updated to include basic drawing. Fully handles camera framing stuff now.
This commit is contained in:
Generated
+708
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"slab",
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@@ -63,6 +312,50 @@ dependencies = [
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@@ -91,7 +384,19 @@ checksum = "973e7178a678cfd059ccec50887658d482ce16b0aa9da3888ddeab5cd5eb4889"
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name = "nix"
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||||||
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checksum = "fa52e972a9a719cecb6864fb88568781eb706bac2cd1d4f04a648542dbf78069"
|
||||||
|
dependencies = [
|
||||||
|
"bitflags 1.3.2",
|
||||||
|
"cfg-if",
|
||||||
|
"libc",
|
||||||
|
"memoffset",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
@@ -142,6 +447,41 @@ dependencies = [
|
|||||||
"autocfg",
|
"autocfg",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "once_cell"
|
||||||
|
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|
||||||
|
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||||||
|
checksum = "9f7c3e4beb33f85d45ae3e3a1792185706c8e16d043238c593331cc7cd313b50"
|
||||||
|
|
||||||
|
[[package]]
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||||||
|
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|
||||||
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||||||
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||||||
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|
||||||
|
dependencies = [
|
||||||
|
"libc",
|
||||||
|
"libredox",
|
||||||
|
"sdl2",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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|
||||||
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||||||
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||||||
|
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|
||||||
|
|
||||||
|
[[package]]
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||||||
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|
||||||
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||||||
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||||||
|
|
||||||
|
[[package]]
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||||||
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||||||
|
|
||||||
[[package]]
|
[[package]]
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||||||
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|
name = "proc-macro2"
|
||||||
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|
version = "1.0.107"
|
||||||
@@ -156,6 +496,7 @@ name = "project"
|
|||||||
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|
version = "0.1.0"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"anyhow",
|
"anyhow",
|
||||||
|
"minifb",
|
||||||
"nalgebra",
|
"nalgebra",
|
||||||
]
|
]
|
||||||
|
|
||||||
@@ -168,12 +509,52 @@ dependencies = [
|
|||||||
"proc-macro2",
|
"proc-macro2",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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|
||||||
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|
||||||
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||||||
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|
||||||
|
|
||||||
|
[[package]]
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||||||
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||||||
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||||||
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|
||||||
[[package]]
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[[package]]
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||||||
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||||||
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||||||
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checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
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||||||
|
|
||||||
|
[[package]]
|
||||||
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||||||
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||||||
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||||||
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|
||||||
|
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|
||||||
|
"bitflags 2.13.2",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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|
||||||
|
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||||||
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||||||
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|
||||||
|
dependencies = [
|
||||||
|
"bitflags 2.13.2",
|
||||||
|
"errno",
|
||||||
|
"libc",
|
||||||
|
"linux-raw-sys",
|
||||||
|
"windows-sys",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "rustversion"
|
||||||
|
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|
||||||
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||||||
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|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "safe_arch"
|
name = "safe_arch"
|
||||||
version = "1.2.0"
|
version = "1.2.0"
|
||||||
@@ -183,6 +564,84 @@ dependencies = [
|
|||||||
"bytemuck",
|
"bytemuck",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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|
||||||
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||||||
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||||||
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||||||
|
|
||||||
|
[[package]]
|
||||||
|
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|
||||||
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||||||
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||||||
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|
||||||
|
dependencies = [
|
||||||
|
"bitflags 1.3.2",
|
||||||
|
"lazy_static",
|
||||||
|
"libc",
|
||||||
|
"sdl2-sys",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "sdl2-sys"
|
||||||
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||||||
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||||||
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|
||||||
|
dependencies = [
|
||||||
|
"cfg-if",
|
||||||
|
"libc",
|
||||||
|
"version-compare",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "serde"
|
||||||
|
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|
||||||
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||||||
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|
||||||
|
dependencies = [
|
||||||
|
"serde_core",
|
||||||
|
"serde_derive",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "serde_core"
|
||||||
|
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||||||
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||||||
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|
||||||
|
dependencies = [
|
||||||
|
"serde_derive",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "serde_derive"
|
||||||
|
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||||||
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||||||
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|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn 3.0.6",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "serde_json"
|
||||||
|
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|
||||||
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||||||
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|
||||||
|
dependencies = [
|
||||||
|
"itoa",
|
||||||
|
"memchr",
|
||||||
|
"serde",
|
||||||
|
"serde_core",
|
||||||
|
"zmij",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "shlex"
|
||||||
|
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|
||||||
|
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||||||
|
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|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "simba"
|
name = "simba"
|
||||||
version = "0.10.2"
|
version = "0.10.2"
|
||||||
@@ -195,6 +654,18 @@ dependencies = [
|
|||||||
"wide",
|
"wide",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "slab"
|
||||||
|
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||||||
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||||||
|
checksum = "0c790de23124f9ab44544d7ac05d60440adc586479ce501c1d6d7da3cd8c9cf5"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "smallvec"
|
||||||
|
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||||||
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||||||
|
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|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "syn"
|
name = "syn"
|
||||||
version = "2.0.119"
|
version = "2.0.119"
|
||||||
@@ -206,6 +677,30 @@ dependencies = [
|
|||||||
"unicode-ident",
|
"unicode-ident",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "syn"
|
||||||
|
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|
||||||
|
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||||||
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|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"unicode-ident",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "tempfile"
|
||||||
|
version = "3.27.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
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|
||||||
|
dependencies = [
|
||||||
|
"fastrand",
|
||||||
|
"getrandom",
|
||||||
|
"once_cell",
|
||||||
|
"rustix",
|
||||||
|
"windows-sys",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "typenum"
|
name = "typenum"
|
||||||
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|
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|
||||||
@@ -218,6 +713,152 @@ version = "1.0.24"
|
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||||||
checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
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|
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|
|
||||||
|
[[package]]
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||||||
|
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|
||||||
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||||||
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|
||||||
|
[[package]]
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||||||
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|
||||||
|
"cfg-if",
|
||||||
|
"once_cell",
|
||||||
|
"rustversion",
|
||||||
|
"serde",
|
||||||
|
"serde_json",
|
||||||
|
"wasm-bindgen-macro",
|
||||||
|
"wasm-bindgen-shared",
|
||||||
|
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|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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||||||
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||||||
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|
||||||
|
"js-sys",
|
||||||
|
"wasm-bindgen",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
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||||||
|
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||||||
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||||||
|
dependencies = [
|
||||||
|
"quote",
|
||||||
|
"wasm-bindgen-macro-support",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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||||||
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|
||||||
|
"bumpalo",
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"syn 3.0.6",
|
||||||
|
"wasm-bindgen-shared",
|
||||||
|
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|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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||||||
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|
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|
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|
||||||
|
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|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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|
||||||
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||||||
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|
||||||
|
"bitflags 1.3.2",
|
||||||
|
"downcast-rs",
|
||||||
|
"libc",
|
||||||
|
"nix",
|
||||||
|
"scoped-tls",
|
||||||
|
"wayland-commons",
|
||||||
|
"wayland-scanner",
|
||||||
|
"wayland-sys",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
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|
||||||
|
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||||||
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|
||||||
|
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|
||||||
|
"once_cell",
|
||||||
|
"smallvec",
|
||||||
|
"wayland-sys",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wayland-cursor"
|
||||||
|
version = "0.29.5"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "6865c6b66f13d6257bef1cd40cbfe8ef2f150fb8ebbdb1e8e873455931377661"
|
||||||
|
dependencies = [
|
||||||
|
"nix",
|
||||||
|
"wayland-client",
|
||||||
|
"xcursor",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wayland-protocols"
|
||||||
|
version = "0.29.5"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "b950621f9354b322ee817a23474e479b34be96c2e909c14f7bc0100e9a970bc6"
|
||||||
|
dependencies = [
|
||||||
|
"bitflags 1.3.2",
|
||||||
|
"wayland-client",
|
||||||
|
"wayland-commons",
|
||||||
|
"wayland-scanner",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wayland-scanner"
|
||||||
|
version = "0.29.5"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "8f4303d8fa22ab852f789e75a967f0a2cdc430a607751c0499bada3e451cbd53"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"xml-rs",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "wayland-sys"
|
||||||
|
version = "0.29.5"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "be12ce1a3c39ec7dba25594b97b42cb3195d54953ddb9d3d95a7c3902bc6e9d4"
|
||||||
|
dependencies = [
|
||||||
|
"dlib",
|
||||||
|
"lazy_static",
|
||||||
|
"pkg-config",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "web-sys"
|
||||||
|
version = "0.3.105"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "9fbddc4a036f00ec4f18c83445bd3115cb306a91da554919a099d9222fe4a7f8"
|
||||||
|
dependencies = [
|
||||||
|
"js-sys",
|
||||||
|
"wasm-bindgen",
|
||||||
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "wide"
|
name = "wide"
|
||||||
version = "1.7.0"
|
version = "1.7.0"
|
||||||
@@ -227,3 +868,69 @@ dependencies = [
|
|||||||
"bytemuck",
|
"bytemuck",
|
||||||
"safe_arch",
|
"safe_arch",
|
||||||
]
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "winapi"
|
||||||
|
version = "0.3.9"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419"
|
||||||
|
dependencies = [
|
||||||
|
"winapi-i686-pc-windows-gnu",
|
||||||
|
"winapi-x86_64-pc-windows-gnu",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "winapi-i686-pc-windows-gnu"
|
||||||
|
version = "0.4.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "winapi-x86_64-pc-windows-gnu"
|
||||||
|
version = "0.4.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows-link"
|
||||||
|
version = "0.2.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "windows-sys"
|
||||||
|
version = "0.61.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
|
||||||
|
dependencies = [
|
||||||
|
"windows-link",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "x11-dl"
|
||||||
|
version = "2.21.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "38735924fedd5314a6e548792904ed8c6de6636285cb9fec04d5b1db85c1516f"
|
||||||
|
dependencies = [
|
||||||
|
"libc",
|
||||||
|
"once_cell",
|
||||||
|
"pkg-config",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "xcursor"
|
||||||
|
version = "0.3.11"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "163b33ed8786455e2fa5d72f554057ce3f3182425434f756cd39c99839d88e23"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "xml-rs"
|
||||||
|
version = "0.8.29"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "e450f9b2ed1dff33c94c12589a87338689467b9c4f5d8a5710bd09a847d2c8a7"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "zmij"
|
||||||
|
version = "1.0.23"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "29666d0abbfad1e3dc4dcf6144730dd3a3ab225bbbdac83319345b1b44ccfc1b"
|
||||||
|
|||||||
@@ -5,4 +5,5 @@ edition = "2024"
|
|||||||
|
|
||||||
[dependencies]
|
[dependencies]
|
||||||
anyhow = "1.0.104"
|
anyhow = "1.0.104"
|
||||||
|
minifb = "0.28.0"
|
||||||
nalgebra = "0.35.0"
|
nalgebra = "0.35.0"
|
||||||
|
|||||||
+232
-8
@@ -1,9 +1,9 @@
|
|||||||
use anyhow::Result as AnyResult;
|
use anyhow::Result as AnyResult;
|
||||||
|
use minifb as fb;
|
||||||
|
use std::ops::Mul;
|
||||||
use std::{fs::File, io::Read};
|
use std::{fs::File, io::Read};
|
||||||
|
|
||||||
use std::fmt::Debug;
|
use nalgebra as ng;
|
||||||
|
|
||||||
use nalgebra::{self as ng, Matrix, OMatrix};
|
|
||||||
|
|
||||||
fn get_data(file_path: &str) -> AnyResult<Vec<i32>> {
|
fn get_data(file_path: &str) -> AnyResult<Vec<i32>> {
|
||||||
let mut file = File::open(file_path)?;
|
let mut file = File::open(file_path)?;
|
||||||
@@ -21,24 +21,30 @@ fn create_matrix(
|
|||||||
camera_points: ng::MatrixView<i32, ng::Dyn, ng::Const<3>>,
|
camera_points: ng::MatrixView<i32, ng::Dyn, ng::Const<3>>,
|
||||||
image_points: ng::MatrixView<i32, ng::Dyn, ng::Const<2>>,
|
image_points: ng::MatrixView<i32, ng::Dyn, ng::Const<2>>,
|
||||||
) -> ng::OMatrix<i32, ng::Dyn, ng::Const<12>> {
|
) -> ng::OMatrix<i32, ng::Dyn, ng::Const<12>> {
|
||||||
|
//Verify row counts are equal
|
||||||
if camera_points.nrows() != image_points.nrows() {
|
if camera_points.nrows() != image_points.nrows() {
|
||||||
panic!("Must have an equal number of rows between the image and camera points");
|
panic!("Must have an equal number of rows between the image and camera points");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
//Cache for later use
|
||||||
let rows = camera_points.nrows();
|
let rows = camera_points.nrows();
|
||||||
|
|
||||||
let iter = camera_points
|
let iter = camera_points
|
||||||
.row_iter()
|
.row_iter() //Iterate over each row
|
||||||
.zip(image_points.row_iter())
|
.zip(image_points.row_iter()) //Zip up the rows of image points
|
||||||
.flat_map(|(camera, image)| {
|
.flat_map(|(camera, image)| {
|
||||||
|
//Extract x,y,z from cords
|
||||||
let x = camera[0];
|
let x = camera[0];
|
||||||
let y = camera[1];
|
let y = camera[1];
|
||||||
let z = camera[2];
|
let z = camera[2];
|
||||||
|
|
||||||
|
//Extract uv from image
|
||||||
let u = image[0];
|
let u = image[0];
|
||||||
let v = image[1];
|
let v = image[1];
|
||||||
|
|
||||||
|
//Create a 12 long vector which is the first row
|
||||||
let mut vec = vec![x, y, z, 1, 0, 0, 0, 0, -u * x, -u * y, -u * z, -u];
|
let mut vec = vec![x, y, z, 1, 0, 0, 0, 0, -u * x, -u * y, -u * z, -u];
|
||||||
|
//Append another 12 elements to create another row
|
||||||
vec.append(&mut vec![
|
vec.append(&mut vec![
|
||||||
0,
|
0,
|
||||||
0,
|
0,
|
||||||
@@ -53,12 +59,60 @@ fn create_matrix(
|
|||||||
-v * z,
|
-v * z,
|
||||||
-v,
|
-v,
|
||||||
]);
|
]);
|
||||||
|
//return the vec which can be converted into an iterator
|
||||||
vec
|
vec
|
||||||
});
|
});
|
||||||
ng::Matrix::from_row_iterator_generic(ng::Dyn(2 * rows), ng::U12, iter)
|
ng::Matrix::from_row_iterator_generic(ng::Dyn(2 * rows), ng::U12, iter)
|
||||||
}
|
}
|
||||||
|
|
||||||
fn main() -> AnyResult<()> {
|
/// Returns (K,R,t) in that order
|
||||||
|
fn decompose_projection_matrix(
|
||||||
|
m: &ng::Matrix3x4<f64>,
|
||||||
|
) -> (ng::Matrix3<f64>, ng::Matrix3<f64>, ng::Vector3<f64>) {
|
||||||
|
let a = m.fixed_columns::<3>(0);
|
||||||
|
let b = m.column(3);
|
||||||
|
|
||||||
|
// Reversal matrix J
|
||||||
|
let j = ng::Matrix3::new(0.0, 0.0, 1.0, 0.0, 1.0, 0.0, 1.0, 0.0, 0.0);
|
||||||
|
|
||||||
|
// RQ via QR on (J * A)^T
|
||||||
|
let ja_t = (j * a).transpose();
|
||||||
|
let qr = ja_t.qr();
|
||||||
|
let q = qr.q();
|
||||||
|
let r_qr = qr.r();
|
||||||
|
|
||||||
|
let mut k = j * r_qr.transpose() * j;
|
||||||
|
let mut r = j * q.transpose();
|
||||||
|
|
||||||
|
// Fix negative diagonal elements in K
|
||||||
|
for i in 0..3 {
|
||||||
|
if k[(i, i)] < 0.0 {
|
||||||
|
for row in 0..3 {
|
||||||
|
k[(row, i)] *= -1.0;
|
||||||
|
}
|
||||||
|
for col in 0..3 {
|
||||||
|
r[(i, col)] *= -1.0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Ensure proper rotation determinant
|
||||||
|
if r.determinant() < 0.0 {
|
||||||
|
r *= -1.0;
|
||||||
|
k *= -1.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Extract translation vector t = K_raw^-1 * b
|
||||||
|
let t = k.lu().solve(&b).unwrap();
|
||||||
|
|
||||||
|
// Normalize K so K[2,2] == 1.0
|
||||||
|
let scale = k[(2, 2)];
|
||||||
|
k /= scale;
|
||||||
|
|
||||||
|
(k, r, t)
|
||||||
|
}
|
||||||
|
|
||||||
|
fn init() -> AnyResult<ng::Matrix3x4<f64>> {
|
||||||
let observe_data = get_data("../observe.dat")?;
|
let observe_data = get_data("../observe.dat")?;
|
||||||
let observe_mat = ng::MatrixXx2::from_row_iterator_generic(
|
let observe_mat = ng::MatrixXx2::from_row_iterator_generic(
|
||||||
ng::Dyn(observe_data.len() / 2),
|
ng::Dyn(observe_data.len() / 2),
|
||||||
@@ -79,10 +133,10 @@ fn main() -> AnyResult<()> {
|
|||||||
|
|
||||||
let q = create_matrix(model_mat.as_view(), observe_mat.as_view());
|
let q = create_matrix(model_mat.as_view(), observe_mat.as_view());
|
||||||
|
|
||||||
let q = ng::OMatrix::from_row_iterator_generic(
|
let q = ng::OMatrix::from_iterator_generic(
|
||||||
ng::Dyn(q.nrows()),
|
ng::Dyn(q.nrows()),
|
||||||
ng::U12,
|
ng::U12,
|
||||||
q.iter().map(|num| *num as f32),
|
q.iter().map(|num| *num as f64),
|
||||||
);
|
);
|
||||||
|
|
||||||
println!("Q:\n{:}", q);
|
println!("Q:\n{:}", q);
|
||||||
@@ -97,5 +151,175 @@ fn main() -> AnyResult<()> {
|
|||||||
|
|
||||||
println!("M:\n{:}", m);
|
println!("M:\n{:}", m);
|
||||||
|
|
||||||
|
let model_mat = ng::OMatrix::from_iterator_generic(
|
||||||
|
ng::U4,
|
||||||
|
ng::Dyn(model_mat.nrows()),
|
||||||
|
model_mat
|
||||||
|
.row_iter()
|
||||||
|
.flat_map(|row| vec![row[0], row[1], row[2], 1]),
|
||||||
|
);
|
||||||
|
|
||||||
|
println!("P:\n{:}", model_mat);
|
||||||
|
|
||||||
|
let predicted_mat = ng::OMatrix::from_iterator_generic(
|
||||||
|
ng::U2,
|
||||||
|
ng::Dyn(model_mat.ncols()),
|
||||||
|
model_mat.column_iter().flat_map(|column| {
|
||||||
|
let new_column = &m.mul(&column.map(|x| x as f64));
|
||||||
|
let x = new_column[0];
|
||||||
|
let y = new_column[1];
|
||||||
|
let z = new_column[2];
|
||||||
|
|
||||||
|
vec![(x / z) as i32, (y / z) as i32]
|
||||||
|
}),
|
||||||
|
);
|
||||||
|
|
||||||
|
println!("Predict:\n{:}", predicted_mat);
|
||||||
|
|
||||||
|
let (k, r, t) = decompose_projection_matrix(&m);
|
||||||
|
|
||||||
|
println!("K:\n{:}\nR:\n{:}\nt:\n{:}", k, r, t);
|
||||||
|
|
||||||
|
let alpha = k[0];
|
||||||
|
let theta = 1.0_f64.atan2(k[3] / -alpha);
|
||||||
|
let beta = k[4] * theta.sin();
|
||||||
|
let u_0 = k[6];
|
||||||
|
let v_0 = k[7];
|
||||||
|
|
||||||
|
println!(
|
||||||
|
"alpha: {:}, theta: {:}, beta: {:}, u_0: {:}, v_0: {:}",
|
||||||
|
alpha, theta, beta, u_0, v_0
|
||||||
|
);
|
||||||
|
|
||||||
|
Ok(m)
|
||||||
|
}
|
||||||
|
|
||||||
|
//Returns (u,v)
|
||||||
|
fn convert_3d_to_2d(m: &ng::Matrix3x4<f64>, x: f64, y: f64, z: f64) -> (i32, i32) {
|
||||||
|
let dim_3 = ng::Matrix4x1::new(x, y, z, 1.0);
|
||||||
|
|
||||||
|
let dim_2 = m * dim_3;
|
||||||
|
|
||||||
|
((dim_2[0] / dim_2[2]) as i32, (dim_2[1] / dim_2[2]) as i32)
|
||||||
|
}
|
||||||
|
|
||||||
|
const WINDOW_HEIGHT: usize = 480;
|
||||||
|
const WINDOW_WIDTH: usize = 640;
|
||||||
|
|
||||||
|
fn main() -> AnyResult<()> {
|
||||||
|
//Handles all of the startup init code! Instead of keeping it in the way of the actual image drawing.
|
||||||
|
let m = init()?;
|
||||||
|
let mut window = fb::Window::new(
|
||||||
|
"Display Buffer",
|
||||||
|
WINDOW_WIDTH,
|
||||||
|
WINDOW_HEIGHT,
|
||||||
|
fb::WindowOptions::default(),
|
||||||
|
)?;
|
||||||
|
|
||||||
|
let mut x = Vec::new();
|
||||||
|
let mut y = Vec::new();
|
||||||
|
let mut z = Vec::new();
|
||||||
|
|
||||||
|
for i in 0..(10 * 10) {
|
||||||
|
// Constant 0
|
||||||
|
z.push(0);
|
||||||
|
// x will count up, the reset every 10
|
||||||
|
x.push(i % 10);
|
||||||
|
//y will only count up once every 10
|
||||||
|
y.push(i / 10);
|
||||||
|
}
|
||||||
|
|
||||||
|
for i in 0..(10 * 10) {
|
||||||
|
// Constant 10
|
||||||
|
y.push(10);
|
||||||
|
// x will count up, the reset every 10
|
||||||
|
x.push(i % 10);
|
||||||
|
//z will only count up once every 10
|
||||||
|
z.push(i / 10);
|
||||||
|
}
|
||||||
|
|
||||||
|
for i in 0..(10 * 10) {
|
||||||
|
// Constant 10
|
||||||
|
x.push(10);
|
||||||
|
// z will count up, the reset every 10
|
||||||
|
z.push(i % 10);
|
||||||
|
//y will only count up once every 10
|
||||||
|
y.push(i / 10);
|
||||||
|
}
|
||||||
|
|
||||||
|
let (u, v) = x
|
||||||
|
.into_iter()
|
||||||
|
.zip(y)
|
||||||
|
.zip(z)
|
||||||
|
.map(|((x, y), z)| convert_3d_to_2d(&m, x as f64, y as f64, z as f64))
|
||||||
|
.collect::<(Vec<i32>, Vec<i32>)>();
|
||||||
|
|
||||||
|
let mut buffer = vec![0 as u32; WINDOW_WIDTH * WINDOW_HEIGHT];
|
||||||
|
|
||||||
|
update_buffer_with_pixels(&mut buffer, u, v);
|
||||||
|
|
||||||
|
//Clone this, so we can clone this back into buffer later, for each frame. So we can keep the BG pixels.
|
||||||
|
let background_buffer = buffer.clone();
|
||||||
|
|
||||||
|
window.update_with_buffer(&buffer, WINDOW_WIDTH, WINDOW_HEIGHT)?;
|
||||||
|
window.set_target_fps(30);
|
||||||
|
|
||||||
|
let mut frame = 0.0;
|
||||||
|
|
||||||
|
while window.is_open() {
|
||||||
|
//Reload the background for each frame
|
||||||
|
buffer = background_buffer.clone();
|
||||||
|
|
||||||
|
let u = vec![0; 0];
|
||||||
|
let v = vec![0; 0];
|
||||||
|
|
||||||
|
let p1 = (2.0 + (frame / 30.0), 2.0, 2.0);
|
||||||
|
let p2 = (8.0 + (frame / 30.0), 8.0, 8.0);
|
||||||
|
|
||||||
|
let p1 = convert_3d_to_2d(&m, p1.0, p1.1, p1.2);
|
||||||
|
let p2 = convert_3d_to_2d(&m, p2.0, p2.1, p2.2);
|
||||||
|
|
||||||
|
let line = generate_line_between_verticies(p1.0, p1.1, p2.0, p2.1);
|
||||||
|
|
||||||
|
update_buffer_with_pixels(&mut buffer, line.0, line.1);
|
||||||
|
|
||||||
|
frame += 1.0;
|
||||||
|
|
||||||
|
if frame > 150.0 {
|
||||||
|
frame = 0.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
//Required to close, and update frame;
|
||||||
|
if window.is_key_down(fb::Key::Q) {
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
window.update_with_buffer(&buffer, WINDOW_WIDTH, WINDOW_HEIGHT)?;
|
||||||
|
}
|
||||||
|
|
||||||
Ok(())
|
Ok(())
|
||||||
}
|
}
|
||||||
|
|
||||||
|
fn update_buffer_with_pixels(buf: &mut Vec<u32>, u: Vec<i32>, v: Vec<i32>) {
|
||||||
|
u.into_iter().zip(v).for_each(|(x, y)| {
|
||||||
|
let index = (y as usize) * WINDOW_WIDTH + (x as usize);
|
||||||
|
buf[index] = u32::MAX
|
||||||
|
});
|
||||||
|
}
|
||||||
|
|
||||||
|
fn generate_line_between_verticies(u_1: i32, v_1: i32, u_2: i32, v_2: i32) -> (Vec<i32>, Vec<i32>) {
|
||||||
|
let mut u = vec![0; 0];
|
||||||
|
let mut v = vec![0; 0];
|
||||||
|
|
||||||
|
let u_diff = u_2 - u_1;
|
||||||
|
let v_diff = v_2 - v_1;
|
||||||
|
|
||||||
|
let u_change = u_diff / 100;
|
||||||
|
let v_change = v_diff / 100;
|
||||||
|
|
||||||
|
for i in 0..100 {
|
||||||
|
u.push(u_1 + (i * u_change));
|
||||||
|
v.push(v_1 + (i * v_change));
|
||||||
|
}
|
||||||
|
|
||||||
|
(u, v)
|
||||||
|
}
|
||||||
|
|||||||
Reference in New Issue
Block a user