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

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

app/main.cpp

@@ -240,8 +240,7 @@ int main(int argc, char* argv[])
 				}
 				if(!QFile::exists(configPath))
 				{
-					UERROR("Configuration file doesn't exist : %s", configPath.toStdString().c_str());
+					UWARN("Configuration file \"%s\" doesn't exist, it will be created with default values...", configPath.toStdString().c_str());
-					showUsage();
 				}
 			}
 			else
@@ -292,7 +291,7 @@ int main(int argc, char* argv[])
 	UINFO("   Scene path: \"%s\"", scenePath.toStdString().c_str());
 	UINFO("   Settings path: \"%s\"", configPath.toStdString().c_str());
 #ifdef WITH_JSONCPP
-	UINFO("   JSON path: \"%s\"", configPath.toStdString().c_str());
+	UINFO("   JSON path: \"%s\"", jsonPath.toStdString().c_str());
 #endif
 
 	//////////////////////////
@@ -355,7 +354,7 @@ int main(int argc, char* argv[])
 		QCoreApplication app(argc, argv);
 
 		TcpServer tcpServer(Settings::getGeneral_port());
-		printf("IP: %s\nport: %d\n", tcpServer.getHostAddress().toString().toStdString().c_str(), tcpServer.getPort());
+		UINFO("Detection sent on port: %d (IP=%s)", tcpServer.getPort(), tcpServer.getHostAddress().toString().toStdString().c_str());
 
 		// connect stuff:
 		// [FindObject] ---ObjectsDetected---> [TcpServer]
@@ -383,19 +382,10 @@ int main(int argc, char* argv[])
 
 			// start processing!
 			while(running && !camera.start())
-			{
-				if(Settings::getCamera_6useTcpCamera())
-				{
-					UWARN("Camera initialization failed! (with server %s:%d) Trying again in 1 second...",
-							Settings::getCamera_7IP().toStdString().c_str(), Settings::getCamera_8port());
-					Sleep(1000);
-				}
-				else
 			{
 				UERROR("Camera initialization failed!");
 				running = false;
 			}
-			}
 			if(running)
 			{
 				app.exec();

include/find_object/Camera.h

@@ -12,7 +12,7 @@
 #include <QtCore/QTimer>
 #include <QtGui/QImage>
 
-class CameraTcpClient;
+class CameraTcpServer;
 
 class FINDOBJECT_EXP Camera : public QObject {
 	Q_OBJECT
@@ -27,6 +27,7 @@ public:
 	void pause();
 	int getTotalFrames();
 	int getCurrentFrameIndex();
+	int getPort();
 	void moveToFrame(int frame);
 
 Q_SIGNALS:
@@ -45,7 +46,7 @@ private:
 	QTimer cameraTimer_;
 	QList<std::string> images_;
 	unsigned int currentImageIndex_;
-	CameraTcpClient * cameraTcpClient_;
+	CameraTcpServer * cameraTcpServer_;
 };
 
 #endif /* CAMERA_H_ */

include/find_object/Settings.h

@@ -65,8 +65,7 @@ class FINDOBJECT_EXP Settings
 	PARAMETER(Camera, 4imageRate, double, 2.0, "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, 7IP, QString, "127.0.0.1", "The images server's IP to connect when useTcpCamera is checked.");
+	PARAMETER(Camera, 8port, int, 5000, "The images server's port when useTcpCamera is checked. Only one client at the same time is allowed.");
-	PARAMETER(Camera, 8port, int, 5000, "The images server's port to connect when useTcpCamera is checked.");
 	PARAMETER(Camera, 9queueSize, int, 1, "Maximum images buffered from TCP. If 0, all images are buffered.");
 
 	//List format : [Index:item0;item1;item3;...]

src/AddObjectDialog.cpp

@@ -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

@@ -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

@@ -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();
+		img = cameraTcpServer_->getImage();
-		if(cameraTcpClient_->imagesBuffered() > 0 && Settings::getCamera_9queueSize() == 0)
+		if(cameraTcpServer_->imagesBuffered() > 0 && Settings::getCamera_9queueSize() == 0)
 		{
-			UWARN("%d images buffered so far...", cameraTcpClient_->imagesBuffered());
+			UWARN("%d images buffered so far...", cameraTcpServer_->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());
-			}
 		}
 	}
 
 	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());
+			cameraTcpServer_ = new CameraTcpServer(Settings::getCamera_8port(), this);
-			if(!cameraTcpClient_->waitForConnected())
+			if(!cameraTcpServer_->isListening())
 			{
-				UWARN("Camera: Cannot connect to server \"%s:%d\"",
+				UWARN("CameraTCP: Cannot listen to port %d", cameraTcpServer_->getPort());
-						Settings::getCamera_7IP().toStdString().c_str(),
+				delete cameraTcpServer_;
-						Settings::getCamera_8port());
+				cameraTcpServer_ = 0;
-				cameraTcpClient_->close();
+			}
+			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

@@ -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

@@ -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/CameraTcpServer.h

@@ -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

@@ -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());
+		bool ok;
-		if(!ip.isEmpty())
+		int port = QInputDialog::getInteger(this, tr("Server port..."), "Port: ", Settings::getCamera_8port(), 1, USHRT_MAX, 1, &ok);
-		{
-			int port = QInputDialog::getInteger(this, tr("Server port..."), "Port: ", Settings::getCamera_8port());
 
-			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

@@ -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>

tools/CMakeLists.txt

@@ -1,3 +1,4 @@
 ADD_SUBDIRECTORY( tcpObjectsClient )
 ADD_SUBDIRECTORY( tcpImagesServer )
+ADD_SUBDIRECTORY( tcpRequest )
 ADD_SUBDIRECTORY( similarity )

tools/tcpImagesServer/ImagesTcpServer.cpp

@@ -15,17 +15,17 @@
 #include <QtGui/QTransform>
 
 ImagesTcpServer::ImagesTcpServer(float hz, const QString & path, QObject * parent) :
-	QTcpServer(parent)
+	QTcpSocket(parent)
 {
 	// Set camera parameters
 	Settings::setCamera_4imageRate(hz);
 	Settings::setCamera_5mediaPath(path);
 
-	connect(this, SIGNAL(newConnection()), this, SLOT(addClient()));
 	connect(&camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(publishImage(const cv::Mat &)));
+	connect(this, SIGNAL(connected()), this, SLOT(startCamera()));
 }
 
-QHostAddress ImagesTcpServer::getHostAddress() const
+QHostAddress ImagesTcpServer::getHostAddress()
 {
 	QHostAddress hostAddress;
 
@@ -49,21 +49,21 @@ QHostAddress ImagesTcpServer::getHostAddress() const
 	return hostAddress;
 }
 
-quint16 ImagesTcpServer::getPort() const
-{
-	return this->serverPort();
-}
-
 void ImagesTcpServer::publishImage(const cv::Mat & image)
 {
-	QList<QTcpSocket*> clients = this->findChildren<QTcpSocket*>();
+	if(image.empty())
-	if(clients.size())
+	{
+		printf("No more images...\n");
+		camera_.pause();
+		Q_EMIT connectionLost();
+	}
+	else
+	{
+		if(this->waitForConnected())
 		{
 			std::vector<unsigned char> buf;
 			cv::imencode(".png", image, buf);
 
-		for(QList<QTcpSocket*>::iterator iter = clients.begin(); iter!=clients.end(); ++iter)
-		{
 			QByteArray block;
 			QDataStream out(&block, QIODevice::WriteOnly);
 			out.setVersion(QDataStream::Qt_4_0);
@@ -71,20 +71,20 @@ void ImagesTcpServer::publishImage(const cv::Mat & image)
 			out.writeRawData((char*)buf.data(), (int)buf.size());
 			out.device()->seek(0);
 			out << (quint64)(block.size() - sizeof(quint64));
-			(*iter)->write(block);
+			this->write(block);
-		}
+
 		}
 		else
 		{
-		printf("Paused...\n");
+			printf("Lost connection...\n");
 			camera_.pause();
+			Q_EMIT connectionLost();
+		}
 	}
 }
 
-void ImagesTcpServer::addClient()
+void ImagesTcpServer::startCamera()
 {
-	QTcpSocket * client = this->nextPendingConnection();
-	connect(client, SIGNAL(disconnected()), client, SLOT(deleteLater()));
 	if(!camera_.isRunning())
 	{
 		printf("Start...\n");

tools/tcpImagesServer/ImagesTcpServer.h

@@ -5,27 +5,29 @@
  *      Author: mathieu
  */
 
-#ifndef TCPCLIENT_H_
+#ifndef IMAGESTCPSERVER_H_
-#define TCPCLIENT_H_
+#define IMAGESTCPSERVER_H_
 
 #include "find_object/Camera.h"
-#include <QtNetwork/QTcpServer>
+#include <QtNetwork/QTcpSocket>
 
-class ImagesTcpServer : public QTcpServer
+class ImagesTcpServer : public QTcpSocket
 {
 	Q_OBJECT
 
+public:
+	static QHostAddress getHostAddress();
+
 public:
 	ImagesTcpServer(float hz = 10.0f, const QString & path = "", QObject * parent = 0);
 
-	QHostAddress getHostAddress() const;
-	quint16 getPort() const;
-
-
 private Q_SLOTS:
-	void addClient();
+	void startCamera();
 	void publishImage(const cv::Mat & image);
 
+Q_SIGNALS:
+	void connectionLost();
+
 private:
 	Camera camera_;
 };

tools/tcpImagesServer/main.cpp

@@ -11,11 +11,11 @@
 
 void showUsage()
 {
-	printf("imagesTcpServer [options]\n"
+	printf("\ntcpImagesServer [options] port\n"
 			"  Options:\n"
-			"    -hz #.#          Image rate (default 10 Hz).\n"
+			"    --hz #.#          Image rate (default 10 Hz).\n"
-			"    -p #             Set manually a port to which the clients will connect.\n"
+			"    --host #.#.#.#    Set host address.\n"
-			"    -path \"\"       Set a path of a directory of images or a video file.\n");
+			"    --path \"\"       Set a path of a directory of images or a video file.\n");
 	exit(-1);
 }
 
@@ -23,15 +23,19 @@ int main(int argc, char * argv[])
 {
 	QString ipAddress;
 	float hz = 10.0f;
-	quint16 port = 0;
 	QString path;
 
-	for(int i=1; i<argc; ++i)
+	if(argc < 2)
 	{
-		if(strcmp(argv[i], "-hz") == 0)
+		showUsage();
+	}
+
+	for(int i=1; i<argc-1; ++i)
+	{
+		if(strcmp(argv[i], "-hz") == 0 || strcmp(argv[i], "--hz") == 0)
 		{
 			++i;
-			if(i < argc)
+			if(i < argc-1)
 			{
 				hz = std::atof(argv[i]);
 				if(hz < 0.0f)
@@ -46,18 +50,12 @@ int main(int argc, char * argv[])
 			}
 			continue;
 		}
-		if(strcmp(argv[i], "-p") == 0)
+		if(strcmp(argv[i], "-host") == 0 || strcmp(argv[i], "--host") == 0)
 		{
 			++i;
-			if(i < argc)
+			if(i < argc-1)
 			{
-				int v = std::atoi(argv[i]);
+				ipAddress = argv[i];
-				if(v < 0)
-				{
-					printf("[ERROR] Port not valid : %s\n", argv[i]);
-					showUsage();
-				}
-				port = v;
 			}
 			else
 			{
@@ -65,10 +63,10 @@ int main(int argc, char * argv[])
 			}
 			continue;
 		}
-		if(strcmp(argv[i], "-path") == 0)
+		if(strcmp(argv[i], "-path") == 0 || strcmp(argv[i], "--path") == 0)
 		{
 			++i;
-			if(i < argc)
+			if(i < argc-1)
 			{
 				path = argv[i];
 			}
@@ -83,24 +81,29 @@ int main(int argc, char * argv[])
 		showUsage();
 	}
 
+	quint16 port = std::atoi(argv[argc-1]);
+
 	if(!path.isEmpty())
 	{
 		printf("Using images from path \"%s\"\n", path.toStdString().c_str());
 	}
 
 	QCoreApplication app(argc, argv);
-
 	ImagesTcpServer server(hz, path);
 
-	if (!server.listen(QHostAddress::Any, port))
+	QObject::connect(&server, SIGNAL(connectionLost()), &app, SLOT(quit()));
+
+	if(ipAddress.isEmpty())
 	{
-		printf("ERROR: Unable to start the TCP server: %s\n", server.errorString().toStdString().c_str());
+		ipAddress = server.getHostAddress().toString();
+	}
+	server.connectToHost(ipAddress, port);
+
+	if(!server.waitForConnected())
+	{
+		printf("ERROR: Unable to connect to %s:%d\n", ipAddress.toStdString().c_str(), port);
 		return -1;
 	}
-
-	printf("Images server waiting on \"%s:%d\"...\n",
-			server.getHostAddress().toString().toStdString().c_str(), server.getPort());
-
 	return app.exec();
 }
 

tools/tcpObjectsClient/TcpClient.cpp

@@ -12,15 +12,13 @@
 #include <QtCore/QPointF>
 #include <QtCore/QTime>
 
-TcpClient::TcpClient(const QString & hostname, quint16 port, QObject *parent) :
+TcpClient::TcpClient(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()));
-
-	this->connectToHost(hostname, port);
 }
 
 void TcpClient::readReceivedData()

tools/tcpObjectsClient/TcpClient.h

@@ -14,7 +14,7 @@ class TcpClient : public QTcpSocket
 {
 	Q_OBJECT;
 public:
-	TcpClient(const QString & hostname, quint16 port, QObject * parent = 0);
+	TcpClient(QObject * parent = 0);
 
 private Q_SLOTS:
 	void readReceivedData();

tools/tcpObjectsClient/main.cpp

@@ -11,7 +11,7 @@
 
 void showUsage()
 {
-	printf("tcpClient [hostname] port\n");
+	printf("\ntcpObjectsClient [hostname] port\n");
 	exit(-1);
 }
 
@@ -36,31 +36,17 @@ int main(int argc, char * argv[])
 	}
 
 	if(ipAddress.isEmpty())
-	{
-		// find out which IP to connect to
-		 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())
-			 {
-				 ipAddress = ipAddressesList.at(i).toString();
-				 break;
-			 }
-		 }
-		 // if we did not find one, use IPv4 localhost
-		 if (ipAddress.isEmpty())
 	{
 		 ipAddress = QHostAddress(QHostAddress::LocalHost).toString();
 	}
-	}
 
 	QCoreApplication app(argc, argv);
 
 	printf("Connecting to \"%s:%d\"...\n", ipAddress.toStdString().c_str(), port);
 
-	TcpClient client(ipAddress, port);
+	TcpClient client;
+
+	client.connectToHost(ipAddress, port);
 
 	if(client.waitForConnected())
 	{