yay

1 files changed, 43 insertions, 9 deletions

diff --git a/client2.c b/client2.c
index 83132df..02c0129 100644
--- a/client2.c
+++ b/client2.c
@@ -58,14 +58,15 @@ int main(int argc, const char** argv)
 	bool go=true;
 	bool new_vals=true;
 	
-	#define N_VALUES 8
+	#define N_VALUES 11
 	int curr_val=0;
 	float val[N_VALUES];
-	float step[N_VALUES] = {0.05,0.05,0.0,0.0,10,10,10,10};
-	Mat map1[3], map2[3];
+	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;
@@ -77,6 +78,9 @@ int main(int argc, const char** argv)
 	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')
 	{
@@ -91,6 +95,12 @@ int main(int argc, const char** argv)
 
 		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;
@@ -99,11 +109,25 @@ int main(int argc, const char** argv)
 			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.+(i-1)/100.);
 				camera_matrix_clone.at<float>(1,1)*=(1.+(i-1)/100.);
-				camera_matrix_clone.at<float>(0,2)=c1_+x1;
+				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, map1[i], map2[i]);
+				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;
@@ -123,18 +147,28 @@ int main(int argc, const char** argv)
 			dingens.col(i)=Vec3b(255,192,128);
 		for (int i=0; i< 768; i+=50)
 			dingens.row(i)=Vec3b(255,192,128);
-		Mat zeuch, zeuch2;
+		
+		
+		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], map1[i], map2[i], INTER_LINEAR);
+			remap(colors[i], colors2[i], map1B[i], map2B[i], INTER_LINEAR);
 
-		merge(colors2, 3, zeuch);
-		hconcat(zeuch,zeuch,zeuch2);
+		merge(colors2, 3, righteye);
+		hconcat(lefteye, righteye ,zeuch2);
 
 		imshow("dingens",zeuch2);