Melfely/working #1
Generated
+708
-1
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "737970939a87c6fa31e7acad13307bccbb017a073b695b6089a2c484f929e20e"
|
||||
dependencies = [
|
||||
"bitflags 2.13.2",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rustix"
|
||||
version = "1.1.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "891efababe418670775f199f0d233d84843c227a0949a883ce15b37c78d6629d"
|
||||
dependencies = [
|
||||
"bitflags 2.13.2",
|
||||
"errno",
|
||||
"libc",
|
||||
"linux-raw-sys",
|
||||
"windows-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rustversion"
|
||||
version = "1.0.23"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "cf54715a573b99ac80df0bc206da022bcd442c974952c7b9720069370852e21f"
|
||||
|
||||
[[package]]
|
||||
name = "safe_arch"
|
||||
version = "1.2.0"
|
||||
@@ -183,6 +564,84 @@ dependencies = [
|
||||
"bytemuck",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "scoped-tls"
|
||||
version = "1.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e1cf6437eb19a8f4a6cc0f7dca544973b0b78843adbfeb3683d1a94a0024a294"
|
||||
|
||||
[[package]]
|
||||
name = "sdl2"
|
||||
version = "0.38.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2d42407afc6a8ab67e36f92e80b8ba34cbdc55aaeed05249efe9a2e8d0e9feef"
|
||||
dependencies = [
|
||||
"bitflags 1.3.2",
|
||||
"lazy_static",
|
||||
"libc",
|
||||
"sdl2-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "sdl2-sys"
|
||||
version = "0.38.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3ff61407fc75d4b0bbc93dc7e4d6c196439965fbef8e4a4f003a36095823eac0"
|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
"libc",
|
||||
"version-compare",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde"
|
||||
version = "1.0.229"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "4148590afebada386688f18773da617792bf2ef03ffc1e4cbd2b1d45b023e0ba"
|
||||
dependencies = [
|
||||
"serde_core",
|
||||
"serde_derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde_core"
|
||||
version = "1.0.229"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "67dca2c9c51e58a4791a4b1ed58308b39c64224d349a935ab5039aa360942a48"
|
||||
dependencies = [
|
||||
"serde_derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde_derive"
|
||||
version = "1.0.229"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e7a5d71263a5a7d47b41f6b3f06ba276f10cc18b0931f1799f710578e2309348"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 3.0.6",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde_json"
|
||||
version = "1.0.151"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c841b55ecdae098c80dcae9cf767f6f8a0c2cdb3416bbef72181df4d0fe73f14"
|
||||
dependencies = [
|
||||
"itoa",
|
||||
"memchr",
|
||||
"serde",
|
||||
"serde_core",
|
||||
"zmij",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "shlex"
|
||||
version = "2.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f8fadd59c855ef2080decdef8ff161eb6661b86933c9d82e5ba29dc602a55aba"
|
||||
|
||||
[[package]]
|
||||
name = "simba"
|
||||
version = "0.10.2"
|
||||
@@ -195,6 +654,18 @@ dependencies = [
|
||||
"wide",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "slab"
|
||||
version = "0.4.12"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0c790de23124f9ab44544d7ac05d60440adc586479ce501c1d6d7da3cd8c9cf5"
|
||||
|
||||
[[package]]
|
||||
name = "smallvec"
|
||||
version = "1.16.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ba467056f1b547ed52077911161fc86985becbc60e8e1857c8a144dab0def891"
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "2.0.119"
|
||||
@@ -206,6 +677,30 @@ dependencies = [
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "3.0.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8593e8e72159ed2257d083c7a454a85cbf854f37a0966d8d483aff8c8a3ebcee"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tempfile"
|
||||
version = "3.27.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "32497e9a4c7b38532efcdebeef879707aa9f794296a4f0244f6f69e9bc8574bd"
|
||||
dependencies = [
|
||||
"fastrand",
|
||||
"getrandom",
|
||||
"once_cell",
|
||||
"rustix",
|
||||
"windows-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "typenum"
|
||||
version = "1.20.1"
|
||||
@@ -218,6 +713,152 @@ version = "1.0.24"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
|
||||
|
||||
[[package]]
|
||||
name = "version-compare"
|
||||
version = "0.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "579a42fc0b8e0c63b76519a339be31bed574929511fa53c1a3acae26eb258f29"
|
||||
|
||||
[[package]]
|
||||
name = "wasm-bindgen"
|
||||
version = "0.2.128"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "aecb87a33d3b0c5e3b7aa46336eaf486cffafbd281b195e4c8b80d50df2351bf"
|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
"once_cell",
|
||||
"rustversion",
|
||||
"serde",
|
||||
"serde_json",
|
||||
"wasm-bindgen-macro",
|
||||
"wasm-bindgen-shared",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasm-bindgen-futures"
|
||||
version = "0.4.78"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6ef4c5d3d2cdf5c54f4231181768f5510842e350db025faf1f7163b1030ed928"
|
||||
dependencies = [
|
||||
"js-sys",
|
||||
"wasm-bindgen",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasm-bindgen-macro"
|
||||
version = "0.2.128"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a690d511e3c1a8b3a55e33511e3c2c00c78415cd23650f32b808627f5696b9ed"
|
||||
dependencies = [
|
||||
"quote",
|
||||
"wasm-bindgen-macro-support",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasm-bindgen-macro-support"
|
||||
version = "0.2.128"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "411e4887f0071ef2d2164a9d5fdf2d20efbef78fccd3a78b0c10a1dc5295e48a"
|
||||
dependencies = [
|
||||
"bumpalo",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 3.0.6",
|
||||
"wasm-bindgen-shared",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasm-bindgen-shared"
|
||||
version = "0.2.128"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "81941cd78d0c92026c33e5e01312845a4cb1e9af3407f9134b100dd03144103e"
|
||||
dependencies = [
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wayland-client"
|
||||
version = "0.29.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3f3b068c05a039c9f755f881dc50f01732214f5685e379829759088967c46715"
|
||||
dependencies = [
|
||||
"bitflags 1.3.2",
|
||||
"downcast-rs",
|
||||
"libc",
|
||||
"nix",
|
||||
"scoped-tls",
|
||||
"wayland-commons",
|
||||
"wayland-scanner",
|
||||
"wayland-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wayland-commons"
|
||||
version = "0.29.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8691f134d584a33a6606d9d717b95c4fa20065605f798a3f350d78dced02a902"
|
||||
dependencies = [
|
||||
"nix",
|
||||
"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]]
|
||||
name = "wide"
|
||||
version = "1.7.0"
|
||||
@@ -227,3 +868,69 @@ dependencies = [
|
||||
"bytemuck",
|
||||
"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]
|
||||
anyhow = "1.0.104"
|
||||
minifb = "0.28.0"
|
||||
nalgebra = "0.35.0"
|
||||
|
||||
+232
-8
@@ -1,9 +1,9 @@
|
||||
use anyhow::Result as AnyResult;
|
||||
use minifb as fb;
|
||||
use std::ops::Mul;
|
||||
use std::{fs::File, io::Read};
|
||||
|
||||
use std::fmt::Debug;
|
||||
|
||||
use nalgebra::{self as ng, Matrix, OMatrix};
|
||||
use nalgebra as ng;
|
||||
|
||||
fn get_data(file_path: &str) -> AnyResult<Vec<i32>> {
|
||||
let mut file = File::open(file_path)?;
|
||||
@@ -21,24 +21,30 @@ fn create_matrix(
|
||||
camera_points: ng::MatrixView<i32, ng::Dyn, ng::Const<3>>,
|
||||
image_points: ng::MatrixView<i32, ng::Dyn, ng::Const<2>>,
|
||||
) -> ng::OMatrix<i32, ng::Dyn, ng::Const<12>> {
|
||||
//Verify row counts are equal
|
||||
if camera_points.nrows() != image_points.nrows() {
|
||||
panic!("Must have an equal number of rows between the image and camera points");
|
||||
}
|
||||
|
||||
//Cache for later use
|
||||
let rows = camera_points.nrows();
|
||||
|
||||
let iter = camera_points
|
||||
.row_iter()
|
||||
.zip(image_points.row_iter())
|
||||
.row_iter() //Iterate over each row
|
||||
.zip(image_points.row_iter()) //Zip up the rows of image points
|
||||
.flat_map(|(camera, image)| {
|
||||
//Extract x,y,z from cords
|
||||
let x = camera[0];
|
||||
let y = camera[1];
|
||||
let z = camera[2];
|
||||
|
||||
//Extract uv from image
|
||||
let u = image[0];
|
||||
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];
|
||||
//Append another 12 elements to create another row
|
||||
vec.append(&mut vec![
|
||||
0,
|
||||
0,
|
||||
@@ -53,12 +59,60 @@ fn create_matrix(
|
||||
-v * z,
|
||||
-v,
|
||||
]);
|
||||
//return the vec which can be converted into an iterator
|
||||
vec
|
||||
});
|
||||
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_mat = ng::MatrixXx2::from_row_iterator_generic(
|
||||
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 = ng::OMatrix::from_row_iterator_generic(
|
||||
let q = ng::OMatrix::from_iterator_generic(
|
||||
ng::Dyn(q.nrows()),
|
||||
ng::U12,
|
||||
q.iter().map(|num| *num as f32),
|
||||
q.iter().map(|num| *num as f64),
|
||||
);
|
||||
|
||||
println!("Q:\n{:}", q);
|
||||
@@ -97,5 +151,175 @@ fn main() -> AnyResult<()> {
|
||||
|
||||
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(())
|
||||
}
|
||||
|
||||
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