send fovx and fovy

underdoeg · Feb 13, 2018 · cb8c697 · cb8c697
1 parent e975f7e
commit cb8c697
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Showing 8 changed files with 31 additions and 17 deletions.
diff --git a/client-sample/client-sample.cpp b/client-sample/client-sample.cpp
@@ -5,7 +5,7 @@
 
 int main(int argc, char** argv){
 
-	OpenNI2NetClient client;
+	OpenNI2NetClient client(3346);
 
 	cv::namedWindow("win", cv::WINDOW_AUTOSIZE);
 

diff --git a/client/openni2-net-client.cpp b/client/openni2-net-client.cpp
@@ -106,8 +106,8 @@ void OpenNI2NetClient::start() {
 				cloud->points.resize(cloud->height * cloud->width);
 
 
-				float fx = header.fov / float(OpenNI2FloatConversion); // Horizontal focal length
-				float fy = fx; // Vertcal focal length
+				float fx = header.fovx / float(OpenNI2FloatConversion); // Horizontal focal length
+				float fy = header.fovy / float(OpenNI2FloatConversion); // Vertcal focal length
 				float cx = ((float)cloud->width - 1.f) / 2.f;  // Center x
 				float cy = ((float)cloud->height - 1.f) / 2.f; // Center y
 

diff --git a/common/openni2-net-common.h b/common/openni2-net-common.h
@@ -17,6 +17,7 @@ struct OpenNI2NetHeader{
 	OpenNI2SizeType size;
 	OpenNI2SizeType width;
 	OpenNI2SizeType height;
-	OpenNI2SizeType fov;
+	OpenNI2SizeType fovx;
+	OpenNI2SizeType fovy;
 	uint8_t jpeg;
 };
diff --git a/server/grabber.cpp b/server/grabber.cpp
@@ -63,9 +63,12 @@ void Grabber::start() {
 void Grabber::onNewFrame(openni::VideoStream &in) {
 	if(!callback) return;
 
-	int frameWidth = stream.getVideoMode().getResolutionX();
+	float frameWidth = stream.getVideoMode().getResolutionX();
+	float frameHeight = stream.getVideoMode().getResolutionY();
 	float hFov = stream.getHorizontalFieldOfView();
-	fov =  boost::numeric_cast<OpenNI2SizeType>(frameWidth / (2.0f * std::tan(hFov / 2.0f)) * OpenNI2FloatConversion);
+	float wFov = stream.getVerticalFieldOfView();
+	fovx =  boost::numeric_cast<OpenNI2SizeType>(frameWidth / (2.0f * std::tan(wFov / 2.0f)) * OpenNI2FloatConversion);
+	fovy =  boost::numeric_cast<OpenNI2SizeType>(frameHeight / (2.0f * std::tan(hFov / 2.0f)) * OpenNI2FloatConversion);
 
 	openni::VideoFrameRef ref;
 	in.readFrame(&ref);
@@ -74,6 +77,8 @@ void Grabber::onNewFrame(openni::VideoStream &in) {
 	const int height = ref.getHeight();
 	auto pixels = static_cast<const openni::DepthPixel*>(ref.getData());
 
+	openni::CoordinateConverter::convertDepthToWorld()
+
 	callback(pixels, width, height);
 }
 
@@ -85,6 +90,10 @@ int Grabber::getHeight() {
 	return stream.getVideoMode().getResolutionY();
 }
 
-OpenNI2SizeType Grabber::getFov() {
-	return fov;
+OpenNI2SizeType Grabber::getFovX() {
+	return fovx;
+}
+
+OpenNI2SizeType Grabber::getFovY() {
+	return fovy;
 }
diff --git a/server/grabber.h b/server/grabber.h
@@ -16,7 +16,7 @@ class Grabber: public openni::VideoStream::NewFrameListener{
 
 	Callback callback;
 
-	OpenNI2SizeType fov;
+	OpenNI2SizeType fovy, fovx;
 
 public:
 	Grabber();
@@ -28,7 +28,8 @@ class Grabber: public openni::VideoStream::NewFrameListener{
 	void setCallback(const Callback& c);
 	void start();
 
-	OpenNI2SizeType getFov();
+	OpenNI2SizeType getFovX();
+	OpenNI2SizeType getFovY();
 
 private:
 	void onNewFrame(openni::VideoStream& in) override;

diff --git a/server/sender.cpp b/server/sender.cpp
@@ -52,7 +52,8 @@ Sender::Sender(const std::string &h, unsigned p) :
 							sizeSent,
 							boost::numeric_cast<OpenNI2SizeType>(matToSend.cols),
 							boost::numeric_cast<OpenNI2SizeType>(matToSend.rows),
-							fov,
+							fovx,
+							fovy,
 							0
 					};
 					socket.send(boost::asio::buffer(&header, sizeof(OpenNI2NetHeader)));
@@ -74,7 +75,8 @@ Sender::Sender(const std::string &h, unsigned p) :
 							sizeSent,
 							boost::numeric_cast<OpenNI2SizeType>(matToSend.cols),
 							boost::numeric_cast<OpenNI2SizeType>(matToSend.rows),
-							fov,
+							fovx,
+							fovy,
 							1
 					};
 					socket.send(boost::asio::buffer(&header, sizeof(OpenNI2NetHeader)));
@@ -143,8 +145,9 @@ void Sender::setCompressionQuality(int quality) {
 	compressionQuality = quality;
 }
 
-void Sender::setFov(OpenNI2SizeType f) {
+void Sender::setFov(OpenNI2SizeType fx, OpenNI2SizeType fy) {
 	std::lock_guard<std::mutex> lk(cvMtx);
-	fov = f;
+	fovx = fx;
+	fovy = fy;
 }
 
diff --git a/server/sender.h b/server/sender.h
@@ -27,7 +27,7 @@ class Sender {
 	std::atomic_bool bUseCompression;
 	std::atomic_int compressionQuality;
 
-	OpenNI2SizeType fov;
+	OpenNI2SizeType fovx, fovy;
 
 	std::string host;
 	unsigned port;
@@ -44,5 +44,5 @@ class Sender {
 	bool isConnected();
 	void setCompressed(bool state=true);
 	void setCompressionQuality(int quality);
-	void setFov(OpenNI2SizeType fov);
+	void setFov(OpenNI2SizeType fx, OpenNI2SizeType fy);
 };
diff --git a/server/server.cpp b/server/server.cpp
@@ -57,7 +57,7 @@ int main(int argc, char** argv) {
 
 		bNewMat = true;
 
-		sender.setFov(grabber.getFov());
+		sender.setFov(grabber.getFovX());
 		sender.send(depthMat);
 	});