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pushing camera eigen update, and other fixes

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Yggdrasil75
2026-01-27 16:11:09 -05:00
parent e0764318b4
commit c0d15a0b9f
3 changed files with 160 additions and 71 deletions
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32
util/grid/grid3eigen.hpp
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@@ -4,12 +4,14 @@
#include "../../eigen/Eigen/Dense"
#include "../timing_decorator.hpp"
#include "../output/frame.hpp"
#include "camera.hpp"
#include <vector>
#include <array>
#include <memory>
#include <algorithm>
#include <limits>
#include <cmath>
#include <functional>
#ifdef SSE
#include <immintrin.h>
@@ -35,8 +37,8 @@ public:
float refraction;
float reflection;
NodeData(const T& data, const PointType& pos, Eigen::Vector3f color, float size = 0.01f, bool active = true) :
data(data), position(pos), active(active), color(color), size(size) {}
NodeData(const T& data, const PointType& pos, bool visible, Eigen::Vector3f color, float size = 0.01f, bool active = true) :
data(data), position(pos), active(active), visible(visible), color(color), size(size) {}
};
struct OctreeNode {
@@ -120,7 +122,7 @@ private:
if (node->isLeaf) {
node->points.emplace_back(pointData);
if (node->points.size() > maxPointsPerNode && depth < maxDepth) {
splitNode(node,depth);
splitNode(node, depth);
}
return true;
} else {
@@ -254,8 +256,8 @@ public:
root_(std::make_unique<OctreeNode>(minBound, maxBound)), maxPointsPerNode(maxPointsPerNode),
maxDepth(maxDepth), size(0) {}
bool set(const T& data, const PointType& pos, Eigen::Vector3f color, float size, bool active) {
auto pointData = std::make_shared<NodeData>(data, pos, color, size, active);
bool set(const T& data, const PointType& pos, bool visible, Eigen::Vector3f color, float size, bool active) {
auto pointData = std::make_shared<NodeData>(data, pos, visible, color, size, active);
if (insertRecursive(root_.get(), pointData, 0)) {
size++;
return true;
@@ -324,9 +326,12 @@ public:
}
return hits;
}
frame renderFrame(const PointType& origin, PointType& dir, PointType& up, PointType& right, int height,
int width, frame::colormap colorformat = frame::colormap::RGB) {
frame renderFrame(const Camera& cam, int height, int width, frame::colormap colorformat = frame::colormap::RGB) {
PointType origin = cam.origin;
PointType dir = cam.direction.normalized();
PointType up = cam.up.normalized();
PointType right = cam.right();
frame outFrame(width, height, colorformat);
std::vector<uint8_t> colorBuffer;
@@ -340,12 +345,11 @@ public:
}
colorBuffer.resize(width * height * channels);
PointType viewDir = dir.normalized();
PointType upn = up.normalized();
PointType rightn = right.normalized();
float aspect = static_cast<float>(width) / height;
float tanfovy = 1.f;
float tanfovx = tanfovy * aspect;
float fovRad = cam.fovRad();
float tanHalfFov = tan(fovRad * 0.5f);
float tanfovy = tanHalfFov;
float tanfovx = tanHalfFov * aspect;
const Eigen::Vector3f defaultColor(0.1f, 0.2f, 0.4f);
@@ -355,7 +359,7 @@ public:
float px = (2.0f * (x + 0.5f) / width - 1.0f) * tanfovx;
float py = (1.0f - 2.0f * (y + 0.5f) / height) * tanfovy;
PointType rayDir = viewDir + (rightn * px) + (upn * py);
PointType rayDir = dir + (right * px) + (up * py);
rayDir.normalize();
std::vector<std::shared_ptr<NodeData>> hits = voxelTraverse(