Added "Camera from TCP/IP..." action. Find-Object can connect to a server to receive images over TCP/IP. Look at the "imagesTcpServer" example to know how to send a images. The stream format is [quint64 size, std::vector<unsigned char> data]. The data array is decoded to a cv:Mat image using cv::imdecode(data, cv::IMREAD_UNCHANGED). In the server example, the images are encoded like that: cv::imencode(".png", image, data).

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@280 620bd6b2-0a58-f614-fd9a-1bd335dccda9
2014-05-21 21:31:42 +00:00
parent 2d3b4ebebe
commit 19b5776ba4
12 changed files with 503 additions and 62 deletions
@@ -0,0 +1,44 @@
+### Qt Gui stuff ###
+SET(headers_ui 
+	../src/Camera.h
+	ImagesTcpServer.h
+)
+#This will generate moc_* for Qt
+QT4_WRAP_CPP(moc_srcs ${headers_ui})
+### Qt Gui stuff  end###
+
+SET(SRC_FILES
+	../src/Camera.cpp
+	../src/Settings.cpp
+	../src/QtOpenCV.cpp
+	../src/utilite/UDirectory.cpp
+	../src/utilite/UFile.cpp
+    ImagesTcpServer.cpp
+    main.cpp
+    ${moc_srcs} 
+)
+
+SET(INCLUDE_DIRS
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${OpenCV_INCLUDE_DIRS}
+    ../src
+)
+
+INCLUDE(${QT_USE_FILE})
+
+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(imagesTcpServer ${SRC_FILES})
+TARGET_LINK_LIBRARIES(imagesTcpServer ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( imagesTcpServer 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-imagesTcpServer)
+
@@ -0,0 +1,91 @@
+/*
+ * ImagesTcpServer.cpp
+ *
+ *  Created on: 2014-05-21
+ *      Author: mathieu
+ */
+
+#include "ImagesTcpServer.h"
+
+#include <QtNetwork/QNetworkInterface>
+#include <QtNetwork/QTcpSocket>
+#include <QtGui/QTransform>
+#include "Settings.h"
+#include "QtOpenCV.h"
+
+ImagesTcpServer::ImagesTcpServer(float hz, quint16 port, QObject * parent) :
+	QTcpServer(parent)
+{
+	// Set camera parameters
+	Settings::setCamera_4imageRate(hz);
+
+	connect(this, SIGNAL(newConnection()), this, SLOT(addClient()));
+	connect(&camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(publishImage(const cv::Mat &)));
+}
+
+QHostAddress ImagesTcpServer::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 ImagesTcpServer::getPort() const
+{
+	return this->serverPort();
+}
+
+void ImagesTcpServer::publishImage(const cv::Mat & image)
+{
+	QList<QTcpSocket*> clients = this->findChildren<QTcpSocket*>();
+	if(clients.size())
+	{
+		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);
+			out << (quint64)0;
+			out.writeRawData((char*)buf.data(), buf.size());
+			out.device()->seek(0);
+			out << (quint64)(block.size() - sizeof(quint64));
+			(*iter)->write(block);
+		}
+	}
+	else
+	{
+		printf("Paused...\n");
+		camera_.pause();
+	}
+}
+
+void ImagesTcpServer::addClient()
+{
+	QTcpSocket * client = this->nextPendingConnection();
+	connect(client, SIGNAL(disconnected()), client, SLOT(deleteLater()));
+	if(!camera_.isRunning())
+	{
+		printf("Start...\n");
+		camera_.start();
+	}
+}
@@ -0,0 +1,34 @@
+/*
+ * ImagesTcpServer.h
+ *
+ *  Created on: 2014-05-21
+ *      Author: mathieu
+ */
+
+#ifndef TCPCLIENT_H_
+#define TCPCLIENT_H_
+
+#include "Camera.h"
+#include <QtNetwork/QTcpServer>
+
+class ImagesTcpServer : public QTcpServer
+{
+	Q_OBJECT
+
+public:
+	ImagesTcpServer(float hz = 10.0f, quint16 port = 0, QObject * parent = 0);
+
+	QHostAddress getHostAddress() const;
+	quint16 getPort() const;
+
+
+private slots:
+	void addClient();
+	void publishImage(const cv::Mat & image);
+
+private:
+	float hz_;
+	Camera camera_;
+};
+
+#endif /* TCPCLIENT_H_ */
@@ -0,0 +1,86 @@
+/*
+ * main.cpp
+ *
+ *  Created on: 2014-05-05
+ *      Author: mathieu
+ */
+
+#include <QtNetwork/QNetworkInterface>
+#include <QtCore/QCoreApplication>
+#include "ImagesTcpServer.h"
+
+void showUsage()
+{
+	printf("imagesTcpServer [options]\n"
+			"  Options:\n"
+			"    -hz #.#          Image rate (default 10 Hz).\n"
+			"    -p #             Set manually a port.\n");
+	exit(-1);
+}
+
+int main(int argc, char * argv[])
+{
+	QString ipAddress;
+	float hz = 10.0f;
+	quint16 port = 0;
+
+	for(int i=1; i<argc; ++i)
+	{
+		if(strcmp(argv[i], "-hz") == 0)
+		{
+			++i;
+			if(i < argc)
+			{
+				hz = std::atof(argv[i]);
+				if(hz < 0.0f)
+				{
+					printf("[ERROR] Image rate not valid : %s\n", argv[i]);
+					showUsage();
+				}
+			}
+			else
+			{
+				showUsage();
+			}
+			continue;
+		}
+		if(strcmp(argv[i], "-p") == 0)
+		{
+			++i;
+			if(i < argc)
+			{
+				int v = std::atoi(argv[i]);
+				if(v < 0)
+				{
+					printf("[ERROR] Port not valid : %s\n", argv[i]);
+					showUsage();
+				}
+				port = v;
+			}
+			else
+			{
+				showUsage();
+			}
+			continue;
+		}
+
+		printf("Unrecognized option: %s\n", argv[i]);
+		showUsage();
+	}
+
+	QCoreApplication app(argc, argv);
+
+	ImagesTcpServer server(hz, port);
+
+	if (!server.listen(QHostAddress::Any, port))
+	{
+		printf("ERROR: Unable to start the TCP server: %s\n", server.errorString().toStdString().c_str());
+		return -1;
+	}
+
+	printf("Images server waiting on \"%s:%d\"...\n",
+			server.getHostAddress().toString().toStdString().c_str(), server.getPort());
+
+	return app.exec();
+}
+