diff options
Diffstat (limited to 'client2.cpp')
| -rw-r--r-- | client2.cpp | 51 |
1 files changed, 4 insertions, 47 deletions
diff --git a/client2.cpp b/client2.cpp index bed1433..06965f0 100644 --- a/client2.cpp +++ b/client2.cpp @@ -508,32 +508,20 @@ int main(int argc, const char** argv) DroneConnection drone(SOCKETPATH); navdata_t navdata; - Mat white(Size(1280,720), CV_8UC3, Scalar(255,255,255)); Mat map1(Size(width,height), CV_32FC1), map2(Size(width,height), CV_32FC1); calc_undistort_maps(80/1280., 1280,720, map1, map2); - float scale_factor = 0.2; float diag = sqrt(1280*1280+720*720); float px_per_deg = diag / 92.; - int virtual_canvas_width = 360. * px_per_deg; - int virtual_canvas_height = 90. * px_per_deg; - - int real_canvas_extra_width = sqrt(1280*1280+720*720)*scale_factor/2 + 2; - int real_canvas_width = virtual_canvas_width * scale_factor + 2*real_canvas_extra_width; - int real_canvas_height = virtual_canvas_height * scale_factor; - int total_x = 100, total_y = 00; float total_rot = 0.0; Mat frame(Size(1280,720), CV_8UC3), frame_(Size(1280,720), CV_8UC3), gray, oldgray; - Mat screencontent(real_canvas_height,real_canvas_width, CV_8UC3); - Mat screencontent_(real_canvas_height,real_canvas_width, CV_8UC3); - Mat screencontent_mask(real_canvas_height,real_canvas_width, CV_8UC3); #define RINGBUF_SIZE 4 - ModuloRingbuffer ringbuf_x(RINGBUF_SIZE, -virtual_canvas_width/2, virtual_canvas_width/2); + ModuloRingbuffer ringbuf_x(RINGBUF_SIZE, -180*px_per_deg, 180*px_per_deg); Ringbuffer ringbuf_y(RINGBUF_SIZE); ModuloRingbuffer ringbuf_a(RINGBUF_SIZE, -180,180); ModuloRingbuffer ringbuf_phi(RINGBUF_SIZE, -180,180); @@ -627,7 +615,7 @@ int main(int argc, const char** argv) ringbuf_theta2.put(navdata.theta); ringbuf_theta.put(navdata.theta); - double xdiff = fixup_range( ringbuf_x.get() - px_per_deg*ringbuf_psi.get(), -virtual_canvas_width/2, virtual_canvas_width/2); + double xdiff = fixup_range( ringbuf_x.get() - px_per_deg*ringbuf_psi.get(), -180*px_per_deg, 180*px_per_deg); double ydiff = ringbuf_y.get() + px_per_deg*ringbuf_theta.get(); double adiff = fixup_angle(ringbuf_a.get() - (-ringbuf_phi.get())); @@ -638,7 +626,7 @@ int main(int argc, const char** argv) xdiff*=0.02; ydiff*=0.02; adiff*=0.5; - total_x = fixup_range(total_x - xdiff, -virtual_canvas_width/2, virtual_canvas_width/2); + total_x = fixup_range(total_x - xdiff, -180*px_per_deg, 180*px_per_deg); total_y = total_y - ydiff; total_rot = fixup_angle(total_rot - adiff); ringbuf_x.add(-xdiff); @@ -692,7 +680,7 @@ int main(int argc, const char** argv) glUseProgram(drawOnCanvasProgram); glActiveTexture(GL_TEXTURE0); glBindTexture(GL_TEXTURE_2D, texVideo); - glUniform1f(uniCamYaw,(float)total_x/virtual_canvas_width*2*PI); + glUniform1f(uniCamYaw,(float)total_x/(360*px_per_deg)*2*PI); glUniform1f(uniCamPitch,-(float)total_y/px_per_deg/180.*PI); glUniform1f(uniCamRoll,-total_rot/180.*PI); glDrawArrays(GL_TRIANGLES, 0, 6); @@ -706,8 +694,6 @@ int main(int argc, const char** argv) glBindTexture(GL_TEXTURE_2D, canvasTex); /*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(uniEyeYaw,oculus_yaw); glUniform1f(uniEyePitch,-oculus_pitch); @@ -753,35 +739,6 @@ int main(int argc, const char** argv) - 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); - - Mat rotmat = getRotationMatrix2D(Point2f(width/2,height/2), total_rot, scale_factor); - printf("dingskram %i\n", rotmat.type()); - rotmat.at<double>(0,2) += total_x*scale_factor - width/2 + real_canvas_width/2; - rotmat.at<double>(1,2) += total_y*scale_factor - height/2 + real_canvas_height/2; - - warpAffine(frame, screencontent_ , rotmat, Size(real_canvas_width, real_canvas_height)); - warpAffine(white, screencontent_mask, rotmat, Size(real_canvas_width, real_canvas_height)); - - threshold(screencontent_mask, screencontent_mask, 254, 255, THRESH_BINARY); - erode(screencontent_mask, screencontent_mask, Mat::ones(2,2, CV_8U)); - - Mat screencontent_mask2; - erode(screencontent_mask, screencontent_mask2, Mat::ones(30,200, CV_8U)); - - screencontent = (screencontent & (~screencontent_mask2)) + (screencontent_ & screencontent_mask2); - Mat screencontent_displayed = (screencontent & (~screencontent_mask)) + (screencontent_ & screencontent_mask); - - printf("%i/%i\n", screencontent.size().width, screencontent.size().height); - if (total_x > 0) - screencontent.colRange(0, (2*real_canvas_extra_width)) = screencontent.colRange( real_canvas_width - 2*real_canvas_extra_width, real_canvas_width); - else - - screencontent.colRange( real_canvas_width - 2*real_canvas_extra_width, real_canvas_width) = screencontent.colRange(0, (2*real_canvas_extra_width)); - - imshow("screencontent", screencontent_displayed); - oldgray = gray.clone(); |