diff options
Diffstat (limited to 'client2.c')
| -rw-r--r-- | client2.c | 52 |
1 files changed, 43 insertions, 9 deletions
@@ -58,14 +58,15 @@ int main(int argc, const char** argv) bool go=true; bool new_vals=true; - #define N_VALUES 8 + #define N_VALUES 11 int curr_val=0; float val[N_VALUES]; - float step[N_VALUES] = {0.05,0.05,0.0,0.0,10,10,10,10}; - Mat map1[3], map2[3]; + float step[N_VALUES] = {0.05,0.05,0.0,0.0,10,10,10,10,0.002,0.002,0.002}; + Mat map1A[3], map2A[3], map1B[3], map2B[3]; float &k1=val[0], &k2=val[1], &p1=val[2], &p2=val[3]; float &x1=val[4], &y1=val[5], &x2=val[6], &y2=val[7]; + float* col=&val[8]; float c1,c2,c1_,c2_; k1=0.5; @@ -77,6 +78,9 @@ int main(int argc, const char** argv) c1_=960/2; c2_=1080/2; x1=x2=y1=y2=0.0; + col[0]=-0.01; + col[1]=0.0; + col[2]=0.01; while ((key = waitKey(1)) != 'x') { @@ -91,6 +95,12 @@ int main(int argc, const char** argv) if (new_vals) { + printf("val = { %f", val[0]); + for (int i=1; i< N_VALUES; i++) + printf(", %f", val[i]); + printf("}\n"); + + Mat camera_matrix = Mat::eye(3,3,CV_32FC1); camera_matrix.at<float>(0,0)=1000; camera_matrix.at<float>(1,1)=1000; @@ -99,11 +109,25 @@ int main(int argc, const char** argv) for (int i=0; i<3; i++) { Mat camera_matrix_clone = camera_matrix.clone(); + camera_matrix_clone.at<float>(0,0)*=(1.+col[i]); + camera_matrix_clone.at<float>(1,1)*=(1.+col[i]); + camera_matrix_clone.at<float>(0,2)=c1_+x1; + camera_matrix_clone.at<float>(1,2)=c2_+y1; + initUndistortRectifyMap(camera_matrix, Vec4f(k1,k2,p1,p2), Mat::eye(3,3,CV_32F), camera_matrix_clone, Size(960,1080), CV_32FC1, map1A[i], map2A[i]); + } + + camera_matrix.at<float>(0,0)=1000; + camera_matrix.at<float>(1,1)=1000; + camera_matrix.at<float>(0,2)=c1-x1-x2; + camera_matrix.at<float>(1,2)=c2+y1+y2; + 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_+x1; + camera_matrix_clone.at<float>(0,2)=c1_-x1; camera_matrix_clone.at<float>(1,2)=c2_+y1; - 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]); + initUndistortRectifyMap(camera_matrix, Vec4f(k1,k2,p1,p2), Mat::eye(3,3,CV_32F), camera_matrix_clone, Size(960,1080), CV_32FC1, map1B[i], map2B[i]); } new_vals=false; @@ -123,18 +147,28 @@ int main(int argc, const char** argv) dingens.col(i)=Vec3b(255,192,128); for (int i=0; i< 768; i+=50) dingens.row(i)=Vec3b(255,192,128); - Mat zeuch, zeuch2; + + + Mat lefteye, righteye, zeuch2; //remap(dingens, zeuch, map1, map2, INTER_LINEAR); Mat colors[3]; Mat colors2[3]; + + split(dingens, colors); + + for (int i=0; i<3; i++) + remap(colors[i], colors2[i], map1A[i], map2A[i], INTER_LINEAR); + + merge(colors2, 3, lefteye); + split(dingens, colors); for (int i=0; i<3; i++) - remap(colors[i], colors2[i], map1[i], map2[i], INTER_LINEAR); + remap(colors[i], colors2[i], map1B[i], map2B[i], INTER_LINEAR); - merge(colors2, 3, zeuch); - hconcat(zeuch,zeuch,zeuch2); + merge(colors2, 3, righteye); + hconcat(lefteye, righteye ,zeuch2); imshow("dingens",zeuch2); |