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-rw-r--r--client2.cpp95
1 files changed, 56 insertions, 39 deletions
diff --git a/client2.cpp b/client2.cpp
index 4241b94..2ee78e7 100644
--- a/client2.cpp
+++ b/client2.cpp
@@ -169,7 +169,7 @@ float fixup_angle(float a)
void calc_undistort_maps(float px_per_deg, int width, int height, Mat& map1, Mat& map2)
{
- Mat camera_matrix(3,3,CV_32FC1);
+ Mat camera_matrix= Mat::zeros(3,3,CV_32FC1);
camera_matrix.at<float>(0,0)=1.0; //fx
camera_matrix.at<float>(1,1)=1.0; //fy
camera_matrix.at<float>(2,2)=1.0; // 1
@@ -307,47 +307,11 @@ int main(int argc, const char** argv)
{
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);
remap(frame_, frame, map1, map2, INTER_LINEAR);
cvtColor(frame, gray, COLOR_BGR2GRAY);
-
- 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));
-
-
- 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);
- 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);
-
- imshow("dingens",frame_);
-
-
-
-
-
-
@@ -392,8 +356,8 @@ int main(int argc, const char** argv)
//if (fabs(ydiff) < px_per_deg) ydiff = 0.0;
//if (fabs(adiff) < 2) adiff = 0.0;
- xdiff*=0.01;
- ydiff*=0.01;
+ xdiff*=0.0;
+ ydiff*=0.0;
adiff*=0.1;
total_x = fixup_range(total_x - xdiff, -virtual_canvas_width/2, virtual_canvas_width/2);
total_y = total_y - ydiff;
@@ -405,6 +369,59 @@ int main(int argc, const char** argv)
+
+
+
+
+
+
+
+
+
+
+ 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));
+
+
+ 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);
+ 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);
+
+ imshow("dingens",frame_);
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
printf("sh: %i\t%i\t%f\n", shift_x, shift_y, angle);
printf("tot: %i\t%i\t%f\n", total_x, total_y, total_rot);