void initnative()
{
corners.erase();
the_corners.set_max_size(16);
the_corner_scores.set_max_size(16);
the_max_corners.set_max_size(16);
the_max_corner_descriptors.set_max_size(16);
drone_xy_lookup = Image<TooN::Vector<2, float> >(ImageRef(WIDTH, HEIGHT));
std::ifstream is;
is.open("dronecamparameters.txt");
drone_camera_model.load(is);
is.close();
//TooN::Vector<6> cam_params = drone_camera_model.get_parameters();
//printf("cam params: %f %f %f %f %f %f\n", cam_params[0], cam_params[1], cam_params[2], cam_params[3], cam_params[4], cam_params[5]);
generate_xy_lookup(drone_camera_model, drone_xy_lookup);
client_socket.create(serverip, serverport);
log_file = fopen("udp_logX.csv", "wb");
if(log_file==NULL)
{
printf("File 2 open failed\n");
}
fprintf(log_file,"Time,X (m),Y (m),Z (m),Yaw (rad)\n");
/*log_file2 = fopen("udp_log2.csv", "wb");
if(log_file2==NULL)
{
printf("File 3 open failed\n");
}
fprintf(log_file2,"Time,Corners\n");*/
//init front camera
while(video_init((char*) "/dev/video1", WIDTH, HEIGHT, 30))
{
printf("Camera initialisation failed. Retry in 2 seconds...\n");
sleep(2);
}
printf("video_init completed\n");
sleep(2);
int rc = pthread_create(&native_thread, NULL, native_thread_main, NULL);
if (rc)
printf("ctl_Init: Return code from pthread_create(native_thread) is %d\n", rc);
last_good_location.x = 0.0;
last_good_location.y = 0.0;
last_good_location.z = 0.0;
last_good_location.yaw = 0.0;
printf("native_init completed\n");
}
int main(int argc, char* argv[])
{
ClientSocket client;
bool succ;
if(argc > 1)
succ = client.create(argv[1], 27016, NULL);
else
succ = client.create("127.0.0.1", 27016, NULL);
if(!succ)
printf("connent failed");
int i = 0;
while(true)
{
std::stringstream ss;
ss << client.get_id() << "|" << i++ ;
client.send(ss.str().c_str());
Sleep(100);
}
}