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#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/socket.h>
#include <string.h>
#include <sys/un.h>
#include <time.h>
#include <opencv2/opencv.hpp>
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<float>(0,0)=1000;
camera_matrix.at<float>(1,1)=1000;
camera_matrix.at<float>(0,2)=800;
camera_matrix.at<float>(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<float>(0,0)*=(1.+i/100.);
camera_matrix_clone.at<float>(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;
}
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