修改无人机视频传输文件

mjpg_streamer/getpixmap.cpp

@@ -0,0 +1,44 @@
+#include "getpixmap.h"
+#include <QDebug>
+
+GetPixmap::GetPixmap(QObject *parent) :
+    QObject(parent)
+{
+
+}
+
+GetPixmap::~GetPixmap()
+{
+
+}
+
+void GetPixmap::mjpeg_streamer_reply(QNetworkReply *reply)
+{
+    QByteArray byteArr = reply->readAll();
+
+    QPixmap pix;
+    pix.loadFromData(byteArr);
+
+    emit get_getOnePixmap(pix);
+
+    manager->get(*request);
+    reply->deleteLater();
+}
+
+
+
+void GetPixmap::run()
+{
+    QString url;
+
+    url.append("http://" + get_ipAddr + ":" + get_port + "/?action=snapshot");
+    qDebug() << url;
+
+//    qDebug() << "ipAddr:" << get_ipAddr;
+//    qDebug() << "port:" << get_port;
+
+    manager = new QNetworkAccessManager();
+    request = new QNetworkRequest(QUrl(url));
+    connect(manager,SIGNAL(finished(QNetworkReply*)), this, SLOT(mjpeg_streamer_reply(QNetworkReply*)));
+    manager->get(*request);
+}

mjpg_streamer/getpixmap.h

@@ -0,0 +1,38 @@
+#ifndef GETPIXMAP_H
+#define GETPIXMAP_H
+
+#include <QString>
+#include <QObject>
+#include <QNetworkAccessManager>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QByteArray>
+#include <QPixmap>
+
+class GetPixmap : public QObject
+{
+    Q_OBJECT
+
+public:
+    GetPixmap(QObject *parent = nullptr);
+    ~GetPixmap();
+
+public:
+    QString get_ipAddr;
+    QString get_port;
+
+    void run();
+
+private slots:
+    void mjpeg_streamer_reply(QNetworkReply*);
+
+signals:
+    void get_getOnePixmap(QPixmap);
+
+
+private:
+    QNetworkAccessManager *manager;
+    QNetworkRequest *request;
+};
+
+#endif // GETPIXMAP_H

mjpg_streamer/loginwindow.cpp

@@ -0,0 +1,82 @@
+#include "loginwindow.h"
+#include "ui_loginwindow.h"
+#include <QMessageBox>
+
+LoginWindow::LoginWindow(QWidget *parent)
+    : QMainWindow(parent)
+    , ui(new Ui::LoginWindow)
+{
+    ui->setupUi(this);
+
+    waitCnt = 0;
+    text.append("Login");
+
+    init();
+}
+
+LoginWindow::~LoginWindow()
+{
+    delete ui;
+}
+
+void LoginWindow::init()
+{
+    this->setWindowTitle("Please to Login");
+    ui->le_ipAddr->setText("219.216.115.53");
+    ui->le_port->setText("8080");
+}
+
+void LoginWindow::timerFinish()
+{
+    if(tcpClient->state() == QTcpSocket::ConnectedState){
+        waitCnt = 0;
+        time->stop();
+
+        this->close();
+
+        main = new MainWindow;
+        main->main_ipAddr = login_ipAddr;
+        main->main_port = login_port;
+        main->init();
+        main->show();
+
+    }else{
+        waitCnt++;
+
+        if(waitCnt%10 == 3)
+            text = "Login.";
+        else if(waitCnt%10 == 6)
+            text = "Login..";
+        else if(waitCnt%10 == 9)
+            text = "Login...";
+        ui->btn_login->setText(text);
+
+        if(waitCnt == 50){
+            time->stop();
+            waitCnt = 0;
+            ui->btn_login->setText("Login");
+
+            QMessageBox::warning(this, "Warning", "Please to Check params\nand Login again!", QMessageBox::Ok);
+        }
+    }
+}
+
+void LoginWindow::on_btn_login_clicked()
+{
+    login_ipAddr = ui->le_ipAddr->text();
+    login_port = ui->le_port->text();
+
+    tcpClient = new QTcpSocket(this);
+    tcpClient->connectToHost(login_ipAddr, login_port.toInt());
+
+    time = new QTimer(this);
+    time->setInterval(100);
+
+    connect(time, SIGNAL(timeout()), this, SLOT(timerFinish()));
+    time->start();
+}
+
+void LoginWindow::on_btn_logout_clicked()
+{
+    this->close();
+}

mjpg_streamer/loginwindow.h

@@ -0,0 +1,37 @@
+#ifndef LOGINWINDOW_H
+#define LOGINWINDOW_H
+
+#include <QMainWindow>
+#include <QTcpSocket>
+#include <QTimer>
+#include "mainwindow.h"
+
+QT_BEGIN_NAMESPACE
+namespace Ui { class LoginWindow; }
+QT_END_NAMESPACE
+
+class LoginWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    LoginWindow(QWidget *parent = nullptr);
+    ~LoginWindow();
+
+private slots:
+    void timerFinish();
+    void on_btn_login_clicked();
+    void on_btn_logout_clicked();
+
+private:
+    Ui::LoginWindow *ui;
+    QString login_ipAddr;
+    QString login_port;
+    int waitCnt;
+    QTimer *time;
+    QString text;
+    QTcpSocket *tcpClient;
+    MainWindow *main;
+    void init();
+};
+#endif // LOGINWINDOW_H

mjpg_streamer/main.cpp

@@ -0,0 +1,13 @@
+#include "loginwindow.h"
+
+#include <QApplication>
+
+int main(int argc, char *argv[])
+{
+    QApplication a(argc, argv);
+    LoginWindow w;
+
+    w.setWindowFlags(Qt::FramelessWindowHint);
+    w.show();
+    return a.exec();
+}

mjpg_streamer/mainwindow.cpp

@@ -0,0 +1,97 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+#include <QThread>
+#include <QMessageBox>
+#include <QFile>
+#include <QFileDialog>
+
+MainWindow::MainWindow(QWidget *parent) :
+    QMainWindow(parent),
+    ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+
+    main_btnStartSta = true;
+    main_state = true;
+}
+
+MainWindow::~MainWindow()
+{
+    delete ui;
+}
+
+void MainWindow::init()
+{
+    ui->lb_vedio->setScaledContents(main_state);
+    this->setWindowTitle("Camera Client");
+    this->setWindowFlags(this->windowFlags()&~(Qt::WindowMaximizeButtonHint|Qt::WindowCloseButtonHint));
+}
+
+void MainWindow::on_btn_start_clicked()
+{
+    QString name;
+
+    if ((main_btnStartSta = !main_btnStartSta) == false)
+    {
+        name = "Stop";
+        getPixmap = new GetPixmap;
+        thread = new QThread();
+        getPixmap->get_ipAddr = main_ipAddr;
+        getPixmap->get_port = main_port;
+
+        getPixmap->moveToThread(thread);
+
+        void (GetPixmap:: *sig_getOnePixmap)(QPixmap) = &GetPixmap::get_getOnePixmap;
+        void (MainWindow:: *slot_getOnePixmap)(QPixmap) = &MainWindow::main_getOnePixmap;
+
+        connect(getPixmap,sig_getOnePixmap,this,slot_getOnePixmap);
+        thread->start();
+        connect(thread,&QThread::started,getPixmap,&GetPixmap::run);
+    }
+    else
+    {
+        name = "Start";
+        thread->exit();
+        disconnect(getPixmap,SIGNAL(get_getOnePixmap(QPixmap)),this,NULL);
+        delete  getPixmap;
+    }
+
+    ui->btn_start->setText(name);
+}
+
+void MainWindow::on_btn_screenshot_clicked()
+{
+    save_pix = show_pix;
+
+    if (save_pix.isNull())
+    {
+        QMessageBox::information(this,tr("Info"),tr("There are no images to save."));
+    }
+    else
+    {
+        QString fileName = QFileDialog::getSaveFileName(this,tr("Save File"),QDir::homePath(),tr("jpegfile(*.jpg)"));
+
+        if (fileName.isEmpty())
+        {
+            QMessageBox::information(this,"Infor",tr("Save Cancel"));
+            return;
+        }
+
+        save_pix.save(fileName);
+    }
+}
+
+
+void MainWindow::on_btn_quit_clicked()
+{
+    this->close();
+}
+
+
+void MainWindow::main_getOnePixmap(QPixmap pix)
+{
+    show_pix = pix;
+
+    ui->lb_vedio->setPixmap(show_pix);
+    ui->lb_vedio->show();
+}

mjpg_streamer/mainwindow.h

@@ -0,0 +1,44 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+#include <QPixmap>
+#include "getpixmap.h"
+
+namespace Ui {
+class MainWindow;
+}
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit MainWindow(QWidget *parent = nullptr);
+    ~MainWindow();
+
+    QString main_ipAddr;
+    QString main_port;
+
+    void init();
+
+
+private slots:
+    void on_btn_start_clicked();
+    void on_btn_screenshot_clicked();
+    void on_btn_quit_clicked();
+    void main_getOnePixmap(QPixmap);
+
+private:
+    Ui::MainWindow *ui;
+    bool main_state = false;
+    bool main_btnStartSta = false;
+    GetPixmap *getPixmap;
+    QThread *thread;
+
+    QPixmap show_pix;
+    QPixmap save_pix;
+};
+
+#endif // MAINWINDOW_H
+

mjpg_streamer/mainwindow.ui

@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>658</width>
+    <height>384</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>MainWindow</string>
+  </property>
+  <widget class="QWidget" name="centralWidget"/>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>658</width>
+     <height>28</height>
+    </rect>
+   </property>
+   <widget class="QMenu" name="menuros">
+    <property name="title">
+     <string>ros</string>
+    </property>
+   </widget>
+   <addaction name="menuros"/>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>

mjpg_streamer/mjpg_stream_browser.pro

@@ -0,0 +1,47 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2023-04-16T19:37:18
+#
+#-------------------------------------------------
+
+QT       += core gui
+QT       += network
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+TARGET = mjpg_stream_browser
+TEMPLATE = app
+
+# The following define makes your compiler emit warnings if you use
+# any feature of Qt which has been marked as deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if you use deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+CONFIG += c++11
+
+SOURCES += \
+        getpixmap.cpp \
+        loginwindow.cpp \
+        main.cpp \
+        mainwindow.cpp
+
+HEADERS += \
+        getpixmap.h \
+        loginwindow.h \
+        mainwindow.h
+
+FORMS += \
+        mainwindow.ui
+
+# Default rules for deployment.
+qnx: target.path = /tmp/$${TARGET}/bin
+else: unix:!android: target.path = /opt/$${TARGET}/bin
+!isEmpty(target.path): INSTALLS += target
+
+QMAKE_CXXFLAGS += -std=c++0x

mjpg_streamer/mjpg_stream_browser.pro.user

@@ -0,0 +1,279 @@
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+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.MakeStep</value>
+      <valuelist type="QVariantList" key="Qt4ProjectManager.MakeStep.BuildTargets"/>
+      <value type="bool" key="Qt4ProjectManager.MakeStep.Clean">true</value>
+      <value type="QString" key="Qt4ProjectManager.MakeStep.MakeArguments">clean</value>
+      <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
+      <value type="bool" key="Qt4ProjectManager.MakeStep.OverrideMakeflags">false</value>
+     </valuemap>
+     <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
+    </valuemap>
+    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
+    <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
+    <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Release</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Release</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4BuildConfiguration</value>
+    <value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildConfiguration">0</value>
+    <value type="bool" key="Qt4ProjectManager.Qt4BuildConfiguration.UseShadowBuild">true</value>
+   </valuemap>
+   <value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">2</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
+    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
+     <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">部署</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
+    </valuemap>
+    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy Configuration</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
+   </valuemap>
+   <value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.PluginSettings"/>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+    <value type="QString" key="Analyzer.Perf.CallgraphMode">dwarf</value>
+    <valuelist type="QVariantList" key="Analyzer.Perf.Events">
+     <value type="QString">cpu-cycles</value>
+    </valuelist>
+    <valuelist type="QVariantList" key="Analyzer.Perf.ExtraArguments"/>
+    <value type="int" key="Analyzer.Perf.Frequency">250</value>
+    <value type="QString" key="Analyzer.Perf.SampleMode">-F</value>
+    <value type="bool" key="Analyzer.Perf.Settings.UseGlobalSettings">true</value>
+    <value type="int" key="Analyzer.Perf.StackSize">4096</value>
+    <value type="bool" key="Analyzer.QmlProfiler.AggregateTraces">false</value>
+    <value type="bool" key="Analyzer.QmlProfiler.FlushEnabled">false</value>
+    <value type="uint" key="Analyzer.QmlProfiler.FlushInterval">1000</value>
+    <value type="QString" key="Analyzer.QmlProfiler.LastTraceFile"></value>
+    <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
+    <valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableBranchSim">false</value>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableCacheSim">false</value>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableEventToolTips">true</value>
+    <value type="double" key="Analyzer.Valgrind.Callgrind.MinimumCostRatio">0.01</value>
+    <value type="double" key="Analyzer.Valgrind.Callgrind.VisualisationMinimumCostRatio">10</value>
+    <value type="bool" key="Analyzer.Valgrind.FilterExternalIssues">true</value>
+    <value type="QString" key="Analyzer.Valgrind.KCachegrindExecutable">kcachegrind</value>
+    <value type="int" key="Analyzer.Valgrind.LeakCheckOnFinish">1</value>
+    <value type="int" key="Analyzer.Valgrind.NumCallers">25</value>
+    <valuelist type="QVariantList" key="Analyzer.Valgrind.RemovedSuppressionFiles"/>
+    <value type="int" key="Analyzer.Valgrind.SelfModifyingCodeDetection">1</value>
+    <value type="bool" key="Analyzer.Valgrind.Settings.UseGlobalSettings">true</value>
+    <value type="bool" key="Analyzer.Valgrind.ShowReachable">false</value>
+    <value type="bool" key="Analyzer.Valgrind.TrackOrigins">true</value>
+    <value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">valgrind</value>
+    <valuelist type="QVariantList" key="Analyzer.Valgrind.VisibleErrorKinds">
+     <value type="int">0</value>
+     <value type="int">1</value>
+     <value type="int">2</value>
+     <value type="int">3</value>
+     <value type="int">4</value>
+     <value type="int">5</value>
+     <value type="int">6</value>
+     <value type="int">7</value>
+     <value type="int">8</value>
+     <value type="int">9</value>
+     <value type="int">10</value>
+     <value type="int">11</value>
+     <value type="int">12</value>
+     <value type="int">13</value>
+     <value type="int">14</value>
+    </valuelist>
+    <value type="int" key="PE.EnvironmentAspect.Base">2</value>
+    <valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">mjpg_stream_browser</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/wangjing/mjpg_stream_browser/mjpg_stream_browser.pro</value>
+    <value type="QString" key="RunConfiguration.Arguments"></value>
+    <value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
+    <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
+    <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
+    <value type="bool" key="RunConfiguration.UseLibrarySearchPath">true</value>
+    <value type="bool" key="RunConfiguration.UseMultiProcess">false</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
+    <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
+    <value type="QString" key="RunConfiguration.WorkingDirectory"></value>
+    <value type="QString" key="RunConfiguration.WorkingDirectory.default">/home/wangjing/build-mjpg_stream_browser-unknown-Debug</value>
+   </valuemap>
+   <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.TargetCount</variable>
+  <value type="int">1</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
+  <value type="int">21</value>
+ </data>
+ <data>
+  <variable>Version</variable>
+  <value type="int">21</value>
+ </data>
+</qtcreator>

mjpg_streamer/无人机视频传输.txt

@@ -0,0 +1,122 @@
+mainwindow.h：
+
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+#include <opencv2/core/mat.hpp>
+
+QT_BEGIN_NAMESPACE
+namespace Ui { class MainWindow; }
+QT_END_NAMESPACE
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    MainWindow(QWidget *parent = nullptr);
+    ~MainWindow();
+
+private slots:
+    void on_playButton_clicked();
+
+    void on_stopButton_clicked();
+
+    void readFrame();
+
+private:
+    Ui::MainWindow *ui;
+    cv::VideoCapture mCapture; // Video capture object for reading RTSP stream
+    cv::Mat mFrame;   // Mat object to store the video frame
+    bool mPlaying;   // Flag to indicate if video playback is in progress
+};
+
+#endif // MAINWINDOW_H
+
+
+mainwindow.cpp：
+
+cpp
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+#include <QDebug>
+#include <QTimer>
+
+MainWindow::MainWindow(QWidget *parent)
+    : QMainWindow(parent)
+    , ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+
+    // Set up VideoCapture object for reading RTSP stream
+    //调节参数 取决于对视频流带宽要求以及本机性能 适点即可
+    mCapture.set(cv::CAP_PROP_BUFFERSIZE,5);
+    mCapture.open("rtsp://localhost:8554/unicast"); //修改RTSP地址
+
+    if (!mCapture.isOpened())
+    {
+        qCritical() << "Failed to open RTSP stream.";
+        return;
+    }
+
+    //初始化mFrame和mPlaying标记
+    mPlaying = false;
+
+    //设置Paly按钮为不可用状态
+    ui->playButton->setEnabled(true);
+    ui->stopButton->setEnabled(false);
+}
+
+MainWindow::~MainWindow()
+{
+    delete ui;
+}
+
+void MainWindow::on_playButton_clicked()
+{
+    if (!mPlaying)
+    {
+        mPlaying = true;
+
+        // 每20毫秒读取一帧并在QLabel显示该帧图像
+        QTimer *timer = new QTimer(this);
+        connect(timer, &QTimer::timeout, this, &MainWindow::readFrame);
+        timer->start(20);
+
+        //设置控件状态
+        ui->playButton->setEnabled(false);
+        ui->stopButton->setEnabled(true);
+    }
+}
+
+void MainWindow::readFrame()
+{
+    if (mCapture.read(mFrame))
+    {
+        QImage frameImage((uchar*)mFrame.data, mFrame.cols, mFrame.rows, QImage::Format_RGB888);
+        QPixmap framePixmap = QPixmap::fromImage(frameImage.rgbSwapped());
+        // .rgbSwapped()因为OpenCV默认使用BGR，而Qt使用RGB，必须交换颜色通道才能正确地显示
+
+        ui->videoLabel->setPixmap(framePixmap.scaled(ui->videoLabel->size(), Qt::KeepAspectRatio));
+    }
+}
+
+void MainWindow::on_stopButton_clicked()
+{
+    if (mPlaying)
+    {
+        mPlaying = false;
+
+        //停止计时器，断开信号/槽连接
+        QObject::disconnect(this, &MainWindow::readFrame, nullptr, nullptr);
+
+        //设置控件状态
+        ui->playButton->setEnabled(true);
+        ui->stopButton->setEnabled(false);
+
+        //清除QLabel
+        ui->videoLabel->clear();
+    }
+}

任务规划.h

@@ -0,0 +1,124 @@
+#include <iostream>
+#include <vector>
+#include <cmath>
+#include <algorithm>
+
+using namespace std;
+
+// 坐标类
+class Point {
+public:
+    double x, y;
+    Point(double nx, double ny) : x(nx), y(ny) {}
+};
+
+// 图类
+class Graph {
+public:
+    Graph(vector<Point> points) {
+        for (int i = 0; i < points.size(); i++) {
+            vector<double> row;
+            for (int j = 0; j < points.size(); j++) {
+                if (i == j) {
+                    row.push_back(0);
+                } else {
+                    double dis = sqrt(pow(points[i].x - points[j].x, 2) + pow(points[i].y - points[j].y, 2));
+                    row.push_back(dis);
+                }
+            }
+            matrix.push_back(row);
+        }
+    }
+
+    // Dijkstra算法求解最短路径，网上嫖的
+    vector<Point> get_shortest_path(int start_index, int end_index) {
+        int node_num = matrix.size();
+        vector<bool> visited(node_num, false);
+        vector<int> prev(node_num, -1);
+        vector<double> dist(node_num, INFINITY);
+        dist[start_index] = 0;
+
+        // Dijkstra算法
+        for (int i = 0; i < node_num; i++) {
+            int u = -1;
+            double min_dist = INFINITY;
+            // 找到未访问过的距离最小的节点u
+            for (int j = 0; j < node_num; j++) {
+                if (!visited[j] && dist[j] < min_dist) {
+                    u = j;
+                    min_dist = dist[j];
+                }
+            }
+            if (u == -1) break;
+            visited[u] = true;
+            // 更新u的邻接节点v的距离和前驱
+            for (int v = 0; v < node_num; v++) {
+                if (!visited[v] && matrix[u][v] < INFINITY) {
+                    double new_dist = dist[u] + matrix[u][v];
+                    if (new_dist < dist[v]) {
+                        dist[v] = new_dist;
+                        prev[v] = u;
+                    }
+                }
+            }
+        }
+
+        // 输出最短路径
+        vector<Point> path;
+        int u = end_index;
+        while (prev[u] != -1) {
+            path.push_back(points[u]);
+            u = prev[u];
+        }
+        reverse(path.begin(), path.end());
+
+        return path;
+    }
+
+private:
+    vector<vector<double>> matrix; // 邻接矩阵，用来存放
+    vector<Point> points; // 顶点坐标列表
+    const double INFINITY = std::numeric_limits<double>::infinity(); // 无穷大
+};
+
+// 顶点序列类
+class VertexSequence {
+public:
+    // 构造函数
+    VertexSequence(vector<Point> points, Graph graph) {
+        this->points = points;
+        this->graph = graph;
+        start_index = 0; // 初始起点为第一个点
+        end_index = -1; // 结尾没有定义
+        sequence = graph.get_shortest_path(start_index, end_index); // 计算最短路径
+    }
+
+    // 重新排序方法
+    void sort(Point current_point) {
+        // 计算起点到各顶点的距离
+        vector<double> distances;
+        for (int i = 0; i < sequence.size(); i++) {
+            double dis = sqrt(pow(current_point.x - sequence[i].x, 2) + pow(current_point.y - sequence[i].y, 2));
+            distances.push_back(dis);
+        }
+        // 对顶点序列进行重新排序
+        sort(sequence.begin(), sequence.end(), [&distances](const Point& lhs, const Point& rhs) {
+            int index_lhs = &lhs - &distances[0];
+            int index_rhs = &rhs - &distances[0];
+            return distances[index_lhs] < distances[index_rhs];
+        });
+    }
+
+    Point pop() {
+        Point next_point = sequence.front();
+        sequence.erase(sequence.begin());
+        return next_point;
+    }
+
+private:
+    vector<Point> points; // 顶点坐标
+    Graph graph; // 连通图
+    int start_index; // 起点
+    int end_index; // 结尾
+    vector<Point> sequence; // 顶点序列
+};

任务队列简单示例/示例main.txt

@@ -0,0 +1,34 @@
+#include "类.h"
+
+int main() {
+    PositionQueue queue;
+
+    string input_data;
+    while (true) {
+        getline(cin, input_data);
+        if (input_data.empty()) continue; // 如果输入为空，跳过
+
+        // 解析json
+        size_t pos1 = input_data.find("x");
+        size_t pos2 = input_data.find(",", pos1+3);
+        size_t pos3 = input_data.find("y", pos2+1);
+        size_t pos4 = input_data.find(",", pos3+3);
+        size_t pos5 = input_data.find("z", pos4+1);
+        size_t pos6 = input_data.find("}", pos5+3);
+
+        if (pos1 == string::npos || pos2 == string::npos || pos3 == string::npos || pos4 == string::npos || pos5 == string::npos || pos6 == string::npos) {
+            cout << "输入格式错误，请重新输入" << endl; //string：：nops就是最大格式长度
+            continue;
+        }
+
+        double x = stod(input_data.substr(pos1+3, pos2-pos1-3));
+        double y = stod(input_data.substr(pos3+3, pos4-pos3-3));
+        double z = stod(input_data.substr(pos5+3, pos6-pos5-3));
+        
+	queue.insert(Position(x, y, z));
+
+        queue.output_sorted();
+    }
+
+    return 0;
+}

任务队列简单示例/类.h

@@ -0,0 +1,44 @@
+#include <iostream>
+#include <queue>
+#include <vector>
+#include <cmath>
+#include <string>
+
+using namespace std;
+
+// 位置信息类
+class Position {
+public:
+    Position(double x, double y, double z) : _x(x), _y(y), _z(z) { }
+    double distance() const { return sqrt(_x*_x + _y*_y + _z*_z); }
+    friend bool operator<(const Position& a, const Position& b) { return a.distance() > b.distance(); } // 定义比较函数，用于排序
+    friend ostream& operator<<(ostream& os, const Position& pos) { 
+        os << "{\"x\":" << pos._x << ",\"y\":" << pos._y << ",\"z\":" << pos._z << "}";
+        return os;
+    }
+private:
+    double _x;
+    double _y;
+    double _z;
+};
+
+// 队列类
+class PositionQueue {
+public:
+    PositionQueue() { } 
+    void insert(const Position& pos) { _queue.push(pos); } // 插入
+    void output_sorted() { // 输出
+        vector<Position> positions;
+        while (!_queue.empty()) {
+            positions.push_back(_queue.top());
+            _queue.pop();
+        }
+        for (auto& pos : positions) {
+            cout << pos << endl;
+        }
+    }
+private:
+    priority_queue<Position> _queue; 
+};
+
+

发送端.h

@@ -0,0 +1,56 @@
+#include <iostream>
+#include <cstring>
+#include <cstdio>
+#include <cstdlib>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <json/json.h>
+
+#define BUF_SIZE 1024 // JSON数据分片大小，对应的是接收端的那个size
+
+using namespace std;
+
+int main() {
+    int sockfd = socket(AF_INET, SOCK_STREAM, 0); // 创建socket
+    if (sockfd < 0) {
+        perror("socket error");
+        exit(1);
+    }
+
+    struct sockaddr_in addr;
+    memset(&addr, 0, sizeof(addr));
+    addr.sin_family = AF_INET;
+    addr.sin_addr.s_addr = inet_addr("127.0.0.1"); // 目的主机IP
+    addr.sin_port = htons(8888); // 目的主机端口号
+
+    if (connect(sockfd, (struct sockaddr *)&addr, sizeof(addr)) < 0) { // 连接目标主机
+        perror("connect error");
+        exit(1);
+    }
+
+    Json::Value json_data;
+    json_data["x"] = 0";
+    json_data["y"] = "1";
+    json_data["z"] = "1";
+    string json_str = json_data.toStyledString(); // 编码
+
+    char buf[BUF_SIZE];
+    int len = json_str.length(), count = 0;
+
+    sprintf(buf, "%d", len); 
+    send(sockfd, buf, strlen(buf), 0); 
+
+    for (int i = 0; i < len; i += BUF_SIZE) { 
+        int size = min(BUF_SIZE, len - i);
+        memcpy(buf, json_str.c_str() + i, size);
+        send(sockfd, buf, size, 0);
+        printf("Send JSON packet %d\n", ++count); 
+        usleep(10000); // 10msxunhuan
+    }
+
+    close(sockfd);
+
+    return 0;
+}

接收端.h

@@ -0,0 +1,78 @@
+//接收端
+#include <iostream>
+#include <cstring>
+#include <cstdio>
+#include <cstdlib>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <unistd.h>
+#include <json/json.h>
+
+using namespace std;
+
+int main() {
+	//创建
+    int sockfd = socket(AF_INET, SOCK_STREAM, 0); 
+    if (sockfd < 0) {
+        perror("socket error");
+        exit(1);
+    }
+
+    struct sockaddr_in addr;
+    memset(&addr, 0, sizeof(addr));
+    addr.sin_family = AF_INET;
+    addr.sin_addr.s_addr = INADDR_ANY;
+    addr.sin_port = htons(8888); // 绑定端口号，改！
+
+    if (bind(sockfd, (struct sockaddr *)&addr, sizeof(addr)) < 0) { 
+        perror("error");
+        exit(1);
+    }
+
+    if (listen(sockfd, 5) < 0) { // 监听socket
+        perror("listen error");
+        exit(1);
+    }
+
+    int connfd;
+    struct sockaddr_in cliaddr;
+    socklen_t clilen = sizeof(cliaddr);
+
+    if ((connfd = accept(sockfd, (struct sockaddr *)&cliaddr, &clilen)) < 0) { // 接受连接
+        perror("accept error");
+        exit(1);
+    }
+
+    char buf[BUF_SIZE];
+    int len, count = 0;
+
+    memset(buf, 0, sizeof(buf));
+    recv(connfd, buf, size, 0); // 接收JSON数据长度size，改！ 通常是1024
+    len = atoi(buf);
+
+    string json_str;
+    for (int i = 0; i < len; i += BUF_SIZE) { // 分批接收JSON数据
+        int size = min(BUF_SIZE, len - i);
+        recv(connfd, buf, size, 0);
+        printf("Receive JSON packet %d\n", ++count); // 打印接收的JSON数据包编号
+        json_str.append(buf, size);
+        usleep(10000); // 10ms循环
+    }
+
+    Json::Value json_data;
+    Json::Reader reader;
+    if (!reader.parse(json_str, json_data)) { // 解码为JSON对象
+        cerr << "parse error" << endl;
+        exit(1);
+    }
+	
+    cout << "x: " << json_data["x"].asString() << endl;
+    cout << "y: " << json_data["y"].asString() << endl;
+    cout << "z: " << json_data["z"].asString() << endl;
+
+    close(connfd);
+    close(sockfd);
+
+    return 0;
+}

机器狗视频传输.h

@@ -0,0 +1,42 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+#include <QDebug>
+#include <opencv2/opencv.hpp>
+
+MainWindow::MainWindow(QWidget *parent)
+    : QMainWindow(parent), ui(new Ui::MainWindow)
+{
+    ui->setupUi(this);
+
+    const std::string stream_url = "http://localhost:8080/?action=stream";
+
+    cv::VideoCapture cap(stream_url);
+    if (!cap.isOpened())
+    {
+        qDebug() << "Failed to open MJPEG Streamer video capture";
+        return;
+    }
+
+    QTimer* timer = new QTimer(this);
+    connect(timer, &QTimer::timeout, [=]()
+    {
+        cv::Mat frame;
+        cap.read(frame);
+        if (frame.empty())
+        {
+            qDebug() << "Failed to capture MJPEG Streamer video frame";
+            return;
+        }
+
+        QImage qimg((uchar*)frame.data, frame.cols, frame.rows, frame.step, QImage::Format_RGB888);
+
+        ui->label->setPixmap(QPixmap::fromImage(qimg));
+    });
+
+    timer->start(33); 
+}
+
+MainWindow::~MainWindow()
+{
+    delete ui;
+}