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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;
struct navdata_t
{
double phi;
double theta;
double psi;
double batt;
};
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");
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(navdata_t) > sizeof(buffer)) suicide("buffer too small");
read_completely(sockfd, buffer, framelen+sizeof(navdata_t));
const navdata_t* navdata = (navdata_t*)(buffer + framelen);
printf("%lf\t%lf\t%lf\t%lf\n", navdata->phi, navdata->theta, navdata->psi, navdata->batt);
char key;
bool go=true;
bool new_vals=true;
#define N_VALUES 11
int curr_val=0;
float val[N_VALUES] =// { 1.300000, 0.050000, 0.000000, 0.000000, 0.000000, 0.000000, 10.000000, 0.000000, -0.004000, 0.014000, 0.026000};
{ 0.500000, 0.050000, 0.000000, 0.000000, 0.000000, 0.000000, 10.000000, 0.000000, 0.006000, 0.024000, 0.026000};
// {.0,.0,.0,.0,.0,.0,.0,.0,.0,.0,.0};
float step[N_VALUES] = {0.05,0.05,0.0,0.0,10,10,10,10,0.002,0.002,0.002};
Mat map1A[3], map2A[3], map1B[3], map2B[3];
float &k1=val[0], &k2=val[1], &p1=val[2], &p2=val[3];
float &x1=val[4], &y1=val[5], &x2=val[6], &y2=val[7];
float* col=&val[8];
float c1,c2,c1_,c2_;
//k1=0.5;
//k2=0.1;
//p1=0.0;
//p2=0.0;
c1=1280/2;
c2=768/2;
c1_=960/2;
c2_=1080/2;
//x1=x2=y1=y2=0.0;
//col[0]=-0.01;
//col[1]=0.0;
//col[2]=0.01;
while ((key = waitKey(1)) != 'x')
{
switch (key)
{
case 'g': go=!go; break;
case 'w': val[curr_val]+=step[curr_val]; new_vals=true; break;
case 's': val[curr_val]-=step[curr_val]; new_vals=true; break;
case 'a': curr_val = (curr_val-1+N_VALUES) % N_VALUES; break;
case 'd': curr_val = (curr_val+1) % N_VALUES; break;
}
if (new_vals)
{
printf("val = { %f", val[0]);
for (int i=1; i< N_VALUES; i++)
printf(", %f", val[i]);
printf("}\n");
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)=c1+x1+x2;
camera_matrix.at<float>(1,2)=c2+y1+y2;
for (int i=0; i<3; i++)
{
Mat camera_matrix_clone = camera_matrix.clone();
camera_matrix_clone.at<float>(0,0)*=(1.+col[i]);
camera_matrix_clone.at<float>(1,1)*=(1.+col[i]);
camera_matrix_clone.at<float>(0,2)=c1_+x1;
camera_matrix_clone.at<float>(1,2)=c2_+y1;
initUndistortRectifyMap(camera_matrix, Vec4f(k1,k2,p1,p2), Mat::eye(3,3,CV_32F), camera_matrix_clone, Size(960,1080), CV_32FC1, map1A[i], map2A[i]);
}
camera_matrix.at<float>(0,0)=1000;
camera_matrix.at<float>(1,1)=1000;
camera_matrix.at<float>(0,2)=c1-x1-x2;
camera_matrix.at<float>(1,2)=c2+y1+y2;
for (int i=0; i<3; i++)
{
Mat camera_matrix_clone = camera_matrix.clone();
camera_matrix_clone.at<float>(0,0)*=(1.+col[i]);
camera_matrix_clone.at<float>(1,1)*=(1.+col[i]);
camera_matrix_clone.at<float>(0,2)=c1_-x1;
camera_matrix_clone.at<float>(1,2)=c2_+y1;
initUndistortRectifyMap(camera_matrix, Vec4f(k1,k2,p1,p2), Mat::eye(3,3,CV_32F), camera_matrix_clone, Size(960,1080), CV_32FC1, map1B[i], map2B[i]);
}
new_vals=false;
}
if (go) {
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(navdata_t) > sizeof(buffer)) suicide("buffer too small");
read_completely(sockfd, buffer, framelen+sizeof(navdata_t));
const navdata_t* navdata = (navdata_t*)(buffer + framelen);
printf("%lf\t%lf\t%lf\t%lf\n", navdata->phi, navdata->theta, navdata->psi, navdata->batt);
}
//Mat dingens=Mat::eye(100,100,CV_8UC1) * 244;
Mat dingens(768,1280,CV_8UC3, buffer);
for (int i=0; i< 1280; i+=50)
dingens.col(i)=Vec3b(255,192,128);
for (int i=0; i< 768; i+=50)
dingens.row(i)=Vec3b(255,192,128);
Mat lefteye, righteye, zeuch2;
//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], map1A[i], map2A[i], INTER_LINEAR);
merge(colors2, 3, lefteye);
split(dingens, colors);
for (int i=0; i<3; i++)
remap(colors[i], colors2[i], map1B[i], map2B[i], INTER_LINEAR);
merge(colors2, 3, righteye);
hconcat(lefteye, righteye ,zeuch2);
imshow("dingens",zeuch2);
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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