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-rw-r--r--client2.cpp60
-rw-r--r--server2.py4
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);
diff --git a/server2.py b/server2.py
index b2efe5f..56cadc1 100644
--- a/server2.py
+++ b/server2.py
@@ -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":