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Added TcpRequest tool (ask a running find_object to process an image and wait results over TCP)

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Refactored CameraTcpClient to CameraTcpServer (to send images we connect to find_object, instead of connecting find_object to an image server), removed parameter CameraIP

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@364 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe
2014-08-02 06:09:27 +00:00
parent b28ca440e8
commit 167aeee4bc
18 changed files with 359 additions and 250 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/AddObjectDialog.cpp
+5
View File
@@ -363,6 +363,11 @@ void AddObjectDialog::update(const cv::Mat & image)
ui_->cameraView->setData(keypoints, cvtCvMat2QImage(cameraImage_));
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)
src/CMakeLists.txt
+2 -2
View File
@@ -8,7 +8,7 @@ SET(headers_ui
../include/${PROJECT_PREFIX}/TcpServer.h
../include/${PROJECT_PREFIX}/ObjWidget.h
./AddObjectDialog.h
./CameraTcpClient.h
./CameraTcpServer.h
./ParametersToolBox.h
./AboutDialog.h
./RectItem.h
@@ -46,7 +46,7 @@ SET(SRC_FILES
./RectItem.cpp
./QtOpenCV.cpp
./Camera.cpp
./CameraTcpClient.cpp
./CameraTcpServer.cpp
./ParametersToolBox.cpp
./Settings.cpp
./ObjWidget.cpp
src/Camera.cpp
+46 -31
View File
@@ -11,12 +11,12 @@
#include <opencv2/imgproc/imgproc.hpp>
#include <QtCore/QFile>
#include "utilite/UDirectory.h"
#include "CameraTcpClient.h"
#include "CameraTcpServer.h"
Camera::Camera(QObject * parent) :
QObject(parent),
currentImageIndex_(0),
cameraTcpClient_(new CameraTcpClient(this))
cameraTcpServer_(0)
{
qRegisterMetaType<cv::Mat>("cv::Mat");
connect(&cameraTimer_, SIGNAL(timeout()), this, SLOT(takeImage()));
@@ -33,7 +33,12 @@ void Camera::stop()
capture_.release();
images_.clear();
currentImageIndex_ = 0;
cameraTcpClient_->close();
if(cameraTcpServer_)
{
cameraTcpServer_->close();
delete cameraTcpServer_;
cameraTcpServer_ = 0;
}
}
void Camera::pause()
@@ -79,6 +84,15 @@ void Camera::moveToFrame(int frame)
}
}
int Camera::getPort()
{
if(cameraTcpServer_)
{
return cameraTcpServer_->getPort();
}
return 0;
}
void Camera::takeImage()
{
cv::Mat img;
@@ -93,33 +107,29 @@ void Camera::takeImage()
img = cv::imread(images_[currentImageIndex_++]);
}
}
else
else if(cameraTcpServer_)
{
img = cameraTcpClient_->getImage();
if(cameraTcpClient_->imagesBuffered() > 0 && Settings::getCamera_9queueSize() == 0)
img = cameraTcpServer_->getImage();
if(cameraTcpServer_->imagesBuffered() > 0 && Settings::getCamera_9queueSize() == 0)
{
UWARN("%d images buffered so far...", cameraTcpClient_->imagesBuffered());
}
while(img.empty() && cameraTcpClient_->waitForReadyRead())
{
img = cameraTcpClient_->getImage();
}
if(img.empty())
{
if(!cameraTcpClient_->waitForConnected())
{
UWARN("Connection is lost, trying to reconnect to server (%s:%d)... (at the rate of the camera: %d ms)",
Settings::getCamera_7IP().toStdString().c_str(),
Settings::getCamera_8port(),
cameraTimer_.interval());
cameraTcpClient_->connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
}
UWARN("%d images buffered so far...", cameraTcpServer_->imagesBuffered());
}
}
if(img.empty())
{
UWARN("Camera: Could not grab a frame, the end of the feed may be reached...");
if(cameraTcpServer_)
{
if(!cameraTcpServer_->isConnected())
{
cameraTcpServer_->waitForNewConnection(100);
}
}
else
{
// In case of a directory of images or a video
Q_EMIT imageReceived(cv::Mat()); // empty image to notify that there are no more images
}
}
else
{
@@ -146,17 +156,22 @@ void Camera::takeImage()
bool Camera::start()
{
if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_->isOpen())
if(!capture_.isOpened() && images_.empty() && cameraTcpServer_ == 0)
{
if(Settings::getCamera_6useTcpCamera())
{
cameraTcpClient_->connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
if(!cameraTcpClient_->waitForConnected())
cameraTcpServer_ = new CameraTcpServer(Settings::getCamera_8port(), this);
if(!cameraTcpServer_->isListening())
{
UWARN("Camera: Cannot connect to server \"%s:%d\"",
Settings::getCamera_7IP().toStdString().c_str(),
Settings::getCamera_8port());
cameraTcpClient_->close();
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
@@ -215,7 +230,7 @@ bool Camera::start()
}
}
}
if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_->isOpen())
if(!capture_.isOpened() && images_.empty() && cameraTcpServer_ == 0)
{
UERROR("Camera: Failed to open a capture object!");
return false;
src/CameraTcpClient.cpp
-96
View File
@@ -1,96 +0,0 @@
/*
* CameraTcpClient.cpp
*
* Created on: 2014-07-31
* Author: mathieu
*/
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "CameraTcpClient.h"
CameraTcpClient::CameraTcpClient(QObject *parent) :
QTcpSocket(parent),
blockSize_(0)
{
connect(this, SIGNAL(readyRead()), this, SLOT(readReceivedData()));
connect(this, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(displayError(QAbstractSocket::SocketError)));
connect(this, SIGNAL(disconnected()), this, SLOT(connectionLost()));
}
cv::Mat CameraTcpClient::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();
}
return img;
}
void CameraTcpClient::readReceivedData()
{
QDataStream in(this);
in.setVersion(QDataStream::Qt_4_0);
if (blockSize_ == 0)
{
if (this->bytesAvailable() < (int)sizeof(quint64))
{
return;
}
in >> blockSize_;
}
if (this->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 CameraTcpClient::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 CameraTcpClient::connectionLost()
{
//printf("[WARNING] CameraTcp: Connection lost!\n");
}
src/CameraTcpServer.cpp
+165
View File
@@ -0,0 +1,165 @@
/*
* CameraTcpClient.cpp
*
* Created on: 2014-07-31
* Author: mathieu
*/
#include "find_object/Settings.h"
#include "find_object/utilite/ULogger.h"
#include "CameraTcpServer.h"
#include <QtNetwork/QTcpSocket>
#include <QtNetwork/QNetworkInterface>
#include <QtCore/QDataStream>
CameraTcpServer::CameraTcpServer(quint16 port, QObject *parent) :
QTcpServer(parent),
blockSize_(0)
{
this->setMaxPendingConnections(1);
if (!this->listen(QHostAddress::Any, port))
{
UERROR("Unable to start the Camera TCP server: %s", this->errorString().toStdString().c_str());
return;
}
connect(this, SIGNAL(newConnection()), this, SLOT(addClient()));
}
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();
}
void CameraTcpServer::addClient()
{
QTcpSocket * client = this->nextPendingConnection();
QList<QTcpSocket*> clients = this->findChildren<QTcpSocket*>();
if(clients.size() > 1)
{
UWARN("A client is already connected. Only one connection allowed at the same time.");
client->close();
client->deleteLater();
}
else
{
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 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
}
src/CameraTcpClient.h → src/CameraTcpServer.h
+10 -3
View File
@@ -8,22 +8,29 @@
#ifndef CAMERATCPCLIENT_H_
#define CAMERATCPCLIENT_H_
#include <QtNetwork/QTcpSocket>
#include <QtNetwork/QTcpServer>
#include <opencv2/opencv.hpp>
class CameraTcpClient : public QTcpSocket
class CameraTcpServer : public QTcpServer
{
Q_OBJECT;
public:
CameraTcpClient(QObject * parent = 0);
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;
private Q_SLOTS:
void readReceivedData();
void displayError(QAbstractSocket::SocketError socketError);
void connectionLost();
private Q_SLOTS:
void addClient();
private:
quint64 blockSize_;
QVector<cv::Mat> images_;
src/MainWindow.cpp
+29 -10
View File
@@ -99,8 +99,8 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
ui_->toolBox->getParameterWidget(Settings::kCamera_3imageHeight())->setEnabled(false);
ui_->toolBox->getParameterWidget(Settings::kCamera_5mediaPath())->setEnabled(false);
ui_->toolBox->getParameterWidget(Settings::kCamera_6useTcpCamera())->setEnabled(false);
ui_->toolBox->getParameterWidget(Settings::kCamera_7IP())->setEnabled(false);
ui_->toolBox->getParameterWidget(Settings::kCamera_8port())->setEnabled(false);
ui_->toolBox->getParameterWidget(Settings::kCamera_9queueSize())->setEnabled(false);
ui_->actionCamera_from_video_file->setVisible(false);
ui_->actionCamera_from_TCP_IP->setVisible(false);
ui_->actionCamera_from_directory_of_images->setVisible(false);
@@ -270,7 +270,7 @@ void MainWindow::setupTCPServer()
connect(this, SIGNAL(objectsFound(QMultiMap<int,QPair<QRect,QTransform> >)), tcpServer_, SLOT(publishObjects(QMultiMap<int,QPair<QRect,QTransform> >)));
ui_->label_ipAddress->setText(tcpServer_->getHostAddress().toString());
ui_->label_port->setNum(tcpServer_->getPort());
UINFO("IP: %s port: %d", tcpServer_->getHostAddress().toString().toStdString().c_str(), tcpServer_->getPort());
UINFO("Detection sent on port: %d (IP=%s)", tcpServer_->getPort(), tcpServer_->getHostAddress().toString().toStdString().c_str());
}
void MainWindow::setSourceImageText(const QString & text)
@@ -430,6 +430,10 @@ void MainWindow::removeObject(ObjWidget * object)
}
findObject_->removeObject(object->id());
object->deleteLater();
if(Settings::getGeneral_autoUpdateObjects())
{
this->updateVocabulary();
}
if(!camera_->isRunning() && !sceneImage_.empty())
{
this->update();
@@ -641,19 +645,20 @@ void MainWindow::setupCameraFromTcpIp()
}
else
{
QString ip = QInputDialog::getText(this, tr("Server IP..."), "IP: ", QLineEdit::Normal, Settings::getCamera_7IP());
if(!ip.isEmpty())
{
int port = QInputDialog::getInteger(this, tr("Server port..."), "Port: ", Settings::getCamera_8port());
bool ok;
int port = QInputDialog::getInteger(this, tr("Server port..."), "Port: ", Settings::getCamera_8port(), 1, USHRT_MAX, 1, &ok);
if(port > 0)
if(ok)
{
int queue = QInputDialog::getInteger(this, tr("Queue size..."), "Images buffer size (0 means infinite): ", Settings::getCamera_9queueSize(), 0, 2147483647, 1, &ok);
if(ok)
{
Settings::setCamera_6useTcpCamera(true);
ui_->toolBox->updateParameter(Settings::kCamera_6useTcpCamera());
Settings::setCamera_7IP(ip);
ui_->toolBox->updateParameter(Settings::kCamera_7IP());
Settings::setCamera_8port(port);
ui_->toolBox->updateParameter(Settings::kCamera_8port());
Settings::setCamera_9queueSize(queue);
ui_->toolBox->updateParameter(Settings::kCamera_9queueSize());
if(camera_->isRunning())
{
this->stopProcessing();
@@ -786,6 +791,13 @@ void MainWindow::startProcessing()
ui_->horizontalSlider_frames->setMaximum(totalFrames-1);
}
//update camera port if TCP is used
ui_->label_port_image->setText("-");
if(Settings::getCamera_6useTcpCamera() && camera_->getPort())
{
ui_->label_port_image->setNum(camera_->getPort());
}
if(updateStatusMessage)
{
this->statusBar()->showMessage(tr("Camera started."), 2000);
@@ -800,7 +812,7 @@ void MainWindow::startProcessing()
if(Settings::getCamera_6useTcpCamera())
{
QMessageBox::critical(this, tr("Camera error"), tr("Camera initialization failed! (with server %1:%2)").arg(Settings::getCamera_7IP()).arg(Settings::getCamera_8port()));
QMessageBox::critical(this, tr("Camera error"), tr("Camera initialization failed! (with port %1)").arg(Settings::getCamera_8port()));
}
else
{
@@ -829,6 +841,7 @@ void MainWindow::stopProcessing()
ui_->horizontalSlider_frames->setEnabled(false);
ui_->horizontalSlider_frames->setValue(0);
ui_->label_frame->setVisible(false);
ui_->label_port_image->setText("-");
}
void MainWindow::pauseProcessing()
@@ -876,6 +889,12 @@ void MainWindow::rectHovered(int objId)
void MainWindow::update(const cv::Mat & image)
{
if(image.empty())
{
UWARN("Camera cannot get more images (maybe the end of stream is reached)...");
return;
}
// reset objects color
for(QMap<int, ObjWidget*>::iterator iter=objWidgets_.begin(); iter!=objWidgets_.end(); ++iter)
{
src/ui/mainWindow.ui
+22 -8
View File
@@ -448,6 +448,13 @@
<property name="verticalSpacing">
<number>0</number>
</property>
<item row="4" column="1">
<widget class="QLabel" name="label_timeMatching">
<property name="text">
<string>000</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="label_9">
<property name="text">
@@ -476,13 +483,6 @@
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_timeMatching">
<property name="text">
<string>000</string>
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="label_12">
<property name="text">
@@ -619,7 +619,7 @@
<item row="11" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Port</string>
<string>Output detection port</string>
</property>
</widget>
</item>
@@ -658,6 +658,20 @@
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QLabel" name="label_21">
<property name="text">
<string>Input image port</string>
</property>
</widget>
</item>
<item row="12" column="1">
<widget class="QLabel" name="label_port_image">
<property name="text">
<string>NA</string>
</property>
</widget>
</item>
</layout>
</item>
<item>