diff options
| -rw-r--r-- | client2.cpp | 60 | ||||
| -rw-r--r-- | server2.py | 4 |
2 files changed, 47 insertions, 17 deletions
diff --git a/client2.cpp b/client2.cpp index db1c755..7bc7516 100644 --- a/client2.cpp +++ b/client2.cpp @@ -33,7 +33,7 @@ using namespace cv; #define SCREEN_WIDTH (1920) #define SCREEN_HEIGHT (1080) #define EYE_WIDTH (SCREEN_WIDTH/2) -#define EYE_HEIGHT SCREEN_HEIGHT +#define EYE_HEIGHT (SCREEN_HEIGHT) #define EYE_XDEG 30 @@ -90,9 +90,10 @@ const char* drawOnCanvasFragmentSource = " }\n" " else\n" " outColor = vec4(0.0,0.0,0.0,0.00);" -// " float xxx = Texcoord.x/3.141592654*180/10+100;" -// " float yyy = Texcoord.y/3.141592654*180/10+100;" -// " if ( (abs(xxx- int(xxx)) < 0.01) || (abs(yyy- int(yyy)) <.01)) outColor = vec4(1,1,1,1); else outColor = vec4(0,0,0,1);" + " float xxx = Texcoord.x/3.141592654*180/10+100;" + " float yyy = Texcoord.y/3.141592654*180/10+100;" + " if ( (abs(xxx- int(xxx)) < 0.01) || (abs(yyy- int(yyy)) <.01)) outColor = vec4(1,1,1,1);" + //" else outColor = vec4(0,0,0,1);" "}\n"; @@ -168,17 +169,33 @@ const char* oculusDummyFragmentSource = "}\n"; - float drawOnCanvasVertices[] = { - -1.f, 1.f, -PI,PI/2, // Vertex 1 (X, Y) - 1.f, 1.f, PI,PI/2, // Vertex 2 (X, Y) - 1.f, -1.f, PI,-PI/2, // Vertex 3 (X, Y) + -1.f, 1.f, -PI, PI/2, // Vertex 1 (X, Y) + 1.f, 1.f, PI, PI/2, // Vertex 2 (X, Y) + 1.f, -1.f, PI,-PI/2, // Vertex 3 (X, Y) - 1.f, -1.f, PI,-PI/2, // Vertex 3 (X, Y) + 1.f, -1.f, PI,-PI/2, // Vertex 3 (X, Y) -1.f, -1.f, -PI,-PI/2, // Vertex 4 (X, Y) - -1.f, 1.f, -PI,PI/2 // Vertex 1 (X, Y) + -1.f, 1.f, -PI, PI/2 // Vertex 1 (X, Y) }; +void setDrawOnCanvasRange(float yaw, float pitch, float width, float height) +{ + drawOnCanvasVertices[2]=drawOnCanvasVertices[18]=drawOnCanvasVertices[22]=yaw-width/2; + drawOnCanvasVertices[6]=drawOnCanvasVertices[10]=drawOnCanvasVertices[14]=yaw+width/2; + drawOnCanvasVertices[3]=drawOnCanvasVertices[7]=drawOnCanvasVertices[23]=pitch+height/2; + drawOnCanvasVertices[11]=drawOnCanvasVertices[15]=drawOnCanvasVertices[19]=pitch-height/2; + + for (int i=0; i<6; i++) + { + drawOnCanvasVertices[i*4+0] = drawOnCanvasVertices[i*4+2]/PI; + drawOnCanvasVertices[i*4+1] = drawOnCanvasVertices[i*4+3]/PI*2; + } +} + + + + float drawOnEyeVertices[] = { -1.f, 1.f, 1.f,0.f, // Vertex 1 (X, Y) 1.f, 1.f, 0.f,0.f, // Vertex 2 (X, Y) @@ -460,7 +477,7 @@ int main(int argc, const char** argv) glGenBuffers(1, &vboWholescreenQuad); glBindBuffer(GL_ARRAY_BUFFER, vboCanvas); - glBufferData(GL_ARRAY_BUFFER, sizeof(drawOnCanvasVertices), drawOnCanvasVertices, GL_STATIC_DRAW); + glBufferData(GL_ARRAY_BUFFER, sizeof(drawOnCanvasVertices), drawOnCanvasVertices, GL_DYNAMIC_DRAW); glBindBuffer(GL_ARRAY_BUFFER, vboEye); glBufferData(GL_ARRAY_BUFFER, sizeof(drawOnEyeVertices), drawOnEyeVertices, GL_STATIC_DRAW); @@ -573,11 +590,15 @@ int main(int argc, const char** argv) char key; int adjust_phi=10; float aberr_r=0.989, aberr_b=1.021; - while ((key=waitKey(1)) != 'e') + int i=-1; + while (key=' ') + //while ((key=waitKey(1)) != 'e') { - printf("\033[H"); - + i++; + //printf("\033[H"); + if (i%10==0) + { drone.get(frame_, &navdata); delay_phi.put(navdata.phi); delay_psi.put(navdata.psi); @@ -596,13 +617,15 @@ int main(int argc, const char** argv) if (key=='s') aberr_b+=0.001; if (key=='x') aberr_b-=0.001; - printf("aberr_r/b = \t%f\t%f\n",aberr_r,aberr_b); + //printf("aberr_r/b = \t%f\t%f\n",aberr_r,aberr_b); //for (int i=0; i<1280; i+=50) frame_.col(i)=Scalar(0,255,255); //for (int i=0; i<720; i+=50) frame_.row(i)=Scalar(0,255,255); remap(frame_, frame, map1, map2, INTER_LINEAR); cvtColor(frame, gray, COLOR_BGR2GRAY); + } + @@ -675,10 +698,17 @@ int main(int argc, const char** argv) + if (i%1==0) + { glBindTexture(GL_TEXTURE_2D, texVideo); 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)); + } + + setDrawOnCanvasRange((float)yaw_cam/180.*PI,-(float)pitch_cam/180.*PI,80./180.*PI,45/180.*PI); + glBindBuffer(GL_ARRAY_BUFFER, vboCanvas); + glBufferData(GL_ARRAY_BUFFER, sizeof(drawOnCanvasVertices), drawOnCanvasVertices, GL_DYNAMIC_DRAW); glBindFramebuffer(GL_FRAMEBUFFER, canvasFB); @@ -50,8 +50,8 @@ while True: batt = 100.0 framestr = frame.tostring() - cv2.imshow("server", frame) - cv2.waitKey(1) + #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": |