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-rw-r--r--Makefile2
-rw-r--r--client2.cpp51
-rw-r--r--lib.cpp2
-rw-r--r--server2.py2
4 files changed, 31 insertions, 26 deletions
diff --git a/Makefile b/Makefile
index b8dffa6..4e31c7d 100644
--- a/Makefile
+++ b/Makefile
@@ -1,4 +1,4 @@
client2: client2.cpp lib.cpp
- g++ -std=c++11 -g -pg -nopie client2.cpp lib.cpp -lglfw -lGLEW -lGLU -lGL `pkg-config --libs opencv` -lm -o client2
+ g++ -std=c++11 -g client2.cpp lib.cpp -lglfw -lGLEW -lGLU -lGL `pkg-config --libs opencv` -lm -o client2
client: client.c
gcc client.c -lX11 -lXi -lXmu -lglut -lGL -lGLU -lm -o client
diff --git a/client2.cpp b/client2.cpp
index 69953fc..4241b94 100644
--- a/client2.cpp
+++ b/client2.cpp
@@ -59,19 +59,19 @@ float vertices[] = {
void calcVerticesRotated(int xshift, int yshift, float angle, float* v)
{
- Mat rotmat = getRotationMatrix2D(Point2f(0,0), angle, 1.0);
Point2f pt;
- pt = Point2f( -cos(angle)/1280. + sin(angle)/720., -sin(angle)/1280. - cos(angle)/720. );
- v[0]=v[20]=pt.x*1280;
- v[1]=v[21]=pt.y*720;
- v[8]=v[12]=-pt.x*1280;
- v[9]=v[13]=-pt.y*720;
-
- pt = Point2f( cos(angle)/1280. + sin(angle)/720., sin(angle)/1280. - cos(angle)/720. );
- v[4]=pt.x*1280;
- v[5]=pt.y*720;
- v[16]=-pt.x*1280;
- v[17]=-pt.y*720;
+ float scale = 0.4;
+ pt = Point2f( -cos(angle)*1280./2 + sin(angle)*720./2, +sin(angle)*1280./2 + cos(angle)*720./2 );
+ v[0]=v[20]=( pt.x + xshift)/1280 * scale;
+ v[1]=v[21]=( pt.y + yshift)/720 * scale;
+ v[8]=v[12]=(-pt.x + xshift)/1280 * scale;
+ v[9]=v[13]=(-pt.y + yshift)/720 * scale;
+
+ pt = Point2f( cos(angle)*1280./2 + sin(angle)*720./2, -sin(angle)*1280./2 + cos(angle)*720./2 );
+ v[4] =( pt.x + xshift)/1280 * scale;
+ v[5] =( pt.y + yshift)/720 * scale;
+ v[16]=(-pt.x + xshift)/1280 * scale;
+ v[17]=(-pt.y + yshift)/720 * scale;
}
@@ -135,7 +135,7 @@ GLFWwindow* initOpenGL()
glfwWindowHint(GLFW_RESIZABLE, GL_FALSE);
- GLFWwindow* window = glfwCreateWindow(800, 600, "OpenGL", NULL, NULL); // Windowed
+ GLFWwindow* window = glfwCreateWindow(1280, 720, "OpenGL", NULL, NULL); // Windowed
// GLFWwindow* window = glfwCreateWindow(800, 600, "OpenGL", glfwGetPrimaryMonitor(), nullptr); // Fullscreen
glfwMakeContextCurrent(window);
@@ -201,7 +201,7 @@ int main(int argc, const char** argv)
glGenBuffers(1, &vboCanvas);
glGenBuffers(1, &vboQuad);
- calcVerticesRotated(0,0,0.,vertices);
+ calcVerticesRotated(0,0,PI/2,vertices);
glBindBuffer(GL_ARRAY_BUFFER, vboCanvas);
glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
@@ -264,7 +264,7 @@ int main(int argc, const char** argv)
navdata_t navdata;
Mat white(Size(1280,720), CV_8UC3, Scalar(255,255,255));
- Mat map1, map2;
+ Mat map1(Size(width,height), CV_32FC1), map2(Size(width,height), CV_32FC1);
calc_undistort_maps(80/1280., 1280,720, map1, map2);
float scale_factor = 0.2;
@@ -282,7 +282,7 @@ int main(int argc, const char** argv)
int total_x = 100, total_y = 00;
float total_rot = 0.0;
- Mat frame, gray, oldgray;
+ Mat frame(Size(1280,720), CV_8UC3), frame_(Size(1280,720), CV_8UC3), gray, oldgray;
Mat screencontent(real_canvas_height,real_canvas_width, CV_8UC3);
Mat screencontent_(real_canvas_height,real_canvas_width, CV_8UC3);
Mat screencontent_mask(real_canvas_height,real_canvas_width, CV_8UC3);
@@ -298,7 +298,6 @@ int main(int argc, const char** argv)
for (int i=0; i<400;i++)
{
- Mat frame_;
drone.get(frame_, &navdata);
remap(frame_, frame, map1, map2, INTER_LINEAR);
cvtColor(frame, oldgray, COLOR_BGR2GRAY);
@@ -306,7 +305,6 @@ int main(int argc, const char** argv)
while (waitKey(1) != 'x')
{
- Mat frame_;
drone.get(frame_, &navdata);
@@ -317,12 +315,16 @@ int main(int argc, const char** argv)
remap(frame_, frame, map1, map2, INTER_LINEAR);
cvtColor(frame, gray, COLOR_BGR2GRAY);
-
- imshow("dingens",frame);
+
glBindTexture(GL_TEXTURE_2D, texVideo);
- glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, frame.size().width, frame.size().height, 0, GL_RGB, GL_UNSIGNED_BYTE, frame.ptr<unsigned char>(0));
+ Mat frame_gl = frame.clone();
+ glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, frame_gl.size().width, frame_gl.size().height, 0, GL_RGB, GL_UNSIGNED_BYTE, frame_gl.ptr<unsigned char>(0));
+
+ calcVerticesRotated(total_x, -total_y,-total_rot*PI/180.,vertices);
+ glBindBuffer(GL_ARRAY_BUFFER, vboCanvas);
+ glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
glBindVertexArray(vaoCanvas);
@@ -339,6 +341,7 @@ int main(int argc, const char** argv)
if (glfwGetKey(window, GLFW_KEY_ESCAPE) == GLFW_PRESS)
glfwSetWindowShouldClose(window, GL_TRUE);
+ imshow("dingens",frame_);
@@ -389,9 +392,9 @@ int main(int argc, const char** argv)
//if (fabs(ydiff) < px_per_deg) ydiff = 0.0;
//if (fabs(adiff) < 2) adiff = 0.0;
- xdiff*=0.3;
- ydiff*=0.3;
- adiff*=0.3;
+ xdiff*=0.01;
+ ydiff*=0.01;
+ adiff*=0.1;
total_x = fixup_range(total_x - xdiff, -virtual_canvas_width/2, virtual_canvas_width/2);
total_y = total_y - ydiff;
total_rot = fixup_angle(total_rot - adiff);
diff --git a/lib.cpp b/lib.cpp
index fbbf338..d159de9 100644
--- a/lib.cpp
+++ b/lib.cpp
@@ -64,5 +64,5 @@ void DroneConnection::get(Mat& frame, navdata_t* nav)
const navdata_t* navdata = (navdata_t*)(buffer + framelen);
memcpy(nav, navdata, sizeof(*navdata));
- frame = Mat(768,1280,CV_8UC3, buffer);
+ frame = Mat(720,1280,CV_8UC3, buffer);
}
diff --git a/server2.py b/server2.py
index 2066231..b2efe5f 100644
--- a/server2.py
+++ b/server2.py
@@ -50,6 +50,8 @@ while True:
batt = 100.0
framestr = frame.tostring()
+ cv2.imshow("server", frame)
+ cv2.waitKey(1)
lenframestr=len(framestr)
connection.sendall(struct.pack(">i",lenframestr)+framestr+struct.pack("@dddd", phi, theta, psi, batt));
elif data[0:3] == "fly" and data[-1]=="\n":
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-05 02:15:57 +0000