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Add 'find-object/' from commit '635efcd6220cabc258b88c54b1ae4279035bbe31'

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git-subtree-dir: find-object
git-subtree-mainline: 9bd639e88c
git-subtree-split: 635efcd622
This commit is contained in:
Apoorva Gupta
2023-02-25 14:20:22 +05:30
parent 9bd639e88c 635efcd622
commit fabea45044
142 changed files with 33699 additions and 0 deletions
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find-object/tools/tcpImagesServer/CMakeLists.txt
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SET(headers_ui
ImagesTcpServer.h
)
IF(QT4_FOUND)
QT4_WRAP_CPP(moc_srcs ${headers_ui})
ELSE()
QT5_WRAP_CPP(moc_srcs ${headers_ui})
ENDIF()
SET(SRC_FILES
ImagesTcpServer.cpp
main.cpp
${moc_srcs}
)
SET(INCLUDE_DIRS
${CMAKE_CURRENT_SOURCE_DIR}/../../include
${CMAKE_CURRENT_SOURCE_DIR}
${OpenCV_INCLUDE_DIRS}
)
IF(QT4_FOUND)
INCLUDE(${QT_USE_FILE})
ENDIF(QT4_FOUND)
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(tcpImagesServer ${SRC_FILES})
TARGET_LINK_LIBRARIES(tcpImagesServer find_object ${LIBRARIES})
IF(Qt5_FOUND)
QT5_USE_MODULES(tcpImagesServer Widgets Core Gui Network PrintSupport)
ENDIF(Qt5_FOUND)
SET_TARGET_PROPERTIES( tcpImagesServer
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-tcpImagesServer)
INSTALL(TARGETS tcpImagesServer
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
find-object/tools/tcpImagesServer/ImagesTcpServer.cpp
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/*
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 "find_object/Settings.h"
#include "find_object/QtOpenCV.h"
#include "ImagesTcpServer.h"
#include <QtNetwork/QNetworkInterface>
#include <QtNetwork/QTcpSocket>
#include <QtGui/QTransform>
ImagesTcpServer::ImagesTcpServer(float hz, const QString & path, QObject * parent) :
QTcpSocket(parent)
{
// Set camera parameters
find_object::Settings::setCamera_4imageRate(hz);
find_object::Settings::setCamera_5mediaPath(path);
connect(&camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(publishImage(const cv::Mat &)));
connect(this, SIGNAL(connected()), this, SLOT(startCamera()));
}
QHostAddress ImagesTcpServer::getHostAddress()
{
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;
}
void ImagesTcpServer::publishImage(const cv::Mat & image)
{
if(image.empty())
{
printf("No more images...\n");
camera_.pause();
Q_EMIT connectionLost();
}
else
{
if(this->waitForConnected())
{
std::vector<unsigned char> buf;
cv::imencode(".png", image, buf);
QByteArray block;
QDataStream out(&block, QIODevice::WriteOnly);
out.setVersion(QDataStream::Qt_4_0);
out << (quint64)0;
out.writeRawData((char*)buf.data(), (int)buf.size());
out.device()->seek(0);
out << (quint64)(block.size() - sizeof(quint64));
this->write(block);
}
else
{
printf("Lost connection...\n");
camera_.pause();
Q_EMIT connectionLost();
}
}
}
void ImagesTcpServer::startCamera()
{
if(!camera_.isRunning())
{
printf("Start...\n");
camera_.start();
}
}
find-object/tools/tcpImagesServer/ImagesTcpServer.h
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/*
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.
*/
#ifndef IMAGESTCPSERVER_H_
#define IMAGESTCPSERVER_H_
#include "find_object/Camera.h"
#include <QtNetwork/QTcpSocket>
class ImagesTcpServer : public QTcpSocket
{
Q_OBJECT
public:
static QHostAddress getHostAddress();
public:
ImagesTcpServer(float hz = 10.0f, const QString & path = "", QObject * parent = 0);
private Q_SLOTS:
void startCamera();
void publishImage(const cv::Mat & image);
Q_SIGNALS:
void connectionLost();
private:
find_object::Camera camera_;
};
#endif /* TCPCLIENT_H_ */
find-object/tools/tcpImagesServer/main.cpp
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/*
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 <QtCore/QCoreApplication>
#include "ImagesTcpServer.h"
void showUsage()
{
printf("\ntcpImagesServer [options] port\n"
" Options:\n"
" --hz #.# Image rate (default 10 Hz).\n"
" --host #.#.#.# Set host address.\n"
" --path \"\" Set a path of a directory of images or a video file.\n");
exit(-1);
}
int main(int argc, char * argv[])
{
QString ipAddress;
float hz = 10.0f;
QString path;
if(argc < 2)
{
showUsage();
}
for(int i=1; i<argc-1; ++i)
{
if(strcmp(argv[i], "-hz") == 0 || strcmp(argv[i], "--hz") == 0)
{
++i;
if(i < argc-1)
{
hz = std::atof(argv[i]);
if(hz < 0.0f)
{
printf("[ERROR] Image rate not valid : %s\n", argv[i]);
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-host") == 0 || strcmp(argv[i], "--host") == 0)
{
++i;
if(i < argc-1)
{
ipAddress = argv[i];
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-path") == 0 || strcmp(argv[i], "--path") == 0)
{
++i;
if(i < argc-1)
{
path = argv[i];
}
else
{
showUsage();
}
continue;
}
printf("Unrecognized option: %s\n", argv[i]);
showUsage();
}
quint16 port = std::atoi(argv[argc-1]);
if(!path.isEmpty())
{
printf("Using images from path \"%s\"\n", path.toStdString().c_str());
}
QCoreApplication app(argc, argv);
ImagesTcpServer server(hz, path);
QObject::connect(&server, SIGNAL(connectionLost()), &app, SLOT(quit()));
if(ipAddress.isEmpty())
{
ipAddress = server.getHostAddress().toString();
}
server.connectToHost(ipAddress, port);
if(!server.waitForReadyRead())
{
printf("ERROR: Unable to connect to %s:%d\n", ipAddress.toStdString().c_str(), port);
return -1;
}
return app.exec();
}