Fixed issue 19: Publish detected objects and position on TCP
git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@243 620bd6b2-0a58-f614-fd9a-1bd335dccda9
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matlabbe
@@ -0,0 +1,37 @@
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### Qt Gui stuff ###
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SET(headers_ui
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TcpClient.h
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)
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#This will generate moc_* for Qt
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QT4_WRAP_CPP(moc_srcs ${headers_ui})
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### Qt Gui stuff end###
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SET(SRC_FILES
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TcpClient.cpp
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main.cpp
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${moc_srcs}
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)
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SET(INCLUDE_DIRS
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${CMAKE_CURRENT_SOURCE_DIR}
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${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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${QT_LIBRARIES}
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)
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# Make sure the compiler can find include files from our library.
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INCLUDE_DIRECTORIES(${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(tcpClient ${SRC_FILES})
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TARGET_LINK_LIBRARIES(tcpClient ${LIBRARIES})
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SET_TARGET_PROPERTIES( tcpClient
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PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-tcpClient)
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@@ -0,0 +1,132 @@
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/*
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* TCPClient.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 "TcpClient.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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TcpClient::TcpClient(const QString & hostname, quint16 port, QObject *parent) :
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QTcpSocket(parent),
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blockSize_(0)
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{
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connect(this, SIGNAL(readyRead()), this, SLOT(readData()));
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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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this->connectToHost(hostname, port);
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}
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void TcpClient::readData()
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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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printf("---\n");
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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 objectWidth = data[i+1];
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float objectHeight = data[i+2];
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// Find corners Qt
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QTransform qtHomography(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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QPointF qtTopLeft = qtHomography.map(QPointF(0,0));
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QPointF qtTopRight = qtHomography.map(QPointF(objectWidth,0));
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QPointF qtBottomLeft = qtHomography.map(QPointF(0,objectHeight));
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QPointF qtBottomRight = qtHomography.map(QPointF(objectWidth,objectHeight));
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printf("Object %d detected, Qt corners at (%f,%f) (%f,%f) (%f,%f) (%f,%f)\n",
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id,
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qtTopLeft.x(), qtTopLeft.y(),
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qtTopRight.x(), qtTopRight.y(),
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qtBottomLeft.x(), qtBottomLeft.y(),
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qtBottomRight.x(), qtBottomRight.y());
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// Example with OpenCV
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if(0)
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{
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// Find corners OpenCV
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cv::Mat cvHomography(3, 3, CV_32F);
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cvHomography.at<float>(0,0) = data[i+3];
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cvHomography.at<float>(1,0) = data[i+4];
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cvHomography.at<float>(2,0) = data[i+5];
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cvHomography.at<float>(0,1) = data[i+6];
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cvHomography.at<float>(1,1) = data[i+7];
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cvHomography.at<float>(2,1) = data[i+8];
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cvHomography.at<float>(0,2) = data[i+9];
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cvHomography.at<float>(1,2) = data[i+10];
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cvHomography.at<float>(2,2) = data[i+11];
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std::vector<cv::Point2f> inPts, outPts;
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inPts.push_back(cv::Point2f(0,0));
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inPts.push_back(cv::Point2f(objectWidth,0));
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inPts.push_back(cv::Point2f(0,objectHeight));
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inPts.push_back(cv::Point2f(objectWidth,objectHeight));
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cv::perspectiveTransform(inPts, outPts, cvHomography);
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printf("Object %d detected, CV corners at (%f,%f) (%f,%f) (%f,%f) (%f,%f)\n",
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id,
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outPts.at(0).x, outPts.at(0).y,
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outPts.at(1).x, outPts.at(1).y,
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outPts.at(2).x, outPts.at(2).y,
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outPts.at(3).x, outPts.at(3).y);
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}
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}
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}
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void TcpClient::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 TcpClient::connectionLost()
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{
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printf("Connection lost!\n");
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}
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@@ -0,0 +1,28 @@
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/*
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* TCPClient.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 TCPCLIENT_H_
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#define TCPCLIENT_H_
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#include <QtNetwork/QTcpSocket>
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class TcpClient : public QTcpSocket
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{
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Q_OBJECT;
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public:
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TcpClient(const QString & hostname, quint16 port, QObject * parent = 0);
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private slots:
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void readData();
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void displayError(QAbstractSocket::SocketError socketError);
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void connectionLost();
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private:
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quint16 blockSize_;
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};
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#endif /* TCPCLIENT_H_ */
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@@ -0,0 +1,77 @@
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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 "TcpClient.h"
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void showUsage()
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{
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printf("exampleTcpClient [hostname] port\n");
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exit(-1);
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}
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int main(int argc, char * argv[])
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{
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if(argc < 2 || argc > 3)
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{
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showUsage();
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}
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QString ipAddress;
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quint16 port = 0;
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if(argc == 2)
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{
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port = std::atoi(argv[1]);
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}
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else if(argc == 3)
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{
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ipAddress = argv[1];
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port = std::atoi(argv[2]);
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}
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if(ipAddress.isEmpty())
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{
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// find out which IP to connect to
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QList<QHostAddress> ipAddressesList = QNetworkInterface::allAddresses();
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// use the first non-localhost IPv4 address
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for (int i = 0; i < ipAddressesList.size(); ++i)
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{
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if (ipAddressesList.at(i) != QHostAddress::LocalHost &&
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ipAddressesList.at(i).toIPv4Address())
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{
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ipAddress = ipAddressesList.at(i).toString();
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break;
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}
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}
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// if we did not find one, use IPv4 localhost
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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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}
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QCoreApplication app(argc, argv);
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printf("Connecting to \"%s:%d\"...\n", ipAddress.toStdString().c_str(), port);
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TcpClient client(ipAddress, port);
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if(client.waitForConnected())
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{
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printf("Connecting to \"%s:%d\"... connected!\n", ipAddress.toStdString().c_str(), port);
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app.exec();
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}
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else
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{
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printf("Connecting to \"%s:%d\"... connection failed!\n", ipAddress.toStdString().c_str(), port);
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}
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return 0;
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}
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