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-rw-r--r--pose-widget/glwidget.cpp108
-rw-r--r--pose-widget/glwidget.h70
2 files changed, 63 insertions, 115 deletions
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index 07445c8a..b7aa0908 100644
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -46,109 +46,109 @@ void GLWidget::rotateBy(double xAngle, double yAngle, double zAngle)
c1*s3+c3*s1*s2, c1*c3-s1*s2*s3, -c2*s1,
s1*s3-c1*c3*s2, c3*s1+c1*s2*s3, c1*c2,
};
-
- for (int i = 0; i < 9; i++)
- matrix[i] = foo[i];
+
+ matrix = rmat(foo);
update();
}
+
+static __inline double dot(const vec2& p1, const vec2& p2) {
+ return p1(0,0) * p2(0,0) + p1(1,0) * p2(1,0);
+}
+
class Triangle {
public:
- Triangle(const Vec2f& p1,
- const Vec2f& p2,
- const Vec2f& p3)
+ Triangle(const vec2& p1,
+ const vec2& p2,
+ const vec2& p3)
{
origin = p1;
- v0 = Vec2f(p3.x - p1.x, p3.y - p1.y);
- v1 = Vec2f(p2.x - p1.x, p2.y - p1.y);
+ v0 = vec2({ p3(0,0) - p1(0,0), p3(1,0) - p1(1,0) });
+ v1 = vec2({ p2(0,0) - p1(0,0), p2(1,0) - p1(1,0) });
dot00 = dot(v0, v0);
dot01 = dot(v0, v1);
dot11 = dot(v1, v1);
invDenom = 1 / (dot00 * dot11 - dot01 * dot01);
}
- bool barycentric_coords(const Vec2f& px, Vec2f& uv) const
+ bool barycentric_coords(const vec2& px, vec2& uv) const
{
- Vec2f v2(px.x - origin.x, px.y - origin.y);
+ vec2 v2({ px(0,0) - origin(0,0), px(1,0) - origin(1,0) });
double dot12 = dot(v1, v2);
double dot02 = dot(v0, v2);
double u = (dot11 * dot02 - dot01 * dot12) * invDenom;
double v = (dot00 * dot12 - dot01 * dot02) * invDenom;
- uv.x = u;
- uv.y = v;
+ uv = vec2({u, v});
return (u >= 0) && (v >= 0) && (u + v <= 1);
}
private:
double dot00, dot01, dot11, invDenom;
- Vec2f v0, v1, origin;
- double dot(const Vec2f& p1, const Vec2f& p2) const {
- return p1.x * p2.x + p1.y * p2.y;
- }
+ vec2 v0, v1, origin;
};
-static __inline Vec3f cross(const Vec3f& p1, const Vec3f& p2)
+static __inline vec3 cross(const vec3& p1, const vec3& p2)
{
- 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);
+ return vec3({p1(1,0) * p2(2,0) - p2(1,0) * p1(2,0),
+ p2(0,0) * p1(2,0) - p1(0,0) * p2(2,0),
+ p1(0,0) * p2(1,0) - p1(1,0) * p2(0,0)});
}
-static __inline Vec3f normal(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3)
+static __inline vec3 normal(const vec3& p1, const vec3& p2, const vec3& p3)
{
- 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);
+ vec3 u({p2(0,0) - p1(0,0), p2(1,0) - p1(1,0), p2(2,0) - p1(2,0)});
+ vec3 v({p3(0,0) - p1(0,0), p3(1,0) - p1(1,0), p3(2,0) - p1(2,0)});
- Vec3f tmp = cross(u, v);
+ vec3 tmp = cross(u, v);
- double i = 1./sqrt(tmp.x * tmp.x + tmp.y * tmp.y + tmp.z * tmp.z);
+ double i = 1./sqrt(tmp(0,0) * tmp(0,0) + tmp(1,0) * tmp(1,0) + tmp(2,0) * tmp(2,0));
- return Vec3f(i * tmp.x, i * tmp.y, i * tmp.z);
+ return vec3({i * tmp(0,0), i * tmp(1,0), i * tmp(2,0)});
}
void GLWidget::project_quad_texture() {
const int sx = width(), sy = height();
- 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)
+ vec2 pt[4];
+ static vec3 corners[] = {
+ vec3({0., 0., 0.}),
+ vec3({sx-1., 0., 0.}),
+ vec3({0., sy-1., 0.}),
+ vec3({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;
+ pt[i] = project(vec3({corners[i](0,0) - sx/2., corners[i](1,0) - sy/2., 0}));
+ pt[i](0, 0) += sx/2.;
+ pt[i](1, 0) += sy/2.;
}
- Vec3f normal1(0, 0, 1);
- Vec3f normal2;
+ vec3 normal1({0, 0, 1});
+ vec3 normal2;
{
- Vec3f foo[3];
+ vec3 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;
+ double dir = normal1(0,0) * normal2(0,0) + normal1(1,0) * normal2(1,0) + normal1(2,0) * normal2(2,0);
QImage& tex = dir < 0 ? back : front;
int ow = tex.width(), oh = tex.height();
- Vec2f p2[4];
+ vec2 p2[4];
for (int i = 0; i < 4; i++)
- p2[i] = Vec2f(pt[i].x, pt[i].y);
+ p2[i] = vec2({pt[i](0,0), pt[i](1,0)});
QImage texture(QSize(sx, sy), QImage::Format_RGB888);
QColor bgColor = palette().color(QPalette::Current, QPalette::Window);
texture.fill(bgColor);
- 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) }
+ const vec2 projected[2][3] = { { p2[0], p2[1], p2[2] }, { p2[3], p2[1], p2[2] } };
+ const vec2 origs[2][3] = {
+ { vec2({0., 0.}), vec2({ow-1., 0.}), vec2({0., oh-1.}) },
+ { vec2({ow-1., oh-1.}), vec2({ow-1., 0.}), vec2({0., oh-1.}) }
};
const Triangle triangles[2] = {
Triangle(projected[0][0], projected[0][1], projected[0][2]),
@@ -170,19 +170,17 @@ void GLWidget::project_quad_texture() {
for (int y = 0; y < sy; y++)
for (int x = 0; x < sx; x++) {
- Vec2f pos;
- pos.x = x;
- pos.y = y;
+ vec2 pos({(double)x, (double)y});
for (int i = 0; i < 2; i++) {
- Vec2f coords;
+ vec2 coords;
if (triangles[i].barycentric_coords(pos, coords))
{
- int px = origs[i][0].x
- + coords.x * (origs[i][2].x - origs[i][0].x)
- + coords.y * (origs[i][1].x - origs[i][0].x);
- int py = 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 px = origs[i][0](0,0)
+ + coords(0,0) * (origs[i][2](0,0) - origs[i][0](0,0))
+ + coords(1,0) * (origs[i][1](0,0) - origs[i][0](0,0));
+ int py = origs[i][0](1,0)
+ + coords(0,0) * (origs[i][2](1,0) - origs[i][0](1,0))
+ + coords(1,0) * (origs[i][1](1,0) - origs[i][0](1,0));
int r = orig[py * orig_pitch + px * orig_depth + 2];
int g = orig[py * orig_pitch + px * orig_depth + 1];
int b = orig[py * orig_pitch + px * orig_depth + 0];
diff --git a/pose-widget/glwidget.h b/pose-widget/glwidget.h
index 43a0f853..b4756120 100644
--- a/pose-widget/glwidget.h
+++ b/pose-widget/glwidget.h
@@ -10,42 +10,11 @@
#include <QWidget>
#include <QPixmap>
#include "opentrack/plugin-api.hpp"
+#include "opentrack/simple-mat.hpp"
-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)
- {
- }
-};
-
-struct Vec2f {
- double x, y;
- Vec2f(double x, double y) :
- x(x), y(y)
- {
- }
- Vec2f() :
- x(0), y(0)
- {
- }
-};
+typedef dmat<2, 1> vec2;
+typedef dmat<3, 1> vec3;
+typedef dmat<3, 3> rmat;
class GLWidget : public QWidget
{
@@ -56,34 +25,15 @@ public:
protected:
void paintEvent ( QPaintEvent * event ) override;
private:
- Point project(const Vec3f& point) {
- Point 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];
-
- return rect;
+ vec2 project(const vec3& point) {
+ vec3 ret = matrix * point;
+ return vec2 { ret(0, 0), ret(1, 0) };
}
- 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;
+ vec3 project2(const vec3& point) {
+ return matrix * point;
}
void project_quad_texture();
- double matrix[9];
+ rmat matrix;
QImage front;
QImage back;
QImage texture;
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-10 21:05:04 +0000