diff options
| -rw-r--r-- | Makefile | 2 | ||||
| -rw-r--r-- | client2.cpp | 51 | ||||
| -rw-r--r-- | lib.cpp | 2 | ||||
| -rw-r--r-- | server2.py | 2 |
4 files changed, 31 insertions, 26 deletions
@@ -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); @@ -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); } @@ -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": |