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-rw-r--r--Makefile2
-rw-r--r--client2.cpp248
-rw-r--r--server.py2
3 files changed, 249 insertions, 3 deletions
diff --git a/Makefile b/Makefile
index 6a03720..b8dffa6 100644
--- a/Makefile
+++ b/Makefile
@@ -1,4 +1,4 @@
client2: client2.cpp lib.cpp
- g++ -g client2.cpp lib.cpp `pkg-config --libs opencv` -lm -o client2
+ g++ -std=c++11 -g -pg -nopie 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 dd2b263..69953fc 100644
--- a/client2.cpp
+++ b/client2.cpp
@@ -1,3 +1,7 @@
+#define GLEW_STATIC
+#include <GL/glew.h>
+#include <GLFW/glfw3.h>
+
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
@@ -17,6 +21,137 @@ using namespace cv;
#define SOCKETPATH "/home/flo/uds_socket"
+
+
+
+
+const char* justDrawASpriteVertexSource =
+ "#version 150\n"
+ "in vec2 position;\n"
+ "in vec2 texcoord;\n"
+ "out vec2 Texcoord;\n"
+ "void main()\n"
+ "{\n"
+ " gl_Position = vec4(position, 0.0, 1.0);\n"
+ " Texcoord = texcoord;\n"
+ "}\n";
+
+const char* justDrawASpriteFragmentSource =
+ "#version 150\n"
+ "uniform sampler2D texVideo;\n"
+ "in vec2 Texcoord;\n"
+ "out vec4 outColor;\n"
+ "void main()\n"
+ "{\n"
+ " outColor = texture(texVideo, Texcoord);\n"
+ "}\n";
+
+
+float vertices[] = {
+ -1.f, 1.f, 0.0f,0.0f, // Vertex 1 (X, Y)
+ 1.f, 1.f, 1.0f,0.0f, // Vertex 2 (X, Y)
+ 1.f, -1.f, 1.0f,1.0f, // Vertex 3 (X, Y)
+
+ 1.f, -1.f, 1.0f,1.0f, // Vertex 3 (X, Y)
+ -1.f, -1.f, 0.0f,1.0f, // Vertex 4 (X, Y)
+ -1.f, 1.f, 0.0f,0.0f // Vertex 1 (X, Y)
+};
+
+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;
+}
+
+
+void compileShaderProgram(const GLchar* vertSrc, const GLchar* fragSrc, GLuint& vertexShader, GLuint& fragmentShader, GLuint& shaderProgram)
+{
+ GLint status;
+ char buffer[512];
+
+ vertexShader = glCreateShader(GL_VERTEX_SHADER);
+ glShaderSource(vertexShader, 1, &vertSrc, NULL);
+ glCompileShader(vertexShader);
+ glGetShaderiv(vertexShader, GL_COMPILE_STATUS, &status);
+ glGetShaderInfoLog(vertexShader, 512, NULL, buffer);
+ printf("vertex shader log:\n%s\n\n\n", buffer);
+
+ fragmentShader = glCreateShader(GL_FRAGMENT_SHADER);
+ glShaderSource(fragmentShader, 1, &fragSrc, NULL);
+ glCompileShader(fragmentShader);
+ glGetShaderiv(fragmentShader, GL_COMPILE_STATUS, &status);
+ glGetShaderInfoLog(fragmentShader, 512, NULL, buffer);
+ printf("fragment shader log:\n%s\n\n\n", buffer);
+
+ // assemble shader program
+ shaderProgram = glCreateProgram();
+ glAttachShader(shaderProgram, vertexShader);
+ glAttachShader(shaderProgram, fragmentShader);
+ glBindFragDataLocation(shaderProgram, 0, "outColor"); // not neccessary
+ glLinkProgram(shaderProgram);
+}
+
+GLuint justDrawASpriteShaderProgram(GLuint vao, GLuint vbo)
+{
+ GLuint vertexShader, fragmentShader, shaderProgram;
+ compileShaderProgram(justDrawASpriteVertexSource, justDrawASpriteFragmentSource, vertexShader, fragmentShader, shaderProgram);
+
+
+ glBindVertexArray(vao);
+ glBindBuffer(GL_ARRAY_BUFFER, vbo);
+
+ // set up shaders
+ GLint posAttrib = glGetAttribLocation(shaderProgram, "position");
+ glEnableVertexAttribArray(posAttrib);
+ glVertexAttribPointer(posAttrib, 2, GL_FLOAT, GL_FALSE, 4*sizeof(float), 0);
+
+
+ GLint texAttrib = glGetAttribLocation(shaderProgram, "texcoord");
+ glEnableVertexAttribArray(texAttrib);
+ glVertexAttribPointer(texAttrib, 2, GL_FLOAT, GL_FALSE, 4*sizeof(float), (void*)(2*sizeof(float)));
+
+ return shaderProgram;
+}
+
+GLFWwindow* initOpenGL()
+{
+ glfwInit();
+
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+ glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
+ glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+ glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
+
+ glfwWindowHint(GLFW_RESIZABLE, GL_FALSE);
+
+ GLFWwindow* window = glfwCreateWindow(800, 600, "OpenGL", NULL, NULL); // Windowed
+ // GLFWwindow* window = glfwCreateWindow(800, 600, "OpenGL", glfwGetPrimaryMonitor(), nullptr); // Fullscreen
+
+ glfwMakeContextCurrent(window);
+
+ glewExperimental = GL_TRUE;
+ glewInit();
+
+ return window;
+}
+
+
+
+
+
+
+
const int width = 1280, height = 720;
float fixup_range(float a, float low, float upp)
@@ -53,6 +188,78 @@ void calc_undistort_maps(float px_per_deg, int width, int height, Mat& map1, Mat
int main(int argc, const char** argv)
{
+
+ GLFWwindow* window = initOpenGL();
+
+
+ GLuint vaoCanvas, vaoQuad;
+ glGenVertexArrays(1, &vaoCanvas);
+ glGenVertexArrays(1, &vaoQuad);
+
+
+ GLuint vboCanvas, vboQuad;
+ glGenBuffers(1, &vboCanvas);
+ glGenBuffers(1, &vboQuad);
+
+ calcVerticesRotated(0,0,0.,vertices);
+
+ glBindBuffer(GL_ARRAY_BUFFER, vboCanvas);
+ glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
+
+ //glBindBuffer(GL_ARRAY_BUFFER, vboQuad);
+ //glBufferData(GL_ARRAY_BUFFER, sizeof(quadVertices), quadVertices, GL_STATIC_DRAW);
+
+
+
+
+
+ // compile shaders
+ GLuint shaderProgram = justDrawASpriteShaderProgram(vaoCanvas, vboCanvas);
+
+
+ // texture
+ GLuint texVideo;
+ glGenTextures(1, &texVideo);
+ glBindTexture(GL_TEXTURE_2D, texVideo);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+
+
+/*
+// Framebuffer stuff
+ GLuint frameBuffer;
+ glGenFramebuffers(1, &frameBuffer);
+ glBindFramebuffer(GL_FRAMEBUFFER, frameBuffer);
+
+ GLuint texColorBuffer;
+ glGenTextures(1, &texColorBuffer);
+ glBindTexture(GL_TEXTURE_2D, texColorBuffer);
+
+ glTexImage2D(
+ GL_TEXTURE_2D, 0, GL_RGB, 8000, 6000, 0, GL_RGB, GL_UNSIGNED_BYTE, NULL
+ );
+
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+ glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+
+ glFramebufferTexture2D(
+ GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, texColorBuffer, 0
+ );
+*/
+
+
+
+
+
+
+
+
+
+
+
+
DroneConnection drone(SOCKETPATH);
navdata_t navdata;
@@ -89,7 +296,7 @@ int main(int argc, const char** argv)
ModuloRingbuffer ringbuf_theta(RINGBUF_SIZE, -180,180);
- for (int i=0; i<160;i++)
+ for (int i=0; i<400;i++)
{
Mat frame_;
drone.get(frame_, &navdata);
@@ -102,6 +309,9 @@ int main(int argc, const char** argv)
Mat frame_;
drone.get(frame_, &navdata);
+
+
+
//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);
@@ -109,6 +319,39 @@ int main(int argc, const char** argv)
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));
+
+
+
+
+ glBindVertexArray(vaoCanvas);
+ glUseProgram(shaderProgram);
+ glActiveTexture(GL_TEXTURE0);
+ glBindTexture(GL_TEXTURE_2D, texVideo);
+ glDrawArrays(GL_TRIANGLES, 0, 6);
+
+
+
+ glfwSwapBuffers(window);
+ glfwPollEvents();
+
+ if (glfwGetKey(window, GLFW_KEY_ESCAPE) == GLFW_PRESS)
+ glfwSetWindowShouldClose(window, GL_TRUE);
+
+
+
+
+
+
+
+
+
+
+
+
+
+
Mat mat = estimateRigidTransform(gray, oldgray, false);
@@ -193,5 +436,8 @@ int main(int argc, const char** argv)
}
+ //glDeleteFramebuffers(1, &frameBuffer);
+
+ glfwTerminate();
return 0;
}
diff --git a/server.py b/server.py
index 4233553..4e56790 100644
--- a/server.py
+++ b/server.py
@@ -123,7 +123,7 @@ while True:
manual_override_z = True
manual_override_rot = True
if btn_leftshoulder and btn_rightshoulder and js.get_button(10):
- drone.takeoff()
+ #drone.takeoff()
manual_override_xy = True
manual_override_z = True
manual_override_rot = True