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 <math.h> |
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23 | |
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24 | #include "occFunc.h" |
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25 | #include "vripGlobals.h" |
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26 | |
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27 | void |
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28 | initOccFunc() |
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29 | { |
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30 | float factor = pow(2, MeshResolution-1); |
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31 | |
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32 | MAX_DEPTH_DIFFERENCE = MaxEdgeLength; |
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33 | |
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34 | D1 = OccupancyRampWidth/2; |
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35 | D2 = -OccupancyRampWidth/2; |
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36 | |
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37 | C1 = WeightPos1; |
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38 | C2 = WeightPos2; |
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39 | |
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40 | C3 = WeightPos3; |
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41 | C4 = WeightPos4; |
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42 | C5 = WeightPos5; |
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43 | |
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44 | // Careful about choosing this number. Should be something like |
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45 | // MAX_STRETCH = (C5-bufferDist)/C4; |
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46 | MAX_STRETCH = 2.5; |
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47 | //MAX_C5 = MAX_STRETCH*C5; |
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48 | |
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49 | M_WEIGHT_1 = 1/(C2-C1); |
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50 | B_WEIGHT_1 = -C1/(C2-C1); |
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51 | |
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52 | M_WEIGHT_2 = 1/(C3-C4); |
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53 | B_WEIGHT_2 = -C4/(C3-C4); |
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54 | |
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55 | M_VALUE = 1/(D2-D1); |
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56 | B_VALUE = -D1/(D2-D1); |
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57 | } |
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58 | |
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59 | #if 1 |
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60 | |
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61 | void |
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62 | updateCell(float cellDepth, float rangeDepth, float sampleSpacing, |
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63 | float rangeConfidence, OccElement *cell) |
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64 | { |
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65 | float deltaZ, NEW_M_WEIGHT_2, NEW_M_VALUE; |
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66 | float NEW_C3, NEW_C4, NEW_C5, NEW_D1, NEW_D2; |
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67 | double weight, value, totalWeight, currentValue; |
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68 | float expansion; |
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69 | |
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70 | // expansion = (1-MAX_STRETCH)*rangeConfidence + MAX_STRETCH; |
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71 | expansion = 1; |
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72 | |
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73 | NEW_M_WEIGHT_2 = M_WEIGHT_2/expansion; |
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74 | NEW_M_VALUE = M_VALUE/expansion; |
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75 | NEW_C3 = C3*expansion; |
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76 | NEW_C4 = C4*expansion; |
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77 | NEW_C5 = C5; |
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78 | NEW_D1 = D1*expansion; |
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79 | NEW_D2 = D2*expansion; |
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80 | |
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81 | deltaZ = cellDepth - rangeDepth; |
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82 | deltaZ *= sampleSpacing; |
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83 | |
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84 | if (deltaZ > C1 || deltaZ < NEW_C5) { |
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85 | weight = 0; |
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86 | return; |
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87 | } |
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88 | else if (deltaZ > NEW_C5 && deltaZ < NEW_C4) { |
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89 | weight = 0; |
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90 | } |
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91 | else if (deltaZ > NEW_C3 && deltaZ < C2) { |
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92 | weight = rangeConfidence; |
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93 | } |
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94 | else if (deltaZ > C2) { |
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95 | weight = rangeConfidence*(M_WEIGHT_1*deltaZ + B_WEIGHT_1); |
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96 | } |
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97 | else { |
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98 | weight = rangeConfidence*(NEW_M_WEIGHT_2*deltaZ + B_WEIGHT_2); |
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99 | } |
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100 | |
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101 | weight = MAX(weight, MinWeight/255.0); |
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102 | |
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103 | if (deltaZ > NEW_D1) { |
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104 | value = 0; |
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105 | } |
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106 | else if (deltaZ < NEW_D2) { |
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107 | value = 1; |
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108 | } |
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109 | else { |
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110 | value = NEW_M_VALUE*deltaZ + B_VALUE; |
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111 | } |
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112 | |
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113 | totalWeight = double(cell->totalWeight); |
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114 | |
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115 | weight *= UCHAR_MAX; |
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116 | currentValue = double(cell->value); |
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117 | value *= USHRT_MAX; |
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118 | |
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119 | currentValue = currentValue*totalWeight + value*weight; |
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120 | totalWeight += weight; |
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121 | if (totalWeight != 0) { |
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122 | currentValue /= totalWeight; |
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123 | } else { |
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124 | currentValue = value; |
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125 | } |
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126 | |
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127 | cell->value = ushort(currentValue); |
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128 | cell->totalWeight = ushort(totalWeight); |
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129 | |
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130 | return; |
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131 | } |
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132 | |
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133 | |
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134 | #else |
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135 | |
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136 | void |
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137 | updateCell(float cellDepth, float rangeDepth, float sampleSpacing, |
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138 | float rangeConfidence, OccElement *cell) |
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139 | { |
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140 | float deltaZ, NEW_M_WEIGHT_2, NEW_M_VALUE; |
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141 | float NEW_C3, NEW_C4, NEW_C5, NEW_D1, NEW_D2; |
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142 | double weight, value, totalWeight, currentValue; |
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143 | float expansion; |
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144 | |
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145 | // expansion = (1-MAX_STRETCH)*rangeConfidence + MAX_STRETCH; |
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146 | expansion = 1; |
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147 | |
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148 | NEW_M_WEIGHT_2 = M_WEIGHT_2/expansion; |
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149 | NEW_M_VALUE = M_VALUE/expansion; |
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150 | NEW_C3 = C3*expansion; |
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151 | NEW_C4 = C4*expansion; |
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152 | NEW_C5 = C5; |
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153 | NEW_D1 = D1*expansion; |
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154 | NEW_D2 = D2*expansion; |
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155 | |
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156 | deltaZ = cellDepth - rangeDepth; |
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157 | deltaZ *= sampleSpacing; |
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158 | |
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159 | if (deltaZ > C1 || deltaZ < NEW_C5) { |
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160 | weight = 0; |
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161 | return; |
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162 | } |
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163 | else if (deltaZ > NEW_C5 && deltaZ < NEW_C4) { |
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164 | weight = 0; |
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165 | } |
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166 | else if (deltaZ > NEW_C3 && deltaZ < C2) { |
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167 | weight = rangeConfidence; |
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168 | } |
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169 | else if (deltaZ > C2) { |
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170 | weight = rangeConfidence*(M_WEIGHT_1*deltaZ + B_WEIGHT_1); |
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171 | } |
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172 | else { |
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173 | weight = rangeConfidence*(NEW_M_WEIGHT_2*deltaZ + B_WEIGHT_2); |
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174 | } |
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175 | |
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176 | weight = MAX(weight, MinWeight/255.0); |
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177 | |
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178 | if (deltaZ > NEW_D1) { |
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179 | value = 0; |
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180 | } |
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181 | else if (deltaZ < NEW_D2) { |
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182 | value = 1; |
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183 | } |
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184 | else { |
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185 | value = NEW_M_VALUE*deltaZ + B_VALUE; |
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186 | } |
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187 | |
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188 | |
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189 | value = 4*(value-0.5)*(value-0.5); |
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190 | totalWeight = double(cell->totalWeight); |
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191 | |
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192 | weight *= UCHAR_MAX; |
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193 | currentValue = double(cell->value); |
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194 | value *= USHRT_MAX; |
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195 | |
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196 | currentValue = currentValue*totalWeight + value*weight; |
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197 | totalWeight += weight; |
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198 | if (totalWeight != 0) { |
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199 | currentValue /= totalWeight; |
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200 | } else { |
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201 | currentValue = value; |
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202 | } |
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203 | |
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204 | cell->value = ushort(currentValue); |
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205 | cell->totalWeight = ushort(totalWeight); |
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206 | |
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207 | return; |
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208 | } |
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209 | |
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210 | #endif |
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211 | |
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212 | |
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213 | // Bias to emptiness if the input cell has low confidence |
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214 | |
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215 | void |
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216 | updateCellBiasEdgesEmpty(float cellDepth, float rangeDepth, |
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217 | float sampleSpacing, |
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218 | float rangeConfidence, |
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219 | float edgeConfidence, |
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220 | OccElement *cell) |
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221 | { |
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222 | float deltaZ, NEW_M_WEIGHT_2, NEW_M_VALUE, NEW_B_WEIGHT_2; |
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223 | float NEW_C3, NEW_C4, NEW_C5, NEW_D1, NEW_D2; |
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224 | double weight, value, totalWeight, currentValue; |
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225 | float expansion; |
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226 | int isFalseData, wasFalseData; |
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227 | |
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228 | //expansion = (1-MAX_STRETCH)*rangeConfidence + MAX_STRETCH; |
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229 | expansion = 1; |
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230 | |
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231 | NEW_M_WEIGHT_2 = M_WEIGHT_2/expansion; |
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232 | NEW_M_VALUE = M_VALUE/expansion; |
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233 | NEW_C3 = C3*expansion; |
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234 | NEW_C4 = C4*expansion; |
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235 | NEW_C5 = C5; |
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236 | NEW_D1 = D1*expansion; |
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237 | NEW_D2 = D2*expansion; |
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238 | |
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239 | |
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240 | if (edgeConfidence < 0) |
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241 | isFalseData = 1; |
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242 | else |
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243 | isFalseData = 0; |
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244 | |
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245 | // edgeConfidence = edgeConfidence*edgeConfidence; |
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246 | edgeConfidence = MAX(MinEdgeConfidence/255.0, edgeConfidence); |
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247 | |
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248 | if (isFalseData) |
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249 | edgeConfidence = 0; |
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250 | |
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251 | /* |
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252 | if (isFalseData) |
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253 | return; |
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254 | */ |
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255 | |
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256 | // edgeConfidence = 10/256.0; |
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257 | // edgeConfidence = 1; |
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258 | |
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259 | NEW_C3 = edgeConfidence*NEW_D2 + (1-edgeConfidence)*NEW_D1; |
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260 | |
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261 | NEW_C4 = edgeConfidence*(NEW_D2 - (NEW_D1 - NEW_D2)/2); |
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262 | |
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263 | /* |
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264 | NEW_C3 = (0.5*edgeConfidence+0.5)*NEW_D2 + |
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265 | (1-(0.5*edgeConfidence+0.5))*NEW_D1; |
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266 | NEW_C4 = (0.5*edgeConfidence+0.5)*(NEW_D2 - (NEW_D1 - NEW_D2)/2); |
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267 | |
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268 | NEW_C3 = rangeConfidence*NEW_D2 + (1-rangeConfidence)*NEW_D1; |
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269 | NEW_C4 = rangeConfidence*(NEW_D2 - (NEW_D1 - NEW_D2)/2); |
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270 | */ |
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271 | |
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272 | NEW_M_WEIGHT_2 = 1/(NEW_C3-NEW_C4); |
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273 | NEW_B_WEIGHT_2 = -NEW_C4/(NEW_C3-NEW_C4); |
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274 | |
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275 | |
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276 | deltaZ = cellDepth - rangeDepth; |
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277 | deltaZ *= sampleSpacing; |
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278 | |
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279 | if (deltaZ > C1 || deltaZ < NEW_C5) { |
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280 | weight = 0; |
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281 | return; |
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282 | } |
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283 | else if (deltaZ > NEW_C5 && deltaZ < NEW_C4) { |
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284 | weight = 0; |
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285 | } |
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286 | else if (deltaZ > NEW_C3 && deltaZ < C2) { |
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287 | weight = rangeConfidence; |
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288 | } |
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289 | else if (deltaZ > C2) { |
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290 | weight = rangeConfidence*(M_WEIGHT_1*deltaZ + B_WEIGHT_1); |
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291 | } |
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292 | else { |
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293 | weight = rangeConfidence*(NEW_M_WEIGHT_2*deltaZ + NEW_B_WEIGHT_2); |
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294 | } |
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295 | |
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296 | if (!isFalseData) |
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297 | weight = MAX(weight, MinWeight/255.0); |
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298 | |
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299 | |
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300 | if (deltaZ > NEW_D1) { |
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301 | value = 0; |
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302 | } |
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303 | else if (deltaZ < NEW_D2) { |
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304 | value = 1; |
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305 | } |
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306 | else { |
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307 | value = NEW_M_VALUE*deltaZ + B_VALUE; |
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308 | } |
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309 | |
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310 | |
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311 | // weight = MIN(1.0, weight+minWeight); |
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312 | /* |
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313 | if (weight == 0) |
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314 | return; |
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315 | */ |
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316 | |
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317 | wasFalseData = cell->totalWeight & OccGridRLE::FALSE_DATA_BIT |
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318 | || cell->totalWeight == 0; |
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319 | |
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320 | totalWeight = double(cell->totalWeight & ~OccGridRLE::FALSE_DATA_BIT); |
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321 | |
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322 | weight *= UCHAR_MAX; |
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323 | currentValue = double(cell->value); |
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324 | value *= USHRT_MAX; |
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325 | |
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326 | |
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327 | // if (weight > 30 || !isEdge) { |
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328 | if (weight > -1 || totalWeight > -1) { |
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329 | if (totalWeight + weight != 0) { |
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330 | currentValue = currentValue*totalWeight + value*weight; |
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331 | totalWeight += weight; |
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332 | currentValue /= totalWeight; |
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333 | } else { |
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334 | currentValue = MIN(value, currentValue); |
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335 | } |
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336 | // isEdge = FALSE; |
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337 | } |
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338 | else { |
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339 | if (totalWeight != 0) { |
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340 | totalWeight = MAX(totalWeight, weight); |
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341 | |
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342 | // Min rule |
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343 | //currentValue = MIN(currentValue, value); |
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344 | |
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345 | // Geometric mean |
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346 | //currentValue = sqrt(value*currentValue); |
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347 | |
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348 | // u-name-it: (1+x-y)/2*y + (1+y-x)/2*x; x,y between 0,1 |
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349 | currentValue /= USHRT_MAX; |
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350 | value /= USHRT_MAX; |
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351 | currentValue = ((1+value-currentValue)*currentValue/2 + |
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352 | (1-value+currentValue)*value/2); |
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353 | currentValue *= USHRT_MAX; |
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354 | |
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355 | } else { |
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356 | totalWeight = weight; |
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357 | currentValue = value; |
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358 | } |
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359 | } |
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360 | |
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361 | cell->value = ushort(currentValue); |
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362 | |
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363 | cell->totalWeight = ushort(totalWeight); |
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364 | |
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365 | if (isFalseData && wasFalseData) { |
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366 | cell->totalWeight = cell->totalWeight | OccGridRLE::FALSE_DATA_BIT; |
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367 | } |
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368 | |
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369 | return; |
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370 | } |
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371 | |
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372 | |
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373 | void |
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374 | updateCellForCarving(float cellDepth, float rangeDepth, float sampleSpacing, |
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375 | float rangeConfidence, OccElement *cell) |
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376 | { |
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377 | float deltaZ, NEW_M_WEIGHT_2, NEW_M_VALUE; |
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378 | float NEW_C3, NEW_C4, NEW_C5, NEW_D1, NEW_D2; |
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379 | double weight, value, totalWeight, currentValue; |
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380 | float expansion; |
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381 | |
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382 | //expansion = (1-MAX_STRETCH)*rangeConfidence + MAX_STRETCH; |
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383 | expansion = 1; |
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384 | |
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385 | NEW_M_WEIGHT_2 = M_WEIGHT_2/expansion; |
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386 | NEW_M_VALUE = M_VALUE/expansion; |
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387 | NEW_C3 = C3*expansion; |
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388 | NEW_C4 = C4*expansion; |
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389 | NEW_C5 = C5; |
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390 | NEW_D1 = D1*expansion; |
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391 | NEW_D2 = D2*expansion; |
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392 | |
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393 | deltaZ = cellDepth - rangeDepth; |
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394 | deltaZ *= sampleSpacing; |
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395 | |
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396 | if (deltaZ < NEW_C5) { |
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397 | weight = 0; |
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398 | return; |
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399 | } else if (deltaZ > C1) { |
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400 | weight = 0; |
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401 | } |
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402 | else if (deltaZ > NEW_C5 && deltaZ < NEW_C4) { |
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403 | |
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404 | // To avoid overwriting good data?? |
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405 | //weight = 1/255.0; |
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406 | |
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407 | weight = 0; |
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408 | } |
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409 | else if (deltaZ > NEW_C3 && deltaZ < C2) { |
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410 | weight = rangeConfidence; |
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411 | } |
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412 | else if (deltaZ > C2) { |
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413 | weight = rangeConfidence*(M_WEIGHT_1*deltaZ + B_WEIGHT_1); |
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414 | } |
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415 | else { |
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416 | weight = rangeConfidence*(NEW_M_WEIGHT_2*deltaZ + B_WEIGHT_2); |
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417 | } |
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418 | |
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419 | // weight = MAX(weight, MinWeight/255.0); |
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420 | |
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421 | if (deltaZ > NEW_D1) { |
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422 | value = 0; |
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423 | } |
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424 | else if (deltaZ < NEW_D2) { |
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425 | value = 1; |
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426 | } |
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427 | else { |
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428 | value = NEW_M_VALUE*deltaZ + B_VALUE; |
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429 | } |
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430 | |
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431 | totalWeight = double(cell->totalWeight); |
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432 | currentValue = double(cell->value); |
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433 | |
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434 | if (weight == 0 && totalWeight == 0) { |
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435 | currentValue /= USHRT_MAX; |
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436 | value *= currentValue; |
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437 | value *= USHRT_MAX; |
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438 | cell->value = ushort(value); |
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439 | } else { |
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440 | weight *= UCHAR_MAX; |
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441 | value *= USHRT_MAX; |
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442 | |
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443 | currentValue = currentValue*totalWeight + value*weight; |
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444 | totalWeight += weight; |
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445 | if (totalWeight != 0) { |
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446 | currentValue /= totalWeight; |
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447 | } else { |
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448 | currentValue = value; |
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449 | } |
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450 | |
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451 | cell->value = ushort(currentValue); |
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452 | cell->totalWeight = ushort(totalWeight); |
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453 | } |
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454 | return; |
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455 | } |
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456 | |
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457 | |
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458 | void |
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459 | updateCell(float cellDepth, float rangeDepth, Vec3f &norm, |
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460 | float sampleSpacing, float rangeConfidence, OccNormElement *cell) |
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461 | { |
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462 | float deltaZ, NEW_M_WEIGHT_2, NEW_M_VALUE; |
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463 | float NEW_C3, NEW_C4, NEW_C5, NEW_D1, NEW_D2; |
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464 | double weight, value, totalWeight, currentValue; |
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465 | float expansion; |
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466 | Vec3f curNorm1, curNorm2, curNorm3, curNorm4; |
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467 | |
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468 | //expansion = (1-MAX_STRETCH)*rangeConfidence + MAX_STRETCH; |
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469 | expansion = 1; |
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470 | |
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471 | NEW_M_WEIGHT_2 = M_WEIGHT_2/expansion; |
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472 | NEW_M_VALUE = M_VALUE/expansion; |
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473 | NEW_C3 = C3*expansion; |
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474 | NEW_C4 = C4*expansion; |
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475 | NEW_C5 = C5; |
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476 | NEW_D1 = D1*expansion; |
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477 | NEW_D2 = D2*expansion; |
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478 | |
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479 | deltaZ = cellDepth - rangeDepth; |
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480 | deltaZ *= sampleSpacing; |
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481 | |
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482 | if (deltaZ > C1 || deltaZ < NEW_C5) { |
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483 | weight = 0; |
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484 | return; |
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485 | } |
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486 | else if (deltaZ > NEW_C5 && deltaZ < NEW_C4) { |
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487 | weight = 0; |
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488 | } |
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489 | else if (deltaZ > NEW_C3 && deltaZ < C2) { |
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490 | weight = rangeConfidence; |
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491 | } |
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492 | else if (deltaZ > C2) { |
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493 | weight = rangeConfidence*(M_WEIGHT_1*deltaZ + B_WEIGHT_1); |
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494 | } |
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495 | else { |
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496 | weight = rangeConfidence*(NEW_M_WEIGHT_2*deltaZ + B_WEIGHT_2); |
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497 | } |
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498 | |
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499 | weight = MAX(weight, MinWeight/255.0); |
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500 | |
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501 | if (deltaZ > NEW_D1) { |
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502 | value = 0; |
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503 | } |
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504 | else if (deltaZ < NEW_D2) { |
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505 | value = 1; |
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506 | } |
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507 | else { |
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508 | value = NEW_M_VALUE*deltaZ + B_VALUE; |
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509 | } |
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510 | |
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511 | |
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512 | #if 0 |
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513 | |
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514 | totalWeight = double(cell->totalWeight); |
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515 | currentValue = double(cell->value); |
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516 | |
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517 | if (weight == 0 && totalWeight == 0) { |
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518 | currentValue /= USHRT_MAX; |
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519 | value *= currentValue; |
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520 | value *= USHRT_MAX; |
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521 | cell->value = ushort(value); |
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522 | } else { |
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523 | weight *= UCHAR_MAX; |
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524 | value *= USHRT_MAX; |
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525 | |
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526 | currentValue = currentValue*totalWeight + value*weight; |
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527 | totalWeight += weight; |
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528 | if (totalWeight != 0) { |
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529 | currentValue /= totalWeight; |
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530 | } else { |
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531 | currentValue = value; |
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532 | } |
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533 | |
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534 | cell->value = ushort(currentValue); |
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535 | cell->totalWeight = ushort(totalWeight); |
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536 | } |
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537 | return; |
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538 | |
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539 | #else |
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540 | |
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541 | Vec3f curNorm; |
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542 | if (weight != 0) { |
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543 | weight *= UCHAR_MAX; |
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544 | currentValue = double(cell->value); |
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545 | value *= USHRT_MAX; |
---|
546 | totalWeight = double(cell->totalWeight); |
---|
547 | if (totalWeight == 0) { |
---|
548 | cell->totalWeight = ushort(weight); |
---|
549 | cell->value = ushort(value); |
---|
550 | cell->nx = (signed char)(126*norm.x); |
---|
551 | cell->ny = (signed char)(126*norm.y); |
---|
552 | cell->nz = (signed char)(126*norm.z); |
---|
553 | |
---|
554 | return; |
---|
555 | } |
---|
556 | |
---|
557 | curNorm.setValue(cell->nx, cell->ny, cell->nz); |
---|
558 | if (curNorm.dot(norm) > 0) { |
---|
559 | curNorm.normalize(); |
---|
560 | curNorm *= totalWeight; |
---|
561 | norm *= weight; |
---|
562 | curNorm += curNorm; |
---|
563 | curNorm.normalize(); |
---|
564 | currentValue = currentValue*totalWeight + value*weight; |
---|
565 | totalWeight += weight; |
---|
566 | currentValue /= totalWeight; |
---|
567 | |
---|
568 | cell->value = ushort(currentValue); |
---|
569 | cell->totalWeight = ushort(totalWeight); |
---|
570 | cell->nx = (signed char)(126*curNorm.x); |
---|
571 | cell->ny = (signed char)(126*curNorm.y); |
---|
572 | cell->nz = (signed char)(126*curNorm.z); |
---|
573 | } else { |
---|
574 | if (currentValue > value) { |
---|
575 | cell->value = ushort(value); |
---|
576 | cell->totalWeight = ushort(weight); |
---|
577 | cell->nx = (signed char)(126*norm.x); |
---|
578 | cell->ny = (signed char)(126*norm.y); |
---|
579 | cell->nz = (signed char)(126*norm.z); |
---|
580 | } |
---|
581 | } |
---|
582 | } |
---|
583 | |
---|
584 | #endif |
---|
585 | |
---|
586 | } |
---|
587 | |
---|
588 | void |
---|
589 | updateCellForCarving(float cellDepth, float rangeDepth, float sampleSpacing, |
---|
590 | float rangeConfidence, OccNormElement *cell) |
---|
591 | { |
---|
592 | float deltaZ, NEW_M_WEIGHT_2, NEW_M_VALUE; |
---|
593 | float NEW_C3, NEW_C4, NEW_C5, NEW_D1, NEW_D2; |
---|
594 | double weight, value, totalWeight, currentValue; |
---|
595 | float expansion; |
---|
596 | |
---|
597 | //expansion = (1-MAX_STRETCH)*rangeConfidence + MAX_STRETCH; |
---|
598 | expansion = 1; |
---|
599 | |
---|
600 | NEW_M_WEIGHT_2 = M_WEIGHT_2/expansion; |
---|
601 | NEW_M_VALUE = M_VALUE/expansion; |
---|
602 | NEW_C3 = C3*expansion; |
---|
603 | NEW_C4 = C4*expansion; |
---|
604 | NEW_C5 = C5; |
---|
605 | NEW_D1 = D1*expansion; |
---|
606 | NEW_D2 = D2*expansion; |
---|
607 | |
---|
608 | deltaZ = cellDepth - rangeDepth; |
---|
609 | deltaZ *= sampleSpacing; |
---|
610 | |
---|
611 | if (deltaZ < NEW_C5) { |
---|
612 | weight = 0; |
---|
613 | return; |
---|
614 | } else if (deltaZ > C1) { |
---|
615 | weight = 0; |
---|
616 | } |
---|
617 | else if (deltaZ > NEW_C5 && deltaZ < NEW_C4) { |
---|
618 | |
---|
619 | // To avoid overwriting good data?? |
---|
620 | //weight = 1/255.0; |
---|
621 | |
---|
622 | weight = 0; |
---|
623 | } |
---|
624 | else if (deltaZ > NEW_C3 && deltaZ < C2) { |
---|
625 | weight = rangeConfidence; |
---|
626 | } |
---|
627 | else if (deltaZ > C2) { |
---|
628 | weight = rangeConfidence*(M_WEIGHT_1*deltaZ + B_WEIGHT_1); |
---|
629 | } |
---|
630 | else { |
---|
631 | weight = rangeConfidence*(NEW_M_WEIGHT_2*deltaZ + B_WEIGHT_2); |
---|
632 | } |
---|
633 | |
---|
634 | if (deltaZ > NEW_D1) { |
---|
635 | value = 0; |
---|
636 | } |
---|
637 | else if (deltaZ < NEW_D2) { |
---|
638 | value = 1; |
---|
639 | } |
---|
640 | else { |
---|
641 | value = NEW_M_VALUE*deltaZ + B_VALUE; |
---|
642 | } |
---|
643 | |
---|
644 | totalWeight = double(cell->totalWeight); |
---|
645 | currentValue = double(cell->value); |
---|
646 | |
---|
647 | if (weight == 0 && totalWeight == 0) { |
---|
648 | currentValue /= USHRT_MAX; |
---|
649 | value *= currentValue; |
---|
650 | value *= USHRT_MAX; |
---|
651 | cell->value = ushort(value); |
---|
652 | } else { |
---|
653 | weight *= UCHAR_MAX; |
---|
654 | value *= USHRT_MAX; |
---|
655 | |
---|
656 | currentValue = currentValue*totalWeight + value*weight; |
---|
657 | totalWeight += weight; |
---|
658 | if (totalWeight != 0) { |
---|
659 | currentValue /= totalWeight; |
---|
660 | } else { |
---|
661 | currentValue = value; |
---|
662 | } |
---|
663 | |
---|
664 | cell->value = ushort(currentValue); |
---|
665 | cell->totalWeight = ushort(totalWeight); |
---|
666 | } |
---|
667 | return; |
---|
668 | } |
---|
669 | |
---|
670 | |
---|