diff options
Diffstat (limited to 'client2.c')
| -rw-r--r-- | client2.c | 82 |
1 files changed, 61 insertions, 21 deletions
@@ -45,19 +45,6 @@ int main(int argc, const char** argv) if (connect(sockfd, (struct sockaddr*) &my_sockaddr, sockaddrlen) == -1) die("connect"); - Mat camera_matrix = Mat::eye(3,3,CV_32FC1); - camera_matrix.at<float>(0,0)=1000; - camera_matrix.at<float>(1,1)=1000; - camera_matrix.at<float>(0,2)=800; - camera_matrix.at<float>(1,2)=300; - Mat map1[3], map2[3]; - for (int i=0; i<3; i++) - { - Mat camera_matrix_clone = camera_matrix.clone(); - camera_matrix_clone.at<float>(0,0)*=(1.+i/100.); - camera_matrix_clone.at<float>(1,1)*=(1.+i/100.); - initUndistortRectifyMap(camera_matrix, Vec4f(0.5,0.1,0,0), Mat::eye(3,3,CV_32F), camera_matrix_clone, Size(1600,600), CV_32FC1, map1[i], map2[i]); - } printf("GO!!\n"); time_t t = time(NULL); int nframes=0; @@ -67,13 +54,65 @@ int main(int argc, const char** argv) int framelen = ((buffer[0]*256+buffer[1])*256+buffer[2])*256+buffer[3]; if (framelen > sizeof(buffer)) suicide("buffer too small"); read_completely(sockfd, buffer, framelen); - while (waitKey(1) != 'x') + char key; + bool go=true; + bool new_vals=true; + + #define N_VALUES 8 + int curr_val=0; + float val[N_VALUES]; + float step[N_VALUES] = {0.05,0.05,0.05,0.05,10,10,10,10}; + Mat map1[3], map2[3]; + + float &k1=val[0], &k2=val[1], &p1=val[2], &p2=val[3]; + float &c1=val[4], &c2=val[5], &c1_=val[6], &c2_=val[7]; + k1=0.5; + k2=0.1; + p1=0.0; + p2=0.0; + c1=800; + c2=300; + c1_=960/2; + c2_=1080/2; + + while ((key = waitKey(1)) != 'x') { - write(sockfd,"get\n",4); - read_completely(sockfd, buffer, 4); - int framelen = ((buffer[0]*256+buffer[1])*256+buffer[2])*256+buffer[3]; - if (framelen > sizeof(buffer)) suicide("buffer too small"); - read_completely(sockfd, buffer, framelen); + switch (key) + { + case 'g': go=!go; break; + case 'w': val[curr_val]+=step[curr_val]; new_vals=true; break; + case 's': val[curr_val]-=step[curr_val]; new_vals=true; break; + case 'a': curr_val = (curr_val-1+N_VALUES) % N_VALUES; break; + case 'd': curr_val = (curr_val+1) % N_VALUES; break; + } + + if (new_vals) + { + Mat camera_matrix = Mat::eye(3,3,CV_32FC1); + camera_matrix.at<float>(0,0)=1000; + camera_matrix.at<float>(1,1)=1000; + camera_matrix.at<float>(0,2)=c1; + camera_matrix.at<float>(1,2)=c2; + for (int i=0; i<3; i++) + { + Mat camera_matrix_clone = camera_matrix.clone(); + camera_matrix_clone.at<float>(0,0)*=(1.+(i-1)/100.); + camera_matrix_clone.at<float>(1,1)*=(1.+(i-1)/100.); + camera_matrix_clone.at<float>(0,2)=c1_; + camera_matrix_clone.at<float>(1,2)=c2_; + initUndistortRectifyMap(camera_matrix, Vec4f(k1,k2,p1,p2), Mat::eye(3,3,CV_32F), camera_matrix_clone, Size(960,1080), CV_32FC1, map1[i], map2[i]); + } + + new_vals=false; + } + + if (go) { + write(sockfd,"get\n",4); + read_completely(sockfd, buffer, 4); + int framelen = ((buffer[0]*256+buffer[1])*256+buffer[2])*256+buffer[3]; + if (framelen > sizeof(buffer)) suicide("buffer too small"); + read_completely(sockfd, buffer, framelen); + } //Mat dingens=Mat::eye(100,100,CV_8UC1) * 244; Mat dingens(600,1600,CV_8UC3, buffer); @@ -81,7 +120,7 @@ int main(int argc, const char** argv) dingens.col(i)=Vec3b(255,192,128); for (int i=0; i< 600; i+=50) dingens.row(i)=Vec3b(255,192,128); - Mat zeuch; + Mat zeuch, zeuch2; //remap(dingens, zeuch, map1, map2, INTER_LINEAR); Mat colors[3]; @@ -92,8 +131,9 @@ int main(int argc, const char** argv) remap(colors[i], colors2[i], map1[i], map2[i], INTER_LINEAR); merge(colors2, 3, zeuch); + hconcat(zeuch,zeuch,zeuch2); - imshow("dingens",zeuch); + imshow("dingens",zeuch2); time_t tmp = time(NULL); if (tmp!=t) |