diff options
| -rw-r--r-- | Makefile | 2 | ||||
| -rw-r--r-- | client2.cpp | 248 | ||||
| -rw-r--r-- | server.py | 2 |
3 files changed, 249 insertions, 3 deletions
@@ -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; } @@ -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 |