c++ 接收机器人发送过来的数据并用opencv显示

#include <iostream>
#include <boost/asio.hpp>
#include <vector>
#include <thread>
#include <opencv2/opencv.hpp>
#include <boost/thread/mutex.hpp>
#include <iostream>
#include <fstream>
#include<sstream>
using namespace std;
using namespace cv;

vector<string> getdata_string;
Mat oldphoto;
//字符串分割函数,
std::vector<int> split(std::string str, std::string pattern) {
    std::string::size_type pos;
    std::vector<int> result;
    str += pattern;//扩展字符串以方便操作
    int size = str.size();
    //解压的像素的苏亮
    int increate_number = 0;
    //上次有效的像素值
    int last_pixel = -1;
    for (int i = 0; i < size; i++) {
        pos = str.find(pattern, i);

        if (pos < size) {
            std::string s = str.substr(i, pos - i);
            int number = 0;
            number = atoi(s.c_str());
            if (number > 1000) {
                increate_number = number - 1000;
                for (int j = 0; j < increate_number; ++j) {
                    result.push_back(last_pixel);
                }
            } else {
                increate_number = 0;
                result.push_back(number);
                last_pixel = number;
            }
            i = pos + pattern.size() - 1;
        }
    }
    return result;
}

void getData() {
    using namespace boost::asio;
    boost::mutex mutex;
    // 所有asio类都需要io_service对象
    io_service iosev;
    ip::tcp::acceptor acceptor(iosev, ip::tcp::endpoint(ip::tcp::v4(), 8888));
    for (;;) {
        mutex.lock();//锁
        // socket对象
        ip::tcp::socket socket(iosev);
        // 等待直到客户端连接进来
        acceptor.accept(socket);
        // 显示连接进来的客户端
        std::cout << socket.remote_endpoint().address() << std::endl;
        vector<uint32_t> image;
        // 向客户端发送hello world!
        boost::system::error_code ec;
        socket.write_some(buffer("boost_server3.cpp:hello world!"), ec);
        // 如果出错，打印出错信息
        if (ec) {
            std::cout << boost::system::system_error(ec).what() << std::endl;
            break;
        }
        char get[400000];
        ofstream outfile("/home/cai/bag/test1218bag/iamge_data.txt", std::ios::app);
        size_t len = socket.read_some(buffer(get), ec);
        outfile << get << "\n";
        std::cout << get << std::endl;
        getdata_string.push_back(get);
        mutex.unlock();//解锁
    }
}

int main(int argc, char *argv[]) {
    int show_time = 500;
    //开启一个线程
    std::thread t(getData);
    int photo_index = 0;
    while (1) {
        if (getdata_string.size() <= photo_index) {
            if (photo_index > 0) {
                imshow("dst",oldphoto);
                waitKey(show_time);
                continue;
            } else{
                continue;
            }
        }
        string get = getdata_string.at(photo_index);
        std::vector<int> image_vector;
        //每隔１.5秒更新一次图片
        image_vector = split(get, "-");
        //在数据传输协议里面已定义第2个为width,第3个为height,第一应该是"outfile_big_graph: "被spilit方法设置为0了
        int width = image_vector[2];
        int height = image_vector[1];
        int name_int = image_vector[0];
        string name_string = to_string(name_int);
        image_vector.erase(image_vector.begin());
        image_vector.erase(image_vector.begin());
        image_vector.erase(image_vector.begin());

        cv::Mat src = Mat::zeros(height, width, CV_8UC1);
        cv::Mat dst;
        //上次的灰度值
        for (int i = 0; i < height; ++i) {
            for (int j = 0; j < width; ++j) {
                int Gray = image_vector[i * width + j];
                src.at<uchar>(i, j) = (uchar) Gray;
            }
        }
        int new_width = width * 4;
        int new_height = height * 4;
        //resize(src, dst, cv::Size(new_width, new_height));
        resize(src, dst, cv::Size(800, 800));
//        imshow(name_string, dst);
        imshow("dst", dst);
        oldphoto = dst;
        photo_index++;
        waitKey(show_time);
    }
    return 0;
}