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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/tcpRequest/CMakeLists.txt
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SET(headers_ui
TcpResponse.h
)
IF(QT4_FOUND)
QT4_WRAP_CPP(moc_srcs ${headers_ui})
ELSE()
QT5_WRAP_CPP(moc_srcs ${headers_ui})
ENDIF()
SET(SRC_FILES
TcpResponse.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(tcpRequest ${SRC_FILES})
TARGET_LINK_LIBRARIES(tcpRequest find_object ${LIBRARIES})
IF(Qt5_FOUND)
QT5_USE_MODULES(tcpRequest Widgets Core Gui Network PrintSupport)
ENDIF(Qt5_FOUND)
SET_TARGET_PROPERTIES( tcpRequest
PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-tcpRequest)
INSTALL(TARGETS tcpRequest
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
BUNDLE DESTINATION "${CMAKE_BUNDLE_LOCATION}" COMPONENT runtime)
find-object/tools/tcpRequest/TcpResponse.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 "TcpResponse.h"
#include <opencv2/opencv.hpp>
#include <QtGui/QTransform>
#include <QtCore/QPointF>
#include <QtCore/QTime>
TcpResponse::TcpResponse(QObject *parent) :
QTcpSocket(parent),
blockSize_(0),
dataReceived_(false)
{
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 TcpResponse::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;
in >> info_;
dataReceived_ = true;
Q_EMIT detectionReceived();
}
void TcpResponse::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 TcpResponse::connectionLost()
{
printf("Connection lost!\n");
}
find-object/tools/tcpRequest/TcpResponse.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 TCPRESPONSE_H_
#define TCPRESPONSE_H_
#include "find_object/DetectionInfo.h"
#include <QtNetwork/QTcpSocket>
#include <QtCore/QMultiMap>
#include <QtGui/QTransform>
#include <QtCore/QRect>
class TcpResponse : public QTcpSocket
{
Q_OBJECT;
public:
TcpResponse(QObject * parent = 0);
const find_object::DetectionInfo & info() const {return info_;}
bool dataReceived() const {return dataReceived_;}
private Q_SLOTS:
void readReceivedData();
void displayError(QAbstractSocket::SocketError socketError);
void connectionLost();
Q_SIGNALS:
void detectionReceived();
private:
quint16 blockSize_;
find_object::DetectionInfo info_;
bool dataReceived_;
};
#endif /* TCPCLIENT_H_ */
find-object/tools/tcpRequest/main.cpp
+300
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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 <QtCore/QFile>
#include <QtCore/QTime>
#include <opencv2/opencv.hpp>
#include <find_object/TcpServer.h>
#include "TcpResponse.h"
#include "find_object/JsonWriter.h"
void showUsage()
{
printf("\ntcpRequest [options] --scene image.png --out # --in #\n"
"\ntcpRequest [options] --scene image.png --port #\n"
" \"out\" is the port to which the image is sent.\n"
" \"in\" is the port from which the detection is received.\n"
" \"port\" is the bidirectional port from which the image is sent AND the detection is received.\n"
" Options:\n"
" --host #.#.#.# Set host address.\n"
" --json \"path\" Path to an output JSON file.\n"
" --help Show this help.\n");
exit(-1);
}
int main(int argc, char * argv[])
{
QString ipAddress;
QString scenePath;
QString jsonPath;
quint16 portOut = 0;
quint16 portIn = 0;
quint16 bidrectionalPort = 0;
for(int i=1; i<argc; ++i)
{
if(strcmp(argv[i], "--host") == 0 || strcmp(argv[i], "-host") == 0)
{
++i;
if(i < argc)
{
ipAddress = argv[i];
}
else
{
printf("error parsing --host\n");
showUsage();
}
continue;
}
if(strcmp(argv[i], "--scene") == 0 || strcmp(argv[i], "-scene") == 0)
{
++i;
if(i < argc)
{
scenePath = argv[i];
}
else
{
printf("error parsing --scene\n");
showUsage();
}
continue;
}
if(strcmp(argv[i], "--out") == 0 || strcmp(argv[i], "-out") == 0)
{
++i;
if(i < argc)
{
portOut = std::atoi(argv[i]);
}
else
{
printf("error parsing --out\n");
showUsage();
}
continue;
}
if(strcmp(argv[i], "--in") == 0 || strcmp(argv[i], "-in") == 0)
{
++i;
if(i < argc)
{
portIn = std::atoi(argv[i]);
}
else
{
printf("error parsing --in\n");
showUsage();
}
continue;
}
if(strcmp(argv[i], "--port") == 0 || strcmp(argv[i], "-port") == 0)
{
++i;
if(i < argc)
{
bidrectionalPort = std::atoi(argv[i]);
}
else
{
printf("error parsing --port\n");
showUsage();
}
continue;
}
if(strcmp(argv[i], "--json") == 0 || strcmp(argv[i], "-json") == 0)
{
++i;
if(i < argc)
{
jsonPath = argv[i];
}
else
{
printf("error parsing --json\n");
showUsage();
}
continue;
}
if(strcmp(argv[i], "-help") == 0 ||
strcmp(argv[i], "--help") == 0)
{
showUsage();
}
printf("Unrecognized option: %s\n", argv[i]);
showUsage();
}
if(bidrectionalPort == 0 && portOut == 0 && portIn == 0)
{
printf("Arguments --port or [--in and --out] should be set.\n");
showUsage();
}
else if(portOut == 0 && bidrectionalPort == 0)
{
printf("Argument --out should be set.\n");
showUsage();
}
else if(portIn == 0 && bidrectionalPort == 0)
{
printf("Argument --in should be set.\n");
showUsage();
}
else if(scenePath.isEmpty())
{
printf("Argument --scene should be set.\n");
showUsage();
}
if(ipAddress.isEmpty())
{
ipAddress = QHostAddress(QHostAddress::LocalHost).toString();
}
cv::Mat image = cv::imread(scenePath.toStdString());
if(image.empty())
{
printf("Cannot read image from \"%s\".\n", scenePath.toStdString().c_str());
showUsage();
}
QCoreApplication app(argc, argv);
QTcpSocket request;
TcpResponse response;
QObject::connect(&response, SIGNAL(detectionReceived()), &app, SLOT(quit()));
QObject::connect(&response, SIGNAL(disconnected()), &app, SLOT(quit()));
QObject::connect(&response, SIGNAL(error(QAbstractSocket::SocketError)), &app, SLOT(quit()));
QTcpSocket * requestPtr = &request;
if(bidrectionalPort == 0)
{
QObject::connect(&request, SIGNAL(disconnected()), &app, SLOT(quit()));
QObject::connect(&request, SIGNAL(error(QAbstractSocket::SocketError)), &app, SLOT(quit()));
request.connectToHost(ipAddress, portOut);
response.connectToHost(ipAddress, portIn);
if(!request.waitForConnected())
{
printf("ERROR: Unable to connect to %s:%d\n", ipAddress.toStdString().c_str(), portOut);
return -1;
}
}
else
{
printf("Using bidirectional port\n");
requestPtr = &response;
response.connectToHost(ipAddress, bidrectionalPort);
}
if(!response.waitForConnected())
{
printf("ERROR: Unable to connect to %s:%d\n", ipAddress.toStdString().c_str(), bidrectionalPort?bidrectionalPort:portIn);
return -1;
}
// publish image
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;
if(bidrectionalPort)
{
out << (quint32)find_object::TcpServer::kDetectObject;
}
out.writeRawData((char*)buf.data(), (int)buf.size());
out.device()->seek(0);
out << (quint64)(block.size() - sizeof(quint64));
qint64 bytes = requestPtr->write(block);
printf("Image published (%d bytes), waiting for response...\n", (int)bytes);
QTime time;
time.start();
// wait for response
if(bidrectionalPort)
{
requestPtr->waitForBytesWritten();
response.waitForReadyRead();
}
else
{
app.exec();
}
if(response.dataReceived())
{
printf("Response received! (%d ms)\n", time.elapsed());
// print detected objects
if(response.info().objDetected_.size())
{
QList<int> ids = response.info().objDetected_.uniqueKeys();
for(int i=0; i<ids.size(); ++i)
{
int count = response.info().objDetected_.count(ids[i]);
if(count == 1)
{
printf("Object %d detected.\n", ids[i]);
}
else
{
printf("Object %d detected %d times.\n", ids[i], count);
}
}
}
else
{
printf("No objects detected.\n");
}
// write json
if(!jsonPath.isEmpty())
{
find_object::JsonWriter::write(response.info(), jsonPath);
printf("JSON written to \"%s\"\n", jsonPath.toStdString().c_str());
}
}
else
{
printf("Failed to receive a response...\n");
return -1;
}
return 0;
}