hg_image_math.inl

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// Copyright 2021-2022, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief Helper header for drawing and image transforms
 * @author Moshi Turner <moshiturner@protonmail.com>
 * @ingroup tracking
 */
#pragma once
 
#include "hg_sync.hpp"
 
namespace xrt::tracking::hand::mercury {
 
/*!
 * This is a template so that we can use xrt_vec3 or xrt_vec2.
 * Please don't use this for anything other than xrt_vec3 or xrt_vec2!
 */
template <typename T>
T
transformVecBy2x3(T in, cv::Matx23f warp_back)
{
        T rr;
        rr.x = (in.x * warp_back(0, 0)) + (in.y * warp_back(0, 1)) + warp_back(0, 2);
        rr.y = (in.x * warp_back(1, 0)) + (in.y * warp_back(1, 1)) + warp_back(1, 2);
        return rr;
}
 
static cv::Scalar
hsv2rgb(float fH, float fS, float fV)
{
        const float fC = fV * fS; // Chroma
        const float fHPrime = fmod(fH / 60.0, 6);
        const float fX = fC * (1 - fabs(fmod(fHPrime, 2) - 1));
        const float fM = fV - fC;
 
        float fR, fG, fB;
 
        if (0 <= fHPrime && fHPrime < 1) {
                fR = fC;
                fG = fX;
                fB = 0;
        } else if (1 <= fHPrime && fHPrime < 2) {
                fR = fX;
                fG = fC;
                fB = 0;
        } else if (2 <= fHPrime && fHPrime < 3) {
                fR = 0;
                fG = fC;
                fB = fX;
        } else if (3 <= fHPrime && fHPrime < 4) {
                fR = 0;
                fG = fX;
                fB = fC;
        } else if (4 <= fHPrime && fHPrime < 5) {
                fR = fX;
                fG = 0;
                fB = fC;
        } else if (5 <= fHPrime && fHPrime < 6) {
                fR = fC;
                fG = 0;
                fB = fX;
        } else {
                fR = 0;
                fG = 0;
                fB = 0;
        }
 
        fR += fM;
        fG += fM;
        fB += fM;
        return {fR * 255.0f, fG * 255.0f, fB * 255.0f};
}
 
inline void
handDot(cv::Mat &mat, xrt_vec2 place, float radius, float hue, float intensity, int type)
{
        cv::circle(mat, {(int)place.x, (int)place.y}, radius, hsv2rgb(hue * 360.0f, intensity, intensity), type);
}
 
inline void
handSquare(cv::Mat &debug_frame, xrt_vec2 center, float radius, cv::Scalar color)
{
        cv::Point2i pt((int)center.x, (int)center.y);
        cv::rectangle(debug_frame, cv::Rect(pt - cv::Point2i(radius / 2, radius / 2), cv::Size(radius, radius)), color,
                      1);
}
 
} // namespace xrt::tracking::hand::mercury