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/**
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* @file example_getRectFrame.cc
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* @brief This file is part of UnitreeCameraSDK.
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* @details This example that how to Transmission picture
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* @author SunMingzhe
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* @date 2021.12.07
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* @version 1.1.0
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* @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
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*/
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/*
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接收端：
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方法概述：采用定向udp方法接收图片，在应用其之前，需要先发送图片，例子:example_putImagetrans.cc
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端口9201~9205分别对应前方，下巴，左，右，腹部
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本机ip需要是192.168.123.IpLastSegment，IpLastSegment被设置在发送端cofigure yaml-
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*/
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/*
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listener
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Introduction: This program uses directed UDP methods to get pictures,whitch requires sending pictures on other programs. for example:example_putImagetrans.cc
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port:9201~9205 -> Front,chin,left,right,abdomen
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local ip must be set to 192.168.123.IpLastSegment and IpLastSegment musb be set in cofigure yaml
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*/
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/*
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local ip config
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ip 192.168.123.IpLastSegment
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netmask 255.255.255.0
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gateway 192.168.123.1
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*/
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#include <opencv2/opencv.hpp>
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#include <iostream>
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int main(int argc,char** argv)
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{
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std::string IpLastSegment = "161";
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int cam = 1;
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if (argc>=2)
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cam = std::atoi(argv[1]);
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std::string udpstrPrevData = "udpsrc address=192.168.123."+ IpLastSegment + " port=";
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//端口：前方，下巴，左，右，腹部
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std::array<int,5> udpPORT = std::array<int, 5>{9201, 9202, 9203, 9204, 9205};
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//std::string udpstrBehindData = " ! application/x-rtp,media=video,encoding-name=H264 ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! appsink";
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std::string udpstrBehindData = " ! application/x-rtp,media=video,encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! appsink";
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std::string udpSendIntegratedPipe = udpstrPrevData + std::to_string(udpPORT[cam-1]) + udpstrBehindData;
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std::cout<<"udpSendIntegratedPipe:"<<udpSendIntegratedPipe<<std::endl;
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cv::VideoCapture cap(udpSendIntegratedPipe);
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if(!cap.isOpened())
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return 0 ;
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cv::Mat frame;
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while(1)
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{
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cap >> frame;
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if(frame.empty())
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break;
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imshow("video", frame);
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cv::waitKey(20);
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}
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cap.release();//释放资源
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return 0;
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}
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