Added DetectionInfo object for easier serialization/deserialization of the detection results.
Added filename property in json files Added JsonWritter class for convenience git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@369 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe
@@ -0,0 +1,40 @@
|
||||
### Qt Gui stuff ###
|
||||
SET(headers_ui
|
||||
TcpClient.h
|
||||
)
|
||||
#This will generate moc_* for Qt
|
||||
QT4_WRAP_CPP(moc_srcs ${headers_ui})
|
||||
### Qt Gui stuff end###
|
||||
|
||||
SET(SRC_FILES
|
||||
TcpClient.cpp
|
||||
main.cpp
|
||||
${moc_srcs}
|
||||
)
|
||||
|
||||
SET(INCLUDE_DIRS
|
||||
${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(tcpObjectsClient ${SRC_FILES})
|
||||
TARGET_LINK_LIBRARIES(tcpObjectsClient ${LIBRARIES})
|
||||
|
||||
SET_TARGET_PROPERTIES( tcpObjectsClient
|
||||
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-tcpObjectsClient)
|
||||
|
||||
INSTALL(TARGETS tcpObjectsClient
|
||||
RUNTIME DESTINATION bin COMPONENT runtime
|
||||
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
|
||||
@@ -0,0 +1,141 @@
|
||||
/*
|
||||
* TCPClient.cpp
|
||||
*
|
||||
* Created on: 2014-05-05
|
||||
* Author: mathieu
|
||||
*/
|
||||
|
||||
#include "TcpClient.h"
|
||||
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <QtGui/QTransform>
|
||||
#include <QtCore/QPointF>
|
||||
#include <QtCore/QTime>
|
||||
|
||||
TcpClient::TcpClient(QObject *parent) :
|
||||
QTcpSocket(parent),
|
||||
blockSize_(0)
|
||||
{
|
||||
connect(this, SIGNAL(readyRead()), this, SLOT(readReceivedData()));
|
||||
connect(this, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(displayError(QAbstractSocket::SocketError)));
|
||||
connect(this, SIGNAL(disconnected()), this, SLOT(connectionLost()));
|
||||
}
|
||||
|
||||
void TcpClient::readReceivedData()
|
||||
{
|
||||
QDataStream in(this);
|
||||
in.setVersion(QDataStream::Qt_4_0);
|
||||
|
||||
if (blockSize_ == 0)
|
||||
{
|
||||
if (this->bytesAvailable() < (int)sizeof(quint16))
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
in >> blockSize_;
|
||||
}
|
||||
|
||||
if (this->bytesAvailable() < blockSize_)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
blockSize_ = 0;
|
||||
|
||||
QVector<float> data;
|
||||
in >> data;
|
||||
|
||||
printf("---\n");
|
||||
if(data.size() == 0)
|
||||
{
|
||||
printf("(%s) No objects detected.\n",
|
||||
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str());
|
||||
}
|
||||
else
|
||||
{
|
||||
for(int i=0; i<data.size(); i+=12)
|
||||
{
|
||||
// get data
|
||||
int id = (int)data[i];
|
||||
float objectWidth = data[i+1];
|
||||
float objectHeight = data[i+2];
|
||||
|
||||
// Find corners Qt
|
||||
QTransform qtHomography(data[i+3], data[i+4], data[i+5],
|
||||
data[i+6], data[i+7], data[i+8],
|
||||
data[i+9], data[i+10], data[i+11]);
|
||||
|
||||
QPointF qtTopLeft = qtHomography.map(QPointF(0,0));
|
||||
QPointF qtTopRight = qtHomography.map(QPointF(objectWidth,0));
|
||||
QPointF qtBottomLeft = qtHomography.map(QPointF(0,objectHeight));
|
||||
QPointF qtBottomRight = qtHomography.map(QPointF(objectWidth,objectHeight));
|
||||
|
||||
printf("(%s) Object %d detected, Qt corners at (%f,%f) (%f,%f) (%f,%f) (%f,%f)\n",
|
||||
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
|
||||
id,
|
||||
qtTopLeft.x(), qtTopLeft.y(),
|
||||
qtTopRight.x(), qtTopRight.y(),
|
||||
qtBottomLeft.x(), qtBottomLeft.y(),
|
||||
qtBottomRight.x(), qtBottomRight.y());
|
||||
|
||||
// Example with OpenCV
|
||||
if(0)
|
||||
{
|
||||
// Find corners OpenCV
|
||||
cv::Mat cvHomography(3, 3, CV_32F);
|
||||
cvHomography.at<float>(0,0) = data[i+3];
|
||||
cvHomography.at<float>(1,0) = data[i+4];
|
||||
cvHomography.at<float>(2,0) = data[i+5];
|
||||
cvHomography.at<float>(0,1) = data[i+6];
|
||||
cvHomography.at<float>(1,1) = data[i+7];
|
||||
cvHomography.at<float>(2,1) = data[i+8];
|
||||
cvHomography.at<float>(0,2) = data[i+9];
|
||||
cvHomography.at<float>(1,2) = data[i+10];
|
||||
cvHomography.at<float>(2,2) = data[i+11];
|
||||
std::vector<cv::Point2f> inPts, outPts;
|
||||
inPts.push_back(cv::Point2f(0,0));
|
||||
inPts.push_back(cv::Point2f(objectWidth,0));
|
||||
inPts.push_back(cv::Point2f(0,objectHeight));
|
||||
inPts.push_back(cv::Point2f(objectWidth,objectHeight));
|
||||
cv::perspectiveTransform(inPts, outPts, cvHomography);
|
||||
|
||||
printf("(%s) Object %d detected, CV corners at (%f,%f) (%f,%f) (%f,%f) (%f,%f)\n",
|
||||
QTime::currentTime().toString("HH:mm:ss.zzz").toStdString().c_str(),
|
||||
id,
|
||||
outPts.at(0).x, outPts.at(0).y,
|
||||
outPts.at(1).x, outPts.at(1).y,
|
||||
outPts.at(2).x, outPts.at(2).y,
|
||||
outPts.at(3).x, outPts.at(3).y);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void TcpClient::displayError(QAbstractSocket::SocketError socketError)
|
||||
{
|
||||
switch (socketError)
|
||||
{
|
||||
case QAbstractSocket::RemoteHostClosedError:
|
||||
break;
|
||||
case QAbstractSocket::HostNotFoundError:
|
||||
printf("Tcp error: The host was not found. Please "
|
||||
"check the host name and port settings.\n");
|
||||
break;
|
||||
case QAbstractSocket::ConnectionRefusedError:
|
||||
printf("The connection was refused by the peer. "
|
||||
"Make sure Find-Object 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 TcpClient::connectionLost()
|
||||
{
|
||||
printf("Connection lost!\n");
|
||||
}
|
||||
|
||||
@@ -0,0 +1,28 @@
|
||||
/*
|
||||
* TCPClient.h
|
||||
*
|
||||
* Created on: 2014-05-05
|
||||
* Author: mathieu
|
||||
*/
|
||||
|
||||
#ifndef TCPCLIENT_H_
|
||||
#define TCPCLIENT_H_
|
||||
|
||||
#include <QtNetwork/QTcpSocket>
|
||||
|
||||
class TcpClient : public QTcpSocket
|
||||
{
|
||||
Q_OBJECT;
|
||||
public:
|
||||
TcpClient(QObject * parent = 0);
|
||||
|
||||
private Q_SLOTS:
|
||||
void readReceivedData();
|
||||
void displayError(QAbstractSocket::SocketError socketError);
|
||||
void connectionLost();
|
||||
|
||||
private:
|
||||
quint16 blockSize_;
|
||||
};
|
||||
|
||||
#endif /* TCPCLIENT_H_ */
|
||||
@@ -0,0 +1,63 @@
|
||||
/*
|
||||
* main.cpp
|
||||
*
|
||||
* Created on: 2014-05-05
|
||||
* Author: mathieu
|
||||
*/
|
||||
|
||||
#include <QtNetwork/QNetworkInterface>
|
||||
#include <QtCore/QCoreApplication>
|
||||
#include "TcpClient.h"
|
||||
|
||||
void showUsage()
|
||||
{
|
||||
printf("\ntcpObjectsClient [hostname] port\n");
|
||||
exit(-1);
|
||||
}
|
||||
|
||||
int main(int argc, char * argv[])
|
||||
{
|
||||
if(argc < 2 || argc > 3)
|
||||
{
|
||||
showUsage();
|
||||
}
|
||||
|
||||
QString ipAddress;
|
||||
quint16 port = 0;
|
||||
|
||||
if(argc == 2)
|
||||
{
|
||||
port = atoi(argv[1]);
|
||||
}
|
||||
else if(argc == 3)
|
||||
{
|
||||
ipAddress = argv[1];
|
||||
port = atoi(argv[2]);
|
||||
}
|
||||
|
||||
if(ipAddress.isEmpty())
|
||||
{
|
||||
ipAddress = QHostAddress(QHostAddress::LocalHost).toString();
|
||||
}
|
||||
|
||||
QCoreApplication app(argc, argv);
|
||||
|
||||
printf("Connecting to \"%s:%d\"...\n", ipAddress.toStdString().c_str(), port);
|
||||
|
||||
TcpClient client;
|
||||
|
||||
client.connectToHost(ipAddress, port);
|
||||
|
||||
if(client.waitForConnected())
|
||||
{
|
||||
printf("Connecting to \"%s:%d\"... connected!\n", ipAddress.toStdString().c_str(), port);
|
||||
app.exec();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Connecting to \"%s:%d\"... connection failed!\n", ipAddress.toStdString().c_str(), port);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user