apoorva
fabea45044
git-subtree-dir: find-object git-subtree-mainline: 9bd639e88c266d990f53b2799ba476d34cfc9c89 git-subtree-split: 635efcd6220cabc258b88c54b1ae4279035bbe31
113 lines
3.5 KiB
C++
113 lines
3.5 KiB
C++
/*
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Copyright (c) 2011-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "find_object/Settings.h"
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#include "find_object/QtOpenCV.h"
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#include "ImagesTcpServer.h"
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#include <QtNetwork/QNetworkInterface>
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#include <QtNetwork/QTcpSocket>
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#include <QtGui/QTransform>
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ImagesTcpServer::ImagesTcpServer(float hz, const QString & path, QObject * parent) :
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QTcpSocket(parent)
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{
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// Set camera parameters
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find_object::Settings::setCamera_4imageRate(hz);
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find_object::Settings::setCamera_5mediaPath(path);
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connect(&camera_, SIGNAL(imageReceived(const cv::Mat &)), this, SLOT(publishImage(const cv::Mat &)));
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connect(this, SIGNAL(connected()), this, SLOT(startCamera()));
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}
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QHostAddress ImagesTcpServer::getHostAddress()
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{
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QHostAddress hostAddress;
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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 && ipAddressesList.at(i).toIPv4Address())
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{
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hostAddress = 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 (hostAddress.isNull())
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{
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hostAddress = QHostAddress(QHostAddress::LocalHost);
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}
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return hostAddress;
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}
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void ImagesTcpServer::publishImage(const cv::Mat & image)
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{
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if(image.empty())
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{
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printf("No more images...\n");
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camera_.pause();
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Q_EMIT connectionLost();
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}
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else
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{
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if(this->waitForConnected())
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{
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std::vector<unsigned char> buf;
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cv::imencode(".png", image, buf);
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QByteArray block;
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QDataStream out(&block, QIODevice::WriteOnly);
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out.setVersion(QDataStream::Qt_4_0);
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out << (quint64)0;
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out.writeRawData((char*)buf.data(), (int)buf.size());
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out.device()->seek(0);
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out << (quint64)(block.size() - sizeof(quint64));
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this->write(block);
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}
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else
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{
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printf("Lost connection...\n");
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camera_.pause();
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Q_EMIT connectionLost();
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}
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}
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}
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void ImagesTcpServer::startCamera()
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{
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if(!camera_.isRunning())
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{
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printf("Start...\n");
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camera_.start();
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}
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}
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