diff options
| -rw-r--r-- | client2.cpp | 95 |
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); |