[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 <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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