Added tcpService tool to Add/Remove objects through TCP

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@420 620bd6b2-0a58-f614-fd9a-1bd335dccda9

app/main.cpp

@@ -509,6 +509,10 @@ int main(int argc, char* argv[])
 			QObject::connect(&camera, SIGNAL(imageReceived(const cv::Mat &)), findObject, SLOT(detect(const cv::Mat &)));
 			QObject::connect(&camera, SIGNAL(finished()), &app, SLOT(quit()));
 
+			//connect services
+			QObject::connect(&tcpServer, SIGNAL(addObject(const cv::Mat &, int, const QString &)), findObject, SLOT(addObjectAndUpdate(const cv::Mat &, int, const QString &)));
+			QObject::connect(&tcpServer, SIGNAL(removeObject(int)), findObject, SLOT(removeObjectAndUpdate(int)));
+
 			//use camera in settings
 			setupQuitSignal();
 
@@ -521,6 +525,16 @@ int main(int argc, char* argv[])
 			if(running)
 			{
 				app.exec();
+
+				if(!sessionPath.isEmpty() && findObject->isSessionModified())
+				{
+					UINFO("The session has been modified, updating the session file...");
+					if(findObject->saveSession(sessionPath))
+					{
+						UINFO("Session \"%s\" successfully saved (%d objects)!",
+								sessionPath.toStdString().c_str(), findObject->objects().size());
+					}
+				}
 			}
 
 			// cleanup

include/find_object/FindObject.h

@@ -66,7 +66,8 @@ public:
 	virtual ~FindObject();
 
 	bool loadSession(const QString & path);
-	bool saveSession(const QString & path) const;
+	bool saveSession(const QString & path);
+	bool isSessionModified() const {return sessionModified_;}
 
 	int loadObjects(const QString & dirPath); // call updateObjects()
 	const ObjSignature * addObject(const QString & filePath);
@@ -78,13 +79,15 @@ public:
 	bool detect(const cv::Mat & image, find_object::DetectionInfo & info);
 
 	void updateDetectorExtractor();
-	void updateObjects();
+	void updateObjects(const QList<int> & ids = QList<int>());
 	void updateVocabulary();
 
 	const QMap<int, ObjSignature*> & objects() const {return objects_;}
 	const Vocabulary * vocabulary() const {return vocabulary_;}
 
 public Q_SLOTS:
+	void addObjectAndUpdate(const cv::Mat & image, int id=0, const QString & filename = QString());
+	void removeObjectAndUpdate(int id);
 	void detect(const cv::Mat & image); // emit objectsFound()
 
 Q_SIGNALS:
@@ -100,6 +103,7 @@ private:
 	QMap<int, int> dataRange_; // <last id of object's descriptor, id>
 	KeypointDetector * detector_;
 	DescriptorExtractor * extractor_;
+	bool sessionModified_;
 };
 
 } // namespace find_object

include/find_object/MainWindow.h

@@ -90,12 +90,14 @@ private Q_SLOTS:
 	void addObjectFromScene();
 	void addObjectsFromFiles(const QStringList & fileNames);
 	void addObjectsFromFiles();
+	void addObjectFromTcp(const cv::Mat & image, int id, const QString & filePath);
 	void loadSceneFromFile(const QStringList & fileNames);
 	void loadSceneFromFile();
 	void setupCameraFromVideoFile();
 	void setupCameraFromImagesDirectory();
 	void setupCameraFromTcpIp();
 	void removeObject(find_object::ObjWidget * object);
+	void removeObject(int id);
 	void removeAllObjects();
 	void updateObjectsSize();
 	void updateMirrorView();
@@ -116,10 +118,11 @@ private:
 	int loadObjects(const QString & dirPath);
 	int saveObjects(const QString & dirPath);
 	void setupTCPServer();
-	bool addObjectFromFile(const QString & filePath);
+	int addObjectFromFile(const QString & filePath);
 	void showObject(find_object::ObjWidget * obj);
 	void updateObjectSize(find_object::ObjWidget * obj);
 	void updateVocabulary();
+	void updateObjects(const QList<int> & ids);
 
 private:
 	Ui_mainWindow * ui_;

include/find_object/TcpServer.h

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "find_object/FindObjectExp.h" // DLL export/import defines
 
 #include "find_object/DetectionInfo.h"
+#include <opencv2/opencv.hpp>
 
 #include <QtNetwork/QTcpServer>
 
@@ -42,6 +43,12 @@ class FINDOBJECT_EXP TcpServer : public QTcpServer
 {
 	Q_OBJECT
 
+public:
+	enum Service {
+		kAddObject,   // id fileName imageSize image
+		kRemoveObject // id
+	};
+
 public:
 	TcpServer(quint16 port = 0, QObject * parent = 0);
 
@@ -53,6 +60,16 @@ public Q_SLOTS:
 
 private Q_SLOTS:
 	void addClient();
+	void readReceivedData();
+	void displayError(QAbstractSocket::SocketError socketError);
+	void connectionLost();
+
+Q_SIGNALS:
+	void addObject(const cv::Mat &, int, const QString &);
+	void removeObject(int);
+
+private:
+	QMap<int, quint64> blockSizes_;
 };
 
 } // namespace find_object

src/FindObject.cpp

@@ -46,7 +46,8 @@ FindObject::FindObject(QObject * parent) :
 	QObject(parent),
 	vocabulary_(new Vocabulary()),
 	detector_(Settings::createKeypointDetector()),
-	extractor_(Settings::createDescriptorExtractor())
+	extractor_(Settings::createDescriptorExtractor()),
+	sessionModified_(false)
 {
 	qRegisterMetaType<find_object::DetectionInfo>("find_object::DetectionInfo");
 	UASSERT(detector_ != 0 && extractor_ != 0);
@@ -101,7 +102,7 @@ bool FindObject::loadSession(const QString & path)
 			// this will fill objectsDescriptors_ matrix
 			updateVocabulary();
 		}
-
+		sessionModified_ = false;
 		return true;
 	}
 	else
@@ -111,7 +112,7 @@ bool FindObject::loadSession(const QString & path)
 	return false;
 }
 
-bool FindObject::saveSession(const QString & path) const
+bool FindObject::saveSession(const QString & path)
 {
 	if(!path.isEmpty() && QFileInfo(path).suffix().compare("bin") == 0)
 	{
@@ -132,6 +133,7 @@ bool FindObject::saveSession(const QString & path) const
 		}
 
 		file.close();
+		sessionModified_ = false;
 		return true;
 	}
 	UERROR("Path \"%s\" not valid (should be *.bin)", path.toStdString().c_str());
@@ -243,6 +245,28 @@ void FindObject::removeAllObjects()
 	clearVocabulary();
 }
 
+void FindObject::addObjectAndUpdate(const cv::Mat & image, int id, const QString & filename)
+{
+	const ObjSignature * s = this->addObject(image, id, filename);
+	if(s)
+	{
+		QList<int> ids;
+		ids.push_back(s->id());
+		updateObjects(ids);
+		updateVocabulary();
+	}
+}
+
+void FindObject::removeObjectAndUpdate(int id)
+{
+	if(objects_.contains(id))
+	{
+		delete objects_.value(id);
+		objects_.remove(id);
+	}
+	updateVocabulary();
+}
+
 void FindObject::updateDetectorExtractor()
 {
 	delete detector_;
@@ -561,39 +585,63 @@ private:
 	int timeExtraction_;
 };
 
-void FindObject::updateObjects()
+void FindObject::updateObjects(const QList<int> & ids)
 {
-	if(objects_.size())
+	QList<ObjSignature*> objectsList;
+	if(ids.size())
 	{
+		for(int i=0; i<ids.size(); ++i)
+		{
+			if(objects_.contains(ids[i]))
+			{
+				objectsList.push_back(objects_[ids[i]]);
+			}
+			else
+			{
+				UERROR("Not found object %d!", ids[i]);
+			}
+		}
+	}
+	else
+	{
+		objectsList = objects_.values();
+	}
+
+	if(objectsList.size())
+	{
+		sessionModified_ = true;
 		int threadCounts = Settings::getGeneral_threads();
 		if(threadCounts == 0)
 		{
-			threadCounts = objects_.size();
+			threadCounts = objectsList.size();
 		}
 
 		QTime time;
 		time.start();
-		UINFO("Features extraction from %d objects...", objects_.size());
+
-		QList<ObjSignature*> objectsList = objects_.values();
+		if(objectsList.size())
-		for(int i=0; i<objectsList.size(); i+=threadCounts)
 		{
-			QVector<ExtractFeaturesThread*> threads;
+			UINFO("Features extraction from %d objects...", objectsList.size());
-			for(int k=i; k<i+threadCounts && k<objectsList.size(); ++k)
+			for(int i=0; i<objectsList.size(); i+=threadCounts)
 			{
-				threads.push_back(new ExtractFeaturesThread(detector_, extractor_, objectsList.at(k)->id(), objectsList.at(k)->image()));
+				QVector<ExtractFeaturesThread*> threads;
-				threads.back()->start();
+				for(int k=i; k<i+threadCounts && k<objectsList.size(); ++k)
-			}
+				{
-
+					threads.push_back(new ExtractFeaturesThread(detector_, extractor_, objectsList.at(k)->id(), objectsList.at(k)->image()));
-			for(int j=0; j<threads.size(); ++j)
+					threads.back()->start();
-			{
+				}
-				threads[j]->wait();
+
-
+				for(int j=0; j<threads.size(); ++j)
-				int id = threads[j]->objectId();
+				{
-
+					threads[j]->wait();
-				objects_.value(id)->setData(threads[j]->keypoints(), threads[j]->descriptors());
+
+					int id = threads[j]->objectId();
+
+					objects_.value(id)->setData(threads[j]->keypoints(), threads[j]->descriptors());
+				}
 			}
+			UINFO("Features extraction from %d objects... done! (%d ms)", objectsList.size(), time.elapsed());
 		}
-		UINFO("Features extraction from %d objects... done! (%d ms)", objects_.size(), time.elapsed());
 	}
 	else
 	{
@@ -667,6 +715,7 @@ void FindObject::updateVocabulary()
 
 			if(Settings::getGeneral_invertedSearch())
 			{
+				sessionModified_ = true;
 				QTime time;
 				time.start();
 				bool incremental = Settings::getGeneral_vocabularyIncremental();

src/MainWindow.cpp

@@ -311,6 +311,10 @@ void MainWindow::setupTCPServer()
 	ui_->label_ipAddress->setText(tcpServer_->getHostAddress().toString());
 	ui_->label_port->setNum(tcpServer_->getPort());
 	UINFO("Detection sent on port: %d (IP=%s)", tcpServer_->getPort(), tcpServer_->getHostAddress().toString().toStdString().c_str());
+
+	//connect services
+	connect(tcpServer_, SIGNAL(addObject(const cv::Mat &, int, const QString &)), this, SLOT(addObjectFromTcp(const cv::Mat &, int, const QString &)));
+	connect(tcpServer_, SIGNAL(removeObject(int)), this, SLOT(removeObject(int)));
 }
 
 void MainWindow::setSourceImageText(const QString & text)
@@ -459,7 +463,7 @@ bool MainWindow::saveSettings(const QString & path) const
 
 int MainWindow::loadObjects(const QString & dirPath)
 {
-	int loadedObjects = 0;
+	QList<int> loadedObjects;
 	QString formats = Settings::getGeneral_imageFormats().remove('*').remove('.');
 	UDirectory dir(dirPath.toStdString(), formats.toStdString());
 	if(dir.isValid())
@@ -467,17 +471,18 @@ int MainWindow::loadObjects(const QString & dirPath)
 		const std::list<std::string> & names = dir.getFileNames(); // sorted in natural order
 		for(std::list<std::string>::const_iterator iter=names.begin(); iter!=names.end(); ++iter)
 		{
-			if(this->addObjectFromFile((dirPath.toStdString()+dir.separator()+*iter).c_str()))
+			int id = this->addObjectFromFile((dirPath.toStdString()+dir.separator()+*iter).c_str());
+			if(id >= 0)
 			{
-				++loadedObjects;
+				loadedObjects.push_back(id);
 			}
 		}
-		if(loadedObjects)
+		if(loadedObjects.size())
 		{
-			this->updateObjects();
+			this->updateObjects(loadedObjects);
 		}
 	}
-	return loadedObjects;
+	return loadedObjects.size();
 }
 
 int MainWindow::saveObjects(const QString & dirPath)
@@ -560,6 +565,18 @@ void MainWindow::removeObject(find_object::ObjWidget * object)
 	}
 }
 
+void MainWindow::removeObject(int id)
+{
+	if(objWidgets_.contains(id))
+	{
+		removeObject(objWidgets_[id]);
+	}
+	else
+	{
+		UERROR("Remove object: Object %d not found!", id);
+	}
+}
+
 void MainWindow::removeAllObjects()
 {
 	qDeleteAll(objWidgets_);
@@ -677,12 +694,20 @@ void MainWindow::addObjectsFromFiles(const QStringList & fileNames)
 {
 	if(fileNames.size())
 	{
+		QList<int> ids;
 		for(int i=0; i<fileNames.size(); ++i)
 		{
-			this->addObjectFromFile(fileNames.at(i));
+			int id = this->addObjectFromFile(fileNames.at(i));
+			if(id >= 0)
+			{
+				ids.push_back(id);
+			}
+		}
+		if(ids.size())
+		{
+			objectsModified_ = true;
+			updateObjects(ids);
 		}
-		objectsModified_ = true;
-		updateObjects();
 	}
 }
 
@@ -691,7 +716,7 @@ void MainWindow::addObjectsFromFiles()
 	addObjectsFromFiles(QFileDialog::getOpenFileNames(this, tr("Add objects..."), Settings::workingDirectory(), tr("Image Files (%1)").arg(Settings::getGeneral_imageFormats())));
 }
 
-bool MainWindow::addObjectFromFile(const QString & filePath)
+int MainWindow::addObjectFromFile(const QString & filePath)
 {
 	const ObjSignature * s = findObject_->addObject(filePath);
 	if(s)
@@ -701,12 +726,36 @@ bool MainWindow::addObjectFromFile(const QString & filePath)
 		ui_->actionSave_objects->setEnabled(true);
 		ui_->actionSave_session->setEnabled(true);
 		this->showObject(obj);
-		return true;
+		return s->id();
 	}
 	else
 	{
 		QMessageBox::critical(this, tr("Error adding object"), tr("Failed to add object from \"%1\"").arg(filePath));
-		return false;
+		return -1;
+	}
+}
+
+void MainWindow::addObjectFromTcp(const cv::Mat & image, int id, const QString & filePath)
+{
+	if(objWidgets_.contains(id))
+	{
+		UERROR("Add Object: Object %d is already added.", id);
+	}
+	const ObjSignature * s = findObject_->addObject(image, id, filePath);
+	if(s)
+	{
+		ObjWidget * obj = new ObjWidget(s->id(), std::vector<cv::KeyPoint>(), cvtCvMat2QImage(s->image()));
+		objWidgets_.insert(obj->id(), obj);
+		ui_->actionSave_objects->setEnabled(true);
+		ui_->actionSave_session->setEnabled(true);
+		this->showObject(obj);
+		QList<int> ids;
+		ids.push_back(obj->id());
+		updateObjects(ids);
+	}
+	else
+	{
+		UERROR("Add Object: Error adding object %d.", id);
 	}
 }
 
@@ -883,30 +932,41 @@ void MainWindow::showObject(ObjWidget * obj)
 	}
 }
 
+void MainWindow::updateObjects(const QList<int> & ids)
+{
+	if(ids.size())
+	{
+		this->statusBar()->showMessage(tr("Updating %1 objects...").arg(ids.size()));
+		QApplication::processEvents();
+
+		findObject_->updateObjects(ids);
+
+		updateVocabulary();
+
+		QList<ObjSignature*> signatures = findObject_->objects().values();
+		for(int i=0; i<signatures.size(); ++i)
+		{
+			if(ids.contains(signatures[i]->id()))
+			{
+				objWidgets_.value(signatures[i]->id())->setData(signatures[i]->keypoints(), cvtCvMat2QImage(signatures[i]->image()));
+
+				//update object labels
+				QLabel * title = qFindChild<QLabel*>(this, QString("%1title").arg(signatures[i]->id()));
+				title->setText(QString("%1 (%2)").arg(signatures[i]->id()).arg(QString::number(signatures[i]->keypoints().size())));
+			}
+		}
+
+		if(!camera_->isRunning() && !sceneImage_.empty())
+		{
+			this->update(sceneImage_);
+		}
+		this->statusBar()->clearMessage();
+	}
+}
+
 void MainWindow::updateObjects()
 {
-	this->statusBar()->showMessage(tr("Updating %1 objects...").arg(findObject_->objects().size()));
+	updateObjects(objWidgets_.keys());
-	QApplication::processEvents();
-
-	findObject_->updateObjects();
-
-	updateVocabulary();
-
-	QList<ObjSignature*> signatures = findObject_->objects().values();
-	for(int i=0; i<signatures.size(); ++i)
-	{
-		objWidgets_.value(signatures[i]->id())->setData(signatures[i]->keypoints(), cvtCvMat2QImage(signatures[i]->image()));
-
-		//update object labels
-		QLabel * title = qFindChild<QLabel*>(this, QString("%1title").arg(signatures[i]->id()));
-		title->setText(QString("%1 (%2)").arg(signatures[i]->id()).arg(QString::number(signatures[i]->keypoints().size())));
-	}
-
-	if(!camera_->isRunning() && !sceneImage_.empty())
-	{
-		this->update(sceneImage_);
-	}
-	this->statusBar()->clearMessage();
 }
 
 void MainWindow::updateVocabulary()
@@ -1374,7 +1434,7 @@ void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
 	{
 		if(detectorDescriptorParamsChanged)
 		{
-			this->updateObjects();
+			this->updateObjects(objWidgets_.keys());
 		}
 		else if(nearestNeighborParamsChanged)
 		{

src/TcpServer.cpp

@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtNetwork/QNetworkInterface>
 #include <QtNetwork/QTcpSocket>
 #include <QtGui/QTransform>
+#include <opencv2/highgui/highgui.hpp>
 
 namespace find_object {
 
@@ -98,8 +99,101 @@ void TcpServer::publishDetectionInfo(const DetectionInfo & info)
 
 void TcpServer::addClient()
 {
-	QTcpSocket * client = this->nextPendingConnection();
+	while(this->hasPendingConnections())
-	connect(client, SIGNAL(disconnected()), client, SLOT(deleteLater()));
+	{
+		QTcpSocket * client =  this->nextPendingConnection();
+		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 TcpServer::readReceivedData()
+{
+	QTcpSocket * client = (QTcpSocket*)sender();
+	QDataStream in(client);
+	in.setVersion(QDataStream::Qt_4_0);
+
+	if (blockSizes_.value(client->socketDescriptor(), 0) == 0)
+	{
+		if (client->bytesAvailable() < (int)sizeof(quint64))
+		{
+			return;
+		}
+
+		in >> blockSizes_[client->socketDescriptor()];
+	}
+
+	if (client->bytesAvailable() < (int)blockSizes_[client->socketDescriptor()])
+	{
+		return;
+	}
+
+	quint32 serviceType;
+	in >> serviceType;
+
+	bool ok = true;
+	if(serviceType == kAddObject)
+	{
+		int id;
+		in >> id;
+		QString fileName;
+		in >> fileName;
+		quint64 imageSize;
+		in >> imageSize;
+		std::vector<unsigned char> buf(imageSize);
+		in.readRawData((char*)buf.data(), imageSize);
+		cv::Mat image = cv::imdecode(buf, cv::IMREAD_UNCHANGED);
+
+		UINFO("TCP service: Add %d \"%s\"", id, fileName.toStdString().c_str());
+		Q_EMIT addObject(image, id, fileName);
+	}
+	else if(serviceType == kRemoveObject)
+	{
+		int id;
+		in >> id;
+
+		UINFO("TCP service: Remove %d", id);
+		Q_EMIT removeObject(id);
+	}
+	else
+	{
+		UERROR("Unknown service type called %d", serviceType);
+		ok = false;
+	}
+
+	blockSizes_.remove(client->socketDescriptor());
+	client->write(QByteArray(ok?"1":"0")); // send acknowledge
+}
+
+void TcpServer::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 TcpServer::connectionLost()
+{
+	//printf("[WARNING] CameraTcp: Connection lost!\n");
+	blockSizes_.remove(((QTcpSocket*)sender())->socketDescriptor());
+	((QTcpSocket*)sender())->close();
+	sender()->deleteLater();
 }
 
 } // namespace find_object

tools/CMakeLists.txt

@@ -1,4 +1,5 @@
 ADD_SUBDIRECTORY( tcpClient )
 ADD_SUBDIRECTORY( tcpImagesServer )
 ADD_SUBDIRECTORY( tcpRequest )
+ADD_SUBDIRECTORY( tcpService )
 ADD_SUBDIRECTORY( similarity )

tools/tcpService/CMakeLists.txt

@@ -0,0 +1,33 @@
+
+SET(SRC_FILES
+    main.cpp 
+)
+
+SET(INCLUDE_DIRS
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../include
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${OpenCV_INCLUDE_DIRS}
+)
+
+INCLUDE(${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(tcpService ${SRC_FILES})
+TARGET_LINK_LIBRARIES(tcpService find_object ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( tcpService 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-tcpService)
+  
+INSTALL(TARGETS tcpService
+        RUNTIME DESTINATION bin COMPONENT runtime
+        BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
+

tools/tcpService/main.cpp

@@ -0,0 +1,208 @@
+/*
+Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <QtNetwork/QNetworkInterface>
+#include <QtNetwork/QTcpSocket>
+#include <QtCore/QCoreApplication>
+#include <QtCore/QFile>
+#include <QtCore/QFileInfo>
+#include <QtCore/QTime>
+#include <opencv2/opencv.hpp>
+#include <find_object/TcpServer.h>
+
+void showUsage()
+{
+	printf("\ntcpService [options] port\n"
+			"  Options:\n"
+			"    --add \"image.png\" #  Add object (file name + id). Set id=0 "
+			"                           will make the server generating an id.\n"
+			"    --remove #             Remove object by ID.\n"
+			"    --host #.#.#.#         Set host address.\n"
+			"    --help                 Show this help.\n"
+			"  Examples:\n"
+			"     Add:    $ tcpService --add image.png 1 --host 127.0.0.1 4000\n"
+			"     Remove: $ tcpService --remove 1 --host 127.0.0.1 4000\n");
+	exit(-1);
+}
+
+int main(int argc, char * argv[])
+{
+	QString ipAddress;
+	QString fileName;
+	int addId = 0;
+	int removeId = -1;
+	quint16 port = 0;
+
+	for(int i=1; i<argc-1; ++i)
+	{
+		if(strcmp(argv[i], "--host") == 0 || strcmp(argv[i], "-host") == 0)
+		{
+			++i;
+			if(i < argc)
+			{
+				ipAddress = argv[i];
+			}
+			else
+			{
+				printf("error parsing --host\n");
+				showUsage();
+			}
+			continue;
+		}
+		if(strcmp(argv[i], "--add") == 0 || strcmp(argv[i], "-add") == 0)
+		{
+			++i;
+			if(i < argc-1)
+			{
+				fileName = argv[i];
+				++i;
+				if(i < argc)
+				{
+					addId = atoi(argv[i]);
+				}
+				else
+				{
+					printf("error parsing --add\n");
+				}
+			}
+			else
+			{
+				printf("error parsing --add\n");
+				showUsage();
+			}
+			continue;
+		}
+		if(strcmp(argv[i], "--remove") == 0 || strcmp(argv[i], "-remove") == 0)
+		{
+			++i;
+			if(i < argc)
+			{
+				removeId = std::atoi(argv[i]);
+			}
+			else
+			{
+				printf("error parsing --remove\n");
+				showUsage();
+			}
+			continue;
+		}
+		if(strcmp(argv[i], "-help") == 0 ||
+		   strcmp(argv[i], "--help") == 0)
+		{
+			showUsage();
+		}
+
+		printf("Unrecognized option: %s\n", argv[i]);
+		showUsage();
+	}
+
+	port = atoi(argv[argc-1]);
+
+	if(fileName.isEmpty() && removeId == -1)
+	{
+		printf("Arguments --add or --remove should be set.\n");
+		showUsage();
+	}
+	else if(port <=0)
+	{
+		printf("Port should be set!\n");
+		showUsage();
+	}
+
+	if(ipAddress.isEmpty())
+	{
+		ipAddress = QHostAddress(QHostAddress::LocalHost).toString();
+	}
+
+	cv::Mat image;
+	if(!fileName.isEmpty())
+	{
+		image = cv::imread(fileName.toStdString());
+		if(image.empty())
+		{
+			printf("Cannot read image from \"%s\".\n", fileName.toStdString().c_str());
+			showUsage();
+		}
+		fileName = QFileInfo(fileName).fileName();
+	}
+
+	QCoreApplication app(argc, argv);
+	QTcpSocket request;
+
+	QObject::connect(&request, SIGNAL(disconnected()), &app, SLOT(quit()));
+	QObject::connect(&request, SIGNAL(error(QAbstractSocket::SocketError)), &app, SLOT(quit()));
+	QObject::connect(&request, SIGNAL(bytesWritten(quint64)), &app, SLOT(quit()));
+
+	printf("Connecting to \"%s:%d\"...\n", ipAddress.toStdString().c_str(), port);
+	request.connectToHost(ipAddress, port);
+
+	if(!request.waitForConnected())
+	{
+		printf("Connecting to \"%s:%d\"... connection failed!\n", ipAddress.toStdString().c_str(), port);
+		return -1;
+	}
+	else
+	{
+		printf("Connecting to \"%s:%d\"... connected!\n", ipAddress.toStdString().c_str(), port);
+	}
+
+	QByteArray block;
+	QDataStream out(&block, QIODevice::WriteOnly);
+	out.setVersion(QDataStream::Qt_4_0);
+	out << (quint64)0;
+
+	if(!image.empty())
+	{
+		// publish image
+		std::vector<unsigned char> buf;
+		cv::imencode(".png", image, buf);
+
+		out << (quint32)find_object::TcpServer::kAddObject;
+		out << addId;
+		out << fileName;
+		quint64 imageSize = buf.size();
+		out << imageSize;
+		out.writeRawData((char*)buf.data(), (int)buf.size());
+		printf("Add object %d \"%s\"\n", addId, fileName.toStdString().c_str());
+	}
+	else if(removeId)
+	{
+		out << (quint32)find_object::TcpServer::kRemoveObject;
+		out << removeId;
+		printf("Remove object %d\n", removeId);
+	}
+
+	out.device()->seek(0);
+	out << (quint64)(block.size() - sizeof(quint64));
+
+	qint64 bytes = request.write(block);
+	printf("Service published (%d bytes)!\n", (int)bytes);
+	request.waitForReadyRead();
+
+	return 0;
+}
+