[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 "vrip.h" |
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| 28 | #include "vripGlobals.h" |
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| 29 | #include "linePersp.h" |
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| 30 | #include "resample.h" |
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| 31 | #include "occFunc.h" |
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| 32 | #include "scanNormRLE.h" |
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| 33 | |
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| 34 | |
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| 35 | void |
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| 36 | scanConvertTree(OccGridNormRLE *gridIn, OccGridNormRLE *gridOut, |
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| 37 | OrthoShear *shear, DepthMap *depthMap) |
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| 38 | { |
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| 39 | float xOff, yOff, res, depth, confidence; |
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| 40 | OccNormElement *buf, *scanline; |
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| 41 | int xx,yy,zz; |
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| 42 | int *depthRuns, numRuns; |
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| 43 | float zmin, zmax, xNewOff; |
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| 44 | int xmin, xmax; |
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| 45 | OccScanlineNormRLE *rleScanline; |
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| 46 | Vec3f norm; |
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| 47 | |
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| 48 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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| 49 | |
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| 50 | res = gridIn->resolution; |
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| 51 | |
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| 52 | gridOut->copyParams(gridIn); |
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| 53 | |
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| 54 | gridOut->reset(); |
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| 55 | |
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| 56 | for (zz = 0; zz < gridIn->zdim; zz++) { |
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| 57 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
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| 58 | fflush(stdout); |
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| 59 | |
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| 60 | // Something is really backwards here! |
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| 61 | |
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| 62 | /* |
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| 63 | zmin = gridIn->sliceOrigins[zz][2] + C5/sampleSpacing; |
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| 64 | zmax = gridIn->sliceOrigins[zz][2] + 2*C1/sampleSpacing; |
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| 65 | */ |
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| 66 | zmin = gridIn->sliceOrigins[zz][2] - C1/sampleSpacing; |
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| 67 | zmax = gridIn->sliceOrigins[zz][2] - C5/sampleSpacing; |
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| 68 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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| 69 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
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| 70 | depthRuns = depthMap->getDepthRuns(yOff, zmin, zmax, &numRuns); |
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| 71 | if (numRuns == 0) { |
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| 72 | rleScanline = gridIn->getRLEScanline(yy, zz); |
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| 73 | gridOut->copyScanline(rleScanline, yy, zz); |
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| 74 | continue; |
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| 75 | } |
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| 76 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
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| 77 | scanline = gridIn->getScanline(yy,zz); |
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| 78 | for (int i = 0; i < numRuns; i++) { |
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| 79 | xmin = int(depthRuns[2*i] - xOff); |
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| 80 | xmin = MAX(xmin, 0); |
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| 81 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
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| 82 | xmax = MIN(xmax, gridIn->xdim-1); |
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| 83 | xNewOff = xOff + xmin; |
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| 84 | buf = scanline + xmin; |
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| 85 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
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| 86 | resampleNorm(depthMap, xNewOff, yOff, |
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| 87 | &depth, &confidence, norm); |
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| 88 | |
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| 89 | updateCell(gridIn->sliceOrigins[zz][2], depth, norm, |
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| 90 | sampleSpacing, confidence, buf); |
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| 91 | } |
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| 92 | } |
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| 93 | |
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| 94 | gridOut->putScanline(scanline,yy,zz); |
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| 95 | |
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| 96 | } |
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| 97 | } |
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| 98 | printf("\n"); |
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| 99 | } |
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| 100 | |
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| 101 | |
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| 102 | void |
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| 103 | scanConvertTree2(OccGridNormRLE *gridIn, OccGridNormRLE *gridOut, |
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| 104 | OrthoShear *shear, DepthMap *depthMap) |
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| 105 | { |
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| 106 | float xOff, yOff, res, depth, confidence; |
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| 107 | OccNormElement *buf, *scanline; |
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| 108 | int xx,yy,zz; |
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| 109 | int *depthRuns, numRuns, oldNumRuns; |
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| 110 | float zmin, zmax, xNewOff; |
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| 111 | int xmin, xmax; |
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| 112 | OccScanlineNormRLE *rleScanline; |
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| 113 | |
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| 114 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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| 115 | |
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| 116 | res = gridIn->resolution; |
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| 117 | |
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| 118 | gridOut->copyParams(gridIn); |
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| 119 | |
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| 120 | gridOut->reset(); |
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| 121 | |
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| 122 | for (zz = 0; zz < gridIn->zdim; zz++) { |
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| 123 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
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| 124 | fflush(stdout); |
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| 125 | |
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| 126 | // Something is really backwards here! |
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| 127 | |
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| 128 | /* |
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| 129 | zmin = gridIn->sliceOrigins[zz][2] + C5/sampleSpacing; |
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| 130 | zmax = gridIn->sliceOrigins[zz][2] + 2*C1/sampleSpacing; |
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| 131 | */ |
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| 132 | zmin = gridIn->sliceOrigins[zz][2] - C1/sampleSpacing; |
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| 133 | zmax = gridIn->sliceOrigins[zz][2] - C5/sampleSpacing; |
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| 134 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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| 135 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
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| 136 | |
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| 137 | // Points near the surface |
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| 138 | depthRuns = depthMap->getDepthRuns(yOff, zmin, zmax, &numRuns); |
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| 139 | if (numRuns != 0) { |
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| 140 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
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| 141 | scanline = gridIn->getScanline(yy,zz); |
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| 142 | for (int i = 0; i < numRuns; i++) { |
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| 143 | xmin = int(depthRuns[2*i] - xOff); |
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| 144 | xmin = MAX(xmin, 0); |
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| 145 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
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| 146 | xmax = MIN(xmax, gridIn->xdim-1); |
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| 147 | xNewOff = xOff + xmin; |
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| 148 | buf = scanline + xmin; |
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| 149 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
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| 150 | resampleForCarving(depthMap, xNewOff, |
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| 151 | yOff, &depth, &confidence); |
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| 152 | updateCellForCarving(gridIn->sliceOrigins[zz][2], |
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| 153 | depth, |
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| 154 | sampleSpacing, confidence, buf); |
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| 155 | } |
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| 156 | } |
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| 157 | } |
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| 158 | |
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| 159 | oldNumRuns = numRuns; |
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| 160 | |
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| 161 | // Points in front of the surface |
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| 162 | depthRuns = depthMap->getDepthRunsUpperBound |
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| 163 | (yOff, zmin, &numRuns); |
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| 164 | |
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| 165 | if (oldNumRuns == 0 && numRuns == 0) { |
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| 166 | rleScanline = gridIn->getRLEScanline(yy, zz); |
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| 167 | gridOut->copyScanline(rleScanline, yy, zz); |
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| 168 | continue; |
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| 169 | } else if (numRuns == 0) { |
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| 170 | gridOut->putScanline(scanline,yy,zz); |
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| 171 | continue; |
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| 172 | } else if (oldNumRuns == 0) { |
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| 173 | scanline = gridIn->getScanline(yy,zz); |
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| 174 | } |
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| 175 | |
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| 176 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
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| 177 | for (int i = 0; i < numRuns; i++) { |
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| 178 | xmin = int(depthRuns[2*i] - xOff); |
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| 179 | xmin = MAX(xmin, 0); |
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| 180 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
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| 181 | xmax = MIN(xmax, gridIn->xdim-1); |
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| 182 | buf = scanline + xmin; |
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| 183 | for (xx = xmin; xx <= xmax; xx++, buf++) { |
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| 184 | if (buf->totalWeight == 0) { |
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| 185 | buf->value = 0; |
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| 186 | } |
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| 187 | } |
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| 188 | } |
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| 189 | gridOut->putScanline(scanline,yy,zz); |
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| 190 | } |
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| 191 | } |
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| 192 | printf("\n"); |
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| 193 | } |
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| 194 | |
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