| 447 | } |
| 448 | |
| 449 | void Transceiver::handle_image(const ImageHeader& header) |
| 450 | { |
| 451 | LogFunc << VAR(header); |
| 452 | |
| 453 | std::unique_lock lock(socket_mutex_); |
| 454 | |
| 455 | zmq::message_t msg; |
| 456 | auto size_opt = zmq_sock_.recv(msg); |
| 457 | if (!size_opt || *size_opt == 0) { |
| 458 | LogError << "failed to recv msg" << VAR(ipc_addr_); |
| 459 | return; |
| 460 | } |
| 461 | |
| 462 | if (header.size != msg.size()) { |
| 463 | LogError << "size mismatch" << VAR(header.size) << VAR(msg.size()); |
| 464 | return; |
| 465 | } |
| 466 | |
| 467 | cv::Mat image = cv::Mat(header.rows, header.cols, header.type, msg.data()).clone(); |
| 468 | recved_images_.insert_or_assign(header.uuid, std::move(image)); |
| 469 | } |
| 470 | |
| 471 | void Transceiver::handle_image_encoded(const ImageEncodedHeader& header) |
| 472 | { |