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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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
app/main.cpp
View File

@ -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());
showUsage();
UWARN("Configuration file \"%s\" doesn't exist, it will be created with default values...", configPath.toStdString().c_str());
}
}
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();

5
include/find_object/Camera.h
View File

@ -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_ */

3
include/find_object/Settings.h
View File

@ -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 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, 9queueSize, int, 1, "Maximum images buffered from TCP. If 0, all images are buffered.");
//List format : [Index:item0;item1;item3;...]

5
src/AddObjectDialog.cpp
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)

4
src/CMakeLists.txt
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

77
src/Camera.cpp
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;

96
src/CameraTcpClient.cpp
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");
}

165
src/CameraTcpServer.cpp Normal file
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
}

13
src/CameraTcpClient.h → src/CameraTcpServer.h
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_;

39
src/MainWindow.cpp
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)
{

30
src/ui/mainWindow.ui
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>

1
tools/CMakeLists.txt
View File

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

36
tools/tcpImagesServer/ImagesTcpServer.cpp
View File

@ -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(clients.size())
if(image.empty())
{
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");

20
tools/tcpImagesServer/ImagesTcpServer.h
View File

@ -5,27 +5,29 @@
* Author: mathieu
*/
#ifndef TCPCLIENT_H_
#define TCPCLIENT_H_
#ifndef IMAGESTCPSERVER_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_;
};

55
tools/tcpImagesServer/main.cpp
View File

@ -11,11 +11,11 @@
void showUsage()
{
printf("imagesTcpServer [options]\n"
printf("\ntcpImagesServer [options] port\n"
" Options:\n"
" -hz #.# Image rate (default 10 Hz).\n"
" -p # Set manually a port to which the clients will connect.\n"
" -path \"\" Set a path of a directory of images or a video file.\n");
" --hz #.# Image rate (default 10 Hz).\n"
" --host #.#.#.# Set host address.\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]);
if(v < 0)
{
printf("[ERROR] Port not valid : %s\n", argv[i]);
showUsage();
}
port = v;
ipAddress = argv[i];
}
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();
}

4
tools/tcpObjectsClient/TcpClient.cpp
View File

@ -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()

2
tools/tcpObjectsClient/TcpClient.h
View File

@ -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();

22
tools/tcpObjectsClient/main.cpp
View File

@ -11,7 +11,7 @@
void showUsage()
{
printf("tcpClient [hostname] port\n");
printf("\ntcpObjectsClient [hostname] port\n");
exit(-1);
}
@ -35,32 +35,18 @@ int main(int argc, char * argv[])
port = atoi(argv[2]);
}
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())
{