diff options
| -rw-r--r-- | Makefile | 4 | ||||
| -rw-r--r-- | client2.cpp | 77 | ||||
| -rw-r--r-- | simple.c | 15 |
3 files changed, 90 insertions, 6 deletions
@@ -1,5 +1,5 @@ -client2: client2.cpp lib.cpp ringbuf.h - g++ -std=c++11 -g client2.cpp lib.cpp -lglfw -lGLEW -lGLU -lGL `pkg-config --libs opencv` -lm -o client2 +client2: client2.cpp lib.cpp ringbuf.h contrib/OpenHMD/src/.libs/libopenhmd.a + g++ -std=c++11 -g client2.cpp lib.cpp -lglfw -lGLEW -lGLU -lGL `pkg-config --libs opencv` -lm -DOHMD_STATIC -Icontrib/OpenHMD/include/ contrib/OpenHMD/src/.libs/libopenhmd.a -lhidapi-libusb -lrt -lpthread -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 fc6d741..6ecac58 100644 --- a/client2.cpp +++ b/client2.cpp @@ -2,6 +2,7 @@ #include <GL/glew.h> #include <GLFW/glfw3.h> +#include <openhmd.h> #include <unistd.h> #include <stdio.h> #include <stdlib.h> @@ -476,6 +477,43 @@ void genFramebuffer(GLuint& frameBuffer, GLuint& texColorBuffer, int w, int h, b glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, texColorBuffer, 0); } + +int init_ohmd(ohmd_context** ctx_, ohmd_device** hmd_) +{ + ohmd_context* ctx = ohmd_ctx_create(); + + // Probe + int num_devices = ohmd_ctx_probe(ctx); + if(num_devices < 0) + { + printf("device probing failed: %s\n", ohmd_ctx_get_error(ctx)); + return -1; + } + + printf("i've got %d devices\n\n", num_devices); + + ohmd_device* hmd = ohmd_list_open_device(ctx, 0); + + if(!hmd) + { + printf("open failed! %s\n", ohmd_ctx_get_error(ctx)); + return -1; + } + + // Print hardware information for the opened device + int ivals[2]; + ohmd_device_geti(hmd, OHMD_SCREEN_HORIZONTAL_RESOLUTION, ivals); + ohmd_device_geti(hmd, OHMD_SCREEN_VERTICAL_RESOLUTION, ivals + 1); + printf("resolution: %i x %i\n", ivals[0], ivals[1]); + + *ctx_=ctx; + *hmd_=hmd; + + return 0; +} + + + int main(int argc, const char** argv) { @@ -554,6 +592,15 @@ glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + + ohmd_context* my_ohmd_context; + ohmd_device* my_ohmd_device; + if (init_ohmd(&my_ohmd_context, &my_ohmd_device)) return 1; + + + + + DroneConnection drone(SOCKETPATH); navdata_t navdata; @@ -609,6 +656,9 @@ glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); int adjust_phi=10; while ((key=waitKey(1)) != 'x') { + printf("\033[H"); + + drone.get(frame_, &navdata); delay_phi.put(navdata.phi); delay_psi.put(navdata.psi); @@ -695,6 +745,26 @@ glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + ohmd_ctx_update(my_ohmd_context); + + float quat[4],quat_[4]; + ohmd_device_getf(my_ohmd_device, OHMD_ROTATION_QUAT, quat_); + quat[0]=quat_[0]; + quat[1]=quat_[1]; + quat[2]=quat_[3]; + quat[3]=quat_[2]; + + float oculus_yaw = atan2( 2.0* (quat[1]*quat[2]+quat[0]*quat[3]), (quat[0]*quat[0]+quat[1]*quat[1]-quat[2]*quat[2]-quat[3]*quat[3]) ); + float oculus_pitch = asin(2.0*(quat[0]*quat[2]-quat[1]*quat[3])); + float oculus_roll = -atan2(2.0*(quat[2]*quat[3]+quat[0]*quat[1]), -(quat[0]*quat[0]-quat[1]*quat[1]-quat[2]*quat[2]+quat[3]*quat[3])); + + printf("oculus yaw, pitch, roll = \t%f\t%f\t%f\n", oculus_yaw*180/PI, oculus_pitch*180/PI, oculus_roll*180/PI); + + + + + + @@ -727,11 +797,14 @@ glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); glUseProgram(drawFromCanvasProgram); glActiveTexture(GL_TEXTURE0); glBindTexture(GL_TEXTURE_2D, canvasTex); - glUniform1f(uniEyeYaw,3.1415+ringbuf_psi2.get()/180.*PI); + /*glUniform1f(uniEyeYaw,3.1415+ringbuf_psi2.get()/180.*PI); glUniform1f(uniEyePitch,-ringbuf_theta2.get()/180.*PI); //glUniform1f(uniEyeYaw,3.1415+(float)total_x/virtual_canvas_width*2*PI); //glUniform1f(uniEyePitch,(float)total_y/px_per_deg/180.*PI); - glUniform1f(uniEyeRoll,0); + glUniform1f(uniEyeRoll,0);*/ + glUniform1f(uniEyeYaw,oculus_yaw); + glUniform1f(uniEyePitch,-oculus_pitch); + glUniform1f(uniEyeRoll,-oculus_roll); glDrawArrays(GL_TRIANGLES, 0, 6); @@ -9,6 +9,9 @@ #include <openhmd.h> #include <stdio.h> +#include <math.h> + +#define PI 3.141593654 void ohmd_sleep(double); @@ -56,10 +59,18 @@ int main(int argc, char** argv) for(int i = 0; i < 10000; i++){ ohmd_ctx_update(ctx); - float quat[4]; - ohmd_device_getf(hmd, OHMD_ROTATION_QUAT, quat); + float quat[4],quat_[4]; + ohmd_device_getf(hmd, OHMD_ROTATION_QUAT, quat_); + quat[0]=quat_[0]; + quat[1]=quat_[1]; + quat[2]=quat_[3]; + quat[3]=quat_[2]; + float oculus_yaw = atan2( 2.0* (quat[1]*quat[2]+quat[0]*quat[3]), (quat[0]*quat[0]+quat[1]*quat[1]-quat[2]*quat[2]-quat[3]*quat[3]) ); + float oculus_pitch = asin(2.0*(quat[0]*quat[2]-quat[1]*quat[3])); + float oculus_roll = -atan2(2.0*(quat[2]*quat[3]+quat[0]*quat[1]), -(quat[0]*quat[0]-quat[1]*quat[1]-quat[2]*quat[2]+quat[3]*quat[3])); printf("quat:\t %f\t%f\t%f\t%f\n", quat[0],quat[1],quat[2],quat[3]); + printf("oculus yaw, pitch, roll = \t%f\t%f\t%f\n", oculus_yaw*180/PI, oculus_pitch*180/PI, oculus_roll*180/PI); ohmd_sleep(.01); } |