Reapply: Image zoom (#1100)

* Reapply "Image zZoom für Alex (#1023)" (#1090)

This reverts commit d234679.

* image zoom diesmal aber richtig

Co-authored-by: knoellle <[email protected]>

* make clippy happy

---------

Co-authored-by: okiwi6 <oleflb>
Co-authored-by: knoellle <[email protected]>

crates/coordinate_systems/src/lib.rs

@@ -125,4 +125,10 @@ generate_coordinate_system!(
     /// Same as [RightFoot] but shifted down to the sole.
     /// See [official documentation](http://doc.aldebaran.com/2-8/family/nao_technical/masses_naov6.html#right-foot)
     RightSole,
+    /// 2D Coordinate System for Twix Widgets
+    ///
+    /// Origin: top left corner of the image
+    /// X axis points right
+    /// Y axis points down
+    Screen,
 );

tools/twix/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "twix"
-version = "0.5.1"
+version = "0.5.2"
 edition.workspace = true
 license.workspace = true
 homepage.workspace = true

tools/twix/src/main.rs

@@ -60,6 +60,7 @@ mod selectable_panel_macro;
 mod twix_painter;
 mod value_buffer;
 mod visuals;
+mod zoom_and_pan;
 
 #[derive(Debug, Parser)]
 struct Arguments {

tools/twix/src/panels/image/mod.rs

@@ -1,23 +1,22 @@
 use std::{str::FromStr, sync::Arc};
 
 use color_eyre::{eyre::eyre, Result};
-use eframe::{
-    egui::{ComboBox, Image, Response, TextureOptions, Ui, Widget},
-    epaint::Vec2,
-};
+use coordinate_systems::Pixel;
+use eframe::egui::{ComboBox, Response, SizeHint, TextureOptions, Ui, Widget};
+use geometry::rectangle::Rectangle;
+use linear_algebra::{point, vector};
 use log::error;
-use nalgebra::Similarity2;
 use serde::{Deserialize, Serialize};
 use serde_json::{from_value, json, Value};
 
 use communication::client::{Cycler, CyclerOutput, Output};
-use linear_algebra::vector;
 
 use crate::{
     image_buffer::ImageBuffer,
     nao::Nao,
     panel::Panel,
-    twix_painter::{CoordinateSystem, TwixPainter},
+    twix_painter::{Orientation, TwixPainter},
+    zoom_and_pan::ZoomAndPanTransform,
 };
 
 use self::{cycler_selector::VisionCyclerSelector, overlay::Overlays};
@@ -51,6 +50,7 @@ pub struct ImagePanel {
     cycler_selector: VisionCyclerSelector,
     overlays: Overlays,
     image_kind: ImageKind,
+    zoom_and_pan: ZoomAndPanTransform,
 }
 
 impl Panel for ImagePanel {
@@ -94,6 +94,7 @@ impl Panel for ImagePanel {
             cycler_selector,
             overlays,
             image_kind,
+            zoom_and_pan: ZoomAndPanTransform::default(),
         }
     }
 
@@ -151,36 +152,49 @@ impl Widget for &mut ImagePanel {
             self.overlays
                 .combo_box(ui, self.cycler_selector.selected_cycler());
         });
+        let (response, mut painter) = TwixPainter::allocate(
+            ui,
+            vector![640.0, 480.0],
+            point![0.0, 0.0],
+            Orientation::LeftHanded,
+        );
+        self.zoom_and_pan.apply(ui, &mut painter, &response);
 
-        match self.show_image(ui) {
-            Ok(response) => response,
-            Err(error) => ui.label(format!("{error:#?}")),
-        }
+        let _ = self
+            .show_image(&painter)
+            .map_err(|error| ui.label(format!("{error:#?}")));
+        let _ = self.overlays.paint(&painter);
+        response
     }
 }
 
 impl ImagePanel {
-    fn show_image(&self, ui: &mut Ui) -> Result<Response> {
+    fn show_image(&self, painter: &TwixPainter<Pixel>) -> Result<()> {
         let image_data = self
             .image_buffer
             .get_latest()
             .map_err(|error| eyre!("{error}"))?;
         let image_raw = bincode::deserialize::<Vec<u8>>(&image_data)?;
+        let context = painter.context();
 
         let image_identifier = format!("bytes://image-{:?}", self.cycler_selector);
-        ui.ctx().forget_image(&image_identifier);
-        let image = Image::from_bytes(image_identifier, image_raw)
-            .texture_options(TextureOptions::NEAREST)
-            .fit_to_fraction(Vec2::splat(1.0));
-
-        let image_response = ui.add(image);
-
-        let painter = TwixPainter::paint_at(ui, image_response.rect).with_camera(
-            vector![640.0, 480.0],
-            Similarity2::identity(),
-            CoordinateSystem::LeftHand,
-        );
-        let _ = self.overlays.paint(&painter);
-        Ok(image_response)
+        context.forget_image(&image_identifier);
+        context.include_bytes(image_identifier.clone(), image_raw);
+        let result = context.try_load_texture(
+            &image_identifier,
+            TextureOptions::NEAREST,
+            SizeHint::Size(640, 480),
+        )?;
+
+        if let Some(id) = result.texture_id() {
+            painter.image(
+                id,
+                Rectangle {
+                    min: point!(0.0, 0.0),
+                    max: point!(640.0, 480.0),
+                },
+            );
+        }
+        Ok(())
     }
 }

tools/twix/src/panels/image_color_select.rs

@@ -27,7 +27,7 @@ use crate::{
     image_buffer::ImageBuffer,
     nao::Nao,
     panel::Panel,
-    twix_painter::{CoordinateSystem, TwixPainter},
+    twix_painter::{Orientation, TwixPainter},
 };
 
 use super::image::cycler_selector::VisionCyclerSelector;
@@ -195,7 +195,7 @@ impl Widget for &mut ImageColorSelectPanel {
         let painter = TwixPainter::<Pixel>::paint_at(ui, response.rect).with_camera(
             vector![image.width() as f32, image.height() as f32],
             Similarity2::identity(),
-            CoordinateSystem::LeftHand,
+            Orientation::LeftHanded,
         );
 
         if let Some(hover_position) = response.hover_pos() {

tools/twix/src/panels/image_segments.rs

@@ -4,12 +4,11 @@ use eframe::{
     egui::{ComboBox, Response, Ui, Widget},
     epaint::{Color32, Stroke},
 };
-use nalgebra::Similarity2;
+use linear_algebra::{point, vector};
 use serde::{Deserialize, Serialize};
 
 use communication::client::CyclerOutput;
 use coordinate_systems::Pixel;
-use linear_algebra::{point, vector};
 use serde_json::{json, Value};
 use types::{
     camera_position::CameraPosition,
@@ -20,8 +19,9 @@ use types::{
 use crate::{
     nao::Nao,
     panel::Panel,
-    twix_painter::{CoordinateSystem, TwixPainter},
+    twix_painter::{Orientation, TwixPainter},
     value_buffer::ValueBuffer,
+    zoom_and_pan::ZoomAndPanTransform,
 };
 
 #[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
@@ -45,6 +45,7 @@ pub struct ImageSegmentsPanel {
     camera_position: CameraPosition,
     color_mode: ColorMode,
     use_filtered_segments: bool,
+    zoom_and_pan: ZoomAndPanTransform,
 }
 
 impl Panel for ImageSegmentsPanel {
@@ -73,6 +74,7 @@ impl Panel for ImageSegmentsPanel {
             camera_position,
             color_mode,
             use_filtered_segments,
+            zoom_and_pan: ZoomAndPanTransform::default(),
         }
     }
 
@@ -161,12 +163,14 @@ impl Widget for &mut ImageSegmentsPanel {
             Err(error) => return ui.label(format!("{error:?}")),
         };
 
-        let (mut response, painter) = TwixPainter::<Pixel>::allocate_new(ui);
-        let painter = painter.with_camera(
+        let (mut response, mut painter) = TwixPainter::<Pixel>::allocate(
+            ui,
             vector![640.0, 480.0],
-            Similarity2::identity(),
-            CoordinateSystem::LeftHand,
+            point![0.0, 0.0],
+            Orientation::LeftHanded,
         );
+        self.zoom_and_pan.apply(ui, &mut painter, &response);
+
         if let Some(hover_pos) = response.hover_pos() {
             let image_coords = painter.transform_pixel_to_world(hover_pos);
             let x = image_coords.x().round() as u16;