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#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/socket.h>
#include <string.h>
#include <sys/un.h>
#include <time.h>
#include <opencv2/opencv.hpp>
#include "lib.h"
#include "ringbuf.h"
#define PI 3.141593654
using namespace cv;
#define SOCKETPATH "/home/flo/uds_socket"
const int width = 1280, height = 720;
float fixup_range(float a, float low, float upp)
{
float tot=upp-low;
while (a < low) a+=tot;
while (a>= upp) a-=tot;
return a;
}
float fixup_angle(float a)
{
return fixup_range(a,-180,180);
}
void calc_undistort_maps(float px_per_deg, int width, int height, Mat& map1, Mat& map2)
{
Mat camera_matrix(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
camera_matrix.at<float>(0,2)=1280/2.; //cx
camera_matrix.at<float>(1,2)=720/2.; //cy
Mat camera_matrix2 = camera_matrix.clone();
camera_matrix2.at<float>(0,2)=width/2.; //cx
camera_matrix2.at<float>(1,2)=height/2.; //cy
float px_per_rad = px_per_deg * PI / 180.;
Matx<float,1,5> dist_coeffs(-px_per_rad*px_per_rad/3.f, px_per_rad*px_per_rad*px_per_rad*px_per_rad/5.f, 0.f, 0.f, -px_per_rad*px_per_rad*px_per_rad*px_per_rad*px_per_rad*px_per_rad/7.f);
initUndistortRectifyMap(camera_matrix, dist_coeffs, Mat(), camera_matrix2, Size(width,height), CV_32FC1, map1, map2);
}
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, map2;
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, 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 10
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);
ModuloRingbuffer ringbuf_phi(RINGBUF_SIZE, -180,180);
ModuloRingbuffer ringbuf_psi(RINGBUF_SIZE, -180,180);
ModuloRingbuffer ringbuf_theta(RINGBUF_SIZE, -180,180);
for (int i=0; i<160;i++)
{
Mat frame_;
drone.get(frame_, &navdata);
remap(frame_, frame, map1, map2, INTER_LINEAR);
cvtColor(frame, oldgray, COLOR_BGR2GRAY);
}
while (waitKey(1) != 'x')
{
Mat frame_;
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);
imshow("dingens",frame);
Mat mat = estimateRigidTransform(gray, oldgray, false);
float angle; int shift_x, shift_y;
if (mat.total() > 0)
{
angle = atan2(mat.at<double>(0,1), mat.at<double>(0,0)) / PI * 180.;
shift_x = mat.at<double>(0,2) - width/2 + (mat.at<double>(0,0)*width/2 + mat.at<double>(0,1)*height/2);
shift_y = mat.at<double>(1,2) - height/2 + (mat.at<double>(1,0)*width/2 + mat.at<double>(1,1)*height/2);
}
else
{
angle = 0;
shift_x = 0;
shift_y = 0;
printf("no mat!\n");
}
total_x += shift_x;
total_y += shift_y;
total_rot = fixup_angle(total_rot+angle);
ringbuf_x.put(total_x);
ringbuf_y.put(total_y);
ringbuf_a.put(total_rot);
ringbuf_phi.put(navdata.phi);
ringbuf_psi.put(navdata.psi);
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 ydiff = ringbuf_y.get() + px_per_deg*ringbuf_theta.get();
double adiff = fixup_angle(ringbuf_a.get() - (-ringbuf_phi.get()));
//if (fabs(xdiff) < px_per_deg) xdiff = 0.0;
//if (fabs(ydiff) < px_per_deg) ydiff = 0.0;
//if (fabs(adiff) < 2) adiff = 0.0;
xdiff*=0.3;
ydiff*=0.3;
adiff*=0.3;
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);
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();
}
return 0;
}
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