From 32e0354b4fed6c76e05b5b96d9d89bf2e5c679ee Mon Sep 17 00:00:00 2001 From: Isaac Date: Mon, 19 Aug 2019 10:16:37 -0400 Subject: [PATCH 1/8] create visualizer --- visualization/lviz/cursor.cc | 31 +++ visualization/lviz/cursor.hh | 26 ++ visualization/lviz/graphics_helpers.cc | 175 +++++++++++++ visualization/lviz/graphics_helpers.hh | 28 +++ visualization/lviz/lines.cc | 336 +++++++++++++++++++++++++ visualization/lviz/scene.hh | 83 ++++++ visualization/lviz/shaders.hh | 28 +++ 7 files changed, 707 insertions(+) create mode 100644 visualization/lviz/cursor.cc create mode 100644 visualization/lviz/cursor.hh create mode 100644 visualization/lviz/graphics_helpers.cc create mode 100644 visualization/lviz/graphics_helpers.hh create mode 100644 visualization/lviz/lines.cc create mode 100644 visualization/lviz/scene.hh create mode 100644 visualization/lviz/shaders.hh diff --git a/visualization/lviz/cursor.cc b/visualization/lviz/cursor.cc new file mode 100644 index 0000000..759c335 --- /dev/null +++ b/visualization/lviz/cursor.cc @@ -0,0 +1,31 @@ +#include "visualization/lviz/cursor.hh" + +Eigen::Matrix4f Cursor::camera_from_world(float camera_distance_from_cursor) { + return get_camera_from_world(camera_translation_from_cursor_normalized * + camera_distance_from_cursor + + cursor_loc, + cursor_loc); +} + +void Cursor::update_cursor_state(Eigen::Vector4f mouse_move_image_space, + bool right_mouse_button_down, + bool left_mouse_button_down, + double camera_distance_from_cursor) { + const auto mouse_move_world_space = + camera_from_world(camera_distance_from_cursor).inverse() * mouse_move_image_space; + + // translating cursor + if (right_mouse_button_down) + cursor_loc += mouse_move_world_space.head<3>() * MOUSE_SENSITIVITY * + camera_distance_from_cursor * .5; + + if (left_mouse_button_down) + camera_translation_from_cursor_normalized += + mouse_move_world_space.head<3>() * MOUSE_SENSITIVITY; + if (camera_translation_from_cursor_normalized.y() > 1) { + camera_translation_from_cursor_normalized /= + camera_translation_from_cursor_normalized.y(); + } + camera_translation_from_cursor_normalized.normalize(); +} + diff --git a/visualization/lviz/cursor.hh b/visualization/lviz/cursor.hh new file mode 100644 index 0000000..430cb11 --- /dev/null +++ b/visualization/lviz/cursor.hh @@ -0,0 +1,26 @@ +#pragma once +#include "visualization/lviz/graphics_helpers.hh" +#include + +constexpr double MOUSE_SENSITIVITY = .005; + +class Cursor { +public: + Eigen::Vector2d last_mouse_loc; + Eigen::Vector2d current_mouse_loc; + Eigen::Vector3f cursor_loc; + Eigen::Vector3f camera_translation_from_cursor_normalized; + + Cursor() { + + last_mouse_loc << 0, 0; + current_mouse_loc << 0, 0; + camera_translation_from_cursor_normalized << 1, 2, 3; + cursor_loc << 0, 0, 0; + } + void update_cursor_state(Eigen::Vector4f, bool, bool, double); + Eigen::Matrix4f camera_from_world(float); + void set_camera_translation_from_cursor_normalized(Eigen::Vector3f new_val) { + camera_translation_from_cursor_normalized = new_val; + } +}; diff --git a/visualization/lviz/graphics_helpers.cc b/visualization/lviz/graphics_helpers.cc new file mode 100644 index 0000000..abe5f3d --- /dev/null +++ b/visualization/lviz/graphics_helpers.cc @@ -0,0 +1,175 @@ + +#include "visualization/lviz/graphics_helpers.hh" + +//%deps(opengl, glfw, pthread, glew) + + +GLuint LoadShaders() { + + // Create the shaders + GLuint VertexShaderID = glCreateShader(GL_VERTEX_SHADER); + GLuint FragmentShaderID = glCreateShader(GL_FRAGMENT_SHADER); + + std::string VertexShaderCode = vertex_shader_text; + + std::string FragmentShaderCode = fragment_shader_text; + + GLint Result = GL_FALSE; + int InfoLogLength; + + // Compile Vertex Shader + char const *VertexSourcePointer = VertexShaderCode.c_str(); + glShaderSource(VertexShaderID, 1, &VertexSourcePointer, NULL); + glCompileShader(VertexShaderID); + + // Check Vertex Shader + glGetShaderiv(VertexShaderID, GL_COMPILE_STATUS, &Result); + glGetShaderiv(VertexShaderID, GL_INFO_LOG_LENGTH, &InfoLogLength); + if (InfoLogLength > 0) { + std::vector VertexShaderErrorMessage(InfoLogLength + 1); + glGetShaderInfoLog(VertexShaderID, InfoLogLength, NULL, + &VertexShaderErrorMessage[0]); + printf("%s\n", &VertexShaderErrorMessage[0]); + } + + // Compile Fragment Shader + char const *FragmentSourcePointer = FragmentShaderCode.c_str(); + glShaderSource(FragmentShaderID, 1, &FragmentSourcePointer, NULL); + glCompileShader(FragmentShaderID); + + // Check Fragment Shader + glGetShaderiv(FragmentShaderID, GL_COMPILE_STATUS, &Result); + glGetShaderiv(FragmentShaderID, GL_INFO_LOG_LENGTH, &InfoLogLength); + if (InfoLogLength > 0) { + std::vector FragmentShaderErrorMessage(InfoLogLength + 1); + glGetShaderInfoLog(FragmentShaderID, InfoLogLength, NULL, + &FragmentShaderErrorMessage[0]); + printf("%s\n", &FragmentShaderErrorMessage[0]); + } + + // Link the program + printf("Linking program\n"); + GLuint ProgramID = glCreateProgram(); + glAttachShader(ProgramID, VertexShaderID); + glAttachShader(ProgramID, FragmentShaderID); + glLinkProgram(ProgramID); + + // Check the program + glGetProgramiv(ProgramID, GL_LINK_STATUS, &Result); + glGetProgramiv(ProgramID, GL_INFO_LOG_LENGTH, &InfoLogLength); + if (InfoLogLength > 0) { + std::vector ProgramErrorMessage(InfoLogLength + 1); + glGetProgramInfoLog(ProgramID, InfoLogLength, NULL, + &ProgramErrorMessage[0]); + printf("%s\n", &ProgramErrorMessage[0]); + } + + return ProgramID; +} + +GLFWwindow *get_window() { + + if (!glfwInit()) { + // Initialization failed + fprintf(stderr, "Failed to initialize GLFW\n"); + } + glfwWindowHint(GLFW_SAMPLES, 4); + + glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3); + glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 0); + GLFWwindow *window = glfwCreateWindow(640, 480, "3D Viz", NULL, NULL); + if (!window) { + // Window or OpenGL context creation failed + } + glfwMakeContextCurrent(window); + glfwSwapInterval(1); + + glewInit(); + + glEnable(GL_MULTISAMPLE); + glEnable(GL_VERTEX_PROGRAM_POINT_SIZE); + glEnable(GL_DEPTH_TEST); + glDepthFunc(GL_ALWAYS); + glDepthFunc(GL_GREATER); // TODO perhaps some issue in projection is making + // this necessary + + return window; +} + +// adapted from +// https://stackoverflow.com/questions/1638355/function-for-perspective-projection-of-a-matrix-in-c +Eigen::Matrix4f get_perspective_mat(double fov, double aspect, double near, + double far) { + double yScale = 1.0 / tan(fov); + double xScale = yScale / aspect; + Eigen::Matrix4f mat; + mat << xScale, 0, 0, 0, 0, yScale, 0, 0, 0, 0, -(far + near) / (near - far), + -2 * far * near / (near - far), 0, 0, -1, 0; + + return mat; +} + +Eigen::Matrix4f get_camera_from_world(Eigen::Vector3f camera_loc, + Eigen::Vector3f target) { + const Eigen::Vector3f look_direction = (camera_loc - target).normalized(); + const Eigen::Vector3f global_up(0, 1, 0); + const Eigen::Vector3f right = global_up.cross(look_direction).normalized(); + const Eigen::Vector3f up = look_direction.cross(right).normalized(); + + // JAKE: better/ cleaner way to write this? + Eigen::Matrix4f camera_from_world_rotation; + camera_from_world_rotation << right.x(), right.y(), right.z(), 0, up.x(), + up.y(), up.z(), 0, look_direction.x(), look_direction.y(), + look_direction.z(), 0, 0, 0, 0, 1; + + Eigen::Matrix4f camera_from_world_translation; + camera_from_world_translation << 1, 0, 0, -camera_loc.x(), 0, 1, 0, + -camera_loc.y(), 0, 0, 1, -camera_loc.z(), 0, 0, 0, 1; + return camera_from_world_rotation * camera_from_world_translation; +} + +void enter_vertex_buffer_state(GLuint vertex_buffer_id, + const GLfloat vertex_buffer_data[], + size_t size) { + + glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer_id); + glBufferData(GL_ARRAY_BUFFER, size, vertex_buffer_data, GL_STATIC_DRAW); + + // position + glVertexAttribPointer(0, // attribute 0. No particular reason for 0, but + // must match the layout in the shader. + 3, // size + GL_FLOAT, // type + GL_FALSE, // normalized? + 7 * sizeof(float), // stride + (void *)0 // array buffer offset + ); + glEnableVertexAttribArray(0); + + // color + glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 7 * sizeof(float), + (void *)(3 * sizeof(float))); + glEnableVertexAttribArray(1); + + // scale + glVertexAttribPointer(2, 1, GL_FLOAT, GL_FALSE, 7 * sizeof(float), + (void *)(6 * sizeof(float))); + glEnableVertexAttribArray(2); +} + +void exit_buffer_state() { + glDisableVertexAttribArray(0); + glDisableVertexAttribArray(1); + glDisableVertexAttribArray(2); +} + +void enter_stipple_state() { + glPushAttrib(GL_ENABLE_BIT); + glLineStipple(1, 0x0F0F); + glEnable(GL_LINE_STIPPLE); +} + +void exit_stipple_state() { + glDisable(GL_LINE_STIPPLE); + glPopAttrib(); +} \ No newline at end of file diff --git a/visualization/lviz/graphics_helpers.hh b/visualization/lviz/graphics_helpers.hh new file mode 100644 index 0000000..73e23d3 --- /dev/null +++ b/visualization/lviz/graphics_helpers.hh @@ -0,0 +1,28 @@ +#pragma once +//%deps(opengl, glfw, pthread, glew) + +#include + +#include + +#include + +#include +#include "visualization/lviz/shaders.hh" + + + + +GLuint LoadShaders(); + +GLFWwindow* get_window(); + +Eigen::Matrix4f get_perspective_mat(double fov, double aspect, double near, + double far); +Eigen::Matrix4f get_camera_from_world(Eigen::Vector3f camera_loc, Eigen::Vector3f target); + +void enter_vertex_buffer_state(GLuint vertex_buffer_id, const GLfloat vertex_buffer_data[], size_t size); +void exit_buffer_state(); + +void enter_stipple_state(); +void exit_stipple_state(); \ No newline at end of file diff --git a/visualization/lviz/lines.cc b/visualization/lviz/lines.cc new file mode 100644 index 0000000..45819fe --- /dev/null +++ b/visualization/lviz/lines.cc @@ -0,0 +1,336 @@ +//%deps(opengl, glfw, pthread, glew) + + +#include "visualization/lviz/cursor.hh" +#include "visualization/lviz/graphics_helpers.hh" +#include "visualization/lviz/scene.hh" + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +// #include + +struct rgb_color { + int r; + int g; + int b; +}; + +rgb_color color_from_rgb_tuple(std::tuple rgb) { + return rgb_color{std::get<0>(rgb), std::get<1>(rgb), std::get<2>(rgb)}; +} + +struct NewScene {}; + + +// TODO stop using this everywhere +using TreeNode = std::variant, + std::tuple, + std::tuple, NewScene>; + +// lars::ParserGenerator get_parser() { +// using namespace std; + +// lars::ParserGenerator calculator; + +// auto &g = calculator; +// g.setSeparator(g["Whitespace"] << "[\t ]"); + +// g["Float"] << "'-'? [0-9]+ ('.' [0-9]+)?" >> +// [](auto e) { return stof(e.string()); }; +// g["Vec3"] << "Float Float Float" >> [](auto e) { +// return std::make_tuple(std::get(e[0].evaluate()), +// std::get(e[1].evaluate()), +// std::get(e[2].evaluate())); +// }; + +// // TODO check 0..255 +// g["Byte"] << "[0-9]+" >> [](auto e) { return stoi(e.string()); }; +// g["ByteTriple"] << "Byte Byte Byte" >> [](auto e) { +// return std::make_tuple(std::get(e[0].evaluate()), +// std::get(e[1].evaluate()), +// std::get(e[2].evaluate())); +// }; + +// g["RgbId"] << "'rgb'"; +// g["NamedRgb"] << "RgbId ByteTriple" >> [](auto e) { +// return color_from_rgb_tuple( +// std::get>(e[1].evaluate())); +// }; +// g["NakedRgb"] << "ByteTriple" >> [](auto e) { +// return color_from_rgb_tuple( +// std::get>(e[0].evaluate())); +// }; + +// g["HsvId"] << "'hsv'"; +// g["HsvColor"] << "HsvId ByteTriple" >> [](auto e) { +// return color_from_rgb_tuple( +// std::get>(e[1].evaluate())); +// }; + +// g["Color"] << "NamedRgb | NakedRgb"; + +// g["Point"] << "'point' Float Float Float Color Float" >> [](auto e) { +// auto position = std::make_tuple(stof(e[0].string()), stof(e[1].string()), +// stof(e[2].string())); +// auto color = std::get(e[3].evaluate()); +// auto scale = std::get(e[4].evaluate()); +// return ColoredPoint{std::get<0>(position), +// std::get<1>(position), +// std::get<2>(position), +// (float)color.r / 255.0f, +// (float)color.g / 255.0f, +// (float)color.b / 255.0f, +// scale}; +// }; + +// g["Line"] << "'line' Vec3 Color Vec3 Color" >> [](auto e) { +// auto position1 = std::get>(e[0].evaluate()); +// auto position2 = std::get>(e[2].evaluate()); +// auto color1 = std::get(e[1].evaluate()); +// auto color2 = std::get(e[3].evaluate()); +// float scale = 1.0; +// return std::make_pair( +// ColoredPoint{std::get<0>(position1), std::get<1>(position1), +// std::get<2>(position1), (float)color1.r / 255.0f, +// (float)color1.g / 255.0f, (float)color1.b / 255.0f, scale}, +// ColoredPoint{std::get<0>(position2), std::get<1>(position2), +// std::get<2>(position2), (float)color2.r / 255.0f, +// (float)color2.g / 255.0f, (float)color2.b / 255.0f, scale}); +// }; +// // g["DashedLine"] << "'dashed' Line"; + +// g["NewSceneId"] << "'new_frame'" >> [](auto e) { return NewScene{}; }; + +// g["SceneElement"] << "Point | Line | NewSceneId"; + +// g.setStart(g["SceneElement"]); +// return calculator; +// } + +Eigen::Vector2d get_mouse_loc(auto window) { + double xpos, ypos; + glfwGetCursorPos(window, &xpos, &ypos); + return Eigen::Vector2d(xpos, ypos); +} + +std::pair get_window_dimensions(auto window) { + int window_width, window_height; + glfwGetWindowSize(window, &window_width, &window_height); + return std::make_pair(window_width, window_height); +} + +void reset_viewport_size(auto window) { + auto window_dimensions = get_window_dimensions(window); + glViewport(0, 0, window_dimensions.first, window_dimensions.second); +} + +bool right_mouse_button_down = false; +bool left_mouse_button_down = false; +double camera_distance_from_cursor = 5; +Scene scene; +Cursor cursor; +std::mutex scene_modification_mutex; +std::mutex buffer_modification_mutex; + +void mouse_button_callback(GLFWwindow *window, int button, int action, + int mods) { + if (button == GLFW_MOUSE_BUTTON_RIGHT) + right_mouse_button_down = action == GLFW_PRESS; + if (button == GLFW_MOUSE_BUTTON_LEFT) + left_mouse_button_down = action == GLFW_PRESS; +} + +static void key_callback(GLFWwindow *window, int key, int scancode, int action, + int mods) { + if (action == GLFW_PRESS) { + if (key == GLFW_KEY_ESCAPE) + glfwSetWindowShouldClose(window, GLFW_TRUE); + if (key == GLFW_KEY_RIGHT) + scene.add_to_frame_index(1); + if (key == GLFW_KEY_LEFT) + scene.add_to_frame_index(-1); + if (key == GLFW_KEY_SPACE) + scene.toggle_is_playing(); + if (key == GLFW_KEY_X) + cursor.set_camera_translation_from_cursor_normalized( + Eigen::Vector3f(1, 0, 0).normalized()); + if (key == GLFW_KEY_Y) + cursor.set_camera_translation_from_cursor_normalized( + Eigen::Vector3f(0.00001, 1, 0).normalized()); + if (key == GLFW_KEY_Z) + cursor.set_camera_translation_from_cursor_normalized( + Eigen::Vector3f(0, 0, 1).normalized()); + } +} + +void scroll_callback(GLFWwindow *window, double xoffset, double yoffset) { + camera_distance_from_cursor += yoffset; + camera_distance_from_cursor = + std::clamp(camera_distance_from_cursor, .01, 10000.0); +} + +std::vector scene_element_buffer; + +// inline TreeNode +// scene_element_from_line(std::string line, +// lars::ParserGenerator &calculator) { +// try { +// return calculator.run(line); +// } catch (lars::SyntaxError &error) { +// return line; +// } +// } + +// void run_stream_parser(Scene &scene) { + // lars::ParserGenerator calculator = get_parser(); + + // // vastly increases stream reading speed + // std::ios_base::sync_with_stdio(false); + // while (true) { + // std::string line; + // std::getline(std::cin, line); + // if (line.length() > 0) { + // TreeNode result = scene_element_from_line(line, calculator); + // if (std::holds_alternative(result)) { + // std::cout << std::get(result) << std::endl; + // continue; + // } + // buffer_modification_mutex.lock(); + // scene_element_buffer.push_back(result); + // buffer_modification_mutex.unlock(); + // } + // } +// } + +void run_stream_parser(Scene &scene) { + // vastly increases stream reading speed + std::ios_base::sync_with_stdio(false); + std::regex("(point)\\s+4"); + while (true) { + std::string line; + std::getline(std::cin, line); + if (line.length() > 0) { + + buffer_modification_mutex.lock(); + scene_element_buffer.push_back(ColoredPoint{1,1,1,1,1,1,10}); + buffer_modification_mutex.unlock(); + } + } +} + +void apply_scene_changes(Scene &scene) { + buffer_modification_mutex.lock(); + + for (auto element : scene_element_buffer) { + if (std::holds_alternative(element)) { + scene.add_point(std::get(element)); + } + if (std::holds_alternative>( + element)) { + scene.add_line(std::get>(element)); + } + if (std::holds_alternative(element)) { + scene.add_frame(); + } + } + // std::cout << scene_element_buffer.size() << std::endl; + scene_element_buffer.clear(); + buffer_modification_mutex.unlock(); +} + +int main() { + + using namespace std; + auto window = get_window(); + glfwSetMouseButtonCallback(window, mouse_button_callback); + glfwSetScrollCallback(window, scroll_callback); + glfwSetKeyCallback(window, key_callback); + GLuint shader_program_id = LoadShaders(); + scene.setup_buffers(); + glUseProgram(shader_program_id); + + // GLuint vertex_buffer_id; + // Generate 1 buffer, put the resulting identifier in vertex_buffer_id + // glGenBuffers(1, &vertex_buffer_id); + // The following commands will talk about our 'vertex_buffer_id' buffer + + + int frames_so_far = 0; + cursor.last_mouse_loc = get_mouse_loc(window); + cursor.current_mouse_loc = get_mouse_loc(window); + + std::thread parsing_thread(run_stream_parser, std::ref(scene)); + + auto frame_duration = std::chrono::milliseconds(500); + auto frame_time_remaining = frame_duration; + + while (!glfwWindowShouldClose(window)) { + auto render_start_time = std::chrono::high_resolution_clock::now(); + + // update mouse history + auto mouse_delta = cursor.current_mouse_loc - cursor.last_mouse_loc; + cursor.last_mouse_loc = cursor.current_mouse_loc; + cursor.current_mouse_loc = get_mouse_loc(window); + + frames_so_far++; + + // calculate mouse movements + const Eigen::Vector4f mouse_move_image_space(-mouse_delta.x(), + mouse_delta.y(), 0.0, 0.0); + cursor.update_cursor_state(mouse_move_image_space, right_mouse_button_down, + left_mouse_button_down, + camera_distance_from_cursor); + + auto window_dimensions = get_window_dimensions(window); + auto aspect_ratio = + 1.0 * window_dimensions.first / window_dimensions.second; + Eigen::Matrix4f image_from_world = + get_perspective_mat(.6, aspect_ratio, .1, 10000) * + cursor.camera_from_world(camera_distance_from_cursor); + + GLuint image_from_world_idx = + glGetUniformLocation(shader_program_id, "image_from_world"); + glUniformMatrix4fv(image_from_world_idx, 1, GL_FALSE, + image_from_world.data()); + + // get width and height + reset_viewport_size(window); + + // Keep running + glfwSwapBuffers(window); + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + glClearDepth(0.0f); + glClearColor(0, 43.0f / 255, 54.0f / 255, 1.0f); //solarized base03 + + glfwPollEvents(); + scene.draw(); + apply_scene_changes(scene); + auto render_end_time = std::chrono::high_resolution_clock::now(); + auto loop_time_so_far = + std::chrono::duration_cast( + render_end_time - render_start_time); + frame_time_remaining = frame_time_remaining - loop_time_so_far; + if ((frame_time_remaining.count() < 0) && scene.get_is_playing()){ + scene.add_to_frame_index(1); + frame_time_remaining = std::chrono::milliseconds((int)(scene.get_current_frame().display_duration * 1000)); + } + } + glfwDestroyWindow(window); + glfwTerminate(); + + return 0; +} diff --git a/visualization/lviz/scene.hh b/visualization/lviz/scene.hh new file mode 100644 index 0000000..1e42963 --- /dev/null +++ b/visualization/lviz/scene.hh @@ -0,0 +1,83 @@ +#include "visualization/lviz/graphics_helpers.hh" +#include + +struct ColoredPoint { + GLfloat x; + GLfloat y; + GLfloat z; + GLfloat r; + GLfloat g; + GLfloat b; + GLfloat scale; +}; + +struct Frame { + std::vector points; + std::vector lines; + float display_duration; +}; + +class Scene { +private: + std::vector frames; + GLuint point_vertex_buffer_id; + GLuint line_vertex_buffer_id; + int current_frame_index; + bool is_playing; + +public: + Scene() { + add_frame(); + is_playing = false; + } + + bool get_is_playing() { return is_playing; } + + void toggle_is_playing() { is_playing = !is_playing; } + + void setup_buffers() { + glGenBuffers(1, &point_vertex_buffer_id); + glGenBuffers(1, &line_vertex_buffer_id); + } + + void add_to_frame_index(int delta) { current_frame_index += delta; } + + Frame &get_current_frame() { + return frames[current_frame_index % frames.size()]; + } + + void add_frame() { + Frame new_frame; + new_frame.display_duration = .1; + frames.push_back(new_frame); + } + + void add_point(ColoredPoint pt) { frames.back().points.push_back(pt); } + + void add_line(std::pair points) { + frames.back().lines.push_back(points.first); + frames.back().lines.push_back(points.second); + } + + void draw() { + + enter_vertex_buffer_state( + point_vertex_buffer_id, (GLfloat *)&get_current_frame().points[0], + sizeof(ColoredPoint) * get_current_frame().points.size()); + + auto n_point_elements = get_current_frame().points.size() * 7; + glDrawArrays(GL_POINTS, 0, n_point_elements); + + enter_vertex_buffer_state( + line_vertex_buffer_id, (GLfloat *)&get_current_frame().lines[0], + sizeof(ColoredPoint) * get_current_frame().lines.size()); + + auto n_line_elements = get_current_frame().lines.size() * 7; + // enter_stipple_state(); + glLineWidth(2); + glDrawArrays(GL_LINES, 0, n_line_elements); + // exit_stipple_state(); + + exit_buffer_state(); + } +}; \ No newline at end of file diff --git a/visualization/lviz/shaders.hh b/visualization/lviz/shaders.hh new file mode 100644 index 0000000..35850e5 --- /dev/null +++ b/visualization/lviz/shaders.hh @@ -0,0 +1,28 @@ +#pragma once + +static const char* vertex_shader_text = +"#version 330 \n" +"uniform mat4 image_from_world;\n" +// "in vec3 vCol;\n" +// "in vec2 vPos;\n" +// "varying vec3 color;\n" +"out vec4 colorV;\n" +"layout(location = 0) in vec3 vertex_pos_world_space;\n" +"layout(location = 1) in vec3 color_in;\n" +"layout(location = 2) in float scale_in;\n" +"void main()\n" +"{\n" +" gl_Position = image_from_world * vec4(vertex_pos_world_space, 1.0); \n" + +" gl_PointSize = scale_in; \n" + +" colorV = vec4(color_in, 1.0);\n" +"}\n\0"; +static const char* fragment_shader_text = +"#version 330 \n" +"in vec4 colorV;\n" +"out vec4 color;\n" +"void main()\n" +"{\n" +" color = colorV;\n" +"}\n\0"; \ No newline at end of file From 558a532cecc4d828d722dfa6dda8f3d0fc64cf57 Mon Sep 17 00:00:00 2001 From: Isaac Date: Tue, 20 Aug 2019 13:50:27 -0400 Subject: [PATCH 2/8] Create orthogonal view. Clean up. --- CMakeLists.txt | 19 ++ config/hoverjet/camera.yaml | 4 +- visualization/lviz/cursor.cc | 9 + visualization/lviz/cursor.hh | 13 +- visualization/lviz/graphics_helpers.cc | 85 ++++---- visualization/lviz/graphics_helpers.hh | 11 +- visualization/lviz/lines.cc | 269 ++++++------------------- visualization/lviz/scene.hh | 6 +- visualization/lviz/shaders.hh | 42 ++-- 9 files changed, 176 insertions(+), 282 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 269f558..9114ec8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,6 +10,25 @@ FIND_PACKAGE(crossguid REQUIRED) # CMakeLists find_package(OpenCV REQUIRED) +######################### +# OpenGL +# +find_package(OpenGL REQUIRED) +include_directories( ${OPENGL_INCLUDE_DIRS}) + +######################### +# GLFW +# +find_package(PkgConfig REQUIRED) +pkg_search_module(GLFW REQUIRED glfw3) +include_directories(${GLFW_INCLUDE_DIRS}) + +######################### +# GLEW +# +find_package(GLEW REQUIRED) + + SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/run) # Get yaml-cpp configured diff --git a/config/hoverjet/camera.yaml b/config/hoverjet/camera.yaml index 1d12f74..a34005d 100644 --- a/config/hoverjet/camera.yaml +++ b/config/hoverjet/camera.yaml @@ -7,7 +7,7 @@ auto_focus: 0 # Disables autoexposure...allegedly? auto_exposure: 1 # Set a fixed exposure (The minimum) -webcam_exposure: 3 +exposure: 3 # Calling our shots: The camera we expect to be running -serial_number: 5CFD076E +serial_number: 0718D9AE diff --git a/visualization/lviz/cursor.cc b/visualization/lviz/cursor.cc index 759c335..d35f046 100644 --- a/visualization/lviz/cursor.cc +++ b/visualization/lviz/cursor.cc @@ -1,5 +1,13 @@ #include "visualization/lviz/cursor.hh" + Cursor::Cursor() { + + last_mouse_loc << 0, 0; + current_mouse_loc << 0, 0; + camera_translation_from_cursor_normalized = Eigen::Vector3f(1, 2, 3).normalized(); + cursor_loc << 0, 0, 0; + } + Eigen::Matrix4f Cursor::camera_from_world(float camera_distance_from_cursor) { return get_camera_from_world(camera_translation_from_cursor_normalized * camera_distance_from_cursor + @@ -19,6 +27,7 @@ void Cursor::update_cursor_state(Eigen::Vector4f mouse_move_image_space, cursor_loc += mouse_move_world_space.head<3>() * MOUSE_SENSITIVITY * camera_distance_from_cursor * .5; + // rotating cursor if (left_mouse_button_down) camera_translation_from_cursor_normalized += mouse_move_world_space.head<3>() * MOUSE_SENSITIVITY; diff --git a/visualization/lviz/cursor.hh b/visualization/lviz/cursor.hh index 430cb11..e96ecfa 100644 --- a/visualization/lviz/cursor.hh +++ b/visualization/lviz/cursor.hh @@ -6,18 +6,17 @@ constexpr double MOUSE_SENSITIVITY = .005; class Cursor { public: + bool right_mouse_button_down = false; + bool left_mouse_button_down = false; + double camera_distance_from_cursor = 5; + bool perspective_mode = true; + Eigen::Vector2d last_mouse_loc; Eigen::Vector2d current_mouse_loc; Eigen::Vector3f cursor_loc; Eigen::Vector3f camera_translation_from_cursor_normalized; + Cursor(); - Cursor() { - - last_mouse_loc << 0, 0; - current_mouse_loc << 0, 0; - camera_translation_from_cursor_normalized << 1, 2, 3; - cursor_loc << 0, 0, 0; - } void update_cursor_state(Eigen::Vector4f, bool, bool, double); Eigen::Matrix4f camera_from_world(float); void set_camera_translation_from_cursor_normalized(Eigen::Vector3f new_val) { diff --git a/visualization/lviz/graphics_helpers.cc b/visualization/lviz/graphics_helpers.cc index abe5f3d..c83a6a1 100644 --- a/visualization/lviz/graphics_helpers.cc +++ b/visualization/lviz/graphics_helpers.cc @@ -1,11 +1,8 @@ - #include "visualization/lviz/graphics_helpers.hh" -//%deps(opengl, glfw, pthread, glew) - +#include GLuint LoadShaders() { - // Create the shaders GLuint VertexShaderID = glCreateShader(GL_VERTEX_SHADER); GLuint FragmentShaderID = glCreateShader(GL_FRAGMENT_SHADER); @@ -27,8 +24,7 @@ GLuint LoadShaders() { glGetShaderiv(VertexShaderID, GL_INFO_LOG_LENGTH, &InfoLogLength); if (InfoLogLength > 0) { std::vector VertexShaderErrorMessage(InfoLogLength + 1); - glGetShaderInfoLog(VertexShaderID, InfoLogLength, NULL, - &VertexShaderErrorMessage[0]); + glGetShaderInfoLog(VertexShaderID, InfoLogLength, NULL, &VertexShaderErrorMessage[0]); printf("%s\n", &VertexShaderErrorMessage[0]); } @@ -42,8 +38,7 @@ GLuint LoadShaders() { glGetShaderiv(FragmentShaderID, GL_INFO_LOG_LENGTH, &InfoLogLength); if (InfoLogLength > 0) { std::vector FragmentShaderErrorMessage(InfoLogLength + 1); - glGetShaderInfoLog(FragmentShaderID, InfoLogLength, NULL, - &FragmentShaderErrorMessage[0]); + glGetShaderInfoLog(FragmentShaderID, InfoLogLength, NULL, &FragmentShaderErrorMessage[0]); printf("%s\n", &FragmentShaderErrorMessage[0]); } @@ -59,8 +54,7 @@ GLuint LoadShaders() { glGetProgramiv(ProgramID, GL_INFO_LOG_LENGTH, &InfoLogLength); if (InfoLogLength > 0) { std::vector ProgramErrorMessage(InfoLogLength + 1); - glGetProgramInfoLog(ProgramID, InfoLogLength, NULL, - &ProgramErrorMessage[0]); + glGetProgramInfoLog(ProgramID, InfoLogLength, NULL, &ProgramErrorMessage[0]); printf("%s\n", &ProgramErrorMessage[0]); } @@ -68,7 +62,6 @@ GLuint LoadShaders() { } GLFWwindow *get_window() { - if (!glfwInit()) { // Initialization failed fprintf(stderr, "Failed to initialize GLFW\n"); @@ -90,27 +83,45 @@ GLFWwindow *get_window() { glEnable(GL_VERTEX_PROGRAM_POINT_SIZE); glEnable(GL_DEPTH_TEST); glDepthFunc(GL_ALWAYS); - glDepthFunc(GL_GREATER); // TODO perhaps some issue in projection is making - // this necessary + glDepthFunc(GL_GREATER); // TODO perhaps some issue in projection is making + // this necessary return window; } // adapted from // https://stackoverflow.com/questions/1638355/function-for-perspective-projection-of-a-matrix-in-c -Eigen::Matrix4f get_perspective_mat(double fov, double aspect, double near, - double far) { +Eigen::Matrix4f get_perspective_mat(double fov, double aspect, double near, double far) { double yScale = 1.0 / tan(fov); double xScale = yScale / aspect; Eigen::Matrix4f mat; - mat << xScale, 0, 0, 0, 0, yScale, 0, 0, 0, 0, -(far + near) / (near - far), - -2 * far * near / (near - far), 0, 0, -1, 0; + mat << xScale, 0, 0, 0, 0, yScale, 0, 0, 0, 0, -(far + near) / (near - far), -2 * far * near / (near - far), 0, 0, -1, + 0; return mat; } -Eigen::Matrix4f get_camera_from_world(Eigen::Vector3f camera_loc, - Eigen::Vector3f target) { +Eigen::Matrix4f get_orthographic_mat(double width, double height, double near, double far) { + double xScale = 1.0 / width; + double yScale = 1.0 / height; + Eigen::Matrix4f mat; + mat << xScale, 0, 0, 0, 0, yScale, 0, 0, 0, 0, 2 / (far - near), -(far + near) / (near - far), 0, 0, 0, 10; + return mat; +} + +Eigen::Matrix4f get_image_from_view(float aspect_ratio, float near_distance, float far_distance, float camera_distance_from_cursor, bool orthogonal) { + if (orthogonal) { + constexpr float orthograpic_scale_constant = .052; + return get_orthographic_mat(camera_distance_from_cursor * aspect_ratio * orthograpic_scale_constant, + camera_distance_from_cursor * orthograpic_scale_constant, + near_distance, + far_distance); + } else { + return get_perspective_mat(.6, aspect_ratio, near_distance, far_distance); + } +} + +Eigen::Matrix4f get_camera_from_world(Eigen::Vector3f camera_loc, Eigen::Vector3f target) { const Eigen::Vector3f look_direction = (camera_loc - target).normalized(); const Eigen::Vector3f global_up(0, 1, 0); const Eigen::Vector3f right = global_up.cross(look_direction).normalized(); @@ -118,42 +129,36 @@ Eigen::Matrix4f get_camera_from_world(Eigen::Vector3f camera_loc, // JAKE: better/ cleaner way to write this? Eigen::Matrix4f camera_from_world_rotation; - camera_from_world_rotation << right.x(), right.y(), right.z(), 0, up.x(), - up.y(), up.z(), 0, look_direction.x(), look_direction.y(), - look_direction.z(), 0, 0, 0, 0, 1; + camera_from_world_rotation << right.x(), right.y(), right.z(), 0, up.x(), up.y(), up.z(), 0, look_direction.x(), + look_direction.y(), look_direction.z(), 0, 0, 0, 0, 1; Eigen::Matrix4f camera_from_world_translation; - camera_from_world_translation << 1, 0, 0, -camera_loc.x(), 0, 1, 0, - -camera_loc.y(), 0, 0, 1, -camera_loc.z(), 0, 0, 0, 1; + camera_from_world_translation << 1, 0, 0, -camera_loc.x(), 0, 1, 0, -camera_loc.y(), 0, 0, 1, -camera_loc.z(), 0, 0, + 0, 1; return camera_from_world_rotation * camera_from_world_translation; } -void enter_vertex_buffer_state(GLuint vertex_buffer_id, - const GLfloat vertex_buffer_data[], - size_t size) { - +void enter_vertex_buffer_state(GLuint vertex_buffer_id, const GLfloat vertex_buffer_data[], size_t size) { glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer_id); glBufferData(GL_ARRAY_BUFFER, size, vertex_buffer_data, GL_STATIC_DRAW); // position - glVertexAttribPointer(0, // attribute 0. No particular reason for 0, but - // must match the layout in the shader. - 3, // size - GL_FLOAT, // type - GL_FALSE, // normalized? - 7 * sizeof(float), // stride - (void *)0 // array buffer offset + glVertexAttribPointer(0, // attribute 0. No particular reason for 0, but + // must match the layout in the shader. + 3, // size + GL_FLOAT, // type + GL_FALSE, // normalized? + 7 * sizeof(float), // stride + (void *)0 // array buffer offset ); glEnableVertexAttribArray(0); // color - glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 7 * sizeof(float), - (void *)(3 * sizeof(float))); + glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 7 * sizeof(float), (void *)(3 * sizeof(float))); glEnableVertexAttribArray(1); // scale - glVertexAttribPointer(2, 1, GL_FLOAT, GL_FALSE, 7 * sizeof(float), - (void *)(6 * sizeof(float))); + glVertexAttribPointer(2, 1, GL_FLOAT, GL_FALSE, 7 * sizeof(float), (void *)(6 * sizeof(float))); glEnableVertexAttribArray(2); } @@ -172,4 +177,4 @@ void enter_stipple_state() { void exit_stipple_state() { glDisable(GL_LINE_STIPPLE); glPopAttrib(); -} \ No newline at end of file +} diff --git a/visualization/lviz/graphics_helpers.hh b/visualization/lviz/graphics_helpers.hh index 73e23d3..79f500c 100644 --- a/visualization/lviz/graphics_helpers.hh +++ b/visualization/lviz/graphics_helpers.hh @@ -10,19 +10,22 @@ #include #include "visualization/lviz/shaders.hh" +GLuint LoadShaders(); +GLFWwindow* get_window(); +Eigen::Matrix4f get_perspective_mat(double fov, double aspect, double near, double far); -GLuint LoadShaders(); +Eigen::Matrix4f get_orthographic_mat(double width, double height, double near, double far); -GLFWwindow* get_window(); +Eigen::Matrix4f get_image_from_view(float aspect_ratio, float near_distance, float far_distance, float camera_distance_from_cursor, bool orthogonal); -Eigen::Matrix4f get_perspective_mat(double fov, double aspect, double near, - double far); Eigen::Matrix4f get_camera_from_world(Eigen::Vector3f camera_loc, Eigen::Vector3f target); void enter_vertex_buffer_state(GLuint vertex_buffer_id, const GLfloat vertex_buffer_data[], size_t size); + void exit_buffer_state(); void enter_stipple_state(); + void exit_stipple_state(); \ No newline at end of file diff --git a/visualization/lviz/lines.cc b/visualization/lviz/lines.cc index 45819fe..08afe0a 100644 --- a/visualization/lviz/lines.cc +++ b/visualization/lviz/lines.cc @@ -1,10 +1,12 @@ //%deps(opengl, glfw, pthread, glew) - #include "visualization/lviz/cursor.hh" #include "visualization/lviz/graphics_helpers.hh" #include "visualization/lviz/scene.hh" +#include "visualization/lviz/parsing.hh" +#include +#include #include #include #include @@ -12,114 +14,12 @@ #include #include #include -#include #include -#include -#include #include #include -#include -// #include - -struct rgb_color { - int r; - int g; - int b; -}; - -rgb_color color_from_rgb_tuple(std::tuple rgb) { - return rgb_color{std::get<0>(rgb), std::get<1>(rgb), std::get<2>(rgb)}; -} +#include -struct NewScene {}; - - -// TODO stop using this everywhere -using TreeNode = std::variant, - std::tuple, - std::tuple, NewScene>; - -// lars::ParserGenerator get_parser() { -// using namespace std; - -// lars::ParserGenerator calculator; - -// auto &g = calculator; -// g.setSeparator(g["Whitespace"] << "[\t ]"); - -// g["Float"] << "'-'? [0-9]+ ('.' [0-9]+)?" >> -// [](auto e) { return stof(e.string()); }; -// g["Vec3"] << "Float Float Float" >> [](auto e) { -// return std::make_tuple(std::get(e[0].evaluate()), -// std::get(e[1].evaluate()), -// std::get(e[2].evaluate())); -// }; - -// // TODO check 0..255 -// g["Byte"] << "[0-9]+" >> [](auto e) { return stoi(e.string()); }; -// g["ByteTriple"] << "Byte Byte Byte" >> [](auto e) { -// return std::make_tuple(std::get(e[0].evaluate()), -// std::get(e[1].evaluate()), -// std::get(e[2].evaluate())); -// }; - -// g["RgbId"] << "'rgb'"; -// g["NamedRgb"] << "RgbId ByteTriple" >> [](auto e) { -// return color_from_rgb_tuple( -// std::get>(e[1].evaluate())); -// }; -// g["NakedRgb"] << "ByteTriple" >> [](auto e) { -// return color_from_rgb_tuple( -// std::get>(e[0].evaluate())); -// }; - -// g["HsvId"] << "'hsv'"; -// g["HsvColor"] << "HsvId ByteTriple" >> [](auto e) { -// return color_from_rgb_tuple( -// std::get>(e[1].evaluate())); -// }; - -// g["Color"] << "NamedRgb | NakedRgb"; - -// g["Point"] << "'point' Float Float Float Color Float" >> [](auto e) { -// auto position = std::make_tuple(stof(e[0].string()), stof(e[1].string()), -// stof(e[2].string())); -// auto color = std::get(e[3].evaluate()); -// auto scale = std::get(e[4].evaluate()); -// return ColoredPoint{std::get<0>(position), -// std::get<1>(position), -// std::get<2>(position), -// (float)color.r / 255.0f, -// (float)color.g / 255.0f, -// (float)color.b / 255.0f, -// scale}; -// }; - -// g["Line"] << "'line' Vec3 Color Vec3 Color" >> [](auto e) { -// auto position1 = std::get>(e[0].evaluate()); -// auto position2 = std::get>(e[2].evaluate()); -// auto color1 = std::get(e[1].evaluate()); -// auto color2 = std::get(e[3].evaluate()); -// float scale = 1.0; -// return std::make_pair( -// ColoredPoint{std::get<0>(position1), std::get<1>(position1), -// std::get<2>(position1), (float)color1.r / 255.0f, -// (float)color1.g / 255.0f, (float)color1.b / 255.0f, scale}, -// ColoredPoint{std::get<0>(position2), std::get<1>(position2), -// std::get<2>(position2), (float)color2.r / 255.0f, -// (float)color2.g / 255.0f, (float)color2.b / 255.0f, scale}); -// }; -// // g["DashedLine"] << "'dashed' Line"; - -// g["NewSceneId"] << "'new_frame'" >> [](auto e) { return NewScene{}; }; - -// g["SceneElement"] << "Point | Line | NewSceneId"; - -// g.setStart(g["SceneElement"]); -// return calculator; -// } Eigen::Vector2d get_mouse_loc(auto window) { double xpos, ypos; @@ -138,85 +38,48 @@ void reset_viewport_size(auto window) { glViewport(0, 0, window_dimensions.first, window_dimensions.second); } -bool right_mouse_button_down = false; -bool left_mouse_button_down = false; -double camera_distance_from_cursor = 5; + Scene scene; Cursor cursor; -std::mutex scene_modification_mutex; std::mutex buffer_modification_mutex; -void mouse_button_callback(GLFWwindow *window, int button, int action, - int mods) { - if (button == GLFW_MOUSE_BUTTON_RIGHT) - right_mouse_button_down = action == GLFW_PRESS; - if (button == GLFW_MOUSE_BUTTON_LEFT) - left_mouse_button_down = action == GLFW_PRESS; +void mouse_button_callback(GLFWwindow *window, int button, int action, int mods) { + if (button == GLFW_MOUSE_BUTTON_RIGHT) cursor.right_mouse_button_down = action == GLFW_PRESS; + if (button == GLFW_MOUSE_BUTTON_LEFT) cursor.left_mouse_button_down = action == GLFW_PRESS; } -static void key_callback(GLFWwindow *window, int key, int scancode, int action, - int mods) { +static void key_callback(GLFWwindow *window, int key, int scancode, int action, int mods) { if (action == GLFW_PRESS) { - if (key == GLFW_KEY_ESCAPE) - glfwSetWindowShouldClose(window, GLFW_TRUE); - if (key == GLFW_KEY_RIGHT) - scene.add_to_frame_index(1); - if (key == GLFW_KEY_LEFT) - scene.add_to_frame_index(-1); - if (key == GLFW_KEY_SPACE) - scene.toggle_is_playing(); - if (key == GLFW_KEY_X) - cursor.set_camera_translation_from_cursor_normalized( - Eigen::Vector3f(1, 0, 0).normalized()); + if (key == GLFW_KEY_ESCAPE) glfwSetWindowShouldClose(window, GLFW_TRUE); + if (key == GLFW_KEY_RIGHT) scene.add_to_frame_index(1); + if (key == GLFW_KEY_LEFT) scene.add_to_frame_index(-1); + if (key == GLFW_KEY_SPACE) scene.toggle_is_playing(); + + // set camera to look down an axis + if (key == GLFW_KEY_X) cursor.set_camera_translation_from_cursor_normalized(Eigen::Vector3f(1, 0, 0).normalized()); if (key == GLFW_KEY_Y) - cursor.set_camera_translation_from_cursor_normalized( - Eigen::Vector3f(0.00001, 1, 0).normalized()); - if (key == GLFW_KEY_Z) - cursor.set_camera_translation_from_cursor_normalized( - Eigen::Vector3f(0, 0, 1).normalized()); + cursor.set_camera_translation_from_cursor_normalized(Eigen::Vector3f(0.00001, 1, 0).normalized()); + if (key == GLFW_KEY_Z) cursor.set_camera_translation_from_cursor_normalized(Eigen::Vector3f(0, 0, 1).normalized()); + + // set camera to isometric view + if (key == GLFW_KEY_I) { + cursor.set_camera_translation_from_cursor_normalized(Eigen::Vector3f(1,1,1).normalized()); + cursor.perspective_mode = false; + } + + // toggle orthognal projection + if (key == GLFW_KEY_O) cursor.perspective_mode = !cursor.perspective_mode; } } void scroll_callback(GLFWwindow *window, double xoffset, double yoffset) { - camera_distance_from_cursor += yoffset; - camera_distance_from_cursor = - std::clamp(camera_distance_from_cursor, .01, 10000.0); + cursor.camera_distance_from_cursor += yoffset; + cursor.camera_distance_from_cursor = std::clamp(cursor.camera_distance_from_cursor, 1.0, 10000.0); } -std::vector scene_element_buffer; - -// inline TreeNode -// scene_element_from_line(std::string line, -// lars::ParserGenerator &calculator) { -// try { -// return calculator.run(line); -// } catch (lars::SyntaxError &error) { -// return line; -// } -// } - -// void run_stream_parser(Scene &scene) { - // lars::ParserGenerator calculator = get_parser(); - - // // vastly increases stream reading speed - // std::ios_base::sync_with_stdio(false); - // while (true) { - // std::string line; - // std::getline(std::cin, line); - // if (line.length() > 0) { - // TreeNode result = scene_element_from_line(line, calculator); - // if (std::holds_alternative(result)) { - // std::cout << std::get(result) << std::endl; - // continue; - // } - // buffer_modification_mutex.lock(); - // scene_element_buffer.push_back(result); - // buffer_modification_mutex.unlock(); - // } - // } -// } - -void run_stream_parser(Scene &scene) { +std::vector scene_element_buffer; + +void run_stream_parser() { // vastly increases stream reading speed std::ios_base::sync_with_stdio(false); std::regex("(point)\\s+4"); @@ -224,10 +87,16 @@ void run_stream_parser(Scene &scene) { std::string line; std::getline(std::cin, line); if (line.length() > 0) { - - buffer_modification_mutex.lock(); - scene_element_buffer.push_back(ColoredPoint{1,1,1,1,1,1,10}); - buffer_modification_mutex.unlock(); + auto new_element = scene_element_from_line(line); + if (new_element.has_value()) { + buffer_modification_mutex.lock(); + scene_element_buffer.push_back(new_element.value()); + buffer_modification_mutex.unlock(); + } + } + else{ + // TODO replace with e.g. interrupt + std::this_thread::sleep_for(std::chrono::milliseconds(1)); } } } @@ -239,22 +108,22 @@ void apply_scene_changes(Scene &scene) { if (std::holds_alternative(element)) { scene.add_point(std::get(element)); } - if (std::holds_alternative>( - element)) { + else if (std::holds_alternative>(element)) { scene.add_line(std::get>(element)); } - if (std::holds_alternative(element)) { + else if (std::holds_alternative(element)) { scene.add_frame(); } + else if (std::holds_alternative(element)) { + scene.set_frame_duration(std::get(element).frame_duration); + } } - // std::cout << scene_element_buffer.size() << std::endl; + std::cout << scene_element_buffer.size() << std::endl; scene_element_buffer.clear(); buffer_modification_mutex.unlock(); } int main() { - - using namespace std; auto window = get_window(); glfwSetMouseButtonCallback(window, mouse_button_callback); glfwSetScrollCallback(window, scroll_callback); @@ -263,17 +132,11 @@ int main() { scene.setup_buffers(); glUseProgram(shader_program_id); - // GLuint vertex_buffer_id; - // Generate 1 buffer, put the resulting identifier in vertex_buffer_id - // glGenBuffers(1, &vertex_buffer_id); - // The following commands will talk about our 'vertex_buffer_id' buffer - - int frames_so_far = 0; cursor.last_mouse_loc = get_mouse_loc(window); cursor.current_mouse_loc = get_mouse_loc(window); - std::thread parsing_thread(run_stream_parser, std::ref(scene)); + std::thread parsing_thread(run_stream_parser); auto frame_duration = std::chrono::milliseconds(500); auto frame_time_remaining = frame_duration; @@ -282,30 +145,28 @@ int main() { auto render_start_time = std::chrono::high_resolution_clock::now(); // update mouse history + // TODO own method auto mouse_delta = cursor.current_mouse_loc - cursor.last_mouse_loc; cursor.last_mouse_loc = cursor.current_mouse_loc; cursor.current_mouse_loc = get_mouse_loc(window); frames_so_far++; + // TODO make function // calculate mouse movements - const Eigen::Vector4f mouse_move_image_space(-mouse_delta.x(), - mouse_delta.y(), 0.0, 0.0); - cursor.update_cursor_state(mouse_move_image_space, right_mouse_button_down, - left_mouse_button_down, - camera_distance_from_cursor); + const Eigen::Vector4f mouse_move_image_space(-mouse_delta.x(), mouse_delta.y(), 0.0, 0.0); + cursor.update_cursor_state(mouse_move_image_space, cursor.right_mouse_button_down, cursor.left_mouse_button_down, + cursor.camera_distance_from_cursor); + + // TODO make function auto window_dimensions = get_window_dimensions(window); - auto aspect_ratio = - 1.0 * window_dimensions.first / window_dimensions.second; - Eigen::Matrix4f image_from_world = - get_perspective_mat(.6, aspect_ratio, .1, 10000) * - cursor.camera_from_world(camera_distance_from_cursor); + auto aspect_ratio = 1.0 * window_dimensions.first / window_dimensions.second; + Eigen::Matrix4f image_from_camera = get_image_from_view(aspect_ratio, .01, 10000, cursor.camera_distance_from_cursor, !cursor.perspective_mode); + Eigen::Matrix4f image_from_world = image_from_camera * cursor.camera_from_world(cursor.camera_distance_from_cursor); - GLuint image_from_world_idx = - glGetUniformLocation(shader_program_id, "image_from_world"); - glUniformMatrix4fv(image_from_world_idx, 1, GL_FALSE, - image_from_world.data()); + GLuint image_from_world_idx = glGetUniformLocation(shader_program_id, "image_from_world"); + glUniformMatrix4fv(image_from_world_idx, 1, GL_FALSE, image_from_world.data()); // get width and height reset_viewport_size(window); @@ -314,17 +175,15 @@ int main() { glfwSwapBuffers(window); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glClearDepth(0.0f); - glClearColor(0, 43.0f / 255, 54.0f / 255, 1.0f); //solarized base03 + glClearColor(0, 43.0f / 255, 54.0f / 255, 1.0f); // solarized base03 glfwPollEvents(); scene.draw(); apply_scene_changes(scene); auto render_end_time = std::chrono::high_resolution_clock::now(); - auto loop_time_so_far = - std::chrono::duration_cast( - render_end_time - render_start_time); + auto loop_time_so_far = std::chrono::duration_cast(render_end_time - render_start_time); frame_time_remaining = frame_time_remaining - loop_time_so_far; - if ((frame_time_remaining.count() < 0) && scene.get_is_playing()){ + if ((frame_time_remaining.count() < 0) && scene.get_is_playing()) { scene.add_to_frame_index(1); frame_time_remaining = std::chrono::milliseconds((int)(scene.get_current_frame().display_duration * 1000)); } diff --git a/visualization/lviz/scene.hh b/visualization/lviz/scene.hh index 1e42963..1bcce0f 100644 --- a/visualization/lviz/scene.hh +++ b/visualization/lviz/scene.hh @@ -54,6 +54,8 @@ public: void add_point(ColoredPoint pt) { frames.back().points.push_back(pt); } + void set_frame_duration(float new_duration) { frames.back().display_duration = new_duration; } + void add_line(std::pair points) { frames.back().lines.push_back(points.first); frames.back().lines.push_back(points.second); @@ -73,8 +75,10 @@ public: sizeof(ColoredPoint) * get_current_frame().lines.size()); auto n_line_elements = get_current_frame().lines.size() * 7; + + // TODO enable optional dashed lines // enter_stipple_state(); - glLineWidth(2); + glLineWidth(3); glDrawArrays(GL_LINES, 0, n_line_elements); // exit_stipple_state(); diff --git a/visualization/lviz/shaders.hh b/visualization/lviz/shaders.hh index 35850e5..64e1321 100644 --- a/visualization/lviz/shaders.hh +++ b/visualization/lviz/shaders.hh @@ -1,28 +1,24 @@ #pragma once static const char* vertex_shader_text = -"#version 330 \n" -"uniform mat4 image_from_world;\n" -// "in vec3 vCol;\n" -// "in vec2 vPos;\n" -// "varying vec3 color;\n" -"out vec4 colorV;\n" -"layout(location = 0) in vec3 vertex_pos_world_space;\n" -"layout(location = 1) in vec3 color_in;\n" -"layout(location = 2) in float scale_in;\n" -"void main()\n" -"{\n" -" gl_Position = image_from_world * vec4(vertex_pos_world_space, 1.0); \n" + "#version 330 \n" + "uniform mat4 image_from_world;\n" + "out vec4 colorV;\n" + "layout(location = 0) in vec3 vertex_pos_world_space;\n" + "layout(location = 1) in vec3 color_in;\n" + "layout(location = 2) in float scale_in;\n" + "void main()\n" + "{\n" + " gl_Position = image_from_world * vec4(vertex_pos_world_space, 1.0); \n" + " gl_PointSize = scale_in; \n" + " colorV = vec4(color_in, 1.0);\n" + "}\n\0"; -" gl_PointSize = scale_in; \n" - -" colorV = vec4(color_in, 1.0);\n" -"}\n\0"; static const char* fragment_shader_text = -"#version 330 \n" -"in vec4 colorV;\n" -"out vec4 color;\n" -"void main()\n" -"{\n" -" color = colorV;\n" -"}\n\0"; \ No newline at end of file + "#version 330 \n" + "in vec4 colorV;\n" + "out vec4 color;\n" + "void main()\n" + "{\n" + " color = colorV;\n" + "}\n\0"; \ No newline at end of file From 15c4d7aeaed831d7d512ac59ff7d8a84e9d1c8ce Mon Sep 17 00:00:00 2001 From: Isaac Date: Mon, 26 Aug 2019 14:50:01 -0400 Subject: [PATCH 3/8] add parsing file which was erronously left out --- visualization/lviz/lines.cc | 9 +-- visualization/lviz/parsing.hh | 136 ++++++++++++++++++++++++++++++++++ 2 files changed, 140 insertions(+), 5 deletions(-) create mode 100644 visualization/lviz/parsing.hh diff --git a/visualization/lviz/lines.cc b/visualization/lviz/lines.cc index 08afe0a..06fc7e0 100644 --- a/visualization/lviz/lines.cc +++ b/visualization/lviz/lines.cc @@ -20,6 +20,10 @@ #include #include +Scene scene; +Cursor cursor; +std::mutex buffer_modification_mutex; +std::vector scene_element_buffer; Eigen::Vector2d get_mouse_loc(auto window) { double xpos, ypos; @@ -39,9 +43,6 @@ void reset_viewport_size(auto window) { } -Scene scene; -Cursor cursor; -std::mutex buffer_modification_mutex; void mouse_button_callback(GLFWwindow *window, int button, int action, int mods) { if (button == GLFW_MOUSE_BUTTON_RIGHT) cursor.right_mouse_button_down = action == GLFW_PRESS; @@ -77,7 +78,6 @@ void scroll_callback(GLFWwindow *window, double xoffset, double yoffset) { cursor.camera_distance_from_cursor = std::clamp(cursor.camera_distance_from_cursor, 1.0, 10000.0); } -std::vector scene_element_buffer; void run_stream_parser() { // vastly increases stream reading speed @@ -168,7 +168,6 @@ int main() { GLuint image_from_world_idx = glGetUniformLocation(shader_program_id, "image_from_world"); glUniformMatrix4fv(image_from_world_idx, 1, GL_FALSE, image_from_world.data()); - // get width and height reset_viewport_size(window); // Keep running diff --git a/visualization/lviz/parsing.hh b/visualization/lviz/parsing.hh new file mode 100644 index 0000000..e1fd17f --- /dev/null +++ b/visualization/lviz/parsing.hh @@ -0,0 +1,136 @@ +#include "third_party/tinycolormap/tinycolormap.hh" + +#include +#include +#include + + +constexpr bool VERBOSE_PARSING = false; + +struct rgb_color { + float r; + float g; + float b; +}; + +struct NewScene {}; + +struct SetFrameTime { + float frame_duration; +}; + +using SceneUpdate = std::variant, NewScene, SetFrameTime>; + +std::string FLOAT_STR = ("[+-]?(?:\\d+(?:[.]\\d*)?(?:e[+-]?\\d+)?|[.]\\d+(?:e[+-]?\\d+)?)"); +std::string WHITESPACE_STR = "\\s+"; +std::string ALL_COLOR_NAMES_STR = "(?:(?:red)|(?:green)|(?:blue)|(?:orange)|(?:magenta)|(?:violet)|(?:cyan))"; +std::string VEC3_STR = + "(" + FLOAT_STR + ")" + WHITESPACE_STR + "(" + FLOAT_STR + ")" + WHITESPACE_STR + "(" + FLOAT_STR + ")"; +std::string RGB_COLOR_STR = "(?:" + FLOAT_STR + WHITESPACE_STR + FLOAT_STR + WHITESPACE_STR + FLOAT_STR + ")"; +std::string VIRIDIS_COLOR_STR = "(?:viridis" + WHITESPACE_STR + FLOAT_STR + ")"; +std::string COLOR = "(" + RGB_COLOR_STR + "|" + ALL_COLOR_NAMES_STR + "|" + VIRIDIS_COLOR_STR + ")"; + +std::regex RGB_COLOR_REGEX("(" + FLOAT_STR + ")" + WHITESPACE_STR + "(" + FLOAT_STR + ")" + WHITESPACE_STR + "(" + + FLOAT_STR + ")"); + +std::regex VIRIDIS_COLOR_REGEX("(?:viridis" + WHITESPACE_STR + "(" + FLOAT_STR + "))"); + +std::regex ALL_COLOR_NAMES_REGEX(ALL_COLOR_NAMES_STR); + +std::regex POINT_REGEX("^point" + WHITESPACE_STR + VEC3_STR + WHITESPACE_STR + COLOR + WHITESPACE_STR + "(" + FLOAT_STR + + ")$"); + +std::regex LINE_REGEX("^line" + WHITESPACE_STR + VEC3_STR + WHITESPACE_STR + COLOR + WHITESPACE_STR + VEC3_STR + + WHITESPACE_STR + COLOR); + +std::regex NEW_FRAME_REGEX("^new_frame$"); +std::regex SET_FRAME_TIME_REGEX("^set_frame_time" + WHITESPACE_STR + "(" + FLOAT_STR + ")$"); + +std::regex WHITESPACE_REGEX(WHITESPACE_STR); + + + +Eigen::Vector3f vec3_from_strings(const std::tuple &strings) { + return Eigen::Vector3f(std::stof(std::get<0>(strings)), std::stof(std::get<1>(strings)), + std::stof(std::get<2>(strings))); +} + +rgb_color parse_color(const std::string &color_string) { + std::smatch matches; + if (std::regex_search(color_string, matches, RGB_COLOR_REGEX)) { + return rgb_color{stof(matches[1]) / 255.0, stof(matches[2]) / 255.0, stof(matches[3]) / 255.0}; + } + else if (std::regex_search(color_string, matches, ALL_COLOR_NAMES_REGEX)) { + if (matches[0] == "red") { + return rgb_color{220.0 / 255.0, 50.0 / 255.0, 47.0 / 255.0}; + } else if (matches[0] == "green") { + return rgb_color{133.0 / 255.0, 153.0 / 255.0, 0.0 / 255.0}; + } else if (matches[0] == "blue") { + return rgb_color{38.0 / 255.0, 139.0 / 255.0, 210.0 / 255.0}; + } else if (matches[0] == "orange") { + return rgb_color{203.0 / 255.0, 75.0 / 255.0, 22.0 / 255.0}; + } else if (matches[0] == "magenta") { + return rgb_color{211.0 / 255.0, 54.0 / 255.0, 130.0 / 255.0}; + } else if (matches[0] == "violet") { + return rgb_color{108.0 / 255.0, 113.0 / 255.0, 196.0 / 255.0}; + } else if (matches[0] == "cyan") { + return rgb_color{42.0 / 255.0, 161.0 / 255.0, 152.0 / 255.0}; + } + } + else if (std::regex_search(color_string, matches, VIRIDIS_COLOR_REGEX)) { + auto value = stof(matches[1]); + value = std::clamp(value, 0.0f, 1.0f); + const auto color = tinycolormap::GetColor(value, tinycolormap::ColormapType::Viridis); + return rgb_color{(float)color.r(), (float)color.g(), (float)color.b()}; + + + } + + + std::cout << "ERROR: could not parse color " << matches[0] << " . Substituting white."; + return rgb_color{1,1,1}; +} + +std::optional scene_element_from_line(const std::string &line) { + std::smatch matches; + + if (std::regex_search(line, matches, POINT_REGEX)) { + if (VERBOSE_PARSING){ + for (size_t i = 0; i < matches.size(); ++i) { + std::cout << i << ": '" << matches[i].str() << "'\n"; + } + } + Eigen::Vector3f location; + location << stof(matches[1]), stof(matches[2]), stof(matches[3]); + auto color = parse_color(matches[4]); + float scale = std::stof(matches[5]); + + return std::make_optional(ColoredPoint{location.x(), location.z(), location.y(), color.r, color.g, color.b, scale}); + } else if (std::regex_search(line, matches, LINE_REGEX)) { + + if (VERBOSE_PARSING){ + for (size_t i = 0; i < matches.size(); ++i) { + std::cout << i << ": '" << matches[i].str() << "'\n"; + } + } + + Eigen::Vector3f location1; + location1 << stof(matches[1]), stof(matches[2]), stof(matches[3]); + auto color1 = parse_color(matches[4]); + + Eigen::Vector3f location2; + location2 << stof(matches[5]), stof(matches[6]), stof(matches[7]); + auto color2 = parse_color(matches[8]); + return std::make_optional( + std::make_pair(ColoredPoint{location1.x(), location1.z(), location1.y(), color1.r, color1.g, color1.b, 1}, + ColoredPoint{location2.x(), location2.z(), location2.y(), color2.r, color2.g, color2.b, 1})); + } else if (std::regex_search(line, matches, NEW_FRAME_REGEX)) { + return std::make_optional(NewScene{}); + } else if (std::regex_search(line, matches, SET_FRAME_TIME_REGEX)) { + auto frame_duration = std::stof(matches[1]); + return std::make_optional(SetFrameTime{frame_duration}); + } else { + std::cout << line << std::endl; + } + return std::nullopt; +} \ No newline at end of file From 90e8757a3adb599c7830df480e4702e4c4902081 Mon Sep 17 00:00:00 2001 From: Isaac Date: Tue, 27 Aug 2019 12:21:18 -0400 Subject: [PATCH 4/8] add colormaps --- third_party/tinycolormap/tinycolormap.hh | 1604 ++++++++++++++++++++++ visualization/lviz/parsing.hh | 59 +- 2 files changed, 1641 insertions(+), 22 deletions(-) create mode 100644 third_party/tinycolormap/tinycolormap.hh diff --git a/third_party/tinycolormap/tinycolormap.hh b/third_party/tinycolormap/tinycolormap.hh new file mode 100644 index 0000000..2542ba7 --- /dev/null +++ b/third_party/tinycolormap/tinycolormap.hh @@ -0,0 +1,1604 @@ +/* + MIT License + + Copyright (c) 2018 Yuki Koyama + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all + copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + SOFTWARE. + */ + +#ifndef TINYCOLORMAP_HPP_ +#define TINYCOLORMAP_HPP_ + +#include +#include + +#if defined(TINYCOLORMAP_WITH_EIGEN) +#include +#endif + +#if defined(TINYCOLORMAP_WITH_QT5) +#include +#endif + +#if defined(TINYCOLORMAP_WITH_QT5) and defined(TINYCOLORMAP_WITH_EIGEN) +#include +#include +#endif + +namespace tinycolormap +{ + ////////////////////////////////////////////////////////////////////////////////// + // Interface + ////////////////////////////////////////////////////////////////////////////////// + + enum class ColormapType + { + Heat, Jet, Hot, Gray, Magma, Inferno, Plasma, Viridis, Cividis, Github + }; + + struct Color + { + constexpr Color(double r, double g, double b) : data({{ r, g, b }}) {} + + std::array data; + + double& r() { return data[0]; } + double& g() { return data[1]; } + double& b() { return data[2]; } + const double& r() const { return data[0]; } + const double& g() const { return data[1]; } + const double& b() const { return data[2]; } + + double& operator[](size_t n) { return data[n]; } + const double& operator[](size_t n) const { return data[n]; } + double& operator()(size_t n) { return data[n]; } + const double& operator()(size_t n) const { return data[n]; } + +#if defined(TINYCOLORMAP_WITH_QT5) + QColor ConvertToQColor() const { return QColor(data[0] * 255.0, data[1] * 255.0, data[2] * 255.0); } +#endif +#if defined(TINYCOLORMAP_WITH_EIGEN) + Eigen::Vector3d ConvertToEigen() const { return Eigen::Vector3d(data[0], data[1], data[2]); } +#endif + }; + + inline Color GetColor(double x, ColormapType type = ColormapType::Viridis); + inline Color GetHeatColor(double x); + inline Color GetJetColor(double x); + inline Color GetHotColor(double x); + inline Color GetGrayColor(double x); + inline Color GetMagmaColor(double x); + inline Color GetInfernoColor(double x); + inline Color GetPlasmaColor(double x); + inline Color GetViridisColor(double x); + inline Color GetCividisColor(double x); + inline Color GetGithubColor(double x); + +#if defined(TINYCOLORMAP_WITH_QT5) and defined(TINYCOLORMAP_WITH_EIGEN) + inline QImage CreateMatrixVisualization(const Eigen::MatrixXd& matrix); + inline void ExportMatrixVisualization(const Eigen::MatrixXd& matrix, const std::string& path); +#endif + + ////////////////////////////////////////////////////////////////////////////////// + // Implementation + ////////////////////////////////////////////////////////////////////////////////// + + inline Color operator+(const Color& c0, const Color& c1) + { + return { c0[0] + c1[0], c0[1] + c1[1], c0[2] + c1[2] }; + } + + inline Color operator*(double s, const Color& c) + { + return { s * c[0], s * c[1], s * c[2] }; + } + + inline Color GetColor(double x, ColormapType type) + { + switch (type) + { + case ColormapType::Heat: + return GetHeatColor(x); + case ColormapType::Jet: + return GetJetColor(x); + case ColormapType::Hot: + return GetHotColor(x); + case ColormapType::Gray: + return GetGrayColor(x); + case ColormapType::Magma: + return GetMagmaColor(x); + case ColormapType::Inferno: + return GetInfernoColor(x); + case ColormapType::Plasma: + return GetPlasmaColor(x); + case ColormapType::Viridis: + return GetViridisColor(x); + case ColormapType::Cividis: + return GetCividisColor(x); + case ColormapType::Github: + return GetGithubColor(x); + default: + break; + } + } + + inline Color GetHeatColor(double x) + { + x = std::max(0.0, std::min(1.0, x)); + + constexpr Color data[] = + { + { 0.0, 0.0, 1.0 }, + { 0.0, 1.0, 1.0 }, + { 0.0, 1.0, 0.0 }, + { 1.0, 1.0, 0.0 }, + { 1.0, 0.0, 0.0 } + }; + + const double a = x * ((sizeof(data) / sizeof(Color)) - 1); + const double t = a - std::floor(a); + const Color c0 = data[static_cast(std::floor(a))]; + const Color c1 = data[static_cast(std::ceil (a))]; + + return (1.0 - t) * c0 + t * c1; + } + + inline Color GetJetColor(double x) + { + x = std::max(0.0, std::min(1.0, x)); + + constexpr Color data[] = + { + { 0.0, 0.0, 0.5 }, + { 0.0, 0.0, 1.0 }, + { 0.0, 0.5, 1.0 }, + { 0.0, 1.0, 1.0 }, + { 0.5, 1.0, 0.5 }, + { 1.0, 1.0, 0.0 }, + { 1.0, 0.5, 0.0 }, + { 1.0, 0.0, 0.0 }, + { 0.5, 0.0, 0.0 } + }; + + const double a = x * ((sizeof(data) / sizeof(Color)) - 1); + const double t = a - std::floor(a); + const Color c0 = data[static_cast(std::floor(a))]; + const Color c1 = data[static_cast(std::ceil (a))]; + + return (1.0 - t) * c0 + t * c1; + } + + inline Color GetHotColor(double x) + { + x = std::max(0.0, std::min(1.0, x)); + + constexpr Color r{ 1.0, 0.0, 0.0 }; + constexpr Color g{ 0.0, 1.0, 0.0 }; + constexpr Color b{ 0.0, 0.0, 1.0 }; + + if (x < 0.4) + { + const double t = x / 0.4; + return t * r; + } + else if (x < 0.8) + { + const double t = (x - 0.4) / (0.8 - 0.4); + return r + t * g; + } + else + { + const double t = (x - 0.8) / (1.0 - 0.8); + return r + g + t * b; + } + } + + inline Color GetGrayColor(double x) + { + x = std::max(0.0, std::min(1.0, x)); + + return (1.0 - x) * Color{ 1.0, 1.0, 1.0 }; + } + + inline Color GetMagmaColor(double x) + { + x = std::max(0.0, std::min(1.0, x)); + + constexpr Color data[] = + { + { 0.001462, 0.000466, 0.013866 }, + { 0.002258, 0.001295, 0.018331 }, + { 0.003279, 0.002305, 0.023708 }, + { 0.004512, 0.003490, 0.029965 }, + { 0.005950, 0.004843, 0.037130 }, + { 0.007588, 0.006356, 0.044973 }, + { 0.009426, 0.008022, 0.052844 }, + { 0.011465, 0.009828, 0.060750 }, + { 0.013708, 0.011771, 0.068667 }, + { 0.016156, 0.013840, 0.076603 }, + { 0.018815, 0.016026, 0.084584 }, + { 0.021692, 0.018320, 0.092610 }, + { 0.024792, 0.020715, 0.100676 }, + { 0.028123, 0.023201, 0.108787 }, + { 0.031696, 0.025765, 0.116965 }, + { 0.035520, 0.028397, 0.125209 }, + { 0.039608, 0.031090, 0.133515 }, + { 0.043830, 0.033830, 0.141886 }, + { 0.048062, 0.036607, 0.150327 }, + { 0.052320, 0.039407, 0.158841 }, + { 0.056615, 0.042160, 0.167446 }, + { 0.060949, 0.044794, 0.176129 }, + { 0.065330, 0.047318, 0.184892 }, + { 0.069764, 0.049726, 0.193735 }, + { 0.074257, 0.052017, 0.202660 }, + { 0.078815, 0.054184, 0.211667 }, + { 0.083446, 0.056225, 0.220755 }, + { 0.088155, 0.058133, 0.229922 }, + { 0.092949, 0.059904, 0.239164 }, + { 0.097833, 0.061531, 0.248477 }, + { 0.102815, 0.063010, 0.257854 }, + { 0.107899, 0.064335, 0.267289 }, + { 0.113094, 0.065492, 0.276784 }, + { 0.118405, 0.066479, 0.286321 }, + { 0.123833, 0.067295, 0.295879 }, + { 0.129380, 0.067935, 0.305443 }, + { 0.135053, 0.068391, 0.315000 }, + { 0.140858, 0.068654, 0.324538 }, + { 0.146785, 0.068738, 0.334011 }, + { 0.152839, 0.068637, 0.343404 }, + { 0.159018, 0.068354, 0.352688 }, + { 0.165308, 0.067911, 0.361816 }, + { 0.171713, 0.067305, 0.370771 }, + { 0.178212, 0.066576, 0.379497 }, + { 0.184801, 0.065732, 0.387973 }, + { 0.191460, 0.064818, 0.396152 }, + { 0.198177, 0.063862, 0.404009 }, + { 0.204935, 0.062907, 0.411514 }, + { 0.211718, 0.061992, 0.418647 }, + { 0.218512, 0.061158, 0.425392 }, + { 0.225302, 0.060445, 0.431742 }, + { 0.232077, 0.059889, 0.437695 }, + { 0.238826, 0.059517, 0.443256 }, + { 0.245543, 0.059352, 0.448436 }, + { 0.252220, 0.059415, 0.453248 }, + { 0.258857, 0.059706, 0.457710 }, + { 0.265447, 0.060237, 0.461840 }, + { 0.271994, 0.060994, 0.465660 }, + { 0.278493, 0.061978, 0.469190 }, + { 0.284951, 0.063168, 0.472451 }, + { 0.291366, 0.064553, 0.475462 }, + { 0.297740, 0.066117, 0.478243 }, + { 0.304081, 0.067835, 0.480812 }, + { 0.310382, 0.069702, 0.483186 }, + { 0.316654, 0.071690, 0.485380 }, + { 0.322899, 0.073782, 0.487408 }, + { 0.329114, 0.075972, 0.489287 }, + { 0.335308, 0.078236, 0.491024 }, + { 0.341482, 0.080564, 0.492631 }, + { 0.347636, 0.082946, 0.494121 }, + { 0.353773, 0.085373, 0.495501 }, + { 0.359898, 0.087831, 0.496778 }, + { 0.366012, 0.090314, 0.497960 }, + { 0.372116, 0.092816, 0.499053 }, + { 0.378211, 0.095332, 0.500067 }, + { 0.384299, 0.097855, 0.501002 }, + { 0.390384, 0.100379, 0.501864 }, + { 0.396467, 0.102902, 0.502658 }, + { 0.402548, 0.105420, 0.503386 }, + { 0.408629, 0.107930, 0.504052 }, + { 0.414709, 0.110431, 0.504662 }, + { 0.420791, 0.112920, 0.505215 }, + { 0.426877, 0.115395, 0.505714 }, + { 0.432967, 0.117855, 0.506160 }, + { 0.439062, 0.120298, 0.506555 }, + { 0.445163, 0.122724, 0.506901 }, + { 0.451271, 0.125132, 0.507198 }, + { 0.457386, 0.127522, 0.507448 }, + { 0.463508, 0.129893, 0.507652 }, + { 0.469640, 0.132245, 0.507809 }, + { 0.475780, 0.134577, 0.507921 }, + { 0.481929, 0.136891, 0.507989 }, + { 0.488088, 0.139186, 0.508011 }, + { 0.494258, 0.141462, 0.507988 }, + { 0.500438, 0.143719, 0.507920 }, + { 0.506629, 0.145958, 0.507806 }, + { 0.512831, 0.148179, 0.507648 }, + { 0.519045, 0.150383, 0.507443 }, + { 0.525270, 0.152569, 0.507192 }, + { 0.531507, 0.154739, 0.506895 }, + { 0.537755, 0.156894, 0.506551 }, + { 0.544015, 0.159033, 0.506159 }, + { 0.550287, 0.161158, 0.505719 }, + { 0.556571, 0.163269, 0.505230 }, + { 0.562866, 0.165368, 0.504692 }, + { 0.569172, 0.167454, 0.504105 }, + { 0.575490, 0.169530, 0.503466 }, + { 0.581819, 0.171596, 0.502777 }, + { 0.588158, 0.173652, 0.502035 }, + { 0.594508, 0.175701, 0.501241 }, + { 0.600868, 0.177743, 0.500394 }, + { 0.607238, 0.179779, 0.499492 }, + { 0.613617, 0.181811, 0.498536 }, + { 0.620005, 0.183840, 0.497524 }, + { 0.626401, 0.185867, 0.496456 }, + { 0.632805, 0.187893, 0.495332 }, + { 0.639216, 0.189921, 0.494150 }, + { 0.645633, 0.191952, 0.492910 }, + { 0.652056, 0.193986, 0.491611 }, + { 0.658483, 0.196027, 0.490253 }, + { 0.664915, 0.198075, 0.488836 }, + { 0.671349, 0.200133, 0.487358 }, + { 0.677786, 0.202203, 0.485819 }, + { 0.684224, 0.204286, 0.484219 }, + { 0.690661, 0.206384, 0.482558 }, + { 0.697098, 0.208501, 0.480835 }, + { 0.703532, 0.210638, 0.479049 }, + { 0.709962, 0.212797, 0.477201 }, + { 0.716387, 0.214982, 0.475290 }, + { 0.722805, 0.217194, 0.473316 }, + { 0.729216, 0.219437, 0.471279 }, + { 0.735616, 0.221713, 0.469180 }, + { 0.742004, 0.224025, 0.467018 }, + { 0.748378, 0.226377, 0.464794 }, + { 0.754737, 0.228772, 0.462509 }, + { 0.761077, 0.231214, 0.460162 }, + { 0.767398, 0.233705, 0.457755 }, + { 0.773695, 0.236249, 0.455289 }, + { 0.779968, 0.238851, 0.452765 }, + { 0.786212, 0.241514, 0.450184 }, + { 0.792427, 0.244242, 0.447543 }, + { 0.798608, 0.247040, 0.444848 }, + { 0.804752, 0.249911, 0.442102 }, + { 0.810855, 0.252861, 0.439305 }, + { 0.816914, 0.255895, 0.436461 }, + { 0.822926, 0.259016, 0.433573 }, + { 0.828886, 0.262229, 0.430644 }, + { 0.834791, 0.265540, 0.427671 }, + { 0.840636, 0.268953, 0.424666 }, + { 0.846416, 0.272473, 0.421631 }, + { 0.852126, 0.276106, 0.418573 }, + { 0.857763, 0.279857, 0.415496 }, + { 0.863320, 0.283729, 0.412403 }, + { 0.868793, 0.287728, 0.409303 }, + { 0.874176, 0.291859, 0.406205 }, + { 0.879464, 0.296125, 0.403118 }, + { 0.884651, 0.300530, 0.400047 }, + { 0.889731, 0.305079, 0.397002 }, + { 0.894700, 0.309773, 0.393995 }, + { 0.899552, 0.314616, 0.391037 }, + { 0.904281, 0.319610, 0.388137 }, + { 0.908884, 0.324755, 0.385308 }, + { 0.913354, 0.330052, 0.382563 }, + { 0.917689, 0.335500, 0.379915 }, + { 0.921884, 0.341098, 0.377376 }, + { 0.925937, 0.346844, 0.374959 }, + { 0.929845, 0.352734, 0.372677 }, + { 0.933606, 0.358764, 0.370541 }, + { 0.937221, 0.364929, 0.368567 }, + { 0.940687, 0.371224, 0.366762 }, + { 0.944006, 0.377643, 0.365136 }, + { 0.947180, 0.384178, 0.363701 }, + { 0.950210, 0.390820, 0.362468 }, + { 0.953099, 0.397563, 0.361438 }, + { 0.955849, 0.404400, 0.360619 }, + { 0.958464, 0.411324, 0.360014 }, + { 0.960949, 0.418323, 0.359630 }, + { 0.963310, 0.425390, 0.359469 }, + { 0.965549, 0.432519, 0.359529 }, + { 0.967671, 0.439703, 0.359810 }, + { 0.969680, 0.446936, 0.360311 }, + { 0.971582, 0.454210, 0.361030 }, + { 0.973381, 0.461520, 0.361965 }, + { 0.975082, 0.468861, 0.363111 }, + { 0.976690, 0.476226, 0.364466 }, + { 0.978210, 0.483612, 0.366025 }, + { 0.979645, 0.491014, 0.367783 }, + { 0.981000, 0.498428, 0.369734 }, + { 0.982279, 0.505851, 0.371874 }, + { 0.983485, 0.513280, 0.374198 }, + { 0.984622, 0.520713, 0.376698 }, + { 0.985693, 0.528148, 0.379371 }, + { 0.986700, 0.535582, 0.382210 }, + { 0.987646, 0.543015, 0.385210 }, + { 0.988533, 0.550446, 0.388365 }, + { 0.989363, 0.557873, 0.391671 }, + { 0.990138, 0.565296, 0.395122 }, + { 0.990871, 0.572706, 0.398714 }, + { 0.991558, 0.580107, 0.402441 }, + { 0.992196, 0.587502, 0.406299 }, + { 0.992785, 0.594891, 0.410283 }, + { 0.993326, 0.602275, 0.414390 }, + { 0.993834, 0.609644, 0.418613 }, + { 0.994309, 0.616999, 0.422950 }, + { 0.994738, 0.624350, 0.427397 }, + { 0.995122, 0.631696, 0.431951 }, + { 0.995480, 0.639027, 0.436607 }, + { 0.995810, 0.646344, 0.441361 }, + { 0.996096, 0.653659, 0.446213 }, + { 0.996341, 0.660969, 0.451160 }, + { 0.996580, 0.668256, 0.456192 }, + { 0.996775, 0.675541, 0.461314 }, + { 0.996925, 0.682828, 0.466526 }, + { 0.997077, 0.690088, 0.471811 }, + { 0.997186, 0.697349, 0.477182 }, + { 0.997254, 0.704611, 0.482635 }, + { 0.997325, 0.711848, 0.488154 }, + { 0.997351, 0.719089, 0.493755 }, + { 0.997351, 0.726324, 0.499428 }, + { 0.997341, 0.733545, 0.505167 }, + { 0.997285, 0.740772, 0.510983 }, + { 0.997228, 0.747981, 0.516859 }, + { 0.997138, 0.755190, 0.522806 }, + { 0.997019, 0.762398, 0.528821 }, + { 0.996898, 0.769591, 0.534892 }, + { 0.996727, 0.776795, 0.541039 }, + { 0.996571, 0.783977, 0.547233 }, + { 0.996369, 0.791167, 0.553499 }, + { 0.996162, 0.798348, 0.559820 }, + { 0.995932, 0.805527, 0.566202 }, + { 0.995680, 0.812706, 0.572645 }, + { 0.995424, 0.819875, 0.579140 }, + { 0.995131, 0.827052, 0.585701 }, + { 0.994851, 0.834213, 0.592307 }, + { 0.994524, 0.841387, 0.598983 }, + { 0.994222, 0.848540, 0.605696 }, + { 0.993866, 0.855711, 0.612482 }, + { 0.993545, 0.862859, 0.619299 }, + { 0.993170, 0.870024, 0.626189 }, + { 0.992831, 0.877168, 0.633109 }, + { 0.992440, 0.884330, 0.640099 }, + { 0.992089, 0.891470, 0.647116 }, + { 0.991688, 0.898627, 0.654202 }, + { 0.991332, 0.905763, 0.661309 }, + { 0.990930, 0.912915, 0.668481 }, + { 0.990570, 0.920049, 0.675675 }, + { 0.990175, 0.927196, 0.682926 }, + { 0.989815, 0.934329, 0.690198 }, + { 0.989434, 0.941470, 0.697519 }, + { 0.989077, 0.948604, 0.704863 }, + { 0.988717, 0.955742, 0.712242 }, + { 0.988367, 0.962878, 0.719649 }, + { 0.988033, 0.970012, 0.727077 }, + { 0.987691, 0.977154, 0.734536 }, + { 0.987387, 0.984288, 0.742002 }, + { 0.987053, 0.991438, 0.749504 } + }; + + return data[static_cast(std::round(x * 255.0))]; + } + + inline Color GetInfernoColor(double x) + { + x = std::max(0.0, std::min(1.0, x)); + + constexpr Color data[] = + { + { 0.001462, 0.000466, 0.013866 }, + { 0.002267, 0.001270, 0.018570 }, + { 0.003299, 0.002249, 0.024239 }, + { 0.004547, 0.003392, 0.030909 }, + { 0.006006, 0.004692, 0.038558 }, + { 0.007676, 0.006136, 0.046836 }, + { 0.009561, 0.007713, 0.055143 }, + { 0.011663, 0.009417, 0.063460 }, + { 0.013995, 0.011225, 0.071862 }, + { 0.016561, 0.013136, 0.080282 }, + { 0.019373, 0.015133, 0.088767 }, + { 0.022447, 0.017199, 0.097327 }, + { 0.025793, 0.019331, 0.105930 }, + { 0.029432, 0.021503, 0.114621 }, + { 0.033385, 0.023702, 0.123397 }, + { 0.037668, 0.025921, 0.132232 }, + { 0.042253, 0.028139, 0.141141 }, + { 0.046915, 0.030324, 0.150164 }, + { 0.051644, 0.032474, 0.159254 }, + { 0.056449, 0.034569, 0.168414 }, + { 0.061340, 0.036590, 0.177642 }, + { 0.066331, 0.038504, 0.186962 }, + { 0.071429, 0.040294, 0.196354 }, + { 0.076637, 0.041905, 0.205799 }, + { 0.081962, 0.043328, 0.215289 }, + { 0.087411, 0.044556, 0.224813 }, + { 0.092990, 0.045583, 0.234358 }, + { 0.098702, 0.046402, 0.243904 }, + { 0.104551, 0.047008, 0.253430 }, + { 0.110536, 0.047399, 0.262912 }, + { 0.116656, 0.047574, 0.272321 }, + { 0.122908, 0.047536, 0.281624 }, + { 0.129285, 0.047293, 0.290788 }, + { 0.135778, 0.046856, 0.299776 }, + { 0.142378, 0.046242, 0.308553 }, + { 0.149073, 0.045468, 0.317085 }, + { 0.155850, 0.044559, 0.325338 }, + { 0.162689, 0.043554, 0.333277 }, + { 0.169575, 0.042489, 0.340874 }, + { 0.176493, 0.041402, 0.348111 }, + { 0.183429, 0.040329, 0.354971 }, + { 0.190367, 0.039309, 0.361447 }, + { 0.197297, 0.038400, 0.367535 }, + { 0.204209, 0.037632, 0.373238 }, + { 0.211095, 0.037030, 0.378563 }, + { 0.217949, 0.036615, 0.383522 }, + { 0.224763, 0.036405, 0.388129 }, + { 0.231538, 0.036405, 0.392400 }, + { 0.238273, 0.036621, 0.396353 }, + { 0.244967, 0.037055, 0.400007 }, + { 0.251620, 0.037705, 0.403378 }, + { 0.258234, 0.038571, 0.406485 }, + { 0.264810, 0.039647, 0.409345 }, + { 0.271347, 0.040922, 0.411976 }, + { 0.277850, 0.042353, 0.414392 }, + { 0.284321, 0.043933, 0.416608 }, + { 0.290763, 0.045644, 0.418637 }, + { 0.297178, 0.047470, 0.420491 }, + { 0.303568, 0.049396, 0.422182 }, + { 0.309935, 0.051407, 0.423721 }, + { 0.316282, 0.053490, 0.425116 }, + { 0.322610, 0.055634, 0.426377 }, + { 0.328921, 0.057827, 0.427511 }, + { 0.335217, 0.060060, 0.428524 }, + { 0.341500, 0.062325, 0.429425 }, + { 0.347771, 0.064616, 0.430217 }, + { 0.354032, 0.066925, 0.430906 }, + { 0.360284, 0.069247, 0.431497 }, + { 0.366529, 0.071579, 0.431994 }, + { 0.372768, 0.073915, 0.432400 }, + { 0.379001, 0.076253, 0.432719 }, + { 0.385228, 0.078591, 0.432955 }, + { 0.391453, 0.080927, 0.433109 }, + { 0.397674, 0.083257, 0.433183 }, + { 0.403894, 0.085580, 0.433179 }, + { 0.410113, 0.087896, 0.433098 }, + { 0.416331, 0.090203, 0.432943 }, + { 0.422549, 0.092501, 0.432714 }, + { 0.428768, 0.094790, 0.432412 }, + { 0.434987, 0.097069, 0.432039 }, + { 0.441207, 0.099338, 0.431594 }, + { 0.447428, 0.101597, 0.431080 }, + { 0.453651, 0.103848, 0.430498 }, + { 0.459875, 0.106089, 0.429846 }, + { 0.466100, 0.108322, 0.429125 }, + { 0.472328, 0.110547, 0.428334 }, + { 0.478558, 0.112764, 0.427475 }, + { 0.484789, 0.114974, 0.426548 }, + { 0.491022, 0.117179, 0.425552 }, + { 0.497257, 0.119379, 0.424488 }, + { 0.503493, 0.121575, 0.423356 }, + { 0.509730, 0.123769, 0.422156 }, + { 0.515967, 0.125960, 0.420887 }, + { 0.522206, 0.128150, 0.419549 }, + { 0.528444, 0.130341, 0.418142 }, + { 0.534683, 0.132534, 0.416667 }, + { 0.540920, 0.134729, 0.415123 }, + { 0.547157, 0.136929, 0.413511 }, + { 0.553392, 0.139134, 0.411829 }, + { 0.559624, 0.141346, 0.410078 }, + { 0.565854, 0.143567, 0.408258 }, + { 0.572081, 0.145797, 0.406369 }, + { 0.578304, 0.148039, 0.404411 }, + { 0.584521, 0.150294, 0.402385 }, + { 0.590734, 0.152563, 0.400290 }, + { 0.596940, 0.154848, 0.398125 }, + { 0.603139, 0.157151, 0.395891 }, + { 0.609330, 0.159474, 0.393589 }, + { 0.615513, 0.161817, 0.391219 }, + { 0.621685, 0.164184, 0.388781 }, + { 0.627847, 0.166575, 0.386276 }, + { 0.633998, 0.168992, 0.383704 }, + { 0.640135, 0.171438, 0.381065 }, + { 0.646260, 0.173914, 0.378359 }, + { 0.652369, 0.176421, 0.375586 }, + { 0.658463, 0.178962, 0.372748 }, + { 0.664540, 0.181539, 0.369846 }, + { 0.670599, 0.184153, 0.366879 }, + { 0.676638, 0.186807, 0.363849 }, + { 0.682656, 0.189501, 0.360757 }, + { 0.688653, 0.192239, 0.357603 }, + { 0.694627, 0.195021, 0.354388 }, + { 0.700576, 0.197851, 0.351113 }, + { 0.706500, 0.200728, 0.347777 }, + { 0.712396, 0.203656, 0.344383 }, + { 0.718264, 0.206636, 0.340931 }, + { 0.724103, 0.209670, 0.337424 }, + { 0.729909, 0.212759, 0.333861 }, + { 0.735683, 0.215906, 0.330245 }, + { 0.741423, 0.219112, 0.326576 }, + { 0.747127, 0.222378, 0.322856 }, + { 0.752794, 0.225706, 0.319085 }, + { 0.758422, 0.229097, 0.315266 }, + { 0.764010, 0.232554, 0.311399 }, + { 0.769556, 0.236077, 0.307485 }, + { 0.775059, 0.239667, 0.303526 }, + { 0.780517, 0.243327, 0.299523 }, + { 0.785929, 0.247056, 0.295477 }, + { 0.791293, 0.250856, 0.291390 }, + { 0.796607, 0.254728, 0.287264 }, + { 0.801871, 0.258674, 0.283099 }, + { 0.807082, 0.262692, 0.278898 }, + { 0.812239, 0.266786, 0.274661 }, + { 0.817341, 0.270954, 0.270390 }, + { 0.822386, 0.275197, 0.266085 }, + { 0.827372, 0.279517, 0.261750 }, + { 0.832299, 0.283913, 0.257383 }, + { 0.837165, 0.288385, 0.252988 }, + { 0.841969, 0.292933, 0.248564 }, + { 0.846709, 0.297559, 0.244113 }, + { 0.851384, 0.302260, 0.239636 }, + { 0.855992, 0.307038, 0.235133 }, + { 0.860533, 0.311892, 0.230606 }, + { 0.865006, 0.316822, 0.226055 }, + { 0.869409, 0.321827, 0.221482 }, + { 0.873741, 0.326906, 0.216886 }, + { 0.878001, 0.332060, 0.212268 }, + { 0.882188, 0.337287, 0.207628 }, + { 0.886302, 0.342586, 0.202968 }, + { 0.890341, 0.347957, 0.198286 }, + { 0.894305, 0.353399, 0.193584 }, + { 0.898192, 0.358911, 0.188860 }, + { 0.902003, 0.364492, 0.184116 }, + { 0.905735, 0.370140, 0.179350 }, + { 0.909390, 0.375856, 0.174563 }, + { 0.912966, 0.381636, 0.169755 }, + { 0.916462, 0.387481, 0.164924 }, + { 0.919879, 0.393389, 0.160070 }, + { 0.923215, 0.399359, 0.155193 }, + { 0.926470, 0.405389, 0.150292 }, + { 0.929644, 0.411479, 0.145367 }, + { 0.932737, 0.417627, 0.140417 }, + { 0.935747, 0.423831, 0.135440 }, + { 0.938675, 0.430091, 0.130438 }, + { 0.941521, 0.436405, 0.125409 }, + { 0.944285, 0.442772, 0.120354 }, + { 0.946965, 0.449191, 0.115272 }, + { 0.949562, 0.455660, 0.110164 }, + { 0.952075, 0.462178, 0.105031 }, + { 0.954506, 0.468744, 0.099874 }, + { 0.956852, 0.475356, 0.094695 }, + { 0.959114, 0.482014, 0.089499 }, + { 0.961293, 0.488716, 0.084289 }, + { 0.963387, 0.495462, 0.079073 }, + { 0.965397, 0.502249, 0.073859 }, + { 0.967322, 0.509078, 0.068659 }, + { 0.969163, 0.515946, 0.063488 }, + { 0.970919, 0.522853, 0.058367 }, + { 0.972590, 0.529798, 0.053324 }, + { 0.974176, 0.536780, 0.048392 }, + { 0.975677, 0.543798, 0.043618 }, + { 0.977092, 0.550850, 0.039050 }, + { 0.978422, 0.557937, 0.034931 }, + { 0.979666, 0.565057, 0.031409 }, + { 0.980824, 0.572209, 0.028508 }, + { 0.981895, 0.579392, 0.026250 }, + { 0.982881, 0.586606, 0.024661 }, + { 0.983779, 0.593849, 0.023770 }, + { 0.984591, 0.601122, 0.023606 }, + { 0.985315, 0.608422, 0.024202 }, + { 0.985952, 0.615750, 0.025592 }, + { 0.986502, 0.623105, 0.027814 }, + { 0.986964, 0.630485, 0.030908 }, + { 0.987337, 0.637890, 0.034916 }, + { 0.987622, 0.645320, 0.039886 }, + { 0.987819, 0.652773, 0.045581 }, + { 0.987926, 0.660250, 0.051750 }, + { 0.987945, 0.667748, 0.058329 }, + { 0.987874, 0.675267, 0.065257 }, + { 0.987714, 0.682807, 0.072489 }, + { 0.987464, 0.690366, 0.079990 }, + { 0.987124, 0.697944, 0.087731 }, + { 0.986694, 0.705540, 0.095694 }, + { 0.986175, 0.713153, 0.103863 }, + { 0.985566, 0.720782, 0.112229 }, + { 0.984865, 0.728427, 0.120785 }, + { 0.984075, 0.736087, 0.129527 }, + { 0.983196, 0.743758, 0.138453 }, + { 0.982228, 0.751442, 0.147565 }, + { 0.981173, 0.759135, 0.156863 }, + { 0.980032, 0.766837, 0.166353 }, + { 0.978806, 0.774545, 0.176037 }, + { 0.977497, 0.782258, 0.185923 }, + { 0.976108, 0.789974, 0.196018 }, + { 0.974638, 0.797692, 0.206332 }, + { 0.973088, 0.805409, 0.216877 }, + { 0.971468, 0.813122, 0.227658 }, + { 0.969783, 0.820825, 0.238686 }, + { 0.968041, 0.828515, 0.249972 }, + { 0.966243, 0.836191, 0.261534 }, + { 0.964394, 0.843848, 0.273391 }, + { 0.962517, 0.851476, 0.285546 }, + { 0.960626, 0.859069, 0.298010 }, + { 0.958720, 0.866624, 0.310820 }, + { 0.956834, 0.874129, 0.323974 }, + { 0.954997, 0.881569, 0.337475 }, + { 0.953215, 0.888942, 0.351369 }, + { 0.951546, 0.896226, 0.365627 }, + { 0.950018, 0.903409, 0.380271 }, + { 0.948683, 0.910473, 0.395289 }, + { 0.947594, 0.917399, 0.410665 }, + { 0.946809, 0.924168, 0.426373 }, + { 0.946392, 0.930761, 0.442367 }, + { 0.946403, 0.937159, 0.458592 }, + { 0.946903, 0.943348, 0.474970 }, + { 0.947937, 0.949318, 0.491426 }, + { 0.949545, 0.955063, 0.507860 }, + { 0.951740, 0.960587, 0.524203 }, + { 0.954529, 0.965896, 0.540361 }, + { 0.957896, 0.971003, 0.556275 }, + { 0.961812, 0.975924, 0.571925 }, + { 0.966249, 0.980678, 0.587206 }, + { 0.971162, 0.985282, 0.602154 }, + { 0.976511, 0.989753, 0.616760 }, + { 0.982257, 0.994109, 0.631017 }, + { 0.988362, 0.998364, 0.644924 } + }; + + return data[static_cast(std::round(x * 255.0))]; + } + + inline Color GetPlasmaColor(double x) + { + x = std::max(0.0, std::min(1.0, x)); + + constexpr Color data[] = + { + { 0.050383, 0.029803, 0.527975 }, + { 0.063536, 0.028426, 0.533124 }, + { 0.075353, 0.027206, 0.538007 }, + { 0.086222, 0.026125, 0.542658 }, + { 0.096379, 0.025165, 0.547103 }, + { 0.105980, 0.024309, 0.551368 }, + { 0.115124, 0.023556, 0.555468 }, + { 0.123903, 0.022878, 0.559423 }, + { 0.132381, 0.022258, 0.563250 }, + { 0.140603, 0.021687, 0.566959 }, + { 0.148607, 0.021154, 0.570562 }, + { 0.156421, 0.020651, 0.574065 }, + { 0.164070, 0.020171, 0.577478 }, + { 0.171574, 0.019706, 0.580806 }, + { 0.178950, 0.019252, 0.584054 }, + { 0.186213, 0.018803, 0.587228 }, + { 0.193374, 0.018354, 0.590330 }, + { 0.200445, 0.017902, 0.593364 }, + { 0.207435, 0.017442, 0.596333 }, + { 0.214350, 0.016973, 0.599239 }, + { 0.221197, 0.016497, 0.602083 }, + { 0.227983, 0.016007, 0.604867 }, + { 0.234715, 0.015502, 0.607592 }, + { 0.241396, 0.014979, 0.610259 }, + { 0.248032, 0.014439, 0.612868 }, + { 0.254627, 0.013882, 0.615419 }, + { 0.261183, 0.013308, 0.617911 }, + { 0.267703, 0.012716, 0.620346 }, + { 0.274191, 0.012109, 0.622722 }, + { 0.280648, 0.011488, 0.625038 }, + { 0.287076, 0.010855, 0.627295 }, + { 0.293478, 0.010213, 0.629490 }, + { 0.299855, 0.009561, 0.631624 }, + { 0.306210, 0.008902, 0.633694 }, + { 0.312543, 0.008239, 0.635700 }, + { 0.318856, 0.007576, 0.637640 }, + { 0.325150, 0.006915, 0.639512 }, + { 0.331426, 0.006261, 0.641316 }, + { 0.337683, 0.005618, 0.643049 }, + { 0.343925, 0.004991, 0.644710 }, + { 0.350150, 0.004382, 0.646298 }, + { 0.356359, 0.003798, 0.647810 }, + { 0.362553, 0.003243, 0.649245 }, + { 0.368733, 0.002724, 0.650601 }, + { 0.374897, 0.002245, 0.651876 }, + { 0.381047, 0.001814, 0.653068 }, + { 0.387183, 0.001434, 0.654177 }, + { 0.393304, 0.001114, 0.655199 }, + { 0.399411, 0.000859, 0.656133 }, + { 0.405503, 0.000678, 0.656977 }, + { 0.411580, 0.000577, 0.657730 }, + { 0.417642, 0.000564, 0.658390 }, + { 0.423689, 0.000646, 0.658956 }, + { 0.429719, 0.000831, 0.659425 }, + { 0.435734, 0.001127, 0.659797 }, + { 0.441732, 0.001540, 0.660069 }, + { 0.447714, 0.002080, 0.660240 }, + { 0.453677, 0.002755, 0.660310 }, + { 0.459623, 0.003574, 0.660277 }, + { 0.465550, 0.004545, 0.660139 }, + { 0.471457, 0.005678, 0.659897 }, + { 0.477344, 0.006980, 0.659549 }, + { 0.483210, 0.008460, 0.659095 }, + { 0.489055, 0.010127, 0.658534 }, + { 0.494877, 0.011990, 0.657865 }, + { 0.500678, 0.014055, 0.657088 }, + { 0.506454, 0.016333, 0.656202 }, + { 0.512206, 0.018833, 0.655209 }, + { 0.517933, 0.021563, 0.654109 }, + { 0.523633, 0.024532, 0.652901 }, + { 0.529306, 0.027747, 0.651586 }, + { 0.534952, 0.031217, 0.650165 }, + { 0.540570, 0.034950, 0.648640 }, + { 0.546157, 0.038954, 0.647010 }, + { 0.551715, 0.043136, 0.645277 }, + { 0.557243, 0.047331, 0.643443 }, + { 0.562738, 0.051545, 0.641509 }, + { 0.568201, 0.055778, 0.639477 }, + { 0.573632, 0.060028, 0.637349 }, + { 0.579029, 0.064296, 0.635126 }, + { 0.584391, 0.068579, 0.632812 }, + { 0.589719, 0.072878, 0.630408 }, + { 0.595011, 0.077190, 0.627917 }, + { 0.600266, 0.081516, 0.625342 }, + { 0.605485, 0.085854, 0.622686 }, + { 0.610667, 0.090204, 0.619951 }, + { 0.615812, 0.094564, 0.617140 }, + { 0.620919, 0.098934, 0.614257 }, + { 0.625987, 0.103312, 0.611305 }, + { 0.631017, 0.107699, 0.608287 }, + { 0.636008, 0.112092, 0.605205 }, + { 0.640959, 0.116492, 0.602065 }, + { 0.645872, 0.120898, 0.598867 }, + { 0.650746, 0.125309, 0.595617 }, + { 0.655580, 0.129725, 0.592317 }, + { 0.660374, 0.134144, 0.588971 }, + { 0.665129, 0.138566, 0.585582 }, + { 0.669845, 0.142992, 0.582154 }, + { 0.674522, 0.147419, 0.578688 }, + { 0.679160, 0.151848, 0.575189 }, + { 0.683758, 0.156278, 0.571660 }, + { 0.688318, 0.160709, 0.568103 }, + { 0.692840, 0.165141, 0.564522 }, + { 0.697324, 0.169573, 0.560919 }, + { 0.701769, 0.174005, 0.557296 }, + { 0.706178, 0.178437, 0.553657 }, + { 0.710549, 0.182868, 0.550004 }, + { 0.714883, 0.187299, 0.546338 }, + { 0.719181, 0.191729, 0.542663 }, + { 0.723444, 0.196158, 0.538981 }, + { 0.727670, 0.200586, 0.535293 }, + { 0.731862, 0.205013, 0.531601 }, + { 0.736019, 0.209439, 0.527908 }, + { 0.740143, 0.213864, 0.524216 }, + { 0.744232, 0.218288, 0.520524 }, + { 0.748289, 0.222711, 0.516834 }, + { 0.752312, 0.227133, 0.513149 }, + { 0.756304, 0.231555, 0.509468 }, + { 0.760264, 0.235976, 0.505794 }, + { 0.764193, 0.240396, 0.502126 }, + { 0.768090, 0.244817, 0.498465 }, + { 0.771958, 0.249237, 0.494813 }, + { 0.775796, 0.253658, 0.491171 }, + { 0.779604, 0.258078, 0.487539 }, + { 0.783383, 0.262500, 0.483918 }, + { 0.787133, 0.266922, 0.480307 }, + { 0.790855, 0.271345, 0.476706 }, + { 0.794549, 0.275770, 0.473117 }, + { 0.798216, 0.280197, 0.469538 }, + { 0.801855, 0.284626, 0.465971 }, + { 0.805467, 0.289057, 0.462415 }, + { 0.809052, 0.293491, 0.458870 }, + { 0.812612, 0.297928, 0.455338 }, + { 0.816144, 0.302368, 0.451816 }, + { 0.819651, 0.306812, 0.448306 }, + { 0.823132, 0.311261, 0.444806 }, + { 0.826588, 0.315714, 0.441316 }, + { 0.830018, 0.320172, 0.437836 }, + { 0.833422, 0.324635, 0.434366 }, + { 0.836801, 0.329105, 0.430905 }, + { 0.840155, 0.333580, 0.427455 }, + { 0.843484, 0.338062, 0.424013 }, + { 0.846788, 0.342551, 0.420579 }, + { 0.850066, 0.347048, 0.417153 }, + { 0.853319, 0.351553, 0.413734 }, + { 0.856547, 0.356066, 0.410322 }, + { 0.859750, 0.360588, 0.406917 }, + { 0.862927, 0.365119, 0.403519 }, + { 0.866078, 0.369660, 0.400126 }, + { 0.869203, 0.374212, 0.396738 }, + { 0.872303, 0.378774, 0.393355 }, + { 0.875376, 0.383347, 0.389976 }, + { 0.878423, 0.387932, 0.386600 }, + { 0.881443, 0.392529, 0.383229 }, + { 0.884436, 0.397139, 0.379860 }, + { 0.887402, 0.401762, 0.376494 }, + { 0.890340, 0.406398, 0.373130 }, + { 0.893250, 0.411048, 0.369768 }, + { 0.896131, 0.415712, 0.366407 }, + { 0.898984, 0.420392, 0.363047 }, + { 0.901807, 0.425087, 0.359688 }, + { 0.904601, 0.429797, 0.356329 }, + { 0.907365, 0.434524, 0.352970 }, + { 0.910098, 0.439268, 0.349610 }, + { 0.912800, 0.444029, 0.346251 }, + { 0.915471, 0.448807, 0.342890 }, + { 0.918109, 0.453603, 0.339529 }, + { 0.920714, 0.458417, 0.336166 }, + { 0.923287, 0.463251, 0.332801 }, + { 0.925825, 0.468103, 0.329435 }, + { 0.928329, 0.472975, 0.326067 }, + { 0.930798, 0.477867, 0.322697 }, + { 0.933232, 0.482780, 0.319325 }, + { 0.935630, 0.487712, 0.315952 }, + { 0.937990, 0.492667, 0.312575 }, + { 0.940313, 0.497642, 0.309197 }, + { 0.942598, 0.502639, 0.305816 }, + { 0.944844, 0.507658, 0.302433 }, + { 0.947051, 0.512699, 0.299049 }, + { 0.949217, 0.517763, 0.295662 }, + { 0.951344, 0.522850, 0.292275 }, + { 0.953428, 0.527960, 0.288883 }, + { 0.955470, 0.533093, 0.285490 }, + { 0.957469, 0.538250, 0.282096 }, + { 0.959424, 0.543431, 0.278701 }, + { 0.961336, 0.548636, 0.275305 }, + { 0.963203, 0.553865, 0.271909 }, + { 0.965024, 0.559118, 0.268513 }, + { 0.966798, 0.564396, 0.265118 }, + { 0.968526, 0.569700, 0.261721 }, + { 0.970205, 0.575028, 0.258325 }, + { 0.971835, 0.580382, 0.254931 }, + { 0.973416, 0.585761, 0.251540 }, + { 0.974947, 0.591165, 0.248151 }, + { 0.976428, 0.596595, 0.244767 }, + { 0.977856, 0.602051, 0.241387 }, + { 0.979233, 0.607532, 0.238013 }, + { 0.980556, 0.613039, 0.234646 }, + { 0.981826, 0.618572, 0.231287 }, + { 0.983041, 0.624131, 0.227937 }, + { 0.984199, 0.629718, 0.224595 }, + { 0.985301, 0.635330, 0.221265 }, + { 0.986345, 0.640969, 0.217948 }, + { 0.987332, 0.646633, 0.214648 }, + { 0.988260, 0.652325, 0.211364 }, + { 0.989128, 0.658043, 0.208100 }, + { 0.989935, 0.663787, 0.204859 }, + { 0.990681, 0.669558, 0.201642 }, + { 0.991365, 0.675355, 0.198453 }, + { 0.991985, 0.681179, 0.195295 }, + { 0.992541, 0.687030, 0.192170 }, + { 0.993032, 0.692907, 0.189084 }, + { 0.993456, 0.698810, 0.186041 }, + { 0.993814, 0.704741, 0.183043 }, + { 0.994103, 0.710698, 0.180097 }, + { 0.994324, 0.716681, 0.177208 }, + { 0.994474, 0.722691, 0.174381 }, + { 0.994553, 0.728728, 0.171622 }, + { 0.994561, 0.734791, 0.168938 }, + { 0.994495, 0.740880, 0.166335 }, + { 0.994355, 0.746995, 0.163821 }, + { 0.994141, 0.753137, 0.161404 }, + { 0.993851, 0.759304, 0.159092 }, + { 0.993482, 0.765499, 0.156891 }, + { 0.993033, 0.771720, 0.154808 }, + { 0.992505, 0.777967, 0.152855 }, + { 0.991897, 0.784239, 0.151042 }, + { 0.991209, 0.790537, 0.149377 }, + { 0.990439, 0.796859, 0.147870 }, + { 0.989587, 0.803205, 0.146529 }, + { 0.988648, 0.809579, 0.145357 }, + { 0.987621, 0.815978, 0.144363 }, + { 0.986509, 0.822401, 0.143557 }, + { 0.985314, 0.828846, 0.142945 }, + { 0.984031, 0.835315, 0.142528 }, + { 0.982653, 0.841812, 0.142303 }, + { 0.981190, 0.848329, 0.142279 }, + { 0.979644, 0.854866, 0.142453 }, + { 0.977995, 0.861432, 0.142808 }, + { 0.976265, 0.868016, 0.143351 }, + { 0.974443, 0.874622, 0.144061 }, + { 0.972530, 0.881250, 0.144923 }, + { 0.970533, 0.887896, 0.145919 }, + { 0.968443, 0.894564, 0.147014 }, + { 0.966271, 0.901249, 0.148180 }, + { 0.964021, 0.907950, 0.149370 }, + { 0.961681, 0.914672, 0.150520 }, + { 0.959276, 0.921407, 0.151566 }, + { 0.956808, 0.928152, 0.152409 }, + { 0.954287, 0.934908, 0.152921 }, + { 0.951726, 0.941671, 0.152925 }, + { 0.949151, 0.948435, 0.152178 }, + { 0.946602, 0.955190, 0.150328 }, + { 0.944152, 0.961916, 0.146861 }, + { 0.941896, 0.968590, 0.140956 }, + { 0.940015, 0.975158, 0.131326 } + }; + + return data[static_cast(std::round(x * 255.0))]; + } + + inline Color GetViridisColor(double x) + { + x = std::max(0.0, std::min(1.0, x)); + + constexpr Color data[] = + { + { 0.267004, 0.004874, 0.329415 }, + { 0.268510, 0.009605, 0.335427 }, + { 0.269944, 0.014625, 0.341379 }, + { 0.271305, 0.019942, 0.347269 }, + { 0.272594, 0.025563, 0.353093 }, + { 0.273809, 0.031497, 0.358853 }, + { 0.274952, 0.037752, 0.364543 }, + { 0.276022, 0.044167, 0.370164 }, + { 0.277018, 0.050344, 0.375715 }, + { 0.277941, 0.056324, 0.381191 }, + { 0.278791, 0.062145, 0.386592 }, + { 0.279566, 0.067836, 0.391917 }, + { 0.280267, 0.073417, 0.397163 }, + { 0.280894, 0.078907, 0.402329 }, + { 0.281446, 0.084320, 0.407414 }, + { 0.281924, 0.089666, 0.412415 }, + { 0.282327, 0.094955, 0.417331 }, + { 0.282656, 0.100196, 0.422160 }, + { 0.282910, 0.105393, 0.426902 }, + { 0.283091, 0.110553, 0.431554 }, + { 0.283197, 0.115680, 0.436115 }, + { 0.283229, 0.120777, 0.440584 }, + { 0.283187, 0.125848, 0.444960 }, + { 0.283072, 0.130895, 0.449241 }, + { 0.282884, 0.135920, 0.453427 }, + { 0.282623, 0.140926, 0.457517 }, + { 0.282290, 0.145912, 0.461510 }, + { 0.281887, 0.150881, 0.465405 }, + { 0.281412, 0.155834, 0.469201 }, + { 0.280868, 0.160771, 0.472899 }, + { 0.280255, 0.165693, 0.476498 }, + { 0.279574, 0.170599, 0.479997 }, + { 0.278826, 0.175490, 0.483397 }, + { 0.278012, 0.180367, 0.486697 }, + { 0.277134, 0.185228, 0.489898 }, + { 0.276194, 0.190074, 0.493001 }, + { 0.275191, 0.194905, 0.496005 }, + { 0.274128, 0.199721, 0.498911 }, + { 0.273006, 0.204520, 0.501721 }, + { 0.271828, 0.209303, 0.504434 }, + { 0.270595, 0.214069, 0.507052 }, + { 0.269308, 0.218818, 0.509577 }, + { 0.267968, 0.223549, 0.512008 }, + { 0.266580, 0.228262, 0.514349 }, + { 0.265145, 0.232956, 0.516599 }, + { 0.263663, 0.237631, 0.518762 }, + { 0.262138, 0.242286, 0.520837 }, + { 0.260571, 0.246922, 0.522828 }, + { 0.258965, 0.251537, 0.524736 }, + { 0.257322, 0.256130, 0.526563 }, + { 0.255645, 0.260703, 0.528312 }, + { 0.253935, 0.265254, 0.529983 }, + { 0.252194, 0.269783, 0.531579 }, + { 0.250425, 0.274290, 0.533103 }, + { 0.248629, 0.278775, 0.534556 }, + { 0.246811, 0.283237, 0.535941 }, + { 0.244972, 0.287675, 0.537260 }, + { 0.243113, 0.292092, 0.538516 }, + { 0.241237, 0.296485, 0.539709 }, + { 0.239346, 0.300855, 0.540844 }, + { 0.237441, 0.305202, 0.541921 }, + { 0.235526, 0.309527, 0.542944 }, + { 0.233603, 0.313828, 0.543914 }, + { 0.231674, 0.318106, 0.544834 }, + { 0.229739, 0.322361, 0.545706 }, + { 0.227802, 0.326594, 0.546532 }, + { 0.225863, 0.330805, 0.547314 }, + { 0.223925, 0.334994, 0.548053 }, + { 0.221989, 0.339161, 0.548752 }, + { 0.220057, 0.343307, 0.549413 }, + { 0.218130, 0.347432, 0.550038 }, + { 0.216210, 0.351535, 0.550627 }, + { 0.214298, 0.355619, 0.551184 }, + { 0.212395, 0.359683, 0.551710 }, + { 0.210503, 0.363727, 0.552206 }, + { 0.208623, 0.367752, 0.552675 }, + { 0.206756, 0.371758, 0.553117 }, + { 0.204903, 0.375746, 0.553533 }, + { 0.203063, 0.379716, 0.553925 }, + { 0.201239, 0.383670, 0.554294 }, + { 0.199430, 0.387607, 0.554642 }, + { 0.197636, 0.391528, 0.554969 }, + { 0.195860, 0.395433, 0.555276 }, + { 0.194100, 0.399323, 0.555565 }, + { 0.192357, 0.403199, 0.555836 }, + { 0.190631, 0.407061, 0.556089 }, + { 0.188923, 0.410910, 0.556326 }, + { 0.187231, 0.414746, 0.556547 }, + { 0.185556, 0.418570, 0.556753 }, + { 0.183898, 0.422383, 0.556944 }, + { 0.182256, 0.426184, 0.557120 }, + { 0.180629, 0.429975, 0.557282 }, + { 0.179019, 0.433756, 0.557430 }, + { 0.177423, 0.437527, 0.557565 }, + { 0.175841, 0.441290, 0.557685 }, + { 0.174274, 0.445044, 0.557792 }, + { 0.172719, 0.448791, 0.557885 }, + { 0.171176, 0.452530, 0.557965 }, + { 0.169646, 0.456262, 0.558030 }, + { 0.168126, 0.459988, 0.558082 }, + { 0.166617, 0.463708, 0.558119 }, + { 0.165117, 0.467423, 0.558141 }, + { 0.163625, 0.471133, 0.558148 }, + { 0.162142, 0.474838, 0.558140 }, + { 0.160665, 0.478540, 0.558115 }, + { 0.159194, 0.482237, 0.558073 }, + { 0.157729, 0.485932, 0.558013 }, + { 0.156270, 0.489624, 0.557936 }, + { 0.154815, 0.493313, 0.557840 }, + { 0.153364, 0.497000, 0.557724 }, + { 0.151918, 0.500685, 0.557587 }, + { 0.150476, 0.504369, 0.557430 }, + { 0.149039, 0.508051, 0.557250 }, + { 0.147607, 0.511733, 0.557049 }, + { 0.146180, 0.515413, 0.556823 }, + { 0.144759, 0.519093, 0.556572 }, + { 0.143343, 0.522773, 0.556295 }, + { 0.141935, 0.526453, 0.555991 }, + { 0.140536, 0.530132, 0.555659 }, + { 0.139147, 0.533812, 0.555298 }, + { 0.137770, 0.537492, 0.554906 }, + { 0.136408, 0.541173, 0.554483 }, + { 0.135066, 0.544853, 0.554029 }, + { 0.133743, 0.548535, 0.553541 }, + { 0.132444, 0.552216, 0.553018 }, + { 0.131172, 0.555899, 0.552459 }, + { 0.129933, 0.559582, 0.551864 }, + { 0.128729, 0.563265, 0.551229 }, + { 0.127568, 0.566949, 0.550556 }, + { 0.126453, 0.570633, 0.549841 }, + { 0.125394, 0.574318, 0.549086 }, + { 0.124395, 0.578002, 0.548287 }, + { 0.123463, 0.581687, 0.547445 }, + { 0.122606, 0.585371, 0.546557 }, + { 0.121831, 0.589055, 0.545623 }, + { 0.121148, 0.592739, 0.544641 }, + { 0.120565, 0.596422, 0.543611 }, + { 0.120092, 0.600104, 0.542530 }, + { 0.119738, 0.603785, 0.541400 }, + { 0.119512, 0.607464, 0.540218 }, + { 0.119423, 0.611141, 0.538982 }, + { 0.119483, 0.614817, 0.537692 }, + { 0.119699, 0.618490, 0.536347 }, + { 0.120081, 0.622161, 0.534946 }, + { 0.120638, 0.625828, 0.533488 }, + { 0.121380, 0.629492, 0.531973 }, + { 0.122312, 0.633153, 0.530398 }, + { 0.123444, 0.636809, 0.528763 }, + { 0.124780, 0.640461, 0.527068 }, + { 0.126326, 0.644107, 0.525311 }, + { 0.128087, 0.647749, 0.523491 }, + { 0.130067, 0.651384, 0.521608 }, + { 0.132268, 0.655014, 0.519661 }, + { 0.134692, 0.658636, 0.517649 }, + { 0.137339, 0.662252, 0.515571 }, + { 0.140210, 0.665859, 0.513427 }, + { 0.143303, 0.669459, 0.511215 }, + { 0.146616, 0.673050, 0.508936 }, + { 0.150148, 0.676631, 0.506589 }, + { 0.153894, 0.680203, 0.504172 }, + { 0.157851, 0.683765, 0.501686 }, + { 0.162016, 0.687316, 0.499129 }, + { 0.166383, 0.690856, 0.496502 }, + { 0.170948, 0.694384, 0.493803 }, + { 0.175707, 0.697900, 0.491033 }, + { 0.180653, 0.701402, 0.488189 }, + { 0.185783, 0.704891, 0.485273 }, + { 0.191090, 0.708366, 0.482284 }, + { 0.196571, 0.711827, 0.479221 }, + { 0.202219, 0.715272, 0.476084 }, + { 0.208030, 0.718701, 0.472873 }, + { 0.214000, 0.722114, 0.469588 }, + { 0.220124, 0.725509, 0.466226 }, + { 0.226397, 0.728888, 0.462789 }, + { 0.232815, 0.732247, 0.459277 }, + { 0.239374, 0.735588, 0.455688 }, + { 0.246070, 0.738910, 0.452024 }, + { 0.252899, 0.742211, 0.448284 }, + { 0.259857, 0.745492, 0.444467 }, + { 0.266941, 0.748751, 0.440573 }, + { 0.274149, 0.751988, 0.436601 }, + { 0.281477, 0.755203, 0.432552 }, + { 0.288921, 0.758394, 0.428426 }, + { 0.296479, 0.761561, 0.424223 }, + { 0.304148, 0.764704, 0.419943 }, + { 0.311925, 0.767822, 0.415586 }, + { 0.319809, 0.770914, 0.411152 }, + { 0.327796, 0.773980, 0.406640 }, + { 0.335885, 0.777018, 0.402049 }, + { 0.344074, 0.780029, 0.397381 }, + { 0.352360, 0.783011, 0.392636 }, + { 0.360741, 0.785964, 0.387814 }, + { 0.369214, 0.788888, 0.382914 }, + { 0.377779, 0.791781, 0.377939 }, + { 0.386433, 0.794644, 0.372886 }, + { 0.395174, 0.797475, 0.367757 }, + { 0.404001, 0.800275, 0.362552 }, + { 0.412913, 0.803041, 0.357269 }, + { 0.421908, 0.805774, 0.351910 }, + { 0.430983, 0.808473, 0.346476 }, + { 0.440137, 0.811138, 0.340967 }, + { 0.449368, 0.813768, 0.335384 }, + { 0.458674, 0.816363, 0.329727 }, + { 0.468053, 0.818921, 0.323998 }, + { 0.477504, 0.821444, 0.318195 }, + { 0.487026, 0.823929, 0.312321 }, + { 0.496615, 0.826376, 0.306377 }, + { 0.506271, 0.828786, 0.300362 }, + { 0.515992, 0.831158, 0.294279 }, + { 0.525776, 0.833491, 0.288127 }, + { 0.535621, 0.835785, 0.281908 }, + { 0.545524, 0.838039, 0.275626 }, + { 0.555484, 0.840254, 0.269281 }, + { 0.565498, 0.842430, 0.262877 }, + { 0.575563, 0.844566, 0.256415 }, + { 0.585678, 0.846661, 0.249897 }, + { 0.595839, 0.848717, 0.243329 }, + { 0.606045, 0.850733, 0.236712 }, + { 0.616293, 0.852709, 0.230052 }, + { 0.626579, 0.854645, 0.223353 }, + { 0.636902, 0.856542, 0.216620 }, + { 0.647257, 0.858400, 0.209861 }, + { 0.657642, 0.860219, 0.203082 }, + { 0.668054, 0.861999, 0.196293 }, + { 0.678489, 0.863742, 0.189503 }, + { 0.688944, 0.865448, 0.182725 }, + { 0.699415, 0.867117, 0.175971 }, + { 0.709898, 0.868751, 0.169257 }, + { 0.720391, 0.870350, 0.162603 }, + { 0.730889, 0.871916, 0.156029 }, + { 0.741388, 0.873449, 0.149561 }, + { 0.751884, 0.874951, 0.143228 }, + { 0.762373, 0.876424, 0.137064 }, + { 0.772852, 0.877868, 0.131109 }, + { 0.783315, 0.879285, 0.125405 }, + { 0.793760, 0.880678, 0.120005 }, + { 0.804182, 0.882046, 0.114965 }, + { 0.814576, 0.883393, 0.110347 }, + { 0.824940, 0.884720, 0.106217 }, + { 0.835270, 0.886029, 0.102646 }, + { 0.845561, 0.887322, 0.099702 }, + { 0.855810, 0.888601, 0.097452 }, + { 0.866013, 0.889868, 0.095953 }, + { 0.876168, 0.891125, 0.095250 }, + { 0.886271, 0.892374, 0.095374 }, + { 0.896320, 0.893616, 0.096335 }, + { 0.906311, 0.894855, 0.098125 }, + { 0.916242, 0.896091, 0.100717 }, + { 0.926106, 0.897330, 0.104071 }, + { 0.935904, 0.898570, 0.108131 }, + { 0.945636, 0.899815, 0.112838 }, + { 0.955300, 0.901065, 0.118128 }, + { 0.964894, 0.902323, 0.123941 }, + { 0.974417, 0.903590, 0.130215 }, + { 0.983868, 0.904867, 0.136897 }, + { 0.993248, 0.906157, 0.143936 } + }; + + return data[static_cast(std::round(x * 255.0))]; + } + + inline Color GetCividisColor(double x) + { + x = std::max(0.0, std::min(1.0, x)); + + constexpr Color data[] = + { + { 0.0000, 0.1262, 0.3015 }, + { 0.0000, 0.1292, 0.3077 }, + { 0.0000, 0.1321, 0.3142 }, + { 0.0000, 0.1350, 0.3205 }, + { 0.0000, 0.1379, 0.3269 }, + { 0.0000, 0.1408, 0.3334 }, + { 0.0000, 0.1437, 0.3400 }, + { 0.0000, 0.1465, 0.3467 }, + { 0.0000, 0.1492, 0.3537 }, + { 0.0000, 0.1519, 0.3606 }, + { 0.0000, 0.1546, 0.3676 }, + { 0.0000, 0.1574, 0.3746 }, + { 0.0000, 0.1601, 0.3817 }, + { 0.0000, 0.1629, 0.3888 }, + { 0.0000, 0.1657, 0.3960 }, + { 0.0000, 0.1685, 0.4031 }, + { 0.0000, 0.1714, 0.4102 }, + { 0.0000, 0.1743, 0.4172 }, + { 0.0000, 0.1773, 0.4241 }, + { 0.0000, 0.1798, 0.4307 }, + { 0.0000, 0.1817, 0.4347 }, + { 0.0000, 0.1834, 0.4363 }, + { 0.0000, 0.1852, 0.4368 }, + { 0.0000, 0.1872, 0.4368 }, + { 0.0000, 0.1901, 0.4365 }, + { 0.0000, 0.1930, 0.4361 }, + { 0.0000, 0.1958, 0.4356 }, + { 0.0000, 0.1987, 0.4349 }, + { 0.0000, 0.2015, 0.4343 }, + { 0.0000, 0.2044, 0.4336 }, + { 0.0000, 0.2073, 0.4329 }, + { 0.0055, 0.2101, 0.4322 }, + { 0.0236, 0.2130, 0.4314 }, + { 0.0416, 0.2158, 0.4308 }, + { 0.0576, 0.2187, 0.4301 }, + { 0.0710, 0.2215, 0.4293 }, + { 0.0827, 0.2244, 0.4287 }, + { 0.0932, 0.2272, 0.4280 }, + { 0.1030, 0.2300, 0.4274 }, + { 0.1120, 0.2329, 0.4268 }, + { 0.1204, 0.2357, 0.4262 }, + { 0.1283, 0.2385, 0.4256 }, + { 0.1359, 0.2414, 0.4251 }, + { 0.1431, 0.2442, 0.4245 }, + { 0.1500, 0.2470, 0.4241 }, + { 0.1566, 0.2498, 0.4236 }, + { 0.1630, 0.2526, 0.4232 }, + { 0.1692, 0.2555, 0.4228 }, + { 0.1752, 0.2583, 0.4224 }, + { 0.1811, 0.2611, 0.4220 }, + { 0.1868, 0.2639, 0.4217 }, + { 0.1923, 0.2667, 0.4214 }, + { 0.1977, 0.2695, 0.4212 }, + { 0.2030, 0.2723, 0.4209 }, + { 0.2082, 0.2751, 0.4207 }, + { 0.2133, 0.2780, 0.4205 }, + { 0.2183, 0.2808, 0.4204 }, + { 0.2232, 0.2836, 0.4203 }, + { 0.2281, 0.2864, 0.4202 }, + { 0.2328, 0.2892, 0.4201 }, + { 0.2375, 0.2920, 0.4200 }, + { 0.2421, 0.2948, 0.4200 }, + { 0.2466, 0.2976, 0.4200 }, + { 0.2511, 0.3004, 0.4201 }, + { 0.2556, 0.3032, 0.4201 }, + { 0.2599, 0.3060, 0.4202 }, + { 0.2643, 0.3088, 0.4203 }, + { 0.2686, 0.3116, 0.4205 }, + { 0.2728, 0.3144, 0.4206 }, + { 0.2770, 0.3172, 0.4208 }, + { 0.2811, 0.3200, 0.4210 }, + { 0.2853, 0.3228, 0.4212 }, + { 0.2894, 0.3256, 0.4215 }, + { 0.2934, 0.3284, 0.4218 }, + { 0.2974, 0.3312, 0.4221 }, + { 0.3014, 0.3340, 0.4224 }, + { 0.3054, 0.3368, 0.4227 }, + { 0.3093, 0.3396, 0.4231 }, + { 0.3132, 0.3424, 0.4236 }, + { 0.3170, 0.3453, 0.4240 }, + { 0.3209, 0.3481, 0.4244 }, + { 0.3247, 0.3509, 0.4249 }, + { 0.3285, 0.3537, 0.4254 }, + { 0.3323, 0.3565, 0.4259 }, + { 0.3361, 0.3593, 0.4264 }, + { 0.3398, 0.3622, 0.4270 }, + { 0.3435, 0.3650, 0.4276 }, + { 0.3472, 0.3678, 0.4282 }, + { 0.3509, 0.3706, 0.4288 }, + { 0.3546, 0.3734, 0.4294 }, + { 0.3582, 0.3763, 0.4302 }, + { 0.3619, 0.3791, 0.4308 }, + { 0.3655, 0.3819, 0.4316 }, + { 0.3691, 0.3848, 0.4322 }, + { 0.3727, 0.3876, 0.4331 }, + { 0.3763, 0.3904, 0.4338 }, + { 0.3798, 0.3933, 0.4346 }, + { 0.3834, 0.3961, 0.4355 }, + { 0.3869, 0.3990, 0.4364 }, + { 0.3905, 0.4018, 0.4372 }, + { 0.3940, 0.4047, 0.4381 }, + { 0.3975, 0.4075, 0.4390 }, + { 0.4010, 0.4104, 0.4400 }, + { 0.4045, 0.4132, 0.4409 }, + { 0.4080, 0.4161, 0.4419 }, + { 0.4114, 0.4189, 0.4430 }, + { 0.4149, 0.4218, 0.4440 }, + { 0.4183, 0.4247, 0.4450 }, + { 0.4218, 0.4275, 0.4462 }, + { 0.4252, 0.4304, 0.4473 }, + { 0.4286, 0.4333, 0.4485 }, + { 0.4320, 0.4362, 0.4496 }, + { 0.4354, 0.4390, 0.4508 }, + { 0.4388, 0.4419, 0.4521 }, + { 0.4422, 0.4448, 0.4534 }, + { 0.4456, 0.4477, 0.4547 }, + { 0.4489, 0.4506, 0.4561 }, + { 0.4523, 0.4535, 0.4575 }, + { 0.4556, 0.4564, 0.4589 }, + { 0.4589, 0.4593, 0.4604 }, + { 0.4622, 0.4622, 0.4620 }, + { 0.4656, 0.4651, 0.4635 }, + { 0.4689, 0.4680, 0.4650 }, + { 0.4722, 0.4709, 0.4665 }, + { 0.4756, 0.4738, 0.4679 }, + { 0.4790, 0.4767, 0.4691 }, + { 0.4825, 0.4797, 0.4701 }, + { 0.4861, 0.4826, 0.4707 }, + { 0.4897, 0.4856, 0.4714 }, + { 0.4934, 0.4886, 0.4719 }, + { 0.4971, 0.4915, 0.4723 }, + { 0.5008, 0.4945, 0.4727 }, + { 0.5045, 0.4975, 0.4730 }, + { 0.5083, 0.5005, 0.4732 }, + { 0.5121, 0.5035, 0.4734 }, + { 0.5158, 0.5065, 0.4736 }, + { 0.5196, 0.5095, 0.4737 }, + { 0.5234, 0.5125, 0.4738 }, + { 0.5272, 0.5155, 0.4739 }, + { 0.5310, 0.5186, 0.4739 }, + { 0.5349, 0.5216, 0.4738 }, + { 0.5387, 0.5246, 0.4739 }, + { 0.5425, 0.5277, 0.4738 }, + { 0.5464, 0.5307, 0.4736 }, + { 0.5502, 0.5338, 0.4735 }, + { 0.5541, 0.5368, 0.4733 }, + { 0.5579, 0.5399, 0.4732 }, + { 0.5618, 0.5430, 0.4729 }, + { 0.5657, 0.5461, 0.4727 }, + { 0.5696, 0.5491, 0.4723 }, + { 0.5735, 0.5522, 0.4720 }, + { 0.5774, 0.5553, 0.4717 }, + { 0.5813, 0.5584, 0.4714 }, + { 0.5852, 0.5615, 0.4709 }, + { 0.5892, 0.5646, 0.4705 }, + { 0.5931, 0.5678, 0.4701 }, + { 0.5970, 0.5709, 0.4696 }, + { 0.6010, 0.5740, 0.4691 }, + { 0.6050, 0.5772, 0.4685 }, + { 0.6089, 0.5803, 0.4680 }, + { 0.6129, 0.5835, 0.4673 }, + { 0.6168, 0.5866, 0.4668 }, + { 0.6208, 0.5898, 0.4662 }, + { 0.6248, 0.5929, 0.4655 }, + { 0.6288, 0.5961, 0.4649 }, + { 0.6328, 0.5993, 0.4641 }, + { 0.6368, 0.6025, 0.4632 }, + { 0.6408, 0.6057, 0.4625 }, + { 0.6449, 0.6089, 0.4617 }, + { 0.6489, 0.6121, 0.4609 }, + { 0.6529, 0.6153, 0.4600 }, + { 0.6570, 0.6185, 0.4591 }, + { 0.6610, 0.6217, 0.4583 }, + { 0.6651, 0.6250, 0.4573 }, + { 0.6691, 0.6282, 0.4562 }, + { 0.6732, 0.6315, 0.4553 }, + { 0.6773, 0.6347, 0.4543 }, + { 0.6813, 0.6380, 0.4532 }, + { 0.6854, 0.6412, 0.4521 }, + { 0.6895, 0.6445, 0.4511 }, + { 0.6936, 0.6478, 0.4499 }, + { 0.6977, 0.6511, 0.4487 }, + { 0.7018, 0.6544, 0.4475 }, + { 0.7060, 0.6577, 0.4463 }, + { 0.7101, 0.6610, 0.4450 }, + { 0.7142, 0.6643, 0.4437 }, + { 0.7184, 0.6676, 0.4424 }, + { 0.7225, 0.6710, 0.4409 }, + { 0.7267, 0.6743, 0.4396 }, + { 0.7308, 0.6776, 0.4382 }, + { 0.7350, 0.6810, 0.4368 }, + { 0.7392, 0.6844, 0.4352 }, + { 0.7434, 0.6877, 0.4338 }, + { 0.7476, 0.6911, 0.4322 }, + { 0.7518, 0.6945, 0.4307 }, + { 0.7560, 0.6979, 0.4290 }, + { 0.7602, 0.7013, 0.4273 }, + { 0.7644, 0.7047, 0.4258 }, + { 0.7686, 0.7081, 0.4241 }, + { 0.7729, 0.7115, 0.4223 }, + { 0.7771, 0.7150, 0.4205 }, + { 0.7814, 0.7184, 0.4188 }, + { 0.7856, 0.7218, 0.4168 }, + { 0.7899, 0.7253, 0.4150 }, + { 0.7942, 0.7288, 0.4129 }, + { 0.7985, 0.7322, 0.4111 }, + { 0.8027, 0.7357, 0.4090 }, + { 0.8070, 0.7392, 0.4070 }, + { 0.8114, 0.7427, 0.4049 }, + { 0.8157, 0.7462, 0.4028 }, + { 0.8200, 0.7497, 0.4007 }, + { 0.8243, 0.7532, 0.3984 }, + { 0.8287, 0.7568, 0.3961 }, + { 0.8330, 0.7603, 0.3938 }, + { 0.8374, 0.7639, 0.3915 }, + { 0.8417, 0.7674, 0.3892 }, + { 0.8461, 0.7710, 0.3869 }, + { 0.8505, 0.7745, 0.3843 }, + { 0.8548, 0.7781, 0.3818 }, + { 0.8592, 0.7817, 0.3793 }, + { 0.8636, 0.7853, 0.3766 }, + { 0.8681, 0.7889, 0.3739 }, + { 0.8725, 0.7926, 0.3712 }, + { 0.8769, 0.7962, 0.3684 }, + { 0.8813, 0.7998, 0.3657 }, + { 0.8858, 0.8035, 0.3627 }, + { 0.8902, 0.8071, 0.3599 }, + { 0.8947, 0.8108, 0.3569 }, + { 0.8992, 0.8145, 0.3538 }, + { 0.9037, 0.8182, 0.3507 }, + { 0.9082, 0.8219, 0.3474 }, + { 0.9127, 0.8256, 0.3442 }, + { 0.9172, 0.8293, 0.3409 }, + { 0.9217, 0.8330, 0.3374 }, + { 0.9262, 0.8367, 0.3340 }, + { 0.9308, 0.8405, 0.3306 }, + { 0.9353, 0.8442, 0.3268 }, + { 0.9399, 0.8480, 0.3232 }, + { 0.9444, 0.8518, 0.3195 }, + { 0.9490, 0.8556, 0.3155 }, + { 0.9536, 0.8593, 0.3116 }, + { 0.9582, 0.8632, 0.3076 }, + { 0.9628, 0.8670, 0.3034 }, + { 0.9674, 0.8708, 0.2990 }, + { 0.9721, 0.8746, 0.2947 }, + { 0.9767, 0.8785, 0.2901 }, + { 0.9814, 0.8823, 0.2856 }, + { 0.9860, 0.8862, 0.2807 }, + { 0.9907, 0.8901, 0.2759 }, + { 0.9954, 0.8940, 0.2708 }, + { 1.0000, 0.8979, 0.2655 }, + { 1.0000, 0.9018, 0.2600 }, + { 1.0000, 0.9057, 0.2593 }, + { 1.0000, 0.9094, 0.2634 }, + { 1.0000, 0.9131, 0.2680 }, + { 1.0000, 0.9169, 0.2731 } + }; + + return data[static_cast(std::round(x * 255.0))]; + } + + inline Color GetGithubColor(double x) + { + x = std::max(0.0, std::min(1.0, x)); + + constexpr Color data[] = + { + { 0.933333, 0.933333, 0.933333 }, + { 0.776470, 0.894117, 0.545098 }, + { 0.482352, 0.788235, 0.435294 }, + { 0.137254, 0.603921, 0.231372 }, + { 0.098039, 0.380392, 0.152941 } + }; + + const double a = x * ((sizeof(data) / sizeof(Color)) - 1); + const double t = a - std::floor(a); + const Color c0 = data[static_cast(std::floor(a))]; + const Color c1 = data[static_cast(std::ceil (a))]; + + return (1.0 - t) * c0 + t * c1; + } + +#if defined(TINYCOLORMAP_WITH_QT5) and defined(TINYCOLORMAP_WITH_EIGEN) + inline QImage CreateMatrixVisualization(const Eigen::MatrixXd& matrix) + { + const int w = matrix.cols(); + const int h = matrix.rows(); + const double max_coeff = matrix.maxCoeff(); + const double min_coeff = matrix.minCoeff(); + const Eigen::MatrixXd normalized = (1.0 / (max_coeff - min_coeff)) * (matrix - Eigen::MatrixXd::Constant(h, w, min_coeff)); + + QImage image(w, h, QImage::Format_ARGB32); + for (int x = 0; x < w; ++ x) + { + for (int y = 0; y < h; ++ y) + { + const QColor color = tinycolormap::GetColor(normalized(y, x)).ConvertToQColor(); + image.setPixel(x, y, color.rgb()); + } + } + + return image; + } + + inline void ExportMatrixVisualization(const Eigen::MatrixXd& matrix, const std::string& path) + { + CreateMatrixVisualization(matrix).save(QString::fromStdString(path)); + } +#endif +} + +#endif diff --git a/visualization/lviz/parsing.hh b/visualization/lviz/parsing.hh index e1fd17f..514c2fe 100644 --- a/visualization/lviz/parsing.hh +++ b/visualization/lviz/parsing.hh @@ -23,25 +23,28 @@ using SceneUpdate = std::variant scene_element_from_line(const std::string &line) { } } - Eigen::Vector3f location1; - location1 << stof(matches[1]), stof(matches[2]), stof(matches[3]); - auto color1 = parse_color(matches[4]); + Eigen::Vector3f line_endpoint_1; + line_endpoint_1 << stof(matches[1]), stof(matches[2]), stof(matches[3]); + auto color_1 = parse_color(matches[4]); - Eigen::Vector3f location2; - location2 << stof(matches[5]), stof(matches[6]), stof(matches[7]); - auto color2 = parse_color(matches[8]); + Eigen::Vector3f line_endpoint_2; + line_endpoint_2 << stof(matches[5]), stof(matches[6]), stof(matches[7]); + auto color_2 = parse_color(matches[8]); return std::make_optional( - std::make_pair(ColoredPoint{location1.x(), location1.z(), location1.y(), color1.r, color1.g, color1.b, 1}, - ColoredPoint{location2.x(), location2.z(), location2.y(), color2.r, color2.g, color2.b, 1})); + std::make_pair(ColoredPoint{line_endpoint_1.x(), line_endpoint_1.z(), line_endpoint_1.y(), color_1.r, color_1.g, color_1.b, 1}, + ColoredPoint{line_endpoint_2.x(), line_endpoint_2.z(), line_endpoint_2.y(), color_2.r, color_2.g, color_2.b, 1})); } else if (std::regex_search(line, matches, NEW_FRAME_REGEX)) { return std::make_optional(NewScene{}); } else if (std::regex_search(line, matches, SET_FRAME_TIME_REGEX)) { From 41085ece8f74033995d3248585e89b3b23ad2741 Mon Sep 17 00:00:00 2001 From: Isaac Date: Tue, 27 Aug 2019 13:18:12 -0400 Subject: [PATCH 5/8] minor parsing speed improvements --- visualization/lviz/lines.cc | 46 ++++++++++------------- visualization/lviz/parsing.hh | 70 +++++++++++++++++------------------ visualization/lviz/scene.hh | 1 + 3 files changed, 55 insertions(+), 62 deletions(-) diff --git a/visualization/lviz/lines.cc b/visualization/lviz/lines.cc index 06fc7e0..dedee70 100644 --- a/visualization/lviz/lines.cc +++ b/visualization/lviz/lines.cc @@ -2,8 +2,8 @@ #include "visualization/lviz/cursor.hh" #include "visualization/lviz/graphics_helpers.hh" -#include "visualization/lviz/scene.hh" #include "visualization/lviz/parsing.hh" +#include "visualization/lviz/scene.hh" #include #include @@ -42,8 +42,6 @@ void reset_viewport_size(auto window) { glViewport(0, 0, window_dimensions.first, window_dimensions.second); } - - void mouse_button_callback(GLFWwindow *window, int button, int action, int mods) { if (button == GLFW_MOUSE_BUTTON_RIGHT) cursor.right_mouse_button_down = action == GLFW_PRESS; if (button == GLFW_MOUSE_BUTTON_LEFT) cursor.left_mouse_button_down = action == GLFW_PRESS; @@ -64,7 +62,7 @@ static void key_callback(GLFWwindow *window, int key, int scancode, int action, // set camera to isometric view if (key == GLFW_KEY_I) { - cursor.set_camera_translation_from_cursor_normalized(Eigen::Vector3f(1,1,1).normalized()); + cursor.set_camera_translation_from_cursor_normalized(Eigen::Vector3f(1, 1, 1).normalized()); cursor.perspective_mode = false; } @@ -78,26 +76,23 @@ void scroll_callback(GLFWwindow *window, double xoffset, double yoffset) { cursor.camera_distance_from_cursor = std::clamp(cursor.camera_distance_from_cursor, 1.0, 10000.0); } - void run_stream_parser() { // vastly increases stream reading speed std::ios_base::sync_with_stdio(false); - std::regex("(point)\\s+4"); + std::string line; while (true) { - std::string line; - std::getline(std::cin, line); - if (line.length() > 0) { - auto new_element = scene_element_from_line(line); - if (new_element.has_value()) { - buffer_modification_mutex.lock(); - scene_element_buffer.push_back(new_element.value()); - buffer_modification_mutex.unlock(); - } - } - else{ - // TODO replace with e.g. interrupt - std::this_thread::sleep_for(std::chrono::milliseconds(1)); + while (std::getline(std::cin, line)) { + // if (line.length() > 0) { + auto new_element = scene_element_from_line(line); + if (new_element.has_value()) { + buffer_modification_mutex.lock(); + scene_element_buffer.push_back(new_element.value()); + buffer_modification_mutex.unlock(); + } + // } } + // TODO replace with e.g. interrupt + std::this_thread::sleep_for(std::chrono::milliseconds(1)); } } @@ -107,14 +102,11 @@ void apply_scene_changes(Scene &scene) { for (auto element : scene_element_buffer) { if (std::holds_alternative(element)) { scene.add_point(std::get(element)); - } - else if (std::holds_alternative>(element)) { + } else if (std::holds_alternative>(element)) { scene.add_line(std::get>(element)); - } - else if (std::holds_alternative(element)) { + } else if (std::holds_alternative(element)) { scene.add_frame(); - } - else if (std::holds_alternative(element)) { + } else if (std::holds_alternative(element)) { scene.set_frame_duration(std::get(element).frame_duration); } } @@ -158,11 +150,11 @@ int main() { cursor.update_cursor_state(mouse_move_image_space, cursor.right_mouse_button_down, cursor.left_mouse_button_down, cursor.camera_distance_from_cursor); - // TODO make function auto window_dimensions = get_window_dimensions(window); auto aspect_ratio = 1.0 * window_dimensions.first / window_dimensions.second; - Eigen::Matrix4f image_from_camera = get_image_from_view(aspect_ratio, .01, 10000, cursor.camera_distance_from_cursor, !cursor.perspective_mode); + Eigen::Matrix4f image_from_camera = + get_image_from_view(aspect_ratio, .01, 10000, cursor.camera_distance_from_cursor, !cursor.perspective_mode); Eigen::Matrix4f image_from_world = image_from_camera * cursor.camera_from_world(cursor.camera_distance_from_cursor); GLuint image_from_world_idx = glGetUniformLocation(shader_program_id, "image_from_world"); diff --git a/visualization/lviz/parsing.hh b/visualization/lviz/parsing.hh index 514c2fe..c926869 100644 --- a/visualization/lviz/parsing.hh +++ b/visualization/lviz/parsing.hh @@ -1,5 +1,5 @@ #include "third_party/tinycolormap/tinycolormap.hh" - +#include "visualization/lviz/scene.hh" #include #include #include @@ -32,22 +32,22 @@ std::string RGB_COLOR_STR = "(?:" + FLOAT_STR + WHITESPACE_STR + FLOAT_STR + WHI std::string COLORMAP_COLOR_STR = "(?:(?:(?:viridis)|(?:inferno))" + WHITESPACE_STR + FLOAT_STR + ")"; std::string COLOR = "(" + RGB_COLOR_STR + "|" + ALL_COLOR_NAMES_STR + "|" + COLORMAP_COLOR_STR + ")"; -std::regex RGB_COLOR_REGEX("^(" + FLOAT_STR + ")" + WHITESPACE_STR + "(" + FLOAT_STR + ")" + WHITESPACE_STR + "(" + - FLOAT_STR + ")$"); +std::regex RGB_COLOR_REGEX("(" + FLOAT_STR + ")" + WHITESPACE_STR + "(" + FLOAT_STR + ")" + WHITESPACE_STR + "(" + + FLOAT_STR + ")"); // TODO instead have a master list of all colormap names and generate these regexes -std::regex COLORMAP_COLOR_REGEX("^(?:((?:viridis)|(?:inferno))" + WHITESPACE_STR + "(" + FLOAT_STR + "))$"); +std::regex COLORMAP_COLOR_REGEX("(?:((?:viridis)|(?:inferno))" + WHITESPACE_STR + "(" + FLOAT_STR + "))"); -std::regex ALL_COLOR_NAMES_REGEX("^" + ALL_COLOR_NAMES_STR + "$"); +std::regex ALL_COLOR_NAMES_REGEX(ALL_COLOR_NAMES_STR); -std::regex POINT_REGEX("^point" + WHITESPACE_STR + VEC3_STR + WHITESPACE_STR + COLOR + WHITESPACE_STR + "(" + FLOAT_STR + - ")$"); +std::regex POINT_REGEX("point" + WHITESPACE_STR + VEC3_STR + WHITESPACE_STR + COLOR + WHITESPACE_STR + "(" + FLOAT_STR + + ")"); std::regex LINE_REGEX("^line" + WHITESPACE_STR + VEC3_STR + WHITESPACE_STR + COLOR + WHITESPACE_STR + VEC3_STR + WHITESPACE_STR + COLOR + "$"); -std::regex NEW_FRAME_REGEX("^new_frame$"); -std::regex SET_FRAME_TIME_REGEX("^set_frame_time" + WHITESPACE_STR + "(" + FLOAT_STR + ")$"); +std::regex NEW_FRAME_REGEX("new_frame"); +std::regex SET_FRAME_TIME_REGEX("set_frame_time" + WHITESPACE_STR + "(" + FLOAT_STR + ")"); std::regex WHITESPACE_REGEX(WHITESPACE_STR); @@ -59,29 +59,12 @@ Eigen::Vector3f vec3_from_strings(const std::tuple scene_element_from_line(const std::string &line) { std::smatch matches; - if (std::regex_search(line, matches, POINT_REGEX)) { + if (std::regex_match(line, matches, POINT_REGEX)) { if (VERBOSE_PARSING){ for (size_t i = 0; i < matches.size(); ++i) { std::cout << i << ": '" << matches[i].str() << "'\n"; @@ -117,11 +117,11 @@ std::optional scene_element_from_line(const std::string &line) { } Eigen::Vector3f location; location << stof(matches[1]), stof(matches[2]), stof(matches[3]); - auto color = parse_color(matches[4]); - float scale = std::stof(matches[5]); + const auto color = parse_color(matches[4]); + const float scale = std::stof(matches[5]); return std::make_optional(ColoredPoint{location.x(), location.z(), location.y(), color.r, color.g, color.b, scale}); - } else if (std::regex_search(line, matches, LINE_REGEX)) { + } else if (std::regex_match(line, matches, LINE_REGEX)) { if (VERBOSE_PARSING){ for (size_t i = 0; i < matches.size(); ++i) { @@ -139,9 +139,9 @@ std::optional scene_element_from_line(const std::string &line) { return std::make_optional( std::make_pair(ColoredPoint{line_endpoint_1.x(), line_endpoint_1.z(), line_endpoint_1.y(), color_1.r, color_1.g, color_1.b, 1}, ColoredPoint{line_endpoint_2.x(), line_endpoint_2.z(), line_endpoint_2.y(), color_2.r, color_2.g, color_2.b, 1})); - } else if (std::regex_search(line, matches, NEW_FRAME_REGEX)) { + } else if (std::regex_match(line, matches, NEW_FRAME_REGEX)) { return std::make_optional(NewScene{}); - } else if (std::regex_search(line, matches, SET_FRAME_TIME_REGEX)) { + } else if (std::regex_match(line, matches, SET_FRAME_TIME_REGEX)) { auto frame_duration = std::stof(matches[1]); return std::make_optional(SetFrameTime{frame_duration}); } else { diff --git a/visualization/lviz/scene.hh b/visualization/lviz/scene.hh index 1bcce0f..2bfd7f7 100644 --- a/visualization/lviz/scene.hh +++ b/visualization/lviz/scene.hh @@ -1,3 +1,4 @@ +#pragma once #include "visualization/lviz/graphics_helpers.hh" #include From ebefcc80dce8960e2843bed6ffd057ad394b9e83 Mon Sep 17 00:00:00 2001 From: Isaac Date: Tue, 27 Aug 2019 15:21:57 -0400 Subject: [PATCH 6/8] formatting --- third_party/tinycolormap/tinycolormap.hh | 2 +- visualization/lviz/lines.cc | 15 +++-- visualization/lviz/parsing.hh | 86 +++++++++++------------- 3 files changed, 48 insertions(+), 55 deletions(-) diff --git a/third_party/tinycolormap/tinycolormap.hh b/third_party/tinycolormap/tinycolormap.hh index 2542ba7..1ef165f 100644 --- a/third_party/tinycolormap/tinycolormap.hh +++ b/third_party/tinycolormap/tinycolormap.hh @@ -134,7 +134,7 @@ namespace tinycolormap case ColormapType::Github: return GetGithubColor(x); default: - break; + return GetViridisColor(x); } } diff --git a/visualization/lviz/lines.cc b/visualization/lviz/lines.cc index dedee70..9b61b89 100644 --- a/visualization/lviz/lines.cc +++ b/visualization/lviz/lines.cc @@ -82,13 +82,14 @@ void run_stream_parser() { std::string line; while (true) { while (std::getline(std::cin, line)) { + // while(true){ // if (line.length() > 0) { - auto new_element = scene_element_from_line(line); - if (new_element.has_value()) { - buffer_modification_mutex.lock(); - scene_element_buffer.push_back(new_element.value()); - buffer_modification_mutex.unlock(); - } + auto new_element = scene_element_from_line(line); + if (new_element.has_value()) { + buffer_modification_mutex.lock(); + scene_element_buffer.push_back(new_element.value()); + buffer_modification_mutex.unlock(); + } // } } // TODO replace with e.g. interrupt @@ -130,7 +131,7 @@ int main() { std::thread parsing_thread(run_stream_parser); - auto frame_duration = std::chrono::milliseconds(500); + auto frame_duration = std::chrono::milliseconds(250); auto frame_time_remaining = frame_duration; while (!glfwWindowShouldClose(window)) { diff --git a/visualization/lviz/parsing.hh b/visualization/lviz/parsing.hh index c926869..7285311 100644 --- a/visualization/lviz/parsing.hh +++ b/visualization/lviz/parsing.hh @@ -1,9 +1,8 @@ -#include "third_party/tinycolormap/tinycolormap.hh" -#include "visualization/lviz/scene.hh" -#include #include +#include #include - +#include "third_party/tinycolormap/tinycolormap.hh" +#include "visualization/lviz/scene.hh" constexpr bool VERBOSE_PARSING = false; @@ -19,6 +18,7 @@ struct SetFrameTime { float frame_duration; }; + using SceneUpdate = std::variant, NewScene, SetFrameTime>; std::string FLOAT_STR = ("[+-]?(?:\\d+(?:[.]\\d*)?(?:e[+-]?\\d+)?|[.]\\d+(?:e[+-]?\\d+)?)"); @@ -36,56 +36,49 @@ std::regex RGB_COLOR_REGEX("(" + FLOAT_STR + ")" + WHITESPACE_STR + "(" + FLOAT_ FLOAT_STR + ")"); // TODO instead have a master list of all colormap names and generate these regexes -std::regex COLORMAP_COLOR_REGEX("(?:((?:viridis)|(?:inferno))" + WHITESPACE_STR + "(" + FLOAT_STR + "))"); +std::regex COLORMAP_COLOR_REGEX("(?:((?:viridis)|(?:inferno))" + WHITESPACE_STR + "(" + FLOAT_STR + "))", + std::regex::optimize); -std::regex ALL_COLOR_NAMES_REGEX(ALL_COLOR_NAMES_STR); +std::regex ALL_COLOR_NAMES_REGEX(ALL_COLOR_NAMES_STR, std::regex::optimize); std::regex POINT_REGEX("point" + WHITESPACE_STR + VEC3_STR + WHITESPACE_STR + COLOR + WHITESPACE_STR + "(" + FLOAT_STR + - ")"); + ")", + std::regex::optimize); std::regex LINE_REGEX("^line" + WHITESPACE_STR + VEC3_STR + WHITESPACE_STR + COLOR + WHITESPACE_STR + VEC3_STR + - WHITESPACE_STR + COLOR + "$"); - -std::regex NEW_FRAME_REGEX("new_frame"); -std::regex SET_FRAME_TIME_REGEX("set_frame_time" + WHITESPACE_STR + "(" + FLOAT_STR + ")"); + WHITESPACE_STR + COLOR + "$", + std::regex::optimize); -std::regex WHITESPACE_REGEX(WHITESPACE_STR); +std::regex NEW_FRAME_REGEX("new_frame", std::regex::optimize); +std::regex SET_FRAME_TIME_REGEX("set_frame_time" + WHITESPACE_STR + "(" + FLOAT_STR + ")", std::regex::optimize); - - -Eigen::Vector3f vec3_from_strings(const std::tuple &strings) { - return Eigen::Vector3f(std::stof(std::get<0>(strings)), std::stof(std::get<1>(strings)), - std::stof(std::get<2>(strings))); -} +std::regex WHITESPACE_REGEX(WHITESPACE_STR, std::regex::optimize); rgb_color parse_color(const std::string &color_string) { std::smatch matches; if (std::regex_match(color_string, matches, RGB_COLOR_REGEX)) { - return rgb_color{stof(matches[1]) / 255.0, stof(matches[2]) / 255.0, stof(matches[3]) / 255.0}; + return rgb_color{stof(matches[1]) / 255.0f, stof(matches[2]) / 255.0f, stof(matches[3]) / 255.0f}; } - else if (std::regex_match(color_string, matches, COLORMAP_COLOR_REGEX)) { + else + if (std::regex_match(color_string, matches, COLORMAP_COLOR_REGEX)) { auto value = stof(matches[2]); value = std::clamp(value, 0.0f, 1.0f); - tinycolormap::ColormapType colormap; const auto colormap_name = matches[1]; - if (colormap_name == "viridis"){ - colormap = tinycolormap::ColormapType::Viridis; - } - else if (colormap_name == "inferno"){ - colormap = tinycolormap::ColormapType::Inferno; - } - else{ - std::cerr << "ERROR: unrecognized colormap " << colormap_name << " . Substituting viridis." << std::endl; - colormap = tinycolormap::ColormapType::Viridis; + if (colormap_name == "viridis") { + colormap = tinycolormap::ColormapType::Viridis; + } else if (colormap_name == "inferno") { + colormap = tinycolormap::ColormapType::Inferno; + } else { + std::cerr << "ERROR: unrecognized colormap " << colormap_name << " . Substituting viridis." << std::endl; + colormap = tinycolormap::ColormapType::Viridis; } const auto color = tinycolormap::GetColor(value, colormap); return rgb_color{(float)color.r(), (float)color.g(), (float)color.b()}; - } - else if (std::regex_match(color_string, matches, ALL_COLOR_NAMES_REGEX)) { + } else if (std::regex_match(color_string, matches, ALL_COLOR_NAMES_REGEX)) { if (matches[0] == "red") { return rgb_color{220.0 / 255.0, 50.0 / 255.0, 47.0 / 255.0}; } else if (matches[0] == "green") { @@ -103,32 +96,30 @@ rgb_color parse_color(const std::string &color_string) { } } std::cerr << "ERROR: could not parse color " << matches[0] << " . Substituting white." << std::endl; - return rgb_color{1,1,1}; + return rgb_color{1, 1, 1}; } std::optional scene_element_from_line(const std::string &line) { std::smatch matches; if (std::regex_match(line, matches, POINT_REGEX)) { - if (VERBOSE_PARSING){ - for (size_t i = 0; i < matches.size(); ++i) { - std::cout << i << ": '" << matches[i].str() << "'\n"; - } + if (VERBOSE_PARSING) { + for (size_t i = 0; i < matches.size(); ++i) { + std::cout << i << ": '" << matches[i].str() << "'\n"; + } } - Eigen::Vector3f location; - location << stof(matches[1]), stof(matches[2]), stof(matches[3]); + Eigen::Vector3f location(stof(matches[1]), stof(matches[2]), stof(matches[3])); const auto color = parse_color(matches[4]); const float scale = std::stof(matches[5]); return std::make_optional(ColoredPoint{location.x(), location.z(), location.y(), color.r, color.g, color.b, scale}); } else if (std::regex_match(line, matches, LINE_REGEX)) { - - if (VERBOSE_PARSING){ - for (size_t i = 0; i < matches.size(); ++i) { + if (VERBOSE_PARSING) { + for (size_t i = 0; i < matches.size(); ++i) { std::cout << i << ": '" << matches[i].str() << "'\n"; - } + } } - + Eigen::Vector3f line_endpoint_1; line_endpoint_1 << stof(matches[1]), stof(matches[2]), stof(matches[3]); auto color_1 = parse_color(matches[4]); @@ -136,9 +127,10 @@ std::optional scene_element_from_line(const std::string &line) { Eigen::Vector3f line_endpoint_2; line_endpoint_2 << stof(matches[5]), stof(matches[6]), stof(matches[7]); auto color_2 = parse_color(matches[8]); - return std::make_optional( - std::make_pair(ColoredPoint{line_endpoint_1.x(), line_endpoint_1.z(), line_endpoint_1.y(), color_1.r, color_1.g, color_1.b, 1}, - ColoredPoint{line_endpoint_2.x(), line_endpoint_2.z(), line_endpoint_2.y(), color_2.r, color_2.g, color_2.b, 1})); + return std::make_optional(std::make_pair( + ColoredPoint{line_endpoint_1.x(), line_endpoint_1.z(), line_endpoint_1.y(), color_1.r, color_1.g, color_1.b, 1}, + ColoredPoint{line_endpoint_2.x(), line_endpoint_2.z(), line_endpoint_2.y(), color_2.r, color_2.g, color_2.b, + 1})); } else if (std::regex_match(line, matches, NEW_FRAME_REGEX)) { return std::make_optional(NewScene{}); } else if (std::regex_match(line, matches, SET_FRAME_TIME_REGEX)) { From 003ffb4d22697867b4d607f8fabdc1dc358e9d35 Mon Sep 17 00:00:00 2001 From: Isaac Date: Tue, 24 Sep 2019 02:33:20 -0400 Subject: [PATCH 7/8] switch to opengl frame --- visualization/lviz/graphics_helpers.cc | 1 + visualization/lviz/lines.cc | 4 ++-- visualization/lviz/parsing.hh | 10 ++++++---- visualization/lviz/scene.hh | 2 +- 4 files changed, 10 insertions(+), 7 deletions(-) diff --git a/visualization/lviz/graphics_helpers.cc b/visualization/lviz/graphics_helpers.cc index c83a6a1..e70907a 100644 --- a/visualization/lviz/graphics_helpers.cc +++ b/visualization/lviz/graphics_helpers.cc @@ -80,6 +80,7 @@ GLFWwindow *get_window() { glewInit(); glEnable(GL_MULTISAMPLE); + glLineWidth(.5); glEnable(GL_VERTEX_PROGRAM_POINT_SIZE); glEnable(GL_DEPTH_TEST); glDepthFunc(GL_ALWAYS); diff --git a/visualization/lviz/lines.cc b/visualization/lviz/lines.cc index 9b61b89..18102fc 100644 --- a/visualization/lviz/lines.cc +++ b/visualization/lviz/lines.cc @@ -73,7 +73,7 @@ static void key_callback(GLFWwindow *window, int key, int scancode, int action, void scroll_callback(GLFWwindow *window, double xoffset, double yoffset) { cursor.camera_distance_from_cursor += yoffset; - cursor.camera_distance_from_cursor = std::clamp(cursor.camera_distance_from_cursor, 1.0, 10000.0); + cursor.camera_distance_from_cursor = std::clamp(cursor.camera_distance_from_cursor, 0.1, 10000.0); } void run_stream_parser() { @@ -111,7 +111,7 @@ void apply_scene_changes(Scene &scene) { scene.set_frame_duration(std::get(element).frame_duration); } } - std::cout << scene_element_buffer.size() << std::endl; + // std::cout << scene_element_buffer.size() << std::endl; scene_element_buffer.clear(); buffer_modification_mutex.unlock(); } diff --git a/visualization/lviz/parsing.hh b/visualization/lviz/parsing.hh index 7285311..a31833c 100644 --- a/visualization/lviz/parsing.hh +++ b/visualization/lviz/parsing.hh @@ -1,3 +1,5 @@ +// #define NDEBUG + #include #include #include @@ -106,13 +108,13 @@ std::optional scene_element_from_line(const std::string &line) { if (VERBOSE_PARSING) { for (size_t i = 0; i < matches.size(); ++i) { std::cout << i << ": '" << matches[i].str() << "'\n"; - } + } } Eigen::Vector3f location(stof(matches[1]), stof(matches[2]), stof(matches[3])); const auto color = parse_color(matches[4]); const float scale = std::stof(matches[5]); - return std::make_optional(ColoredPoint{location.x(), location.z(), location.y(), color.r, color.g, color.b, scale}); + return std::make_optional(ColoredPoint{location.x(), location.y(), location.z(), color.r, color.g, color.b, scale}); } else if (std::regex_match(line, matches, LINE_REGEX)) { if (VERBOSE_PARSING) { for (size_t i = 0; i < matches.size(); ++i) { @@ -128,8 +130,8 @@ std::optional scene_element_from_line(const std::string &line) { line_endpoint_2 << stof(matches[5]), stof(matches[6]), stof(matches[7]); auto color_2 = parse_color(matches[8]); return std::make_optional(std::make_pair( - ColoredPoint{line_endpoint_1.x(), line_endpoint_1.z(), line_endpoint_1.y(), color_1.r, color_1.g, color_1.b, 1}, - ColoredPoint{line_endpoint_2.x(), line_endpoint_2.z(), line_endpoint_2.y(), color_2.r, color_2.g, color_2.b, + ColoredPoint{line_endpoint_1.x(), line_endpoint_1.y(), line_endpoint_1.z(), color_1.r, color_1.g, color_1.b, 1}, + ColoredPoint{line_endpoint_2.x(), line_endpoint_2.y(), line_endpoint_2.z(), color_2.r, color_2.g, color_2.b, 1})); } else if (std::regex_match(line, matches, NEW_FRAME_REGEX)) { return std::make_optional(NewScene{}); diff --git a/visualization/lviz/scene.hh b/visualization/lviz/scene.hh index 2bfd7f7..6e88a4b 100644 --- a/visualization/lviz/scene.hh +++ b/visualization/lviz/scene.hh @@ -79,7 +79,7 @@ public: // TODO enable optional dashed lines // enter_stipple_state(); - glLineWidth(3); + glLineWidth(1.5); glDrawArrays(GL_LINES, 0, n_line_elements); // exit_stipple_state(); From f9128056ff6442ce83df5345113e2e746842d312 Mon Sep 17 00:00:00 2001 From: Isaac Date: Tue, 24 Sep 2019 02:39:33 -0400 Subject: [PATCH 8/8] world coordinate fix --- visualization/lviz/graphics_helpers.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/visualization/lviz/graphics_helpers.cc b/visualization/lviz/graphics_helpers.cc index e70907a..4cf073a 100644 --- a/visualization/lviz/graphics_helpers.cc +++ b/visualization/lviz/graphics_helpers.cc @@ -124,7 +124,7 @@ Eigen::Matrix4f get_image_from_view(float aspect_ratio, float near_distance, flo Eigen::Matrix4f get_camera_from_world(Eigen::Vector3f camera_loc, Eigen::Vector3f target) { const Eigen::Vector3f look_direction = (camera_loc - target).normalized(); - const Eigen::Vector3f global_up(0, 1, 0); + const Eigen::Vector3f global_up(0, 0, 1); const Eigen::Vector3f right = global_up.cross(look_direction).normalized(); const Eigen::Vector3f up = look_direction.cross(right).normalized();