[37] | 1 | /* |
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| 2 | |
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| 3 | Brian Curless |
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| 4 | |
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| 5 | Computer Graphics Laboratory |
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| 6 | Stanford University |
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| 7 | |
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| 8 | --------------------------------------------------------------------- |
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| 9 | |
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| 10 | Copyright (1997) The Board of Trustees of the Leland Stanford Junior |
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| 11 | University. Except for commercial resale, lease, license or other |
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| 12 | commercial transactions, permission is hereby given to use, copy, |
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| 13 | modify this software for academic purposes only. No part of this |
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| 14 | software or any derivatives thereof may be used in the production of |
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| 15 | computer models for resale or for use in a commercial |
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| 16 | product. STANFORD MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND |
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| 17 | CONCERNING THIS SOFTWARE. No support is implied or provided. |
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| 18 | |
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| 19 | */ |
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| 20 | |
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| 21 | |
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| 22 | #include "Mesh.h" |
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| 23 | #include <limits.h> |
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| 24 | #include "rangePly.h" |
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| 25 | #include "plyio.h" |
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| 26 | #include "vripGlobals.h" |
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| 27 | |
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| 28 | #ifdef linux |
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| 29 | #include <float.h> |
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| 30 | #endif |
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| 31 | |
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| 32 | static void lower_edge_confidence(Mesh *mesh); |
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| 33 | static void lower_edge_confidence_2(Mesh *mesh); |
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| 34 | |
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| 35 | |
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| 36 | Mesh::Mesh() |
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| 37 | { |
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| 38 | numVerts = 0; |
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| 39 | verts = NULL; |
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| 40 | |
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| 41 | numTris = 0; |
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| 42 | tris = NULL; |
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| 43 | |
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| 44 | hasConfidence = 0; |
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| 45 | hasColor = 0; |
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| 46 | } |
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| 47 | |
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| 48 | |
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| 49 | Mesh::~Mesh() |
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| 50 | { |
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| 51 | if (verts != NULL) { |
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| 52 | for (int i = 0; i < numVerts; i++) { |
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| 53 | delete [] verts[i].verts; |
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| 54 | delete [] verts[i].edgeLengths; |
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| 55 | delete [] verts[i].tris; |
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| 56 | } |
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| 57 | |
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| 58 | delete [] verts; |
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| 59 | } |
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| 60 | |
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| 61 | if (tris != NULL) { |
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| 62 | delete [] tris; |
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| 63 | } |
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| 64 | } |
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| 65 | |
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| 66 | |
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| 67 | |
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| 68 | void |
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| 69 | Mesh::computeBBox() |
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| 70 | { |
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| 71 | bbox.init(); |
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| 72 | |
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| 73 | Vertex *buf = this->verts; |
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| 74 | for (int i = 0; i < this->numVerts; i++, buf++) { |
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| 75 | bbox.update(buf->coord); |
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| 76 | } |
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| 77 | } |
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| 78 | |
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| 79 | |
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| 80 | void |
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| 81 | Mesh::initNormals() |
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| 82 | { |
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| 83 | computeTriNormals(); |
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| 84 | computeVertNormals(); |
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| 85 | } |
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| 86 | |
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| 87 | |
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| 88 | void |
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| 89 | Mesh::computeTriNormals() |
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| 90 | { |
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| 91 | Vec3f v1, v2, v3, norm; |
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| 92 | Triangle *tri; |
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| 93 | int i; |
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| 94 | |
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| 95 | for (i = 0; i < numTris; i++) { |
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| 96 | tri = &tris[i]; |
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| 97 | v1.setValue(verts[tri->vindex1].coord); |
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| 98 | v2.setValue(verts[tri->vindex2].coord); |
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| 99 | v3.setValue(verts[tri->vindex3].coord); |
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| 100 | v2 = v1 - v2; |
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| 101 | v3 = v1 - v3; |
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| 102 | tri->norm = v2.cross(v3); |
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| 103 | tri->norm.normalize(); |
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| 104 | } |
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| 105 | } |
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| 106 | |
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| 107 | void |
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| 108 | Mesh::computeVertNormals() |
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| 109 | { |
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| 110 | Vec3f norm; |
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| 111 | int i, index; |
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| 112 | |
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| 113 | for (i = 0; i < numVerts; i++) { |
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| 114 | verts[i].norm.setValue(0, 0, 0); |
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| 115 | } |
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| 116 | |
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| 117 | for (i = 0; i < numTris; i++) { |
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| 118 | index = tris[i].vindex1; |
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| 119 | verts[index].norm += tris[i].norm; |
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| 120 | |
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| 121 | index = tris[i].vindex2; |
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| 122 | verts[index].norm += tris[i].norm; |
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| 123 | |
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| 124 | index = tris[i].vindex3; |
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| 125 | verts[index].norm += tris[i].norm; |
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| 126 | } |
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| 127 | |
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| 128 | for (i = 0; i < numVerts; i++) { |
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| 129 | verts[i].norm.normalize(); |
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| 130 | } |
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| 131 | } |
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| 132 | |
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| 133 | |
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| 134 | void |
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| 135 | doConfidence(Mesh *mesh, int perspective) |
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| 136 | { |
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| 137 | float dotLaser, angleLaser, radAngleLaser; |
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| 138 | float dotCCD, angleCCD, radAngleCCD; |
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| 139 | float weight; |
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| 140 | Vec3f dirLaser, dirCCD; |
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| 141 | |
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| 142 | if (mesh->isWarped) { |
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| 143 | if (mesh->isRightMirrorOpen) { |
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| 144 | angleCCD = 30; |
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| 145 | } else { |
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| 146 | angleCCD = -30; |
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| 147 | } |
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| 148 | radAngleCCD = angleCCD*M_PI/180; |
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| 149 | dirCCD.setValue(sin(radAngleCCD), 0, cos(radAngleCCD)); |
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| 150 | |
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| 151 | angleLaser = 0; |
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| 152 | radAngleLaser = angleLaser*M_PI/180; |
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| 153 | dirLaser.setValue(sin(radAngleLaser), 0, cos(radAngleLaser)); |
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| 154 | |
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| 155 | for (int i = 0; i < mesh->numVerts; i++) { |
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| 156 | |
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| 157 | // No confidence for "phony" polygons and their vertices |
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| 158 | if (mesh->verts[i].holeFill) { |
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| 159 | mesh->verts[i].confidence = 0; |
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| 160 | } else { |
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| 161 | dotCCD = dirCCD.dot(mesh->verts[i].norm); |
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| 162 | dotCCD = MAX(dotCCD,0); |
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| 163 | dotLaser = dirLaser.dot(mesh->verts[i].norm); |
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| 164 | dotLaser = MAX(dotLaser,0); |
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| 165 | |
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| 166 | |
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| 167 | weight = dotLaser*dotCCD; |
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| 168 | |
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| 169 | // Dividing by 0.9 scales it back up some. Min is about 0.8 |
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| 170 | //weight = pow(weight, ConfidenceExponent)/0.9; |
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| 171 | //if (weight < 0.001) |
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| 172 | // weight = 0; |
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| 173 | |
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| 174 | weight = dotCCD; |
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| 175 | weight = pow(weight, ConfidenceExponent); |
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| 176 | |
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| 177 | mesh->verts[i].confidence *= weight; |
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| 178 | } |
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| 179 | } |
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| 180 | } |
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| 181 | else if (!perspective) { |
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| 182 | angleLaser = 0; |
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| 183 | radAngleLaser = angleLaser*M_PI/180; |
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| 184 | dirLaser.setValue(sin(radAngleLaser), 0, cos(radAngleLaser)); |
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| 185 | |
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| 186 | for (int i = 0; i < mesh->numVerts; i++) { |
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| 187 | if (mesh->verts[i].holeFill) { |
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| 188 | mesh->verts[i].confidence = 0; |
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| 189 | } else { |
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| 190 | dotLaser = dirLaser.dot(mesh->verts[i].norm); |
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| 191 | dotLaser = MAX(dotLaser,0); |
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| 192 | weight = pow(dotLaser, ConfidenceExponent); |
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| 193 | mesh->verts[i].confidence *= weight; |
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| 194 | } |
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| 195 | } |
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| 196 | } else { |
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| 197 | angleLaser = 0; |
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| 198 | radAngleLaser = angleLaser*M_PI/180; |
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| 199 | dirLaser.setValue(sin(radAngleLaser), 0, cos(radAngleLaser)); |
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| 200 | |
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| 201 | for (int i = 0; i < mesh->numVerts; i++) { |
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| 202 | if (mesh->verts[i].holeFill) { |
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| 203 | mesh->verts[i].confidence = 0; |
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| 204 | } else { |
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| 205 | dirLaser = PerspectiveCOP - mesh->verts[i].coord; |
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| 206 | dirLaser.normalize(); |
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| 207 | dotLaser = dirLaser.dot(mesh->verts[i].norm); |
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| 208 | dotLaser = MAX(dotLaser,0); |
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| 209 | weight = pow(dotLaser, ConfidenceExponent); |
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| 210 | mesh->verts[i].confidence *= weight; |
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| 211 | } |
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| 212 | } |
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| 213 | } |
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| 214 | |
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| 215 | lower_edge_confidence(mesh); |
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| 216 | |
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| 217 | mesh->hasConfidence = 1; |
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| 218 | |
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| 219 | } |
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| 220 | |
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| 221 | |
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| 222 | /****************************************************************************** |
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| 223 | Lower the confidence value on edges. |
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| 224 | |
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| 225 | Entry: |
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| 226 | mesh - mesh on which to lower the edge confidence |
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| 227 | level - level of mesh detail |
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| 228 | ******************************************************************************/ |
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| 229 | |
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| 230 | static void |
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| 231 | lower_edge_confidence(Mesh *mesh) |
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| 232 | { |
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| 233 | int i,j,k; |
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| 234 | int pass; |
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| 235 | int val; |
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| 236 | float recip, weight; |
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| 237 | Vertex *v; |
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| 238 | int chew_count; |
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| 239 | |
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| 240 | switch (MeshResolution) { |
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| 241 | case 1: |
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| 242 | chew_count = EdgeConfSteps; |
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| 243 | break; |
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| 244 | case 2: |
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| 245 | chew_count = EdgeConfSteps/2; |
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| 246 | break; |
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| 247 | case 3: |
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| 248 | chew_count = EdgeConfSteps/4; |
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| 249 | break; |
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| 250 | case 4: |
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| 251 | chew_count = EdgeConfSteps/8; |
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| 252 | break; |
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| 253 | } |
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| 254 | |
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| 255 | if (chew_count == 0) { |
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| 256 | return; |
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| 257 | } |
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| 258 | |
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| 259 | MaxStepsToEdge = chew_count; |
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| 260 | |
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| 261 | for (i = 0; i < mesh->numVerts; i++) { |
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| 262 | |
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| 263 | v = &mesh->verts[i]; |
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| 264 | if (v->stepsToEdge >= 0) { |
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| 265 | if (v->on_edge) { |
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| 266 | v->stepsToEdge = 0; |
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| 267 | } else { |
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| 268 | v->stepsToEdge = chew_count; |
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| 269 | } |
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| 270 | } |
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| 271 | } |
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| 272 | |
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| 273 | /* make several passes through the vertices */ |
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| 274 | for (pass = 1; pass < chew_count; pass++) { |
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| 275 | |
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| 276 | /* propagate higher on-edge values away from edges */ |
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| 277 | for (i = 0; i < mesh->numVerts; i++) { |
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| 278 | |
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| 279 | v = &mesh->verts[i]; |
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| 280 | if (v->on_edge != 0) |
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| 281 | continue; |
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| 282 | |
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| 283 | for (j = 0; j < v->numVerts; j++) { |
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| 284 | if (v->verts[j]->on_edge == pass) { |
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| 285 | v->on_edge = pass+1; |
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| 286 | v->stepsToEdge = pass; |
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| 287 | break; |
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| 288 | } |
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| 289 | } |
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| 290 | } |
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| 291 | } |
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| 292 | |
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| 293 | |
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| 294 | /* lower the confidences on the edge */ |
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| 295 | |
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| 296 | recip = 1.0 / (chew_count); |
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| 297 | |
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| 298 | for (i = 0; i < mesh->numVerts; i++) { |
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| 299 | v = &mesh->verts[i]; |
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| 300 | val = v->on_edge; |
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| 301 | if (val) { |
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| 302 | weight = (val-1) * recip; |
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| 303 | weight = pow(weight, EdgeConfExponent); |
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| 304 | v->confidence *= weight; |
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| 305 | v->confidence += ConfidenceBias/255.0; |
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| 306 | v->confidence = MIN(v->confidence, 1.0); |
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| 307 | if (val > 1) |
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| 308 | v->on_edge = 0; |
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| 309 | } |
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| 310 | } |
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| 311 | } |
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| 312 | |
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| 313 | |
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| 314 | |
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| 315 | static void |
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| 316 | lower_edge_confidence_2(Mesh *mesh) |
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| 317 | { |
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| 318 | int i,j,k; |
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| 319 | int pass; |
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| 320 | int val; |
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| 321 | float recip, max_dist, newDist; |
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| 322 | Vertex *v; |
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| 323 | int chew_count; |
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| 324 | |
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| 325 | #if 0 |
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| 326 | switch (level) { |
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| 327 | case 0: |
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| 328 | chew_count = (int)(8*CONF_EDGE_COUNT_FACTOR+0.5); |
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| 329 | break; |
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| 330 | case 1: |
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| 331 | chew_count = (int)(4*CONF_EDGE_COUNT_FACTOR+0.5); |
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| 332 | break; |
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| 333 | case 2: |
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| 334 | chew_count = (int)(2*CONF_EDGE_COUNT_FACTOR+0.5); |
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| 335 | break; |
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| 336 | case 3: |
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| 337 | chew_count = (int)(1*CONF_EDGE_COUNT_FACTOR+0.5); |
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| 338 | break; |
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| 339 | default: |
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| 340 | fprintf (stderr, "lower_edge_confidence: bad switch %d\n", level); |
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| 341 | exit (-1); |
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| 342 | } |
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| 343 | #endif |
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| 344 | |
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| 345 | |
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| 346 | for (i = 0; i < mesh->numVerts; i++) { |
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| 347 | v = &mesh->verts[i]; |
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| 348 | if (v->on_edge) { |
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| 349 | v->distToBoundary = 0; |
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| 350 | } else { |
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| 351 | v->distToBoundary = FLT_MAX; |
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| 352 | } |
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| 353 | } |
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| 354 | |
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| 355 | chew_count = 16; |
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| 356 | |
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| 357 | max_dist = chew_count * 0.0005; |
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| 358 | printf("Arbitrary scale factor in edge confidence!\n"); |
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| 359 | |
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| 360 | /* make several passes through the vertices */ |
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| 361 | for (pass = 1; pass < chew_count; pass++) { |
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| 362 | |
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| 363 | /* propagate higher on-edge values away from edges */ |
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| 364 | for (i = 0; i < mesh->numVerts; i++) { |
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| 365 | |
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| 366 | v = &mesh->verts[i]; |
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| 367 | if (v->on_edge) |
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| 368 | continue; |
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| 369 | |
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| 370 | for (j = 0; j < v->numVerts; j++) { |
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| 371 | if (v->verts[j]->distToBoundary != FLT_MAX) { |
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| 372 | newDist = v->verts[j]->distToBoundary + v->edgeLengths[j]; |
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| 373 | v->distToBoundary = MIN(v->distToBoundary, newDist); |
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| 374 | } |
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| 375 | } |
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| 376 | } |
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| 377 | } |
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| 378 | |
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| 379 | /* lower the confidences on the edge */ |
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| 380 | |
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| 381 | for (i = 0; i < mesh->numVerts; i++) { |
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| 382 | v = &mesh->verts[i]; |
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| 383 | if (v->distToBoundary < max_dist) { |
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| 384 | v->confidence *= v->distToBoundary/max_dist; |
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| 385 | } |
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| 386 | } |
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| 387 | } |
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| 388 | |
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| 389 | |
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| 390 | void |
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| 391 | reallocVerts(Vertex *v) |
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| 392 | { |
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| 393 | int i; |
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| 394 | Vertex **newVerts; |
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| 395 | float *newLengths; |
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| 396 | |
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| 397 | v->maxVerts *= 2; |
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| 398 | newVerts = new Vertex*[v->maxVerts]; |
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| 399 | newLengths = new float[v->maxVerts]; |
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| 400 | for (i = 0; i < v->numVerts; i++) { |
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| 401 | newVerts[i] = v->verts[i]; |
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| 402 | newLengths[i] = v->edgeLengths[i]; |
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| 403 | } |
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| 404 | delete [] v->verts; |
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| 405 | delete [] v->edgeLengths; |
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| 406 | |
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| 407 | v->verts = newVerts; |
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| 408 | v->edgeLengths = newLengths; |
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| 409 | } |
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| 410 | |
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| 411 | |
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| 412 | void |
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| 413 | reallocTris(Vertex *v) |
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| 414 | { |
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| 415 | int i; |
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| 416 | Triangle **newTris; |
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| 417 | |
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| 418 | v->maxTris *= 2; |
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| 419 | newTris = new Triangle*[v->maxTris]; |
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| 420 | for (i = 0; i < v->numTris; i++) { |
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| 421 | newTris[i] = v->tris[i]; |
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| 422 | } |
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| 423 | delete [] v->tris; |
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| 424 | |
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| 425 | v->tris = newTris; |
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| 426 | } |
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| 427 | |
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| 428 | |
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| 429 | Mesh * |
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| 430 | cleanMesh(Mesh *inMesh) |
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| 431 | { |
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| 432 | int i; |
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| 433 | |
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| 434 | Mesh *outMesh = new Mesh; |
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| 435 | |
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| 436 | outMesh->numVerts = 0; |
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| 437 | int max_verts = inMesh->numVerts; |
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| 438 | outMesh->verts = new Vertex[max_verts]; |
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| 439 | |
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| 440 | outMesh->numTris = 0; |
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| 441 | int max_tris = inMesh->numTris; |
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| 442 | outMesh->tris = new Triangle[max_tris]; |
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| 443 | |
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| 444 | outMesh->hasConfidence = inMesh->hasConfidence; |
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| 445 | outMesh->hasColor = inMesh->hasColor; |
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| 446 | |
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| 447 | int *vertRemap = new int[inMesh->numVerts]; |
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| 448 | int outIndex = 0; |
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| 449 | for (i = 0; i < inMesh->numVerts; i++) { |
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| 450 | if (inMesh->verts[i].confidence < MinVertexConfidence) { |
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| 451 | vertRemap[i] = -1; |
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| 452 | } else { |
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| 453 | outMesh->verts[outIndex].coord = inMesh->verts[i].coord; |
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| 454 | vertRemap[i] = outIndex; |
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| 455 | if (inMesh->hasConfidence) |
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| 456 | outMesh->verts[outIndex].confidence = inMesh->verts[i].confidence; |
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| 457 | else |
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| 458 | outMesh->verts[outMesh->numVerts].confidence = 1; |
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| 459 | |
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| 460 | if (inMesh->hasColor) { |
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| 461 | outMesh->verts[outMesh->numVerts].red = inMesh->verts[i].red; |
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| 462 | outMesh->verts[outMesh->numVerts].green = inMesh->verts[i].green; |
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| 463 | outMesh->verts[outMesh->numVerts].blue = inMesh->verts[i].blue; |
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| 464 | } |
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| 465 | outIndex++; |
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| 466 | } |
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| 467 | } |
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| 468 | |
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| 469 | outMesh->numVerts = outIndex; |
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| 470 | |
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| 471 | /* create the triangles */ |
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| 472 | outIndex = 0; |
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| 473 | for (i = 0; i < inMesh->numTris; i++) { |
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| 474 | if (vertRemap[inMesh->tris[i].vindex1] == -1 || |
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| 475 | vertRemap[inMesh->tris[i].vindex2] == -1 || |
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| 476 | vertRemap[inMesh->tris[i].vindex3] == -1 ) { |
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| 477 | continue; |
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| 478 | } |
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| 479 | |
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| 480 | outMesh->tris[outIndex].vindex1 = vertRemap[inMesh->tris[i].vindex1]; |
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| 481 | outMesh->tris[outIndex].vindex2 = vertRemap[inMesh->tris[i].vindex2]; |
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| 482 | outMesh->tris[outIndex].vindex3 = vertRemap[inMesh->tris[i].vindex3]; |
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| 483 | outIndex++; |
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| 484 | } |
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| 485 | |
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| 486 | outMesh->numTris = outIndex; |
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| 487 | |
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| 488 | outMesh->initNormals(); |
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| 489 | |
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| 490 | find_mesh_edges(outMesh); |
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| 491 | |
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| 492 | prepareMesh(outMesh); |
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| 493 | |
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| 494 | return (outMesh); |
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| 495 | } |
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