feature files can have arbitrary names

src/database/list_dir.cpp

@@ -35,7 +35,7 @@ std::vector<std::string> listDir(const std::string &dir_name) {
     struct dirent *ent;
     /* print all the files and directories within directory */
     while ((ent = readdir(dir)) != NULL) {
-      file_names.push_back(ent->d_name);
+      file_names.push_back( dir_name + ent->d_name);
     }
     std::sort(file_names.begin(), file_names.end());
     closedir(dir);

src/database/online_database.cpp

@@ -81,11 +81,9 @@ double OnlineDatabase::getCost(int quId, int refId) {
 }
 
 void OnlineDatabase::setQuFeaturesFolder(const std::string &path2folder) {
-  _quFeaturesFolder = path2folder;
   _quFeaturesNames = listDir(path2folder);
 }
 void OnlineDatabase::setRefFeaturesFolder(const std::string &path2folder) {
-  _refFeaturesFolder = path2folder;
   _refFeaturesNames = listDir(path2folder);
 }
 
@@ -121,7 +119,7 @@ double OnlineDatabase::computeMatchCost(int quId, int refId) {
   } else {
     // We cannot directly set const pointers, so set them through a proxy.
     auto tempFeaturePtr = _featureFactory.createFeature();
-    tempFeaturePtr->loadFromFile(_quFeaturesFolder + _quFeaturesNames[quId]);
+    tempFeaturePtr->loadFromFile( _quFeaturesNames[quId]);
     quFeaturePtr = tempFeaturePtr;
     _quBuff.addFeature(quId, quFeaturePtr);
   }
@@ -131,7 +129,7 @@ double OnlineDatabase::computeMatchCost(int quId, int refId) {
   } else {
     // We cannot directly set const pointers, so set them through a proxy.
     auto tempFeaturePtr = _featureFactory.createFeature();
-    tempFeaturePtr->loadFromFile(_refFeaturesFolder + _refFeaturesNames[refId]);
+    tempFeaturePtr->loadFromFile(_refFeaturesNames[refId]);
     refFeaturePtr = tempFeaturePtr;
     _refBuff.addFeature(refId, refFeaturePtr);
   }
@@ -163,7 +161,7 @@ iFeature::ConstPtr OnlineDatabase::getQueryFeature(int quId) {
   } else {
     // We cannot directly set const pointers, so set them through a proxy.
     auto tempFeaturePtr = _featureFactory.createFeature();
-    tempFeaturePtr->loadFromFile(_quFeaturesFolder + _quFeaturesNames[quId]);
+    tempFeaturePtr->loadFromFile(_quFeaturesNames[quId]);
     quFeaturePtr = tempFeaturePtr;
     _quBuff.addFeature(quId, quFeaturePtr);
   }

src/database/online_database.h

@@ -75,8 +75,6 @@ class OnlineDatabase : public iDatabase {
 
  protected:
   MatchMap _matchMap;
-  std::string _quFeaturesFolder = "";
-  std::string _refFeaturesFolder = "";
   std::vector<std::string> _quFeaturesNames, _refFeaturesNames;
   FeatureFactory _featureFactory;
 

src/visualizer/match_viewer.cpp

@@ -1,40 +1,23 @@
-/** vpr_relocalization: a library for visual place recognition in changing 
-** environments with efficient relocalization step.
-** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn
-**
-** 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.
-**/
+/* Copyright Olga Vysotska, year 2017.
+** In case of any problems with the code please contact me.
+** Email: [email protected].
+*/
 
 #include "visualizer/match_viewer.h"
 
 #include <QDebug>
 #include <QScrollBar>
 #include <string>
 #include <vector>
+#include <database/list_dir.h>
 
 MatchViewer::MatchViewer() {}
 
 bool MatchViewer::init(int width, int height) {
-  // if (_queryImages.empty() || _refImages.empty()) {
-  //   printf("[ERROR][MatchViewer] Images were not set\n");
-  //   return false;
-  // }
+  if (_queryImages.empty() || _refImages.empty()) {
+    printf("[ERROR][MatchViewer] Images were not set\n");
+    return false;
+  }
   this->setDragMode(QGraphicsView::ScrollHandDrag);
   this->setTransformationAnchor(QGraphicsView::AnchorUnderMouse);
   // this->setScene(&_scene);
@@ -102,12 +85,7 @@ void MatchViewer::wheelEvent(QWheelEvent *event) {
 void MatchViewer::receivedMatch(int quId, int refId, bool hidden) {
   // printf("Received match %d %d \n", quId, refId);
   std::string qu_path, ref_path;
-
-  qu_path = _database->getQuFeatureName(quId);
-  qu_path = _quImagesFolder + qu_path;
-  // chop out '-feature.txt' -> 12 symbols
-  qu_path.erase(qu_path.end() - 12, qu_path.end());
-  qu_path += _imgExt;
+  qu_path = _queryImages[quId];
 
   QPixmap img_qu;
   img_qu.load(qu_path.c_str());
@@ -132,11 +110,8 @@ void MatchViewer::receivedMatch(int quId, int refId, bool hidden) {
     _textItem->setZValue(1);
   } else {
     _textItem->setVisible(false);
-    ref_path = _database->getRefFeatureName(refId);
-    ref_path = _refImagesFolder + ref_path;
-    // chop out '-feature.txt' -> 12 symbols
-    ref_path.erase(ref_path.end() - 12, ref_path.end());
-    ref_path += _imgExt;
+
+    ref_path = _refImages[refId];
 
     QPixmap img_ref;
     // printf("[MatchViewer] reading image %s\n", ref_path.c_str());
@@ -158,11 +133,11 @@ bool MatchViewer::isReady() const {
     printf("[ERROR][MatchViewer] Database is not set\n");
     return false;
   }
-  if (_quImagesFolder.empty()) {
+  if (_queryImages.empty()) {
     printf("[ERROR][MatchViewer] Folder for query images is not set\n");
     return false;
   }
-  if (_refImagesFolder.empty()) {
+  if (_refImages.empty()) {
     printf("[ERROR][MatchViewer] Folder for reference images is not set\n");
     return false;
   }
@@ -174,10 +149,10 @@ bool MatchViewer::isReady() const {
   return true;
 }
 
-void MatchViewer::setQuImageDirectory(const std::string &folder) {
-  _quImagesFolder = folder;
+void MatchViewer::setQueryImages(const std::string &folder) {
+  _queryImages = listDir(folder);
 }
-void MatchViewer::setRefImageDirectory(const std::string &folder) {
-  _refImagesFolder = folder;
+void MatchViewer::setRefImages(const std::string &folder) {
+  _refImages = listDir(folder);
 }
 void MatchViewer::setImageExtension(const std::string &ext) { _imgExt = ext; }

src/visualizer/match_viewer.h

@@ -1,25 +1,7 @@
-/** vpr_relocalization: a library for visual place recognition in changing 
-** environments with efficient relocalization step.
-** Copyright (c) 2017 O. Vysotska, C. Stachniss, University of Bonn
-**
-** 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.
-**/
+/* Copyright Olga Vysotska, year 2017.
+** In case of any problems with the code please contact me.
+** Email: [email protected].
+*/
 
 #ifndef SRC_VISUALIZER_MATCH_VIEWER_H_
 #define SRC_VISUALIZER_MATCH_VIEWER_H_
@@ -31,6 +13,7 @@
 #include <QGridLayout>
 #include <QtGui>
 #include <string>
+#include <vector>
 
 #include "database/online_database.h"
 #include "online_localizer/online_localizer.h"
@@ -47,10 +30,10 @@ class MatchViewer : public QGraphicsView {
 
   MatchViewer();
   ~MatchViewer();
-  
+
   bool setDatabase(OnlineDatabase::Ptr database);
-  void setQuImageDirectory(const std::string &folder);
-  void setRefImageDirectory(const std::string &folder);
+  void setQueryImages(const std::string &folder);
+  void setRefImages(const std::string &folder);
   void setImageExtension(const std::string &ext);
 
   bool isReady() const;
@@ -62,8 +45,8 @@ class MatchViewer : public QGraphicsView {
   void receivedMatch(int quId, int refId, bool hidden);
 
  private:
-  std::string _refImagesFolder = "";
-  std::string _quImagesFolder = "";
+  std::vector<std::string> _refImages;
+  std::vector<std::string> _queryImages;
   std::string _imgExt = "";
 
   // variable for storing two single images