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#include <RobotRaconteur.h>
#include "robotraconteur_generated.h"
#include <opencv2/highgui/highgui.hpp>
// Do not use aliases in header files!
namespace RR = RobotRaconteur;
namespace cam = ::experimental::simplewebcam3;
// Simple client to read images from a Webcam server
// and display the images
// This example expects the simple_webcam_service_multi multi camera service to be running
// Convert WebcamImage to OpenCV format
cv::Mat webcam_image_to_mat(cam::WebcamImagePtr image)
{
cv::Mat frame2(image->height, image->width, CV_8UC3);
memcpy(frame2.data, &image->data->at(0), image->data->size());
return frame2;
}
int main(int argc, char* argv[])
{
std::string url = "rr+tcp://localhost:22355?service=multiwebcam";
if (argc > 1)
{
url = argv[1];
}
try
{
// Use node setup to help initialize client node
RR::ClientNodeSetup node_setup(ROBOTRACONTEUR_SERVICE_TYPES);
cam::WebcamHostPtr c_host = RR::rr_cast<cam::WebcamHost>(RR::RobotRaconteurNode::s()->ConnectService(
url, "", nullptr, NULL, "experimental.simplewebcam3.WebcamHost"));
// Get the Webcam objects from the "Webcams" objref
cam::WebcamPtr c1 = c_host->get_webcams(0);
cam::WebcamPtr c2 = c_host->get_webcams(1);
// Capture an image and convert to OpenCV image type
cv::Mat frame1 = webcam_image_to_mat(c1->capture_frame());
cv::Mat frame2 = webcam_image_to_mat(c2->capture_frame());
// Show image
cv::imshow("Left", frame1);
cv::imshow("Right", frame2);
// Wait for enter key to be pressed
cv::waitKey();
// Close the image viewers
cv::destroyAllWindows();
return 0;
}
catch (std::exception& e)
{
std::cout << "Error occurred in client: " << std::string(e.what()) << std::endl;
return 1;
}
}
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