3d_graphics_demo.cpp File Reference

#include <stdio.h>
#include "esp_log.h"
#include "ssd1306.h"
#include "bsp/esp-bsp.h"
#include "esp_dsp.h"
#include "cube_matrix.h"
#include "esp_logo.h"
#include "esp_text.h"
#include "graphics_support.h"
#include "image_to_3d_matrix.h"

Include dependency graph for applications/azure_board_apps/apps/3d_graphics/main/3d_graphics_demo.cpp:

Go to the source code of this file.

Functions
void	app_main ()
static void	init_3d_matrix_struct (image_3d_matrix_t *image)
	Initialize 3d image structure.
static void	app_ssd1306_init (void)
	Initialize display.
static void	display_3d_image (dspm::Mat projected_image)
	Display a 3d image.
static void	dispaly_esp_text (void)
	Display ESPRESSIF text.
static void	draw_3d_image_task (void *arg)
	RTOS task to draw a 3d image.

Variables
static ssd1306_handle_t	ssd1306_dev = NULL
static bool	button_pressed = true
dspm::Mat	perspective_matrix (MATRIX_SIZE, MATRIX_SIZE)

Function Documentation

app_main()

void app_main

(

void

)

Definition at line 203 of file applications/azure_board_apps/apps/3d_graphics/main/3d_graphics_demo.cpp.

{
    static bool button_prev_val = false;
    image_3d_matrix_t image;
    ekf_imu13states *ekf13 = new ekf_imu13states();
    ekf13->Init();
 
    // Init all board components
    bsp_i2c_init();
    app_ssd1306_init();                         // display init
    bsp_leds_init();                            // LEDs init
    bsp_i2c_set_clk_speed(I2C_CLK_600KHZ);      // Set I2C to 600kHz
 
    init_perspective_matrix(perspective_matrix);
    init_3d_matrix_struct(&image);
 
    dispaly_esp_text();
    vTaskDelay(1000 / portTICK_PERIOD_MS);
 
    xTaskCreate(draw_3d_image_task, "draw_3d_image", 2048, &image, 4, NULL);
    ESP_LOGI("3D image demo", "Showing 3D image");
 
    while (1) {
        if (bsp_button_get()) {
            button_pressed = !button_pressed;
        }
 
        if (button_prev_val != button_pressed) {
            button_prev_val = button_pressed;
            if (button_pressed) {
                bsp_led_set(BSP_LED_AZURE, true);
            } else {
                bsp_led_set(BSP_LED_AZURE, false);
            }
        }
        vTaskDelay(100 / portTICK_PERIOD_MS);
    }
}

References app_ssd1306_init(), bsp_i2c_init(), button_pressed, dispaly_esp_text(), draw_3d_image_task(), ekf13, image, init_3d_matrix_struct(), init_perspective_matrix(), and perspective_matrix.

Here is the call graph for this function:

app_ssd1306_init()

void app_ssd1306_init ( void )

static

Initialize display.

Definition at line 53 of file applications/azure_board_apps/apps/3d_graphics/main/3d_graphics_demo.cpp.

{
    ssd1306_dev = ssd1306_create((i2c_port_t)BSP_I2C_NUM, SSD1306_I2C_ADDRESS);
    ssd1306_clear_screen(ssd1306_dev, 0x00);
    ssd1306_refresh_gram(ssd1306_dev);
}

References ssd1306_dev.

Referenced by app_main().

Here is the caller graph for this function:

dispaly_esp_text()

void dispaly_esp_text ( void )

static

Display ESPRESSIF text.

To demonstrate usage of the translation and scaling matrices

Definition at line 96 of file applications/azure_board_apps/apps/3d_graphics/main/3d_graphics_demo.cpp.

{
    image_3d_matrix_t esp_text;
    esp_text.matrix = image_3d_array_esp_text;
    esp_text.matrix_len = ((sizeof(image_3d_array_esp_text)) / sizeof(float)) / MATRIX_SIZE;
    int16_t shift_x = -SSD1606_X_CENTER;
 
    dspm::Mat T = dspm::Mat::eye(MATRIX_SIZE);                      // Transformation matrix
    dspm::Mat transformed_image(esp_text.matrix_len, MATRIX_SIZE);  // 3D image matrix after transformation
    dspm::Mat matrix_3d((float *)esp_text.matrix[0], esp_text.matrix_len, MATRIX_SIZE);
 
    ESP_LOGI("3D image demo", "Showing ESP text");
 
    for (int i = 0; i < 52; i++) {
        update_translation_matrix(T, true, (float)shift_x, (float)SSD1606_Y_CENTER, 0);
        transformed_image = matrix_3d * T;
 
        ssd1306_clear_screen(ssd1306_dev, 0);
        for (uint32_t point = 0; point < transformed_image.rows; point++ ) {
            ssd1306_fill_point(ssd1306_dev, transformed_image(point, 0), transformed_image(point, 1), 1);
        }
        ssd1306_refresh_gram(ssd1306_dev);
        vTaskDelay(50 / portTICK_PERIOD_MS);
 
        shift_x += 5;
    }
 
    ssd1306_clear_screen(ssd1306_dev, 0);
    ssd1306_draw_bitmap(ssd1306_dev, 0, 24, &image_bmp_array_esp_text[0], 128, 24);
    ssd1306_refresh_gram(ssd1306_dev);
 
    update_translation_matrix(T, true, (float)SSD1606_X_CENTER, (float)SSD1606_Y_CENTER, 0);
    vTaskDelay(100 / portTICK_PERIOD_MS);
 
    float scale = 1;
    for (int i = 0; i < 20; i++) {
        update_scaling_matrix(T, false, scale, scale, 1);
        transformed_image = matrix_3d * T;
 
        ssd1306_clear_screen(ssd1306_dev, 0);
        for (uint32_t point = 0; point < transformed_image.rows; point++ ) {
            ssd1306_fill_point(ssd1306_dev, transformed_image(point, 0), transformed_image(point, 1), 1);
        }
        ssd1306_refresh_gram(ssd1306_dev);
        vTaskDelay(50 / portTICK_PERIOD_MS);
 
        if (i < 10) {
            scale -= 0.05;
        } else {
            scale += 0.05;
        }
    }
}

References dspm::Mat::eye(), image_3d_array_esp_text, image_bmp_array_esp_text, image_3d_matrix_s::matrix, image_3d_matrix_s::matrix_len, MATRIX_SIZE, dspm::Mat::rows, ssd1306_dev, SSD1606_X_CENTER, SSD1606_Y_CENTER, update_scaling_matrix(), and update_translation_matrix().

Referenced by app_main().

Here is the call graph for this function:

Here is the caller graph for this function:

display_3d_image()

void display_3d_image ( dspm::Mat projected_image )

static

Display a 3d image.

If the object is the 3d cube, connect the projected cube points by lines and display the lines For any other 3d object lit pixels on the display from provided XY coordinates

Parameters

projected_image

3d matrix from Mat class after projection

Definition at line 68 of file applications/azure_board_apps/apps/3d_graphics/main/3d_graphics_demo.cpp.

{
    ssd1306_clear_screen(ssd1306_dev, 0);
 
    if (OBJECT_3D_CUBE) {
        // For the 3D cube, only the 6 points of the cube are transformed
        // Cube edges, connecting transformed 3D cube points are connected with lines here
        for (uint8_t cube_point = 0; cube_point < CUBE_EDGES; cube_point++) {
            ssd1306_draw_line(ssd1306_dev,
                              (int16_t)projected_image(cube_dict_line_begin[cube_point], 0),
                              (int16_t)projected_image(cube_dict_line_begin[cube_point], 1),
                              (int16_t)projected_image(cube_dict_line_end[cube_point], 0),
                              (int16_t)projected_image(cube_dict_line_end[cube_point], 1));
        }
    } else {
        // Every other 3D image is drawn here pixel by pixel
        for (uint32_t pixel = 0; pixel < projected_image.rows; pixel++ ) {
            ssd1306_fill_point(ssd1306_dev, projected_image(pixel, 0), projected_image(pixel, 1), 1);
        }
    }
    ssd1306_refresh_gram(ssd1306_dev);
}

References cube_dict_line_begin, cube_dict_line_end, CUBE_EDGES, OBJECT_3D_CUBE, dspm::Mat::rows, and ssd1306_dev.

Referenced by draw_3d_image_task().

Here is the caller graph for this function:

draw_3d_image_task()

void draw_3d_image_task ( void * arg )

static

RTOS task to draw a 3d image.

Updates 3d matrices, prepares the final 3d matrix to be displayed on the display

Parameters

arg	pointer to RTOS task arguments, 3d image structure in this case

Definition at line 157 of file applications/azure_board_apps/apps/3d_graphics/main/3d_graphics_demo.cpp.

{
    float rot_y = 0, rot_x = 0;
    const float angle_increment = 4;
    image_3d_matrix_t *image = (image_3d_matrix_t *)arg;
 
    dspm::Mat T = dspm::Mat::eye(MATRIX_SIZE);                      // Transformation matrix
    dspm::Mat transformed_image(image->matrix_len, MATRIX_SIZE);    // 3D image matrix after transformation
    dspm::Mat projected_image(image->matrix_len, MATRIX_SIZE);      // 3D image matrix after projection
    dspm::Mat matrix_3d((float *)image->matrix[0], image->matrix_len, MATRIX_SIZE);
 
    if (OBJECT_3D_CUBE) {
        rot_x = 45;
    }
 
    while (1) {
        if (button_pressed) {
            rot_y += angle_increment;
            if (rot_y >= 360) {
                rot_y -= 360;
            }
        } else {
            rot_y -= angle_increment;
            if (rot_y <= 0) {
                rot_y += 360;
            }
        }
 
        // Apply rotation in all the axes to the transformation matrix
        update_rotation_matrix(T, rot_x, rot_y, 0);
        // Apply translation to the transformation matrix
        update_translation_matrix(T, true, ((float)SSD1606_X_CENTER), ((float)SSD1606_Y_CENTER), 0);
 
        // explanation for the matrix multiplication is for the 3D cube scenario, applies for all of the objects
        // where matrix rows for the transformed image and the projected image are set according to the specific 3d object
 
        // matrix mul cube_matirx(8x4) * transformation_matrix(4x4) = transformed_cube(8x4)
        transformed_image = matrix_3d * T;
        // matrix mul transformed_cube(8x4) * perspective_matrix(4x4) = projected_cube(8x4)
        projected_image = transformed_image * perspective_matrix;
 
        display_3d_image(projected_image);
        vTaskDelay(20 / portTICK_PERIOD_MS);
    }
}

References button_pressed, display_3d_image(), dspm::Mat::eye(), image, MATRIX_SIZE, OBJECT_3D_CUBE, perspective_matrix, SSD1606_X_CENTER, SSD1606_Y_CENTER, update_rotation_matrix(), and update_translation_matrix().

Referenced by app_main().

Here is the call graph for this function:

Here is the caller graph for this function:

init_3d_matrix_struct()

void init_3d_matrix_struct ( image_3d_matrix_t * image )

static

Initialize 3d image structure.

Assigns a 3d image to be displayed to the 3d image structure based on the Kconfig menu result. The Kconfig menu is operated by a user

Parameters

image

3d image structure

Definition at line 33 of file applications/azure_board_apps/apps/3d_graphics/main/3d_graphics_demo.cpp.

{
#ifdef CONFIG_3D_OBJECT_ESP_LOGO
    image->matrix = image_3d_matrix_esp_logo;
    image->matrix_len = ((sizeof(image_3d_matrix_esp_logo)) / sizeof(float)) / MATRIX_SIZE;
    ESP_LOGI("3D image demo", "Selected 3D image - ESP Logo");
#elif CONFIG_3D_OBJECT_CUSTOM
    image->matrix = image_to_3d_matrix_custom;
    image->matrix_len = ((sizeof(image_to_3d_matrix_custom)) / sizeof(float)) / MATRIX_SIZE;
    ESP_LOGI("3D image demo", "Selected 3D image - User's custom image");
#elif CONFIG_3D_OBJECT_CUBE
    image->matrix = cube_vectors_3d;
    image->matrix_len = ((sizeof(cube_vectors_3d)) / sizeof(float)) / MATRIX_SIZE;
    ESP_LOGI("3D image demo", "Selected 3D image - 3D cube");
#endif
}

References cube_vectors_3d, image, image_3d_matrix_esp_logo, image_to_3d_matrix_custom, and MATRIX_SIZE.

Referenced by app_main().

Here is the caller graph for this function:

Variable Documentation

button_pressed

bool button_pressed = true

static

Definition at line 19 of file applications/azure_board_apps/apps/3d_graphics/main/3d_graphics_demo.cpp.

Referenced by __attribute__(), app_main(), draw_3d_image_task(), draw_3d_image_task(), draw_3d_image_task(), and draw_3d_image_task().

perspective_matrix

dspm::Mat perspective_matrix(MATRIX_SIZE, MATRIX_SIZE)	(	MATRIX_SIZE	,
		MATRIX_SIZE	)

Referenced by app_main(), draw_3d_image(), draw_3d_image(), draw_3d_image(), draw_3d_image(), draw_3d_image_task(), draw_3d_image_task(), draw_3d_image_task(), draw_3d_image_task(), draw_3d_image_task(), draw_3d_image_task(), draw_3d_image_task(), draw_3d_image_task(), get_pressure_task(), get_pressure_task(), get_pressure_task(), get_pressure_task(), kalman_filter_task(), kalman_filter_task(), kalman_filter_task(), and kalman_filter_task().

ssd1306_dev

ssd1306_handle_t ssd1306_dev = NULL

static

Definition at line 18 of file applications/azure_board_apps/apps/3d_graphics/main/3d_graphics_demo.cpp.

Referenced by app_ssd1306_init(), app_ssd1306_init(), app_ssd1306_init(), app_ssd1306_init(), app_ssd1306_init(), app_ssd1306_init(), app_ssd1306_init(), app_ssd1306_init(), dispaly_esp_text(), dispaly_esp_text(), dispaly_esp_text(), dispaly_esp_text(), display_3d_image(), display_3d_image(), display_3d_image(), display_3d_image(), display_3d_image(), display_3d_image(), display_3d_image(), display_3d_image(), get_initial_pressure(), kalman_filter_calibration(), kalman_filter_calibration(), kalman_filter_calibration(), and kalman_filter_calibration().