1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
|
#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");
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);
char key;
bool go=true;
bool new_vals=true;
#define N_VALUES 8
int curr_val=0;
float val[N_VALUES];
float step[N_VALUES] = {0.05,0.05,0.05,0.05,10,10,10,10};
Mat map1[3], map2[3];
float &k1=val[0], &k2=val[1], &p1=val[2], &p2=val[3];
float &c1=val[4], &c2=val[5], &c1_=val[6], &c2_=val[7];
k1=0.5;
k2=0.1;
p1=0.0;
p2=0.0;
c1=800;
c2=300;
c1_=960/2;
c2_=1080/2;
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)
{
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;
camera_matrix.at<float>(1,2)=c2;
for (int i=0; i<3; i++)
{
Mat camera_matrix_clone = camera_matrix.clone();
camera_matrix_clone.at<float>(0,0)*=(1.+(i-1)/100.);
camera_matrix_clone.at<float>(1,1)*=(1.+(i-1)/100.);
camera_matrix_clone.at<float>(0,2)=c1_;
camera_matrix_clone.at<float>(1,2)=c2_;
initUndistortRectifyMap(camera_matrix, Vec4f(k1,k2,p1,p2), Mat::eye(3,3,CV_32F), camera_matrix_clone, Size(960,1080), CV_32FC1, map1[i], map2[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(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, 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], map1[i], map2[i], INTER_LINEAR);
merge(colors2, 3, zeuch);
hconcat(zeuch,zeuch,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;
}
|
