1 | /* |
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2 | |
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3 | Brian Curless |
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4 | |
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5 | Computer Graphics Laboratory |
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6 | Stanford University |
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7 | |
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8 | --------------------------------------------------------------------- |
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9 | |
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10 | Copyright (1997) The Board of Trustees of the Leland Stanford Junior |
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11 | University. Except for commercial resale, lease, license or other |
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12 | commercial transactions, permission is hereby given to use, copy, |
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13 | modify this software for academic purposes only. No part of this |
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14 | software or any derivatives thereof may be used in the production of |
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15 | computer models for resale or for use in a commercial |
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16 | product. STANFORD MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND |
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17 | CONCERNING THIS SOFTWARE. No support is implied or provided. |
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18 | |
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19 | */ |
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20 | |
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21 | |
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22 | #include <math.h> |
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23 | #include <limits.h> |
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24 | #include <stdio.h> |
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25 | #include <unistd.h> |
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26 | |
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27 | #include "occFunc.h" |
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28 | #include "scan.h" |
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29 | #include "vripGlobals.h" |
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30 | #include "resample.h" |
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31 | |
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32 | |
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33 | |
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34 | void |
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35 | scanConvert(OccGrid *grid, OrthoShear *shear, DepthMap *depthMap) |
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36 | { |
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37 | float xOff, yOff, res, depth, confidence; |
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38 | OccElement *buf; |
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39 | int xx,yy,zz; |
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40 | |
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41 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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42 | |
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43 | res = grid->resolution; |
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44 | |
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45 | buf = grid->elems; |
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46 | for (zz = 0; zz < grid->zdim; zz++) { |
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47 | printf("\rTraversing slice %d of %d.", zz, grid->zdim-1); |
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48 | fflush(stdout); |
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49 | yOff = (grid->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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50 | for (yy = 0; yy < grid->ydim; yy++, yOff++) { |
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51 | xOff = (grid->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
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52 | for (xx = 0; xx < grid->xdim; xx++, xOff++, buf++) { |
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53 | resample(depthMap, xOff, yOff, &depth, &confidence); |
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54 | updateCell(grid->sliceOrigins[zz][2], depth, sampleSpacing, |
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55 | confidence, buf); |
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56 | } |
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57 | } |
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58 | } |
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59 | printf("\n"); |
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60 | } |
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61 | |
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62 | |
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63 | void |
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64 | scanConvertDragTails(OccGrid *grid, OrthoShear *shear, DepthMap *depthMap) |
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65 | { |
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66 | float xOff, yOff, res, depth, confidence; |
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67 | OccElement *buf; |
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68 | int xx,yy,zz; |
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69 | |
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70 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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71 | |
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72 | res = grid->resolution; |
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73 | |
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74 | buf = grid->elems; |
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75 | for (zz = 0; zz < grid->zdim; zz++) { |
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76 | printf("\rTraversing slice %d of %d.", zz, grid->zdim-1); |
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77 | fflush(stdout); |
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78 | yOff = (grid->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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79 | for (yy = 0; yy < grid->ydim; yy++, yOff++) { |
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80 | xOff = (grid->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
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81 | for (xx = 0; xx < grid->xdim; xx++, xOff++, buf++) { |
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82 | resample(depthMap, xOff, yOff, &depth, &confidence); |
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83 | updateCellForCarving(grid->sliceOrigins[zz][2], depth, sampleSpacing, |
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84 | confidence, buf); |
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85 | } |
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86 | } |
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87 | } |
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88 | printf("\n"); |
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89 | } |
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90 | |
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91 | |
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92 | void |
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93 | scanConvertTree(OccGrid *grid, OrthoShear *shear, DepthMap *depthMap) |
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94 | { |
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95 | float xOff, yOff, res, depth, confidence; |
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96 | OccElement *buf; |
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97 | int xx,yy,zz; |
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98 | int *depthRuns, numRuns; |
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99 | float zmin, zmax, xNewOff; |
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100 | int xmin, xmax; |
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101 | |
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102 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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103 | |
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104 | res = grid->resolution; |
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105 | |
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106 | buf = grid->elems; |
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107 | for (zz = 0; zz < grid->zdim; zz++) { |
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108 | printf("\rTraversing slice %d of %d.", zz, grid->zdim-1); |
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109 | fflush(stdout); |
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110 | zmin = grid->sliceOrigins[zz][2] + C5/sampleSpacing; |
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111 | zmax = grid->sliceOrigins[zz][2] + C1/sampleSpacing; |
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112 | yOff = (grid->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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113 | for (yy = 0; yy < grid->ydim; yy++, yOff++) { |
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114 | depthRuns = depthMap->getDepthRuns(yOff, zmin, zmax, &numRuns); |
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115 | if (numRuns == 0) |
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116 | continue; |
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117 | xOff = (grid->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
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118 | for (int i = 0; i < numRuns; i++) { |
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119 | xmin = int(depthRuns[2*i] - xOff); |
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120 | xmin = MAX(xmin, 0); |
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121 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
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122 | xmax = MIN(xmax, grid->xdim-1); |
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123 | xNewOff = xOff + xmin; |
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124 | buf = grid->elems + xmin + yy*grid->xdim + |
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125 | zz*grid->ydim*grid->xdim; |
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126 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
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127 | resample(depthMap, xNewOff, yOff, &depth, &confidence); |
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128 | updateCell(grid->sliceOrigins[zz][2], depth, |
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129 | sampleSpacing, confidence, buf); |
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130 | } |
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131 | } |
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132 | } |
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133 | } |
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134 | printf("\n"); |
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135 | } |
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136 | |
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