Added TcpRequest tool (ask a running find_object to process an image and wait results over TCP)
Refactored CameraTcpClient to CameraTcpServer (to send images we connect to find_object, instead of connecting find_object to an image server), removed parameter CameraIP (missing files) git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@365 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe
parent
167aeee4bc
commit
e37d64a3f3
54
tools/tcpRequest/CMakeLists.txt
Normal file
54
tools/tcpRequest/CMakeLists.txt
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@ -0,0 +1,54 @@
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### Qt Gui stuff ###
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SET(headers_ui
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TcpResponse.h
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)
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#This will generate moc_* for Qt
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QT4_WRAP_CPP(moc_srcs ${headers_ui})
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### Qt Gui stuff end###
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SET(SRC_FILES
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TcpResponse.cpp
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main.cpp
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${moc_srcs}
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)
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SET(INCLUDE_DIRS
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${CMAKE_CURRENT_SOURCE_DIR}/../../include
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${CMAKE_CURRENT_SOURCE_DIR}
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${OpenCV_INCLUDE_DIRS}
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)
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INCLUDE(${QT_USE_FILE})
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SET(LIBRARIES
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${OpenCV_LIBS}
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${QT_LIBRARIES}
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)
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IF(JSONCPP_FOUND)
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SET(INCLUDE_DIRS
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${INCLUDE_DIRS}
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${JSONCPP_INCLUDE_DIRS}
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)
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SET(LIBRARIES
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${LIBRARIES}
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${JSONCPP_LIBRARIES}
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)
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ADD_DEFINITIONS("-DWITH_JSONCPP")
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ENDIF(JSONCPP_FOUND)
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# Make sure the compiler can find include files from our library.
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INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
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# Add binary called "example" that is built from the source file "main.cpp".
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# The extension is automatically found.
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ADD_EXECUTABLE(tcpRequest ${SRC_FILES})
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TARGET_LINK_LIBRARIES(tcpRequest find_object ${LIBRARIES})
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SET_TARGET_PROPERTIES( tcpRequest
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PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-tcpRequest)
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INSTALL(TARGETS tcpRequest
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RUNTIME DESTINATION bin COMPONENT runtime
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BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
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96
tools/tcpRequest/TcpResponse.cpp
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96
tools/tcpRequest/TcpResponse.cpp
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/*
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* TcpResponse.cpp
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*
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* Created on: 2014-05-05
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* Author: mathieu
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*/
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#include "TcpResponse.h"
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#include <opencv2/opencv.hpp>
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#include <QtGui/QTransform>
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#include <QtCore/QPointF>
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#include <QtCore/QTime>
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TcpResponse::TcpResponse(QObject *parent) :
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QTcpSocket(parent),
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blockSize_(0),
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dataReceived_(false)
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{
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connect(this, SIGNAL(readyRead()), this, SLOT(readReceivedData()));
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connect(this, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(displayError(QAbstractSocket::SocketError)));
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connect(this, SIGNAL(disconnected()), this, SLOT(connectionLost()));
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}
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void TcpResponse::readReceivedData()
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{
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QDataStream in(this);
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in.setVersion(QDataStream::Qt_4_0);
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if (blockSize_ == 0)
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{
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if (this->bytesAvailable() < (int)sizeof(quint16))
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{
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return;
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}
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in >> blockSize_;
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}
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if (this->bytesAvailable() < blockSize_)
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{
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return;
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}
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blockSize_ = 0;
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QVector<float> data;
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in >> data;
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objectsDetected_.clear();
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for(int i=0; i<data.size(); i+=12)
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{
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// get data
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int id = (int)data[i];
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float width = data[i+1];
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float height = data[i+2];
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// Find corners Qt
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QTransform homography(data[i+3], data[i+4], data[i+5],
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data[i+6], data[i+7], data[i+8],
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data[i+9], data[i+10], data[i+11]);
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objectsDetected_.insert(id, QPair<QRect, QTransform>(QRect(0,0,width, height), homography));
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}
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dataReceived_ = true;
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Q_EMIT detectionReceived();
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}
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void TcpResponse::displayError(QAbstractSocket::SocketError socketError)
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{
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switch (socketError)
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{
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case QAbstractSocket::RemoteHostClosedError:
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break;
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case QAbstractSocket::HostNotFoundError:
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printf("Tcp error: The host was not found. Please "
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"check the host name and port settings.\n");
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break;
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case QAbstractSocket::ConnectionRefusedError:
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printf("The connection was refused by the peer. "
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"Make sure Find-Object is running, "
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"and check that the host name and port "
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"settings are correct.\n");
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break;
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default:
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printf("The following error occurred: %s.\n", this->errorString().toStdString().c_str());
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break;
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}
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}
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void TcpResponse::connectionLost()
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{
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printf("Connection lost!\n");
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}
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38
tools/tcpRequest/TcpResponse.h
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38
tools/tcpRequest/TcpResponse.h
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@ -0,0 +1,38 @@
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/*
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* TCPResponse.h
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*
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* Created on: 2014-05-05
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* Author: mathieu
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*/
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#ifndef TCPRESPONSE_H_
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#define TCPRESPONSE_H_
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#include <QtNetwork/QTcpSocket>
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#include <QtCore/QMultiMap>
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#include <QtGui/QTransform>
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#include <QtCore/QRect>
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class TcpResponse : public QTcpSocket
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{
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Q_OBJECT;
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public:
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TcpResponse(QObject * parent = 0);
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const QMultiMap<int, QPair<QRect, QTransform> > & objectsDetected() const {return objectsDetected_;}
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bool dataReceived() const {return dataReceived_;}
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private Q_SLOTS:
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void readReceivedData();
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void displayError(QAbstractSocket::SocketError socketError);
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void connectionLost();
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Q_SIGNALS:
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void detectionReceived();
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private:
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quint16 blockSize_;
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QMultiMap<int, QPair<QRect, QTransform> > objectsDetected_;
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bool dataReceived_;
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};
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#endif /* TCPCLIENT_H_ */
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278
tools/tcpRequest/main.cpp
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278
tools/tcpRequest/main.cpp
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@ -0,0 +1,278 @@
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/*
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* main.cpp
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*
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* Created on: 2014-05-05
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* Author: mathieu
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*/
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#include <QtNetwork/QNetworkInterface>
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#include <QtCore/QCoreApplication>
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#include <QtCore/QFile>
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#include <QtCore/QTime>
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#include <opencv2/opencv.hpp>
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#include "TcpResponse.h"
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#ifdef WITH_JSONCPP
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#include <jsoncpp/json/writer.h>
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#endif
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void showUsage()
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{
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printf("\ntcpRequest [options] --scene image.png --out # --in #\n"
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" \"out\" is the port to which the image is sent.\n"
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" \"in\" is the port from which the detection is received.\n"
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" Options:\n"
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" --host #.#.#.# Set host address.\n"
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#ifdef WITH_JSONCPP
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" --json \"path\" Path to an output JSON file.\n"
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#endif
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);
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exit(-1);
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}
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void writeJSON(const QMultiMap<int, QPair<QRect, QTransform> > & objectsDetected, const QString & path)
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{
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#ifdef WITH_JSONCPP
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if(!path.isEmpty())
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{
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Json::Value root;
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Json::Value detections;
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if(objectsDetected.size())
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{
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for(QMultiMap<int,QPair<QRect,QTransform> >::const_iterator iter = objectsDetected.constBegin();
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iter!= objectsDetected.end();)
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{
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char index = 'a';
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QMultiMap<int,QPair<QRect,QTransform> >::const_iterator jter = iter;
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for(;jter != objectsDetected.constEnd() && jter.key() == iter.key(); ++jter)
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{
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QString name = QString("object_%1%2").arg(jter.key()).arg(objectsDetected.count(jter.key())>1?QString(index++):"");
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detections.append(name.toStdString());
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Json::Value homography;
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homography.append(jter.value().second.m11());
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homography.append(jter.value().second.m12());
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homography.append(jter.value().second.m13());
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homography.append(jter.value().second.m21());
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homography.append(jter.value().second.m22());
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homography.append(jter.value().second.m23());
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homography.append(jter.value().second.m31()); // dx
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homography.append(jter.value().second.m32()); // dy
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homography.append(jter.value().second.m33());
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root[name.toStdString()]["width"] = jter.value().first.width();
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root[name.toStdString()]["height"] = jter.value().first.height();
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root[name.toStdString()]["homography"] = homography;
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}
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iter = jter;
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}
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}
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root["objects"] = detections;
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// write in a nice readible way
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Json::StyledWriter styledWriter;
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//std::cout << styledWriter.write(root);
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QFile file(path);
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file.open(QIODevice::WriteOnly | QIODevice::Text);
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QTextStream out(&file);
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out << styledWriter.write(root).c_str();
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file.close();
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printf("JSON written to \"%s\"\n", path.toStdString().c_str());
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}
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#else
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printf("Not built with JSON support!\n");
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#endif
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}
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int main(int argc, char * argv[])
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{
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QString ipAddress;
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QString scenePath;
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QString jsonPath;
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quint16 portOut = 0;
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quint16 portIn = 0;
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for(int i=1; i<argc; ++i)
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{
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if(strcmp(argv[i], "--host") == 0 || strcmp(argv[i], "-host") == 0)
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{
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++i;
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if(i < argc)
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{
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ipAddress = argv[i];
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}
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else
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{
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printf("error parsing --host\n");
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showUsage();
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}
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continue;
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}
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if(strcmp(argv[i], "--scene") == 0 || strcmp(argv[i], "-scene") == 0)
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{
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++i;
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if(i < argc)
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{
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scenePath = argv[i];
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}
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else
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{
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printf("error parsing --scene\n");
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showUsage();
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}
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continue;
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}
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if(strcmp(argv[i], "--json") == 0 || strcmp(argv[i], "-json") == 0)
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{
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++i;
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if(i < argc)
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{
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jsonPath = argv[i];
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}
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else
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{
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printf("error parsing --json\n");
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showUsage();
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}
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continue;
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}
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if(strcmp(argv[i], "--out") == 0 || strcmp(argv[i], "-out") == 0)
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{
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++i;
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if(i < argc)
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{
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portOut = std::atoi(argv[i]);
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}
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else
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{
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printf("error parsing --out\n");
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showUsage();
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}
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continue;
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}
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if(strcmp(argv[i], "--in") == 0 || strcmp(argv[i], "-in") == 0)
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{
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++i;
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if(i < argc)
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{
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portIn = std::atoi(argv[i]);
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}
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else
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{
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printf("error parsing --in\n");
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showUsage();
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}
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continue;
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}
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printf("Unrecognized option: %s\n", argv[i]);
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showUsage();
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}
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if(portOut == 0)
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{
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printf("Argument --out should be set.\n");
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showUsage();
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}
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else if(portIn == 0)
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{
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printf("Argument --in should be set.\n");
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}
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else if(scenePath.isEmpty())
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{
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printf("Argument --scene should be set.\n");
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}
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if(ipAddress.isEmpty())
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{
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ipAddress = QHostAddress(QHostAddress::LocalHost).toString();
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}
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cv::Mat image = cv::imread(scenePath.toStdString());
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if(image.empty())
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{
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printf("Cannot read image from \"%s\".\n", scenePath.toStdString().c_str());
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showUsage();
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}
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QCoreApplication app(argc, argv);
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QTcpSocket request;
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TcpResponse response;
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QObject::connect(&response, SIGNAL(detectionReceived()), &app, SLOT(quit()));
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QObject::connect(&response, SIGNAL(disconnected()), &app, SLOT(quit()));
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request.connectToHost(ipAddress, portOut);
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response.connectToHost(ipAddress, portIn);
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if(!request.waitForConnected())
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{
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printf("ERROR: Unable to connect to %s:%d\n", ipAddress.toStdString().c_str(), portOut);
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return -1;
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}
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if(!response.waitForConnected())
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{
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printf("ERROR: Unable to connect to %s:%d\n", ipAddress.toStdString().c_str(), portIn);
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return -1;
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}
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// publish image
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std::vector<unsigned char> buf;
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cv::imencode(".png", image, buf);
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QByteArray block;
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QDataStream out(&block, QIODevice::WriteOnly);
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out.setVersion(QDataStream::Qt_4_0);
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out << (quint64)0;
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out.writeRawData((char*)buf.data(), (int)buf.size());
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out.device()->seek(0);
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out << (quint64)(block.size() - sizeof(quint64));
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request.write(block);
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printf("Image published, waiting for response...\n");
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QTime time;
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time.start();
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// wait for response
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app.exec();
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if(response.dataReceived())
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{
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printf("Response received! (%d ms)\n", time.elapsed());
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// print detected objects
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if(response.objectsDetected().size())
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{
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QList<int> ids = response.objectsDetected().uniqueKeys();
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for(int i=0; i<ids.size(); ++i)
|
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{
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int count = response.objectsDetected().count(ids[i]);
|
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if(count == 1)
|
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{
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printf("Object %d detected.\n", ids[i]);
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}
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else
|
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{
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printf("Object %d detected %d times.\n", ids[i], count);
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}
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}
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||||
}
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else
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{
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printf("No objects detected.\n");
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}
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// write json
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if(!jsonPath.isEmpty())
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{
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writeJSON(response.objectsDetected(), jsonPath);
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}
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}
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else
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{
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printf("Failed to receive a response...\n");
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}
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return 0;
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||||
}
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Loading…
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Block a user