added Camera_queueSize for TCP images buffering

ImagesTcpServer can read from a path of images


git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@354 620bd6b2-0a58-f614-fd9a-1bd335dccda9

imagesTcpServer/ImagesTcpServer.cpp

@@ -13,11 +13,12 @@
 #include "Settings.h"
 #include "QtOpenCV.h"
 
-ImagesTcpServer::ImagesTcpServer(float hz, quint16 port, QObject * parent) :
+ImagesTcpServer::ImagesTcpServer(float hz, const QString & path, QObject * parent) :
 	QTcpServer(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 &)));

imagesTcpServer/ImagesTcpServer.h

@@ -16,7 +16,7 @@ class ImagesTcpServer : public QTcpServer
 	Q_OBJECT
 
 public:
-	ImagesTcpServer(float hz = 10.0f, quint16 port = 0, QObject * parent = 0);
+	ImagesTcpServer(float hz = 10.0f, const QString & path = "", QObject * parent = 0);
 
 	QHostAddress getHostAddress() const;
 	quint16 getPort() const;

imagesTcpServer/main.cpp

@@ -14,7 +14,8 @@ void showUsage()
 	printf("imagesTcpServer [options]\n"
 			"  Options:\n"
 			"    -hz #.#          Image rate (default 10 Hz).\n"
-			"    -p #             Set manually a port.\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");
 	exit(-1);
 }
 
@@ -23,6 +24,7 @@ int main(int argc, char * argv[])
 	QString ipAddress;
 	float hz = 10.0f;
 	quint16 port = 0;
+	QString path;
 
 	for(int i=1; i<argc; ++i)
 	{
@@ -63,14 +65,32 @@ int main(int argc, char * argv[])
 			}
 			continue;
 		}
+		if(strcmp(argv[i], "-path") == 0)
+		{
+			++i;
+			if(i < argc)
+			{
+				path = argv[i];
+			}
+			else
+			{
+				showUsage();
+			}
+			continue;
+		}
 
 		printf("Unrecognized option: %s\n", argv[i]);
 		showUsage();
 	}
 
+	if(!path.isEmpty())
+	{
+		printf("Using images from path \"%s\"\n", path.toStdString().c_str());
+	}
+
 	QCoreApplication app(argc, argv);
 
-	ImagesTcpServer server(hz, port);
+	ImagesTcpServer server(hz, path);
 
 	if (!server.listen(QHostAddress::Any, port))
 	{

src/Camera.cpp

@@ -21,8 +21,19 @@ CameraTcpClient::CameraTcpClient(QObject *parent) :
 
 cv::Mat CameraTcpClient::getImage()
 {
-	cv::Mat img = image_;
-	image_ = cv::Mat();
+	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;
 }
 
@@ -48,7 +59,12 @@ void CameraTcpClient::readReceivedData()
 
 	std::vector<unsigned char> buf(blockSize_);
 	in.readRawData((char*)buf.data(), blockSize_);
-	image_ = cv::imdecode(buf, cv::IMREAD_UNCHANGED);
+	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;
 }
 
@@ -161,16 +177,24 @@ void Camera::takeImage()
 	else
 	{
 		img = cameraTcpClient_.getImage();
+		if(cameraTcpClient_.imagesBuffered() > 0 && Settings::getCamera_9queueSize() == 0)
+		{
+			printf("[Warning] %d images buffered so far...\n", cameraTcpClient_.imagesBuffered());
+		}
 		while(img.empty() && cameraTcpClient_.waitForReadyRead())
 		{
 			img = cameraTcpClient_.getImage();
 		}
-		if(!cameraTcpClient_.waitForConnected())
+		if(img.empty())
 		{
-			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(!cameraTcpClient_.waitForConnected())
+			{
+				printf("Connection is lost, trying to reconnect to server (%s:%d)... (at the rate of the camera: %d ms)\n",
+						Settings::getCamera_7IP().toStdString().c_str(),
+						Settings::getCamera_8port(),
+						cameraTimer_.interval());
+				cameraTcpClient_.connectToHost(Settings::getCamera_7IP(), Settings::getCamera_8port());
+			}
 		}
 	}
 

src/Camera.h

@@ -17,7 +17,7 @@ class CameraTcpClient : public QTcpSocket
 public:
 	CameraTcpClient(QObject * parent = 0);
 	cv::Mat getImage();
-	bool isConnected() const {return connected_;}
+	int imagesBuffered() const {return images_.size();}
 
 private Q_SLOTS:
 	void readReceivedData();
@@ -26,8 +26,7 @@ private Q_SLOTS:
 
 private:
 	quint64 blockSize_;
-	cv::Mat image_;
-	bool connected_;
+	QVector<cv::Mat> images_;
 };
 
 class Camera : public QObject {

src/MainWindow.cpp

@@ -1047,6 +1047,11 @@ void MainWindow::startProcessing()
 				QMessageBox::critical(this, tr("Camera error"), tr("Camera initialization failed! (with device %1)").arg(Settings::getCamera_1deviceId()));
 			}
 		}
+		else if(Settings::getCamera_6useTcpCamera())
+		{
+			printf("%s\n", tr("Camera initialization failed! (with server %1:%2) Trying again in 1 second...").arg(Settings::getCamera_7IP()).arg(Settings::getCamera_8port()).toStdString().c_str());
+			QTimer::singleShot(1000, this, SLOT(startProcessing()));
+		}
 		else
 		{
 			printf("[ERROR] Camera initialization failed! (with device %d)\n", Settings::getCamera_1deviceId());

src/Settings.h

@@ -65,6 +65,7 @@ class Settings
 	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, 9queueSize, int, 1, "Maximum images buffered from TCP. If 0, all images are buffered.");
 
 	//List format : [Index:item0;item1;item3;...]
 	PARAMETER(Feature2D, 1Detector, QString, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK" , "Keypoint detector.");