#include #include #include #include #include #include #include #include using namespace cv; #define SOCKETPATH "/home/flo/uds_socket" void die(const char* msg){perror(msg); exit(1);} void suicide(const char* msg){ fprintf(stderr, "%s\n", msg); exit(1); } unsigned char buffer[67108864]; // must be unsigned. because reasons -_- int read_completely(int fd, void* buf, size_t len) { size_t n_read; for (n_read = 0; n_read < len;) { size_t tmp = read(fd, buf, len-n_read); n_read+=tmp; buf = ((char*)buf)+tmp; } return n_read; } int main(int argc, const char** argv) { struct sockaddr_un my_sockaddr; my_sockaddr.sun_family=AF_UNIX; strcpy(my_sockaddr.sun_path, SOCKETPATH); int sockaddrlen = strlen(my_sockaddr.sun_path) + sizeof(my_sockaddr.sun_family); int sockfd = socket(AF_UNIX, SOCK_STREAM, 0); if (sockfd == -1) die("socket"); if (connect(sockfd, (struct sockaddr*) &my_sockaddr, sockaddrlen) == -1) die("connect"); Mat camera_matrix = Mat::eye(3,3,CV_32FC1); camera_matrix.at(0,0)=1000; camera_matrix.at(1,1)=1000; camera_matrix.at(0,2)=800; camera_matrix.at(1,2)=300; Mat map1[3], map2[3]; for (int i=0; i<3; i++) { Mat camera_matrix_clone = camera_matrix.clone(); camera_matrix_clone.at(0,0)*=(1.+i/100.); camera_matrix_clone.at(1,1)*=(1.+i/100.); initUndistortRectifyMap(camera_matrix, Vec4f(0.5,0.1,0,0), Mat::eye(3,3,CV_32F), camera_matrix_clone, Size(1600,600), CV_32FC1, map1[i], map2[i]); } printf("GO!!\n"); time_t t = time(NULL); int nframes=0; write(sockfd,"get\n",4); read_completely(sockfd, buffer, 4); int framelen = ((buffer[0]*256+buffer[1])*256+buffer[2])*256+buffer[3]; if (framelen > sizeof(buffer)) suicide("buffer too small"); read_completely(sockfd, buffer, framelen); while (waitKey(1) != 'x') { write(sockfd,"get\n",4); read_completely(sockfd, buffer, 4); int framelen = ((buffer[0]*256+buffer[1])*256+buffer[2])*256+buffer[3]; if (framelen > sizeof(buffer)) suicide("buffer too small"); read_completely(sockfd, buffer, framelen); //Mat dingens=Mat::eye(100,100,CV_8UC1) * 244; Mat dingens(600,1600,CV_8UC3, buffer); for (int i=0; i< 1600; i+=50) dingens.col(i)=Vec3b(255,192,128); for (int i=0; i< 600; i+=50) dingens.row(i)=Vec3b(255,192,128); Mat zeuch; //remap(dingens, zeuch, map1, map2, INTER_LINEAR); Mat colors[3]; Mat colors2[3]; split(dingens, colors); for (int i=0; i<3; i++) remap(colors[i], colors2[i], map1[i], map2[i], INTER_LINEAR); merge(colors2, 3, zeuch); imshow("dingens",zeuch); time_t tmp = time(NULL); if (tmp!=t) { printf("%i FPS\n", (int)(nframes / (tmp-t))); nframes=0; t=tmp; } nframes++; } close(sockfd); return 0; }