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

.cproject

@@ -1,16 +1,18 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+<?fileVersion 4.0.0?>
+
+<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
 	<storageModule moduleId="org.eclipse.cdt.core.settings">
 		<cconfiguration id="cdt.managedbuild.toolchain.gnu.base.1122816744">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.base.1122816744" moduleId="org.eclipse.cdt.core.settings" name="Unix">
 				<externalSettings/>
 				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
@@ -83,12 +85,12 @@
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.base.1122816744.759219509" moduleId="org.eclipse.cdt.core.settings" name="Windows">
 				<externalSettings/>
 				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
@@ -161,9 +163,6 @@
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
 		<project id="find_object.null.1999159200" name="find_object"/>
 	</storageModule>
-	<storageModule moduleId="scannerConfiguration">
-		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
 		<buildTargets>
 			<target name="CMake-MinGW-Debug" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
@@ -200,16 +199,17 @@
 			</target>
 		</buildTargets>
 	</storageModule>
-	<storageModule moduleId="refreshScope" versionNumber="2">
+	<storageModule moduleId="refreshScope" versionNumber="1">
-		<configuration configurationName="Windows">
-			<resource resourceType="PROJECT" workspacePath="/find-object"/>
-		</configuration>
-		<configuration configurationName="Default">
 		<resource resourceType="PROJECT" workspacePath="/find_object"/>
-		</configuration>
-		<configuration configurationName="Unix">
-			<resource resourceType="PROJECT" workspacePath="/find-object"/>
-		</configuration>
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.1122816744;cdt.managedbuild.toolchain.gnu.base.1122816744.306079558;cdt.managedbuild.tool.gnu.cpp.compiler.base.2094327183;cdt.managedbuild.tool.gnu.cpp.compiler.input.424205109">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP"/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.base.1122816744;cdt.managedbuild.toolchain.gnu.base.1122816744.306079558;cdt.managedbuild.tool.gnu.c.compiler.base.86959710;cdt.managedbuild.tool.gnu.c.compiler.input.1730465962">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC"/>
+		</scannerConfigBuildInfo>
+	</storageModule>
 </cproject>

CMakeLists.txt

@@ -41,7 +41,7 @@ SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 
 ####### DEPENDENCIES #######
 FIND_PACKAGE(OpenCV REQUIRED) # tested on 2.3.1
-FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui) # tested on Qt4.7
+FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtNetwork) # tested on Qt4.7
 
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 OPTION(BUILD_AS_BUNDLE "Set to ON to build as bundle (DragNDrop)" OFF)
@@ -64,6 +64,7 @@ ENDIF(APPLE AND BUILD_AS_BUNDLE)
 ####### SOURCES (Projects) #######
 ADD_SUBDIRECTORY( app )
 ADD_SUBDIRECTORY( example )
+ADD_SUBDIRECTORY( tcpClient )
 ADD_SUBDIRECTORY( console_app )
 
 

app/CMakeLists.txt

@@ -8,6 +8,7 @@ SET(headers_ui
 	../src/Camera.h
 	../src/ParametersToolBox.h
 	../src/AboutDialog.h
+	../src/TcpServer.h
 	../src/utilite/UPlot.h
 	../src/rtabmap/PdfPlot.h
 )
@@ -44,6 +45,7 @@ SET(SRC_FILES
 	../src/Settings.cpp
 	../src/ObjWidget.cpp
 	../src/AboutDialog.cpp
+	../src/TcpServer.cpp
 	../src/utilite/UPlot.cpp
 	../src/utilite/UDirectory.cpp
 	../src/utilite/UFile.cpp

src/MainWindow.cpp

@@ -12,6 +12,7 @@
 #include "Settings.h"
 #include "ParametersToolBox.h"
 #include "AboutDialog.h"
+#include "TcpServer.h"
 #include "rtabmap/PdfPlot.h"
 
 #include <iostream>
@@ -45,7 +46,8 @@ MainWindow::MainWindow(Camera * camera, const QString & settings, QWidget * pare
 	settings_(settings),
 	likelihoodCurve_(0),
 	lowestRefreshRate_(99),
-	objectsModified_(false)
+	objectsModified_(false),
+	tcpServer_(0)
 {
 	ui_ = new Ui_mainWindow();
 	ui_->setupUi(this);
@@ -152,6 +154,10 @@ connect(ui_->toolBox, SIGNAL(parametersChanged(const QStringList &)), this, SLOT
 	ui_->actionCamera_from_video_file->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && !UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
 	ui_->actionCamera_from_directory_of_images->setChecked(!Settings::getCamera_5mediaPath().isEmpty() && UDirectory::exists(Settings::getCamera_5mediaPath().toStdString()));
 
+	ui_->label_ipAddress->setTextInteractionFlags(Qt::TextSelectableByMouse);
+	ui_->label_port->setTextInteractionFlags(Qt::TextSelectableByMouse);
+	setupTCPServer();
+
 	if(Settings::getGeneral_autoStartCamera())
 	{
 		// Set 1 msec to see state on the status bar.
@@ -200,6 +206,21 @@ void MainWindow::closeEvent(QCloseEvent * event)
 	}
 }
 
+void MainWindow::setupTCPServer()
+{
+	if(tcpServer_)
+	{
+		tcpServer_->close();
+		delete tcpServer_;
+	}
+	tcpServer_ = new TcpServer(Settings::getGeneral_port(), this);
+	connect(this, SIGNAL(objectsFound(QMultiMap<int,QPair<QRect,QTransform> >)), tcpServer_, SLOT(publishObjects(QMultiMap<int,QPair<QRect,QTransform> >)));
+	ui_->label_ipAddress->setText(tcpServer_->getHostAddress().toString());
+	ui_->label_port->setNum(tcpServer_->getPort());
+	printf("IP: %s\nport: %d\n",
+			tcpServer_->getHostAddress().toString().toStdString().c_str(), tcpServer_->getPort());
+}
+
 ParametersToolBox * MainWindow::parametersToolBox() const
 {
 	return ui_->toolBox;
@@ -1007,10 +1028,11 @@ protected:
 					++outliers_;
 				}
 			}
-			if(Settings::getHomography_ignoreWhenAllInliers())
+
-			{
 			// ignore homography when all features are inliers
-				if(inliers_ == (int)outlierMask_.size())
+			if(inliers_ == (int)outlierMask_.size() && !h_.empty())
+			{
+				if(Settings::getHomography_ignoreWhenAllInliers() || cv::countNonZero(h_) < 1)
 				{
 					h_ = cv::Mat();
 				}
@@ -1506,6 +1528,13 @@ void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
 		{
 			nearestNeighborParamsChanged = true;
 		}
+
+		if(iter->compare(Settings::kGeneral_port()) == 0 &&
+		   Settings::getGeneral_port() != ui_->label_port->text().toInt() &&
+		   Settings::getGeneral_port() != 0)
+		{
+			setupTCPServer();
+		}
 	}
 
 	if(Settings::getGeneral_autoUpdateObjects())

src/MainWindow.h

@@ -22,6 +22,7 @@ class Camera;
 class ParametersToolBox;
 class QLabel;
 class AboutDialog;
+class TcpServer;
 
 namespace rtabmap
 {
@@ -77,6 +78,7 @@ signals:
 	void objectsFound(const QMultiMap<int, QPair<QRect, QTransform> > &);
 
 private:
+	void setupTCPServer();
 	void addObjectFromFile(const QString & filePath);
 	void showObject(ObjWidget * obj);
 	void updateData();
@@ -97,6 +99,7 @@ private:
 	int lowestRefreshRate_;
 	bool objectsModified_;
 	QMap<int, QByteArray> imagesMap_;
+	TcpServer * tcpServer_;
 };
 
 #endif /* MainWindow_H_ */

src/ParametersToolBox.cpp

@@ -422,9 +422,20 @@ void ParametersToolBox::changeParameter()
 			Settings::setParameter(sender()->objectName(), doubleSpinBox->value());
 		}
 		else if(spinBox)
+		{
+			if(spinBox->objectName().compare(Settings::kHomography_minimumInliers()) == 0 &&
+			   spinBox->value() < 4)
+			{
+				Settings::setHomography_minimumInliers(4);
+				spinBox->blockSignals(true);
+				this->updateParameter(Settings::kHomography_minimumInliers());
+				spinBox->blockSignals(false);
+			}
+			else
 			{
 				Settings::setParameter(sender()->objectName(), spinBox->value());
 			}
+		}
 		else if(lineEdit)
 		{
 			Settings::setParameter(sender()->objectName(), lineEdit->text());
@@ -545,6 +556,7 @@ void ParametersToolBox::changeParameter(const int & value)
 		{
 			Settings::setParameter(sender()->objectName(), value==Qt::Checked?true:false);
 		}
+
 		paramChanged.append(sender()->objectName());
 		emit parametersChanged(paramChanged);
 	}

src/Settings.h

@@ -175,11 +175,12 @@ class Settings
 	PARAMETER(General, threads, int, 1, "Number of threads used for objects matching and homography computation. 0 means as many threads as objects. On InvertedSearch mode, multi-threading has only effect on homography computation.");
 	PARAMETER(General, multiDetection, bool, false, "Multiple detection of the same object.");
 	PARAMETER(General, multiDetectionRadius, int, 30, "Ignore detection of the same object in X pixels radius of the previous detections.");
+	PARAMETER(General, port, int, 0, "Port on objects detected are published. If port=0, a port is chosen automatically.")
 
 	PARAMETER(Homography, homographyComputed, bool, true, "Compute homography? On ROS, this is required to publish objects detected.");
 	PARAMETER(Homography, method, QString, "1:LMEDS;RANSAC", "Type of the robust estimation algorithm: least-median algorithm or RANSAC algorithm.");
 	PARAMETER(Homography, ransacReprojThr, double, 1.0, "Maximum allowed reprojection error to treat a point pair as an inlier (used in the RANSAC method only). It usually makes sense to set this parameter somewhere in the range of 1 to 10.");
-	PARAMETER(Homography, minimumInliers, int, 10, "Minimum inliers to accept the homography.");
+	PARAMETER(Homography, minimumInliers, int, 10, "Minimum inliers to accept the homography. Value must be >= 4.");
 	PARAMETER(Homography, ignoreWhenAllInliers, bool, false, "Ignore homography when all features are inliers (sometimes when the homography doesn't converge, it returns the best homography with all features as inliers).");
 
 public:

src/TcpServer.cpp

@@ -0,0 +1,99 @@
+/*
+ * TCPServer.cpp
+ *
+ *  Created on: 2014-05-05
+ *      Author: mathieu
+ */
+
+#include "TcpServer.h"
+
+#include <QtNetwork/QNetworkInterface>
+#include <QtNetwork/QTcpSocket>
+#include <QtGui/QTransform>
+
+TcpServer::TcpServer(quint16 port, QObject * parent) :
+	QTcpServer(parent)
+{
+	if (!this->listen(QHostAddress::Any, port))
+	{
+		printf("ERROR: Unable to start the TCP server: %s\n", this->errorString().toStdString().c_str());
+		return;
+	}
+
+	connect(this, SIGNAL(newConnection()), this, SLOT(addClient()));
+}
+
+QHostAddress TcpServer::getHostAddress() const
+{
+	QHostAddress hostAddress;
+
+	QList<QHostAddress> ipAddressesList = QNetworkInterface::allAddresses();
+	// use the first non-localhost IPv4 address
+	for (int i = 0; i < ipAddressesList.size(); ++i)
+	{
+		if (ipAddressesList.at(i) != QHostAddress::LocalHost && ipAddressesList.at(i).toIPv4Address())
+		{
+			hostAddress = ipAddressesList.at(i).toString();
+			break;
+		}
+	}
+
+	// if we did not find one, use IPv4 localhost
+	if (hostAddress.isNull())
+	{
+		hostAddress = QHostAddress(QHostAddress::LocalHost);
+	}
+
+	return hostAddress;
+}
+
+quint16 TcpServer::getPort() const
+{
+	return this->serverPort();
+}
+
+void TcpServer::publishObjects(const QMultiMap<int, QPair<QRect, QTransform> > & objects)
+{
+	if(objects.size())
+	{
+		QList<QTcpSocket*> clients = this->findChildren<QTcpSocket*>();
+		if(clients.size())
+		{
+			QVector<float> data(objects.size()*12);
+			int i=0;
+			for(QMultiMap<int, QPair<QRect, QTransform> >::const_iterator iter=objects.constBegin(); iter!=objects.constEnd(); ++iter)
+			{
+				data[i++] = iter.key();
+				data[i++] = iter.value().first.width();
+				data[i++] = iter.value().first.height();
+				data[i++] = iter.value().second.m11();
+				data[i++] = iter.value().second.m12();
+				data[i++] = iter.value().second.m13();
+				data[i++] = iter.value().second.m21();
+				data[i++] = iter.value().second.m22();
+				data[i++] = iter.value().second.m23();
+				data[i++] = iter.value().second.m31(); // dx
+				data[i++] = iter.value().second.m32(); // dy
+				data[i++] = iter.value().second.m33();
+			}
+
+			for(QList<QTcpSocket*>::iterator iter = clients.begin(); iter!=clients.end(); ++iter)
+			{
+				QByteArray block;
+				QDataStream out(&block, QIODevice::WriteOnly);
+				out.setVersion(QDataStream::Qt_4_0);
+				out << (quint16)0;
+				out << data;
+				out.device()->seek(0);
+				out << (quint16)(block.size() - sizeof(quint16));
+				(*iter)->write(block);
+			}
+		}
+	}
+}
+
+void TcpServer::addClient()
+{
+	QTcpSocket * client = this->nextPendingConnection();
+	connect(client, SIGNAL(disconnected()), client, SLOT(deleteLater()));
+}

src/TcpServer.h

@@ -0,0 +1,31 @@
+/*
+ * TCPServer.h
+ *
+ *  Created on: 2014-05-05
+ *      Author: mathieu
+ */
+
+#ifndef TCPSERVER_H_
+#define TCPSERVER_H_
+
+#include <QtNetwork/QTcpServer>
+
+class QNetworkSession;
+
+class TcpServer : public QTcpServer
+{
+	Q_OBJECT
+
+public:
+	TcpServer(quint16 port = 0, QObject * parent = 0);
+
+	QHostAddress getHostAddress() const;
+	quint16 getPort() const;
+
+
+private slots:
+	void addClient();
+	void publishObjects(const QMultiMap<int, QPair<QRect, QTransform> > & objects);
+};
+
+#endif /* TCPSERVER_H_ */

src/ui/mainWindow.ui

@@ -287,13 +287,20 @@
          <number>0</number>
         </property>
         <item>
-         <layout class="QGridLayout" name="gridLayout" columnstretch="0,0,0">
+         <layout class="QGridLayout" name="gridLayout" columnstretch="1,0,0">
           <property name="horizontalSpacing">
            <number>6</number>
           </property>
           <property name="verticalSpacing">
            <number>0</number>
           </property>
+          <item row="3" column="1">
+           <widget class="QLabel" name="label_timeIndexing">
+            <property name="text">
+             <string>000</string>
+            </property>
+           </widget>
+          </item>
           <item row="4" column="1">
            <widget class="QLabel" name="label_timeMatching">
             <property name="text">
@@ -420,13 +427,6 @@
             </property>
            </widget>
           </item>
-          <item row="3" column="1">
-           <widget class="QLabel" name="label_timeIndexing">
-            <property name="text">
-             <string>000</string>
-            </property>
-           </widget>
-          </item>
           <item row="0" column="0">
            <widget class="QLabel" name="label_6">
             <property name="text">
@@ -462,6 +462,34 @@
             </property>
            </widget>
           </item>
+          <item row="9" column="0">
+           <widget class="QLabel" name="label_18">
+            <property name="text">
+             <string>IP address</string>
+            </property>
+           </widget>
+          </item>
+          <item row="10" column="0">
+           <widget class="QLabel" name="label_19">
+            <property name="text">
+             <string>Port</string>
+            </property>
+           </widget>
+          </item>
+          <item row="9" column="1">
+           <widget class="QLabel" name="label_ipAddress">
+            <property name="text">
+             <string>0.0.0.0</string>
+            </property>
+           </widget>
+          </item>
+          <item row="10" column="1">
+           <widget class="QLabel" name="label_port">
+            <property name="text">
+             <string>0</string>
+            </property>
+           </widget>
+          </item>
          </layout>
         </item>
        </layout>
@@ -478,7 +506,7 @@
           <x>0</x>
           <y>0</y>
           <width>360</width>
-          <height>120</height>
+          <height>86</height>
          </rect>
         </property>
         <attribute name="label">

tcpClient/CMakeLists.txt

@@ -0,0 +1,37 @@
+### 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(tcpClient ${SRC_FILES})
+TARGET_LINK_LIBRARIES(tcpClient ${LIBRARIES})
+
+SET_TARGET_PROPERTIES( tcpClient 
+  PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-tcpClient)
+

tcpClient/TcpClient.cpp

@@ -0,0 +1,132 @@
+/*
+ * TCPClient.cpp
+ *
+ *  Created on: 2014-05-05
+ *      Author: mathieu
+ */
+
+#include "TcpClient.h"
+
+#include <opencv2/opencv.hpp>
+#include <QtGui/QTransform>
+#include <QtCore/QPointF>
+
+TcpClient::TcpClient(const QString & hostname, quint16 port, QObject *parent) :
+	QTcpSocket(parent),
+    blockSize_(0)
+{
+	connect(this, SIGNAL(readyRead()), this, SLOT(readData()));
+	connect(this, SIGNAL(error(QAbstractSocket::SocketError)), this, SLOT(displayError(QAbstractSocket::SocketError)));
+	connect(this, SIGNAL(disconnected()), this, SLOT(connectionLost()));
+
+	this->connectToHost(hostname, port);
+}
+
+void TcpClient::readData()
+{
+	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");
+	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("Object %d detected, Qt corners at (%f,%f) (%f,%f) (%f,%f) (%f,%f)\n",
+				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("Object %d detected, CV corners at (%f,%f) (%f,%f) (%f,%f) (%f,%f)\n",
+					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");
+}
+

tcpClient/TcpClient.h

@@ -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(const QString & hostname, quint16 port, QObject * parent = 0);
+
+private slots:
+	void readData();
+	void displayError(QAbstractSocket::SocketError socketError);
+	void connectionLost();
+
+private:
+	quint16 blockSize_;
+};
+
+#endif /* TCPCLIENT_H_ */

tcpClient/main.cpp

@@ -0,0 +1,77 @@
+/*
+ * main.cpp
+ *
+ *  Created on: 2014-05-05
+ *      Author: mathieu
+ */
+
+#include <QtNetwork/QNetworkInterface>
+#include <QtCore/QCoreApplication>
+#include "TcpClient.h"
+
+void showUsage()
+{
+	printf("exampleTcpClient [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 = std::atoi(argv[1]);
+	}
+	else if(argc == 3)
+	{
+		ipAddress = argv[1];
+		port = std::atoi(argv[2]);
+	}
+
+	if(ipAddress.isEmpty())
+	{
+		// find out which IP to connect to
+		 QList<QHostAddress> ipAddressesList = QNetworkInterface::allAddresses();
+		 // use the first non-localhost IPv4 address
+		 for (int i = 0; i < ipAddressesList.size(); ++i)
+		 {
+			 if (ipAddressesList.at(i) != QHostAddress::LocalHost &&
+				 ipAddressesList.at(i).toIPv4Address())
+			 {
+				 ipAddress = ipAddressesList.at(i).toString();
+				 break;
+			 }
+		 }
+		 // if we did not find one, use IPv4 localhost
+		 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(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;
+}
+