WIP: rewrite the GL widget in pure software mode

12 files changed, 337 insertions, 259 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2217de2e..c4b44d5c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -69,6 +69,7 @@ if(NOT SDK_FACEAPI_ONLY)
 
     INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR})
     INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/qfunctionconfigurator)
+    INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/ftnoir_posewidget)
 
     SET(SDK_OPENCV_STATIC FALSE CACHE BOOL "Whether OpenCV is statically linked")
     if (WIN32)
diff --git a/facetracknoir/facetracknoir.cpp b/facetracknoir/facetracknoir.cpp
index 2282efdd..c031f2a8 100644
--- a/facetracknoir/facetracknoir.cpp
+++ b/facetracknoir/facetracknoir.cpp
@@ -225,8 +225,6 @@ FaceTrackNoIR::FaceTrackNoIR(QWidget *parent, Qt::WFlags flags) :
 	}

 

     //Q_INIT_RESOURCE(PoseWidget);

-	_pose_display = new GLWidget(ui.widget4logo, 0);

-    _pose_display->rotateBy(0, 0, 0);

 

 	ui.lblX->setVisible(false);

 	ui.lblY->setVisible(false);

@@ -873,7 +871,7 @@ void FaceTrackNoIR::stopTracker( ) {
 	// Stop displaying the head-pose.

 	//

 	timUpdateHeadPose->stop();

-    _pose_display->rotateBy(0, 0, 0);

+    ui.pose_display->rotateBy(0, 0, 0);

 

 	ui.lblX->setVisible(false);

 	ui.lblY->setVisible(false);

@@ -987,18 +985,16 @@ void FaceTrackNoIR::showHeadPose() {
 	//

 	// Get the output-pose and also display it.

 	//

-	if (_pose_display) {

-        tracker->getOutputHeadPose(newdata);

-        _pose_display->rotateBy(newdata[RY], newdata[RX], newdata[RZ]);

+    tracker->getOutputHeadPose(newdata);

+    ui.pose_display->rotateBy(newdata[RX], newdata[RZ], newdata[RY]);

 

-        ui.lcdNumOutputPosX->display(QString("%1").arg(newdata[TX], 0, 'f', 1));

-        ui.lcdNumOutputPosY->display(QString("%1").arg(newdata[TY], 0, 'f', 1));

-        ui.lcdNumOutputPosZ->display(QString("%1").arg(newdata[TZ], 0, 'f', 1));

+    ui.lcdNumOutputPosX->display(QString("%1").arg(newdata[TX], 0, 'f', 1));

+    ui.lcdNumOutputPosY->display(QString("%1").arg(newdata[TY], 0, 'f', 1));

+    ui.lcdNumOutputPosZ->display(QString("%1").arg(newdata[TZ], 0, 'f', 1));

 

-        ui.lcdNumOutputRotX->display(QString("%1").arg(newdata[RX], 0, 'f', 1));

-        ui.lcdNumOutputRotY->display(QString("%1").arg(newdata[RY], 0, 'f', 1));

-        ui.lcdNumOutputRotZ->display(QString("%1").arg(newdata[RZ], 0, 'f', 1));

-	}

+    ui.lcdNumOutputRotX->display(QString("%1").arg(newdata[RX], 0, 'f', 1));

+    ui.lcdNumOutputRotY->display(QString("%1").arg(newdata[RY], 0, 'f', 1));

+    ui.lcdNumOutputRotZ->display(QString("%1").arg(newdata[RZ], 0, 'f', 1));

 

     //

     // Update the curves in the curve-configurator. This shows the ball with the red lines.

diff --git a/facetracknoir/facetracknoir.h b/facetracknoir/facetracknoir.h
index 180db87b..8a2b6c49 100644
--- a/facetracknoir/facetracknoir.h
+++ b/facetracknoir/facetracknoir.h
@@ -53,7 +53,6 @@
 #include <QDebug>

 #include <QElapsedTimer>

 

-#include "ftnoir_posewidget/glwidget.h"

 

 #include "ui_facetracknoir.h"

 #include "ui_ftnoir_keyboardshortcuts.h"

@@ -149,7 +148,6 @@ private:
 	QWidget *_preferences;

 	QWidget *_keyboard_shortcuts;

 	QWidget *_curve_config;

-	GLWidget *_pose_display;

 

 	/** QT objects **/

 	QDialog aboutDialog;	

diff --git a/facetracknoir/facetracknoir.ui b/facetracknoir/facetracknoir.ui
index 119ea4e2..d91a6a92 100644
--- a/facetracknoir/facetracknoir.ui
+++ b/facetracknoir/facetracknoir.ui
@@ -1703,15 +1703,15 @@ color: rgb(0, 255, 0);</string>
    <widget class="QWidget" name="widget4logo" native="true">

     <property name="geometry">

      <rect>

-      <x>1</x>

+      <x>90</x>

       <y>0</y>

-      <width>250</width>

+      <width>160</width>

       <height>90</height>

      </rect>

     </property>

     <property name="minimumSize">

      <size>

-      <width>250</width>

+      <width>160</width>

       <height>90</height>

      </size>

     </property>

@@ -1724,10 +1724,10 @@ color: rgb(0, 255, 0);</string>
     <widget class="QPushButton" name="btnDonate">

      <property name="geometry">

       <rect>

-       <x>100</x>

-       <y>1</y>

-       <width>145</width>

-       <height>34</height>

+       <x>5</x>

+       <y>0</y>

+       <width>151</width>

+       <height>31</height>

       </rect>

      </property>

      <property name="cursor">

@@ -1754,8 +1754,8 @@ Support FaceTrackNoIR!</string>
     <widget class="QLCDNumber" name="lcdNumOutputRotX">

      <property name="geometry">

       <rect>

-       <x>196</x>

-       <y>34</y>

+       <x>101</x>

+       <y>30</y>

        <width>50</width>

        <height>21</height>

       </rect>

@@ -1782,8 +1782,8 @@ Support FaceTrackNoIR!</string>
     <widget class="QLCDNumber" name="lcdNumOutputRotY">

      <property name="geometry">

       <rect>

-       <x>196</x>

-       <y>52</y>

+       <x>101</x>

+       <y>48</y>

        <width>50</width>

        <height>21</height>

       </rect>

@@ -1810,8 +1810,8 @@ Support FaceTrackNoIR!</string>
     <widget class="QLCDNumber" name="lcdNumOutputRotZ">

      <property name="geometry">

       <rect>

-       <x>196</x>

-       <y>70</y>

+       <x>101</x>

+       <y>66</y>

        <width>50</width>

        <height>21</height>

       </rect>

@@ -1838,8 +1838,8 @@ Support FaceTrackNoIR!</string>
     <widget class="QLCDNumber" name="lcdNumOutputPosX">

      <property name="geometry">

       <rect>

-       <x>112</x>

-       <y>34</y>

+       <x>17</x>

+       <y>30</y>

        <width>50</width>

        <height>21</height>

       </rect>

@@ -1866,8 +1866,8 @@ Support FaceTrackNoIR!</string>
     <widget class="QLCDNumber" name="lcdNumOutputPosY">

      <property name="geometry">

       <rect>

-       <x>112</x>

-       <y>52</y>

+       <x>17</x>

+       <y>48</y>

        <width>50</width>

        <height>21</height>

       </rect>

@@ -1894,8 +1894,8 @@ Support FaceTrackNoIR!</string>
     <widget class="QLCDNumber" name="lcdNumOutputPosZ">

      <property name="geometry">

       <rect>

-       <x>112</x>

-       <y>70</y>

+       <x>17</x>

+       <y>66</y>

        <width>50</width>

        <height>21</height>

       </rect>

@@ -1922,8 +1922,8 @@ Support FaceTrackNoIR!</string>
     <widget class="QLabel" name="lblX">

      <property name="geometry">

       <rect>

-       <x>104</x>

-       <y>35</y>

+       <x>9</x>

+       <y>31</y>

        <width>16</width>

        <height>16</height>

       </rect>

@@ -1938,8 +1938,8 @@ Support FaceTrackNoIR!</string>
     <widget class="QLabel" name="lblY">

      <property name="geometry">

       <rect>

-       <x>105</x>

-       <y>55</y>

+       <x>10</x>

+       <y>51</y>

        <width>16</width>

        <height>16</height>

       </rect>

@@ -1954,8 +1954,8 @@ Support FaceTrackNoIR!</string>
     <widget class="QLabel" name="lblZ">

      <property name="geometry">

       <rect>

-       <x>105</x>

-       <y>74</y>

+       <x>10</x>

+       <y>70</y>

        <width>16</width>

        <height>16</height>

       </rect>

@@ -1970,8 +1970,8 @@ Support FaceTrackNoIR!</string>
     <widget class="QLabel" name="lblRotZ">

      <property name="geometry">

       <rect>

-       <x>164</x>

-       <y>74</y>

+       <x>69</x>

+       <y>70</y>

        <width>20</width>

        <height>16</height>

       </rect>

@@ -1986,8 +1986,8 @@ Support FaceTrackNoIR!</string>
     <widget class="QLabel" name="lblRotX">

      <property name="geometry">

       <rect>

-       <x>166</x>

-       <y>35</y>

+       <x>71</x>

+       <y>31</y>

        <width>20</width>

        <height>16</height>

       </rect>

@@ -2002,8 +2002,8 @@ Support FaceTrackNoIR!</string>
     <widget class="QLabel" name="lblRotY">

      <property name="geometry">

       <rect>

-       <x>164</x>

-       <y>55</y>

+       <x>69</x>

+       <y>51</y>

        <width>25</width>

        <height>16</height>

       </rect>

@@ -2016,6 +2016,28 @@ Support FaceTrackNoIR!</string>
      </property>

     </widget>

    </widget>

+   <widget class="GLWidget" name="pose_display" native="true">

+    <property name="geometry">

+     <rect>

+      <x>0</x>

+      <y>0</y>

+      <width>90</width>

+      <height>90</height>

+     </rect>

+    </property>

+    <property name="sizePolicy">

+     <sizepolicy hsizetype="Fixed" vsizetype="Fixed">

+      <horstretch>0</horstretch>

+      <verstretch>0</verstretch>

+     </sizepolicy>

+    </property>

+    <property name="minimumSize">

+     <size>

+      <width>0</width>

+      <height>0</height>

+     </size>

+    </property>

+   </widget>

   </widget>

   <widget class="QMenuBar" name="menuBar">

    <property name="geometry">

@@ -2228,7 +2250,14 @@ Support FaceTrackNoIR!</string>
    </property>

   </action>

  </widget>

- <layoutdefault spacing="6" margin="11"/>

+ <layoutdefault spacing="0" margin="0"/>

+ <customwidgets>

+  <customwidget>

+   <class>GLWidget</class>

+   <extends>QWidget</extends>

+   <header>glwidget.h</header>

+  </customwidget>

+ </customwidgets>

  <tabstops>

   <tabstop>iconcomboTrackerSource</tabstop>

   <tabstop>btnStartTracker</tabstop>

diff --git a/ftnoir_posewidget/glwidget.cpp b/ftnoir_posewidget/glwidget.cpp
index 32723dc9..375cb97f 100644
--- a/ftnoir_posewidget/glwidget.cpp
+++ b/ftnoir_posewidget/glwidget.cpp
@@ -1,214 +1,229 @@
-/********************************************************************************

-* FaceTrackNoIR		This program is a private project of the some enthusiastic	*

-*					gamers from Holland, who don't like to pay much for			*

-*					head-tracking.												*

-*																				*

-* Copyright (C) 2010	Wim Vriend (Developing)									*

-*						Ron Hendriks (Researching and Testing)					*

-*																				*

-* Homepage																		*

-*																				*

-* This program is free software; you can redistribute it and/or modify it		*

-* under the terms of the GNU General Public License as published by the			*

-* Free Software Foundation; either version 3 of the License, or (at your		*

-* option) any later version.													*

-*																				*

-* This program is distributed in the hope that it will be useful, but			*

-* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY	*

-* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for	*

-* more details.																	*

-*																				*

-* Adopted this widget from the 'textures' sample of the Nokia Qt toolkit.		*

-*																				*

-* You should have received a copy of the GNU General Public License along		*

-* with this program; if not, see <http://www.gnu.org/licenses/>.				*

-*********************************************************************************/

+/* Copyright (c) 2013 Stanislaw Halik <sthalik@misaki.pl>

+ *

+ * Permission to use, copy, modify, and/or distribute this software for any

+ * purpose with or without fee is hereby granted, provided that the above

+ * copyright notice and this permission notice appear in all copies.

+ */

 

 #include <QtGui>

-#include <QtOpenGL>

-

 #include "glwidget.h"

 #include <QWidget>

+#include <cmath>

+#include <algorithm>

 

-GLWidget::GLWidget(QWidget *parent, QGLWidget *shareWidget)

-    : QGLWidget(parent, shareWidget)

+GLWidget::GLWidget(QWidget *parent) : QWidget(parent)

 {

-#if !defined(_WIN32)

-    setAttribute(Qt::WA_NativeWindow, true);

-#endif

-    clearColor = Qt::black;

-    xRot = 0;

-    yRot = 0;

-    zRot = 0;

-

-#ifdef QT_OPENGL_ES_2

-    program = 0;

-#endif

+    front = QImage(QString(":/images/side1.png"));

+    back = QImage(QString(":/images/side6.png"));

+    rotateBy(0, 0, 0);

 }

 

 GLWidget::~GLWidget()

 {

 }

 

-QSize GLWidget::minimumSizeHint() const

-{

-    return QSize(60, 60);

-}

-

-QSize GLWidget::sizeHint() const

-{

-    return QSize(90, 90);

-}

-

-void GLWidget::rotateBy(int xAngle, int yAngle, int zAngle)

-{

-    xRot = xAngle;

-    yRot = yAngle;

-    zRot = zAngle;

-    updateGL();

+void GLWidget::paintEvent ( QPaintEvent * event ) {

+    QWidget::paintEvent(event);

+    QPainter p(this);

+    project_quad_texture();

+    p.drawPixmap(QRect(0, 0, width(), height()), pixmap);

 }

 

-void GLWidget::setClearColor(const QColor &color)

+void GLWidget::rotateBy(double xAngle, double yAngle, double zAngle)

 {

-    clearColor = color;

-    updateGL();

+    

+    double ch = cos(xAngle / 57.295781);

+    double sh = sin(xAngle / 57.295781);

+    double ca = cos(yAngle / 57.295781);

+    double sa = sin(yAngle / 57.295781);

+    double cb = cos(zAngle / 57.295781);

+    double sb = sin(zAngle / 57.295781);

+

+    matrix[0 * 3 + 0] = ch * ca;

+    matrix[0 * 3 + 1]= sh*sb - ch*sa*cb;

+    matrix[0 * 3 + 2]= ch*sa*sb + sh*cb;

+    matrix[1 * 3 + 0]= sa;

+    matrix[1 * 3 + 1]= ca*cb;

+    matrix[1 * 3 + 2]= -ca*sb;

+    matrix[2 * 3 + 0]= -sh*ca;

+    matrix[2 * 3 + 1]= sh*sa*cb + ch*sb;

+    matrix[2 * 3 + 2]= -sh*sa*sb + ch*cb;

+    repaint();

 }

 

-void GLWidget::initializeGL()

-{

-    makeObject();

-

-    glDisable(GL_DEPTH_TEST);

-    glEnable(GL_CULL_FACE);

-#ifndef QT_OPENGL_ES_2

-    glEnable(GL_TEXTURE_2D);

-#endif

-

-#ifdef QT_OPENGL_ES_2

-

-#define PROGRAM_VERTEX_ATTRIBUTE 0

-#define PROGRAM_TEXCOORD_ATTRIBUTE 1

-

-    QGLShader *vshader = new QGLShader(QGLShader::Vertex, this);

-    const char *vsrc =

-        "attribute highp vec4 vertex;\n"

-        "attribute mediump vec4 texCoord;\n"

-        "varying mediump vec4 texc;\n"

-        "uniform mediump mat4 matrix;\n"

-        "void main(void)\n"

-        "{\n"

-        "    gl_Position = matrix * vertex;\n"

-        "    texc = texCoord;\n"

-        "}\n";

-    vshader->compileSourceCode(vsrc);

-

-    QGLShader *fshader = new QGLShader(QGLShader::Fragment, this);

-    const char *fsrc =

-        "uniform sampler2D texture;\n"

-        "varying mediump vec4 texc;\n"

-        "void main(void)\n"

-        "{\n"

-        "    gl_FragColor = texture2D(texture, texc.st);\n"

-        "}\n";

-    fshader->compileSourceCode(fsrc);

-

-    program = new QGLShaderProgram(this);

-    program->addShader(vshader);

-    program->addShader(fshader);

-    program->bindAttributeLocation("vertex", PROGRAM_VERTEX_ATTRIBUTE);

-    program->bindAttributeLocation("texCoord", PROGRAM_TEXCOORD_ATTRIBUTE);

-    program->link();

-

-    program->bind();

-    program->setUniformValue("texture", 0);

-#else

-    glEnableClientState(GL_VERTEX_ARRAY);

-    glEnableClientState(GL_TEXTURE_COORD_ARRAY);

-    glVertexPointer(3, GL_FLOAT, 0, vertices.constData());

-    glTexCoordPointer(2, GL_FLOAT, 0, texCoords.constData());

-#endif

+static __inline double dot(const Vec2f& p1, const Vec2f& p2) {

+    return p1.x * p2.x + p1.y * p2.y;

 }

 

-void GLWidget::paintGL()

+static bool barycentric_coords(const Vec2f& p1,

+                               const Vec2f& p2,

+                               const Vec2f& p3,

+                               const Vec2f& px,

+                               Vec2f& uv)

 {

-    glClearColor(0, 0, 0, 1);

-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

-

-#if 1

+    Vec2f v0(p3.x - p1.x, p3.y - p1.y);

+    Vec2f v1(p2.x - p1.x, p2.y - p1.y);

+    Vec2f v2(px.x - p1.x, px.y - p1.y);

 

-    glLoadIdentity();

-    glTranslatef(0.0f, 0.0f, -10.0f);

+    double dot00 = dot(v0, v0);

+    double dot01 = dot(v0, v1);

+    double dot02 = dot(v0, v2);

+    double dot11 = dot(v1, v1);

+    double dot12 = dot(v1, v2);

 

-	glRotatef(xRot, 1.0f, 0.0f, 0.0f);

-    glRotatef(yRot, 0.0f, 1.0f, 0.0f);

-    glRotatef(-1.0f * zRot, 0.0f, 0.0f, 1.0f);

+    double invDenom = 1 / (dot00 * dot11 - dot01 * dot01);

+    double u = (dot11 * dot02 - dot01 * dot12) * invDenom;

+    double v = (dot00 * dot12 - dot01 * dot02) * invDenom;

 

-#else

+    uv.x = u;

+    uv.y = v;

 

-    QMatrix4x4 m;

-    m.ortho(-0.5f, +0.5f, +0.5f, -0.5f, 4.0f, 15.0f);

-    m.translate(0.0f, 0.0f, -10.0f);

-    m.rotate(xRot / 16.0f, 1.0f, 0.0f, 0.0f);

-    m.rotate(yRot / 16.0f, 0.0f, 1.0f, 0.0f);

-    m.rotate(zRot / 16.0f, 0.0f, 0.0f, 1.0f);

-

-    program->setUniformValue("matrix", m);

-    program->enableAttributeArray(PROGRAM_VERTEX_ATTRIBUTE);

-    program->enableAttributeArray(PROGRAM_TEXCOORD_ATTRIBUTE);

-    program->setAttributeArray

-        (PROGRAM_VERTEX_ATTRIBUTE, vertices.constData());

-    program->setAttributeArray

-        (PROGRAM_TEXCOORD_ATTRIBUTE, texCoords.constData());

-

-#endif

-

-    for (int i = 0; i < 6; ++i) {

-        glBindTexture(GL_TEXTURE_2D, textures[i]);

-        glDrawArrays(GL_TRIANGLE_FAN, i * 4, 4);

-    }

-    glFlush();

+    return (u >= 0) && (v >= 0) && (u + v <= 1);

 }

 

-void GLWidget::resizeGL(int width, int height)

+static __inline Vec3f normal(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3)

 {

-    int side = qMin(width, height);

-    glViewport((width - side) / 2, (height - side) / 2, side, side);

-

-#if !defined(QT_OPENGL_ES_2)

-    glMatrixMode(GL_PROJECTION);

-    glLoadIdentity();

-#ifndef QT_OPENGL_ES

-    glOrtho(-0.5, +0.5, +0.5, -0.5, 4.0, 15.0);

-#else

-    glOrthof(-0.5, +0.5, +0.5, -0.5, 4.0, 15.0);

-#endif

-    glMatrixMode(GL_MODELVIEW);

-#endif

+    Vec3f u(p2.x - p1.x, p2.y - p1.y, p2.z - p1.z);

+    Vec3f v(p3.x - p1.x, p3.y - p1.y, p3.z - p1.z);

+     

+    Vec3f tmp(u.y * v.z - u.z * v.y,

+              u.z * v.x - u.x * v.z,

+              u.x * v.y - u.y * v.x);

+    

+    double i = 1./sqrt(tmp.x * tmp.x + tmp.y * tmp.y + tmp.z * tmp.z);

+    

+    return Vec3f(i * tmp.x, i * tmp.y, i * tmp.z);

 }

 

-void GLWidget::makeObject()

+static __inline Vec3f cross(const Vec3f& p1, const Vec3f& p2)

 {

-    static const int coords[6][4][3] = {

-        { { +1, -1, -1 }, { -1, -1, -1 }, { -1, +1, -1 }, { +1, +1, -1 } },

-        { { +1, +1, -1 }, { -1, +1, -1 }, { -1, +1, +1 }, { +1, +1, +1 } },

-        { { +1, -1, +1 }, { +1, -1, -1 }, { +1, +1, -1 }, { +1, +1, +1 } },

-        { { -1, -1, -1 }, { -1, -1, +1 }, { -1, +1, +1 }, { -1, +1, -1 } },

-        { { +1, -1, +1 }, { -1, -1, +1 }, { -1, -1, -1 }, { +1, -1, -1 } },

-        { { -1, -1, +1 }, { +1, -1, +1 }, { +1, +1, +1 }, { -1, +1, +1 } }

-    };

+    return Vec3f(p1.y * p2.z - p2.y * p1.z,

+                 p2.x * p1.z - p1.x * p2.z,

+                 p1.x * p2.y - p1.y * p2.x);

+}

 

-    for (int j=0; j < 6; ++j) {

-        textures[j] = bindTexture

-            (QPixmap(QString(":/images/side%1.png").arg(j + 1)), GL_TEXTURE_2D);

+void GLWidget::project_quad_texture() {

+    const int sx = 90, sy = 90;

+    Point pt[4];

+    static Vec3f corners[] = {

+        Vec3f(0, 0, 0),

+        Vec3f(sx-1, 0, 0),

+        Vec3f(0, sy-1, 0),

+        Vec3f(sx-1, sy-1, 0)

+    };

+    

+    for (int i = 0; i < 4; i++) {

+        pt[i] = project(Vec3f(corners[i].x - sx/2, corners[i].y - sy/2, 0));

+        pt[i].x += sx/2;

+        pt[i].y += sy/2;

     }

-

-    for (int i = 0; i < 6; ++i) {

-        for (int j = 0; j < 4; ++j) {

-            texCoords.append

-                (QVector2D(j == 0 || j == 3, j == 0 || j == 1));

-            vertices.append

-                (QVector3D(0.4 * coords[i][j][0], 0.4 * coords[i][j][1],

-                           0.02 * coords[i][j][2]));

-        }

+    

+    Vec3f normal1(0, 0, 1);

+    Vec3f normal2;

+    {

+        Vec3f foo[3];

+        for (int i = 0; i < 3; i++)

+            foo[i] = project2(corners[i]);

+        normal2 = normal(foo[0], foo[1], foo[2]);

     }

+    

+    double dir = normal1.x * normal2.x + normal1.y * normal2.y + normal1.z * normal2.z;

+    

+    QImage& tex = dir < 0 ? back : front;

+    

+    int ow = tex.width(), oh = tex.height();

+       

+    Vec2f p2[4];

+

+    for (int i = 0; i < 4; i++)

+        p2[i] = Vec2f(pt[i].x, pt[i].y);

+    

+    QImage texture(QSize(sx, sy), QImage::Format_RGB888);

+    texture.fill(Qt::black);

+    

+    const Vec2f projected[2][3] = { { p2[0], p2[1], p2[2] }, { p2[3], p2[1], p2[2] } };

+    const Vec2f origs[2][3] = {

+        { Vec2f(0, 0), Vec2f(ow-1, 0), Vec2f(0, oh-1) },

+        { Vec2f(ow-1, oh-1), Vec2f(ow-1, 0), Vec2f(0, oh-1) }

+    };

+  

+    double sqrt2 = std::sqrt(2.0);

+    int orig_pitch = tex.bytesPerLine();

+    int dest_pitch = texture.bytesPerLine();

+    

+    const unsigned char* orig = tex.bits();

+    unsigned char* dest = texture.bits();

+    

+    int orig_depth = tex.depth() / 8;

+    int dest_depth = texture.depth() / 8;

+    

+    /* image breakage? */

+    if (orig_depth < 3)

+        return;

+

+    for (int y = 0; y < sy; y++)

+        for (int x = 0; x < sx; x++) {

+            Vec2f pos;

+            pos.x = x;

+            pos.y = y;

+            for (int i = 0; i < 2; i++) {

+                Vec2f coords;

+                if (barycentric_coords(projected[i][0],

+                                       projected[i][1],

+                                       projected[i][2],

+                                       pos,

+                                       coords))

+                {

+                    double qx = origs[i][0].x

+                                + coords.x * (origs[i][2].x - origs[i][0].x)

+                                + coords.y * (origs[i][1].x - origs[i][0].x);

+                    double qy = origs[i][0].y

+                                + coords.x * (origs[i][2].y - origs[i][0].y)

+                                + coords.y * (origs[i][1].y - origs[i][0].y);

+                    int qx1 = std::min<int>(ow - 1, std::max<int>(0, qx - 0.5));

+                    int qy1 = std::min<int>(oh - 1, std::max<int>(0, qy - 0.5));

+                    int qx2 = std::min<int>(ow - 1, std::max<int>(0, qx + 0.5));

+                    int qy2 = std::min<int>(oh - 1, std::max<int>(0, qy + 0.5));

+

+                    double dx1 = qx1 - qx;

+                    double dy1 = qy1 - qy;

+                    double dx2 = qx2 - qx;

+                    double dy2 = qy2 - qy;

+

+                    double d1 = sqrt2 - std::sqrt(dx1 * dx1 + dy1 * dy1);

+                    double d2 = sqrt2 - std::sqrt(dx2 * dx2 + dy2 * dy2);

+                    double d3 = sqrt2 - std::sqrt(dx2 * dx2 + dy1 * dy1);

+                    double d4 = sqrt2 - std::sqrt(dx1 * dx1 + dy2 * dy2);

+

+                    double inv_norm = 1. / (d1 + d2 + d3 + d4);

+

+                    d1 *= inv_norm;

+                    d2 *= inv_norm;

+                    d3 *= inv_norm;

+                    d4 *= inv_norm;

+                    

+                    double r = d1 * (double) orig[qy1 * orig_pitch + qx1 * orig_depth + 2]

+                               + d2 * (double) orig[qy2 * orig_pitch + qx2 * orig_depth + 2]

+                               + d3 * (double) orig[qy1 * orig_pitch + qx2 * orig_depth + 2]

+                               + d4 * (double) orig[qy2 * orig_pitch + qx1 * orig_depth + 2];

+                    

+                    double g = d1 * (double) orig[qy1 * orig_pitch + qx1 * orig_depth + 1]

+                               + d2 * (double) orig[qy2 * orig_pitch + qx2 * orig_depth + 1]

+                               + d3 * (double) orig[qy1 * orig_pitch + qx2 * orig_depth + 1]

+                               + d4 * (double) orig[qy2 * orig_pitch + qx1 * orig_depth + 1];

+                    

+                    double b = d1 * (double) orig[qy1 * orig_pitch + qx1 * orig_depth + 0]

+                               + d2 * (double) orig[qy2 * orig_pitch + qx2 * orig_depth + 0]

+                               + d3 * (double) orig[qy1 * orig_pitch + qx2 * orig_depth + 0]

+                               + d4 * (double) orig[qy2 * orig_pitch + qx1 * orig_depth + 0];

+                    

+                    dest[y * dest_pitch + x * dest_depth + 0] = std::max<int>(0, std::min<int>(255, r));

+                    dest[y * dest_pitch + x * dest_depth + 1] = std::max<int>(0, std::min<int>(255, g));

+                    dest[y * dest_pitch + x * dest_depth + 2] = std::max<int>(0, std::min<int>(255, b));

+

+                    break;

+                }

+            }

 }

+    pixmap = QPixmap::fromImage(texture);

+}
\ No newline at end of file
diff --git a/ftnoir_posewidget/glwidget.h b/ftnoir_posewidget/glwidget.h
index 3d0e590a..9525f7d4 100644
--- a/ftnoir_posewidget/glwidget.h
+++ b/ftnoir_posewidget/glwidget.h
@@ -28,46 +28,89 @@
 #define GLWIDGET_H

 

 #include <QtGui>

-#include <QGLWidget>

+#include <QPixmap>

 #include "ftnoir_tracker_base/ftnoir_tracker_base.h"

 

-class QGLShaderProgram;

+struct Point {

+    Point(int x, int y) :

+            x(x), y(y)

+    {

+    }

+    Point() :

+            x(0), y(0)

+    {

+    }

+    int x, y;

+};

+

+struct Vec3f {

+    double x, y, z;

+    Vec3f(double x, double y, double z) :

+            x(x), y(y), z(z)

+    {

+    }

+    Vec3f() :

+            x(0), y(0), z(0)

+    {

+    }

+};

 

-class FTNOIR_TRACKER_BASE_EXPORT GLWidget : public QGLWidget

+struct Vec2f {

+    double x, y;

+    Vec2f(double x, double y) :

+            x(x), y(y)

+    {

+    }

+    Vec2f() :

+            x(0), y(0)

+    {

+    }

+};

+

+class FTNOIR_TRACKER_BASE_EXPORT GLWidget : public QWidget

 {

     Q_OBJECT

 

 public:

-    GLWidget(QWidget *parent = 0, QGLWidget *shareWidget = 0);

+    GLWidget(QWidget *parent);

     ~GLWidget();

-

-    QSize minimumSizeHint() const;

-    QSize sizeHint() const;

-    void rotateBy(int xAngle, int yAngle, int zAngle);

-    void setClearColor(const QColor &color);

-

-signals:

-    void clicked();

-

+    void rotateBy(double xAngle, double yAngle, double zAngle);

+    

 protected:

-    void initializeGL();

-    void paintGL();

-    void resizeGL(int width, int height);

+    void paintEvent ( QPaintEvent * event );

 

 private:

-    void makeObject();

+    Point project(const Vec3f& point) {

+        Point rect;

 

-    QColor clearColor;

-    QPoint lastPos;

-    int xRot;

-    int yRot;

-    int zRot;

-    GLuint textures[6];

-    QVector<QVector3D> vertices;

-    QVector<QVector2D> texCoords;

-#ifdef QT_OPENGL_ES_2

-    QGLShaderProgram *program;

-#endif

+        rect.x = point.x * matrix[0]

+                 + point.y * matrix[1]

+                 + point.z * matrix[2];

+        rect.y = point.x * matrix[3]

+                 + point.y * matrix[4]

+                 + point.z * matrix[5];

+

+        return rect;

+    }

+    Vec3f project2(const Vec3f& point) {

+        Vec3f rect;

+

+        rect.x = point.x * matrix[0]

+                 + point.y * matrix[1]

+                 + point.z * matrix[2];

+        rect.y = point.x * matrix[3]

+                 + point.y * matrix[4]

+                 + point.z * matrix[5];

+        rect.z = point.x * matrix[6]

+                 + point.y * matrix[7]

+                 + point.z * matrix[8];

+        return rect;

+    }

+    void project_quad_texture();

+    double matrix[9];

+    QImage front;

+    QImage back;

+    QPixmap pixmap;

 };

 

 #endif

diff --git a/ftnoir_posewidget/images/side1.bmp b/ftnoir_posewidget/images/side1.bmp
deleted file mode 100644
index 29c28d80..00000000
--- a/ftnoir_posewidget/images/side1.bmp
+++ /dev/null
diff --git a/ftnoir_posewidget/images/side2.png b/ftnoir_posewidget/images/side2.png
deleted file mode 100644
index 67eb060b..00000000
--- a/ftnoir_posewidget/images/side2.png
+++ /dev/null
diff --git a/ftnoir_posewidget/images/side3.png b/ftnoir_posewidget/images/side3.png
deleted file mode 100644
index 67eb060b..00000000
--- a/ftnoir_posewidget/images/side3.png
+++ /dev/null
diff --git a/ftnoir_posewidget/images/side4.png b/ftnoir_posewidget/images/side4.png
deleted file mode 100644
index 67eb060b..00000000
--- a/ftnoir_posewidget/images/side4.png
+++ /dev/null
diff --git a/ftnoir_posewidget/images/side5.png b/ftnoir_posewidget/images/side5.png
deleted file mode 100644
index 67eb060b..00000000
--- a/ftnoir_posewidget/images/side5.png
+++ /dev/null
diff --git a/ftnoir_posewidget/posewidget.qrc b/ftnoir_posewidget/posewidget.qrc
index 65038eba..e799432f 100644
--- a/ftnoir_posewidget/posewidget.qrc
+++ b/ftnoir_posewidget/posewidget.qrc
@@ -1,10 +1,6 @@
 <RCC>
     <qresource prefix="/">
         <file>images/side1.png</file>
-        <file>images/side2.png</file>
-        <file>images/side3.png</file>
-        <file>images/side4.png</file>
-        <file>images/side5.png</file>
         <file>images/side6.png</file>
     </qresource>
 </RCC>