>
keypoints_[i].octave >>
keypoints_[i].pt.x >>
keypoints_[i].pt.y >>
keypoints_[i].response >>
keypoints_[i].size;
}
int rows,cols,type;
qint64 dataSize;
streamPtr >> rows >> cols >> type >> dataSize;
if(rows == 0 && cols == 0 && type == 0)
{
// compressed descriptors
UASSERT(dataSize <= std::numeric_limits<int>::max());
QByteArray data;
streamPtr >> data;
descriptors_ = uncompressData((unsigned const char*)data.data(), dataSize);
}
else
{
// old raw format
QByteArray data;
streamPtr >> data;
if(data.size())
{
descriptors_ = cv::Mat(rows, cols, type, data.data()).clone();
}
else if(dataSize)
{
UERROR("Error reading descriptor data for object=%d", id_);
}
}
streamPtr >> words_;
QByteArray image;
streamPtr >> image;
if(!ignoreImage && image.size())
{
std::vector<unsigned char> bytes(image.size());
memcpy(bytes.data(), image.data(), image.size());
image_ = cv::imdecode(bytes, cv::IMREAD_UNCHANGED);
}
streamPtr >> rect_;
}
private:
int id_;
cv::Mat image_;
QRect rect_;
QString filePath_;
std::vector<cv::KeyPoint> keypoints_;
cv::Mat descriptors_;
QMultiMap<int, int> words_; // <word id, keypoint indexes>
};
} // namespace find_object
#endif /* OBJSIGNATURE_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "find_object/ObjWidget.h"
#include "find_object/QtOpenCV.h"
#include "KeypointItem.h"
#include <opencv2/highgui/highgui.hpp>
#include <QWidget>
#include <QContextMenuEvent>
#include <QMenu>
#include <QFileDialog>
#include <QAction>
#include <QGraphicsView>
#include <QGraphicsScene>
#include <QVBoxLayout>
#include <QGraphicsRectItem>
#include <QInputDialog>
#include <QPen>
#include <QLabel>
#include <QColorDialog>
#include <QtCore/QDir>
#include <stdio.h>
namespace find_object {
ObjWidget::ObjWidget(QWidget * parent) :
QWidget(parent),
id_(0),
graphicsView_(0),
graphicsViewInitialized_(false),
alpha_(100),
color_(Qt::red)
{
setupUi();
}
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),
graphicsViewInitialized_(false),
alpha_(100),
color_(QColor((Qt::GlobalColor)((id % 10 + 7)==Qt::yellow?Qt::darkYellow:(id % 10 + 7))))
{
setupUi();
this->updateImage(image);
this->updateData(keypoints, words);
}
ObjWidget::~ObjWidget()
{
}
void ObjWidget::setupUi()
{
graphicsView_ = new QGraphicsView(this);
graphicsView_->setVisible(false);
graphicsView_->setTransformationAnchor(QGraphicsView::AnchorUnderMouse);
graphicsView_->setScene(new QGraphicsScene(graphicsView_));
label_ = new QLabel();
label_->setAlignment(Qt::AlignCenter);
label_->setTextInteractionFlags(Qt::TextSelectableByMouse);
this->setLayout(new QVBoxLayout(this));
this->layout()->addWidget(graphicsView_);
this->layout()->addWidget(label_);
this->layout()->setContentsMargins(0,0,0,0);
menu_ = new QMenu(tr(""), this);
showImage_ = menu_->addAction(tr("Show image"));
showImage_->setCheckable(true);
showImage_->setChecked(true);
showFeatures_ = menu_->addAction(tr("Show features"));
showFeatures_->setCheckable(true);
showFeatures_->setChecked(true);
mirrorView_ = menu_->addAction(tr("Mirror view"));
mirrorView_->setCheckable(true);
mirrorView_->setChecked(false);
graphicsViewMode_ = menu_->addAction(tr("Graphics view"));
graphicsViewMode_->setCheckable(true);
graphicsViewMode_->setChecked(false);
autoScale_ = menu_->addAction(tr("Scale view"));
autoScale_->setCheckable(true);
autoScale_->setChecked(true);
autoScale_->setEnabled(false);
sizedFeatures_ = menu_->addAction(tr("Sized features"));
sizedFeatures_->setCheckable(true);
sizedFeatures_->setChecked(false);
menu_->addSeparator();
setColor_ = menu_->addAction(tr("Set color..."));
setAlpha_ = menu_->addAction(tr("Set alpha..."));
menu_->addSeparator();
saveImage_ = menu_->addAction(tr("Save picture..."));
menu_->addSeparator();
delete_ = menu_->addAction(tr("Delete"));
delete_->setEnabled(false);
this->setId(id_);
graphicsView_->setRubberBandSelectionMode(Qt::ContainsItemShape);
graphicsView_->setDragMode(QGraphicsView::RubberBandDrag);
connect(graphicsView_->scene(), SIGNAL(selectionChanged()), this, SIGNAL(selectionChanged()));
}
void ObjWidget::setId(int id)
{
color_ = QColor((Qt::GlobalColor)((id % 10 + 7)==Qt::yellow?Qt::darkYellow:(id % 10 + 7)));
id_=id;
if(id_)
{
savedFileName_ = QString("object_%1.png").arg(id_);
}
}
void ObjWidget::setGraphicsViewMode(bool on)
{
graphicsViewMode_->setChecked(on);
graphicsView_->setVisible(on && graphicsView_->scene()->items().size());
autoScale_->setEnabled(on);
//update items' color
if(on)
{
if(!graphicsViewInitialized_)
{
this->setupGraphicsView();
}
else
{
for(int i=0; i<keypointItems_.size(); ++i)
{
QColor color = kptColors_.at(i);
color.setAlpha(alpha_);
keypointItems_[i]->setColor(color);
}
}
}
if(autoScale_->isChecked())
{
graphicsView_->fitInView(graphicsView_->sceneRect(), Qt::KeepAspectRatio);
}
else
{
graphicsView_->resetTransform();
graphicsView_->setTransform(QTransform().scale(this->isMirrorView()?-1.0:1.0, 1.0));
}
}
void ObjWidget::setAutoScale(bool autoScale)
{
autoScale_->setChecked(autoScale);
if(graphicsViewMode_)
{
if(autoScale)
{
graphicsView_->fitInView(graphicsView_->sceneRect(), Qt::KeepAspectRatio);
}
else
{
graphicsView_->resetTransform();
graphicsView_->setTransform(QTransform().scale(this->isMirrorView()?-1.0:1.0, 1.0));
}
}
}
void ObjWidget::setSizedFeatures(bool on)
{
sizedFeatures_->setChecked(on);
if(graphicsViewInitialized_)
{
for(unsigned int i=0; i<(unsigned int)keypointItems_.size() && i<keypoints_.size(); ++i)
{
float size = 14;
if(on && keypoints_[i].size>14.0f)
{
size = keypoints_[i].size;
}
float radius = size*1.2f/9.0f*2.0f;
keypointItems_.at(i)->setRect(keypoints_[i].pt.x-radius, keypoints_[i].pt.y-radius, radius*2, radius*2);
}
}
if(!graphicsViewMode_->isChecked())
{
this->update();
}
}
void ObjWidget::setMirrorView(bool on)
{
mirrorView_->setChecked(on);
graphicsView_->setTransform(QTransform().scale(this->isMirrorView()?-1.0:1.0, 1.0));
if(graphicsViewMode_->isChecked() && autoScale_->isChecked())
{
graphicsView_->fitInView(graphicsView_->sceneRect(), Qt::KeepAspectRatio);
}
else if(!graphicsViewMode_->isChecked())
{
this->update();
}
}
void ObjWidget::setAlpha(int alpha)
{
if(alpha>=0 && alpha<=255)
{
alpha_ = alpha;
if(graphicsViewInitialized_)
{
for(int i=0; i<keypointItems_.size() && i<kptColors_.size(); ++i)
{
QColor color = kptColors_.at(i);
color.setAlpha(alpha_);
keypointItems_.at(i)->setColor(color);
}
}
for(int i=0; i<rectItems_.size(); ++i)
{
QPen pen = rectItems_.at(i)->pen();
QColor color = pen.color();
color.setAlpha(alpha_);
pen.setColor(color);
rectItems_.at(i)->setPen(pen);
}
if(!graphicsViewMode_->isChecked())
{
this->update();
}
}
}
void ObjWidget::setTextLabel(const QString & text)
{
label_->setText(text);
}
void ObjWidget::updateImage(const QImage & image)
{
pixmap_ = QPixmap();
rect_ = QRect();
if(!image.isNull())
{
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(0));
keypointItems_.clear();
rectItems_.clear();
this->updateWords(words);
graphicsView_->scene()->clear();
graphicsViewInitialized_ = false;
mouseCurrentPos_ = mousePressedPos_; // this will reset roi selection
//this->setMinimumSize(image_.size());
if(graphicsViewMode_->isChecked())
{
this->setupGraphicsView();
}
else
{
this->update();
}
}
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<kptColors_.size(); ++i)
{
kptColors_[i] = defaultColor(words_.size()?words_.value(i,-1):0);
if(keypointItems_.size() == kptColors_.size())
{
keypointItems_[i]->setWordID(words_.value(i,-1));
keypointItems_[i]->setColor(defaultColor(words_.size()?keypointItems_[i]->wordID():0));
}
}
}
void ObjWidget::resetKptsColor()
{
for(int i=0; i<kptColors_.size(); ++i)
{
if(keypointItems_.size() == kptColors_.size())
{
kptColors_[i] = defaultColor(keypointItems_[i]->wordID());
keypointItems_[i]->setColor(this->defaultColor(keypointItems_[i]->wordID()));
}
else
{
kptColors_[i] = defaultColor(words_.value(i,-1));
}
}
qDeleteAll(rectItems_.begin(), rectItems_.end());
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())
{
kptColors_[index] = color;
}
else
{
UWARN("PROBLEM index =%d > size=%d\n", index, kptColors_.size());
}
if(graphicsViewMode_->isChecked())
{
if(index < keypointItems_.size())
{
QColor c = color;
c.setAlpha(alpha_);
keypointItems_.at(index)->setColor(c);
}
}
}
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_)
{
graphicsView_->scene()->addItem(rect);
}
rect->setZValue(1);
QPen pen = rect->pen();
QColor color = pen.color();
color.setAlpha(alpha_);
pen.setColor(color);
rect->setPen(pen);
rectItems_.append(rect);
}
QList<QGraphicsItem*> ObjWidget::selectedItems() const
{
return graphicsView_->scene()->selectedItems();
}
bool ObjWidget::isImageShown() const
{
return showImage_->isChecked();
}
bool ObjWidget::isFeaturesShown() const
{
return showFeatures_->isChecked();
}
bool ObjWidget::isSizedFeatures() const
{
return sizedFeatures_->isChecked();
}
bool ObjWidget::isMirrorView() const
{
return mirrorView_->isChecked();
}
void ObjWidget::setDeletable(bool deletable)
{
delete_->setEnabled(deletable);
}
void ObjWidget::setImageShown(bool shown)
{
showImage_->setChecked(shown);
if(graphicsViewMode_->isChecked())
{
this->updateItemsShown();
}
else
{
this->update();
}
}
void ObjWidget::setFeaturesShown(bool shown)
{
showFeatures_->setChecked(shown);
if(graphicsViewMode_->isChecked())
{
this->updateItemsShown();
}
else
{
this->update();
}
}
void ObjWidget::computeScaleOffsets(float & scale, float & offsetX, float & offsetY)
{
scale = 1.0f;
offsetX = 0.0f;
offsetY = 0.0f;
if(!rect_.isNull())
{
float w = rect_.width();
float h = rect_.height();
float widthRatio = float(this->rect().width()) / w;
float heightRatio = float(this->rect().height()) / h;
//printf("w=%f, h=%f, wR=%f, hR=%f, sW=%d, sH=%d\n", w, h, widthRatio, heightRatio, this->rect().width(), this->rect().height());
if(widthRatio < heightRatio)
{
scale = widthRatio;
}
else
{
scale = heightRatio;
}
//printf("ratio=%f\n",ratio);
w *= scale;
h *= scale;
if(w < this->rect().width())
{
offsetX = (this->rect().width() - w)/2.0f;
}
if(h < this->rect().height())
{
offsetY = (this->rect().height() - h)/2.0f;
}
//printf("offsetX=%f, offsetY=%f\n",offsetX, offsetY);
}
}
void ObjWidget::paintEvent(QPaintEvent *event)
{
if(graphicsViewMode_->isChecked())
{
QWidget::paintEvent(event);
}
else
{
if(!rect_.isNull())
{
//Scale
float ratio, offsetX, offsetY;
this->computeScaleOffsets(ratio, offsetX, offsetY);
QPainter painter(this);
if(mirrorView_->isChecked())
{
painter.translate(offsetX+rect_.width()*ratio, offsetY);
painter.scale(-ratio, ratio);
}
else
{
painter.translate(offsetX, offsetY);
painter.scale(ratio, ratio);
}
if(!pixmap_.isNull() && showImage_->isChecked())
{
painter.drawPixmap(QPoint(0,0), pixmap_);
}
if(showFeatures_->isChecked())
{
drawKeypoints(&painter);
}
for(int i=0; i<rectItems_.size(); ++i)
{
painter.save();
painter.setTransform(rectItems_.at(i)->transform(), true);
painter.setPen(rectItems_.at(i)->pen());
painter.drawRect(rectItems_.at(i)->rect());
painter.restore();
}
if(mouseCurrentPos_ != mousePressedPos_)
{
painter.save();
int left, top, right, bottom;
left = mousePressedPos_.x() < mouseCurrentPos_.x() ? mousePressedPos_.x():mouseCurrentPos_.x();
top = mousePressedPos_.y() < mouseCurrentPos_.y() ? mousePressedPos_.y():mouseCurrentPos_.y();
right = mousePressedPos_.x() > mouseCurrentPos_.x() ? mousePressedPos_.x():mouseCurrentPos_.x();
bottom = mousePressedPos_.y() > mouseCurrentPos_.y() ? mousePressedPos_.y():mouseCurrentPos_.y();
if(mirrorView_->isChecked())
{
int l = left;
left = qAbs(right - rect_.width());
right = qAbs(l - rect_.width());
}
painter.setPen(Qt::NoPen);
painter.setBrush(QBrush(QColor(0,0,0,100)));
painter.drawRect(0, 0, rect_.width(), top);
painter.drawRect(0, top, left, bottom-top);
painter.drawRect(right, top, rect_.width()-right, bottom-top);
painter.drawRect(0, bottom, rect_.width(), rect_.height()-bottom);
painter.restore();
}
}
}
}
void ObjWidget::resizeEvent(QResizeEvent* event)
{
QWidget::resizeEvent(event);
if(graphicsViewMode_->isChecked() && autoScale_->isChecked())
{
graphicsView_->fitInView(graphicsView_->sceneRect(), Qt::KeepAspectRatio);
}
}
void ObjWidget::mousePressEvent(QMouseEvent * event)
{
float scale, offsetX, offsetY;
this->computeScaleOffsets(scale, offsetX, offsetY);
mousePressedPos_.setX((event->pos().x()-offsetX)/scale);
mousePressedPos_.setY((event->pos().y()-offsetY)/scale);
mouseCurrentPos_ = mousePressedPos_;
this->update();
QWidget::mousePressEvent(event);
}
void ObjWidget::mouseMoveEvent(QMouseEvent * event)
{
float scale, offsetX, offsetY;
this->computeScaleOffsets(scale, offsetX, offsetY);
mouseCurrentPos_.setX((event->pos().x()-offsetX)/scale);
mouseCurrentPos_.setY((event->pos().y()-offsetY)/scale);
this->update();
QWidget::mouseMoveEvent(event);
}
void ObjWidget::mouseReleaseEvent(QMouseEvent * event)
{
if(!rect_.isNull())
{
int left,top,bottom,right;
left = mousePressedPos_.x() < mouseCurrentPos_.x() ? mousePressedPos_.x():mouseCurrentPos_.x();
top = mousePressedPos_.y() < mouseCurrentPos_.y() ? mousePressedPos_.y():mouseCurrentPos_.y();
right = mousePressedPos_.x() > mouseCurrentPos_.x() ? mousePressedPos_.x():mouseCurrentPos_.x();
bottom = mousePressedPos_.y() > mouseCurrentPos_.y() ? mousePressedPos_.y():mouseCurrentPos_.y();
if(mirrorView_->isChecked())
{
int l = left;
left = qAbs(right - rect_.width());
right = qAbs(l - rect_.width());
}
Q_EMIT roiChanged(cv::Rect(left, top, right-left, bottom-top));
}
QWidget::mouseReleaseEvent(event);
}
void ObjWidget::contextMenuEvent(QContextMenuEvent * event)
{
QAction * action = menu_->exec(event->globalPos());
if(action == saveImage_)
{
QString text;
if(savedFileName_.isEmpty())
{
savedFileName_=Settings::workingDirectory()+"/figure.png";
}
text = QFileDialog::getSaveFileName(this, tr("Save figure to ..."), savedFileName_, "*.png *.xpm *.jpg *.pdf");
if(!text.isEmpty())
{
if(!text.endsWith(".png") && !text.endsWith(".xpm") && !text.endsWith(".jpg") && !text.endsWith(".pdf"))
{
text.append(".png");//default
}
savedFileName_ = text;
getSceneAsPixmap().save(text);
}
}
else if(action == showFeatures_ || action == showImage_)
{
if(graphicsViewMode_->isChecked())
{
this->updateItemsShown();
}
else
{
this->update();
}
}
else if(action == mirrorView_)
{
this->setMirrorView(mirrorView_->isChecked());
}
else if(action == delete_)
{
Q_EMIT removalTriggered(this);
}
else if(action == graphicsViewMode_)
{
this->setGraphicsViewMode(graphicsViewMode_->isChecked());
}
else if(action == autoScale_)
{
this->setAutoScale(autoScale_->isChecked());
}
else if(action == sizedFeatures_)
{
this->setSizedFeatures(sizedFeatures_->isChecked());
}
else if(action == setColor_)
{
QColor color = QColorDialog::getColor(color_, this);
if(color.isValid())
{
for(int i=0; i<kptColors_.size(); ++i)
{
if(kptColors_[i] == color_)
{
kptColors_[i] = color;
if(graphicsViewMode_->isChecked())
{
keypointItems_[i]->setColor(color);
}
}
}
for(int i=0; i<rectItems_.size(); ++i)
{
if(rectItems_[i]->pen().color() == color_)
{
QPen p = rectItems_[i]->pen();
p.setColor(color);
rectItems_[i]->setPen(p);
}
}
color_ = color;
}
}
else if(action == setAlpha_)
{
bool ok;
int newAlpha = QInputDialog::getInt(this, tr("Set alpha"), tr("Alpha:"), alpha_, 0, 255, 5, &ok);
if(ok)
{
this->setAlpha(newAlpha);
}
}
}
QPixmap ObjWidget::getSceneAsPixmap()
{
if(graphicsViewMode_->isChecked())
{
QPixmap img(graphicsView_->sceneRect().width(), graphicsView_->sceneRect().height());
QPainter p(&img);
graphicsView_->scene()->render(&p, graphicsView_->sceneRect(), graphicsView_->sceneRect());
return img;
}
else
{
return QPixmap::grabWidget(this);
}
}
void ObjWidget::updateItemsShown()
{
QList<QGraphicsItem*> items = graphicsView_->scene()->items();
for(int i=0; i<items.size(); ++i)
{
if(qgraphicsitem_cast<KeypointItem*>(items.at(i)))
{
items.at(i)->setVisible(showFeatures_->isChecked());
}
else if(qgraphicsitem_cast<QGraphicsPixmapItem*>(items.at(i)))
{
items.at(i)->setVisible(showImage_->isChecked());
}
}
}
void ObjWidget::drawKeypoints(QPainter * painter)
{
QList<KeypointItem *> items;
KeypointItem * item = 0;
int i = 0;
for(std::vector<cv::KeyPoint>::const_iterator iter = keypoints_.begin(); iter != keypoints_.end(); ++iter, ++i )
{
const cv::KeyPoint & r = *iter;
float size = 14;
if(r.size>14.0f && sizedFeatures_->isChecked())
{
size = r.size;
}
float radius = size*1.2f/9.0f*2.0f;
QColor color(kptColors_.at(i).red(), kptColors_.at(i).green(), kptColors_.at(i).blue(), alpha_);
if(graphicsViewMode_->isChecked())
{
// YELLOW = NEW and multiple times
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);
item->setColor(defaultColor(item->wordID()));
kptColors_[i] = defaultColor(item->wordID());
keypointItems_.append(item);
}
if(painter)
{
painter->save();
painter->setPen(color);
painter->setBrush(color);
painter->drawEllipse(r.pt.x-radius, r.pt.y-radius, radius*2, radius*2);
painter->restore();
}
}
}
QColor ObjWidget::defaultColor(int id) const
{
QColor color(id >= 0 ? Qt::yellow : Qt::white);
color.setAlpha(alpha_);
return color;
}
std::vector<cv::KeyPoint> ObjWidget::selectedKeypoints() const
{
std::vector<cv::KeyPoint> selected;
if(graphicsViewMode_->isChecked())
{
QList<QGraphicsItem*> items = graphicsView_->scene()->selectedItems();
for(int i=0; i<items.size(); ++i)
{
if(qgraphicsitem_cast<KeypointItem*>(items.at(i)))
{
selected.push_back(keypoints_.at(((KeypointItem*)items.at(i))->id()));
}
}
}
return selected;
}
void ObjWidget::setupGraphicsView()
{
if(!rect_.isNull())
{
graphicsView_->setVisible(true);
graphicsView_->scene()->setSceneRect(rect_);
QList<KeypointItem*> items;
QRectF sceneRect = graphicsView_->sceneRect();
QGraphicsPixmapItem * pixmapItem = graphicsView_->scene()->addPixmap(pixmap_);
pixmapItem->setVisible(this->isImageShown());
this->drawKeypoints();
for(int i=0; i<rectItems_.size(); ++i)
{
graphicsView_->scene()->addItem(rectItems_.at(i));
}
if(autoScale_->isChecked())
{
graphicsView_->fitInView(sceneRect, Qt::KeepAspectRatio);
}
graphicsViewInitialized_ = true;
}
else
{
graphicsView_->setVisible(false);
}
}
} // namespace find_object

823
find-object/src/ParametersToolBox.cpp Normal file
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@ -0,0 +1,823 @@
/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "find_object/Settings.h"
#include "ParametersToolBox.h"
#include <QComboBox>
#include <QDoubleSpinBox>
#include <QLineEdit>
#include <QLabel>
#include <QGroupBox>
#include <QCheckBox>
#include <QVBoxLayout>
#include <QMessageBox>
#include <stdio.h>
#include "find_object/utilite/ULogger.h"
#include <opencv2/opencv_modules.hpp>
namespace find_object {
ParametersToolBox::ParametersToolBox(QWidget *parent) :
QToolBox(parent)
{
}
ParametersToolBox::~ParametersToolBox()
{
}
QWidget * ParametersToolBox::getParameterWidget(const QString & key)
{
return this->findChild<QWidget*>(key);
}
QStringList ParametersToolBox::resetPage(int index)
{
QStringList paramChanged;
const QObjectList & children = this->widget(index)->children();
for(int j=0; j<children.size();++j)
{
QString key = children.at(j)->objectName();
// ignore only the nextObjID setting, to avoid problem with saved objects
if(key.compare(Settings::kGeneral_nextObjID()) != 0)
{
QVariant value = Settings::getDefaultParameters().value(key, QVariant());
if(value.isValid())
{
Settings::setParameter(key, value);
if(qobject_cast<QComboBox*>(children.at(j)))
{
if(((QComboBox*)children.at(j))->currentIndex() != value.toString().split(':').first().toInt())
{
((QComboBox*)children.at(j))->setCurrentIndex(value.toString().split(':').first().toInt());
paramChanged.append(key);
}
}
else if(qobject_cast<QSpinBox*>(children.at(j)))
{
if(((QSpinBox*)children.at(j))->value() != value.toInt())
{
((QSpinBox*)children.at(j))->setValue(value.toInt());
paramChanged.append(key);
}
}
else if(qobject_cast<QDoubleSpinBox*>(children.at(j)))
{
if(((QDoubleSpinBox*)children.at(j))->value() != value.toDouble())
{
((QDoubleSpinBox*)children.at(j))->setValue(value.toDouble());
paramChanged.append(key);
}
}
else if(qobject_cast<QCheckBox*>(children.at(j)))
{
if(((QCheckBox*)children.at(j))->isChecked() != value.toBool())
{
((QCheckBox*)children.at(j))->setChecked(value.toBool());
paramChanged.append(key);
}
}
else if(qobject_cast<QLineEdit*>(children.at(j)))
{
if(((QLineEdit*)children.at(j))->text().compare(value.toString()) != 0)
{
((QLineEdit*)children.at(j))->setText(value.toString());
paramChanged.append(key);
}
}
}
}
}
return paramChanged;
}
void ParametersToolBox::resetCurrentPage()
{
this->blockSignals(true);
QStringList paramChanged = this->resetPage(this->currentIndex());
this->blockSignals(false);
Q_EMIT parametersChanged(paramChanged);
}
void ParametersToolBox::resetAllPages()
{
QStringList paramChanged;
this->blockSignals(true);
for(int i=0; i< this->count(); ++i)
{
paramChanged.append(this->resetPage(i));
}
this->blockSignals(false);
Q_EMIT parametersChanged(paramChanged);
}
void ParametersToolBox::updateParametersVisibility()
{
//show/hide not used parameters
QComboBox * descriptorBox = this->findChild<QComboBox*>(Settings::kFeature2D_2Descriptor());
QComboBox * detectorBox = this->findChild<QComboBox*>(Settings::kFeature2D_1Detector());
if(descriptorBox && detectorBox)
{
QString group = Settings::kFeature2D_2Descriptor().split('/').first();
QWidget * panel = 0;
for(int i=0; i<this->count(); ++i)
{
if(this->widget(i)->objectName().compare(group) == 0)
{
panel = this->widget(i);
break;
}
}
if(panel)
{
const QObjectList & objects = panel->children();
QString descriptorName = descriptorBox->currentText();
QString detectorName = detectorBox->currentText();
for(int i=0; i<objects.size(); ++i)
{
if(!objects[i]->objectName().isEmpty())
{
if(objects[i]->objectName().contains(descriptorName) || objects[i]->objectName().contains(detectorName))
{
((QWidget*)objects[i])->setVisible(true);
}
else if(objects[i]->objectName().contains("Fast") && detectorName == QString("ORB"))
{
((QWidget*)objects[i])->setVisible(true); // ORB uses some FAST parameters
}
else if(!objects[i]->objectName().split('/').at(1).at(0).isDigit())
{
((QWidget*)objects[i])->setVisible(false);
}
}
}
}
}
QComboBox * nnBox = this->findChild<QComboBox*>(Settings::kNearestNeighbor_1Strategy());
if(nnBox)
{
QString group = Settings::kNearestNeighbor_1Strategy().split('/').first();
QWidget * panel = 0;
for(int i=0; i<this->count(); ++i)
{
if(this->widget(i)->objectName().compare(group) == 0)
{
panel = this->widget(i);
break;
}
}
if(panel)
{
const QObjectList & objects = panel->children();
QString nnName = nnBox->currentText();
for(int i=0; i<objects.size(); ++i)
{
if(!objects[i]->objectName().isEmpty())
{
if(objects[i]->objectName().contains(nnName))
{
((QWidget*)objects[i])->setVisible(true);
}
else if(!objects[i]->objectName().split('/').at(1).at(0).isDigit())
{
((QWidget*)objects[i])->setVisible(false);
if(nnBox->currentIndex() < 6 && objects[i]->objectName().split('/').at(1).contains("search"))
{
//show flann search parameters
((QWidget*)objects[i])->setVisible(true);
}
}
else if(objects[i]->objectName().split('/').at(1).contains("Distance_type"))
{
// don't show distance when bruteforce is selected
((QWidget*)objects[i])->setVisible(nnBox->currentIndex() != 6);
}
}
}
}
}
}
void ParametersToolBox::setupUi()
{
this->removeItem(0); // remove dummy page used in .ui
QWidget * currentItem = 0;
const ParametersMap & parameters = Settings::getParameters();
for(ParametersMap::const_iterator iter=parameters.constBegin();
iter!=parameters.constEnd();
++iter)
{
QStringList splitted = iter.key().split('/');
QString group = splitted.first();
QString name = splitted.last();
if(currentItem == 0 || currentItem->objectName().compare(group) != 0)
{
currentItem = new QWidget(this);
this->addItem(currentItem, group);
currentItem->setObjectName(group);
QVBoxLayout * layout = new QVBoxLayout(currentItem);
currentItem->setLayout(layout);
layout->setContentsMargins(0,0,0,0);
layout->setSpacing(0);
layout->addSpacerItem(new QSpacerItem(0,0, QSizePolicy::Minimum, QSizePolicy::Expanding));
addParameter(layout, iter.key(), iter.value());
}
else
{
addParameter((QVBoxLayout*)currentItem->layout(), iter.key(), iter.value());
}
}
updateParametersVisibility();
}
void ParametersToolBox::updateParameter(const QString & key)
{
QWidget * widget = this->findChild<QWidget*>(key);
QString type = Settings::getParametersType().value(key);
if(type.compare("QString") == 0)
{
QString value = Settings::getParameter(key).toString();
if(value.contains(';'))
{
// It's a list, just change the index
QStringList splitted = value.split(':');
((QComboBox*)widget)->setCurrentIndex(splitted.first().toInt());
}
else
{
((QLineEdit*)widget)->setText(value);
}
}
else if(type.compare("int") == 0)
{
((QSpinBox*)widget)->setValue(Settings::getParameter(key).toInt());
}
else if(type.compare("uint") == 0)
{
((QSpinBox*)widget)->setValue(Settings::getParameter(key).toInt());
}
else if(type.compare("double") == 0)
{
((QDoubleSpinBox*)widget)->setValue(Settings::getParameter(key).toDouble());
}
else if(type.compare("float") == 0)
{
((QDoubleSpinBox*)widget)->setValue(Settings::getParameter(key).toDouble());
}
else if(type.compare("bool") == 0)
{
((QCheckBox*)widget)->setChecked(Settings::getParameter(key).toBool());
}
}
void ParametersToolBox::addParameter(QVBoxLayout * layout,
const QString & key,
const QVariant & value)
{
QString type = Settings::getParametersType().value(key);
if(type.compare("QString") == 0)
{
addParameter(layout, key, value.toString());
}
else if(type.compare("int") == 0)
{
addParameter(layout, key, value.toInt());
}
else if(type.compare("uint") == 0)
{
addParameter(layout, key, value.toInt());
}
else if(type.compare("double") == 0)
{
addParameter(layout, key, value.toDouble());
}
else if(type.compare("float") == 0)
{
addParameter(layout, key, value.toDouble());
}
else if(type.compare("bool") == 0)
{
addParameter(layout, key, value.toBool());
}
}
void ParametersToolBox::addParameter(QVBoxLayout * layout,
const QString & key,
const QString & value)
{
if(value.contains(';'))
{
QComboBox * widget = new QComboBox(this);
widget->setObjectName(key);
QStringList splitted = value.split(':');
widget->addItems(splitted.last().split(';'));
if(key.compare(Settings::kFeature2D_1Detector()) == 0)
{
#if FINDOBJECT_NONFREE == 0
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
widget->setItemData(5, 0, Qt::UserRole - 1); // disable SIFT
#endif
widget->setItemData(7, 0, Qt::UserRole - 1); // disable SURF
#endif
#if CV_MAJOR_VERSION < 3
widget->setItemData(9, 0, Qt::UserRole - 1); // disable AGAST
widget->setItemData(10, 0, Qt::UserRole - 1); // disable KAZE
widget->setItemData(11, 0, Qt::UserRole - 1); // disable AKAZE
#else
widget->setItemData(0, 0, Qt::UserRole - 1); // disable Dense
#ifndef HAVE_OPENCV_XFEATURES2D
widget->setItemData(6, 0, Qt::UserRole - 1); // disable Star
#endif
#endif
#if FINDOBJECT_TORCH == 0
widget->setItemData(12, 0, Qt::UserRole - 1); // disable SuperPointTorch
#endif
}
if(key.compare(Settings::kFeature2D_2Descriptor()) == 0)
{
#if FINDOBJECT_NONFREE == 0
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
widget->setItemData(2, 0, Qt::UserRole - 1); // disable SIFT
#endif
widget->setItemData(3, 0, Qt::UserRole - 1); // disable SURF
#endif
#if CV_MAJOR_VERSION < 3
widget->setItemData(6, 0, Qt::UserRole - 1); // disable KAZE
widget->setItemData(7, 0, Qt::UserRole - 1); // disable AKAZE
widget->setItemData(8, 0, Qt::UserRole - 1); // disable LUCID
widget->setItemData(9, 0, Qt::UserRole - 1); // disable LATCH
widget->setItemData(10, 0, Qt::UserRole - 1); // disable DAISY
#else
#ifndef HAVE_OPENCV_XFEATURES2D
widget->setItemData(0, 0, Qt::UserRole - 1); // disable Brief
widget->setItemData(5, 0, Qt::UserRole - 1); // disable Freak
widget->setItemData(8, 0, Qt::UserRole - 1); // disable LUCID
widget->setItemData(9, 0, Qt::UserRole - 1); // disable LATCH
widget->setItemData(10, 0, Qt::UserRole - 1); // disable DAISY
#endif
#endif
#if FINDOBJECT_TORCH == 0
widget->setItemData(11, 0, Qt::UserRole - 1); // disable SuperPointTorch
#endif
}
if(key.compare(Settings::kNearestNeighbor_1Strategy()) == 0)
{
#if FINDOBJECT_NONFREE == 0 && CV_MAJOR_VERSION < 3
// disable FLANN approaches (cannot be used with binary descriptors)
widget->setItemData(0, 0, Qt::UserRole - 1);
widget->setItemData(1, 0, Qt::UserRole - 1);
widget->setItemData(2, 0, Qt::UserRole - 1);
widget->setItemData(3, 0, Qt::UserRole - 1);
widget->setItemData(4, 0, Qt::UserRole - 1);
#endif
}
if(key.compare(Settings::kHomography_method()) == 0)
{
#if CV_MAJOR_VERSION < 3
// disable RHO approach
widget->setItemData(2, 0, Qt::UserRole - 1);
#endif
}
widget->setCurrentIndex(splitted.first().toInt());
connect(widget, SIGNAL(currentIndexChanged(int)), this, SLOT(changeParameter(int)));
addParameter(layout, key, widget);
}
else
{
QLineEdit * widget = new QLineEdit(value, this);
widget->setObjectName(key);
connect(widget, SIGNAL(editingFinished()), this, SLOT(changeParameter()));
addParameter(layout, key, widget);
}
}
void ParametersToolBox::addParameter(QVBoxLayout * layout,
const QString & key,
const double & value)
{
QDoubleSpinBox * widget = new QDoubleSpinBox(this);
int decimals = 0;
int decimalValue = 0;
QString str = QString::number(Settings::getDefaultParameters().value(key).toDouble());
str.remove( QRegExp("0+$") );
if(!str.isEmpty())
{
str.replace(',', '.');
QStringList items = str.split('.');
if(items.size() == 2)
{
decimals = items.back().length();
decimalValue = items.back().toInt();
}
}
double def = Settings::getDefaultParameters().value(key).toDouble();
if(def<0.001 || (decimals >= 4 && decimalValue>0))
{
widget->setDecimals(5);
widget->setSingleStep(0.0001);
}
else if(def<0.01 || (decimals >= 3 && decimalValue>0))
{
widget->setDecimals(4);
widget->setSingleStep(0.001);
}
else if(def<0.1 || (decimals >= 2 && decimalValue>0))
{
widget->setDecimals(3);
widget->setSingleStep(0.01);
}
else if(def<1.0 || (decimals >= 1 && decimalValue>0))
{
widget->setDecimals(2);
widget->setSingleStep(0.1);
}
else
{
widget->setDecimals(1);
}
if(def>0.0)
{
widget->setMaximum(def*1000000.0);
}
else if(def==0.0)
{
widget->setMaximum(1000000.0);
}
else if(def<0.0)
{
widget->setMinimum(def*1000000.0);
widget->setMaximum(0.0);
}
widget->setValue(value);
widget->setObjectName(key);
connect(widget, SIGNAL(editingFinished()), this, SLOT(changeParameter()));
addParameter(layout, key, widget);
}
void ParametersToolBox::addParameter(QVBoxLayout * layout,
const QString & key,
const int & value)
{
QSpinBox * widget = new QSpinBox(this);
int def = Settings::getDefaultParameters().value(key).toInt();
if(def>0)
{
widget->setMaximum(def*1000000);
}
else if(def == 0)
{
widget->setMaximum(1000000);
}
else if(def<0)
{
widget->setMinimum(def*1000000);
widget->setMaximum(0);
}
widget->setValue(value);
widget->setObjectName(key);
connect(widget, SIGNAL(editingFinished()), this, SLOT(changeParameter()));
addParameter(layout, key, widget);
}
void ParametersToolBox::addParameter(QVBoxLayout * layout,
const QString & key,
const bool & value)
{
QCheckBox * widget = new QCheckBox(this);
widget->setChecked(value);
widget->setObjectName(key);
connect(widget, SIGNAL(toggled(bool)), this, SLOT(changeParameter(bool)));
addParameter(layout, key, widget);
}
void ParametersToolBox::addParameter(QVBoxLayout * layout, const QString & key, QWidget * widget)
{
QHBoxLayout * hLayout = new QHBoxLayout();
layout->insertLayout(layout->count()-1, hLayout);
QString tmp = key.split('/').last();
if(tmp.at(0).isDigit())
{
tmp.remove(0,1);
}
QLabel * label = new QLabel(tmp, this);
label->setObjectName(key+"/label");
label->setToolTip(QString("<FONT>%1</FONT>").arg(Settings::getDescriptions().value(key, "")));
label->setTextInteractionFlags(Qt::TextSelectableByMouse);
hLayout->addWidget(label);
hLayout->addWidget(widget);
}
void ParametersToolBox::changeParameter(const QString & value)
{
if(sender())
{
Settings::setParameter(sender()->objectName(), value);
QStringList paramChanged;
paramChanged.append(sender()->objectName());
Q_EMIT parametersChanged(paramChanged);
}
}
void ParametersToolBox::changeParameter()
{
if(sender())
{
QDoubleSpinBox * doubleSpinBox = qobject_cast<QDoubleSpinBox*>(sender());
QSpinBox * spinBox = qobject_cast<QSpinBox*>(sender());
QLineEdit * lineEdit = qobject_cast<QLineEdit*>(sender());
if(doubleSpinBox)
{
Settings::setParameter(sender()->objectName(), doubleSpinBox->value());
}
else if(spinBox)
{
if(spinBox->objectName().compare(Settings::kHomography_minimumInliers()) == 0 &&
spinBox->value() < 4)
{
Settings::setHomography_minimumInliers(4);
spinBox->blockSignals(true);
this->updateParameter(Settings::kHomography_minimumInliers());
spinBox->blockSignals(false);
}
else
{
Settings::setParameter(sender()->objectName(), spinBox->value());
}
}
else if(lineEdit)
{
Settings::setParameter(sender()->objectName(), lineEdit->text());
}
QStringList paramChanged;
paramChanged.append(sender()->objectName());
Q_EMIT parametersChanged(paramChanged);
}
}
void ParametersToolBox::changeParameter(bool value)
{
if(sender())
{
// Workaround as stateChanged(int) is not always emitted, using toggled(bool) instead
changeParameter(sender(), value?Qt::Checked:Qt::Unchecked);
}
}
void ParametersToolBox::changeParameter(int value)
{
if(sender())
{
changeParameter(sender(), value);
}
}
void ParametersToolBox::changeParameter(QObject * sender, int value)
{
if(sender)
{
QStringList paramChanged;
QComboBox * comboBox = qobject_cast<QComboBox*>(sender);
QCheckBox * checkBox = qobject_cast<QCheckBox*>(sender);
bool descriptorChanged = false;
if(comboBox && comboBox->objectName().compare(Settings::kFeature2D_1Detector()) == 0)
{
QComboBox * descriptorBox = (QComboBox*)this->getParameterWidget(Settings::kFeature2D_2Descriptor());
if(comboBox->objectName().compare(Settings::kFeature2D_1Detector()) == 0 &&
comboBox->currentText() != descriptorBox->currentText() &&
Settings::getFeature2D_2Descriptor().contains(comboBox->currentText()))
{
QMessageBox::StandardButton b = QMessageBox::question(this,
tr("Use corresponding descriptor type?"),
tr("Current selected detector type (\"%1\") has its own corresponding descriptor type.\n"
"Do you want to use its corresponding descriptor?")
.arg(comboBox->currentText()),
QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes);
if(b == QMessageBox::Yes)
{
int index = descriptorBox->findText(comboBox->currentText());
if(index >= 0)
{
QStringList tmp = Settings::getFeature2D_2Descriptor().split(':');
UASSERT(tmp.size() == 2);
QString newTmp = QString::number(index)+":"+tmp.back();
Settings::setFeature2D_2Descriptor(newTmp);
descriptorBox->blockSignals(true);
this->updateParameter(Settings::kFeature2D_2Descriptor());
descriptorBox->blockSignals(false);
paramChanged.append(Settings::kFeature2D_2Descriptor());
descriptorChanged = true;
}
else
{
UERROR("Combo box detector type not found \"%s\"?!", comboBox->currentText().toStdString().c_str());
}
}
}
}
bool nnStrategyChanged = false;
//verify binary issue with nearest neighbor strategy
if((comboBox && (comboBox->objectName().compare(Settings::kFeature2D_2Descriptor()) == 0 ||
comboBox->objectName().compare(Settings::kNearestNeighbor_1Strategy()) == 0)) ||
descriptorChanged ||
(checkBox && checkBox->objectName().compare(Settings::kNearestNeighbor_7ConvertBinToFloat()) == 0))
{
QComboBox * descriptorBox = (QComboBox*)this->getParameterWidget(Settings::kFeature2D_2Descriptor());
QComboBox * nnBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_1Strategy());
QComboBox * distBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_2Distance_type());
QCheckBox * binToFloatCheckbox = (QCheckBox*)this->getParameterWidget(Settings::kNearestNeighbor_7ConvertBinToFloat());
bool isBinaryDescriptor = descriptorBox->currentText().compare("ORB") == 0 ||
descriptorBox->currentText().compare("Brief") == 0 ||
descriptorBox->currentText().compare("BRISK") == 0 ||
descriptorBox->currentText().compare("FREAK") == 0 ||
descriptorBox->currentText().compare("AKAZE") == 0 ||
descriptorBox->currentText().compare("LATCH") == 0 ||
descriptorBox->currentText().compare("LUCID") == 0;
bool binToFloat = binToFloatCheckbox->isChecked();
if(isBinaryDescriptor && !binToFloat && nnBox->currentText().compare("Lsh") != 0 && nnBox->currentText().compare("BruteForce") != 0)
{
QMessageBox::warning(this,
tr("Warning"),
tr("Current selected descriptor type (\"%1\") is binary while nearest neighbor strategy is not (\"%2\").\n"
"Falling back to \"BruteForce\" nearest neighbor strategy with Hamming distance (by default).")
.arg(descriptorBox->currentText())
.arg(nnBox->currentText()));
QString tmp = Settings::getNearestNeighbor_1Strategy();
*tmp.begin() = '6'; // set BruteForce
Settings::setNearestNeighbor_1Strategy(tmp);
tmp = Settings::getNearestNeighbor_2Distance_type();
*tmp.begin() = '8'; // set HAMMING
Settings::setNearestNeighbor_2Distance_type(tmp);
nnBox->blockSignals(true);
distBox->blockSignals(true);
this->updateParameter(Settings::kNearestNeighbor_1Strategy());
this->updateParameter(Settings::kNearestNeighbor_2Distance_type());
nnBox->blockSignals(false);
distBox->blockSignals(false);
if(sender == nnBox)
{
this->updateParametersVisibility();
return;
}
nnStrategyChanged = true;
paramChanged.append(Settings::kNearestNeighbor_1Strategy());
paramChanged.append(Settings::kNearestNeighbor_2Distance_type());
}
else if((!isBinaryDescriptor || binToFloat) && nnBox->currentText().compare("Lsh") == 0)
{
if(binToFloat)
{
QMessageBox::warning(this,
tr("Warning"),
tr("Current selected descriptor type (\"%1\") is binary, but binary to float descriptors conversion is activated while nearest neighbor strategy is (\"%2\").\n"
"Disabling binary to float descriptors conversion and use Hamming distance (by default).")
.arg(descriptorBox->currentText())
.arg(nnBox->currentText()));
binToFloatCheckbox->blockSignals(true);
if(checkBox && checkBox->objectName().compare(Settings::kNearestNeighbor_7ConvertBinToFloat()) == 0)
{
Settings::setParameter(checkBox->objectName(), false);
value = 0;
}
else
{
paramChanged.append(Settings::kNearestNeighbor_7ConvertBinToFloat());
}
this->updateParameter(Settings::kNearestNeighbor_7ConvertBinToFloat());
binToFloatCheckbox->blockSignals(false);
QString tmp = Settings::getNearestNeighbor_2Distance_type();
*tmp.begin() = '8'; // set HAMMING
Settings::setNearestNeighbor_2Distance_type(tmp);
distBox->blockSignals(true);
this->updateParameter(Settings::kNearestNeighbor_2Distance_type());
distBox->blockSignals(false);
paramChanged.append(Settings::kNearestNeighbor_2Distance_type());
}
else
{
QMessageBox::warning(this,
tr("Warning"),
tr("Current selected descriptor type (\"%1\") is not binary while nearest neighbor strategy is (\"%2\").\n"
"Falling back to \"KDTree\" nearest neighbor strategy with Euclidean_L2 distance (by default).")
.arg(descriptorBox->currentText())
.arg(nnBox->currentText()));
QString tmp = Settings::getNearestNeighbor_1Strategy();
*tmp.begin() = '1'; // set KDTree
Settings::setNearestNeighbor_1Strategy(tmp);
tmp = Settings::getNearestNeighbor_2Distance_type();
*tmp.begin() = '0'; // set EUCLIDEAN_L2
Settings::setNearestNeighbor_2Distance_type(tmp);
nnBox->blockSignals(true);
distBox->blockSignals(true);
this->updateParameter(Settings::kNearestNeighbor_1Strategy());
this->updateParameter(Settings::kNearestNeighbor_2Distance_type());
nnBox->blockSignals(false);
distBox->blockSignals(false);
if(sender == nnBox)
{
this->updateParametersVisibility();
return;
}
nnStrategyChanged = true;
paramChanged.append(Settings::kNearestNeighbor_1Strategy());
paramChanged.append(Settings::kNearestNeighbor_2Distance_type());
}
}
}
// Distance issue when using nearest neighbor strategy using CV_32F type, though Lsh support all type (doesn't crash at least)
if(nnStrategyChanged ||
(comboBox && (comboBox->objectName().compare(Settings::kNearestNeighbor_1Strategy()) == 0 ||
comboBox->objectName().compare(Settings::kNearestNeighbor_2Distance_type()) == 0)))
{
QComboBox * nnBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_1Strategy());
QComboBox * distBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_2Distance_type());
if(nnBox->currentText().compare("BruteForce") != 0 && nnBox->currentText().compare("Lsh") != 0 && distBox->currentIndex() > 1)
{
QMessageBox::warning(this,
tr("Warning"),
tr("Current selected nearest neighbor strategy type (\"%1\") cannot handle distance strategy (\"%2\").\n"
"Falling back to \"EUCLIDEAN_L2\" distance strategy (by default).")
.arg(nnBox->currentText())
.arg(distBox->currentText()));
QString tmp = Settings::getNearestNeighbor_2Distance_type();
*tmp.begin() = '0'; // set index
Settings::setNearestNeighbor_2Distance_type(tmp);
distBox->blockSignals(true);
this->updateParameter(Settings::kNearestNeighbor_2Distance_type());
distBox->blockSignals(false);
if(sender == distBox)
{
this->updateParametersVisibility();
return;
}
paramChanged.append(Settings::kNearestNeighbor_2Distance_type());
}
}
if(comboBox)
{
QStringList items;
for(int i=0; i<comboBox->count(); ++i)
{
items.append(comboBox->itemText(i));
}
QString merged = QString::number(value) + QString(":") + items.join(";");
Settings::setParameter(sender->objectName(), merged);
}
if(checkBox)
{
Settings::setParameter(sender->objectName(), value==Qt::Checked?true:false);
}
this->updateParametersVisibility();
paramChanged.append(sender->objectName());
Q_EMIT parametersChanged(paramChanged);
}
}
} // namespace find_object

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef PARAMETERSTOOLBOX_H_
#define PARAMETERSTOOLBOX_H_
#include <QToolBox>
class QVBoxLayout;
class QAbstractButton;
namespace find_object {
class ParametersToolBox: public QToolBox
{
Q_OBJECT
public:
ParametersToolBox(QWidget *parent = 0);
virtual ~ParametersToolBox();
void setupUi();
QWidget * getParameterWidget(const QString & key);
void updateParameter(const QString & key);
private:
void addParameter(QVBoxLayout * layout, const QString & key, const QVariant & value);
void addParameter(QVBoxLayout * layout, const QString & key, const QString & value);
void addParameter(QVBoxLayout * layout, const QString & key, const int & value);
void addParameter(QVBoxLayout * layout, const QString & key, const double & value);
void addParameter(QVBoxLayout * layout, const QString & key, const bool & value);
void addParameter(QVBoxLayout * layout, const QString & name, QWidget * widget);
void changeParameter(QObject * sender, int value);
Q_SIGNALS:
void parametersChanged(const QStringList & name);
private Q_SLOTS:
void changeParameter();
void changeParameter(const QString & value);
void changeParameter(bool value);
void changeParameter(int value);
void resetCurrentPage();
void resetAllPages();
private:
QStringList resetPage(int index);
void updateParametersVisibility();
};
} // namespace find_object
#endif /* PARAMETERSTOOLBOX_H_ */

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find-object/src/QtOpenCV.cpp Normal file
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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "find_object/QtOpenCV.h"
#include <opencv2/core/core_c.h>
#include <stdio.h>
namespace find_object {
QImage cvtCvMat2QImage(const cv::Mat & image, bool isBgr)
{
QImage qtemp;
if(!image.empty() && image.depth() == CV_8U)
{
if(image.channels()==3)
{
const unsigned char * data = image.data;
if(image.channels() == 3)
{
qtemp = QImage(image.cols, image.rows, QImage::Format_RGB32);
for(int y = 0; y < image.rows; ++y, data += image.cols*image.elemSize())
{
for(int x = 0; x < image.cols; ++x)
{
QRgb * p = ((QRgb*)qtemp.scanLine (y)) + x;
if(isBgr)
{
*p = qRgb(data[x * image.channels()+2], data[x * image.channels()+1], data[x * image.channels()]);
}
else
{
*p = qRgb(data[x * image.channels()], data[x * image.channels()+1], data[x * image.channels()+2]);
}
}
}
}
}
else if(image.channels() == 1)
{
// mono grayscale
qtemp = QImage(image.data, image.cols, image.rows, image.cols, QImage::Format_Indexed8).copy();
QVector<QRgb> my_table;
for(int i = 0; i < 256; i++) my_table.push_back(qRgb(i,i,i));
qtemp.setColorTable(my_table);
}
else
{
printf("Wrong image format, must have 1 or 3 channels\n");
}
}
return qtemp;
}
cv::Mat cvtQImage2CvMat(const QImage & image)
{
cv::Mat cvImage;
if(!image.isNull() && image.depth() == 32 && image.format() == QImage::Format_RGB32)
{
// assume RGB (3 channels)
int channels = 3;
cvImage = cv::Mat(image.height(), image.width(), CV_8UC3);
unsigned char * data = cvImage.data;
for(int y = 0; y < image.height(); ++y, data+=cvImage.cols*cvImage.elemSize())
{
for(int x = 0; x < image.width(); ++x)
{
QRgb rgb = image.pixel(x, y);
data[x * channels+2] = qRed(rgb); //r
data[x * channels+1] = qGreen(rgb); //g
data[x * channels] = qBlue(rgb); //b
}
}
}
else
{
printf("Failed to convert image : depth=%d(!=32) format=%d(!=%d)\n", image.depth(), image.format(), QImage::Format_RGB32);
}
return cvImage;
}
#if CV_MAJOR_VERSION < 3
QImage cvtIplImage2QImage(const IplImage * image)
{
QImage qtemp;
if (image && image->depth == IPL_DEPTH_8U && cvGetSize(image).width>0)
{
const char * data = image->imageData;
qtemp= QImage(image->width, image->height,QImage::Format_RGB32);
for(int y = 0; y < image->height; ++y, data +=image->widthStep )
{
for(int x = 0; x < image->width; ++x)
{
uint *p = (uint*)qtemp.scanLine (y) + x;
*p = qRgb(data[x * image->nChannels+2], data[x * image->nChannels+1],data[x * image->nChannels]);
}
}
}
else if(image && image->depth != IPL_DEPTH_8U)
{
printf("Wrong iplImage format, must be 8_bits\n");
}
return qtemp;
}
// Returned image must be released explicitly (using cvReleaseImage()).
IplImage * cvtQImage2IplImage(const QImage & image)
{
IplImage * iplTmp = 0;
if(!image.isNull() && image.depth() == 32 && image.format() == QImage::Format_RGB32)
{
// assume RGB (3 channels)
int channels = 3;
iplTmp = cvCreateImage(cvSize(image.width(), image.height()), IPL_DEPTH_8U, channels);
char * data = iplTmp->imageData;
for(int y = 0; y < image.height(); ++y, data+=iplTmp->widthStep)
{
for(int x = 0; x < image.width(); ++x)
{
QRgb rgb = image.pixel(x, y);
data[x * channels+2] = qRed(rgb); //r
data[x * channels+1] = qGreen(rgb); //g
data[x * channels] = qBlue(rgb); //b
}
}
}
else
{
printf("Failed to convert image : depth=%d(!=32) format=%d(!=%d)\n", image.depth(), image.format(), QImage::Format_RGB32);
}
return iplTmp;
}
#endif
} // namespace find_object

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "RectItem.h"
#include <QtGui/QPen>
#include <QtGui/QBrush>
#include <QGraphicsScene>
namespace find_object {
RectItem::RectItem(int id, const QRectF &rect, QGraphicsItem * parent) :
QGraphicsRectItem(rect, parent),
placeHolder_(0),
id_(id)
{
this->setAcceptHoverEvents(true);
this->setFlag(QGraphicsItem::ItemIsFocusable, true);
this->setFlag(QGraphicsItem::ItemIsSelectable, true);
}
RectItem::~RectItem()
{
}
void RectItem::setColor(const QColor & color)
{
this->setPen(QPen(color));
this->setBrush(QBrush(color));
if(placeHolder_)
{
QList<QGraphicsItem *> items = placeHolder_->childItems();
if(items.size())
{
((QGraphicsTextItem *)items.front())->setDefaultTextColor(this->pen().color().rgb());
}
}
}
void RectItem::showDescription()
{
if(!placeHolder_ || !placeHolder_->isVisible())
{
if(!placeHolder_)
{
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());
QTransform t = this->transform();
QPolygonF rectH = this->mapToScene(this->rect());
float angle = 90.0f;
for(int a=0; a<rectH.size(); ++a)
{
// Find the smaller angle
QLineF ab(rectH.at(a).x(), rectH.at(a).y(), rectH.at((a+1)%4).x(), rectH.at((a+1)%4).y());
QLineF cb(rectH.at((a+1)%4).x(), rectH.at((a+1)%4).y(), rectH.at((a+2)%4).x(), rectH.at((a+2)%4).y());
float angleTmp = ab.angle(cb);
if(angleTmp > 90.0f)
{
angleTmp = 180.0f - angleTmp;
}
if(angleTmp < angle)
{
angle = angleTmp;
}
}
text->setPlainText(tr(
"Object=%1\n"
"Homography= [\n"
" %2 %3 %4\n"
" %5 %6 %7\n"
" %8 %9 %10]\n"
"Angle=%11").arg(id_)
.arg(t.m11()).arg(t.m12()).arg(t.m13())
.arg(t.m21()).arg(t.m22()).arg(t.m23())
.arg(t.m31()).arg(t.m32()).arg(t.m33())
.arg(angle));
placeHolder_->setRect(text->boundingRect());
}
QPen pen = this->pen();
this->setPen(QPen(pen.color(), pen.width()*2));
placeHolder_->setZValue(this->zValue()+1);
placeHolder_->setPos(0,0);
placeHolder_->setVisible(true);
Q_EMIT hovered(id_);
}
}
void RectItem::hideDescription()
{
if(placeHolder_ && placeHolder_->isVisible())
{
placeHolder_->setVisible(false);
this->setPen(QPen(pen().color(), pen().width()/2));
}
}
void RectItem::hoverEnterEvent ( QGraphicsSceneHoverEvent * event )
{
this->showDescription();
QGraphicsRectItem::hoverEnterEvent(event);
}
void RectItem::hoverLeaveEvent ( QGraphicsSceneHoverEvent * event )
{
if(!this->hasFocus())
{
this->hideDescription();
}
QGraphicsRectItem::hoverEnterEvent(event);
}
void RectItem::focusInEvent ( QFocusEvent * event )
{
this->showDescription();
QGraphicsRectItem::focusInEvent(event);
}
void RectItem::focusOutEvent ( QFocusEvent * event )
{
this->hideDescription();
QGraphicsRectItem::focusOutEvent(event);
}
} // namespace find_object

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef RECTITEM_H_
#define RECTITEM_H_
#include <QGraphicsRectItem>
#include <QGraphicsTextItem>
#include <QtGui/QPen>
#include <QtGui/QBrush>
namespace find_object {
class RectItem : public QObject, public QGraphicsRectItem
{
Q_OBJECT;
public:
RectItem(int id, const QRectF &rect, QGraphicsItem * parent = 0);
virtual ~RectItem();
void setColor(const QColor & color);
int id() const {return id_;}
Q_SIGNALS:
void hovered(int);
protected:
virtual void hoverEnterEvent ( QGraphicsSceneHoverEvent * event );
virtual void hoverLeaveEvent ( QGraphicsSceneHoverEvent * event );
virtual void focusInEvent ( QFocusEvent * event );
virtual void focusOutEvent ( QFocusEvent * event );
private:
void showDescription();
void hideDescription();
private:
QGraphicsRectItem * placeHolder_;
int id_;
};
} // namespace find_object
#endif /* RECTITEM_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "find_object/TcpServer.h"
#include "find_object/utilite/ULogger.h"
#include <QtNetwork/QNetworkInterface>
#include <QtNetwork/QTcpSocket>
#include <QtGui/QTransform>
#include <opencv2/highgui/highgui.hpp>
namespace find_object {
TcpServer::TcpServer(quint16 port, QObject * parent) :
QTcpServer(parent)
{
if (!this->listen(QHostAddress::Any, port))
{
UERROR("Unable to start the TCP server: %s", this->errorString().toStdString().c_str());
return;
}
connect(this, SIGNAL(newConnection()), this, SLOT(addClient()));
}
QHostAddress TcpServer::getHostAddress() const
{
QHostAddress hostAddress;
QList<QHostAddress> ipAddressesList = QNetworkInterface::allAddresses();
// use the first non-localhost IPv4 address
for (int i = 0; i < ipAddressesList.size(); ++i)
{
if (ipAddressesList.at(i) != QHostAddress::LocalHost && ipAddressesList.at(i).toIPv4Address())
{
hostAddress = ipAddressesList.at(i).toString();
break;
}
}
// if we did not find one, use IPv4 localhost
if (hostAddress.isNull())
{
hostAddress = QHostAddress(QHostAddress::LocalHost);
}
return hostAddress;
}
quint16 TcpServer::getPort() const
{
return this->serverPort();
}
void TcpServer::publishDetectionInfo(const DetectionInfo & info)
{
QList<QTcpSocket*> clients = this->findChildren<QTcpSocket*>();
if(clients.size())
{
UINFO("TCP server: Publish detected objects");
QByteArray block;
QDataStream out(&block, QIODevice::WriteOnly);
out.setVersion(QDataStream::Qt_4_0);
out << (quint16)0;
out << info;
out.device()->seek(0);
out << (quint16)(block.size() - sizeof(quint16));
for(QList<QTcpSocket*>::iterator iter = clients.begin(); iter!=clients.end(); ++iter)
{
(*iter)->write(block);
}
}
}
void TcpServer::addClient()
{
while(this->hasPendingConnections())
{
QTcpSocket * client = this->nextPendingConnection();
connect(client, SIGNAL(readyRead()), this, SLOT(readReceivedData()));
connect(client, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(displayError(QAbstractSocket::SocketError)));
connect(client, SIGNAL(disconnected()), this, SLOT(connectionLost()));
}
}
void TcpServer::readReceivedData()
{
QTcpSocket * client = (QTcpSocket*)sender();
QDataStream in(client);
in.setVersion(QDataStream::Qt_4_0);
if (blockSizes_.value(client->socketDescriptor(), 0) == 0)
{
if (client->bytesAvailable() < (int)sizeof(quint64))
{
return;
}
in >> blockSizes_[client->socketDescriptor()];
}
if (client->bytesAvailable() < (int)blockSizes_[client->socketDescriptor()])
{
return;
}
quint32 serviceType;
in >> serviceType;
bool ok = true;
if(serviceType == kAddObject)
{
int id;
in >> id;
QString fileName;
in >> fileName;
quint64 imageSize;
in >> imageSize;
std::vector<unsigned char> buf(imageSize);
in.readRawData((char*)buf.data(), imageSize);
cv::Mat image = cv::imdecode(buf, cv::IMREAD_UNCHANGED);
UINFO("TCP service: Add %d \"%s\"", id, fileName.toStdString().c_str());
Q_EMIT addObject(image, id, fileName);
}
else if(serviceType == kRemoveObject)
{
int id;
in >> id;
UINFO("TCP service: Remove %d", id);
Q_EMIT removeObject(id);
}
else if(serviceType == kDetectObject)
{
std::vector<unsigned char> buf(blockSizes_[client->socketDescriptor()]);
in.readRawData((char*)buf.data(), blockSizes_[client->socketDescriptor()]-sizeof(quint32));
cv::Mat image = cv::imdecode(buf, cv::IMREAD_UNCHANGED);
UINFO("TCP service: Detect object");
Q_EMIT detectObject(image);
}
else
{
UERROR("Unknown service type called %d", serviceType);
ok = false;
}
blockSizes_.remove(client->socketDescriptor());
client->write(QByteArray(ok?"1":"0")); // send acknowledge
}
void TcpServer::displayError(QAbstractSocket::SocketError socketError)
{
switch (socketError)
{
case QAbstractSocket::RemoteHostClosedError:
break;
case QAbstractSocket::HostNotFoundError:
UWARN("CameraTcp: Tcp error: The host was not found. Please "
"check the host name and port settings.\n");
break;
case QAbstractSocket::ConnectionRefusedError:
UWARN("CameraTcp: The connection was refused by the peer. "
"Make sure your images server is running, "
"and check that the host name and port "
"settings are correct.");
break;
default:
//UERROR("The following error occurred: %s.", this->errorString().toStdString().c_str());
break;
}
}
void TcpServer::connectionLost()
{
//printf("[WARNING] CameraTcp: Connection lost!\n");
blockSizes_.remove(((QTcpSocket*)sender())->socketDescriptor());
((QTcpSocket*)sender())->close();
sender()->deleteLater();
}
} // namespace find_object

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "Compression.h"
#include "Vocabulary.h"
#include <QtCore/QVector>
#include <QDataStream>
#include <QTime>
#include <stdio.h>
#if CV_MAJOR_VERSION < 3
#include <opencv2/gpu/gpu.hpp>
#define CVCUDA cv::gpu
#else
#include <opencv2/core/cuda.hpp>
#define CVCUDA cv::cuda
#ifdef HAVE_OPENCV_CUDAFEATURES2D
#include <opencv2/cudafeatures2d.hpp>
#endif
#endif
namespace find_object {
Vocabulary::Vocabulary()
{
}
Vocabulary::~Vocabulary()
{
}
void Vocabulary::clear()
{
wordToObjects_.clear();
notIndexedDescriptors_ = cv::Mat();
notIndexedWordIds_.clear();
if(Settings::getGeneral_vocabularyFixed() && Settings::getGeneral_invertedSearch())
{
this->update(); // if vocabulary structure has changed
// If the dictionary is fixed, don't clear indexed descriptors
return;
}
indexedDescriptors_ = cv::Mat();
}
void Vocabulary::save(QDataStream & streamSessionPtr, bool saveVocabularyOnly) const
{
// save index
if(saveVocabularyOnly)
{
QMultiMap<int, int> dummy;
streamSessionPtr << dummy;
}
else
{
UINFO("Saving %d object references...", wordToObjects_.size());
streamSessionPtr << wordToObjects_;
}
// save words
qint64 rawDataSize = indexedDescriptors_.rows * indexedDescriptors_.cols * indexedDescriptors_.elemSize();
UINFO("Compressing words... (%dx%d, %d MB)", indexedDescriptors_.rows, indexedDescriptors_.cols, rawDataSize/(1024*1024));
std::vector<unsigned char> bytes = compressData(indexedDescriptors_);
qint64 dataSize = bytes.size();
UINFO("Compressed = %d MB", dataSize/(1024*1024));
int old = 0;
if(dataSize <= std::numeric_limits<int>::max())
{
// old: rows, cols, type
streamSessionPtr << old << old << old << dataSize;
streamSessionPtr << QByteArray::fromRawData((const char*)bytes.data(), dataSize);
}
else
{
UERROR("Vocabulary (compressed) is too large (%d MB) to be saved! Limit is 2 GB (based on max QByteArray size).",
dataSize/(1024*1024));
// old: rows, cols, type, dataSize
streamSessionPtr << old << old << old << old;
streamSessionPtr << QByteArray(); // empty
}
}
void Vocabulary::load(QDataStream & streamSessionPtr, bool loadVocabularyOnly)
{
// load index
if(loadVocabularyOnly)
{
QMultiMap<int, int> dummy;
streamSessionPtr >> dummy;
// clear index
wordToObjects_.clear();
}
else
{
UINFO("Loading words to objects references...");
streamSessionPtr >> wordToObjects_;
UINFO("Loaded %d object references...", wordToObjects_.size());
}
// load words
int rows,cols,type;
qint64 dataSize;
streamSessionPtr >> rows >> cols >> type >> dataSize;
if(rows == 0 && cols == 0 && type == 0)
{
// compressed vocabulary
UINFO("Loading words... (compressed format: %d MB)", dataSize/(1024*1024));
UASSERT(dataSize <= std::numeric_limits<int>::max());
QByteArray data;
streamSessionPtr >> data;
UINFO("Uncompress vocabulary...");
indexedDescriptors_ = uncompressData((unsigned const char*)data.data(), dataSize);
UINFO("Words: %dx%d (%d MB)", indexedDescriptors_.rows, indexedDescriptors_.cols,
(indexedDescriptors_.rows * indexedDescriptors_.cols * indexedDescriptors_.elemSize()) / (1024*1024));
}
else
{
// old raw format
UINFO("Loading words... (old format: %dx%d (%d MB))", rows, cols, dataSize/(1024*1024));
QByteArray data;
streamSessionPtr >> data;
UINFO("Allocate memory...");
if(data.size())
{
indexedDescriptors_ = cv::Mat(rows, cols, type, data.data()).clone();
}
else if(dataSize)
{
UERROR("Error reading vocabulary data...");
}
}
UINFO("Update vocabulary index...");
update();
}
bool Vocabulary::save(const QString & filename) const
{
// save descriptors
cv::FileStorage fs(filename.toStdString(), cv::FileStorage::WRITE);
if(fs.isOpened())
{
fs << "Descriptors" << indexedDescriptors_;
return true;
}
else
{
UERROR("Failed to open vocabulary file \"%s\"", filename.toStdString().c_str());
}
return false;
}
bool Vocabulary::load(const QString & filename)
{
// save descriptors
cv::FileStorage fs(filename.toStdString(), cv::FileStorage::READ);
if(fs.isOpened())
{
cv::Mat tmp;
fs["Descriptors"] >> tmp;
if(!tmp.empty())
{
// clear index
wordToObjects_.clear();
indexedDescriptors_ = tmp;
update();
return true;
}
else
{
UERROR("Failed to read \"Descriptors\" matrix field (doesn't exist or is empty) from vocabulary file \"%s\"", filename.toStdString().c_str());
}
}
else
{
UERROR("Failed to open vocabulary file \"%s\"", filename.toStdString().c_str());
}
return false;
}
QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptorsIn, int objectId)
{
QMultiMap<int, int> words;
if (descriptorsIn.empty())
{
return words;
}
cv::Mat descriptors;
if(descriptorsIn.type() == CV_8U && Settings::getNearestNeighbor_7ConvertBinToFloat())
{
descriptorsIn.convertTo(descriptors, CV_32F);
}
else
{
descriptors = descriptorsIn;
}
if(Settings::getGeneral_vocabularyIncremental() || Settings::getGeneral_vocabularyFixed())
{
int k = 2;
cv::Mat results;
cv::Mat dists;
bool globalSearch = false;
if(!indexedDescriptors_.empty() && indexedDescriptors_.rows >= (int)k)
{
if(indexedDescriptors_.type() != descriptors.type() || indexedDescriptors_.cols != descriptors.cols)
{
if(Settings::getGeneral_vocabularyFixed())
{
UERROR("Descriptors (type=%d size=%d) to search in vocabulary are not the same type/size as those in the vocabulary (type=%d size=%d)! Empty words returned.",
descriptors.type(), descriptors.cols, indexedDescriptors_.type(), indexedDescriptors_.cols);
return words;
}
else
{
UFATAL("Descriptors (type=%d size=%d) to search in vocabulary are not the same type/size as those in the vocabulary (type=%d size=%d)!",
descriptors.type(), descriptors.cols, indexedDescriptors_.type(), indexedDescriptors_.cols);
}
}
this->search(descriptors, results, dists, k);
if( dists.type() == CV_32S )
{
cv::Mat temp;
dists.convertTo(temp, CV_32F);
dists = temp;
}
globalSearch = true;
}
if(!Settings::getGeneral_vocabularyFixed())
{
notIndexedWordIds_.reserve(notIndexedWordIds_.size() + descriptors.rows);
notIndexedDescriptors_.reserve(notIndexedDescriptors_.rows + descriptors.rows);
}
int matches = 0;
for(int i = 0; i < descriptors.rows; ++i)
{
QMultiMap<float, int> fullResults; // nearest descriptors sorted by distance
if(notIndexedDescriptors_.rows)
{
UASSERT(notIndexedDescriptors_.type() == descriptors.type() && notIndexedDescriptors_.cols == descriptors.cols);
// Check if this descriptor matches with a word not already added to the vocabulary
// Do linear search only
cv::Mat tmpResults;
cv::Mat tmpDists;
if(descriptors.type()==CV_8U)
{
//normType – One of NORM_L1, NORM_L2, NORM_HAMMING, NORM_HAMMING2. L1 and L2 norms are
// preferable choices for SIFT and SURF descriptors, NORM_HAMMING should be
// used with ORB, BRISK and BRIEF, NORM_HAMMING2 should be used with ORB
// when WTA_K==3 or 4 (see ORB::ORB constructor description).
int normType = cv::NORM_HAMMING;
if(Settings::currentDescriptorType().compare("ORB") &&
(Settings::getFeature2D_ORB_WTA_K()==3 || Settings::getFeature2D_ORB_WTA_K()==4))
{
normType = cv::NORM_HAMMING2;
}
cv::batchDistance( descriptors.row(i),
notIndexedDescriptors_,
tmpDists,
CV_32S,
tmpResults,
normType,
notIndexedDescriptors_.rows>=k?k:1,
cv::Mat(),
0,
false);
}
else
{
cv::flann::Index tmpIndex;
#if CV_MAJOR_VERSION == 2 and CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >= 12
tmpIndex.build(notIndexedDescriptors_, cv::Mat(), cv::flann::LinearIndexParams(), cvflann::FLANN_DIST_L2);
#else
tmpIndex.build(notIndexedDescriptors_, cv::flann::LinearIndexParams(), cvflann::FLANN_DIST_L2);
#endif
tmpIndex.knnSearch(descriptors.row(i), tmpResults, tmpDists, notIndexedDescriptors_.rows>1?k:1, cvflann::FLANN_DIST_L2);
}
if( tmpDists.type() == CV_32S )
{
cv::Mat temp;
tmpDists.convertTo(temp, CV_32F);
tmpDists = temp;
}
for(int j = 0; j < tmpResults.cols; ++j)
{
if(tmpResults.at<int>(0,j) >= 0)
{
//printf("local i=%d, j=%d, tmpDist=%f tmpResult=%d\n", i ,j, tmpDists.at<float>(0,j), tmpResults.at<int>(0,j));
fullResults.insert(tmpDists.at<float>(0,j), notIndexedWordIds_.at(tmpResults.at<int>(0,j)));
}
}
}
if(globalSearch)
{
for(int j=0; j<k; ++j)
{
if(results.at<int>(i,j) >= 0)
{
//printf("global i=%d, j=%d, dist=%f\n", i ,j, dists.at<float>(i,j));
fullResults.insert(dists.at<float>(i,j), results.at<int>(i,j));
}
}
}
bool matched = false;
if(Settings::getNearestNeighbor_3nndrRatioUsed() &&
fullResults.size() >= 2 &&
fullResults.begin().key() <= Settings::getNearestNeighbor_4nndrRatio() * (++fullResults.begin()).key())
{
matched = true;
}
if((matched || !Settings::getNearestNeighbor_3nndrRatioUsed()) &&
Settings::getNearestNeighbor_5minDistanceUsed())
{
if(fullResults.begin().key() <= Settings::getNearestNeighbor_6minDistance())
{
matched = true;
}
else
{
matched = false;
}
}
if(!matched && !Settings::getNearestNeighbor_3nndrRatioUsed() && !Settings::getNearestNeighbor_5minDistanceUsed())
{
matched = true; // no criterion, match to the nearest descriptor
}
if(matched)
{
words.insert(fullResults.begin().value(), i);
wordToObjects_.insert(fullResults.begin().value(), objectId);
++matches;
}
else if(!Settings::getGeneral_invertedSearch() || !Settings::getGeneral_vocabularyFixed())
{
//concatenate new words
notIndexedWordIds_.push_back(indexedDescriptors_.rows + notIndexedDescriptors_.rows);
notIndexedDescriptors_.push_back(descriptors.row(i));
words.insert(notIndexedWordIds_.back(), i);
wordToObjects_.insert(notIndexedWordIds_.back(), objectId);
}
else
{
words.insert(-1, i); // invalid word
}
}
}
else
{
for(int i = 0; i < descriptors.rows; ++i)
{
wordToObjects_.insert(indexedDescriptors_.rows + notIndexedDescriptors_.rows+i, objectId);
words.insert(indexedDescriptors_.rows + notIndexedDescriptors_.rows+i, i);
notIndexedWordIds_.push_back(indexedDescriptors_.rows + notIndexedDescriptors_.rows+i);
}
//just concatenate descriptors
notIndexedDescriptors_.push_back(descriptors);
}
return words;
}
void Vocabulary::update()
{
if(!notIndexedDescriptors_.empty())
{
if(!indexedDescriptors_.empty())
{
UASSERT(indexedDescriptors_.cols == notIndexedDescriptors_.cols &&
indexedDescriptors_.type() == notIndexedDescriptors_.type() );
}
//concatenate descriptors
indexedDescriptors_.push_back(notIndexedDescriptors_);
notIndexedDescriptors_ = cv::Mat();
notIndexedWordIds_.clear();
}
if(!indexedDescriptors_.empty() && !Settings::isBruteForceNearestNeighbor())
{
cv::flann::IndexParams * params = Settings::createFlannIndexParams();
#if CV_MAJOR_VERSION == 2 and CV_MINOR_VERSION == 4 and CV_SUBMINOR_VERSION >= 12
flannIndex_.build(indexedDescriptors_, cv::Mat(), *params, Settings::getFlannDistanceType());
#else
flannIndex_.build(indexedDescriptors_, *params, Settings::getFlannDistanceType());
#endif
delete params;
}
}
void Vocabulary::search(const cv::Mat & descriptorsIn, cv::Mat & results, cv::Mat & dists, int k)
{
if(!indexedDescriptors_.empty())
{
cv::Mat descriptors;
if(descriptorsIn.type() == CV_8U && Settings::getNearestNeighbor_7ConvertBinToFloat())
{
descriptorsIn.convertTo(descriptors, CV_32F);
}
else
{
descriptors = descriptorsIn;
}
UASSERT(descriptors.type() == indexedDescriptors_.type() && descriptors.cols == indexedDescriptors_.cols);
if(Settings::isBruteForceNearestNeighbor())
{
std::vector<std::vector<cv::DMatch> > matches;
bool isL2NotSqr = false;
if(Settings::getNearestNeighbor_BruteForce_gpu() && CVCUDA::getCudaEnabledDeviceCount())
{
CVCUDA::GpuMat newDescriptorsGpu(descriptors);
CVCUDA::GpuMat lastDescriptorsGpu(indexedDescriptors_);
#if CV_MAJOR_VERSION < 3
if(indexedDescriptors_.type()==CV_8U)
{
CVCUDA::BruteForceMatcher_GPU<cv::Hamming> gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
else
{
CVCUDA::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
isL2NotSqr = true;
}
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
cv::Ptr<cv::cuda::DescriptorMatcher> gpuMatcher;
if(indexedDescriptors_.type()==CV_8U)
{
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_HAMMING);
gpuMatcher->knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
else
{
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_L2);
gpuMatcher->knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
isL2NotSqr = true;
}
#else
UERROR("OpenCV3 is not built with CUDAFEATURES2D module, cannot do brute force matching on GPU!");
#endif
#endif
}
else
{
cv::BFMatcher matcher(indexedDescriptors_.type()==CV_8U?cv::NORM_HAMMING:cv::NORM_L2SQR);
matcher.knnMatch(descriptors, indexedDescriptors_, matches, k);
}
//convert back to matrix style
results = cv::Mat((int)matches.size(), k, CV_32SC1);
dists = cv::Mat((int)matches.size(), k, CV_32FC1);
for(unsigned int i=0; i<matches.size(); ++i)
{
for(int j=0; j<k; ++j)
{
results.at<int>(i, j) = matches[i].at(j).trainIdx;
if(isL2NotSqr)
{
// Make sure we use L2SQR to match FLANN
dists.at<float>(i, j) = matches[i].at(j).distance*matches[i].at(j).distance;
}
else
{
dists.at<float>(i, j) = matches[i].at(j).distance;
}
}
}
}
else
{
flannIndex_.knnSearch(descriptors, results, dists, k,
cv::flann::SearchParams(
Settings::getNearestNeighbor_search_checks(),
Settings::getNearestNeighbor_search_eps(),
Settings::getNearestNeighbor_search_sorted()));
}
if( dists.type() == CV_32S )
{
cv::Mat temp;
dists.convertTo(temp, CV_32F);
dists = temp;
}
}
}
} // namespace find_object

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef VOCABULARY_H_
#define VOCABULARY_H_
#include <QtCore/QMultiMap>
#include <QtCore/QVector>
#include <opencv2/opencv.hpp>
namespace find_object {
class Vocabulary {
public:
Vocabulary();
virtual ~Vocabulary();
void clear();
QMultiMap<int, int> addWords(const cv::Mat & descriptors, int objectId);
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_;}
void save(QDataStream & streamSessionPtr, bool saveVocabularyOnly = false) const;
void load(QDataStream & streamSessionPtr, bool loadVocabularyOnly = false);
bool save(const QString & filename) const;
bool load(const QString & filename);
private:
cv::flann::Index flannIndex_;
cv::Mat indexedDescriptors_;
cv::Mat notIndexedDescriptors_;
QMultiMap<int, int> wordToObjects_; // <wordId, ObjectId>
QVector<int> notIndexedWordIds_;
};
} // namespace find_object
#endif /* VOCABULARY_H_ */

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/// Json-cpp amalgated forward header (http://jsoncpp.sourceforge.net/).
/// It is intented to be used with #include <json/json-forwards.h>
/// This header provides forward declaration for all JsonCpp types.
// //////////////////////////////////////////////////////////////////////
// Beginning of content of file: LICENSE
// //////////////////////////////////////////////////////////////////////
/*
The JsonCpp library's source code, including accompanying documentation,
tests and demonstration applications, are licensed under the following
conditions...
The author (Baptiste Lepilleur) explicitly disclaims copyright in all
jurisdictions which recognize such a disclaimer. In such jurisdictions,
this software is released into the Public Domain.
In jurisdictions which do not recognize Public Domain property (e.g. Germany as of
2010), this software is Copyright (c) 2007-2010 by Baptiste Lepilleur, and is
released under the terms of the MIT License (see below).
In jurisdictions which recognize Public Domain property, the user of this
software may choose to accept it either as 1) Public Domain, 2) under the
conditions of the MIT License (see below), or 3) under the terms of dual
Public Domain/MIT License conditions described here, as they choose.
The MIT License is about as close to Public Domain as a license can get, and is
described in clear, concise terms at:
http://en.wikipedia.org/wiki/MIT_License
The full text of the MIT License follows:
========================================================================
Copyright (c) 2007-2010 Baptiste Lepilleur
Permission is hereby granted, free of charge, to any person
obtaining a copy of this software and associated documentation
files (the "Software"), to deal in the Software without
restriction, including without limitation the rights to use, copy,
modify, merge, publish, distribute, sublicense, and/or sell copies
of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be
included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
========================================================================
(END LICENSE TEXT)
The MIT license is compatible with both the GPL and commercial
software, affording one all of the rights of Public Domain with the
minor nuisance of being required to keep the above copyright notice
and license text in the source code. Note also that by accepting the
Public Domain "license" you can re-license your copy using whatever
license you like.
*/
// //////////////////////////////////////////////////////////////////////
// End of content of file: LICENSE
// //////////////////////////////////////////////////////////////////////
#ifndef JSON_FORWARD_AMALGATED_H_INCLUDED
# define JSON_FORWARD_AMALGATED_H_INCLUDED
/// If defined, indicates that the source file is amalgated
/// to prevent private header inclusion.
#define JSON_IS_AMALGATED
// //////////////////////////////////////////////////////////////////////
// Beginning of content of file: include/json/config.h
// //////////////////////////////////////////////////////////////////////
// Copyright 2007-2010 Baptiste Lepilleur
// Distributed under MIT license, or public domain if desired and
// recognized in your jurisdiction.
// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
#ifndef JSON_CONFIG_H_INCLUDED
# define JSON_CONFIG_H_INCLUDED
/// If defined, indicates that json library is embedded in CppTL library.
//# define JSON_IN_CPPTL 1
/// If defined, indicates that json may leverage CppTL library
//# define JSON_USE_CPPTL 1
/// If defined, indicates that cpptl vector based map should be used instead of std::map
/// as Value container.
//# define JSON_USE_CPPTL_SMALLMAP 1
/// If defined, indicates that Json specific container should be used
/// (hash table & simple deque container with customizable allocator).
/// THIS FEATURE IS STILL EXPERIMENTAL! There is know bugs: See #3177332
//# define JSON_VALUE_USE_INTERNAL_MAP 1
/// Force usage of standard new/malloc based allocator instead of memory pool based allocator.
/// The memory pools allocator used optimization (initializing Value and ValueInternalLink
/// as if it was a POD) that may cause some validation tool to report errors.
/// Only has effects if JSON_VALUE_USE_INTERNAL_MAP is defined.
//# define JSON_USE_SIMPLE_INTERNAL_ALLOCATOR 1
/// If defined, indicates that Json use exception to report invalid type manipulation
/// instead of C assert macro.
# define JSON_USE_EXCEPTION 1
/// If defined, indicates that the source file is amalgated
/// to prevent private header inclusion.
/// Remarks: it is automatically defined in the generated amalgated header.
#define JSON_IS_AMALGAMATION
# ifdef JSON_IN_CPPTL
# include <cpptl/config.h>
# ifndef JSON_USE_CPPTL
# define JSON_USE_CPPTL 1
# endif
# endif
# ifdef JSON_IN_CPPTL
# define JSON_API CPPTL_API
# elif defined(JSON_DLL_BUILD)
# define JSON_API __declspec(dllexport)
# elif defined(JSON_DLL)
# define JSON_API __declspec(dllimport)
# else
# define JSON_API
# endif
// If JSON_NO_INT64 is defined, then Json only support C++ "int" type for integer
// Storages, and 64 bits integer support is disabled.
// #define JSON_NO_INT64 1
#if defined(_MSC_VER) && _MSC_VER <= 1200 // MSVC 6
// Microsoft Visual Studio 6 only support conversion from __int64 to double
// (no conversion from unsigned __int64).
#define JSON_USE_INT64_DOUBLE_CONVERSION 1
#endif // if defined(_MSC_VER) && _MSC_VER < 1200 // MSVC 6
#if defined(_MSC_VER) && _MSC_VER >= 1500 // MSVC 2008
/// Indicates that the following function is deprecated.
# define JSONCPP_DEPRECATED(message) __declspec(deprecated(message))
#endif
#if !defined(JSONCPP_DEPRECATED)
# define JSONCPP_DEPRECATED(message)
#endif // if !defined(JSONCPP_DEPRECATED)
namespace Json {
typedef int Int;
typedef unsigned int UInt;
# if defined(JSON_NO_INT64)
typedef int LargestInt;
typedef unsigned int LargestUInt;
# undef JSON_HAS_INT64
# else // if defined(JSON_NO_INT64)
// For Microsoft Visual use specific types as long long is not supported
# if defined(_MSC_VER) // Microsoft Visual Studio
typedef __int64 Int64;
typedef unsigned __int64 UInt64;
# else // if defined(_MSC_VER) // Other platforms, use long long
typedef long long int Int64;
typedef unsigned long long int UInt64;
# endif // if defined(_MSC_VER)
typedef Int64 LargestInt;
typedef UInt64 LargestUInt;
# define JSON_HAS_INT64
# endif // if defined(JSON_NO_INT64)
} // end namespace Json
#endif // JSON_CONFIG_H_INCLUDED
// //////////////////////////////////////////////////////////////////////
// End of content of file: include/json/config.h
// //////////////////////////////////////////////////////////////////////
// //////////////////////////////////////////////////////////////////////
// Beginning of content of file: include/json/forwards.h
// //////////////////////////////////////////////////////////////////////
// Copyright 2007-2010 Baptiste Lepilleur
// Distributed under MIT license, or public domain if desired and
// recognized in your jurisdiction.
// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
#ifndef JSON_FORWARDS_H_INCLUDED
# define JSON_FORWARDS_H_INCLUDED
#if !defined(JSON_IS_AMALGAMATION)
# include "config.h"
#endif // if !defined(JSON_IS_AMALGAMATION)
namespace Json {
// writer.h
class FastWriter;
class StyledWriter;
// reader.h
class Reader;
// features.h
class Features;
// value.h
typedef unsigned int ArrayIndex;
class StaticString;
class Path;
class PathArgument;
class Value;
class ValueIteratorBase;
class ValueIterator;
class ValueConstIterator;
#ifdef JSON_VALUE_USE_INTERNAL_MAP
class ValueMapAllocator;
class ValueInternalLink;
class ValueInternalArray;
class ValueInternalMap;
#endif // #ifdef JSON_VALUE_USE_INTERNAL_MAP
} // namespace Json
#endif // JSON_FORWARDS_H_INCLUDED
// //////////////////////////////////////////////////////////////////////
// End of content of file: include/json/forwards.h
// //////////////////////////////////////////////////////////////////////
#endif //ifndef JSON_FORWARD_AMALGATED_H_INCLUDED

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<RCC>
<qresource prefix="images">
<file>resources/Find-Object.png</file>
<file>resources/TheWorkingGroup_video_pause.ico</file>
<file>resources/TheWorkingGroup_video_play.ico</file>
<file>resources/TheWorkingGroup_video_stop.ico</file>
</qresource>
</RCC>

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "find_object/Settings.h"
#include <opencv2/imgproc/imgproc.hpp>
#include "CameraROS.h"
#include <sensor_msgs/image_encodings.h>
using namespace find_object;
CameraROS::CameraROS(bool subscribeDepth, QObject * parent) :
Camera(parent),
subscribeDepth_(subscribeDepth),
approxSync_(0),
exactSync_(0)
{
ros::NodeHandle nh; // public
ros::NodeHandle pnh("~"); // private
qRegisterMetaType<ros::Time>("ros::Time");
qRegisterMetaType<cv::Mat>("cv::Mat");
if(!subscribeDepth_)
{
image_transport::ImageTransport it(nh);
imageSub_ = it.subscribe(nh.resolveName("image"), 1, &CameraROS::imgReceivedCallback, this);
}
else
{
int queueSize = 10;
bool approxSync = true;
pnh.param("queue_size", queueSize, queueSize);
pnh.param("approx_sync", approxSync, approxSync);
ROS_INFO("find_object_ros: queue_size = %d", queueSize);
ROS_INFO("find_object_ros: approx_sync = %s", approxSync?"true":"false");
ros::NodeHandle rgb_nh(nh, "rgb");
ros::NodeHandle rgb_pnh(pnh, "rgb");
ros::NodeHandle depth_nh(nh, "depth_registered");
ros::NodeHandle depth_pnh(pnh, "depth_registered");
image_transport::ImageTransport rgb_it(rgb_nh);
image_transport::ImageTransport depth_it(depth_nh);
image_transport::TransportHints hintsRgb("raw", ros::TransportHints(), rgb_pnh);
image_transport::TransportHints hintsDepth("raw", ros::TransportHints(), depth_pnh);
rgbSub_.subscribe(rgb_it, rgb_nh.resolveName("image_rect_color"), 1, hintsRgb);
depthSub_.subscribe(depth_it, depth_nh.resolveName("image_raw"), 1, hintsDepth);
cameraInfoSub_.subscribe(depth_nh, "camera_info", 1);
if(approxSync)
{
approxSync_ = new message_filters::Synchronizer<MyApproxSyncPolicy>(MyApproxSyncPolicy(queueSize), rgbSub_, depthSub_, cameraInfoSub_);
approxSync_->registerCallback(boost::bind(&CameraROS::imgDepthReceivedCallback, this,
boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
else
{
exactSync_ = new message_filters::Synchronizer<MyExactSyncPolicy>(MyExactSyncPolicy(queueSize), rgbSub_, depthSub_, cameraInfoSub_);
exactSync_->registerCallback(boost::bind(&CameraROS::imgDepthReceivedCallback, this,
boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3));
}
}
}
CameraROS::~CameraROS()
{
delete approxSync_;
delete exactSync_;
}
QStringList CameraROS::subscribedTopics() const
{
QStringList topics;
if(subscribeDepth_)
{
topics.append(rgbSub_.getTopic().c_str());
topics.append(depthSub_.getTopic().c_str());
topics.append(cameraInfoSub_.getTopic().c_str());
}
else
{
topics.append(imageSub_.getTopic().c_str());
}
return topics;
}
bool CameraROS::start()
{
this->startTimer();
return true;
}
void CameraROS::stop()
{
this->stopTimer();
}
void CameraROS::takeImage()
{
ros::spinOnce();
}
void CameraROS::imgReceivedCallback(const sensor_msgs::ImageConstPtr & msg)
{
if(msg->data.size())
{
cv::Mat image;
cv_bridge::CvImageConstPtr imgPtr = cv_bridge::toCvShare(msg);
try
{
if(msg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
msg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
image = cv_bridge::cvtColor(imgPtr, "mono8")->image;
}
else
{
image = cv_bridge::cvtColor(imgPtr, "bgr8")->image;
}
Q_EMIT imageReceived(image, Header(msg->header.frame_id.c_str(), msg->header.stamp.sec, msg->header.stamp.nsec), cv::Mat(), 0.0f);
}
catch(const cv_bridge::Exception & e)
{
ROS_ERROR("find_object_ros: Could not convert input image to mono8 or bgr8 format, encoding detected is %s... cv_bridge exception: %s", msg->encoding.c_str(), e.what());
}
}
}
void CameraROS::imgDepthReceivedCallback(
const sensor_msgs::ImageConstPtr& rgbMsg,
const sensor_msgs::ImageConstPtr& depthMsg,
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg)
{
if(depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_16UC1)!=0 &&
depthMsg->encoding.compare(sensor_msgs::image_encodings::TYPE_32FC1)!=0)
{
ROS_ERROR("find_object_ros: Depth image type must be 32FC1 or 16UC1");
return;
}
if(rgbMsg->data.size())
{
cv_bridge::CvImageConstPtr ptr = cv_bridge::toCvShare(rgbMsg);
cv_bridge::CvImageConstPtr ptrDepth = cv_bridge::toCvShare(depthMsg);
float depthConstant = 1.0f/cameraInfoMsg->K[4];
cv::Mat image;
cv_bridge::CvImageConstPtr imgPtr = cv_bridge::toCvShare(rgbMsg);
try
{
if(rgbMsg->encoding.compare(sensor_msgs::image_encodings::MONO8) == 0 ||
rgbMsg->encoding.compare(sensor_msgs::image_encodings::MONO16) == 0)
{
image = cv_bridge::cvtColor(imgPtr, "mono8")->image;
}
else
{
image = cv_bridge::cvtColor(imgPtr, "bgr8")->image;
}
Q_EMIT imageReceived(image, Header(rgbMsg->header.frame_id.c_str(), rgbMsg->header.stamp.sec, rgbMsg->header.stamp.nsec), ptrDepth->image, depthConstant);
}
catch(const cv_bridge::Exception & e)
{
ROS_ERROR("find_object_ros: Could not convert input image to mono8 or bgr8 format, encoding detected is %s... cv_bridge exception: %s", rgbMsg->encoding.c_str(), e.what());
}
}
}

91
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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef CAMERAROS_H_
#define CAMERAROS_H_
#include <ros/ros.h>
#include <ros/spinner.h>
#include <cv_bridge/cv_bridge.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/sync_policies/exact_time.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include "find_object/Camera.h"
#include <QtCore/QStringList>
class CameraROS : public find_object::Camera {
Q_OBJECT
public:
CameraROS(bool subscribeDepth, QObject * parent = 0);
virtual ~CameraROS();
virtual bool start();
virtual void stop();
QStringList subscribedTopics() const;
private Q_SLOTS:
virtual void takeImage();
private:
void imgReceivedCallback(const sensor_msgs::ImageConstPtr & msg);
void imgDepthReceivedCallback(
const sensor_msgs::ImageConstPtr& rgbMsg,
const sensor_msgs::ImageConstPtr& depthMsg,
const sensor_msgs::CameraInfoConstPtr& cameraInfoMsg);
private:
bool subscribeDepth_;
image_transport::Subscriber imageSub_;
image_transport::SubscriberFilter rgbSub_;
image_transport::SubscriberFilter depthSub_;
message_filters::Subscriber<sensor_msgs::CameraInfo> cameraInfoSub_;
typedef message_filters::sync_policies::ApproximateTime<
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyApproxSyncPolicy;
message_filters::Synchronizer<MyApproxSyncPolicy> * approxSync_;
typedef message_filters::sync_policies::ExactTime<
sensor_msgs::Image,
sensor_msgs::Image,
sensor_msgs::CameraInfo> MyExactSyncPolicy;
message_filters::Synchronizer<MyExactSyncPolicy> * exactSync_;
};
#endif /* CAMERAROS_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "FindObjectROS.h"
#include <std_msgs/Float32MultiArray.h>
#include "find_object_2d/ObjectsStamped.h"
#include "find_object_2d/DetectionInfo.h"
#include <cmath>
using namespace find_object;
FindObjectROS::FindObjectROS(QObject * parent) :
FindObject(true, parent),
objFramePrefix_("object"),
usePnP_(true)
{
ros::NodeHandle pnh("~"); // public
pnh.param("object_prefix", objFramePrefix_, objFramePrefix_);
pnh.param("pnp", usePnP_, usePnP_);
ROS_INFO("object_prefix = %s", objFramePrefix_.c_str());
ROS_INFO("pnp = %s", usePnP_?"true":"false");
ros::NodeHandle nh; // public
pub_ = nh.advertise<std_msgs::Float32MultiArray>("objects", 1);
pubStamped_ = nh.advertise<find_object_2d::ObjectsStamped>("objectsStamped", 1);
pubInfo_ = nh.advertise<find_object_2d::DetectionInfo>("info", 1);
this->connect(this, SIGNAL(objectsFound(const find_object::DetectionInfo &, const find_object::Header &, const cv::Mat &, float)), this, SLOT(publish(const find_object::DetectionInfo &, const find_object::Header &, const cv::Mat &, float)));
}
void FindObjectROS::publish(const find_object::DetectionInfo & info, const Header & header, const cv::Mat & depth, float depthConstant)
{
// send tf before the message
if(info.objDetected_.size() && !depth.empty() && depthConstant != 0.0f)
{
std::vector<tf::StampedTransform> transforms;
char multiSubId = 'b';
int previousId = -1;
QMultiMap<int, QSize>::const_iterator iterSizes=info.objDetectedSizes_.constBegin();
for(QMultiMap<int, QTransform>::const_iterator iter=info.objDetected_.constBegin();
iter!=info.objDetected_.constEnd();
++iter, ++iterSizes)
{
// get data
int id = iter.key();
float objectWidth = iterSizes->width();
float objectHeight = iterSizes->height();
QString multiSuffix;
if(id == previousId)
{
multiSuffix = QString("_") + multiSubId++;
}
else
{
multiSubId = 'b';
}
previousId = id;
// Find center of the object
QPointF center = iter->map(QPointF(objectWidth/2, objectHeight/2));
cv::Vec3f center3D = this->getDepth(depth,
center.x()+0.5f, center.y()+0.5f,
float(depth.cols/2)-0.5f, float(depth.rows/2)-0.5f,
1.0f/depthConstant, 1.0f/depthConstant);
cv::Vec3f axisEndX;
cv::Vec3f axisEndY;
if(!usePnP_)
{
QPointF xAxis = iter->map(QPointF(3*objectWidth/4, objectHeight/2));
axisEndX = this->getDepth(depth,
xAxis.x()+0.5f, xAxis.y()+0.5f,
float(depth.cols/2)-0.5f, float(depth.rows/2)-0.5f,
1.0f/depthConstant, 1.0f/depthConstant);
QPointF yAxis = iter->map(QPointF(objectWidth/2, 3*objectHeight/4));
axisEndY = this->getDepth(depth,
yAxis.x()+0.5f, yAxis.y()+0.5f,
float(depth.cols/2)-0.5f, float(depth.rows/2)-0.5f,
1.0f/depthConstant, 1.0f/depthConstant);
}
if((std::isfinite(center3D.val[2]) && usePnP_) ||
(std::isfinite(center3D.val[0]) && std::isfinite(center3D.val[1]) && std::isfinite(center3D.val[2]) &&
std::isfinite(axisEndX.val[0]) && std::isfinite(axisEndX.val[1]) && std::isfinite(axisEndX.val[2]) &&
std::isfinite(axisEndY.val[0]) && std::isfinite(axisEndY.val[1]) && std::isfinite(axisEndY.val[2])))
{
tf::StampedTransform transform;
transform.setIdentity();
transform.child_frame_id_ = QString("%1_%2%3").arg(objFramePrefix_.c_str()).arg(id).arg(multiSuffix).toStdString();
transform.frame_id_ = header.frameId_.toStdString();
transform.stamp_.sec = header.sec_;
transform.stamp_.nsec = header.nsec_;
tf::Quaternion q;
if(usePnP_)
{
std::vector<cv::Point3f> objectPoints(4);
std::vector<cv::Point2f> imagePoints(4);
objectPoints[0] = cv::Point3f(-0.5, -(objectHeight/objectWidth)/2.0f,0);
objectPoints[1] = cv::Point3f(0.5,-(objectHeight/objectWidth)/2.0f,0);
objectPoints[2] = cv::Point3f(0.5,(objectHeight/objectWidth)/2.0f,0);
objectPoints[3] = cv::Point3f(-0.5,(objectHeight/objectWidth)/2.0f,0);
QPointF pt = iter->map(QPointF(0, 0));
imagePoints[0] = cv::Point2f(pt.x(), pt.y());
pt = iter->map(QPointF(objectWidth, 0));
imagePoints[1] = cv::Point2f(pt.x(), pt.y());
pt = iter->map(QPointF(objectWidth, objectHeight));
imagePoints[2] = cv::Point2f(pt.x(), pt.y());
pt = iter->map(QPointF(0, objectHeight));
imagePoints[3] = cv::Point2f(pt.x(), pt.y());
cv::Mat cameraMatrix = cv::Mat::eye(3,3,CV_64FC1);
cameraMatrix.at<double>(0,0) = 1.0f/depthConstant;
cameraMatrix.at<double>(1,1) = 1.0f/depthConstant;
cameraMatrix.at<double>(0,2) = float(depth.cols/2)-0.5f;
cameraMatrix.at<double>(1,2) = float(depth.rows/2)-0.5f;
cv::Mat distCoeffs;
cv::Mat rvec(1,3, CV_64FC1);
cv::Mat tvec(1,3, CV_64FC1);
cv::solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec);
cv::Mat R;
cv::Rodrigues(rvec, R);
tf::Matrix3x3 rotationMatrix(
R.at<double>(0,0), R.at<double>(0,1), R.at<double>(0,2),
R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2),
R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2));
rotationMatrix.getRotation(q);
transform.setOrigin(tf::Vector3(
tvec.at<double>(0)*(center3D.val[2]/tvec.at<double>(2)),
tvec.at<double>(1)*(center3D.val[2]/tvec.at<double>(2)),
tvec.at<double>(2)*(center3D.val[2]/tvec.at<double>(2))));
}
else
{
tf::Vector3 xAxis(axisEndX.val[0] - center3D.val[0], axisEndX.val[1] - center3D.val[1], axisEndX.val[2] - center3D.val[2]);
xAxis.normalize();
tf::Vector3 yAxis(axisEndY.val[0] - center3D.val[0], axisEndY.val[1] - center3D.val[1], axisEndY.val[2] - center3D.val[2]);
yAxis.normalize();
tf::Vector3 zAxis = xAxis.cross(yAxis);
zAxis.normalize();
tf::Matrix3x3 rotationMatrix(
xAxis.x(), yAxis.x() ,zAxis.x(),
xAxis.y(), yAxis.y(), zAxis.y(),
xAxis.z(), yAxis.z(), zAxis.z());
rotationMatrix.getRotation(q);
transform.setOrigin(tf::Vector3(center3D.val[0], center3D.val[1], center3D.val[2]));
}
// set x axis going front of the object, with z up and z left
q *= tf::createQuaternionFromRPY(CV_PI/2.0, CV_PI/2.0, 0);
transform.setRotation(q.normalized());
transforms.push_back(transform);
}
else
{
ROS_WARN("Object %d detected, center 2D at (%f,%f), but invalid depth, cannot set frame \"%s\"! "
"(maybe object is too near of the camera or bad depth image)\n",
id,
center.x(), center.y(),
QString("%1_%2").arg(objFramePrefix_.c_str()).arg(id).toStdString().c_str());
}
}
if(transforms.size())
{
tfBroadcaster_.sendTransform(transforms);
}
}
if(pub_.getNumSubscribers() || pubStamped_.getNumSubscribers() || pubInfo_.getNumSubscribers())
{
std_msgs::Float32MultiArray msg;
find_object_2d::ObjectsStamped msgStamped;
find_object_2d::DetectionInfo infoMsg;
if(pubInfo_.getNumSubscribers())
{
infoMsg.ids.resize(info.objDetected_.size());
infoMsg.widths.resize(info.objDetected_.size());
infoMsg.heights.resize(info.objDetected_.size());
infoMsg.file_paths.resize(info.objDetected_.size());
infoMsg.inliers.resize(info.objDetected_.size());
infoMsg.outliers.resize(info.objDetected_.size());
infoMsg.homographies.resize(info.objDetected_.size());
}
msg.data = std::vector<float>(info.objDetected_.size()*12);
msgStamped.objects.data = std::vector<float>(info.objDetected_.size()*12);
ROS_ASSERT(info.objDetected_.size() == info.objDetectedSizes_.size() &&
info.objDetected_.size() == info.objDetectedFilePaths_.size() &&
info.objDetected_.size() == info.objDetectedInliersCount_.size() &&
info.objDetected_.size() == info.objDetectedOutliersCount_.size());
int infoIndex=0;
int i=0;
QMultiMap<int, QSize>::const_iterator iterSizes=info.objDetectedSizes_.constBegin();
QMultiMap<int, QString>::const_iterator iterFilePaths=info.objDetectedFilePaths_.constBegin();
QMultiMap<int, int>::const_iterator iterInliers=info.objDetectedInliersCount_.constBegin();
QMultiMap<int, int>::const_iterator iterOutliers=info.objDetectedOutliersCount_.constBegin();
for(QMultiMap<int, QTransform>::const_iterator iter=info.objDetected_.constBegin();
iter!=info.objDetected_.constEnd();
++iter, ++iterSizes, ++iterFilePaths, ++infoIndex, ++iterInliers, ++iterOutliers)
{
if(pub_.getNumSubscribers() || pubStamped_.getNumSubscribers())
{
msg.data[i] = msgStamped.objects.data[i] = iter.key(); ++i;
msg.data[i] = msgStamped.objects.data[i] = iterSizes->width(); ++i;
msg.data[i] = msgStamped.objects.data[i] = iterSizes->height(); ++i;
msg.data[i] = msgStamped.objects.data[i] = iter->m11(); ++i;
msg.data[i] = msgStamped.objects.data[i] = iter->m12(); ++i;
msg.data[i] = msgStamped.objects.data[i] = iter->m13(); ++i;
msg.data[i] = msgStamped.objects.data[i] = iter->m21(); ++i;
msg.data[i] = msgStamped.objects.data[i] = iter->m22(); ++i;
msg.data[i] = msgStamped.objects.data[i] = iter->m23(); ++i;
msg.data[i] = msgStamped.objects.data[i] = iter->m31(); ++i;// dx
msg.data[i] = msgStamped.objects.data[i] = iter->m32(); ++i;// dy
msg.data[i] = msgStamped.objects.data[i] = iter->m33(); ++i;
}
if(pubInfo_.getNumSubscribers())
{
infoMsg.ids[infoIndex].data = iter.key();
infoMsg.widths[infoIndex].data = iterSizes->width();
infoMsg.heights[infoIndex].data = iterSizes->height();
infoMsg.file_paths[infoIndex].data = iterFilePaths.value().toStdString();
infoMsg.inliers[infoIndex].data = iterInliers.value();
infoMsg.outliers[infoIndex].data = iterOutliers.value();
infoMsg.homographies[infoIndex].data.resize(9);
infoMsg.homographies[infoIndex].data[0] = iter->m11();
infoMsg.homographies[infoIndex].data[1] = iter->m12();
infoMsg.homographies[infoIndex].data[2] = iter->m13();
infoMsg.homographies[infoIndex].data[3] = iter->m21();
infoMsg.homographies[infoIndex].data[4] = iter->m22();
infoMsg.homographies[infoIndex].data[5] = iter->m23();
infoMsg.homographies[infoIndex].data[6] = iter->m31();
infoMsg.homographies[infoIndex].data[7] = iter->m32();
infoMsg.homographies[infoIndex].data[8] = iter->m33();
}
}
if(pub_.getNumSubscribers())
{
pub_.publish(msg);
}
if(pubStamped_.getNumSubscribers())
{
// use same header as the input image (for synchronization and frame reference)
msgStamped.header.frame_id = header.frameId_.toStdString();
msgStamped.header.stamp.sec = header.sec_;
msgStamped.header.stamp.nsec = header.nsec_;
pubStamped_.publish(msgStamped);
}
if(pubInfo_.getNumSubscribers())
{
// use same header as the input image (for synchronization and frame reference)
infoMsg.header.frame_id = header.frameId_.toStdString();
infoMsg.header.stamp.sec = header.sec_;
infoMsg.header.stamp.nsec = header.nsec_;
pubInfo_.publish(infoMsg);
}
}
}
cv::Vec3f FindObjectROS::getDepth(const cv::Mat & depthImage,
int x, int y,
float cx, float cy,
float fx, float fy)
{
if(!(x >=0 && x<depthImage.cols && y >=0 && y<depthImage.rows))
{
ROS_ERROR("Point must be inside the image (x=%d, y=%d), image size=(%d,%d)",
x, y,
depthImage.cols, depthImage.rows);
return cv::Vec3f(
std::numeric_limits<float>::quiet_NaN (),
std::numeric_limits<float>::quiet_NaN (),
std::numeric_limits<float>::quiet_NaN ());
}
cv::Vec3f pt;
// Use correct principal point from calibration
float center_x = cx; //cameraInfo.K.at(2)
float center_y = cy; //cameraInfo.K.at(5)
bool isInMM = depthImage.type() == CV_16UC1; // is in mm?
// Combine unit conversion (if necessary) with scaling by focal length for computing (X,Y)
float unit_scaling = isInMM?0.001f:1.0f;
float constant_x = unit_scaling / fx; //cameraInfo.K.at(0)
float constant_y = unit_scaling / fy; //cameraInfo.K.at(4)
float bad_point = std::numeric_limits<float>::quiet_NaN ();
float depth;
bool isValid;
if(isInMM)
{
depth = (float)depthImage.at<uint16_t>(y,x);
isValid = depth != 0.0f;
}
else
{
depth = depthImage.at<float>(y,x);
isValid = std::isfinite(depth) && depth > 0.0f;
}
// Check for invalid measurements
if (!isValid)
{
pt.val[0] = pt.val[1] = pt.val[2] = bad_point;
}
else
{
// Fill in XYZ
pt.val[0] = (float(x) - center_x) * depth * constant_x;
pt.val[1] = (float(y) - center_y) * depth * constant_y;
pt.val[2] = depth*unit_scaling;
}
return pt;
}

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef FINDOBJECTROS_H_
#define FINDOBJECTROS_H_
#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <tf/transform_broadcaster.h>
#include "find_object/FindObject.h"
#include <QtCore/QObject>
#include <QtCore/QMultiMap>
#include <QtCore/QPair>
#include <QtCore/QRect>
#include <QtGui/QTransform>
class FindObjectROS : public find_object::FindObject
{
Q_OBJECT;
public:
FindObjectROS(QObject * parent = 0);
virtual ~FindObjectROS() {}
public Q_SLOTS:
void publish(const find_object::DetectionInfo & info, const find_object::Header & header, const cv::Mat & depth, float depthConstant);
private:
cv::Vec3f getDepth(const cv::Mat & depthImage,
int x, int y,
float cx, float cy,
float fx, float fy);
private:
ros::Publisher pub_;
ros::Publisher pubStamped_;
ros::Publisher pubInfo_;
std::string objFramePrefix_;
bool usePnP_;
tf::TransformBroadcaster tfBroadcaster_;
};
#endif /* FINDOBJECTROS_H_ */

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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <ros1/CameraROS.h>
#include <ros1/FindObjectROS.h>
#include <QApplication>
#include <QDir>
#include "find_object/MainWindow.h"
#include "ParametersToolBox.h"
#include "find_object/Settings.h"
#include <signal.h>
using namespace find_object;
bool gui;
std::string settingsPath;
void my_handler_gui(int s){
QApplication::closeAllWindows();
QApplication::quit();
}
void my_handler(int s){
QCoreApplication::quit();
}
void setupQuitSignal(bool gui)
{
// Catch ctrl-c to close the gui
struct sigaction sigIntHandler;
if(gui)
{
sigIntHandler.sa_handler = my_handler_gui;
}
else
{
sigIntHandler.sa_handler = my_handler;
}
sigemptyset(&sigIntHandler.sa_mask);
sigIntHandler.sa_flags = 0;
sigaction(SIGINT, &sigIntHandler, NULL);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "find_object_2d");
gui = true;
std::string objectsPath;
std::string sessionPath;
settingsPath = QDir::homePath().append("/.ros/find_object_2d.ini").toStdString();
bool subscribeDepth = false;
ros::NodeHandle nh("~");
nh.param("gui", gui, gui);
nh.param("objects_path", objectsPath, objectsPath);
nh.param("session_path", sessionPath, sessionPath);
nh.param("settings_path", settingsPath, settingsPath);
nh.param("subscribe_depth", subscribeDepth, subscribeDepth);
ROS_INFO("gui=%d", (int)gui);
ROS_INFO("objects_path=%s", objectsPath.c_str());
ROS_INFO("session_path=%s", sessionPath.c_str());
ROS_INFO("settings_path=%s", settingsPath.c_str());
ROS_INFO("subscribe_depth = %s", subscribeDepth?"true":"false");
if(settingsPath.empty())
{
settingsPath = QDir::homePath().append("/.ros/find_object_2d.ini").toStdString();
}
else
{
if(!sessionPath.empty())
{
ROS_WARN("\"settings_path\" parameter is ignored when \"session_path\" is set.");
}
QString path = settingsPath.c_str();
if(path.contains('~'))
{
path.replace('~', QDir::homePath());
settingsPath = path.toStdString();
}
}
// Load settings, should be loaded before creating other objects
Settings::init(settingsPath.c_str());
FindObjectROS * findObjectROS = new FindObjectROS();
if(!sessionPath.empty())
{
if(!objectsPath.empty())
{
ROS_WARN("\"objects_path\" parameter is ignored when \"session_path\" is set.");
}
if(!findObjectROS->loadSession(sessionPath.c_str()))
{
ROS_ERROR("Failed to load session \"%s\"", sessionPath.c_str());
}
}
else if(!objectsPath.empty())
{
QString path = objectsPath.c_str();
if(path.contains('~'))
{
path.replace('~', QDir::homePath());
}
if(!findObjectROS->loadObjects(path))
{
ROS_ERROR("No objects loaded from path \"%s\"", path.toStdString().c_str());
}
}
CameraROS * camera = new CameraROS(subscribeDepth);
// Catch ctrl-c to close the gui
setupQuitSignal(gui);
if(gui)
{
QApplication app(argc, argv);
MainWindow mainWindow(findObjectROS, camera); // take ownership
QObject::connect(
&mainWindow,
SIGNAL(objectsFound(const find_object::DetectionInfo &, const find_object::Header &, const cv::Mat &, float)),
findObjectROS,
SLOT(publish(const find_object::DetectionInfo &, const find_object::Header &, const cv::Mat &, float)));
QStringList topics = camera->subscribedTopics();
if(topics.size() == 1)
{
mainWindow.setSourceImageText(mainWindow.tr(
"<qt>Find-Object subscribed to <b>%1</b> topic.<br/>"
"You can remap the topic when starting the node: <br/>\"rosrun find_object_2d find_object_2d image:=your/image/topic\".<br/>"
"</qt>").arg(topics.first()));
}
else if(topics.size() == 3)
{
mainWindow.setSourceImageText(mainWindow.tr(
"<qt>Find-Object subscribed to : <br/> <b>%1</b> <br/> <b>%2</b> <br/> <b>%3</b><br/>"
"</qt>").arg(topics.at(0)).arg(topics.at(1)).arg(topics.at(2)));
}
mainWindow.show();
app.connect( &app, SIGNAL( lastWindowClosed() ), &app, SLOT( quit() ) );
// loop
mainWindow.startProcessing();
app.exec();
Settings::saveSettings();
}
else
{
QCoreApplication app(argc, argv);
// connect stuff:
QObject::connect(camera, SIGNAL(imageReceived(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)), findObjectROS, SLOT(detect(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)));
//loop
camera->start();
app.exec();
delete camera;
delete findObjectROS;
}
return 0;
}

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find-object/src/ros1/print_objects_detected_node.cpp Normal file
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/*
Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the Universite de Sherbrooke nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <ros/ros.h>
#include <find_object_2d/ObjectsStamped.h>
#include <message_filters/subscriber.h>
#include <message_filters/time_synchronizer.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>
#include <QTransform>
#include <QColor>
image_transport::Publisher imagePub;
/**
* IMPORTANT :
* Parameter General/MirrorView must be false
* Parameter Homography/homographyComputed must be true
*/
void objectsDetectedCallback(
const std_msgs::Float32MultiArrayConstPtr & msg)
{
printf("---\n");
const std::vector<float> & data = msg->data;
if(data.size())
{
for(unsigned int i=0; i<data.size(); i+=12)
{
// get data
int id = (int)data[i];
float objectWidth = data[i+1];
float objectHeight = data[i+2];
// Find corners Qt
QTransform qtHomography(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]);
QPointF qtTopLeft = qtHomography.map(QPointF(0,0));
QPointF qtTopRight = qtHomography.map(QPointF(objectWidth,0));
QPointF qtBottomLeft = qtHomography.map(QPointF(0,objectHeight));
QPointF qtBottomRight = qtHomography.map(QPointF(objectWidth,objectHeight));
printf("Object %d detected, Qt corners at (%f,%f) (%f,%f) (%f,%f) (%f,%f)\n",
id,
qtTopLeft.x(), qtTopLeft.y(),
qtTopRight.x(), qtTopRight.y(),
qtBottomLeft.x(), qtBottomLeft.y(),
qtBottomRight.x(), qtBottomRight.y());
}
}
else
{
printf("No objects detected.\n");
}
}
void imageObjectsDetectedCallback(
const sensor_msgs::ImageConstPtr & imageMsg,
const find_object_2d::ObjectsStampedConstPtr & objectsMsg)
{
if(imagePub.getNumSubscribers() > 0)
{
const std::vector<float> & data = objectsMsg->objects.data;
if(data.size())
{
for(unsigned int i=0; i<data.size(); i+=12)
{
// get data
int id = (int)data[i];
float objectWidth = data[i+1];
float objectHeight = data[i+2];
// Find corners OpenCV
cv::Mat cvHomography(3, 3, CV_32F);
cvHomography.at<float>(0,0) = data[i+3];
cvHomography.at<float>(1,0) = data[i+4];
cvHomography.at<float>(2,0) = data[i+5];
cvHomography.at<float>(0,1) = data[i+6];
cvHomography.at<float>(1,1) = data[i+7];
cvHomography.at<float>(2,1) = data[i+8];
cvHomography.at<float>(0,2) = data[i+9];
cvHomography.at<float>(1,2) = data[i+10];
cvHomography.at<float>(2,2) = data[i+11];
std::vector<cv::Point2f> inPts, outPts;
inPts.push_back(cv::Point2f(0,0));
inPts.push_back(cv::Point2f(objectWidth,0));
inPts.push_back(cv::Point2f(objectWidth,objectHeight));
inPts.push_back(cv::Point2f(0,objectHeight));
inPts.push_back(cv::Point2f(objectWidth/2,objectHeight/2));
cv::perspectiveTransform(inPts, outPts, cvHomography);
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageMsg);
cv_bridge::CvImage img;
img = *imageDepthPtr;
std::vector<cv::Point2i> outPtsInt;
outPtsInt.push_back(outPts[0]);
outPtsInt.push_back(outPts[1]);
outPtsInt.push_back(outPts[2]);
outPtsInt.push_back(outPts[3]);
QColor color(QColor((Qt::GlobalColor)((id % 10 + 7)==Qt::yellow?Qt::darkYellow:(id % 10 + 7))));
cv::Scalar cvColor(color.red(), color.green(), color.blue());
cv::polylines(img.image, outPtsInt, true, cvColor, 3);
cv::Point2i center = outPts[4];
cv::putText(img.image, QString("(%1, %2)").arg(center.x).arg(center.y).toStdString(), center, cv::FONT_HERSHEY_SIMPLEX, 0.6, cvColor, 2);
cv::circle(img.image, center, 1, cvColor, 3);
imagePub.publish(img.toImageMsg());
}
}
}
}
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, find_object_2d::ObjectsStamped> MyExactSyncPolicy;
int main(int argc, char** argv)
{
ros::init(argc, argv, "objects_detected");
ros::NodeHandle nh;
image_transport::ImageTransport it(nh);
// Simple subscriber
ros::Subscriber sub;
sub = nh.subscribe("objects", 1, objectsDetectedCallback);
// Synchronized image + objects example
image_transport::SubscriberFilter imageSub;
imageSub.subscribe(it, nh.resolveName("image"), 1);
message_filters::Subscriber<find_object_2d::ObjectsStamped> objectsSub;
objectsSub.subscribe(nh, "objectsStamped", 1);
message_filters::Synchronizer<MyExactSyncPolicy> exactSync(MyExactSyncPolicy(10), imageSub, objectsSub);
exactSync.registerCallback(boost::bind(&imageObjectsDetectedCallback,
boost::placeholders::_1, boost::placeholders::_2));
imagePub = it.advertise("image_with_objects", 1);
ros::spin();
return 0;
}

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