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import com.robotraconteur.*;
import java.awt.image.*;
import java.io.*;
import javax.imageio.*;
import javax.swing.*;
import org.opencv.core.*;
import org.opencv.imgcodecs.*;
import experimental.simplewebcam3.*;
// Simple client to read streaming images from the Webcam pipe to show
// a live view from the cameras
public class SimpleWebcamClient_streaming
{
/**
* @param args
*/
public static void main(String[] args)
{
String url = "rr+tcp://localhost:22355?service=webcam";
if (args.length > 0)
{
url = args[0];
}
// Load the opencv library
nu.pattern.OpenCV.loadShared();
// Use ClientNodeSetup to initialize node
ClientNodeSetup setup = new ClientNodeSetup();
try
{
// Register the service type
RobotRaconteurNode.s().registerServiceType(new experimental__simplewebcam3Factory());
// Connect to the service
Webcam c1 = (Webcam)RobotRaconteurNode.s().connectService(url, null, null, null,
"experimental.simplewebcam3.Webcam");
// Connect to the FrameStream pipe and receive a PipeEndpoint
// PipeEndpoints a symmetric on client and service meaning that
// you can send and receive on both ends
Pipe<WebcamImage>.PipeEndpoint p = c1.get_frame_stream().connect(-1);
// Add a callback for when a new pipe packet is received
p.addPacketReceivedListener(new new_frame());
// Start the packets streaming. If there is an exception ignore it.
// Exceptions are passed transparently to the client/service.
try
{
c1.start_streaming();
}
catch (Exception e)
{}
JFrame frame = new JFrame();
JLabel label = new JLabel();
frame.setTitle("Live View");
frame.getContentPane().add(label);
frame.setDefaultCloseOperation(JFrame.DISPOSE_ON_CLOSE);
frame.pack();
frame.setVisible(true);
while (true)
{
if (current_frame != null)
{
try
{
MatOfByte matOfByte = new MatOfByte();
Imgcodecs.imencode(".bmp", current_frame, matOfByte);
byte[] byteArray = matOfByte.toArray();
BufferedImage bufImage = null;
InputStream in = new ByteArrayInputStream(byteArray);
bufImage = ImageIO.read(in);
label.setIcon(new ImageIcon(bufImage));
frame.pack();
}
catch (Exception e)
{
e.printStackTrace();
return;
}
}
if (!frame.isVisible())
{
break;
}
try
{
Thread.sleep(50);
}
catch (InterruptedException e)
{}
}
// Close the PipeEndpoint
p.close();
// Stop streaming the frame
c1.stop_streaming();
}
finally
{
setup.finalize();
}
}
// Convert WebcamImage to OpenCV format
public static Mat WebcamImageToMat(WebcamImage image)
{
Mat mat = new Mat(image.height, image.width, CvType.CV_8UC3);
mat.put(0, 0, image.data.value);
return mat;
}
public static Mat current_frame;
// Callback for when a new frame packet is received
public static class new_frame implements Action1<Pipe<WebcamImage>.PipeEndpoint>
{
public void action(Pipe<WebcamImage>.PipeEndpoint pipe_ep)
{
while (pipe_ep.available() > 0)
{
WebcamImage image = pipe_ep.receivePacket();
current_frame = WebcamImageToMat(image);
}
}
}
}
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