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-rw-r--r--pose-widget/glwidget.cpp104
-rw-r--r--pose-widget/glwidget.h12
2 files changed, 56 insertions, 60 deletions
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index 8fbe046e..2cb858d7 100644
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -31,38 +31,37 @@ void GLWidget::paintEvent ( QPaintEvent * event ) {
p.drawImage(event->rect(), texture);
}
-void GLWidget::rotateBy(double xAngle, double yAngle, double zAngle, double x, double y, double z)
+void GLWidget::rotateBy(float xAngle, float yAngle, float zAngle, float x, float y, float z)
{
- double c1 = cos(yAngle / 57.295781);
- double s1 = sin(yAngle / 57.295781);
- double c2 = cos(xAngle / 57.295781);
- double s2 = sin(xAngle / 57.295781);
- double c3 = cos(zAngle / 57.295781);
- double s3 = sin(zAngle / 57.295781);
-
- double foo[] = {
- c2*c3, -c2*s3, s2,
- c1*s3+c3*s1*s2, c1*c3-s1*s2*s3, -c2*s1,
- s1*s3-c1*c3*s2, c3*s1+c1*s2*s3, c1*c2,
- };
-
- rotation = rmat(foo);
- translation = vec3({x, y, z});
+ float c1 = cos(yAngle / 57.295781);
+ float s1 = sin(yAngle / 57.295781);
+ float c2 = cos(xAngle / 57.295781);
+ float s2 = sin(xAngle / 57.295781);
+ float c3 = cos(zAngle / 57.295781);
+ float s3 = sin(zAngle / 57.295781);
+
+ rotation = rmat(c2*c3, -c2*s3, s2,
+ c1*s3+c3*s1*s2, c1*c3-s1*s2*s3, -c2*s1,
+ s1*s3-c1*c3*s2, c3*s1+c1*s2*s3, c1*c2);
+ translation = vec3(x, y, z);
update();
}
class Triangle {
+ using num = GLWidget::num;
+ using vec2 = GLWidget::vec2;
+ using vec3 = GLWidget::vec3;
public:
Triangle(const vec2& p1,
const vec2& p2,
const vec2& p3)
{
origin = p1;
- v0 = vec2({ p3.x() - p1.x(), p3.y() - p1.y() });
- v1 = vec2({ p2.x() - p1.x(), p2.y() - p1.y() });
+ v0 = vec2(p3.x() - p1.x(), p3.y() - p1.y());
+ v1 = vec2(p2.x() - p1.x(), p2.y() - p1.y());
dot00 = v0.dot(v0);
dot01 = v0.dot(v1);
dot11 = v1.dot(v1);
@@ -70,28 +69,28 @@ public:
}
bool barycentric_coords(const vec2& px, vec2& uv) const
{
- vec2 v2 = px - origin;
- double dot12 = v1.dot(v2);
- double dot02 = v0.dot(v2);
- double u = (dot11 * dot02 - dot01 * dot12) * invDenom;
- double v = (dot00 * dot12 - dot01 * dot02) * invDenom;
- uv = vec2({u, v});
+ const vec2 v2 = px - origin;
+ const num dot12 = v1.dot(v2);
+ const num dot02 = v0.dot(v2);
+ const num u = (dot11 * dot02 - dot01 * dot12) * invDenom;
+ const num v = (dot00 * dot12 - dot01 * dot02) * invDenom;
+ uv = vec2(u, v);
return (u >= 0) && (v >= 0) && (u + v <= 1);
}
private:
- double dot00, dot01, dot11, invDenom;
+ num dot00, dot01, dot11, invDenom;
vec2 v0, v1, origin;
};
-static __inline vec3 normal(const vec3& p1, const vec3& p2, const vec3& p3)
+inline GLWidget::vec3 GLWidget::normal(const vec3& p1, const vec3& p2, const vec3& p3)
{
vec3 u = p2 - p1;
vec3 v = p3 - p1;
vec3 tmp = u.cross(v);
- double i = 1./sqrt(tmp.dot(tmp));
+ num i = 1./sqrt(tmp.dot(tmp));
return tmp * i;
}
@@ -100,19 +99,16 @@ void GLWidget::project_quad_texture() {
const int sx = width(), sy = height();
vec2 pt[4];
const vec3 corners[] = {
- vec3({0., 0., 0.}),
- vec3({sx-1., 0., 0.}),
- vec3({0., sy-1., 0.}),
- vec3({sx-1., sy-1., 0.})
+ 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(vec3({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 < 4; i++)
+ pt[i] = project(vec3(corners[i].x() - sx/2, corners[i].y() - sy/2, 0)) + vec2(sx/2, sy/2);
- vec3 normal1({0, 0, 1});
+ vec3 normal1(0, 0, 1);
vec3 normal2;
{
vec3 foo[3];
@@ -121,24 +117,20 @@ void GLWidget::project_quad_texture() {
normal2 = normal(foo[0], foo[1], foo[2]);
}
- double dir = normal1.dot(normal2);
+ num dir = normal1.dot(normal2);
QImage& tex = dir < 0 ? back : front;
int ow = tex.width(), oh = tex.height();
- vec2 p2[4];
-
- for (int i = 0; i < 4; i++)
- p2[i] = vec2({pt[i].x(), pt[i].y()});
QImage texture(QSize(sx, sy), QImage::Format_RGB888);
QColor bgColor = palette().color(QPalette::Current, QPalette::Window);
texture.fill(bgColor);
- const vec2 projected[2][3] = { { p2[0], p2[1], p2[2] }, { p2[3], p2[1], p2[2] } };
+ const vec2 projected[2][3] = { { pt[0], pt[1], pt[2] }, { pt[3], pt[1], pt[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.}) }
+ { 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]),
@@ -160,9 +152,11 @@ void GLWidget::project_quad_texture() {
for (int y = 0; y < sy; y++)
for (int x = 0; x < sx; x++) {
- vec2 pos({(double)x, (double)y});
+ vec2 pos(x, y);
for (int i = 0; i < 2; i++) {
vec2 uv;
+ // XXX knowing center of the lookup pos,
+ // we have symmetry so only one lookup is needed -sh 20150831
if (triangles[i].barycentric_coords(pos, uv))
{
const int px = origs[i][0].x()
@@ -172,9 +166,9 @@ void GLWidget::project_quad_texture() {
+ uv.x() * (origs[i][2].y() - origs[i][0].y())
+ uv.y() * (origs[i][1].y() - origs[i][0].y());
- 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];
+ const unsigned char r = orig[py * orig_pitch + px * orig_depth + 2];
+ const unsigned char g = orig[py * orig_pitch + px * orig_depth + 1];
+ const unsigned char b = orig[py * orig_pitch + px * orig_depth + 0];
dest[y * dest_pitch + x * dest_depth + 0] = r;
dest[y * dest_pitch + x * dest_depth + 1] = g;
@@ -187,21 +181,21 @@ void GLWidget::project_quad_texture() {
this->texture = texture;
}
-vec2 GLWidget::project(const vec3 &point)
+GLWidget::vec2 GLWidget::project(const vec3 &point)
{
vec3 ret = rotation * point;
- double z = std::max(.75, 1. + translation.z()/-60.);
+ num z = std::max<num>(.75, 1. + translation.z()/-60);
int w = width(), h = height();
- double x = w * translation.x() / 2. / -40.;
+ num x = w * translation.x() / 2 / -40;
if (std::abs(x) > w/2)
x = x > 0 ? w/2 : w/-2;
- double y = h * translation.y() / 2. / -40.;
+ num y = h * translation.y() / 2 / -40;
if (std::abs(y) > h/2)
y = y > 0 ? h/2 : h/-2;
- return vec2 { z * (ret.x() + x), z * (ret.y() + y) };
+ return vec2(z * (ret.x() + x), z * (ret.y() + y));
}
-vec3 GLWidget::project2(const vec3 &point)
+GLWidget::vec3 GLWidget::project2(const vec3 &point)
{
return rotation * point;
}
diff --git a/pose-widget/glwidget.h b/pose-widget/glwidget.h
index 88961fbd..81517399 100644
--- a/pose-widget/glwidget.h
+++ b/pose-widget/glwidget.h
@@ -12,22 +12,24 @@
#include "opentrack/plugin-api.hpp"
#include "opentrack/simple-mat.hpp"
-typedef dmat<2, 1> vec2;
-typedef dmat<3, 1> vec3;
-typedef dmat<3, 3> rmat;
-
class GLWidget : public QWidget
{
public:
+ using num = float;
+ using vec2 = Mat<num, 2, 1>;
+ using vec3 = Mat<num, 3, 1>;
+ using rmat = Mat<num, 3, 3>;
+
GLWidget(QWidget *parent);
~GLWidget();
- void rotateBy(double xAngle, double yAngle, double zAngle, double x, double y, double z);
+ void rotateBy(float xAngle, float yAngle, float zAngle, float x, float y, float z);
protected:
void paintEvent ( QPaintEvent * event ) override;
private:
vec2 project(const vec3& point);
vec3 project2(const vec3& point);
void project_quad_texture();
+ static inline vec3 normal(const vec3& p1, const vec3& p2, const vec3& p3);
rmat rotation;
vec3 translation;
QImage front;
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-30 22:24:24 +0000