diff options
Diffstat (limited to 'client2.cpp')
| -rw-r--r-- | client2.cpp | 50 |
1 files changed, 36 insertions, 14 deletions
diff --git a/client2.cpp b/client2.cpp index 49eb776..e412878 100644 --- a/client2.cpp +++ b/client2.cpp @@ -81,13 +81,13 @@ float vertices[] = { float quadVertices[] = { - -1.f, -1.f, 0.4f,0.4f, // Vertex 1 (X, Y) - 1.f, -1.f, 0.6f,0.4f, // Vertex 2 (X, Y) - 1.f, 1.f, 0.6f,0.6f, // Vertex 3 (X, Y) + -1.f, -1.f, 0.f,0.f, // Vertex 1 (X, Y) + 1.f, -1.f, 1.f,0.f, // Vertex 2 (X, Y) + 1.f, 1.f, 1.f,1.f, // Vertex 3 (X, Y) - 1.f, 1.f, 0.6f,0.6f, // Vertex 3 (X, Y) - -1.f, 1.f, 0.4f,0.6f, // Vertex 4 (X, Y) - -1.f, -1.f, 0.4f,0.4f // Vertex 1 (X, Y) + 1.f, 1.f, 1.f,1.f, // Vertex 3 (X, Y) + -1.f, 1.f, 0.f,1.f, // Vertex 4 (X, Y) + -1.f, -1.f, 0.f,0.f // Vertex 1 (X, Y) }; @@ -317,7 +317,7 @@ int main(int argc, const char** argv) Mat screencontent_(real_canvas_height,real_canvas_width, CV_8UC3); Mat screencontent_mask(real_canvas_height,real_canvas_width, CV_8UC3); - #define RINGBUF_SIZE 10 + #define RINGBUF_SIZE 4 ModuloRingbuffer ringbuf_x(RINGBUF_SIZE, -virtual_canvas_width/2, virtual_canvas_width/2); Ringbuffer ringbuf_y(RINGBUF_SIZE); ModuloRingbuffer ringbuf_a(RINGBUF_SIZE, -180,180); @@ -326,6 +326,12 @@ int main(int argc, const char** argv) ModuloRingbuffer ringbuf_theta(RINGBUF_SIZE, -180,180); + #define DELAY_SIZE 6 + Ringbuffer delay_phi(DELAY_SIZE); // should delay sensor data by ~0.2sec + Ringbuffer delay_psi(DELAY_SIZE); // that's the amount the video lags behind + Ringbuffer delay_theta(DELAY_SIZE); // the sensor data + + for (int i=0; i<400;i++) { drone.get(frame_, &navdata); @@ -333,9 +339,22 @@ int main(int argc, const char** argv) cvtColor(frame, oldgray, COLOR_BGR2GRAY); } - while (waitKey(1) != 'x') + char key; + int adjust_phi=0; + while ((key=waitKey(1)) != 'x') { drone.get(frame_, &navdata); + delay_phi.put(navdata.phi); + delay_psi.put(navdata.psi); + delay_theta.put(navdata.theta); + navdata.phi = delay_phi.front(); + navdata.psi = delay_psi.front(); + navdata.theta = delay_theta.front(); + + navdata.phi = fixup_angle(navdata.phi + adjust_phi); + + if (key=='q') adjust_phi++; + if (key=='w') adjust_phi--; //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); @@ -367,8 +386,8 @@ int main(int argc, const char** argv) printf("no mat!\n"); } - total_x += shift_x; - total_y += shift_y; + total_x += cos(total_rot*PI/180.)*shift_x + sin(total_rot*PI/180.)*shift_y; + total_y += -sin(total_rot*PI/180.)*shift_x + cos(total_rot*PI/180.)*shift_y; total_rot = fixup_angle(total_rot+angle); ringbuf_x.put(total_x); @@ -386,16 +405,19 @@ int main(int argc, const char** argv) //if (fabs(ydiff) < px_per_deg) ydiff = 0.0; //if (fabs(adiff) < 2) adiff = 0.0; - xdiff*=0.0; - ydiff*=0.0; - adiff*=0.1; + xdiff*=0.5; + ydiff*=0.5; + adiff*=0.5; total_x = fixup_range(total_x - xdiff, -virtual_canvas_width/2, virtual_canvas_width/2); total_y = total_y - ydiff; total_rot = fixup_angle(total_rot - adiff); ringbuf_x.add(-xdiff); ringbuf_y.add(-ydiff); ringbuf_a.add(-adiff); - + + //total_x = navdata.psi * px_per_deg; + //total_y = - navdata.theta * px_per_deg; + //total_rot = -navdata.phi; |