Implement clip filter, and fix having no optimizations due to sending a all as single line
This commit is contained in:
Ruben van de Ven
parent
ad9c8d6d37
commit
744a3b3dfa
5 changed files with 384 additions and 32 deletions
160
Cargo.lock
generated
160
Cargo.lock
generated
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@ -2158,6 +2158,16 @@ version = "0.1.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d8b14ccef22fc6f5a8f4d7d768562a182c04ce9a3b3157b91390b52ddfdf1a76"
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[[package]]
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name = "earcutr"
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version = "0.4.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "79127ed59a85d7687c409e9978547cffb7dc79675355ed22da6b66fd5f6ead01"
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dependencies = [
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"itertools 0.11.0",
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"num-traits",
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]
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[[package]]
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name = "ecolor"
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version = "0.23.0"
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@ -2597,6 +2607,46 @@ dependencies = [
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"typenum",
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]
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[[package]]
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name = "geo"
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version = "0.30.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4416397671d8997e9a3e7ad99714f4f00a22e9eaa9b966a5985d2194fc9e02e1"
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dependencies = [
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"earcutr",
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"float_next_after 1.0.0",
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"geo-types",
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"geographiclib-rs",
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"i_overlay",
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"log",
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"num-traits",
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"robust",
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"rstar",
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"spade",
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]
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[[package]]
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name = "geo-types"
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version = "0.7.16"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "62ddb1950450d67efee2bbc5e429c68d052a822de3aad010d28b351fbb705224"
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dependencies = [
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"approx 0.5.1",
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"num-traits",
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"rayon",
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"rstar",
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"serde",
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]
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[[package]]
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name = "geographiclib-rs"
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version = "0.2.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f611040a2bb37eaa29a78a128d1e92a378a03e0b6e66ae27398d42b1ba9a7841"
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dependencies = [
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"libm",
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]
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[[package]]
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name = "gethostname"
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version = "0.4.3"
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@ -2901,6 +2951,15 @@ dependencies = [
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"svg_fmt",
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]
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[[package]]
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name = "hash32"
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version = "0.3.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
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dependencies = [
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"byteorder",
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]
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[[package]]
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name = "hashbrown"
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version = "0.12.3"
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@ -2924,6 +2983,8 @@ version = "0.15.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "84b26c544d002229e640969970a2e74021aadf6e2f96372b9c58eff97de08eb3"
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dependencies = [
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"allocator-api2",
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"equivalent",
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"foldhash",
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]
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@ -2942,6 +3003,16 @@ dependencies = [
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"winapi",
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]
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[[package]]
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name = "heapless"
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version = "0.8.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
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dependencies = [
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"hash32",
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"stable_deref_trait",
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]
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[[package]]
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name = "heck"
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version = "0.5.0"
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@ -3000,6 +3071,50 @@ dependencies = [
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"sample-consensus",
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]
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[[package]]
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name = "i_float"
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version = "1.7.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "85df3a416829bb955fdc2416c7b73680c8dcea8d731f2c7aa23e1042fe1b8343"
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dependencies = [
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"serde",
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]
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[[package]]
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name = "i_key_sort"
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version = "0.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "347c253b4748a1a28baf94c9ce133b6b166f08573157e05afe718812bc599fcd"
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[[package]]
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name = "i_overlay"
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version = "2.0.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0542dfef184afdd42174a03dcc0625b6147fb73e1b974b1a08a2a42ac35cee49"
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dependencies = [
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"i_float",
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"i_key_sort",
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"i_shape",
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"i_tree",
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"rayon",
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]
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[[package]]
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name = "i_shape"
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version = "1.7.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0a38f5a42678726718ff924f6d4a0e79b129776aeed298f71de4ceedbd091bce"
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dependencies = [
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"i_float",
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"serde",
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]
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[[package]]
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name = "i_tree"
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version = "0.8.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "155181bc97d770181cf9477da51218a19ee92a8e5be642e796661aee2b601139"
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[[package]]
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name = "iana-time-zone"
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version = "0.1.63"
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@ -3149,6 +3264,15 @@ dependencies = [
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"either",
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]
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[[package]]
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name = "itertools"
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version = "0.11.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b1c173a5686ce8bfa551b3563d0c2170bf24ca44da99c7ca4bfdab5418c3fe57"
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dependencies = [
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"either",
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]
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[[package]]
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name = "itertools"
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version = "0.13.0"
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@ -5118,6 +5242,12 @@ version = "1.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "19b30a45b0cd0bcca8037f3d0dc3421eaf95327a17cad11964fb8179b4fc4832"
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[[package]]
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name = "robust"
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version = "1.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4e27ee8bb91ca0adcf0ecb116293afa12d393f9c2b9b9cd54d33e8078fe19839"
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[[package]]
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name = "rodio"
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version = "0.19.0"
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@ -5147,6 +5277,17 @@ version = "0.20.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "6c20b6793b5c2fa6553b250154b78d6d0db37e72700ae35fad9387a46f487c97"
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[[package]]
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name = "rstar"
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version = "0.12.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "421400d13ccfd26dfa5858199c30a5d76f9c54e0dba7575273025b43c5175dbb"
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dependencies = [
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"heapless",
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"num-traits",
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"smallvec",
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]
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[[package]]
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name = "rusb"
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version = "0.7.0"
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@ -5544,6 +5685,18 @@ dependencies = [
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"windows-sys 0.52.0",
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]
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[[package]]
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name = "spade"
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version = "2.14.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a14e31a007e9f85c32784b04f89e6e194bb252a4d41b4a8ccd9e77245d901c8c"
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dependencies = [
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"hashbrown 0.15.3",
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"num-traits",
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"robust",
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"smallvec",
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]
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[[package]]
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name = "spirv"
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version = "0.2.0+1.5.4"
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@ -5563,6 +5716,12 @@ dependencies = [
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"bitflags 2.9.1",
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]
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[[package]]
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name = "stable_deref_trait"
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version = "1.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
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[[package]]
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name = "stackfuture"
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version = "0.3.0"
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@ -5984,6 +6143,7 @@ dependencies = [
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"bevy",
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"bevy_nannou",
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"cv-core",
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"geo",
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"homography",
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"iyes_perf_ui",
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"nalgebra 0.30.1",
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@ -23,6 +23,7 @@ serde_repr = "0.1.20"
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homography = { git = "https://github.com/azazdeaz/homography" }
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nalgebra = "0.30.0"
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cv-core = "0.15.0"
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geo = "0.30.0"
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[dev-dependencies]
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@ -15,7 +15,7 @@ use serde_json::Result;
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use trap_rust::trap::filters::PointFilters;
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use trap_rust::trap::laser::{shape_rect, LaserPoints, LaserSpace, StreamSource, STREAM_SOURCES, TMP_DESK_CLUBMAX, Corner};
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use trap_rust::trap::tracks::CoordinateSpace;
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use trap_rust::trap::utils::closest_edge;
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use trap_rust::trap::utils::{closest_edge, split_on_blank};
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use trap_rust::trap::{laser::{python_cv_h_into_mat3, LaserModel, TMP_PYTHON_LASER_H, DacConfig}, tracks::{RenderableLines}};
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use zmq::Socket;
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use std::sync::{mpsc, Arc};
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@ -420,7 +420,12 @@ fn laser_frame_producer(model: &mut LaserModel, frame: &mut laser::Frame){
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// println!("Cropped Points {} (was: {})", new_laser_points.len(), pointno);
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// }
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frame.add_lines(new_laser_points);
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// split by blanked points
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let lines = split_on_blank(new_laser_points);
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for line in lines {
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frame.add_lines(line);
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}
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return;
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}
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@ -740,6 +745,21 @@ fn update(_app: &App, model: &mut GuiModel, update: Update) {
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}).unwrap();
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}
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}
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if ui
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.checkbox(&mut selected_config.filters.crop.enabled ,"Crop before corrections (recommended)")
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.changed()
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{
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let enabled = selected_config.filters.crop.enabled;
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if let Some(stream) = selected_laser_stream {
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stream.send(move |laser_model: &mut LaserModel| {
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laser_model.config.filters.crop.enabled = enabled;
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}).unwrap();
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}
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}
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// Pincushion / Pillow / Barrel distortion. Generally, only needed for the x-axis
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@ -794,13 +814,13 @@ fn update(_app: &App, model: &mut GuiModel, update: Update) {
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if ui
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.checkbox(&mut selected_config.filters.crop.enabled ,"Crop")
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.checkbox(&mut selected_config.filters.clip.enabled ,"Apply clip mask")
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.changed()
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{
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let enabled = selected_config.filters.crop.enabled;
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let enabled = selected_config.filters.clip.enabled;
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if let Some(stream) = selected_laser_stream {
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stream.send(move |laser_model: &mut LaserModel| {
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laser_model.config.filters.crop.enabled = enabled;
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laser_model.config.filters.clip.enabled = enabled;
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}).unwrap();
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}
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}
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@ -895,9 +915,9 @@ fn view_line_canvas(app: &App, model: &GuiModel, frame: Frame) {
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});
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draw.polyline()
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.weight(thickness)
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.join_round()
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.points_colored(vertices);
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.weight(thickness)
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.join_round()
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.points_colored(vertices);
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// draggable corners for the selected area
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if model.selected_stream == Some(dac_id.clone()){
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@ -929,7 +949,7 @@ fn view_laser_preview(app: &App, model: &GuiModel, frame: Frame) {
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let draw = app.draw();
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draw.background().color(BLACK);
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draw.background().color(srgba(0.3,0.3,0.3,1.));
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let win = app.window_rect();
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@ -938,7 +958,7 @@ fn view_laser_preview(app: &App, model: &GuiModel, frame: Frame) {
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let hh = h / 2.;
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let hw = w / 2.;
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let thickness = 2.0;
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let thickness = 3.0;
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let win_rect = app.main_window().rect().pad(20.0);
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@ -979,7 +999,7 @@ fn view_laser_preview(app: &App, model: &GuiModel, frame: Frame) {
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}
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draw.polygon()
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.color(srgba(1.,1.,1.,3.))
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.color(srgba(0.3, 0.3, 0.3, 1.))
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.stroke(PINK)
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.stroke_weight(thickness)
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.join_round()
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@ -999,20 +1019,32 @@ fn view_laser_preview(app: &App, model: &GuiModel, frame: Frame) {
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let pointno = points.points.len();
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let new_points = config.filters.apply(&points);
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let new_laser_points = new_points.points;
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// similar to map code:
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let vertices = new_points.points.iter().map(|p| {
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let color = srgba(p.color[0], p.color[1], p.color[0], 1.);
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// draw as distinct lines (this is how it is send to post-processing)
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// TODO: alternatively, if the optimisation becomes an actual filter
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// this should be drawn as a single line, and we can have an option to
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// visualise the intermediate lines to make the draw order apparent
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let lines = split_on_blank(new_laser_points);
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for line in lines {
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// similar to map code:
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let pos = [p.position[0] * hw, p.position[1] * hh];
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(pos, color)
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});
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draw.polyline()
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.weight(thickness)
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.join_round()
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.points_colored(vertices);
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let vertices = line.iter().map(|p| {
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let color = srgba(p.color[0], p.color[1], p.color[0], 1.);
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let pos = [p.position[0] * hw, p.position[1] * hh];
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(pos, color)
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});
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draw.polyline()
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.weight(thickness)
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.join_round()
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.points_colored(vertices);
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}
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}
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}
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@ -1124,8 +1156,21 @@ fn laser_mouse_moved(app: &App, model: &mut GuiModel, pos: Point2) {
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// config.filters.clip.
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let point = config.filters.clip.mask.get_mut(*point_idx).unwrap();
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// set new position
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*point = [laser_x, laser_y];
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// 3. update config in laser stream threat
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let mask = config.filters.clip.mask.clone();
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let selected_laser_stream = model.laser_streams.get(&dac_id);
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if let Some(stream) = selected_laser_stream {
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stream.send(move |laser_model: &mut LaserModel| {
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laser_model.config.filters.clip.mask = mask;
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}).unwrap();
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}
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}
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fn laser_mouse_released(_app: &App, model: &mut GuiModel, _button: MouseButton) {
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@ -1,6 +1,6 @@
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use bevy::prelude::*; // for glam::f32::Mat3
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use crate::trap::{laser::{apply_homography_matrix, Corner, LaserPoints}, tracks::CoordinateSpace};
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use crate::trap::{laser::{apply_homography_matrix, Corner, LaserPoints}, tracks::CoordinateSpace, utils::clip_lines};
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use nannou_laser::{self as laser, Point};
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use serde::{Deserialize, Serialize};
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@ -87,8 +87,9 @@ impl PointFilters {
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let mut p = self.dim.apply(points);
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||||
p = self.homography.apply(&p);
|
||||
p = self.scale.apply(&p);
|
||||
p = self.pincushion.apply(&p);
|
||||
p = self.crop.apply(&p);
|
||||
p = self.pincushion.apply(&p);
|
||||
p = self.clip.apply(&p);
|
||||
p
|
||||
}
|
||||
|
||||
|
|
@ -135,7 +136,7 @@ impl Default for PointFilters {
|
|||
scale: ScaleFilter { factor: 1. },
|
||||
pincushion: PincushionFilter{k_x: 0.,k_x2: 0., k_y: 0., k_y2: 0.},
|
||||
crop: CropFilter{ enabled: true },
|
||||
clip: ClipFilter{ enabled: false, mask: Corner::in_laser_space() },
|
||||
clip: ClipFilter{ enabled: true, mask: Corner::in_laser_space() },
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -351,11 +352,9 @@ impl Filter for ClipFilter {
|
|||
};
|
||||
}
|
||||
|
||||
// TODO
|
||||
return LaserPoints{
|
||||
points: points.points.clone(),
|
||||
space: points.space,
|
||||
};
|
||||
|
||||
clip_lines(&self.mask, points)
|
||||
|
||||
}
|
||||
|
||||
fn reverse(&self, points: &LaserPoints) -> LaserPoints{
|
||||
|
|
|
|||
|
|
@ -1,5 +1,9 @@
|
|||
// GPT generated code is isolated to this file
|
||||
use geo::{Coordinate, Line, Point, Polygon, prelude::*};
|
||||
use geo::{Coord, Line, Point, Polygon, prelude::*};
|
||||
use geo::line_intersection::{line_intersection, LineIntersection};
|
||||
use nannou_laser::{self as laser};
|
||||
|
||||
use crate::trap::laser::LaserPoints;
|
||||
|
||||
///////////////////////
|
||||
// Clip filter related
|
||||
|
|
@ -50,3 +54,146 @@ pub fn closest_edge(mask: &[[f32; 2]], target: [f32; 2]) -> Option<usize> {
|
|||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
fn interpolate_color(c1: [f32; 3], c2: [f32; 3], t: f32) -> [f32; 3] {
|
||||
[
|
||||
c1[0] + (c2[0] - c1[0]) * t as f32,
|
||||
c1[1] + (c2[1] - c1[1]) * t as f32,
|
||||
c1[2] + (c2[2] - c1[2]) * t as f32,
|
||||
]
|
||||
}
|
||||
|
||||
fn interpolate_point(p1: Coord<f32>, p2: Coord<f32>, t: f32) -> Coord<f32> {
|
||||
Coord {
|
||||
x: p1.x + (p2.x - p1.x) * t,
|
||||
y: p1.y + (p2.y - p1.y) * t,
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
fn clip_colored_path(points: &Vec<laser::Point>, bounds: &Polygon<f32>) -> Vec<laser::Point> {
|
||||
let mut result = Vec::new();
|
||||
|
||||
for pair in points.windows(2) {
|
||||
let p1 = &pair[0];
|
||||
let p2 = &pair[1];
|
||||
|
||||
let inside1 = bounds.contains(&Point::from(p1.position));
|
||||
let inside2 = bounds.contains(&Point::from(p2.position));
|
||||
|
||||
let line = Line::new(p1.position, p2.position);
|
||||
|
||||
match (inside1, inside2) {
|
||||
(true, true) => {
|
||||
// Both inside: keep both
|
||||
if result.last().map(|r: &laser::Point| r.position != p1.position).unwrap_or(true) {
|
||||
result.push(p1.clone());
|
||||
}
|
||||
result.push(p2.clone());
|
||||
}
|
||||
|
||||
(true, false) | (false, true) => {
|
||||
// Crossing the boundary
|
||||
if let Some(intersection) = line_intersect_polygon(line, bounds) {
|
||||
let t = line_fraction(p1.position, p2.position, intersection);
|
||||
let boundary_color = interpolate_color(p1.color, p2.color, t);
|
||||
|
||||
let boundary_point = laser::Point {
|
||||
position: intersection.into(),
|
||||
color: boundary_color,
|
||||
weight: p1.weight,
|
||||
};
|
||||
|
||||
let blanked_boundary_point = boundary_point.blanked();
|
||||
|
||||
if inside1 {
|
||||
if result.last().map(|r| r.position != p1.position).unwrap_or(true) {
|
||||
result.push(p1.clone());
|
||||
}
|
||||
result.push(boundary_point);
|
||||
result.push(blanked_boundary_point);
|
||||
} else {
|
||||
result.push(blanked_boundary_point);
|
||||
result.push(boundary_point);
|
||||
result.push(p2.clone());
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
(false, false) => {
|
||||
// Both outside: discard
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
result
|
||||
}
|
||||
|
||||
fn line_intersect_polygon(line: Line<f32>, polygon: &Polygon<f32>) -> Option<Coord<f32>> {
|
||||
for edge in polygon.exterior().lines() {
|
||||
|
||||
// if let Some(point) = line.intersection(&edge) {
|
||||
if let Some(point) = line_intersection(line, edge) {
|
||||
return match point {
|
||||
LineIntersection::SinglePoint {intersection, is_proper} => Some(intersection.into()),
|
||||
LineIntersection::Collinear { intersection } => None,
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
None
|
||||
}
|
||||
|
||||
fn line_fraction(start: [f32;2], end: [f32;2], pt: Coord<f32>) -> f32 {
|
||||
let total = ((end[0] - start[0]).powi(2) + (end[1] - start[1]).powi(2)).sqrt();
|
||||
let partial = ((pt.x - start[0]).powi(2) + (pt.y - start[1]).powi(2)).sqrt();
|
||||
if total == 0.0 { 0.0 } else { partial / total }
|
||||
}
|
||||
|
||||
pub fn clip_lines(mask: &Vec<[f32; 2]>, laser_points: &LaserPoints) -> LaserPoints {
|
||||
|
||||
let path = &laser_points.points;
|
||||
|
||||
let bounds = Polygon::new(
|
||||
mask.clone()
|
||||
.into(),
|
||||
vec![],
|
||||
);
|
||||
|
||||
let clipped = clip_colored_path(path, &bounds);
|
||||
|
||||
LaserPoints{
|
||||
points: clipped,
|
||||
space: laser_points.space,
|
||||
}
|
||||
|
||||
// for p in clipped {
|
||||
// println!("Point: {:?}, Color: {:?}", p.position, p.color);
|
||||
// }
|
||||
}
|
||||
|
||||
// split a Vec of laser::Points on blank'ed points, so that the optimiser can do its thing.
|
||||
pub fn split_on_blank(points: Vec<laser::Point>) -> Vec<Vec<laser::Point>> {
|
||||
let mut lines = Vec::new();
|
||||
let mut current_line = Vec::new();
|
||||
|
||||
for point in points {
|
||||
if point.is_blank() {
|
||||
if !current_line.is_empty() {
|
||||
lines.push(current_line);
|
||||
current_line = Vec::new();
|
||||
}
|
||||
} else {
|
||||
current_line.push(point);
|
||||
}
|
||||
}
|
||||
|
||||
// Push the last line if not empty
|
||||
if !current_line.is_empty() {
|
||||
lines.push(current_line);
|
||||
}
|
||||
|
||||
lines
|
||||
}
|
||||
Loading…
Reference in a new issue