Merge streamserver for webcams feature into master

README

@@ -6,6 +6,17 @@
 # an official version!
 # Tracking is  working in Octave now, with some changes w.r.t. Zdenek's branch
 # See https://github.com/bilderbuchi/OpenTLD/issues/2 for more information.
+#
+#
+# Webcam support: 
+# This is working in Matlab WITHOUT Image Acquisition Toolbox
+# through stream_server.c using sockets and OpenCV.
+# You have to compile stream_server on your own for now, the command may look
+# similar to this: gcc stream_server.c -lcv -lhighgui -o stream_server
+#
+# Webcam in octave is near completion. Frames are grabbed properly from the
+# server but problems with mouse input arise when selectin object boudaries.
+# For stream_server.c to work in octave, the package sockets should be present.
 ################################################################################
 
 TLD (aka Predator)

bbox/bb_click.m

@@ -26,12 +26,18 @@
     imshow(img);
 end
 text(10,10,'Define bounding box and double click inside.','color','white');
-h = imrect;
-p = wait(h);
-bb = [p(1); p(2);p(1)+p(3); p(2)+p(4)];
+if exist('OCTAVE_VERSION', 'builtin')
+    % while we don't have a imrect equivalent in Octave
+    % use the hardcoded bellow (a centered 200x200 pixels box)
+    bb = [ 640/2-100; 480/2-100; 640/2+100; 480/2+100];
+else
+    h = imrect;
+    p = wait(h);
+    bb = [p(1); p(2);p(1)+p(3); p(2)+p(4)];
+end
 % [c,r,p] = impixel(img);
 % if length(c) ~= 2,
 %     bb = [];
 %     return;
 % end
-% bb = [c(1); r(1); c(2); r(2)];
+% bb = [c(1); r(1); c(2); r(2)];

img/img_alloc.m

@@ -28,7 +28,7 @@
     img.input = rgb2gray(in);
     %img.input = imadjust(img.input);
 else
-    img.input = in;
+    img.input = uint8(in);
 end
 
 % img.input = fliplr(img.input);

img/img_get.m

@@ -19,7 +19,18 @@
 function img = img_get(source,I)
 
 if source.camera
-    img = img_alloc(getsnapshot(source.vid));
+    if (exist('videoinput','file')) % using matlab with Image Acquisition package
+        img = img_alloc(getsnapshot(source.vid));
+    else % We don't have the Image Acquisition package, using stream_server
+	if exist('OCTAVE_VERSION','builtin') % from octave
+            [ data, count ] = recv (source.socket, 640*480, MSG_WAITALL);
+	    data = reshape (data, [640 480]);
+            stream_img = transpose(data);
+        else %from Matlab
+            stream_img = transpose(fread(source.socket, [640, 480], 'uint8'));
+        end 
+        img = img_alloc(stream_img);
+    end
 else
     img = img_alloc(source.files(source.idx(I)).name);
 end

initcamera.m

@@ -23,14 +23,36 @@
 
 %source.vid = videoinput('winvideo', 1);
 %source.vid = videoinput('winvideo', 1,'RGB24_320x240');
-source.vid = videoinput('winvideo', 1,'YUY2_320x240');
+if exist('videoinput','file')
+    source.vid = videoinput('winvideo', 1,'YUY2_320x240');
 
-set(source.vid,'ReturnedColorSpace','grayscale');
-vidRes = get(source.vid, 'VideoResolution');
-nBands = get(source.vid, 'NumberOfBands');
-hImage = image( zeros(vidRes(2), vidRes(1), nBands) );
+    set(source.vid,'ReturnedColorSpace','grayscale');
+    vidRes = get(source.vid, 'VideoResolution');
+    nBands = get(source.vid, 'NumberOfBands');
+    hImage = image( zeros(vidRes(2), vidRes(1), nBands) );
 
-% open a figure that shows the raw video stream
-preview(source.vid, hImage);
-% makes the raw stream invisible
-set(1,'visible','off');
+    % open a figure that shows the raw video stream
+    preview(source.vid, hImage);
+    % makes the raw stream invisible
+    set(1,'visible','off');
+else %videoinput is not a valid function, try stream_server
+    if exist('OCTAVE_VERSION','builtin') %we are running octave
+        source.socket = socket(AF_INET, SOCK_STREAM, 0);
+        serverinfo.addr = 'localhost';
+        serverinfo.port = 5000;
+        connect_status = connect(source.socket, serverinfo);
+    else %we are running a Matlab without Image Acquisition package
+        source.socket = tcpip('localhost', 5000);
+        set(source.socket, 'InputBufferSize', 640*480);
+	fopen(source.socket);
+	connect_status = get(source.socket,'Status');
+	connect_status = strcmp(connect_status, 'closed');
+    end
+    % check connection status
+    if connect_status == 0 %successful connection
+    else %maybe stream_server is not running
+        %TODO: report error
+	error('Error while connecting to stream server!');
+
+    end
+end

stream_server.c

@@ -0,0 +1,80 @@
+/* 
+A really simple server in the internet domain using TCP.
+This is supposed to run with one client only.
+The server is hardcoded to run on port 5000.
+
+This program is extremely simple, and it's not in any way bugfree.
+
+Author: Rafael Oliveira <ludug3r0@gmail.com>
+ */ 
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+#include <sys/types.h> 
+#include <sys/socket.h>
+#include <netinet/in.h>
+
+#include <opencv/cv.h>
+#include <opencv/highgui.h>
+
+void error(const char *msg)
+{
+    perror(msg);
+    exit(1);
+}
+
+int main(int argc, char *argv[])
+{
+     CvCapture *capture = NULL;
+     IplImage *frame = NULL;
+     IplImage *gray = NULL;
+
+     int sockfd, newsockfd, portno;
+     socklen_t clilen;
+     struct sockaddr_in serv_addr, cli_addr;
+     int n;
+     sockfd = socket(AF_INET, SOCK_STREAM, 0);
+     if (sockfd < 0) 
+        error("ERROR opening socket");
+     bzero((char *) &serv_addr, sizeof(serv_addr));
+     // if needed the port can be changed bellow
+     portno = atoi("5000");
+     serv_addr.sin_family = AF_INET;
+     serv_addr.sin_addr.s_addr = INADDR_ANY;
+     serv_addr.sin_port = htons(portno);
+     if (bind(sockfd, (struct sockaddr *) &serv_addr,
+              sizeof(serv_addr)) < 0) 
+              error("ERROR on binding");
+
+     // Here you can choose if you wanna capture from CAM ou File
+     capture = cvCaptureFromCAM(0);
+     //capture = cvCaptureFromFile("/home/raso/Videos/BR.avi");
+
+
+     /* My webcam suplies me with 640x480 frames, if yours is different,
+        change bellow and don't forget to make changes in img/img_get.m */
+     gray = cvCreateImage(cvSize(640,480), IPL_DEPTH_8U, 1);
+     listen(sockfd,5);
+     clilen = sizeof(cli_addr);
+     newsockfd = accept(sockfd, 
+		 (struct sockaddr *) &cli_addr, 
+		 &clilen);
+     if (newsockfd < 0) error("ERROR on accept");
+     while (1) {
+	     frame = cvQueryFrame(capture);
+             // In this case the frame is sent to the client in grayscale
+             cvCvtColor(frame, gray, CV_BGR2GRAY);
+	     n = write(newsockfd,gray->imageData,gray->imageSize);
+	     if (n < 0) error("ERROR writing to socket");
+
+             // The next line shows what the cam sees, you can comment it.
+             cvShowImage("Server", gray);
+             // You can get out of the server by pressing 'q' 
+	     if ((char)cvWaitKey(5) == 'q') break;
+     }
+     close(newsockfd);
+     close(sockfd);
+     return 0; 
+}

tld/tldExample.m

@@ -25,7 +25,7 @@
 
 figure(2); set(2,'KeyPressFcn', @handleKey); % open figure for display of results
 finish = 0; 
-function handleKey(dummy1,dummy2), finish = 1;if (opt.PRINT_DEBUG==1) fprintf('Execution interrupted by keypress.\n'); end; end % by pressing any key, the process will exit
+function handleKey(dummy1,dummy2), finish = 1; fprintf('Execution interrupted by keypress.\n'); end % by pressing any key, the process will exit
 
 while 1
     source = tldInitFirstFrame(tld,opt.source,opt.model.min_win); % get initial bounding box, return 'empty' if bounding box is too small