[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 <stdio.h> |
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| 23 | #include <ply.h> |
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| 24 | #include <stdlib.h> |
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| 25 | #include <strings.h> |
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| 26 | |
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| 27 | #include "rangePly.h" |
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| 28 | #include "vripGlobals.h" |
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| 29 | #include "defines.h" |
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| 30 | #include "plyio.h" |
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| 31 | |
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| 32 | #ifndef RAD |
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| 33 | #define RAD(x) ((x)*M_PI/180) |
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| 34 | #endif |
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| 35 | |
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| 36 | #ifdef linux |
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| 37 | #include <float.h> |
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| 38 | #endif |
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| 39 | |
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| 40 | struct PlyVertex { |
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| 41 | float x,y,z; |
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| 42 | float confidence; |
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| 43 | float intensity; |
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| 44 | unsigned char red,grn,blu; |
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| 45 | }; |
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| 46 | |
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| 47 | PlyProperty vert_std_props[] = { |
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| 48 | {"x", PLY_FLOAT, PLY_FLOAT, offsetof(PlyVertex,x), 0, 0, 0, 0}, |
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| 49 | {"y", PLY_FLOAT, PLY_FLOAT, offsetof(PlyVertex,y), 0, 0, 0, 0}, |
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| 50 | {"z", PLY_FLOAT, PLY_FLOAT, offsetof(PlyVertex,z), 0, 0, 0, 0}, |
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| 51 | {"confidence", PLY_FLOAT, PLY_FLOAT, offsetof(PlyVertex,confidence), 0, 0, 0,0}, |
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| 52 | {"intensity", PLY_FLOAT, PLY_FLOAT, offsetof(PlyVertex,intensity), 0, 0, 0,0}, |
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| 53 | {"diffuse_red", PLY_UCHAR, PLY_UCHAR, offsetof(PlyVertex,red), 0, 0, 0, 0}, |
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| 54 | {"diffuse_green", PLY_UCHAR, PLY_UCHAR, offsetof(PlyVertex,grn), 0, 0, 0, 0}, |
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| 55 | {"diffuse_blue", PLY_UCHAR, PLY_UCHAR, offsetof(PlyVertex,blu), 0, 0, 0, 0}, |
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| 56 | {"std_dev", PLY_FLOAT, PLY_FLOAT, offsetof(PlyVertex,confidence), 0, 0, 0,0}, |
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| 57 | }; |
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| 58 | |
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| 59 | |
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| 60 | struct RangePnt { |
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| 61 | unsigned char num_pts; |
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| 62 | int *pts; |
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| 63 | }; |
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| 64 | |
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| 65 | /* list of property information for a range data point */ |
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| 66 | PlyProperty range_props[] = { |
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| 67 | {"vertex_indices", PLY_INT, PLY_INT, offsetof(RangePnt,pts), |
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| 68 | 1, PLY_UCHAR, PLY_UCHAR, offsetof(RangePnt,num_pts)}, |
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| 69 | }; |
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| 70 | |
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| 71 | |
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| 72 | |
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| 73 | |
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| 74 | static float RANGE_DATA_SIGMA_FACTOR = 4; |
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| 75 | static float RANGE_DATA_MIN_INTENSITY = 0.05; |
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| 76 | |
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| 77 | |
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| 78 | |
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| 79 | static void trimMesh(Mesh *mesh); |
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| 80 | static void addTriangleUseNormal(Mesh *mesh, int vin1, int vin2, int vin3, |
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| 81 | float minDot, Vec3f &viewDir, int connectAll); |
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| 82 | static void addTriangleUseLength(Mesh *mesh, int vin1, int vin2, int vin3, |
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| 83 | float maxLength, int connectAll); |
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| 84 | |
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| 85 | |
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| 86 | RangeGrid::~RangeGrid() |
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| 87 | { |
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| 88 | delete [] coords; |
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| 89 | |
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| 90 | delete [] indices; |
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| 91 | |
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| 92 | if (num_obj_info > 0) { |
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| 93 | for (int i = 0; i < num_obj_info; i++) |
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| 94 | delete [] obj_info[i]; |
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| 95 | delete [] obj_info; |
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| 96 | } |
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| 97 | |
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| 98 | if (hasConfidence) |
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| 99 | delete [] confidence; |
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| 100 | |
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| 101 | if (hasColor) |
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| 102 | delete [] matDiff; |
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| 103 | |
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| 104 | if (hasIntensity) |
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| 105 | delete [] intensity; |
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| 106 | |
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| 107 | } |
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| 108 | |
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| 109 | |
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| 110 | void |
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| 111 | set_range_data_sigma_factor(float factor) |
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| 112 | { |
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| 113 | RANGE_DATA_SIGMA_FACTOR = factor; |
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| 114 | } |
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| 115 | |
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| 116 | |
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| 117 | float |
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| 118 | get_range_data_sigma_factor() |
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| 119 | { |
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| 120 | return RANGE_DATA_SIGMA_FACTOR; |
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| 121 | } |
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| 122 | |
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| 123 | |
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| 124 | |
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| 125 | void |
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| 126 | set_range_data_min_intensity(float intensity) |
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| 127 | { |
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| 128 | RANGE_DATA_MIN_INTENSITY = intensity; |
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| 129 | } |
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| 130 | |
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| 131 | |
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| 132 | float |
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| 133 | get_range_data_min_intensity() |
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| 134 | { |
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| 135 | return RANGE_DATA_MIN_INTENSITY; |
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| 136 | } |
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| 137 | |
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| 138 | |
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| 139 | |
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| 140 | int |
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| 141 | is_range_grid_file(const char *filename) |
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| 142 | { |
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| 143 | int i; |
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| 144 | PlyFile *ply; |
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| 145 | int nelems; |
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| 146 | char **elist; |
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| 147 | int file_type; |
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| 148 | float version; |
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| 149 | |
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| 150 | ply = ply_open_for_reading(filename, &nelems, &elist, &file_type, &version); |
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| 151 | if (ply == NULL) |
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| 152 | return 0; |
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| 153 | ply_close(ply); |
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| 154 | |
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| 155 | for (i = 0; i < nelems; i++) { |
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| 156 | if (!strcmp(elist[i], "range_grid")) |
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| 157 | return 1; |
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| 158 | } |
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| 159 | |
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| 160 | return 0; |
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| 161 | } |
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| 162 | |
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| 163 | |
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| 164 | /****************************************************************************** |
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| 165 | Read range data from a PLY file. |
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| 166 | |
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| 167 | Entry: |
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| 168 | name - name of PLY file to read from |
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| 169 | |
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| 170 | Exit: |
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| 171 | returns pointer to data, or NULL if it couldn't read from file |
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| 172 | ******************************************************************************/ |
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| 173 | |
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| 174 | RangeGrid * |
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| 175 | readRangeGrid(const char *name) |
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| 176 | { |
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| 177 | int i,j,k,index, best_index; |
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| 178 | PlyFile *ply; |
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| 179 | RangeGrid *rangeGrid = NULL; |
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| 180 | char **obj_info; |
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| 181 | int num_obj_info; |
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| 182 | int num_elems; |
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| 183 | int nprops; |
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| 184 | int nelems; |
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| 185 | char **elist; |
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| 186 | int file_type; |
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| 187 | float version; |
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| 188 | PlyProperty **plist; |
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| 189 | int num_rows,num_cols; |
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| 190 | RangePnt range_pnt; |
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| 191 | PlyVertex vert; |
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| 192 | char *elem_name; |
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| 193 | int get_std_dev = 0; |
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| 194 | int get_confidence = 0; |
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| 195 | int get_intensity = 0; |
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| 196 | int get_color = 0; |
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| 197 | int has_red = 0; |
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| 198 | int has_green = 0; |
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| 199 | int has_blue = 0; |
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| 200 | int is_warped = 0; |
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| 201 | char temp[PATH_MAX]; |
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| 202 | int isRightMirrorOpen = 1; |
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| 203 | int found_mirror = 0; |
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| 204 | float conf,std; |
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| 205 | float min_std,max_std,max; |
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| 206 | float avg_std = 0; |
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| 207 | float lgincr; |
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| 208 | |
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| 209 | if (name == NULL) { |
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| 210 | ply = ply_read (stdin, &nelems, &elist); |
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| 211 | } else { |
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| 212 | ply = ply_open_for_reading(name, &nelems, &elist, &file_type, &version); |
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| 213 | } |
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| 214 | |
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| 215 | if (ply == NULL) { |
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| 216 | return (NULL); |
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| 217 | } |
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| 218 | |
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| 219 | int isRangeGrid = 0; |
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| 220 | for (i = 0; i < nelems; i++) { |
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| 221 | if (!strcmp(elist[i], "range_grid")) { |
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| 222 | isRangeGrid = 1; |
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| 223 | break; |
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| 224 | } |
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| 225 | } |
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| 226 | |
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| 227 | if (!isRangeGrid) |
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| 228 | return NULL; |
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| 229 | |
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| 230 | /* parse the obj_info */ |
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| 231 | |
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| 232 | obj_info = ply_get_obj_info (ply, &num_obj_info); |
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| 233 | for (i = 0; i < num_obj_info; i++) { |
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| 234 | if (strstr(obj_info[i], "num_cols")) |
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| 235 | sscanf(obj_info[i], "%s%d", temp, &num_cols); |
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| 236 | if (strstr(obj_info[i], "num_rows")) |
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| 237 | sscanf(obj_info[i], "%s%d", temp, &num_rows); |
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| 238 | if (strstr(obj_info[i], "is_warped")) |
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| 239 | sscanf(obj_info[i], "%s%d", temp, &is_warped); |
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| 240 | if (strstr(obj_info[i], "optimum_std_dev")) |
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| 241 | sscanf(obj_info[i], "%s%f", temp, &avg_std); |
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| 242 | if (strstr(obj_info[i], "echo_lgincr")) |
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| 243 | sscanf(obj_info[i], "%s%f", temp, &lgincr); |
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| 244 | if (strstr(obj_info[i], "is_right_mirror_open")) { |
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| 245 | found_mirror = TRUE; |
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| 246 | sscanf(obj_info[i], "%s%d", temp, &isRightMirrorOpen); |
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| 247 | } |
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| 248 | } |
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| 249 | |
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| 250 | EdgeLength = lgincr; |
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| 251 | |
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| 252 | if (is_warped && !found_mirror && Warn) |
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| 253 | printf("Couldn't tell which mirror was open. Right mirror assumed.\n"); |
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| 254 | |
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| 255 | min_std = avg_std / RANGE_DATA_SIGMA_FACTOR; |
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| 256 | max_std = avg_std * RANGE_DATA_SIGMA_FACTOR; |
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| 257 | |
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| 258 | /* set up the range data structure */ |
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| 259 | rangeGrid = new RangeGrid; |
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| 260 | rangeGrid->nlg = num_rows; |
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| 261 | rangeGrid->nlt = num_cols; |
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| 262 | rangeGrid->intensity = NULL; |
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| 263 | rangeGrid->confidence = NULL; |
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| 264 | rangeGrid->matDiff = NULL; |
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| 265 | rangeGrid->hasColor = 0; |
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| 266 | rangeGrid->hasIntensity = 0; |
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| 267 | rangeGrid->hasConfidence = 0; |
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| 268 | rangeGrid->multConfidence = 0; |
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| 269 | |
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| 270 | if (!is_warped) { |
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| 271 | rangeGrid->viewDir.setValue(0, 0, -1); |
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| 272 | } else { |
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| 273 | if (isRightMirrorOpen) { |
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| 274 | rangeGrid->viewDir.setValue(-sin(30*M_PI/180), 0, -cos(30*M_PI/180)); |
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| 275 | } else { |
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| 276 | rangeGrid->viewDir.setValue(sin(30*M_PI/180), 0, -cos(30*M_PI/180)); |
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| 277 | } |
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| 278 | } |
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| 279 | |
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| 280 | rangeGrid->num_obj_info = num_obj_info; |
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| 281 | rangeGrid->obj_info = new char*[num_obj_info]; |
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| 282 | for (i = 0; i < num_obj_info; i++) { |
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| 283 | rangeGrid->obj_info[i] = new char[strlen(obj_info[i])+1]; |
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| 284 | strcpy(rangeGrid->obj_info[i], obj_info[i]); |
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| 285 | } |
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| 286 | |
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| 287 | |
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| 288 | rangeGrid->isWarped = is_warped; |
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| 289 | rangeGrid->isRightMirrorOpen = isRightMirrorOpen; |
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| 290 | |
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| 291 | /* see if we've got both vertex and range_grid data */ |
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| 292 | |
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| 293 | plist = ply_get_element_description (ply, "vertex", &num_elems, &nprops); |
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| 294 | if (plist == NULL) { |
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| 295 | fprintf (stderr, "file doesn't contain vertex data\n"); |
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| 296 | return (NULL); |
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| 297 | } |
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| 298 | rangeGrid->numOrigSamples = num_elems; |
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| 299 | rangeGrid->numSamples = num_elems; |
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| 300 | plist = ply_get_element_description (ply, "range_grid", &num_elems, &nprops); |
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| 301 | if (plist == NULL) { |
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| 302 | fprintf (stderr, "file doesn't contain range_grid data\n"); |
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| 303 | return (NULL); |
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| 304 | } |
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| 305 | |
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| 306 | /* read in the range data */ |
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| 307 | |
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| 308 | for (i = 0; i < nelems; i++) { |
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| 309 | |
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| 310 | elem_name = elist[i]; |
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| 311 | plist = ply_get_element_description (ply, elem_name, &num_elems, &nprops); |
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| 312 | |
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| 313 | if (equal_strings ("vertex", elem_name)) { |
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| 314 | |
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| 315 | /* see if the file contains intensities */ |
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| 316 | for (j = 0; j < nprops; j++) { |
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| 317 | if (equal_strings ("std_dev", plist[j]->name)) |
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| 318 | get_std_dev = 1; |
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| 319 | if (equal_strings ("confidence", plist[j]->name)) |
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| 320 | get_confidence = 1; |
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| 321 | if (equal_strings ("intensity", plist[j]->name)) |
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| 322 | get_intensity = 1; |
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| 323 | if (equal_strings ("diffuse_red", plist[j]->name)) |
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| 324 | has_red = 1; |
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| 325 | if (equal_strings ("diffuse_green", plist[j]->name)) |
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| 326 | has_green = 1; |
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| 327 | if (equal_strings ("diffuse_blue", plist[j]->name)) |
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| 328 | has_blue = 1; |
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| 329 | } |
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| 330 | |
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| 331 | if (has_red && has_green && has_blue) { |
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| 332 | get_color = 1; |
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| 333 | rangeGrid->hasColor = 1; |
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| 334 | } |
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| 335 | |
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| 336 | if (get_intensity) |
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| 337 | rangeGrid->hasIntensity = 1; |
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| 338 | |
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| 339 | if (get_std_dev && is_warped) { |
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| 340 | rangeGrid->hasConfidence = 1; |
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| 341 | rangeGrid->multConfidence = 1; |
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| 342 | } |
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| 343 | else if (get_confidence) |
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| 344 | rangeGrid->hasConfidence = 1; |
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| 345 | |
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| 346 | ply_get_property (ply, "vertex", &vert_std_props[0]); |
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| 347 | ply_get_property (ply, "vertex", &vert_std_props[1]); |
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| 348 | ply_get_property (ply, "vertex", &vert_std_props[2]); |
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| 349 | if (get_confidence) |
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| 350 | ply_get_property (ply, "vertex", &vert_std_props[3]); |
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| 351 | if (get_intensity) |
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| 352 | ply_get_property (ply, "vertex", &vert_std_props[4]); |
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| 353 | if (get_color) { |
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| 354 | ply_get_property (ply, "vertex", &vert_std_props[5]); |
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| 355 | ply_get_property (ply, "vertex", &vert_std_props[6]); |
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| 356 | ply_get_property (ply, "vertex", &vert_std_props[7]); |
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| 357 | } |
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| 358 | if (get_std_dev) |
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| 359 | ply_get_property (ply, "vertex", &vert_std_props[8]); |
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| 360 | |
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| 361 | rangeGrid->coords = new Vec3f[rangeGrid->numSamples]; |
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| 362 | |
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| 363 | if (get_confidence || get_std_dev) |
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| 364 | rangeGrid->confidence = new float[rangeGrid->numSamples]; |
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| 365 | |
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| 366 | if (get_intensity) |
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| 367 | rangeGrid->intensity = new float[rangeGrid->numSamples]; |
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| 368 | |
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| 369 | if (get_color) |
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| 370 | rangeGrid->matDiff = new vec3uc[rangeGrid->numSamples]; |
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| 371 | |
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| 372 | for (j = 0; j < num_elems; j++) { |
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| 373 | ply_get_element (ply, (void *) &vert); |
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| 374 | rangeGrid->coords[j].x = vert.x; |
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| 375 | rangeGrid->coords[j].y = vert.y; |
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| 376 | rangeGrid->coords[j].z = vert.z; |
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| 377 | |
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| 378 | if (get_intensity) { |
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| 379 | rangeGrid->intensity[j] = vert.intensity; |
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| 380 | } |
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| 381 | |
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| 382 | if (get_std_dev&&is_warped) { |
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| 383 | |
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| 384 | std = vert.confidence; |
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| 385 | |
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| 386 | if (std < min_std) |
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| 387 | conf = 0; |
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| 388 | else if (std < avg_std) |
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| 389 | conf = (std - min_std) / (avg_std - min_std); |
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| 390 | else if (std > max_std) |
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| 391 | conf = 0; |
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| 392 | else |
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| 393 | conf = (max_std - std) / (max_std - avg_std); |
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| 394 | |
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| 395 | /* |
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| 396 | Unsafe to use vertex intensity, as aperture settings may change |
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| 397 | between scans. Instead, use std_dev confidence * orientation. |
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| 398 | |
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| 399 | conf *= vert.intensity; |
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| 400 | */ |
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| 401 | |
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| 402 | if (get_intensity) |
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| 403 | if (vert.intensity < RANGE_DATA_MIN_INTENSITY) conf = 0.0; |
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| 404 | |
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| 405 | rangeGrid->confidence[j] = conf; |
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| 406 | } |
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| 407 | else if (get_confidence) { |
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| 408 | rangeGrid->confidence[j] = vert.confidence; |
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| 409 | } |
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| 410 | |
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| 411 | if (get_color) { |
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| 412 | rangeGrid->matDiff[j][0] = vert.red; |
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| 413 | rangeGrid->matDiff[j][1] = vert.grn; |
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| 414 | rangeGrid->matDiff[j][2] = vert.blu; |
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| 415 | } |
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| 416 | } |
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| 417 | } |
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| 418 | |
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| 419 | if (equal_strings ("range_grid", elem_name)) { |
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| 420 | rangeGrid->indices = new int[rangeGrid->nlt * rangeGrid->nlg]; |
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| 421 | ply_get_element_setup (ply, elem_name, 1, range_props); |
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| 422 | for (j = 0; j < num_elems; j++) { |
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| 423 | ply_get_element (ply, (void *) &range_pnt); |
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| 424 | if (range_pnt.num_pts == 0) |
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| 425 | rangeGrid->indices[j] = -1; |
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| 426 | else { |
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| 427 | max = -FLT_MAX; |
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| 428 | for (k = 0; k < range_pnt.num_pts; k++) { |
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| 429 | index = range_pnt.pts[k]; |
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| 430 | // There will only be more than one point per sample |
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| 431 | // if there are intensities |
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| 432 | if (get_intensity) { |
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| 433 | if (rangeGrid->intensity[index] > max) { |
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| 434 | max = rangeGrid->intensity[index]; |
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| 435 | best_index = index; |
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| 436 | } |
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| 437 | } |
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| 438 | else { |
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| 439 | best_index = index; |
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| 440 | } |
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| 441 | } |
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| 442 | index = best_index; |
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| 443 | if (get_confidence || get_std_dev) { |
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| 444 | if (rangeGrid->confidence[index] > 0.0) |
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| 445 | rangeGrid->indices[j] = index; |
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| 446 | else |
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| 447 | rangeGrid->indices[j] = -1; |
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| 448 | } else { |
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| 449 | rangeGrid->indices[j] = index; |
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| 450 | } |
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| 451 | |
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| 452 | if (get_intensity) { |
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| 453 | if (rangeGrid->intensity[index] < RANGE_DATA_MIN_INTENSITY) { |
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| 454 | rangeGrid->indices[j] = -1; |
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| 455 | } |
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| 456 | } |
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| 457 | |
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| 458 | free (range_pnt.pts); |
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| 459 | } |
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| 460 | } |
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| 461 | } |
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| 462 | } |
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| 463 | |
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| 464 | ply_close (ply); |
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| 465 | |
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| 466 | return (rangeGrid); |
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| 467 | } |
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| 468 | |
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| 469 | |
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| 470 | /****************************************************************************** |
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| 471 | Read range data from a PLY file. |
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| 472 | |
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| 473 | Entry: |
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| 474 | name - name of PLY file to read from |
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| 475 | |
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| 476 | Exit: |
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| 477 | returns pointer to data, or NULL if it couldn't read from file |
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| 478 | ******************************************************************************/ |
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| 479 | |
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| 480 | RangeGrid * |
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| 481 | readRangeGridFillGaps(const char *name) |
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| 482 | { |
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| 483 | int i,j,k,index, best_index; |
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| 484 | PlyFile *ply; |
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| 485 | RangeGrid *rangeGrid = NULL; |
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| 486 | char **obj_info; |
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| 487 | int num_obj_info; |
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| 488 | int num_elems; |
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| 489 | int nprops; |
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| 490 | int nelems; |
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| 491 | char **elist; |
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| 492 | int file_type; |
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| 493 | float version; |
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| 494 | PlyProperty **plist; |
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| 495 | int num_rows,num_cols; |
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| 496 | RangePnt range_pnt; |
---|
| 497 | PlyVertex vert; |
---|
| 498 | char *elem_name; |
---|
| 499 | int get_std_dev = 0; |
---|
| 500 | int get_confidence = 0; |
---|
| 501 | int get_intensity = 0; |
---|
| 502 | int get_color = 0; |
---|
| 503 | int has_red = 0; |
---|
| 504 | int has_green = 0; |
---|
| 505 | int has_blue = 0; |
---|
| 506 | int is_warped = 0; |
---|
| 507 | char temp[PATH_MAX]; |
---|
| 508 | int isRightMirrorOpen = 1; |
---|
| 509 | int found_mirror = 0; |
---|
| 510 | float conf,std; |
---|
| 511 | float min_std,max_std,max; |
---|
| 512 | float avg_std = 0; |
---|
| 513 | float angle, alongSensor1, alongSensor2, x; |
---|
| 514 | float lgincr; |
---|
| 515 | |
---|
| 516 | ply = ply_open_for_reading(name, &nelems, &elist, &file_type, &version); |
---|
| 517 | if (ply == NULL) |
---|
| 518 | return (NULL); |
---|
| 519 | |
---|
| 520 | /* parse the obj_info */ |
---|
| 521 | |
---|
| 522 | obj_info = ply_get_obj_info (ply, &num_obj_info); |
---|
| 523 | for (i = 0; i < num_obj_info; i++) { |
---|
| 524 | if (strstr(obj_info[i], "num_cols")) |
---|
| 525 | sscanf(obj_info[i], "%s%d", temp, &num_cols); |
---|
| 526 | if (strstr(obj_info[i], "num_rows")) |
---|
| 527 | sscanf(obj_info[i], "%s%d", temp, &num_rows); |
---|
| 528 | if (strstr(obj_info[i], "is_warped")) |
---|
| 529 | sscanf(obj_info[i], "%s%d", temp, &is_warped); |
---|
| 530 | if (strstr(obj_info[i], "optimum_std_dev")) |
---|
| 531 | sscanf(obj_info[i], "%s%f", temp, &avg_std); |
---|
| 532 | if (strstr(obj_info[i], "echo_lgincr")) |
---|
| 533 | sscanf(obj_info[i], "%s%f", temp, &lgincr); |
---|
| 534 | if (strstr(obj_info[i], "is_right_mirror_open")) { |
---|
| 535 | found_mirror = TRUE; |
---|
| 536 | sscanf(obj_info[i], "%s%d", temp, &isRightMirrorOpen); |
---|
| 537 | } |
---|
| 538 | } |
---|
| 539 | |
---|
| 540 | EdgeLength = lgincr; |
---|
| 541 | |
---|
| 542 | if (is_warped && !found_mirror && Warn) |
---|
| 543 | printf("Couldn't tell which mirror was open. Right mirror assumed.\n"); |
---|
| 544 | |
---|
| 545 | min_std = avg_std / RANGE_DATA_SIGMA_FACTOR; |
---|
| 546 | max_std = avg_std * RANGE_DATA_SIGMA_FACTOR; |
---|
| 547 | |
---|
| 548 | /* set up the range data structure */ |
---|
| 549 | rangeGrid = new RangeGrid; |
---|
| 550 | rangeGrid->nlg = num_rows; |
---|
| 551 | rangeGrid->nlt = num_cols; |
---|
| 552 | rangeGrid->intensity = NULL; |
---|
| 553 | rangeGrid->confidence = NULL; |
---|
| 554 | rangeGrid->matDiff = NULL; |
---|
| 555 | rangeGrid->hasColor = 0; |
---|
| 556 | rangeGrid->hasIntensity = 0; |
---|
| 557 | rangeGrid->hasConfidence = 0; |
---|
| 558 | rangeGrid->multConfidence = 0; |
---|
| 559 | |
---|
| 560 | if (!is_warped) { |
---|
| 561 | rangeGrid->viewDir.setValue(0, 0, -1); |
---|
| 562 | } else { |
---|
| 563 | if (isRightMirrorOpen) { |
---|
| 564 | rangeGrid->viewDir.setValue(-sin(30*M_PI/180), 0, -cos(30*M_PI/180)); |
---|
| 565 | } else { |
---|
| 566 | rangeGrid->viewDir.setValue(sin(30*M_PI/180), 0, -cos(30*M_PI/180)); |
---|
| 567 | } |
---|
| 568 | } |
---|
| 569 | |
---|
| 570 | rangeGrid->num_obj_info = num_obj_info; |
---|
| 571 | rangeGrid->obj_info = new char*[num_obj_info]; |
---|
| 572 | for (i = 0; i < num_obj_info; i++) { |
---|
| 573 | rangeGrid->obj_info[i] = new char[strlen(obj_info[i])+1]; |
---|
| 574 | strcpy(rangeGrid->obj_info[i], obj_info[i]); |
---|
| 575 | } |
---|
| 576 | |
---|
| 577 | |
---|
| 578 | rangeGrid->isWarped = is_warped; |
---|
| 579 | rangeGrid->isRightMirrorOpen = isRightMirrorOpen; |
---|
| 580 | |
---|
| 581 | /* see if we've got both vertex and range_grid data */ |
---|
| 582 | |
---|
| 583 | plist = ply_get_element_description (ply, "vertex", &num_elems, &nprops); |
---|
| 584 | if (plist == NULL) { |
---|
| 585 | fprintf (stderr, "file doesn't contain vertex data\n"); |
---|
| 586 | return (NULL); |
---|
| 587 | } |
---|
| 588 | rangeGrid->numOrigSamples = num_elems; |
---|
| 589 | rangeGrid->numSamples = num_elems; |
---|
| 590 | rangeGrid->maxSamples = rangeGrid->nlt * rangeGrid->nlg; |
---|
| 591 | plist = ply_get_element_description (ply, "range_grid", &num_elems, &nprops); |
---|
| 592 | if (plist == NULL) { |
---|
| 593 | fprintf (stderr, "file doesn't contain range_grid data\n"); |
---|
| 594 | return (NULL); |
---|
| 595 | } |
---|
| 596 | |
---|
| 597 | /* read in the range data */ |
---|
| 598 | |
---|
| 599 | for (i = 0; i < nelems; i++) { |
---|
| 600 | |
---|
| 601 | elem_name = elist[i]; |
---|
| 602 | plist = ply_get_element_description (ply, elem_name, &num_elems, &nprops); |
---|
| 603 | |
---|
| 604 | if (equal_strings ("vertex", elem_name)) { |
---|
| 605 | |
---|
| 606 | /* see if the file contains intensities */ |
---|
| 607 | for (j = 0; j < nprops; j++) { |
---|
| 608 | if (equal_strings ("std_dev", plist[j]->name)) |
---|
| 609 | get_std_dev = 1; |
---|
| 610 | if (equal_strings ("confidence", plist[j]->name)) |
---|
| 611 | get_confidence = 1; |
---|
| 612 | if (equal_strings ("intensity", plist[j]->name)) |
---|
| 613 | get_intensity = 1; |
---|
| 614 | if (equal_strings ("diffuse_red", plist[j]->name)) |
---|
| 615 | has_red = 1; |
---|
| 616 | if (equal_strings ("diffuse_green", plist[j]->name)) |
---|
| 617 | has_green = 1; |
---|
| 618 | if (equal_strings ("diffuse_blue", plist[j]->name)) |
---|
| 619 | has_blue = 1; |
---|
| 620 | } |
---|
| 621 | |
---|
| 622 | if (has_red && has_green && has_blue) { |
---|
| 623 | get_color = 1; |
---|
| 624 | rangeGrid->hasColor = 1; |
---|
| 625 | } |
---|
| 626 | |
---|
| 627 | if (get_intensity) |
---|
| 628 | rangeGrid->hasIntensity = 1; |
---|
| 629 | |
---|
| 630 | if (get_std_dev && is_warped) { |
---|
| 631 | rangeGrid->hasConfidence = 1; |
---|
| 632 | rangeGrid->multConfidence = 1; |
---|
| 633 | } |
---|
| 634 | else if (get_confidence) |
---|
| 635 | rangeGrid->hasConfidence = 1; |
---|
| 636 | |
---|
| 637 | ply_get_property (ply, "vertex", &vert_std_props[0]); |
---|
| 638 | ply_get_property (ply, "vertex", &vert_std_props[1]); |
---|
| 639 | ply_get_property (ply, "vertex", &vert_std_props[2]); |
---|
| 640 | if (get_confidence) |
---|
| 641 | ply_get_property (ply, "vertex", &vert_std_props[3]); |
---|
| 642 | if (get_intensity) |
---|
| 643 | ply_get_property (ply, "vertex", &vert_std_props[4]); |
---|
| 644 | if (get_color) { |
---|
| 645 | ply_get_property (ply, "vertex", &vert_std_props[5]); |
---|
| 646 | ply_get_property (ply, "vertex", &vert_std_props[6]); |
---|
| 647 | ply_get_property (ply, "vertex", &vert_std_props[7]); |
---|
| 648 | } |
---|
| 649 | if (get_std_dev) |
---|
| 650 | ply_get_property (ply, "vertex", &vert_std_props[8]); |
---|
| 651 | |
---|
| 652 | rangeGrid->coords = new Vec3f[rangeGrid->maxSamples]; |
---|
| 653 | |
---|
| 654 | if (get_confidence || get_std_dev) |
---|
| 655 | rangeGrid->confidence = new float[rangeGrid->maxSamples]; |
---|
| 656 | |
---|
| 657 | if (get_intensity) |
---|
| 658 | rangeGrid->intensity = new float[rangeGrid->maxSamples]; |
---|
| 659 | |
---|
| 660 | if (get_color) |
---|
| 661 | rangeGrid->matDiff = new vec3uc[rangeGrid->maxSamples]; |
---|
| 662 | |
---|
| 663 | for (j = 0; j < num_elems; j++) { |
---|
| 664 | ply_get_element (ply, (void *) &vert); |
---|
| 665 | rangeGrid->coords[j].x = vert.x; |
---|
| 666 | rangeGrid->coords[j].y = vert.y; |
---|
| 667 | rangeGrid->coords[j].z = vert.z; |
---|
| 668 | |
---|
| 669 | if (get_intensity) { |
---|
| 670 | rangeGrid->intensity[j] = vert.intensity; |
---|
| 671 | } |
---|
| 672 | |
---|
| 673 | if (get_std_dev&&is_warped) { |
---|
| 674 | |
---|
| 675 | std = vert.confidence; |
---|
| 676 | |
---|
| 677 | if (std < min_std) |
---|
| 678 | conf = 0; |
---|
| 679 | else if (std < avg_std) |
---|
| 680 | conf = (std - min_std) / (avg_std - min_std); |
---|
| 681 | else if (std > max_std) |
---|
| 682 | conf = 0; |
---|
| 683 | else |
---|
| 684 | conf = (max_std - std) / (max_std - avg_std); |
---|
| 685 | |
---|
| 686 | /* |
---|
| 687 | Unsafe to use vertex intensity, as aperture settings may change |
---|
| 688 | between scans. Instead, use std_dev confidence * orientation. |
---|
| 689 | |
---|
| 690 | conf *= vert.intensity; |
---|
| 691 | */ |
---|
| 692 | |
---|
| 693 | if (get_intensity) |
---|
| 694 | if (vert.intensity < RANGE_DATA_MIN_INTENSITY) conf = 0.0; |
---|
| 695 | |
---|
| 696 | rangeGrid->confidence[j] = conf; |
---|
| 697 | } |
---|
| 698 | else if (get_confidence) { |
---|
| 699 | rangeGrid->confidence[j] = vert.confidence; |
---|
| 700 | } |
---|
| 701 | |
---|
| 702 | if (get_color) { |
---|
| 703 | rangeGrid->matDiff[j][0] = vert.red; |
---|
| 704 | rangeGrid->matDiff[j][1] = vert.grn; |
---|
| 705 | rangeGrid->matDiff[j][2] = vert.blu; |
---|
| 706 | } |
---|
| 707 | } |
---|
| 708 | } |
---|
| 709 | |
---|
| 710 | if (equal_strings ("range_grid", elem_name)) { |
---|
| 711 | rangeGrid->indices = new int[rangeGrid->nlt * rangeGrid->nlg]; |
---|
| 712 | if (rangeGrid->indices == NULL) { |
---|
| 713 | fprintf (stderr, "could not allocate space\n"); |
---|
| 714 | return (NULL); |
---|
| 715 | } |
---|
| 716 | |
---|
| 717 | ply_get_element_setup (ply, elem_name, 1, range_props); |
---|
| 718 | for (j = 0; j < num_elems; j++) { |
---|
| 719 | ply_get_element (ply, (void *) &range_pnt); |
---|
| 720 | if (range_pnt.num_pts == 0) |
---|
| 721 | rangeGrid->indices[j] = -1; |
---|
| 722 | else { |
---|
| 723 | max = -FLT_MAX; |
---|
| 724 | for (k = 0; k < range_pnt.num_pts; k++) { |
---|
| 725 | index = range_pnt.pts[k]; |
---|
| 726 | // There will only be more than one point per sample |
---|
| 727 | // if there are intensities |
---|
| 728 | if (get_intensity) { |
---|
| 729 | if (rangeGrid->intensity[index] > max) { |
---|
| 730 | max = rangeGrid->intensity[index]; |
---|
| 731 | best_index = index; |
---|
| 732 | } |
---|
| 733 | } |
---|
| 734 | else { |
---|
| 735 | best_index = index; |
---|
| 736 | } |
---|
| 737 | } |
---|
| 738 | index = best_index; |
---|
| 739 | if (get_confidence || get_std_dev) { |
---|
| 740 | if (rangeGrid->confidence[index] > 0.0) |
---|
| 741 | rangeGrid->indices[j] = index; |
---|
| 742 | else |
---|
| 743 | rangeGrid->indices[j] = -1; |
---|
| 744 | } else { |
---|
| 745 | rangeGrid->indices[j] = index; |
---|
| 746 | } |
---|
| 747 | |
---|
| 748 | if (get_intensity) { |
---|
| 749 | if (rangeGrid->intensity[index] < RANGE_DATA_MIN_INTENSITY) { |
---|
| 750 | rangeGrid->indices[j] = -1; |
---|
| 751 | } |
---|
| 752 | } |
---|
| 753 | |
---|
| 754 | free (range_pnt.pts); |
---|
| 755 | } |
---|
| 756 | } |
---|
| 757 | } |
---|
| 758 | } |
---|
| 759 | |
---|
| 760 | Vec3f vlast, v, dv, vnew; |
---|
| 761 | float z; |
---|
| 762 | int xx, yy, in, lastOut, lastIn, prevIndex; |
---|
| 763 | int xlim, ylim, doFill, oldIndex; |
---|
| 764 | |
---|
| 765 | // The actual filling stuff begins here. |
---|
| 766 | // Bugs: 1. I don't account for interlace when interpolating in the |
---|
| 767 | // in the y-direction |
---|
| 768 | // 2. I fill by direct connection without regard to |
---|
| 769 | // maximal slopes |
---|
| 770 | // 3. I check which sample is closest by z-comparison - should use |
---|
| 771 | // the laser perspective |
---|
| 772 | |
---|
| 773 | // Mark the regions that are off the edge of the mesh as |
---|
| 774 | // "unfillable" |
---|
| 775 | |
---|
| 776 | #if 1 |
---|
| 777 | |
---|
| 778 | // X-pass |
---|
| 779 | for (yy = 0; yy < rangeGrid->nlg; yy++) { |
---|
| 780 | |
---|
| 781 | xx = 0; |
---|
| 782 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 783 | while (index < 0) { |
---|
| 784 | xx++; |
---|
| 785 | if (xx == rangeGrid->nlt) |
---|
| 786 | break; |
---|
| 787 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 788 | } |
---|
| 789 | |
---|
| 790 | xlim = xx; |
---|
| 791 | for (xx = 0; xx < xlim; xx++) { |
---|
| 792 | rangeGrid->indices[xx+yy*rangeGrid->nlt] = INT_MIN; |
---|
| 793 | } |
---|
| 794 | |
---|
| 795 | if (xlim == rangeGrid->nlt) |
---|
| 796 | continue; |
---|
| 797 | |
---|
| 798 | xx = rangeGrid->nlt-1; |
---|
| 799 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 800 | while (index < 0) { |
---|
| 801 | xx--; |
---|
| 802 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 803 | } |
---|
| 804 | |
---|
| 805 | xlim = xx+1; |
---|
| 806 | for (xx = xlim; xx < rangeGrid->nlt; xx++) { |
---|
| 807 | rangeGrid->indices[xx+yy*rangeGrid->nlt] = INT_MIN; |
---|
| 808 | } |
---|
| 809 | } |
---|
| 810 | |
---|
| 811 | |
---|
| 812 | // Y-pass |
---|
| 813 | for (xx = 0; xx < rangeGrid->nlt; xx++) { |
---|
| 814 | |
---|
| 815 | yy = 0; |
---|
| 816 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 817 | while (index < 0) { |
---|
| 818 | yy++; |
---|
| 819 | if (yy == rangeGrid->nlg) |
---|
| 820 | break; |
---|
| 821 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 822 | } |
---|
| 823 | |
---|
| 824 | ylim = yy; |
---|
| 825 | for (yy = 0; yy < ylim; yy++) { |
---|
| 826 | rangeGrid->indices[xx+yy*rangeGrid->nlt] = INT_MIN; |
---|
| 827 | } |
---|
| 828 | |
---|
| 829 | if (ylim == rangeGrid->nlg) |
---|
| 830 | continue; |
---|
| 831 | |
---|
| 832 | yy = rangeGrid->nlg-1; |
---|
| 833 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 834 | while (index < 0) { |
---|
| 835 | yy--; |
---|
| 836 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 837 | } |
---|
| 838 | |
---|
| 839 | ylim = yy + 1; |
---|
| 840 | for (yy = ylim; yy < rangeGrid->nlg; yy++) { |
---|
| 841 | rangeGrid->indices[xx+yy*rangeGrid->nlt] = INT_MIN; |
---|
| 842 | } |
---|
| 843 | } |
---|
| 844 | #endif |
---|
| 845 | |
---|
| 846 | // Fill the gaps in the x-direction |
---|
| 847 | |
---|
| 848 | #if 1 |
---|
| 849 | for (yy = 0; yy < rangeGrid->nlg; yy++) { |
---|
| 850 | |
---|
| 851 | // Fill in gaps with simple linear interpolation |
---|
| 852 | // between depths of adjacent valid pixels |
---|
| 853 | |
---|
| 854 | in = FALSE; |
---|
| 855 | lastOut = -1; |
---|
| 856 | |
---|
| 857 | for (xx = 0; xx < rangeGrid->nlt; xx++) { |
---|
| 858 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 859 | if (index >= 0 && !in) { |
---|
| 860 | |
---|
| 861 | lastIn = xx; |
---|
| 862 | in = TRUE; |
---|
| 863 | |
---|
| 864 | if (lastOut == -1) |
---|
| 865 | continue; |
---|
| 866 | |
---|
| 867 | // Look for gaps that include boundaries that |
---|
| 868 | // shouldn't be filled |
---|
| 869 | doFill = TRUE; |
---|
| 870 | |
---|
| 871 | for (i = lastOut+1; i <lastIn; i++) { |
---|
| 872 | oldIndex = rangeGrid->indices[i+yy*rangeGrid->nlt]; |
---|
| 873 | if (oldIndex == INT_MIN) { |
---|
| 874 | doFill = FALSE; |
---|
| 875 | break; |
---|
| 876 | } |
---|
| 877 | } |
---|
| 878 | |
---|
| 879 | if (!doFill) { |
---|
| 880 | continue; |
---|
| 881 | } |
---|
| 882 | |
---|
| 883 | v.setValue(rangeGrid->coords[index]); |
---|
| 884 | dv = v; |
---|
| 885 | dv -= vlast; |
---|
| 886 | dv /= (lastIn - lastOut); |
---|
| 887 | vnew = vlast; |
---|
| 888 | vnew += dv; |
---|
| 889 | for (i = lastOut+1; i <lastIn; i++, vnew+=dv) { |
---|
| 890 | rangeGrid->coords[rangeGrid->numSamples].setValue(vnew); |
---|
| 891 | |
---|
| 892 | if (rangeGrid->hasConfidence) |
---|
| 893 | rangeGrid->confidence[rangeGrid->numSamples] = 0; |
---|
| 894 | |
---|
| 895 | // Fill with a negative number so that it |
---|
| 896 | // can be recognized later as a hole fill |
---|
| 897 | rangeGrid->indices[i+yy*rangeGrid->nlt] = |
---|
| 898 | -rangeGrid->numSamples; |
---|
| 899 | rangeGrid->numSamples++; |
---|
| 900 | } |
---|
| 901 | } |
---|
| 902 | else if (index < 0 && in) { |
---|
| 903 | lastOut = xx-1; |
---|
| 904 | prevIndex = rangeGrid->indices[lastOut+yy*rangeGrid->nlt]; |
---|
| 905 | vlast.setValue(rangeGrid->coords[prevIndex]); |
---|
| 906 | in = FALSE; |
---|
| 907 | } |
---|
| 908 | } |
---|
| 909 | } |
---|
| 910 | #endif |
---|
| 911 | |
---|
| 912 | if (is_warped && isRightMirrorOpen) { |
---|
| 913 | angle = 30; |
---|
| 914 | } else if (is_warped && !isRightMirrorOpen) { |
---|
| 915 | angle = -30; |
---|
| 916 | } else { |
---|
| 917 | angle = 0; |
---|
| 918 | } |
---|
| 919 | |
---|
| 920 | Vec3f dir(sin(RAD(angle)), 0, cos(RAD(angle))); |
---|
| 921 | |
---|
| 922 | #if 1 |
---|
| 923 | |
---|
| 924 | // Fill the gaps in the y-direction |
---|
| 925 | |
---|
| 926 | for (xx = 0; xx < rangeGrid->nlt; xx++) { |
---|
| 927 | |
---|
| 928 | // Fill in gaps with simple linear interpolation |
---|
| 929 | // between depths of adjacent valid pixels |
---|
| 930 | |
---|
| 931 | in = FALSE; |
---|
| 932 | lastOut = -1; |
---|
| 933 | |
---|
| 934 | for (yy = 0; yy < rangeGrid->nlg; yy++) { |
---|
| 935 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 936 | if (index >= 0 && !in) { |
---|
| 937 | |
---|
| 938 | lastIn = yy; |
---|
| 939 | in = TRUE; |
---|
| 940 | |
---|
| 941 | if (lastOut == -1) |
---|
| 942 | continue; |
---|
| 943 | |
---|
| 944 | doFill = TRUE; |
---|
| 945 | for (i = lastOut+1; i <lastIn; i++, vnew+=dv) { |
---|
| 946 | oldIndex = rangeGrid->indices[xx+i*rangeGrid->nlt]; |
---|
| 947 | if (oldIndex == INT_MIN) { |
---|
| 948 | doFill = FALSE; |
---|
| 949 | break; |
---|
| 950 | } |
---|
| 951 | } |
---|
| 952 | |
---|
| 953 | if (!doFill) |
---|
| 954 | continue; |
---|
| 955 | |
---|
| 956 | v.setValue(rangeGrid->coords[index]); |
---|
| 957 | dv = v; |
---|
| 958 | dv -= vlast; |
---|
| 959 | dv /= (lastIn - lastOut); |
---|
| 960 | vnew = vlast; |
---|
| 961 | vnew += dv; |
---|
| 962 | for (i = lastOut+1; i <lastIn; i++, vnew+=dv) { |
---|
| 963 | oldIndex = rangeGrid->indices[xx+i*rangeGrid->nlt]; |
---|
| 964 | if (oldIndex == -1) { |
---|
| 965 | rangeGrid->coords[rangeGrid->numSamples].setValue(vnew); |
---|
| 966 | |
---|
| 967 | if (rangeGrid->hasConfidence) |
---|
| 968 | rangeGrid->confidence[rangeGrid->numSamples] = 0; |
---|
| 969 | |
---|
| 970 | rangeGrid->indices[xx+i*rangeGrid->nlt] = |
---|
| 971 | rangeGrid->numSamples; |
---|
| 972 | rangeGrid->numSamples++; |
---|
| 973 | } else { |
---|
| 974 | oldIndex = -oldIndex; |
---|
| 975 | z = rangeGrid->coords[oldIndex].z; |
---|
| 976 | |
---|
| 977 | // Should probably check along line of sight to |
---|
| 978 | // laser, rather than along a simple orthographic |
---|
| 979 | // projection in the z-direction... |
---|
| 980 | |
---|
| 981 | x = rangeGrid->coords[oldIndex].x; |
---|
| 982 | |
---|
| 983 | alongSensor1 = x*dir.x + z*dir.z; |
---|
| 984 | alongSensor2 = vnew.x*dir.x + vnew.z*dir.z; |
---|
| 985 | |
---|
| 986 | if (alongSensor1 < alongSensor2) { |
---|
| 987 | rangeGrid->coords[oldIndex].setValue(vnew); |
---|
| 988 | |
---|
| 989 | /* |
---|
| 990 | if (z < vnew.z) { |
---|
| 991 | rangeGrid->coords[oldIndex].setValue(vnew); |
---|
| 992 | */ |
---|
| 993 | |
---|
| 994 | } |
---|
| 995 | } |
---|
| 996 | } |
---|
| 997 | } |
---|
| 998 | else if (index < 0 && in) { |
---|
| 999 | lastOut = yy-1; |
---|
| 1000 | prevIndex = rangeGrid->indices[xx+lastOut*rangeGrid->nlt]; |
---|
| 1001 | vlast.setValue(rangeGrid->coords[prevIndex]); |
---|
| 1002 | in = FALSE; |
---|
| 1003 | } |
---|
| 1004 | } |
---|
| 1005 | } |
---|
| 1006 | |
---|
| 1007 | #endif |
---|
| 1008 | |
---|
| 1009 | #if 1 |
---|
| 1010 | // Clean up indices to be -1 or valid (i.e., index >= 0 ) |
---|
| 1011 | |
---|
| 1012 | for (yy = 0; yy < rangeGrid->nlg; yy++) { |
---|
| 1013 | for (xx = 0; xx < rangeGrid->nlt; xx++) { |
---|
| 1014 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 1015 | if (index == INT_MIN) { |
---|
| 1016 | rangeGrid->indices[xx+yy*rangeGrid->nlt] = -1; |
---|
| 1017 | } else if (index < -1) { |
---|
| 1018 | rangeGrid->indices[xx+yy*rangeGrid->nlt] = -index; |
---|
| 1019 | } |
---|
| 1020 | } |
---|
| 1021 | } |
---|
| 1022 | #endif |
---|
| 1023 | |
---|
| 1024 | ply_close (ply); |
---|
| 1025 | |
---|
| 1026 | return (rangeGrid); |
---|
| 1027 | } |
---|
| 1028 | |
---|
| 1029 | |
---|
| 1030 | /****************************************************************************** |
---|
| 1031 | Read range data from a PLY file. |
---|
| 1032 | |
---|
| 1033 | Entry: |
---|
| 1034 | name - name of PLY file to read from |
---|
| 1035 | |
---|
| 1036 | Exit: |
---|
| 1037 | returns pointer to data, or NULL if it couldn't read from file |
---|
| 1038 | ******************************************************************************/ |
---|
| 1039 | |
---|
| 1040 | RangeGrid * |
---|
| 1041 | readRangeGridExtendEdges(const char *name) |
---|
| 1042 | { |
---|
| 1043 | int i,j,k,index, best_index; |
---|
| 1044 | PlyFile *ply; |
---|
| 1045 | RangeGrid *rangeGrid = NULL; |
---|
| 1046 | char **obj_info; |
---|
| 1047 | int num_obj_info; |
---|
| 1048 | int num_elems; |
---|
| 1049 | int nprops; |
---|
| 1050 | int nelems; |
---|
| 1051 | char **elist; |
---|
| 1052 | int file_type; |
---|
| 1053 | float version; |
---|
| 1054 | PlyProperty **plist; |
---|
| 1055 | int num_rows,num_cols; |
---|
| 1056 | RangePnt range_pnt; |
---|
| 1057 | PlyVertex vert; |
---|
| 1058 | char *elem_name; |
---|
| 1059 | int get_std_dev = 0; |
---|
| 1060 | int get_confidence = 0; |
---|
| 1061 | int get_intensity = 0; |
---|
| 1062 | int get_color = 0; |
---|
| 1063 | int has_red = 0; |
---|
| 1064 | int has_green = 0; |
---|
| 1065 | int has_blue = 0; |
---|
| 1066 | int is_warped = 0; |
---|
| 1067 | char temp[PATH_MAX]; |
---|
| 1068 | int isRightMirrorOpen = 1; |
---|
| 1069 | int found_mirror = 0; |
---|
| 1070 | float conf,std; |
---|
| 1071 | float min_std,max_std,max; |
---|
| 1072 | float avg_std = 0; |
---|
| 1073 | float angle, alongSensor1, alongSensor2, x; |
---|
| 1074 | float lgincr; |
---|
| 1075 | |
---|
| 1076 | ply = ply_open_for_reading(name, &nelems, &elist, &file_type, &version); |
---|
| 1077 | if (ply == NULL) |
---|
| 1078 | return (NULL); |
---|
| 1079 | |
---|
| 1080 | /* parse the obj_info */ |
---|
| 1081 | |
---|
| 1082 | obj_info = ply_get_obj_info (ply, &num_obj_info); |
---|
| 1083 | for (i = 0; i < num_obj_info; i++) { |
---|
| 1084 | if (strstr(obj_info[i], "num_cols")) |
---|
| 1085 | sscanf(obj_info[i], "%s%d", temp, &num_cols); |
---|
| 1086 | if (strstr(obj_info[i], "num_rows")) |
---|
| 1087 | sscanf(obj_info[i], "%s%d", temp, &num_rows); |
---|
| 1088 | if (strstr(obj_info[i], "is_warped")) |
---|
| 1089 | sscanf(obj_info[i], "%s%d", temp, &is_warped); |
---|
| 1090 | if (strstr(obj_info[i], "optimum_std_dev")) |
---|
| 1091 | sscanf(obj_info[i], "%s%f", temp, &avg_std); |
---|
| 1092 | if (strstr(obj_info[i], "echo_lgincr")) |
---|
| 1093 | sscanf(obj_info[i], "%s%f", temp, &lgincr); |
---|
| 1094 | if (strstr(obj_info[i], "is_right_mirror_open")) { |
---|
| 1095 | found_mirror = TRUE; |
---|
| 1096 | sscanf(obj_info[i], "%s%d", temp, &isRightMirrorOpen); |
---|
| 1097 | } |
---|
| 1098 | } |
---|
| 1099 | |
---|
| 1100 | EdgeLength = lgincr; |
---|
| 1101 | |
---|
| 1102 | if (is_warped && !found_mirror && Warn) |
---|
| 1103 | printf("Couldn't tell which mirror was open. Right mirror assumed.\n"); |
---|
| 1104 | |
---|
| 1105 | min_std = avg_std / RANGE_DATA_SIGMA_FACTOR; |
---|
| 1106 | max_std = avg_std * RANGE_DATA_SIGMA_FACTOR; |
---|
| 1107 | |
---|
| 1108 | /* set up the range data structure */ |
---|
| 1109 | rangeGrid = new RangeGrid; |
---|
| 1110 | rangeGrid->nlg = num_rows; |
---|
| 1111 | rangeGrid->nlt = num_cols; |
---|
| 1112 | rangeGrid->intensity = NULL; |
---|
| 1113 | rangeGrid->confidence = NULL; |
---|
| 1114 | rangeGrid->matDiff = NULL; |
---|
| 1115 | rangeGrid->hasColor = 0; |
---|
| 1116 | rangeGrid->hasIntensity = 0; |
---|
| 1117 | rangeGrid->hasConfidence = 0; |
---|
| 1118 | rangeGrid->multConfidence = 0; |
---|
| 1119 | |
---|
| 1120 | if (!is_warped) { |
---|
| 1121 | rangeGrid->viewDir.setValue(0, 0, -1); |
---|
| 1122 | } else { |
---|
| 1123 | if (isRightMirrorOpen) { |
---|
| 1124 | rangeGrid->viewDir.setValue(-sin(30*M_PI/180), 0, -cos(30*M_PI/180)); |
---|
| 1125 | } else { |
---|
| 1126 | rangeGrid->viewDir.setValue(sin(30*M_PI/180), 0, -cos(30*M_PI/180)); |
---|
| 1127 | } |
---|
| 1128 | } |
---|
| 1129 | |
---|
| 1130 | rangeGrid->num_obj_info = num_obj_info; |
---|
| 1131 | rangeGrid->obj_info = new char*[num_obj_info]; |
---|
| 1132 | for (i = 0; i < num_obj_info; i++) { |
---|
| 1133 | rangeGrid->obj_info[i] = new char[strlen(obj_info[i])+1]; |
---|
| 1134 | strcpy(rangeGrid->obj_info[i], obj_info[i]); |
---|
| 1135 | } |
---|
| 1136 | |
---|
| 1137 | |
---|
| 1138 | rangeGrid->isWarped = is_warped; |
---|
| 1139 | rangeGrid->isRightMirrorOpen = isRightMirrorOpen; |
---|
| 1140 | |
---|
| 1141 | /* see if we've got both vertex and range_grid data */ |
---|
| 1142 | |
---|
| 1143 | plist = ply_get_element_description (ply, "vertex", &num_elems, &nprops); |
---|
| 1144 | if (plist == NULL) { |
---|
| 1145 | fprintf (stderr, "file doesn't contain vertex data\n"); |
---|
| 1146 | return (NULL); |
---|
| 1147 | } |
---|
| 1148 | rangeGrid->numOrigSamples = num_elems; |
---|
| 1149 | rangeGrid->numSamples = num_elems; |
---|
| 1150 | rangeGrid->maxSamples = rangeGrid->nlt * rangeGrid->nlg; |
---|
| 1151 | plist = ply_get_element_description (ply, "range_grid", &num_elems, &nprops); |
---|
| 1152 | if (plist == NULL) { |
---|
| 1153 | fprintf (stderr, "file doesn't contain range_grid data\n"); |
---|
| 1154 | return (NULL); |
---|
| 1155 | } |
---|
| 1156 | |
---|
| 1157 | /* read in the range data */ |
---|
| 1158 | |
---|
| 1159 | for (i = 0; i < nelems; i++) { |
---|
| 1160 | |
---|
| 1161 | elem_name = elist[i]; |
---|
| 1162 | plist = ply_get_element_description (ply, elem_name, &num_elems, &nprops); |
---|
| 1163 | |
---|
| 1164 | if (equal_strings ("vertex", elem_name)) { |
---|
| 1165 | |
---|
| 1166 | /* see if the file contains intensities */ |
---|
| 1167 | for (j = 0; j < nprops; j++) { |
---|
| 1168 | if (equal_strings ("std_dev", plist[j]->name)) |
---|
| 1169 | get_std_dev = 1; |
---|
| 1170 | if (equal_strings ("confidence", plist[j]->name)) |
---|
| 1171 | get_confidence = 1; |
---|
| 1172 | if (equal_strings ("intensity", plist[j]->name)) |
---|
| 1173 | get_intensity = 1; |
---|
| 1174 | if (equal_strings ("diffuse_red", plist[j]->name)) |
---|
| 1175 | has_red = 1; |
---|
| 1176 | if (equal_strings ("diffuse_green", plist[j]->name)) |
---|
| 1177 | has_green = 1; |
---|
| 1178 | if (equal_strings ("diffuse_blue", plist[j]->name)) |
---|
| 1179 | has_blue = 1; |
---|
| 1180 | } |
---|
| 1181 | |
---|
| 1182 | if (has_red && has_green && has_blue) { |
---|
| 1183 | get_color = 1; |
---|
| 1184 | rangeGrid->hasColor = 1; |
---|
| 1185 | } |
---|
| 1186 | |
---|
| 1187 | if (get_intensity) |
---|
| 1188 | rangeGrid->hasIntensity = 1; |
---|
| 1189 | |
---|
| 1190 | if (get_std_dev && is_warped) { |
---|
| 1191 | rangeGrid->hasConfidence = 1; |
---|
| 1192 | rangeGrid->multConfidence = 1; |
---|
| 1193 | } |
---|
| 1194 | else if (get_confidence) |
---|
| 1195 | rangeGrid->hasConfidence = 1; |
---|
| 1196 | |
---|
| 1197 | ply_get_property (ply, "vertex", &vert_std_props[0]); |
---|
| 1198 | ply_get_property (ply, "vertex", &vert_std_props[1]); |
---|
| 1199 | ply_get_property (ply, "vertex", &vert_std_props[2]); |
---|
| 1200 | if (get_confidence) |
---|
| 1201 | ply_get_property (ply, "vertex", &vert_std_props[3]); |
---|
| 1202 | if (get_intensity) |
---|
| 1203 | ply_get_property (ply, "vertex", &vert_std_props[4]); |
---|
| 1204 | if (get_color) { |
---|
| 1205 | ply_get_property (ply, "vertex", &vert_std_props[5]); |
---|
| 1206 | ply_get_property (ply, "vertex", &vert_std_props[6]); |
---|
| 1207 | ply_get_property (ply, "vertex", &vert_std_props[7]); |
---|
| 1208 | } |
---|
| 1209 | if (get_std_dev) |
---|
| 1210 | ply_get_property (ply, "vertex", &vert_std_props[8]); |
---|
| 1211 | |
---|
| 1212 | rangeGrid->coords = new Vec3f[rangeGrid->maxSamples]; |
---|
| 1213 | |
---|
| 1214 | if (get_confidence || get_std_dev) |
---|
| 1215 | rangeGrid->confidence = new float[rangeGrid->maxSamples]; |
---|
| 1216 | |
---|
| 1217 | if (get_intensity) |
---|
| 1218 | rangeGrid->intensity = new float[rangeGrid->maxSamples]; |
---|
| 1219 | |
---|
| 1220 | if (get_color) |
---|
| 1221 | rangeGrid->matDiff = new vec3uc[rangeGrid->maxSamples]; |
---|
| 1222 | |
---|
| 1223 | for (j = 0; j < num_elems; j++) { |
---|
| 1224 | ply_get_element (ply, (void *) &vert); |
---|
| 1225 | rangeGrid->coords[j].x = vert.x; |
---|
| 1226 | rangeGrid->coords[j].y = vert.y; |
---|
| 1227 | rangeGrid->coords[j].z = vert.z; |
---|
| 1228 | |
---|
| 1229 | if (get_intensity) { |
---|
| 1230 | rangeGrid->intensity[j] = vert.intensity; |
---|
| 1231 | } |
---|
| 1232 | |
---|
| 1233 | if (get_std_dev&&is_warped) { |
---|
| 1234 | |
---|
| 1235 | std = vert.confidence; |
---|
| 1236 | |
---|
| 1237 | if (std < min_std) |
---|
| 1238 | conf = 0; |
---|
| 1239 | else if (std < avg_std) |
---|
| 1240 | conf = (std - min_std) / (avg_std - min_std); |
---|
| 1241 | else if (std > max_std) |
---|
| 1242 | conf = 0; |
---|
| 1243 | else |
---|
| 1244 | conf = (max_std - std) / (max_std - avg_std); |
---|
| 1245 | |
---|
| 1246 | /* |
---|
| 1247 | Unsafe to use vertex intensity, as aperture settings may change |
---|
| 1248 | between scans. Instead, use std_dev confidence * orientation. |
---|
| 1249 | |
---|
| 1250 | conf *= vert.intensity; |
---|
| 1251 | */ |
---|
| 1252 | |
---|
| 1253 | if (get_intensity) |
---|
| 1254 | if (vert.intensity < RANGE_DATA_MIN_INTENSITY) conf = 0.0; |
---|
| 1255 | |
---|
| 1256 | rangeGrid->confidence[j] = conf; |
---|
| 1257 | } |
---|
| 1258 | else if (get_confidence) { |
---|
| 1259 | rangeGrid->confidence[j] = vert.confidence; |
---|
| 1260 | } |
---|
| 1261 | |
---|
| 1262 | if (get_color) { |
---|
| 1263 | rangeGrid->matDiff[j][0] = vert.red; |
---|
| 1264 | rangeGrid->matDiff[j][1] = vert.grn; |
---|
| 1265 | rangeGrid->matDiff[j][2] = vert.blu; |
---|
| 1266 | } |
---|
| 1267 | } |
---|
| 1268 | } |
---|
| 1269 | |
---|
| 1270 | if (equal_strings ("range_grid", elem_name)) { |
---|
| 1271 | rangeGrid->indices = new int[rangeGrid->nlt * rangeGrid->nlg]; |
---|
| 1272 | ply_get_element_setup (ply, elem_name, 1, range_props); |
---|
| 1273 | for (j = 0; j < num_elems; j++) { |
---|
| 1274 | ply_get_element (ply, (void *) &range_pnt); |
---|
| 1275 | if (range_pnt.num_pts == 0) |
---|
| 1276 | rangeGrid->indices[j] = -1; |
---|
| 1277 | else { |
---|
| 1278 | max = -FLT_MAX; |
---|
| 1279 | for (k = 0; k < range_pnt.num_pts; k++) { |
---|
| 1280 | index = range_pnt.pts[k]; |
---|
| 1281 | // There will only be more than one point per sample |
---|
| 1282 | // if there are intensities |
---|
| 1283 | if (get_intensity) { |
---|
| 1284 | if (rangeGrid->intensity[index] > max) { |
---|
| 1285 | max = rangeGrid->intensity[index]; |
---|
| 1286 | best_index = index; |
---|
| 1287 | } |
---|
| 1288 | } |
---|
| 1289 | else { |
---|
| 1290 | best_index = index; |
---|
| 1291 | } |
---|
| 1292 | } |
---|
| 1293 | index = best_index; |
---|
| 1294 | if (get_confidence || get_std_dev) { |
---|
| 1295 | if (rangeGrid->confidence[index] > 0.0) |
---|
| 1296 | rangeGrid->indices[j] = index; |
---|
| 1297 | else |
---|
| 1298 | rangeGrid->indices[j] = -1; |
---|
| 1299 | } else { |
---|
| 1300 | rangeGrid->indices[j] = index; |
---|
| 1301 | } |
---|
| 1302 | |
---|
| 1303 | if (get_intensity) { |
---|
| 1304 | if (rangeGrid->intensity[index] < RANGE_DATA_MIN_INTENSITY) { |
---|
| 1305 | rangeGrid->indices[j] = -1; |
---|
| 1306 | } |
---|
| 1307 | } |
---|
| 1308 | |
---|
| 1309 | free (range_pnt.pts); |
---|
| 1310 | } |
---|
| 1311 | } |
---|
| 1312 | } |
---|
| 1313 | } |
---|
| 1314 | |
---|
| 1315 | |
---|
| 1316 | Vec3f vlast, v, dv, vnew; |
---|
| 1317 | float z; |
---|
| 1318 | int xx, yy, in, lastOut, lastIn, prevIndex; |
---|
| 1319 | int xlim, ylim, doFill, oldIndex; |
---|
| 1320 | |
---|
| 1321 | |
---|
| 1322 | // X-pass |
---|
| 1323 | for (yy = 0; yy < rangeGrid->nlg; yy++) { |
---|
| 1324 | |
---|
| 1325 | xx = 0; |
---|
| 1326 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 1327 | while (index < 0) { |
---|
| 1328 | xx++; |
---|
| 1329 | if (xx == rangeGrid->nlt) |
---|
| 1330 | break; |
---|
| 1331 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 1332 | } |
---|
| 1333 | |
---|
| 1334 | xlim = xx; |
---|
| 1335 | |
---|
| 1336 | if (xlim == rangeGrid->nlt) |
---|
| 1337 | continue; |
---|
| 1338 | |
---|
| 1339 | if (xlim > EdgeExtensionSamples - 1) { |
---|
| 1340 | v.setValue(rangeGrid->coords[index]); |
---|
| 1341 | dv.setValue(-lgincr, 0, -lgincr*cos(M_PI*EdgeExtensionAngle/180)); |
---|
| 1342 | vnew.setValue(v); |
---|
| 1343 | vnew += dv; |
---|
| 1344 | for (xx = xlim-1; xx > xlim-EdgeExtensionSamples-1; xx--) { |
---|
| 1345 | rangeGrid->coords[rangeGrid->numSamples].setValue(vnew); |
---|
| 1346 | |
---|
| 1347 | if (rangeGrid->hasConfidence) |
---|
| 1348 | rangeGrid->confidence[rangeGrid->numSamples] = 0; |
---|
| 1349 | |
---|
| 1350 | // Fill with a negative number so that it |
---|
| 1351 | // can be recognized later as a hole fill |
---|
| 1352 | rangeGrid->indices[xx+yy*rangeGrid->nlt] = |
---|
| 1353 | -rangeGrid->numSamples; |
---|
| 1354 | rangeGrid->numSamples++; |
---|
| 1355 | |
---|
| 1356 | vnew += dv; |
---|
| 1357 | } |
---|
| 1358 | } |
---|
| 1359 | |
---|
| 1360 | xx = rangeGrid->nlt-1; |
---|
| 1361 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 1362 | while (index < 0) { |
---|
| 1363 | xx--; |
---|
| 1364 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 1365 | } |
---|
| 1366 | |
---|
| 1367 | |
---|
| 1368 | xlim = xx+1; |
---|
| 1369 | if (xlim < rangeGrid->nlt-EdgeExtensionSamples) { |
---|
| 1370 | v.setValue(rangeGrid->coords[index]); |
---|
| 1371 | dv.setValue(lgincr, 0, -lgincr*tan(M_PI*EdgeExtensionAngle/180)); |
---|
| 1372 | |
---|
| 1373 | vnew.setValue(v); |
---|
| 1374 | vnew += dv; |
---|
| 1375 | for (xx = xlim; xx < xlim+EdgeExtensionSamples; xx++) { |
---|
| 1376 | rangeGrid->coords[rangeGrid->numSamples].setValue(vnew); |
---|
| 1377 | |
---|
| 1378 | if (rangeGrid->hasConfidence) |
---|
| 1379 | rangeGrid->confidence[rangeGrid->numSamples] = 0; |
---|
| 1380 | |
---|
| 1381 | // Fill with a negative number so that it |
---|
| 1382 | // can be recognized later as a hole fill |
---|
| 1383 | rangeGrid->indices[xx+yy*rangeGrid->nlt] = |
---|
| 1384 | -rangeGrid->numSamples; |
---|
| 1385 | rangeGrid->numSamples++; |
---|
| 1386 | |
---|
| 1387 | vnew += dv; |
---|
| 1388 | } |
---|
| 1389 | } |
---|
| 1390 | } |
---|
| 1391 | |
---|
| 1392 | |
---|
| 1393 | if (is_warped && isRightMirrorOpen) { |
---|
| 1394 | angle = 30; |
---|
| 1395 | } else if (is_warped && !isRightMirrorOpen) { |
---|
| 1396 | angle = -30; |
---|
| 1397 | } else { |
---|
| 1398 | angle = 0; |
---|
| 1399 | } |
---|
| 1400 | |
---|
| 1401 | Vec3f dir(sin(RAD(angle)), 0, cos(RAD(angle))); |
---|
| 1402 | |
---|
| 1403 | // Y-pass |
---|
| 1404 | for (xx = 0; xx < rangeGrid->nlt; xx++) { |
---|
| 1405 | |
---|
| 1406 | yy = 0; |
---|
| 1407 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 1408 | while (index < 0) { |
---|
| 1409 | yy++; |
---|
| 1410 | if (yy == rangeGrid->nlg) |
---|
| 1411 | break; |
---|
| 1412 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 1413 | } |
---|
| 1414 | |
---|
| 1415 | ylim = yy; |
---|
| 1416 | |
---|
| 1417 | if (ylim == rangeGrid->nlg) |
---|
| 1418 | continue; |
---|
| 1419 | |
---|
| 1420 | if (ylim > EdgeExtensionSamples - 1) { |
---|
| 1421 | v.setValue(rangeGrid->coords[index]); |
---|
| 1422 | dv.setValue(0, -lgincr, -lgincr*tan(M_PI*EdgeExtensionAngle/180)); |
---|
| 1423 | vnew.setValue(v); |
---|
| 1424 | vnew += dv; |
---|
| 1425 | for (yy = ylim-1; yy > ylim-EdgeExtensionSamples-1; yy--) { |
---|
| 1426 | oldIndex = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 1427 | if (oldIndex == -1) { |
---|
| 1428 | rangeGrid->coords[rangeGrid->numSamples].setValue(vnew); |
---|
| 1429 | |
---|
| 1430 | if (rangeGrid->hasConfidence) |
---|
| 1431 | rangeGrid->confidence[rangeGrid->numSamples] = 0; |
---|
| 1432 | |
---|
| 1433 | rangeGrid->indices[xx+yy*rangeGrid->nlt] = |
---|
| 1434 | rangeGrid->numSamples; |
---|
| 1435 | rangeGrid->numSamples++; |
---|
| 1436 | } else { |
---|
| 1437 | oldIndex = -oldIndex; |
---|
| 1438 | z = rangeGrid->coords[oldIndex].z; |
---|
| 1439 | |
---|
| 1440 | // Should probably check along line of sight to |
---|
| 1441 | // laser, rather than along a simple orthographic |
---|
| 1442 | // projection in the z-direction... |
---|
| 1443 | |
---|
| 1444 | x = rangeGrid->coords[oldIndex].x; |
---|
| 1445 | |
---|
| 1446 | alongSensor1 = x*dir.x + z*dir.z; |
---|
| 1447 | alongSensor2 = vnew.x*dir.x + vnew.z*dir.z; |
---|
| 1448 | |
---|
| 1449 | if (alongSensor1 < alongSensor2) { |
---|
| 1450 | rangeGrid->coords[oldIndex].setValue(vnew); |
---|
| 1451 | } |
---|
| 1452 | } |
---|
| 1453 | |
---|
| 1454 | vnew += dv; |
---|
| 1455 | } |
---|
| 1456 | } |
---|
| 1457 | |
---|
| 1458 | yy = rangeGrid->nlg-1; |
---|
| 1459 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 1460 | while (index < 0) { |
---|
| 1461 | yy--; |
---|
| 1462 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 1463 | } |
---|
| 1464 | |
---|
| 1465 | |
---|
| 1466 | ylim = yy+1; |
---|
| 1467 | if (ylim < rangeGrid->nlg-EdgeExtensionSamples-1) { |
---|
| 1468 | v.setValue(rangeGrid->coords[index]); |
---|
| 1469 | dv.setValue(0, lgincr, -lgincr*cos(M_PI*EdgeExtensionAngle/180)); |
---|
| 1470 | vnew.setValue(v); |
---|
| 1471 | vnew += dv; |
---|
| 1472 | for (yy = ylim; yy < ylim+EdgeExtensionSamples-1; yy++) { |
---|
| 1473 | oldIndex = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 1474 | if (oldIndex == -1) { |
---|
| 1475 | rangeGrid->coords[rangeGrid->numSamples].setValue(vnew); |
---|
| 1476 | |
---|
| 1477 | if (rangeGrid->hasConfidence) |
---|
| 1478 | rangeGrid->confidence[rangeGrid->numSamples] = 0; |
---|
| 1479 | |
---|
| 1480 | rangeGrid->indices[xx+yy*rangeGrid->nlt] = |
---|
| 1481 | rangeGrid->numSamples; |
---|
| 1482 | rangeGrid->numSamples++; |
---|
| 1483 | } else { |
---|
| 1484 | oldIndex = -oldIndex; |
---|
| 1485 | z = rangeGrid->coords[oldIndex].z; |
---|
| 1486 | |
---|
| 1487 | // Should probably check along line of sight to |
---|
| 1488 | // laser, rather than along a simple orthographic |
---|
| 1489 | // projection in the z-direction... |
---|
| 1490 | |
---|
| 1491 | x = rangeGrid->coords[oldIndex].x; |
---|
| 1492 | |
---|
| 1493 | alongSensor1 = x*dir.x + z*dir.z; |
---|
| 1494 | alongSensor2 = vnew.x*dir.x + vnew.z*dir.z; |
---|
| 1495 | |
---|
| 1496 | if (alongSensor1 < alongSensor2) { |
---|
| 1497 | rangeGrid->coords[oldIndex].setValue(vnew); |
---|
| 1498 | } |
---|
| 1499 | } |
---|
| 1500 | |
---|
| 1501 | vnew += dv; |
---|
| 1502 | } |
---|
| 1503 | } |
---|
| 1504 | } |
---|
| 1505 | |
---|
| 1506 | |
---|
| 1507 | for (yy = 0; yy < rangeGrid->nlg; yy++) { |
---|
| 1508 | for (xx = 0; xx < rangeGrid->nlt; xx++) { |
---|
| 1509 | index = rangeGrid->indices[xx+yy*rangeGrid->nlt]; |
---|
| 1510 | if (index == INT_MIN) { |
---|
| 1511 | rangeGrid->indices[xx+yy*rangeGrid->nlt] = -1; |
---|
| 1512 | } else if (index < -1) { |
---|
| 1513 | rangeGrid->indices[xx+yy*rangeGrid->nlt] = -index; |
---|
| 1514 | } |
---|
| 1515 | } |
---|
| 1516 | } |
---|
| 1517 | |
---|
| 1518 | ply_close (ply); |
---|
| 1519 | |
---|
| 1520 | return (rangeGrid); |
---|
| 1521 | } |
---|
| 1522 | |
---|
| 1523 | |
---|
| 1524 | |
---|
| 1525 | /****************************************************************************** |
---|
| 1526 | Create a triangle mesh from scan data. |
---|
| 1527 | |
---|
| 1528 | Entry: |
---|
| 1529 | |
---|
| 1530 | |
---|
| 1531 | Exit: |
---|
| 1532 | returns pointer to newly-created mesh |
---|
| 1533 | ******************************************************************************/ |
---|
| 1534 | |
---|
| 1535 | Mesh * |
---|
| 1536 | meshFromGrid(RangeGrid *rangeGrid, int subSamp, int connectAll) |
---|
| 1537 | { |
---|
| 1538 | int i,j; |
---|
| 1539 | Vec3f v1, v2, vect1, vect2, vect3, vect4; |
---|
| 1540 | int ii,jj; |
---|
| 1541 | int in1,in2,in3,in4,vin1,vin2,vin3,vin4; |
---|
| 1542 | Vertex *vt1,*vt2,*vt3,*vt4; |
---|
| 1543 | int count; |
---|
| 1544 | int max_lt,max_lg; |
---|
| 1545 | Mesh *mesh; |
---|
| 1546 | int nlt,nlg,max_verts,max_tris; |
---|
| 1547 | int *vert_index; |
---|
| 1548 | |
---|
| 1549 | mesh = new Mesh; |
---|
| 1550 | |
---|
| 1551 | if (Warn) |
---|
| 1552 | printf("meshFromGrid(): Not computing useful max_length!!\n"); |
---|
| 1553 | |
---|
| 1554 | mesh->isWarped = rangeGrid->isWarped; |
---|
| 1555 | mesh->isRightMirrorOpen = rangeGrid->isRightMirrorOpen; |
---|
| 1556 | |
---|
| 1557 | /* allocate space for new triangles and vertices */ |
---|
| 1558 | |
---|
| 1559 | mesh->numVerts = 0; |
---|
| 1560 | nlt = rangeGrid->nlt; |
---|
| 1561 | nlg = rangeGrid->nlg; |
---|
| 1562 | // not used: // max_lt = (nlt - 1) / subSamp + 1; |
---|
| 1563 | // not used: // max_lg = (nlg - 1) / subSamp + 1; |
---|
| 1564 | // not used: // max_verts = max_lt * max_lg; |
---|
| 1565 | |
---|
| 1566 | /* create a list saying whether a vertex is going to be used */ |
---|
| 1567 | |
---|
| 1568 | vert_index = new int[rangeGrid->numSamples]; |
---|
| 1569 | for (i = 0; i < rangeGrid->numSamples; i++) |
---|
| 1570 | vert_index[i] = -1; |
---|
| 1571 | |
---|
| 1572 | /* see which vertices will be used in a triangle */ |
---|
| 1573 | |
---|
| 1574 | count = 0; |
---|
| 1575 | for (i = 0; i <= nlt - subSamp; i += subSamp) |
---|
| 1576 | for (j = 0; j <= nlg - subSamp; j += subSamp) { |
---|
| 1577 | in1 = rangeGrid->indices[i + j * nlt]; |
---|
| 1578 | if (in1 >= 0) { |
---|
| 1579 | vert_index[in1] = 1; |
---|
| 1580 | count++; |
---|
| 1581 | } |
---|
| 1582 | } |
---|
| 1583 | |
---|
| 1584 | mesh->numVerts = count; |
---|
| 1585 | mesh->verts = new Vertex[mesh->numVerts]; |
---|
| 1586 | |
---|
| 1587 | mesh->numTris = 0; |
---|
| 1588 | max_tris = mesh->numVerts * 2; |
---|
| 1589 | mesh->tris = new Triangle[max_tris]; |
---|
| 1590 | |
---|
| 1591 | |
---|
| 1592 | /* create the vertices */ |
---|
| 1593 | |
---|
| 1594 | count = 0; |
---|
| 1595 | for (i = 0; i < rangeGrid->numSamples; i++) { |
---|
| 1596 | if (vert_index[i] == -1) |
---|
| 1597 | continue; |
---|
| 1598 | |
---|
| 1599 | vert_index[i] = count; |
---|
| 1600 | mesh->verts[count].coord = rangeGrid->coords[i]; |
---|
| 1601 | |
---|
| 1602 | mesh->verts[count].maxVerts = 8; |
---|
| 1603 | mesh->verts[count].verts = new Vertex*[8]; |
---|
| 1604 | mesh->verts[count].edgeLengths = new float[8]; |
---|
| 1605 | mesh->verts[count].numVerts = 0; |
---|
| 1606 | |
---|
| 1607 | mesh->verts[count].maxTris = 8; |
---|
| 1608 | mesh->verts[count].tris = new Triangle*[8]; |
---|
| 1609 | mesh->verts[count].numTris = 0; |
---|
| 1610 | |
---|
| 1611 | if (rangeGrid->hasConfidence) |
---|
| 1612 | mesh->verts[count].confidence = rangeGrid->confidence[i]; |
---|
| 1613 | else |
---|
| 1614 | mesh->verts[count].confidence = 1; |
---|
| 1615 | |
---|
| 1616 | count++; |
---|
| 1617 | } |
---|
| 1618 | mesh->numVerts = count; |
---|
| 1619 | |
---|
| 1620 | /* create the triangles */ |
---|
| 1621 | |
---|
| 1622 | for (i = 0; i < nlt - subSamp; i += subSamp) |
---|
| 1623 | for (j = 0; j < nlg - subSamp; j += subSamp) { |
---|
| 1624 | |
---|
| 1625 | ii = (i + subSamp) % nlt; |
---|
| 1626 | jj = (j + subSamp) % nlg; |
---|
| 1627 | |
---|
| 1628 | /* count the number of good vertices */ |
---|
| 1629 | /* |
---|
| 1630 | in1 = rangeGrid->indices[ i + j * nlt]; |
---|
| 1631 | in2 = rangeGrid->indices[ i + jj * nlt]; |
---|
| 1632 | in3 = rangeGrid->indices[ii + jj * nlt]; |
---|
| 1633 | in4 = rangeGrid->indices[ii + j * nlt]; |
---|
| 1634 | */ |
---|
| 1635 | |
---|
| 1636 | in1 = rangeGrid->indices[ i + j * nlt]; |
---|
| 1637 | in2 = rangeGrid->indices[ii + j * nlt]; |
---|
| 1638 | in3 = rangeGrid->indices[ii + jj * nlt]; |
---|
| 1639 | in4 = rangeGrid->indices[ i + jj * nlt]; |
---|
| 1640 | |
---|
| 1641 | count = (in1 >= 0) + (in2 >= 0) + (in3 >= 0) + (in4 >=0); |
---|
| 1642 | if (in1 >= 0) { |
---|
| 1643 | vin1 = vert_index[in1]; |
---|
| 1644 | vt1 = &mesh->verts[vin1]; |
---|
| 1645 | if (in1 > rangeGrid->numOrigSamples) { |
---|
| 1646 | vt1->holeFill = TRUE; |
---|
| 1647 | vt1->stepsToEdge = -1; |
---|
| 1648 | } else { |
---|
| 1649 | vt1->holeFill = FALSE; |
---|
| 1650 | vt1->stepsToEdge = 0; |
---|
| 1651 | } |
---|
| 1652 | } |
---|
| 1653 | if (in2 >= 0) { |
---|
| 1654 | vin2 = vert_index[in2]; |
---|
| 1655 | vt2 = &mesh->verts[vin2]; |
---|
| 1656 | if (in2 > rangeGrid->numOrigSamples) { |
---|
| 1657 | vt2->holeFill = TRUE; |
---|
| 1658 | vt2->stepsToEdge = -1; |
---|
| 1659 | } else { |
---|
| 1660 | vt2->holeFill = FALSE; |
---|
| 1661 | vt2->stepsToEdge = 0; |
---|
| 1662 | } |
---|
| 1663 | } |
---|
| 1664 | if (in3 >= 0) { |
---|
| 1665 | vin3 = vert_index[in3]; |
---|
| 1666 | vt3 = &mesh->verts[vin3]; |
---|
| 1667 | if (in3 > rangeGrid->numOrigSamples) { |
---|
| 1668 | vt3->holeFill = TRUE; |
---|
| 1669 | vt3->stepsToEdge = -1; |
---|
| 1670 | } else { |
---|
| 1671 | vt3->holeFill = FALSE; |
---|
| 1672 | vt3->stepsToEdge = 0; |
---|
| 1673 | } |
---|
| 1674 | } |
---|
| 1675 | if (in4 >= 0) { |
---|
| 1676 | vin4 = vert_index[in4]; |
---|
| 1677 | vt4 = &mesh->verts[vin4]; |
---|
| 1678 | if (in4 > rangeGrid->numOrigSamples) { |
---|
| 1679 | vt4->holeFill = TRUE; |
---|
| 1680 | vt4->stepsToEdge = -1; |
---|
| 1681 | } else { |
---|
| 1682 | vt4->holeFill = FALSE; |
---|
| 1683 | vt4->stepsToEdge = 0; |
---|
| 1684 | } |
---|
| 1685 | } |
---|
| 1686 | |
---|
| 1687 | if (UseEdgeLength) { |
---|
| 1688 | if (count == 4) { /* all 4 vertices okay, so make 2 tris */ |
---|
| 1689 | float len1,len2; |
---|
| 1690 | |
---|
| 1691 | /* compute lengths of cross-edges */ |
---|
| 1692 | v1 = vt1->coord - vt3->coord; |
---|
| 1693 | v2 = vt2->coord - vt4->coord; |
---|
| 1694 | len1 = v1.length(); |
---|
| 1695 | len2 = v2.length(); |
---|
| 1696 | |
---|
| 1697 | /* make triangles that minimize the cross-length */ |
---|
| 1698 | |
---|
| 1699 | if (len1 < len2) { |
---|
| 1700 | addTriangleUseLength(mesh, vin1, vin2, vin3, |
---|
| 1701 | MaxEdgeLength, connectAll); |
---|
| 1702 | addTriangleUseLength(mesh, vin1, vin3, vin4, |
---|
| 1703 | MaxEdgeLength, connectAll); |
---|
| 1704 | } else { |
---|
| 1705 | addTriangleUseLength(mesh, vin2, vin3, vin4, |
---|
| 1706 | MaxEdgeLength, connectAll); |
---|
| 1707 | addTriangleUseLength(mesh, vin2, vin4, vin1, |
---|
| 1708 | MaxEdgeLength, connectAll); |
---|
| 1709 | } |
---|
| 1710 | } |
---|
| 1711 | else if (count == 3) { /* only 3 vertices okay, so make 1 tri */ |
---|
| 1712 | if (in1 == -1) { |
---|
| 1713 | addTriangleUseLength(mesh, vin2, vin3, vin4, |
---|
| 1714 | MaxEdgeLength, connectAll); |
---|
| 1715 | } |
---|
| 1716 | else if (in2 == -1) { |
---|
| 1717 | addTriangleUseLength(mesh, vin1, vin3, vin4, |
---|
| 1718 | MaxEdgeLength, connectAll); |
---|
| 1719 | } |
---|
| 1720 | else if (in3 == -1) { |
---|
| 1721 | addTriangleUseLength(mesh, vin1, vin2, vin4, |
---|
| 1722 | MaxEdgeLength, connectAll); |
---|
| 1723 | } |
---|
| 1724 | else { /* in4 == -1 */ |
---|
| 1725 | addTriangleUseLength(mesh, vin1, vin2, vin3, |
---|
| 1726 | MaxEdgeLength, connectAll); |
---|
| 1727 | } |
---|
| 1728 | } |
---|
| 1729 | } |
---|
| 1730 | else { |
---|
| 1731 | if (count == 4) { /* all 4 vertices okay, so make 2 tris */ |
---|
| 1732 | float len1,len2; |
---|
| 1733 | |
---|
| 1734 | /* compute lengths of cross-edges */ |
---|
| 1735 | v1 = vt1->coord - vt3->coord; |
---|
| 1736 | v2 = vt2->coord - vt4->coord; |
---|
| 1737 | len1 = v1.length(); |
---|
| 1738 | len2 = v2.length(); |
---|
| 1739 | |
---|
| 1740 | /* make triangles that minimize the cross-length */ |
---|
| 1741 | |
---|
| 1742 | if (len1 < len2) { |
---|
| 1743 | addTriangleUseNormal(mesh, vin1, vin2, vin3, |
---|
| 1744 | MinViewDot, rangeGrid->viewDir, |
---|
| 1745 | connectAll); |
---|
| 1746 | addTriangleUseNormal(mesh, vin1, vin3, vin4, |
---|
| 1747 | MinViewDot, rangeGrid->viewDir, |
---|
| 1748 | connectAll); |
---|
| 1749 | } else { |
---|
| 1750 | addTriangleUseNormal(mesh, vin2, vin3, vin4, |
---|
| 1751 | MinViewDot, rangeGrid->viewDir, |
---|
| 1752 | connectAll); |
---|
| 1753 | addTriangleUseNormal(mesh, vin2, vin4, vin1, |
---|
| 1754 | MinViewDot, rangeGrid->viewDir, |
---|
| 1755 | connectAll); |
---|
| 1756 | } |
---|
| 1757 | } |
---|
| 1758 | else if (count == 3) { /* only 3 vertices okay, so make 1 tri */ |
---|
| 1759 | if (in1 == -1) { |
---|
| 1760 | addTriangleUseNormal(mesh, vin2, vin3, vin4, |
---|
| 1761 | MinViewDot, rangeGrid->viewDir, |
---|
| 1762 | connectAll); |
---|
| 1763 | } |
---|
| 1764 | else if (in2 == -1) { |
---|
| 1765 | addTriangleUseNormal(mesh, vin1, vin3, vin4, |
---|
| 1766 | MinViewDot, rangeGrid->viewDir, |
---|
| 1767 | connectAll); |
---|
| 1768 | } |
---|
| 1769 | else if (in3 == -1) { |
---|
| 1770 | addTriangleUseNormal(mesh, vin1, vin2, vin4, |
---|
| 1771 | MinViewDot, rangeGrid->viewDir, |
---|
| 1772 | connectAll); |
---|
| 1773 | } |
---|
| 1774 | else { /* in4 == -1 */ |
---|
| 1775 | addTriangleUseNormal(mesh, vin1, vin2, vin3, |
---|
| 1776 | MinViewDot, rangeGrid->viewDir, |
---|
| 1777 | connectAll); |
---|
| 1778 | } |
---|
| 1779 | } |
---|
| 1780 | } |
---|
| 1781 | } |
---|
| 1782 | |
---|
| 1783 | /* free up the vertex index list */ |
---|
| 1784 | delete [] vert_index; |
---|
| 1785 | |
---|
| 1786 | mesh->initNormals(); |
---|
| 1787 | |
---|
| 1788 | find_mesh_edges(mesh); |
---|
| 1789 | |
---|
| 1790 | return (mesh); |
---|
| 1791 | } |
---|
| 1792 | |
---|
| 1793 | |
---|
| 1794 | |
---|
| 1795 | /****************************************************************************** |
---|
| 1796 | Create a triangle mesh from scan data. |
---|
| 1797 | |
---|
| 1798 | Entry: |
---|
| 1799 | |
---|
| 1800 | |
---|
| 1801 | Exit: |
---|
| 1802 | returns pointer to newly-created mesh |
---|
| 1803 | ******************************************************************************/ |
---|
| 1804 | |
---|
| 1805 | Mesh * |
---|
| 1806 | cleanMeshFromRangeMesh(Mesh *inMesh) |
---|
| 1807 | { |
---|
| 1808 | int i,j; |
---|
| 1809 | Vec3f v1, v2, vect1, vect2, vect3, vect4; |
---|
| 1810 | int ii,jj; |
---|
| 1811 | int in1,in2,in3,in4,vin1,vin2,vin3,vin4; |
---|
| 1812 | Vertex *vt1,*vt2,*vt3,*vt4; |
---|
| 1813 | int count; |
---|
| 1814 | int max_lt,max_lg; |
---|
| 1815 | Mesh *mesh; |
---|
| 1816 | int nlt,nlg,max_verts,max_tris; |
---|
| 1817 | mesh = new Mesh; |
---|
| 1818 | Vec3f viewDir; |
---|
| 1819 | |
---|
| 1820 | uchar colorThresh = MinColor; |
---|
| 1821 | |
---|
| 1822 | if (Warn) |
---|
| 1823 | printf("meshFromGrid(): Not computing useful max_length!!\n"); |
---|
| 1824 | |
---|
| 1825 | mesh->numVerts = inMesh->numVerts; |
---|
| 1826 | mesh->verts = new Vertex[mesh->numVerts]; |
---|
| 1827 | |
---|
| 1828 | mesh->numTris = 0; |
---|
| 1829 | max_tris = inMesh->numTris; |
---|
| 1830 | mesh->tris = new Triangle[max_tris]; |
---|
| 1831 | |
---|
| 1832 | mesh->isWarped = inMesh->isWarped; |
---|
| 1833 | mesh->isRightMirrorOpen = inMesh->isRightMirrorOpen; |
---|
| 1834 | mesh->hasConfidence = inMesh->hasConfidence; |
---|
| 1835 | mesh->hasColor = inMesh->hasColor; |
---|
| 1836 | |
---|
| 1837 | if (!mesh->isWarped) { |
---|
| 1838 | viewDir.setValue(0, 0, -1); |
---|
| 1839 | } else { |
---|
| 1840 | if (mesh->isRightMirrorOpen) { |
---|
| 1841 | viewDir.setValue(-sin(30*M_PI/180), 0, -cos(30*M_PI/180)); |
---|
| 1842 | } else { |
---|
| 1843 | viewDir.setValue(sin(30*M_PI/180), 0, -cos(30*M_PI/180)); |
---|
| 1844 | } |
---|
| 1845 | } |
---|
| 1846 | |
---|
| 1847 | /* create the vertices */ |
---|
| 1848 | |
---|
| 1849 | for (i = 0; i < inMesh->numVerts; i++) { |
---|
| 1850 | mesh->verts[i].coord = inMesh->verts[i].coord; |
---|
| 1851 | |
---|
| 1852 | mesh->verts[i].maxVerts = 8; |
---|
| 1853 | mesh->verts[i].verts = new Vertex*[8]; |
---|
| 1854 | mesh->verts[i].edgeLengths = new float[8]; |
---|
| 1855 | mesh->verts[i].numVerts = 0; |
---|
| 1856 | |
---|
| 1857 | mesh->verts[i].maxTris = 8; |
---|
| 1858 | mesh->verts[i].tris = new Triangle*[8]; |
---|
| 1859 | mesh->verts[i].numTris = 0; |
---|
| 1860 | |
---|
| 1861 | mesh->verts[i].holeFill = FALSE; |
---|
| 1862 | mesh->verts[i].stepsToEdge = -1; |
---|
| 1863 | |
---|
| 1864 | if (inMesh->hasConfidence) |
---|
| 1865 | mesh->verts[i].confidence = inMesh->verts[i].confidence; |
---|
| 1866 | else |
---|
| 1867 | mesh->verts[i].confidence = 1; |
---|
| 1868 | |
---|
| 1869 | if (inMesh->hasColor) |
---|
| 1870 | mesh->verts[i].red = inMesh->verts[i].red; |
---|
| 1871 | mesh->verts[i].green = inMesh->verts[i].green; |
---|
| 1872 | mesh->verts[i].blue = inMesh->verts[i].blue; |
---|
| 1873 | } |
---|
| 1874 | |
---|
| 1875 | /* create the triangles */ |
---|
| 1876 | for (i = 0; i < inMesh->numTris; i++) { |
---|
| 1877 | |
---|
| 1878 | if (inMesh->hasColor) { |
---|
| 1879 | if (inMesh->verts[inMesh->tris[i].vindex1].red < colorThresh || |
---|
| 1880 | inMesh->verts[inMesh->tris[i].vindex2].red < colorThresh || |
---|
| 1881 | inMesh->verts[inMesh->tris[i].vindex3].red < colorThresh) { |
---|
| 1882 | continue; |
---|
| 1883 | } |
---|
| 1884 | } |
---|
| 1885 | |
---|
| 1886 | if (UseEdgeLength) { |
---|
| 1887 | addTriangleUseLength(mesh, inMesh->tris[i].vindex1, |
---|
| 1888 | inMesh->tris[i].vindex2, |
---|
| 1889 | inMesh->tris[i].vindex3, |
---|
| 1890 | MaxEdgeLength, 0); |
---|
| 1891 | } else { |
---|
| 1892 | addTriangleUseNormal(mesh, inMesh->tris[i].vindex1, |
---|
| 1893 | inMesh->tris[i].vindex2, |
---|
| 1894 | inMesh->tris[i].vindex3, |
---|
| 1895 | MinViewDot, viewDir, 0); |
---|
| 1896 | } |
---|
| 1897 | } |
---|
| 1898 | |
---|
| 1899 | mesh->initNormals(); |
---|
| 1900 | |
---|
| 1901 | find_mesh_edges(mesh); |
---|
| 1902 | |
---|
| 1903 | return (mesh); |
---|
| 1904 | } |
---|
| 1905 | |
---|
| 1906 | |
---|
| 1907 | static void |
---|
| 1908 | addTriangleUseNormal(Mesh *mesh, int vin1, int vin2, int vin3, |
---|
| 1909 | float minDot, Vec3f &viewDir, int connectAll) |
---|
| 1910 | { |
---|
| 1911 | Vec3f c1, c2, c3; |
---|
| 1912 | Vec3f v1, v2, v3; |
---|
| 1913 | Triangle *tri; |
---|
| 1914 | Vertex *vert1, *vert2, *vert3; |
---|
| 1915 | int tooGrazing; |
---|
| 1916 | float dot; |
---|
| 1917 | |
---|
| 1918 | c1.setValue(mesh->verts[vin1].coord); |
---|
| 1919 | c2.setValue(mesh->verts[vin2].coord); |
---|
| 1920 | c3.setValue(mesh->verts[vin3].coord); |
---|
| 1921 | |
---|
| 1922 | v1 = c1 - c2; |
---|
| 1923 | v2 = c1 - c3; |
---|
| 1924 | v3 = v2.cross(v1); |
---|
| 1925 | v3.normalize(); |
---|
| 1926 | dot = fabs(v3.dot(viewDir)); |
---|
| 1927 | |
---|
| 1928 | tooGrazing = dot < minDot; |
---|
| 1929 | if (tooGrazing && !connectAll) |
---|
| 1930 | return; |
---|
| 1931 | |
---|
| 1932 | // No check on limits here??? |
---|
| 1933 | tri = &mesh->tris[mesh->numTris]; |
---|
| 1934 | |
---|
| 1935 | tri->vindex1 = vin1; |
---|
| 1936 | tri->vindex2 = vin2; |
---|
| 1937 | tri->vindex3 = vin3; |
---|
| 1938 | |
---|
| 1939 | vert1 = &mesh->verts[vin1]; |
---|
| 1940 | vert2 = &mesh->verts[vin2]; |
---|
| 1941 | vert3 = &mesh->verts[vin3]; |
---|
| 1942 | |
---|
| 1943 | vert1->tris[vert1->numTris++] = tri; |
---|
| 1944 | vert2->tris[vert2->numTris++] = tri; |
---|
| 1945 | vert3->tris[vert3->numTris++] = tri; |
---|
| 1946 | |
---|
| 1947 | addNeighbors(vert1,vert2); |
---|
| 1948 | addNeighbors(vert1,vert3); |
---|
| 1949 | addNeighbors(vert2,vert3); |
---|
| 1950 | |
---|
| 1951 | if (tooGrazing) { |
---|
| 1952 | vert1->holeFill = 1; |
---|
| 1953 | vert2->holeFill = 1; |
---|
| 1954 | vert3->holeFill = 1; |
---|
| 1955 | vert1->stepsToEdge = -1; |
---|
| 1956 | vert2->stepsToEdge = -1; |
---|
| 1957 | vert3->stepsToEdge = -1; |
---|
| 1958 | } |
---|
| 1959 | |
---|
| 1960 | mesh->numTris++; |
---|
| 1961 | } |
---|
| 1962 | |
---|
| 1963 | static void |
---|
| 1964 | addTriangleUseLength(Mesh *mesh, int vin1, int vin2, int vin3, |
---|
| 1965 | float maxLength, int connectAll) |
---|
| 1966 | { |
---|
| 1967 | Vec3f c1, c2, c3; |
---|
| 1968 | Vec3f v; |
---|
| 1969 | Triangle *tri; |
---|
| 1970 | Vertex *vert1, *vert2, *vert3; |
---|
| 1971 | int tooLong; |
---|
| 1972 | |
---|
| 1973 | c1.setValue(mesh->verts[vin1].coord); |
---|
| 1974 | c2.setValue(mesh->verts[vin2].coord); |
---|
| 1975 | c3.setValue(mesh->verts[vin3].coord); |
---|
| 1976 | |
---|
| 1977 | v = c1 - c2; |
---|
| 1978 | tooLong = v.length() > maxLength; |
---|
| 1979 | if (tooLong && !connectAll) |
---|
| 1980 | return; |
---|
| 1981 | |
---|
| 1982 | v = c1 - c3; |
---|
| 1983 | tooLong = tooLong || v.length() > maxLength; |
---|
| 1984 | if (tooLong && !connectAll) |
---|
| 1985 | return; |
---|
| 1986 | |
---|
| 1987 | v = c2 - c3; |
---|
| 1988 | tooLong = tooLong || v.length() > maxLength; |
---|
| 1989 | if (tooLong && !connectAll) |
---|
| 1990 | return; |
---|
| 1991 | |
---|
| 1992 | // No check on limits here??? |
---|
| 1993 | tri = &mesh->tris[mesh->numTris]; |
---|
| 1994 | |
---|
| 1995 | tri->vindex1 = vin1; |
---|
| 1996 | tri->vindex2 = vin2; |
---|
| 1997 | tri->vindex3 = vin3; |
---|
| 1998 | |
---|
| 1999 | vert1 = &mesh->verts[vin1]; |
---|
| 2000 | vert2 = &mesh->verts[vin2]; |
---|
| 2001 | vert3 = &mesh->verts[vin3]; |
---|
| 2002 | |
---|
| 2003 | vert1->tris[vert1->numTris++] = tri; |
---|
| 2004 | vert2->tris[vert2->numTris++] = tri; |
---|
| 2005 | vert3->tris[vert3->numTris++] = tri; |
---|
| 2006 | |
---|
| 2007 | addNeighbors(vert1,vert2); |
---|
| 2008 | addNeighbors(vert1,vert3); |
---|
| 2009 | addNeighbors(vert2,vert3); |
---|
| 2010 | |
---|
| 2011 | if (tooLong) { |
---|
| 2012 | vert1->holeFill = 1; |
---|
| 2013 | vert2->holeFill = 1; |
---|
| 2014 | vert3->holeFill = 1; |
---|
| 2015 | vert1->stepsToEdge = -1; |
---|
| 2016 | vert2->stepsToEdge = -1; |
---|
| 2017 | vert3->stepsToEdge = -1; |
---|
| 2018 | } |
---|
| 2019 | |
---|
| 2020 | mesh->numTris++; |
---|
| 2021 | } |
---|
| 2022 | |
---|
| 2023 | |
---|
| 2024 | void |
---|
| 2025 | addNeighbors(Vertex *v1, Vertex *v2) |
---|
| 2026 | { |
---|
| 2027 | float length; |
---|
| 2028 | Vec3f a; |
---|
| 2029 | int found = 0; |
---|
| 2030 | |
---|
| 2031 | for (int i = 0; i < v1->numVerts; i++) { |
---|
| 2032 | if (v1->verts[i] == v2) { |
---|
| 2033 | found = 1; |
---|
| 2034 | break; |
---|
| 2035 | } |
---|
| 2036 | } |
---|
| 2037 | |
---|
| 2038 | if (!found) { |
---|
| 2039 | length = 0.0005; |
---|
| 2040 | a = v1->coord - v2->coord; |
---|
| 2041 | length = a.length(); |
---|
| 2042 | |
---|
| 2043 | if (v1->numVerts == v1->maxVerts) |
---|
| 2044 | reallocVerts(v1); |
---|
| 2045 | |
---|
| 2046 | if (v2->numVerts == v2->maxVerts) |
---|
| 2047 | reallocVerts(v2); |
---|
| 2048 | |
---|
| 2049 | v1->edgeLengths[v1->numVerts] = length; |
---|
| 2050 | v2->edgeLengths[v2->numVerts] = length; |
---|
| 2051 | v1->verts[v1->numVerts++] = v2; |
---|
| 2052 | v2->verts[v2->numVerts++] = v1; |
---|
| 2053 | } |
---|
| 2054 | } |
---|
| 2055 | |
---|
| 2056 | |
---|
| 2057 | /****************************************************************************** |
---|
| 2058 | Find which vertices of a mesh are on the edge of the mesh. |
---|
| 2059 | |
---|
| 2060 | Entry: |
---|
| 2061 | mesh - mesh to find edges of |
---|
| 2062 | ******************************************************************************/ |
---|
| 2063 | |
---|
| 2064 | void |
---|
| 2065 | find_mesh_edges(Mesh *mesh) |
---|
| 2066 | { |
---|
| 2067 | int i; |
---|
| 2068 | |
---|
| 2069 | /* examine each vertex of a mesh to see if it's on the edge */ |
---|
| 2070 | |
---|
| 2071 | for (i = 0; i < mesh->numVerts; i++) |
---|
| 2072 | vertex_edge_test (mesh, &mesh->verts[i]); |
---|
| 2073 | } |
---|
| 2074 | |
---|
| 2075 | |
---|
| 2076 | /****************************************************************************** |
---|
| 2077 | Mark a vertex to say whether it is on the edge of a mesh or not. |
---|
| 2078 | |
---|
| 2079 | Entry: |
---|
| 2080 | vert: vertex to mark as on edge or not |
---|
| 2081 | |
---|
| 2082 | Exit: |
---|
| 2083 | returns 0 if everything was okay, 1 if the mesh is build funny |
---|
| 2084 | ******************************************************************************/ |
---|
| 2085 | |
---|
| 2086 | int |
---|
| 2087 | vertex_edge_test(Mesh *mesh, Vertex *vert) |
---|
| 2088 | { |
---|
| 2089 | int i; |
---|
| 2090 | Triangle *tri; |
---|
| 2091 | unsigned char on_edge; |
---|
| 2092 | static int been_here = 0; |
---|
| 2093 | int bad_mesh = 0; |
---|
| 2094 | |
---|
| 2095 | /* initialize list that counts how many times an edge has been marked */ |
---|
| 2096 | /* (each edge should be marked twice, once for each triangle, */ |
---|
| 2097 | /* otherwise the vertex is on an edge) */ |
---|
| 2098 | |
---|
| 2099 | for (i = 0; i < vert->numVerts; i++) |
---|
| 2100 | vert->verts[i]->count = 0; |
---|
| 2101 | |
---|
| 2102 | on_edge = 0; /* assume we're not on an edge */ |
---|
| 2103 | |
---|
| 2104 | /* go through each triangle of vertex, counting how many times an */ |
---|
| 2105 | /* adjacent vertex has been used */ |
---|
| 2106 | |
---|
| 2107 | for (i = 0; i < vert->numTris; i++) { |
---|
| 2108 | tri = vert->tris[i]; |
---|
| 2109 | |
---|
| 2110 | /* count the participation of each vertex of the triangle */ |
---|
| 2111 | mesh->verts[tri->vindex1].count++; |
---|
| 2112 | mesh->verts[tri->vindex2].count++; |
---|
| 2113 | mesh->verts[tri->vindex3].count++; |
---|
| 2114 | |
---|
| 2115 | |
---|
| 2116 | // This prevents us from operating on them as vertices |
---|
| 2117 | // internal to the mesh |
---|
| 2118 | if (mesh->verts[tri->vindex1].holeFill) |
---|
| 2119 | on_edge = 1; |
---|
| 2120 | |
---|
| 2121 | if (mesh->verts[tri->vindex2].holeFill) |
---|
| 2122 | on_edge = 1; |
---|
| 2123 | |
---|
| 2124 | if (mesh->verts[tri->vindex3].holeFill) |
---|
| 2125 | on_edge = 1; |
---|
| 2126 | } |
---|
| 2127 | |
---|
| 2128 | /* examine the counts of the neighboring vertices to see if they */ |
---|
| 2129 | /* prove the vertex to be an edge. also check for mesh consistancy */ |
---|
| 2130 | |
---|
| 2131 | for (i = 0; i < vert->numVerts; i++) { |
---|
| 2132 | if (vert->verts[i]->count == 1) { |
---|
| 2133 | on_edge = 1; |
---|
| 2134 | } |
---|
| 2135 | else if (vert->verts[i]->count == 2) { |
---|
| 2136 | /* this is okay */ |
---|
| 2137 | } |
---|
| 2138 | else { |
---|
| 2139 | /* if we're here, our mesh is built wrong */ |
---|
| 2140 | bad_mesh = 1; |
---|
| 2141 | if (!been_here) { |
---|
| 2142 | been_here = 1; |
---|
| 2143 | fprintf (stderr, "vertex_edge_test: %d count on an edge\n", |
---|
| 2144 | vert->verts[i]->count); |
---|
| 2145 | /* |
---|
| 2146 | fprintf (stderr, "(You'll only get this message once, so beware!)\n"); |
---|
| 2147 | */ |
---|
| 2148 | } |
---|
| 2149 | } |
---|
| 2150 | } |
---|
| 2151 | |
---|
| 2152 | vert->on_edge = on_edge; |
---|
| 2153 | |
---|
| 2154 | /* say if the mesh is improperly built */ |
---|
| 2155 | return (bad_mesh); |
---|
| 2156 | } |
---|
| 2157 | |
---|