1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
|
#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"
using namespace cv;
#define SOCKETPATH "/home/flo/uds_socket"
int main(int argc, const char** argv)
{
DroneConnection drone(SOCKETPATH);
printf("GO!!\n");
time_t t = time(NULL);
int nframes=0;
char key;
bool go=true;
bool new_vals=true;
#define N_VALUES 11
int curr_val=0;
float val[N_VALUES] =// { 1.300000, 0.050000, 0.000000, 0.000000, 0.000000, 0.000000, 10.000000, 0.000000, -0.004000, 0.014000, 0.026000};
{ 0.500000, 0.050000, 0.000000, 0.000000, 0.000000, 0.000000, 10.000000, 0.000000, 0.006000, 0.024000, 0.026000};
// {.0,.0,.0,.0,.0,.0,.0,.0,.0,.0,.0};
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;
//k2=0.1;
//p1=0.0;
//p2=0.0;
c1=1280/2;
c2=768/2;
c1_=960/2;
c2_=1080/2;
//x1=x2=y1=y2=0.0;
//col[0]=-0.01;
//col[1]=0.0;
//col[2]=0.01;
Mat dingens;
while ((key = waitKey(1)) != 'x')
{
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)
{
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;
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.+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.+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, map1B[i], map2B[i]);
}
new_vals=false;
}
if (go) {
navdata_t navdata;
drone.get(dingens, &navdata);
}
for (int i=0; i< 1280; i+=50)
dingens.col(i)=Vec3b(255,192,128);
for (int i=0; i< 768; i+=50)
dingens.row(i)=Vec3b(255,192,128);
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], map1B[i], map2B[i], INTER_LINEAR);
merge(colors2, 3, righteye);
hconcat(lefteye, righteye ,zeuch2);
imshow("dingens",zeuch2);
time_t tmp = time(NULL);
if (tmp!=t)
{
printf("%i FPS\n", (int)(nframes / (tmp-t)));
nframes=0;
t=tmp;
}
nframes++;
}
return 0;
}
|
