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

src/Camera.cpp

@@ -8,6 +8,76 @@
 #include "Settings.h"
 #include <QtCore/QFile>
 #include "utilite/UDirectory.h"
+#include "QtOpenCV.h"
+
+CameraTcpClient::CameraTcpClient(QObject *parent) :
+	QTcpSocket(parent),
+    blockSize_(0)
+{
+	connect(this, SIGNAL(readyRead()), this, SLOT(readData()));
+	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 = image_;
+	image_ = cv::Mat();
+	return img;
+}
+
+void CameraTcpClient::readData()
+{
+	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_);
+	image_ = cv::imdecode(buf, cv::IMREAD_UNCHANGED);
+	blockSize_ = 0;
+}
+
+void CameraTcpClient::displayError(QAbstractSocket::SocketError socketError)
+{
+	switch (socketError)
+	{
+		case QAbstractSocket::RemoteHostClosedError:
+			break;
+		case QAbstractSocket::HostNotFoundError:
+			printf("[ERROR] CameraTcp: Tcp error: The host was not found. Please "
+					"check the host name and port settings.\n");
+			break;
+		case QAbstractSocket::ConnectionRefusedError:
+			printf("[ERROR] 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.\n");
+			break;
+		default:
+			printf("The following error occurred: %s.\n", this->errorString().toStdString().c_str());
+			break;
+	}
+}
+
+void CameraTcpClient::connectionLost()
+{
+	printf("[WARNING] CameraTcp: Connection lost!\n");
+}
 
 Camera::Camera(QObject * parent) :
 	QObject(parent),
@@ -28,6 +98,7 @@ void Camera::stop()
 	capture_.release();
 	images_.clear();
 	currentImageIndex_ = 0;
+	cameraTcpClient_.close();
 }
 
 void Camera::pause()
@@ -87,6 +158,21 @@ void Camera::takeImage()
 			img = cv::imread(images_[currentImageIndex_++]);
 		}
 	}
+	else
+	{
+		img = cameraTcpClient_.getImage();
+		while(img.empty() && cameraTcpClient_.waitForReadyRead())
+		{
+			img = cameraTcpClient_.getImage();
+		}
+		if(!cameraTcpClient_.waitForConnected())
+		{
+			printf("Connection is lost, try reconnecting to server (%s:%d)...\n",
+					Settings::getCamera_7IP().toStdString().c_str(),
+					Settings::getCamera_8port());
+			cameraTcpClient_.connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
+		}
+	}
 
 	if(img.empty())
 	{
@@ -117,62 +203,76 @@ void Camera::takeImage()
 
 bool Camera::start()
 {
-	if(!capture_.isOpened() && images_.empty())
+	if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_.isOpen())
 	{
-		QString path = Settings::getCamera_5mediaPath();
-		if(UDirectory::exists(path.toStdString()))
+		if(Settings::getCamera_6useTcpCamera())
 		{
-			//Images directory
-			QString ext = Settings::getGeneral_imageFormats();
-			ext.remove('*');
-			ext.remove('.');
-			UDirectory dir(path.toStdString(), ext.toStdString()); // this will load fileNames matching the extensions (in natural order)
-			const std::list<std::string> & fileNames = dir.getFileNames();
-			currentImageIndex_ = 0;
-			images_.clear();
-			// Modify to have full path
-			for(std::list<std::string>::const_iterator iter = fileNames.begin(); iter!=fileNames.end(); ++iter)
+			cameraTcpClient_.connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
+			if(!cameraTcpClient_.waitForConnected())
 			{
-				images_.append(path.toStdString() + UDirectory::separator() + *iter);
-			}
-			printf("Camera: Reading %d images from directory \"%s\"...\n", (int)images_.size(), path.toStdString().c_str());
-			if(images_.isEmpty())
-			{
-				printf("[WARNING] Directory \"%s\" is empty (no images matching the \"%s\" extensions). "
-					   "If you want to disable loading automatically this directory, "
-					   "clear the Camera/mediaPath parameter. By default, webcam will be used instead of the directory.\n",
-					   path.toStdString().c_str(),
-					   ext.toStdString().c_str());
+				printf("[WARNING] Camera: Cannot connect to server \"%s:%d\"\n",
+						Settings::getCamera_7IP().toStdString().c_str(),
+						Settings::getCamera_8port());
+				cameraTcpClient_.close();
 			}
 		}
-		else if(!path.isEmpty())
+		else
 		{
-			//Video file
-			capture_.open(path.toStdString().c_str());
-			if(!capture_.isOpened())
+			QString path = Settings::getCamera_5mediaPath();
+			if(UDirectory::exists(path.toStdString()))
 			{
-				printf("[WARNING] Cannot open file \"%s\". If you want to disable loading automatically this video file, clear the Camera/mediaPath parameter. By default, webcam will be used instead of the file.\n", path.toStdString().c_str());
+				//Images directory
+				QString ext = Settings::getGeneral_imageFormats();
+				ext.remove('*');
+				ext.remove('.');
+				UDirectory dir(path.toStdString(), ext.toStdString()); // this will load fileNames matching the extensions (in natural order)
+				const std::list<std::string> & fileNames = dir.getFileNames();
+				currentImageIndex_ = 0;
+				images_.clear();
+				// Modify to have full path
+				for(std::list<std::string>::const_iterator iter = fileNames.begin(); iter!=fileNames.end(); ++iter)
+				{
+					images_.append(path.toStdString() + UDirectory::separator() + *iter);
+				}
+				printf("Camera: Reading %d images from directory \"%s\"...\n", (int)images_.size(), path.toStdString().c_str());
+				if(images_.isEmpty())
+				{
+					printf("[WARNING] Camera: Directory \"%s\" is empty (no images matching the \"%s\" extensions). "
+						   "If you want to disable loading automatically this directory, "
+						   "clear the Camera/mediaPath parameter. By default, webcam will be used instead of the directory.\n",
+						   path.toStdString().c_str(),
+						   ext.toStdString().c_str());
+				}
 			}
-			else
+			else if(!path.isEmpty())
 			{
-				printf("Camera: Reading from video file \"%s\"...\n", path.toStdString().c_str());
+				//Video file
+				capture_.open(path.toStdString().c_str());
+				if(!capture_.isOpened())
+				{
+					printf("[WARNING] Camera: Cannot open file \"%s\". If you want to disable loading automatically this video file, clear the Camera/mediaPath parameter. By default, webcam will be used instead of the file.\n", path.toStdString().c_str());
+				}
+				else
+				{
+					printf("Camera: Reading from video file \"%s\"...\n", path.toStdString().c_str());
+				}
 			}
-		}
-		if(!capture_.isOpened() && images_.empty())
-		{
-			//set camera device
-			capture_.open(Settings::getCamera_1deviceId());
-			if(Settings::getCamera_2imageWidth() && Settings::getCamera_3imageHeight())
+			if(!capture_.isOpened() && images_.empty())
 			{
-				capture_.set(CV_CAP_PROP_FRAME_WIDTH, double(Settings::getCamera_2imageWidth()));
-				capture_.set(CV_CAP_PROP_FRAME_HEIGHT, double(Settings::getCamera_3imageHeight()));
+				//set camera device
+				capture_.open(Settings::getCamera_1deviceId());
+				if(Settings::getCamera_2imageWidth() && Settings::getCamera_3imageHeight())
+				{
+					capture_.set(CV_CAP_PROP_FRAME_WIDTH, double(Settings::getCamera_2imageWidth()));
+					capture_.set(CV_CAP_PROP_FRAME_HEIGHT, double(Settings::getCamera_3imageHeight()));
+				}
+				printf("Camera: Reading from camera device %d...\n", Settings::getCamera_1deviceId());
 			}
-			printf("Camera: Reading from camera device %d...\n", Settings::getCamera_1deviceId());
 		}
 	}
-	if(!capture_.isOpened() && images_.empty())
+	if(!capture_.isOpened() && images_.empty() && !cameraTcpClient_.isOpen())
 	{
-		printf("[ERROR] Failed to open a capture object!\n");
+		printf("[ERROR] Camera: Failed to open a capture object!\n");
 		return false;
 	}
 

src/Camera.h

@@ -8,6 +8,27 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <QtCore/QObject>
 #include <QtCore/QTimer>
+#include <QtGui/QImage>
+#include <QtNetwork/QTcpSocket>
+
+class CameraTcpClient : public QTcpSocket
+{
+	Q_OBJECT;
+public:
+	CameraTcpClient(QObject * parent = 0);
+	cv::Mat getImage();
+	bool isConnected() const {return connected_;}
+
+private slots:
+	void readData();
+	void displayError(QAbstractSocket::SocketError socketError);
+	void connectionLost();
+
+private:
+	quint64 blockSize_;
+	cv::Mat image_;
+	bool connected_;
+};
 
 class Camera : public QObject {
 	Q_OBJECT
@@ -40,6 +61,7 @@ private:
 	QTimer cameraTimer_;
 	QList<std::string> images_;
 	unsigned int currentImageIndex_;
+	CameraTcpClient cameraTcpClient_;
 };
 
 #endif /* CAMERA_H_ */

src/MainWindow.cpp

@@ -37,6 +37,7 @@
 #include <QtGui/QCloseEvent>
 #include <QtGui/QCheckBox>
 #include <QtGui/QScrollBar>
+#include <QtGui/QInputDialog>
 
 #include "utilite/UDirectory.h"
 
@@ -136,6 +137,7 @@ MainWindow::MainWindow(Camera * camera, const QString & settings, QWidget * pare
 	connect(ui_->actionLoad_objects, SIGNAL(triggered()), this, SLOT(loadObjects()));
 	connect(ui_->actionCamera_from_video_file, SIGNAL(triggered()), this, SLOT(setupCameraFromVideoFile()));
 	connect(ui_->actionCamera_from_directory_of_images, SIGNAL(triggered()), this, SLOT(setupCameraFromImagesDirectory()));
+	connect(ui_->actionCamera_from_TCP_IP, SIGNAL(triggered()), this, SLOT(setupCameraFromTcpIp()));
 	connect(ui_->actionAbout, SIGNAL(triggered()), aboutDialog_ , SLOT(exec()));
 	connect(ui_->actionRestore_all_default_settings, SIGNAL(triggered()), ui_->toolBox, SLOT(resetAllPages()));
 	connect(ui_->actionRemove_all_objects, SIGNAL(triggered()), this, SLOT(removeAllObjects()));
@@ -149,7 +151,7 @@ MainWindow::MainWindow(Camera * camera, const QString & settings, QWidget * pare
 	connect(ui_->horizontalSlider_frames, SIGNAL(valueChanged(int)), ui_->label_frame, SLOT(setNum(int)));
 	ui_->pushButton_play->setVisible(true);
 	ui_->pushButton_pause->setVisible(false);
-	ui_->pushButton_stop->setEnabled(true);
+	ui_->pushButton_stop->setEnabled(false);
 	ui_->horizontalSlider_frames->setEnabled(false);
 	ui_->label_frame->setVisible(false);
 
@@ -162,6 +164,7 @@ MainWindow::MainWindow(Camera * camera, const QString & settings, QWidget * pare
 
 	ui_->actionCamera_from_video_file->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && !UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
 	ui_->actionCamera_from_directory_of_images->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
+	ui_->actionCamera_from_TCP_IP->setChecked(Settings::getCamera_6useTcpCamera());
 
 	ui_->label_ipAddress->setTextInteractionFlags(Qt::TextSelectableByMouse);
 	ui_->label_port->setTextInteractionFlags(Qt::TextSelectableByMouse);
@@ -554,6 +557,7 @@ void MainWindow::setupCameraFromVideoFile()
 	}
 	ui_->actionCamera_from_video_file->setChecked(!Settings::getCamera_5mediaPath().isEmpty());
 	ui_->actionCamera_from_directory_of_images->setChecked(false);
+	ui_->actionCamera_from_TCP_IP->setChecked(false);
 }
 
 void MainWindow::setupCameraFromImagesDirectory()
@@ -581,6 +585,42 @@ void MainWindow::setupCameraFromImagesDirectory()
 	}
 	ui_->actionCamera_from_directory_of_images->setChecked(!Settings::getCamera_5mediaPath().isEmpty());
 	ui_->actionCamera_from_video_file->setChecked(false);
+	ui_->actionCamera_from_TCP_IP->setChecked(false);
+}
+
+void MainWindow::setupCameraFromTcpIp()
+{
+	if(!ui_->actionCamera_from_TCP_IP->isChecked())
+	{
+		Settings::setCamera_6useTcpCamera(false);
+		ui_->toolBox->updateParameter(Settings::kCamera_6useTcpCamera());
+	}
+	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());
+
+			if(port > 0)
+			{
+				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());
+				if(camera_->isRunning())
+				{
+					this->stopProcessing();
+				}
+				this->startProcessing();
+			}
+		}
+	}
+	ui_->actionCamera_from_directory_of_images->setChecked(false);
+	ui_->actionCamera_from_video_file->setChecked(false);
+	ui_->actionCamera_from_TCP_IP->setChecked(Settings::getCamera_6useTcpCamera());
 }
 
 void MainWindow::showObject(ObjWidget * obj)
@@ -936,6 +976,7 @@ void MainWindow::startProcessing()
 		ui_->actionLoad_scene_from_file->setEnabled(false);
 		ui_->actionCamera_from_directory_of_images->setEnabled(false);
 		ui_->actionCamera_from_video_file->setEnabled(false);
+		ui_->actionCamera_from_TCP_IP->setEnabled(false);
 		ui_->label_timeRefreshRate->setVisible(true);
 
 		//update control bar
@@ -963,7 +1004,14 @@ void MainWindow::startProcessing()
 		}
 		if(this->isVisible())
 		{
-			QMessageBox::critical(this, tr("Camera error"), tr("Camera initialization failed! (with device %1)").arg(Settings::getCamera_1deviceId()));
+			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()));
+			}
+			else
+			{
+				QMessageBox::critical(this, tr("Camera error"), tr("Camera initialization failed! (with device %1)").arg(Settings::getCamera_1deviceId()));
+			}
 		}
 		else
 		{
@@ -985,6 +1033,7 @@ void MainWindow::stopProcessing()
 	ui_->actionLoad_scene_from_file->setEnabled(true);
 	ui_->actionCamera_from_directory_of_images->setEnabled(true);
 	ui_->actionCamera_from_video_file->setEnabled(true);
+	ui_->actionCamera_from_TCP_IP->setEnabled(true);
 	ui_->pushButton_play->setVisible(true);
 	ui_->pushButton_pause->setVisible(false);
 	ui_->pushButton_stop->setEnabled(false);
@@ -1655,22 +1704,24 @@ void MainWindow::update(const cv::Mat & image)
 			}
 
 			// Emit homographies
-			if(objectsDetected.size())
+			if(objectsDetected.size() > 1)
 			{
-				if(objectsDetected.size() > 1)
-				{
-					printf("(%s) %d objects detected!\n",
-							QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
-							(int)objectsDetected.size());
-				}
-				else
-				{
-					printf("(%s) Object %d detected!\n",
-							QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
-							(int)objectsDetected.begin().key());
-				}
-				emit objectsFound(objectsDetected);
+				printf("(%s) %d objects detected!\n",
+						QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
+						(int)objectsDetected.size());
 			}
+			else if(objectsDetected.size() == 1)
+			{
+				printf("(%s) Object %d detected!\n",
+						QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
+						(int)objectsDetected.begin().key());
+			}
+			else
+			{
+				printf("(%s) No objects detected.\n",
+						QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str());
+			}
+			emit objectsFound(objectsDetected);
 			ui_->label_objectsDetected->setNum(objectsDetected.size());
 		}
 		else
@@ -1740,7 +1791,7 @@ void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
 	bool nearestNeighborParamsChanged = false;
 	for(QStringList::const_iterator iter = paramChanged.begin(); iter!=paramChanged.end(); ++iter)
 	{
-		printf("Parameter changed: %s\n", iter->toStdString().c_str());
+		printf("Parameter changed: %s -> \"%s\"\n", iter->toStdString().c_str(), Settings::getParameter(*iter).toString().toStdString().c_str());
 		if(lastObjectsUpdateParameters_.value(*iter) != Settings::getParameter(*iter))
 		{
 			if(!detectorDescriptorParamsChanged && iter->contains("Feature2D"))
@@ -1788,5 +1839,5 @@ void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
 
 	ui_->actionCamera_from_video_file->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && !UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
 	ui_->actionCamera_from_directory_of_images->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
-
+	ui_->actionCamera_from_TCP_IP->setChecked(Settings::getCamera_6useTcpCamera());
 }

src/MainWindow.h

@@ -66,6 +66,7 @@ private slots:
 	void loadSceneFromFile();
 	void setupCameraFromVideoFile();
 	void setupCameraFromImagesDirectory();
+	void setupCameraFromTcpIp();
 	void removeObject(ObjWidget * object);
 	void removeAllObjects();
 	void updateObjectsSize();

src/QtOpenCV.cpp

@@ -39,7 +39,6 @@ cv::Mat cvtQImage2CvMat(const QImage & image)
 		cvImage = cv::Mat(image.height(), image.width(), CV_8UC3);
 		unsigned char * data = cvImage.data;
 		const IplImage test = cvImage;
-		printf("%d vs %d\n", cvImage.cols*int(cvImage.elemSize()), test.widthStep);
 		for(int y = 0; y < image.height(); ++y, data+=cvImage.cols*cvImage.elemSize())
 		{
 			for(int x = 0; x < image.width(); ++x)

src/Settings.h

@@ -60,6 +60,9 @@ class Settings
 	PARAMETER(Camera, 3imageHeight, int, 480, "Image height (0 means default height from camera).");
 	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.");
 
 	//List format : [Index:item0;item1;item3;...]
 	PARAMETER(Feature2D, 1Detector, QString, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK" , "Keypoint detector.");

src/ui/mainWindow.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>826</width>
-    <height>689</height>
+    <height>713</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -228,6 +228,7 @@
     <addaction name="actionLoad_scene_from_file"/>
     <addaction name="actionCamera_from_directory_of_images"/>
     <addaction name="actionCamera_from_video_file"/>
+    <addaction name="actionCamera_from_TCP_IP"/>
     <addaction name="separator"/>
     <addaction name="actionStart_camera"/>
     <addaction name="actionPause_camera"/>
@@ -346,7 +347,7 @@
           <x>0</x>
           <y>0</y>
           <width>198</width>
-          <height>559</height>
+          <height>583</height>
          </rect>
         </property>
         <layout class="QVBoxLayout" name="verticalLayout_objects">
@@ -764,6 +765,14 @@
     <string>Load settings...</string>
    </property>
   </action>
+  <action name="actionCamera_from_TCP_IP">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Camera from TCP/IP...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>