Fix display of the Octopus pose in the Pose-widget.

In the extreme version of OpenTrack-2.3.12, the Octopus pose is still displayed incorrectly.
I have fixed pose-widget. A video of the corrected pose-widget is available here:
https://youtu.be/my4_VOwGmq4

Fixed bugs:
- The turns and movements of the Octopussy are now performed truly independently of each other, as it should be in 6DOF.
- When cornering, there is no "gimbal lock" at Pitch = +/- 90 degrees.
- Fixed directions of axes of rotations and positions. Now the Octopus pose displays the actual direction of view on the plane.
- Fixed display of the back (green) surface of the Octopus. Previously, it was displayed mirrored.

Additional features:
- Applied "perspective projection", the picture becomes more voluminous.
- Added lighting effect from above, with the same purpose.
- Added background fill for the widget. This makes it possible to see the borders of the widget.
- Added X and Y axes. This helps to estimate how far the Octopus is deviated from the center.
- Added [Mirror] checkbox, mirroring positions and rotations. It is often more convenient to observe the Octopussy's mirror pose.
- If before compilation in the file "pose-widget.hpp" include line 19: "#define TEST", then a rectangular frame will be drawn around the Octopus. This is useful when testing a pose-widget to assess distortion and size.

1 files changed, 8 insertions, 2 deletions

diff --git a/pose-widget/pose-widget.hpp b/pose-widget/pose-widget.hpp
index b3267ff9..49044d93 100644
--- a/pose-widget/pose-widget.hpp
+++ b/pose-widget/pose-widget.hpp
@@ -14,7 +14,9 @@
 
 #include <QWidget>
 #include <QImage>
+#include <QCheckBox>
 
+//#define TEST
 namespace pose_widget_impl {
 
 using namespace euler;
@@ -25,13 +27,17 @@ public:
     pose_widget(QWidget *parent = nullptr);
     void present(double xAngle, double yAngle, double zAngle, double x, double y, double z);
     QSize sizeHint() const override;
-
+    QCheckBox mirror{QCheckBox{"Mirror", this}};
 private:
+    void resizeEvent(QResizeEvent *event) override;
     void paintEvent(QPaintEvent*) override;
 
     Pose_ R, T;
     QImage front{QImage{":/images/side1.png"}.convertToFormat(QImage::Format_ARGB32)};
-    QImage back{QImage{":/images/side6.png"}.convertToFormat(QImage::Format_ARGB32)};
+    QImage back {QImage{":/images/side6.png"}.convertToFormat(QImage::Format_ARGB32)
+                                             .mirrored(true,false)};
+    QImage shine {QImage{front.width(), front.height(), QImage::Format_ARGB32}};
+    QImage shadow{QImage{front.width(), front.height(), QImage::Format_ARGB32}};
 };
 
 }