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#include <RobotRaconteur.h>
#include "robotraconteur_generated.h"
#include <opencv2/highgui/highgui.hpp>
namespace RR = RobotRaconteur;
namespace cam = ::experimental::simplewebcam3;
// Simple client to read streaming images from the Webcam pipe to show
// a live view from the cameras
// This example expects the simple_webcam_service single 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;
}
cv::Mat current_frame;
// Function to handle when a new frame is received
// This function will be called by a separate thread by
// Robot Raconteur.
void new_frame(RR::PipeEndpointPtr<cam::WebcamImagePtr> pipe_ep)
{
while (pipe_ep->Available() > 0)
{
cam::WebcamImagePtr image = pipe_ep->ReceivePacket();
if (image->data)
{
current_frame = webcam_image_to_mat(image);
}
}
}
int main(int argc, char* argv[])
{
std::string url = "rr+tcp://localhost:22355?service=webcam";
if (argc > 1)
{
url = argv[1];
}
try
{
// Use node setup to help initialize client node
RR::ClientNodeSetup node_setup(ROBOTRACONTEUR_SERVICE_TYPES);
// Connect to the service
cam::WebcamPtr c1 = RR::rr_cast<cam::Webcam>(
RR::RobotRaconteurNode::s()->ConnectService(url, "", nullptr, NULL, "experimental.simplewebcam3.Webcam"));
// Connect to the frame_stream pipe and receive a PipeEndpoint
// PipeEndpoints a symmetric on client and service meaning that
// you can send and receive on both ends
RR::PipeEndpointPtr<cam::WebcamImagePtr> p = c1->get_frame_stream()->Connect(-1);
// Add a callback for when a new pipe packet is received
p->PacketReceivedEvent.connect([](RR::PipeEndpointPtr<cam::WebcamImagePtr> ep) { new_frame(ep); });
// Show a named window
cv::namedWindow("Image");
try
{
// Start streaming image packets
c1->start_streaming();
}
catch (std::exception&)
{}
// Loop through and show the new image if available
while (true)
{
if (!current_frame.empty())
{
cv::imshow("Image", current_frame);
}
// Break the loop if "enter" is pressed on a window
if (cv::waitKey(50) != -1)
break;
}
// Stop streaming images
c1->stop_streaming();
// Close the window
cv::destroyAllWindows();
// Close the PipeEndpoint
p->Close();
return 0;
}
catch (std::exception& e)
{
std::cout << "Error occurred in client: " << std::string(e.what()) << std::endl;
return -1;
}
}
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