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 "perspective.h" |
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30 | #include "resample.h" |
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31 | #include "occFunc.h" |
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32 | #include "scanPerspRLE.h" |
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33 | |
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34 | |
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35 | static OccScanlineRLE *theOutScanline; |
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36 | static OccGridRLE *theInGrid; |
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37 | static int currentType; |
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38 | static RunLength currentLength; |
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39 | static OccElement lastElement; |
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40 | |
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41 | |
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42 | static void initScanline(OccGridRLE *, OccScanlineRLE *); |
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43 | static void appendScanlinePortion(OccGridRLE *inGrid, int inType, |
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44 | OccElement *inElement, RunLength length); |
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45 | static void appendScanline(OccElement *inElement); |
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46 | static void sealScanline(); |
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47 | |
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48 | |
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49 | |
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50 | |
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51 | void |
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52 | scanConvertPersp(OccGridRLE *gridIn, OccGridRLE *gridOut, |
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53 | OrthoShear *shear, DepthMap *depthMap) |
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54 | { |
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55 | float xOff, yOff, res, depth, confidence; |
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56 | OccElement *buf, *scanline; |
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57 | int xx,yy,zz; |
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58 | Vec3f pos, newpos; |
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59 | |
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60 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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61 | |
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62 | res = gridIn->resolution; |
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63 | |
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64 | gridOut->copyParams(gridIn); |
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65 | |
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66 | gridOut->reset(); |
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67 | |
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68 | for (zz = 0; zz < gridIn->zdim; zz++) { |
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69 | if (!Quiet) |
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70 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
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71 | fflush(stdout); |
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72 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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73 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
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74 | buf = scanline = gridIn->getScanline(yy,zz); |
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75 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
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76 | for (xx = 0; xx < gridIn->xdim; xx++, xOff++, buf++) { |
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77 | |
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78 | pos.setValue(xx*res+gridIn->sliceOrigins[zz][0], |
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79 | yy*res+gridIn->sliceOrigins[zz][1], |
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80 | gridIn->sliceOrigins[zz][2]); |
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81 | applyPersp(pos, newpos); |
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82 | xOff = (newpos.x - depthMap->origin[0])/res; |
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83 | yOff = (newpos.y - depthMap->origin[1])/res; |
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84 | |
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85 | #if 0 |
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86 | resampleForCarving(depthMap, xOff, yOff, |
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87 | &depth, &confidence); |
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88 | |
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89 | // Using the full-blown filler! |
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90 | updateCellForCarving(gridIn->sliceOrigins[zz][2], depth, |
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91 | sampleSpacing, confidence, buf); |
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92 | #else |
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93 | |
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94 | resample(depthMap, xOff, yOff, &depth, &confidence); |
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95 | updateCell(gridIn->sliceOrigins[zz][2], depth, |
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96 | sampleSpacing, confidence, buf); |
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97 | |
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98 | #endif |
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99 | |
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100 | } |
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101 | gridOut->putScanline(scanline,yy,zz); |
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102 | } |
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103 | } |
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104 | if (!Quiet) |
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105 | printf("\n"); |
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106 | } |
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107 | |
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108 | |
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109 | void |
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110 | scanConvertPerspTree(OccGridRLE *gridIn, OccGridRLE *gridOut, |
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111 | OrthoShear *shear, DepthMap *depthMap) |
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112 | { |
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113 | float xOff, yOff, res, depth, confidence; |
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114 | OccElement *buf, *scanline; |
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115 | int xx,yy,zz; |
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116 | Vec3f pos, newpos; |
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117 | int *depthRuns, numRuns; |
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118 | float zmin, zmax, xNewOff, y1, y2; |
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119 | int xmin, xmax; |
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120 | OccScanlineRLE *rleScanline; |
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121 | |
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122 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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123 | |
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124 | res = gridIn->resolution; |
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125 | |
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126 | gridOut->copyParams(gridIn); |
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127 | |
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128 | gridOut->reset(); |
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129 | |
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130 | for (zz = 0; zz < gridIn->zdim; zz++) { |
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131 | if (!Quiet) |
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132 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
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133 | fflush(stdout); |
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134 | |
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135 | zmin = gridIn->sliceOrigins[zz][2] - C1/sampleSpacing; |
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136 | zmax = gridIn->sliceOrigins[zz][2] - C5/sampleSpacing; |
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137 | |
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138 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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139 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
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140 | pos.setValue(0*res+gridIn->sliceOrigins[zz][0], |
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141 | yy*res+gridIn->sliceOrigins[zz][1], |
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142 | gridIn->sliceOrigins[zz][2]); |
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143 | applyPersp(pos, newpos); |
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144 | yOff = (newpos.y - depthMap->origin[1])/res; |
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145 | |
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146 | pos.setValue(gridIn->xdim*res+gridIn->sliceOrigins[zz][0], |
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147 | yy*res+gridIn->sliceOrigins[zz][1], |
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148 | gridIn->sliceOrigins[zz][2]); |
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149 | |
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150 | // Huber fix of 4/5/01 |
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151 | // look for areas with depth between zmin and zmax in this row |
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152 | if ((int(yOff) >= 0) && (int(yOff) < depthMap->ydim)) { |
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153 | depthRuns = depthMap->getDepthRuns(yOff, zmin, zmax, &numRuns); |
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154 | } else { |
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155 | numRuns = 0; |
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156 | } |
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157 | if (numRuns == 0) { |
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158 | rleScanline = gridIn->getRLEScanline(yy, zz); |
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159 | gridOut->copyScanline(rleScanline, yy, zz); |
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160 | continue; |
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161 | |
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162 | } |
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163 | scanline = gridIn->getScanline(yy,zz); |
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164 | for (int i = 0; i < numRuns; i++) { |
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165 | |
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166 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
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167 | y1*res + depthMap->origin[1], |
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168 | gridIn->sliceOrigins[zz][2]); |
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169 | applyInvPersp(pos, newpos); |
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170 | xmin = int((newpos.x - gridIn->sliceOrigins[zz][0])/res); |
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171 | |
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172 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
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173 | y2*res + depthMap->origin[1], |
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174 | gridIn->sliceOrigins[zz][2]); |
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175 | applyInvPersp(pos, newpos); |
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176 | xmin = MIN(xmin, int((newpos.x - |
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177 | gridIn->sliceOrigins[zz][0])/res)); |
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178 | xmin = MAX(xmin, 0); |
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179 | |
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180 | |
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181 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
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182 | y1*res + depthMap->origin[1], |
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183 | gridIn->sliceOrigins[zz][2]); |
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184 | //ahaubold |
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185 | // applyInvPersp(pos, newpos); |
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186 | applyInvPersp(pos, newpos); |
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187 | xmax = int(ceil((newpos.x - |
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188 | gridIn->sliceOrigins[zz][0])/res)); |
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189 | |
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190 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
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191 | y2*res + depthMap->origin[1], |
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192 | gridIn->sliceOrigins[zz][2]); |
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193 | //ahaubold |
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194 | // applyInvPersp(pos, newpos); |
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195 | applyInvPersp(pos, newpos); |
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196 | xmax = MAX(xmax, |
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197 | int(ceil((newpos.x - |
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198 | gridIn->sliceOrigins[zz][0])/res))); |
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199 | xmax = int(MIN(xmax*1.1, gridIn->xdim-1)); |
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200 | |
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201 | buf = scanline + xmin; |
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202 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
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203 | pos.setValue(xx*res+gridIn->sliceOrigins[zz][0], |
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204 | yy*res+gridIn->sliceOrigins[zz][1], |
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205 | gridIn->sliceOrigins[zz][2]); |
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206 | //ahaubold |
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207 | // applyPersp(pos, newpos); |
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208 | applyPersp(pos, newpos); |
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209 | xOff = (newpos.x - depthMap->origin[0])/res; |
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210 | yOff = (newpos.y - depthMap->origin[1])/res; |
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211 | |
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212 | resample(depthMap, xOff, yOff, &depth, &confidence); |
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213 | updateCell(gridIn->sliceOrigins[zz][2], depth, |
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214 | sampleSpacing, confidence, buf); |
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215 | } |
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216 | } |
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217 | gridOut->putScanline(scanline,yy,zz); |
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218 | } |
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219 | } |
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220 | if (!Quiet) |
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221 | printf("\n"); |
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222 | } |
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223 | |
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224 | |
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225 | |
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226 | void |
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227 | scanConvertPerspTreeDragTails(OccGridRLE *gridIn, OccGridRLE *gridOut, |
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228 | OrthoShear *shear, DepthMap *depthMap) |
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229 | { |
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230 | float xOff, yOff, res, depth, confidence; |
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231 | OccElement *buf, *scanline; |
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232 | int xx,yy,zz; |
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233 | Vec3f pos, newpos; |
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234 | int *depthRuns, numRuns, oldNumRuns; |
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235 | float zmin, zmax, xNewOff, y1, y2; |
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236 | int xmin, xmax; |
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237 | OccScanlineRLE *rleScanline; |
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238 | |
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239 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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240 | |
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241 | res = gridIn->resolution; |
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242 | |
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243 | gridOut->copyParams(gridIn); |
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244 | |
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245 | gridOut->reset(); |
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246 | |
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247 | for (zz = 0; zz < gridIn->zdim; zz++) { |
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248 | if (!Quiet) |
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249 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
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250 | fflush(stdout); |
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251 | |
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252 | zmin = gridIn->sliceOrigins[zz][2] - C1/sampleSpacing; |
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253 | zmax = gridIn->sliceOrigins[zz][2] - C5/sampleSpacing; |
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254 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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255 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
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256 | |
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257 | pos.setValue(0*res+gridIn->sliceOrigins[zz][0], |
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258 | yy*res+gridIn->sliceOrigins[zz][1], |
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259 | gridIn->sliceOrigins[zz][2]); |
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260 | applyPersp(pos, newpos); |
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261 | y1 = (newpos.y - depthMap->origin[1])/res; |
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262 | |
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263 | pos.setValue(gridIn->xdim*res+gridIn->sliceOrigins[zz][0], |
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264 | yy*res+gridIn->sliceOrigins[zz][1], |
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265 | gridIn->sliceOrigins[zz][2]); |
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266 | applyPersp(pos, newpos); |
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267 | y2 = (newpos.y - depthMap->origin[1])/res; |
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268 | |
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269 | // Split the y-value down the middle |
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270 | yOff = (y1+y2)/2; |
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271 | |
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272 | depthRuns = depthMap->getDepthRuns(yOff, zmin, zmax, &numRuns); |
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273 | if (numRuns != 0) { |
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274 | scanline = gridIn->getScanline(yy,zz); |
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275 | for (int i = 0; i < numRuns; i++) { |
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276 | |
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277 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
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278 | y1*res + depthMap->origin[1], |
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279 | gridIn->sliceOrigins[zz][2]); |
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280 | applyInvPersp(pos, newpos); |
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281 | xmin = int((newpos.x - gridIn->sliceOrigins[zz][0])/res); |
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282 | |
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283 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
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284 | y2*res + depthMap->origin[1], |
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285 | gridIn->sliceOrigins[zz][2]); |
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286 | applyInvPersp(pos, newpos); |
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287 | xmin = MIN(xmin, int((newpos.x - |
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288 | gridIn->sliceOrigins[zz][0])/res)); |
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289 | xmin = MAX(xmin, 0); |
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290 | |
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291 | |
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292 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
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293 | y1*res + depthMap->origin[1], |
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294 | gridIn->sliceOrigins[zz][2]); |
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295 | applyInvPersp(pos, newpos); |
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296 | xmax = int(ceil((newpos.x - |
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297 | gridIn->sliceOrigins[zz][0])/res)); |
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298 | |
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299 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
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300 | y2*res + depthMap->origin[1], |
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301 | gridIn->sliceOrigins[zz][2]); |
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302 | applyInvPersp(pos, newpos); |
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303 | xmax = MAX(xmax, |
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304 | int(ceil((newpos.x - |
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305 | gridIn->sliceOrigins[zz][0])/res))); |
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306 | xmax = MIN(xmax, gridIn->xdim-1); |
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307 | |
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308 | buf = scanline + xmin; |
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309 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
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310 | |
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311 | pos.setValue(xx*res+gridIn->sliceOrigins[zz][0], |
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312 | yy*res+gridIn->sliceOrigins[zz][1], |
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313 | gridIn->sliceOrigins[zz][2]); |
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314 | applyPersp(pos, newpos); |
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315 | xOff = (newpos.x - depthMap->origin[0])/res; |
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316 | yOff = (newpos.y - depthMap->origin[1])/res; |
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317 | |
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318 | resampleForCarving(depthMap, xOff, yOff, |
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319 | &depth, &confidence); |
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320 | updateCellForCarving(gridIn->sliceOrigins[zz][2], |
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321 | depth, |
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322 | sampleSpacing, confidence, buf); |
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323 | } |
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324 | } |
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325 | } |
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326 | oldNumRuns = numRuns; |
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327 | |
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328 | // Points in front of the surface |
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329 | yOff = (y1+y2)/2; |
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330 | depthRuns = depthMap->getDepthRunsUpperBound |
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331 | (yOff, zmin, &numRuns); |
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332 | |
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333 | int skip = 0; |
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334 | if (oldNumRuns == 0 && numRuns == 0) { |
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335 | rleScanline = gridIn->getRLEScanline(yy, zz); |
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336 | gridOut->copyScanline(rleScanline, yy, zz); |
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337 | skip = 1; |
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338 | } else if (numRuns == 0) { |
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339 | gridOut->putScanline(scanline,yy,zz); |
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340 | skip = 1; |
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341 | } else if (oldNumRuns == 0) { |
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342 | scanline = gridIn->getScanline(yy,zz); |
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343 | skip = 0; |
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344 | } |
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345 | |
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346 | if (!skip) { |
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347 | for (int i = 0; i < numRuns; i++) { |
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348 | |
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349 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
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350 | y1*res + depthMap->origin[1], |
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351 | gridIn->sliceOrigins[zz][2]); |
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352 | applyInvPersp(pos, newpos); |
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353 | xmin = int((newpos.x - gridIn->sliceOrigins[zz][0])/res); |
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354 | |
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355 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
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356 | y2*res + depthMap->origin[1], |
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357 | gridIn->sliceOrigins[zz][2]); |
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358 | applyInvPersp(pos, newpos); |
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359 | xmin = MIN(xmin, int((newpos.x - |
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360 | gridIn->sliceOrigins[zz][0])/res)); |
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361 | xmin = MAX(xmin, 0); |
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362 | |
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363 | |
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364 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
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365 | y1*res + depthMap->origin[1], |
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366 | gridIn->sliceOrigins[zz][2]); |
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367 | applyInvPersp(pos, newpos); |
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368 | xmax = int(ceil((newpos.x - |
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369 | gridIn->sliceOrigins[zz][0])/res)); |
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370 | |
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371 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
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372 | y2*res + depthMap->origin[1], |
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373 | gridIn->sliceOrigins[zz][2]); |
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374 | applyInvPersp(pos, newpos); |
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375 | xmax = MAX(xmax, |
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376 | int(ceil((newpos.x - |
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377 | gridIn->sliceOrigins[zz][0])/res))); |
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378 | xmax = MIN(xmax, gridIn->xdim-1); |
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379 | |
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380 | buf = scanline + xmin; |
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381 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
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382 | if (buf->totalWeight == 0) { |
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383 | buf->value = 0; |
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384 | } |
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385 | } |
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386 | } |
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387 | } |
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388 | |
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389 | oldNumRuns += numRuns; |
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390 | |
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391 | yOff = (y1+y2)/2; |
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392 | depthRuns = depthMap->getDepthRunsEdges |
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393 | (yOff, zmin, &numRuns); |
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394 | |
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395 | if (oldNumRuns == 0 && numRuns == 0) { |
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396 | rleScanline = gridIn->getRLEScanline(yy, zz); |
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397 | gridOut->copyScanline(rleScanline, yy, zz); |
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398 | continue; |
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399 | } else if (numRuns == 0) { |
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400 | gridOut->putScanline(scanline,yy,zz); |
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401 | continue; |
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402 | } else if (oldNumRuns == 0) { |
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403 | scanline = gridIn->getScanline(yy,zz); |
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404 | } |
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405 | |
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406 | for (int i = 0; i < numRuns; i++) { |
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407 | |
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408 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
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409 | y1*res + depthMap->origin[1], |
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410 | gridIn->sliceOrigins[zz][2]); |
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411 | applyInvPersp(pos, newpos); |
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412 | xmin = int((newpos.x - gridIn->sliceOrigins[zz][0])/res); |
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413 | |
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414 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
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415 | y2*res + depthMap->origin[1], |
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416 | gridIn->sliceOrigins[zz][2]); |
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417 | applyInvPersp(pos, newpos); |
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418 | xmin = MIN(xmin, int((newpos.x - |
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419 | gridIn->sliceOrigins[zz][0])/res)); |
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420 | xmin = MAX(xmin, 0); |
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421 | |
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422 | |
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423 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
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424 | y1*res + depthMap->origin[1], |
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425 | gridIn->sliceOrigins[zz][2]); |
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426 | applyInvPersp(pos, newpos); |
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427 | xmax = int(ceil((newpos.x - |
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428 | gridIn->sliceOrigins[zz][0])/res)); |
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429 | |
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430 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
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431 | y2*res + depthMap->origin[1], |
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432 | gridIn->sliceOrigins[zz][2]); |
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433 | applyInvPersp(pos, newpos); |
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434 | xmax = MAX(xmax, |
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435 | int(ceil((newpos.x - |
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436 | gridIn->sliceOrigins[zz][0])/res))); |
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437 | xmax = MIN(xmax, gridIn->xdim-1); |
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438 | |
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439 | buf = scanline + xmin; |
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440 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
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441 | |
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442 | pos.setValue(xx*res+gridIn->sliceOrigins[zz][0], |
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443 | yy*res+gridIn->sliceOrigins[zz][1], |
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444 | gridIn->sliceOrigins[zz][2]); |
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445 | applyPersp(pos, newpos); |
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446 | xOff = (newpos.x - depthMap->origin[0])/res; |
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447 | yOff = (newpos.y - depthMap->origin[1])/res; |
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448 | |
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449 | resampleForCarving(depthMap, xOff, yOff, |
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450 | &depth, &confidence); |
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451 | updateCellForCarving(gridIn->sliceOrigins[zz][2], depth, |
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452 | sampleSpacing, confidence, buf); |
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453 | } |
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454 | } |
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455 | |
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456 | gridOut->putScanline(scanline,yy,zz); |
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457 | } |
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458 | } |
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459 | if (!Quiet) |
---|
460 | printf("\n"); |
---|
461 | } |
---|
462 | |
---|
463 | |
---|
464 | void |
---|
465 | scanConvertPerspTreeTailsOnly(OccGridRLE *gridIn, OccGridRLE *gridOut, |
---|
466 | OrthoShear *shear, DepthMap *depthMap) |
---|
467 | { |
---|
468 | float xOff, yOff, res, depth, confidence; |
---|
469 | OccElement *buf, *scanline; |
---|
470 | int xx,yy,zz; |
---|
471 | Vec3f pos, newpos; |
---|
472 | int *depthRuns, numRuns, oldNumRuns; |
---|
473 | float zmin, zmax, xNewOff, y1, y2; |
---|
474 | int xmin, xmax; |
---|
475 | OccScanlineRLE *rleScanline; |
---|
476 | |
---|
477 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
---|
478 | |
---|
479 | res = gridIn->resolution; |
---|
480 | |
---|
481 | gridOut->copyParams(gridIn); |
---|
482 | |
---|
483 | gridOut->reset(); |
---|
484 | |
---|
485 | for (zz = 0; zz < gridIn->zdim; zz++) { |
---|
486 | if (!Quiet) |
---|
487 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
---|
488 | fflush(stdout); |
---|
489 | |
---|
490 | zmin = gridIn->sliceOrigins[zz][2] - C1/sampleSpacing; |
---|
491 | zmax = gridIn->sliceOrigins[zz][2] - C5/sampleSpacing; |
---|
492 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
---|
493 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
---|
494 | |
---|
495 | pos.setValue(0*res+gridIn->sliceOrigins[zz][0], |
---|
496 | yy*res+gridIn->sliceOrigins[zz][1], |
---|
497 | gridIn->sliceOrigins[zz][2]); |
---|
498 | applyPersp(pos, newpos); |
---|
499 | y1 = (newpos.y - depthMap->origin[1])/res; |
---|
500 | |
---|
501 | pos.setValue(gridIn->xdim*res+gridIn->sliceOrigins[zz][0], |
---|
502 | yy*res+gridIn->sliceOrigins[zz][1], |
---|
503 | gridIn->sliceOrigins[zz][2]); |
---|
504 | applyPersp(pos, newpos); |
---|
505 | y2 = (newpos.y - depthMap->origin[1])/res; |
---|
506 | |
---|
507 | // Split the y-value down the middle |
---|
508 | yOff = (y1+y2)/2; |
---|
509 | |
---|
510 | depthRuns = depthMap->getDepthRuns(yOff, zmin, zmax, &numRuns); |
---|
511 | if (numRuns != 0) { |
---|
512 | scanline = gridIn->getScanline(yy,zz); |
---|
513 | for (int i = 0; i < numRuns; i++) { |
---|
514 | |
---|
515 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
---|
516 | y1*res + depthMap->origin[1], |
---|
517 | gridIn->sliceOrigins[zz][2]); |
---|
518 | applyInvPersp(pos, newpos); |
---|
519 | xmin = int((newpos.x - gridIn->sliceOrigins[zz][0])/res); |
---|
520 | |
---|
521 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
---|
522 | y2*res + depthMap->origin[1], |
---|
523 | gridIn->sliceOrigins[zz][2]); |
---|
524 | applyInvPersp(pos, newpos); |
---|
525 | xmin = MIN(xmin, int((newpos.x - |
---|
526 | gridIn->sliceOrigins[zz][0])/res)); |
---|
527 | xmin = MAX(xmin, 0); |
---|
528 | |
---|
529 | |
---|
530 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
---|
531 | y1*res + depthMap->origin[1], |
---|
532 | gridIn->sliceOrigins[zz][2]); |
---|
533 | applyInvPersp(pos, newpos); |
---|
534 | xmax = int(ceil((newpos.x - |
---|
535 | gridIn->sliceOrigins[zz][0])/res)); |
---|
536 | |
---|
537 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
---|
538 | y2*res + depthMap->origin[1], |
---|
539 | gridIn->sliceOrigins[zz][2]); |
---|
540 | applyInvPersp(pos, newpos); |
---|
541 | xmax = MAX(xmax, |
---|
542 | int(ceil((newpos.x - |
---|
543 | gridIn->sliceOrigins[zz][0])/res))); |
---|
544 | xmax = MIN(xmax, gridIn->xdim-1); |
---|
545 | |
---|
546 | buf = scanline + xmin; |
---|
547 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
---|
548 | |
---|
549 | pos.setValue(xx*res+gridIn->sliceOrigins[zz][0], |
---|
550 | yy*res+gridIn->sliceOrigins[zz][1], |
---|
551 | gridIn->sliceOrigins[zz][2]); |
---|
552 | applyPersp(pos, newpos); |
---|
553 | xOff = (newpos.x - depthMap->origin[0])/res; |
---|
554 | yOff = (newpos.y - depthMap->origin[1])/res; |
---|
555 | |
---|
556 | resampleForCarving(depthMap, xOff, yOff, |
---|
557 | &depth, &confidence); |
---|
558 | |
---|
559 | // Setting confidence to zero only allows for carving |
---|
560 | confidence = 0; |
---|
561 | updateCellForCarving(gridIn->sliceOrigins[zz][2], |
---|
562 | depth, |
---|
563 | sampleSpacing, confidence, buf); |
---|
564 | } |
---|
565 | } |
---|
566 | } |
---|
567 | oldNumRuns = numRuns; |
---|
568 | |
---|
569 | // Points in front of the surface |
---|
570 | yOff = (y1+y2)/2; |
---|
571 | depthRuns = depthMap->getDepthRunsUpperBound |
---|
572 | (yOff, zmin, &numRuns); |
---|
573 | |
---|
574 | int skip = 0; |
---|
575 | if (oldNumRuns == 0 && numRuns == 0) { |
---|
576 | rleScanline = gridIn->getRLEScanline(yy, zz); |
---|
577 | gridOut->copyScanline(rleScanline, yy, zz); |
---|
578 | skip = 1; |
---|
579 | } else if (numRuns == 0) { |
---|
580 | gridOut->putScanline(scanline,yy,zz); |
---|
581 | skip = 1; |
---|
582 | } else if (oldNumRuns == 0) { |
---|
583 | scanline = gridIn->getScanline(yy,zz); |
---|
584 | skip = 0; |
---|
585 | } |
---|
586 | |
---|
587 | if (!skip) { |
---|
588 | for (int i = 0; i < numRuns; i++) { |
---|
589 | |
---|
590 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
---|
591 | y1*res + depthMap->origin[1], |
---|
592 | gridIn->sliceOrigins[zz][2]); |
---|
593 | applyInvPersp(pos, newpos); |
---|
594 | xmin = int((newpos.x - gridIn->sliceOrigins[zz][0])/res); |
---|
595 | |
---|
596 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
---|
597 | y2*res + depthMap->origin[1], |
---|
598 | gridIn->sliceOrigins[zz][2]); |
---|
599 | applyInvPersp(pos, newpos); |
---|
600 | xmin = MIN(xmin, int((newpos.x - |
---|
601 | gridIn->sliceOrigins[zz][0])/res)); |
---|
602 | xmin = MAX(xmin, 0); |
---|
603 | |
---|
604 | |
---|
605 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
---|
606 | y1*res + depthMap->origin[1], |
---|
607 | gridIn->sliceOrigins[zz][2]); |
---|
608 | applyInvPersp(pos, newpos); |
---|
609 | xmax = int(ceil((newpos.x - |
---|
610 | gridIn->sliceOrigins[zz][0])/res)); |
---|
611 | |
---|
612 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
---|
613 | y2*res + depthMap->origin[1], |
---|
614 | gridIn->sliceOrigins[zz][2]); |
---|
615 | applyInvPersp(pos, newpos); |
---|
616 | xmax = MAX(xmax, |
---|
617 | int(ceil((newpos.x - |
---|
618 | gridIn->sliceOrigins[zz][0])/res))); |
---|
619 | xmax = MIN(xmax, gridIn->xdim-1); |
---|
620 | |
---|
621 | buf = scanline + xmin; |
---|
622 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
---|
623 | if (buf->totalWeight == 0) { |
---|
624 | buf->value = 0; |
---|
625 | } |
---|
626 | } |
---|
627 | } |
---|
628 | } |
---|
629 | |
---|
630 | oldNumRuns += numRuns; |
---|
631 | |
---|
632 | yOff = (y1+y2)/2; |
---|
633 | depthRuns = depthMap->getDepthRunsEdges |
---|
634 | (yOff, zmin, &numRuns); |
---|
635 | |
---|
636 | if (oldNumRuns == 0 && numRuns == 0) { |
---|
637 | rleScanline = gridIn->getRLEScanline(yy, zz); |
---|
638 | gridOut->copyScanline(rleScanline, yy, zz); |
---|
639 | continue; |
---|
640 | } else if (numRuns == 0) { |
---|
641 | gridOut->putScanline(scanline,yy,zz); |
---|
642 | continue; |
---|
643 | } else if (oldNumRuns == 0) { |
---|
644 | scanline = gridIn->getScanline(yy,zz); |
---|
645 | } |
---|
646 | |
---|
647 | for (int i = 0; i < numRuns; i++) { |
---|
648 | |
---|
649 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
---|
650 | y1*res + depthMap->origin[1], |
---|
651 | gridIn->sliceOrigins[zz][2]); |
---|
652 | applyInvPersp(pos, newpos); |
---|
653 | xmin = int((newpos.x - gridIn->sliceOrigins[zz][0])/res); |
---|
654 | |
---|
655 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
---|
656 | y2*res + depthMap->origin[1], |
---|
657 | gridIn->sliceOrigins[zz][2]); |
---|
658 | applyInvPersp(pos, newpos); |
---|
659 | xmin = MIN(xmin, int((newpos.x - |
---|
660 | gridIn->sliceOrigins[zz][0])/res)); |
---|
661 | xmin = MAX(xmin, 0); |
---|
662 | |
---|
663 | |
---|
664 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
---|
665 | y1*res + depthMap->origin[1], |
---|
666 | gridIn->sliceOrigins[zz][2]); |
---|
667 | applyInvPersp(pos, newpos); |
---|
668 | xmax = int(ceil((newpos.x - |
---|
669 | gridIn->sliceOrigins[zz][0])/res)); |
---|
670 | |
---|
671 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
---|
672 | y2*res + depthMap->origin[1], |
---|
673 | gridIn->sliceOrigins[zz][2]); |
---|
674 | applyInvPersp(pos, newpos); |
---|
675 | xmax = MAX(xmax, |
---|
676 | int(ceil((newpos.x - |
---|
677 | gridIn->sliceOrigins[zz][0])/res))); |
---|
678 | xmax = MIN(xmax, gridIn->xdim-1); |
---|
679 | |
---|
680 | buf = scanline + xmin; |
---|
681 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
---|
682 | |
---|
683 | pos.setValue(xx*res+gridIn->sliceOrigins[zz][0], |
---|
684 | yy*res+gridIn->sliceOrigins[zz][1], |
---|
685 | gridIn->sliceOrigins[zz][2]); |
---|
686 | applyPersp(pos, newpos); |
---|
687 | xOff = (newpos.x - depthMap->origin[0])/res; |
---|
688 | yOff = (newpos.y - depthMap->origin[1])/res; |
---|
689 | |
---|
690 | |
---|
691 | resampleForCarving(depthMap, xOff, yOff, |
---|
692 | &depth, &confidence); |
---|
693 | |
---|
694 | // Setting confidence to zero only allows for carving |
---|
695 | confidence = 0; |
---|
696 | updateCellForCarving(gridIn->sliceOrigins[zz][2], depth, |
---|
697 | sampleSpacing, confidence, buf); |
---|
698 | } |
---|
699 | } |
---|
700 | |
---|
701 | gridOut->putScanline(scanline,yy,zz); |
---|
702 | } |
---|
703 | } |
---|
704 | if (!Quiet) |
---|
705 | printf("\n"); |
---|
706 | } |
---|
707 | |
---|
708 | |
---|
709 | |
---|
710 | void |
---|
711 | scanConvertPerspTreeTailsOnlyFast(OccGridRLE *gridIn, OccGridRLE *gridOut, |
---|
712 | OrthoShear *shear, DepthMap *depthMap) |
---|
713 | { |
---|
714 | float xOff, yOff, res, depth, confidence; |
---|
715 | OccElement *buf, *scanline, outElement; |
---|
716 | int xx,yy,zz; |
---|
717 | Vec3f pos, newpos; |
---|
718 | int *depthRuns, numRuns, oldNumRuns; |
---|
719 | float zmin, zmax, xNewOff, y1, y2; |
---|
720 | int xmin, xmax; |
---|
721 | OccScanlineRLE *rleScanline, *outScanline, *inScanline, *tempScanline; |
---|
722 | |
---|
723 | inScanline = new OccScanlineRLE(gridIn->xdim); |
---|
724 | outScanline = new OccScanlineRLE(gridIn->xdim); |
---|
725 | |
---|
726 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
---|
727 | |
---|
728 | res = gridIn->resolution; |
---|
729 | |
---|
730 | gridOut->copyParams(gridIn); |
---|
731 | |
---|
732 | gridOut->reset(); |
---|
733 | |
---|
734 | for (zz = 0; zz < gridIn->zdim; zz++) { |
---|
735 | if (!Quiet) |
---|
736 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
---|
737 | fflush(stdout); |
---|
738 | |
---|
739 | // Something is really backwards here! |
---|
740 | |
---|
741 | /* |
---|
742 | zmin = gridIn->sliceOrigins[zz][2] + C5/sampleSpacing; |
---|
743 | zmax = gridIn->sliceOrigins[zz][2] + 2*C1/sampleSpacing; |
---|
744 | */ |
---|
745 | zmin = gridIn->sliceOrigins[zz][2] - C1/sampleSpacing; |
---|
746 | zmax = gridIn->sliceOrigins[zz][2] - C5/sampleSpacing; |
---|
747 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
---|
748 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
---|
749 | |
---|
750 | pos.setValue(0*res+gridIn->sliceOrigins[zz][0], |
---|
751 | yy*res+gridIn->sliceOrigins[zz][1], |
---|
752 | gridIn->sliceOrigins[zz][2]); |
---|
753 | applyPersp(pos, newpos); |
---|
754 | y1 = (newpos.y - depthMap->origin[1])/res; |
---|
755 | |
---|
756 | pos.setValue(gridIn->xdim*res+gridIn->sliceOrigins[zz][0], |
---|
757 | yy*res+gridIn->sliceOrigins[zz][1], |
---|
758 | gridIn->sliceOrigins[zz][2]); |
---|
759 | applyPersp(pos, newpos); |
---|
760 | y2 = (newpos.y - depthMap->origin[1])/res; |
---|
761 | |
---|
762 | // Split the y-value down the middle |
---|
763 | yOff = (y1+y2)/2; |
---|
764 | |
---|
765 | depthRuns = depthMap->getDepthRuns(yOff, zmin, zmax, &numRuns); |
---|
766 | if (numRuns != 0) { |
---|
767 | |
---|
768 | gridIn->setScanline(yy, zz); |
---|
769 | RunLength inLength = gridIn->getNextLength(); |
---|
770 | int inType = gridIn->getRunType(&inLength); |
---|
771 | int nextInOffset = inLength; |
---|
772 | OccElement *inElement; |
---|
773 | |
---|
774 | if (inType == OccGridRLE::CONSTANT_DATA) |
---|
775 | inElement = gridIn->getNextElement(); |
---|
776 | |
---|
777 | // Prepare output scanline |
---|
778 | initScanline(gridIn, outScanline); |
---|
779 | xx = 0; |
---|
780 | |
---|
781 | for (int i = 0; i < numRuns; i++) { |
---|
782 | |
---|
783 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
---|
784 | y1*res + depthMap->origin[1], |
---|
785 | gridIn->sliceOrigins[zz][2]); |
---|
786 | applyInvPersp(pos, newpos); |
---|
787 | xmin = int((newpos.x - gridIn->sliceOrigins[zz][0])/res); |
---|
788 | |
---|
789 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
---|
790 | y2*res + depthMap->origin[1], |
---|
791 | gridIn->sliceOrigins[zz][2]); |
---|
792 | applyInvPersp(pos, newpos); |
---|
793 | xmin = MIN(xmin, int((newpos.x - |
---|
794 | gridIn->sliceOrigins[zz][0])/res)); |
---|
795 | xmin = MAX(xmin, 0); |
---|
796 | |
---|
797 | |
---|
798 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
---|
799 | y1*res + depthMap->origin[1], |
---|
800 | gridIn->sliceOrigins[zz][2]); |
---|
801 | applyInvPersp(pos, newpos); |
---|
802 | xmax = int(ceil((newpos.x - |
---|
803 | gridIn->sliceOrigins[zz][0])/res)); |
---|
804 | |
---|
805 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
---|
806 | y2*res + depthMap->origin[1], |
---|
807 | gridIn->sliceOrigins[zz][2]); |
---|
808 | applyInvPersp(pos, newpos); |
---|
809 | xmax = MAX(xmax, |
---|
810 | int(ceil((newpos.x - |
---|
811 | gridIn->sliceOrigins[zz][0])/res))); |
---|
812 | xmax = MIN(xmax, gridIn->xdim-1); |
---|
813 | |
---|
814 | // Copy over all whole runs that precede the current xmin |
---|
815 | |
---|
816 | while (nextInOffset < xmin) { |
---|
817 | if (nextInOffset != xx) { |
---|
818 | appendScanlinePortion(gridIn, inType, inElement, |
---|
819 | nextInOffset - xx); |
---|
820 | } |
---|
821 | xx = nextInOffset; |
---|
822 | |
---|
823 | // Update for next run |
---|
824 | inLength = gridIn->getNextLength(); |
---|
825 | inType = gridIn->getRunType(&inLength); |
---|
826 | nextInOffset += inLength; |
---|
827 | if (inType == OccGridRLE::CONSTANT_DATA) { |
---|
828 | inElement = gridIn->getNextElement(); |
---|
829 | } |
---|
830 | } |
---|
831 | |
---|
832 | |
---|
833 | // Copy over the remaining portion of the first |
---|
834 | // overlapping run |
---|
835 | |
---|
836 | if (xx != xmin) { |
---|
837 | appendScanlinePortion(gridIn, inType, inElement, |
---|
838 | xmin - xx); |
---|
839 | } |
---|
840 | |
---|
841 | xx = xmin; |
---|
842 | |
---|
843 | // Update the output based on new data combined with |
---|
844 | // old data |
---|
845 | |
---|
846 | while (xx <= xmax) { |
---|
847 | |
---|
848 | // If old input run is finished, start a new one |
---|
849 | |
---|
850 | if (xx == nextInOffset) { |
---|
851 | inLength = gridIn->getNextLength(); |
---|
852 | inType = gridIn->getRunType(&inLength); |
---|
853 | nextInOffset += inLength; |
---|
854 | if (inType == OccGridRLE::CONSTANT_DATA) { |
---|
855 | inElement = gridIn->getNextElement(); |
---|
856 | } |
---|
857 | } |
---|
858 | |
---|
859 | // If varying run, get next element |
---|
860 | |
---|
861 | if (inType == OccGridRLE::VARYING_DATA) { |
---|
862 | inElement = gridIn->getNextElement(); |
---|
863 | } |
---|
864 | |
---|
865 | // Copy over element and update |
---|
866 | |
---|
867 | outElement = *inElement; |
---|
868 | |
---|
869 | pos.setValue(xx*res+gridIn->sliceOrigins[zz][0], |
---|
870 | yy*res+gridIn->sliceOrigins[zz][1], |
---|
871 | gridIn->sliceOrigins[zz][2]); |
---|
872 | applyPersp(pos, newpos); |
---|
873 | xOff = (newpos.x - depthMap->origin[0])/res; |
---|
874 | yOff = (newpos.y - depthMap->origin[1])/res; |
---|
875 | |
---|
876 | resampleForCarving(depthMap, xOff, yOff, |
---|
877 | &depth, &confidence); |
---|
878 | |
---|
879 | // Setting confidence to zero only allows for carving |
---|
880 | confidence = 0; |
---|
881 | updateCellForCarving(gridIn->sliceOrigins[zz][2], |
---|
882 | depth, |
---|
883 | sampleSpacing, confidence, |
---|
884 | &outElement); |
---|
885 | |
---|
886 | // Write element to the output grid |
---|
887 | appendScanline(&outElement); |
---|
888 | |
---|
889 | xNewOff++; |
---|
890 | xx++; |
---|
891 | } |
---|
892 | } |
---|
893 | |
---|
894 | // Finish up any remaining runs |
---|
895 | |
---|
896 | while (xx < gridOut->xdim) { |
---|
897 | if (nextInOffset != xx) { |
---|
898 | appendScanlinePortion(gridIn, inType, inElement, |
---|
899 | nextInOffset - xx); |
---|
900 | } |
---|
901 | xx = nextInOffset; |
---|
902 | |
---|
903 | // Update for next run |
---|
904 | inLength = gridIn->getNextLength(); |
---|
905 | inType = gridIn->getRunType(&inLength); |
---|
906 | |
---|
907 | if (inType == OccGridRLE::END_OF_RUN) { |
---|
908 | break; |
---|
909 | } |
---|
910 | |
---|
911 | nextInOffset += inLength; |
---|
912 | if (inType == OccGridRLE::CONSTANT_DATA) { |
---|
913 | inElement = gridIn->getNextElement(); |
---|
914 | } |
---|
915 | } |
---|
916 | |
---|
917 | // Seal off the old run |
---|
918 | sealScanline(); |
---|
919 | |
---|
920 | gridOut->copyScanline(outScanline, yy, zz); |
---|
921 | scanline = gridOut->getScanline(yy, zz); |
---|
922 | |
---|
923 | gridIn->copyScanline(outScanline, yy, zz); |
---|
924 | } |
---|
925 | |
---|
926 | oldNumRuns = numRuns; |
---|
927 | |
---|
928 | // Points in front of the surface |
---|
929 | yOff = (y1+y2)/2; |
---|
930 | depthRuns = depthMap->getDepthRunsUpperBound |
---|
931 | (yOff, zmin, &numRuns); |
---|
932 | |
---|
933 | int skip = 0; |
---|
934 | if (oldNumRuns == 0 && numRuns == 0) { |
---|
935 | rleScanline = gridIn->getRLEScanline(yy, zz); |
---|
936 | gridOut->copyScanline(rleScanline, yy, zz); |
---|
937 | skip = 1; |
---|
938 | } else if (numRuns == 0) { |
---|
939 | gridOut->copyScanline(outScanline,yy,zz); |
---|
940 | skip = 1; |
---|
941 | } else if (oldNumRuns == 0) { |
---|
942 | skip = 0; |
---|
943 | } |
---|
944 | |
---|
945 | if (!skip) { |
---|
946 | |
---|
947 | gridIn->setScanline(yy, zz); |
---|
948 | RunLength inLength = gridIn->getNextLength(); |
---|
949 | int inType = gridIn->getRunType(&inLength); |
---|
950 | int nextInOffset = inLength; |
---|
951 | OccElement *inElement; |
---|
952 | |
---|
953 | if (inType == OccGridRLE::CONSTANT_DATA) |
---|
954 | inElement = gridIn->getNextElement(); |
---|
955 | |
---|
956 | // Prepare output scanline |
---|
957 | initScanline(gridIn, outScanline); |
---|
958 | xx = 0; |
---|
959 | |
---|
960 | for (int i = 0; i < numRuns; i++) { |
---|
961 | |
---|
962 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
---|
963 | y1*res + depthMap->origin[1], |
---|
964 | gridIn->sliceOrigins[zz][2]); |
---|
965 | applyInvPersp(pos, newpos); |
---|
966 | xmin = int((newpos.x - gridIn->sliceOrigins[zz][0])/res); |
---|
967 | |
---|
968 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
---|
969 | y2*res + depthMap->origin[1], |
---|
970 | gridIn->sliceOrigins[zz][2]); |
---|
971 | applyInvPersp(pos, newpos); |
---|
972 | xmin = MIN(xmin, int((newpos.x - |
---|
973 | gridIn->sliceOrigins[zz][0])/res)); |
---|
974 | xmin = MAX(xmin, 0); |
---|
975 | |
---|
976 | |
---|
977 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
---|
978 | y1*res + depthMap->origin[1], |
---|
979 | gridIn->sliceOrigins[zz][2]); |
---|
980 | applyInvPersp(pos, newpos); |
---|
981 | xmax = int(ceil((newpos.x - |
---|
982 | gridIn->sliceOrigins[zz][0])/res)); |
---|
983 | |
---|
984 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
---|
985 | y2*res + depthMap->origin[1], |
---|
986 | gridIn->sliceOrigins[zz][2]); |
---|
987 | applyInvPersp(pos, newpos); |
---|
988 | xmax = MAX(xmax, |
---|
989 | int(ceil((newpos.x - |
---|
990 | gridIn->sliceOrigins[zz][0])/res))); |
---|
991 | xmax = MIN(xmax, gridIn->xdim-1); |
---|
992 | |
---|
993 | |
---|
994 | // Copy over all whole runs that precede the current xmin |
---|
995 | |
---|
996 | while (nextInOffset < xmin) { |
---|
997 | if (nextInOffset != xx) { |
---|
998 | appendScanlinePortion(gridIn, inType, inElement, |
---|
999 | nextInOffset - xx); |
---|
1000 | } |
---|
1001 | xx = nextInOffset; |
---|
1002 | |
---|
1003 | // Update for next run |
---|
1004 | inLength = gridIn->getNextLength(); |
---|
1005 | inType = gridIn->getRunType(&inLength); |
---|
1006 | nextInOffset += inLength; |
---|
1007 | if (inType == OccGridRLE::CONSTANT_DATA) { |
---|
1008 | inElement = gridIn->getNextElement(); |
---|
1009 | } |
---|
1010 | } |
---|
1011 | |
---|
1012 | |
---|
1013 | // Copy over the remaining portion of the first |
---|
1014 | // overlapping run |
---|
1015 | |
---|
1016 | if (xx != xmin) { |
---|
1017 | appendScanlinePortion(gridIn, inType, inElement, |
---|
1018 | xmin - xx); |
---|
1019 | } |
---|
1020 | |
---|
1021 | xx = xmin; |
---|
1022 | |
---|
1023 | // Update the output based on new data combined with |
---|
1024 | // old data |
---|
1025 | |
---|
1026 | while (xx <= xmax) { |
---|
1027 | |
---|
1028 | // If old input run is finished, start a new one |
---|
1029 | |
---|
1030 | if (xx == nextInOffset) { |
---|
1031 | inLength = gridIn->getNextLength(); |
---|
1032 | inType = gridIn->getRunType(&inLength); |
---|
1033 | nextInOffset += inLength; |
---|
1034 | if (inType == OccGridRLE::CONSTANT_DATA) { |
---|
1035 | inElement = gridIn->getNextElement(); |
---|
1036 | } |
---|
1037 | } |
---|
1038 | |
---|
1039 | // If varying run, get next element |
---|
1040 | |
---|
1041 | if (inType == OccGridRLE::VARYING_DATA) { |
---|
1042 | inElement = gridIn->getNextElement(); |
---|
1043 | } |
---|
1044 | |
---|
1045 | // Copy over element and update |
---|
1046 | |
---|
1047 | outElement = *inElement; |
---|
1048 | |
---|
1049 | if (outElement.totalWeight == 0) |
---|
1050 | outElement.value = 0; |
---|
1051 | |
---|
1052 | // Write element to the output grid |
---|
1053 | appendScanline(&outElement); |
---|
1054 | |
---|
1055 | xNewOff++; |
---|
1056 | xx++; |
---|
1057 | } |
---|
1058 | } |
---|
1059 | |
---|
1060 | |
---|
1061 | // Finish up any remaining runs |
---|
1062 | |
---|
1063 | while (xx < gridOut->xdim) { |
---|
1064 | if (nextInOffset != xx) { |
---|
1065 | appendScanlinePortion(gridIn, inType, inElement, |
---|
1066 | nextInOffset - xx); |
---|
1067 | } |
---|
1068 | xx = nextInOffset; |
---|
1069 | |
---|
1070 | // Update for next run |
---|
1071 | inLength = gridIn->getNextLength(); |
---|
1072 | inType = gridIn->getRunType(&inLength); |
---|
1073 | |
---|
1074 | if (inType == OccGridRLE::END_OF_RUN) { |
---|
1075 | break; |
---|
1076 | } |
---|
1077 | |
---|
1078 | nextInOffset += inLength; |
---|
1079 | if (inType == OccGridRLE::CONSTANT_DATA) { |
---|
1080 | inElement = gridIn->getNextElement(); |
---|
1081 | } |
---|
1082 | } |
---|
1083 | |
---|
1084 | // Seal off the old run |
---|
1085 | sealScanline(); |
---|
1086 | |
---|
1087 | gridOut->copyScanline(outScanline, yy, zz); |
---|
1088 | scanline = gridOut->getScanline(yy, zz); |
---|
1089 | gridIn->copyScanline(outScanline, yy, zz); |
---|
1090 | } |
---|
1091 | |
---|
1092 | oldNumRuns += numRuns; |
---|
1093 | |
---|
1094 | yOff = (y1+y2)/2; |
---|
1095 | depthRuns = depthMap->getDepthRunsEdges |
---|
1096 | (yOff, zmin, &numRuns); |
---|
1097 | |
---|
1098 | if (oldNumRuns == 0 && numRuns == 0) { |
---|
1099 | rleScanline = gridIn->getRLEScanline(yy, zz); |
---|
1100 | gridOut->copyScanline(rleScanline, yy, zz); |
---|
1101 | continue; |
---|
1102 | } else if (numRuns == 0) { |
---|
1103 | gridOut->putScanline(scanline,yy,zz); |
---|
1104 | continue; |
---|
1105 | } else if (oldNumRuns == 0) { |
---|
1106 | scanline = gridIn->getScanline(yy,zz); |
---|
1107 | } |
---|
1108 | |
---|
1109 | for (int i = 0; i < numRuns; i++) { |
---|
1110 | |
---|
1111 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
---|
1112 | y1*res + depthMap->origin[1], |
---|
1113 | gridIn->sliceOrigins[zz][2]); |
---|
1114 | applyInvPersp(pos, newpos); |
---|
1115 | xmin = int((newpos.x - gridIn->sliceOrigins[zz][0])/res); |
---|
1116 | |
---|
1117 | pos.setValue(depthRuns[2*i]*res + depthMap->origin[0], |
---|
1118 | y2*res + depthMap->origin[1], |
---|
1119 | gridIn->sliceOrigins[zz][2]); |
---|
1120 | applyInvPersp(pos, newpos); |
---|
1121 | xmin = MIN(xmin, int((newpos.x - |
---|
1122 | gridIn->sliceOrigins[zz][0])/res)); |
---|
1123 | xmin = MAX(xmin, 0); |
---|
1124 | |
---|
1125 | |
---|
1126 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
---|
1127 | y1*res + depthMap->origin[1], |
---|
1128 | gridIn->sliceOrigins[zz][2]); |
---|
1129 | applyInvPersp(pos, newpos); |
---|
1130 | xmax = int(ceil((newpos.x - |
---|
1131 | gridIn->sliceOrigins[zz][0])/res)); |
---|
1132 | |
---|
1133 | pos.setValue(depthRuns[2*i+1]*res + depthMap->origin[0], |
---|
1134 | y2*res + depthMap->origin[1], |
---|
1135 | gridIn->sliceOrigins[zz][2]); |
---|
1136 | applyInvPersp(pos, newpos); |
---|
1137 | xmax = MAX(xmax, |
---|
1138 | int(ceil((newpos.x - |
---|
1139 | gridIn->sliceOrigins[zz][0])/res))); |
---|
1140 | xmax = MIN(xmax, gridIn->xdim-1); |
---|
1141 | |
---|
1142 | buf = scanline + xmin; |
---|
1143 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
---|
1144 | |
---|
1145 | pos.setValue(xx*res+gridIn->sliceOrigins[zz][0], |
---|
1146 | yy*res+gridIn->sliceOrigins[zz][1], |
---|
1147 | gridIn->sliceOrigins[zz][2]); |
---|
1148 | applyPersp(pos, newpos); |
---|
1149 | xOff = (newpos.x - depthMap->origin[0])/res; |
---|
1150 | yOff = (newpos.y - depthMap->origin[1])/res; |
---|
1151 | |
---|
1152 | |
---|
1153 | resampleForCarving(depthMap, xOff, yOff, |
---|
1154 | &depth, &confidence); |
---|
1155 | |
---|
1156 | // Setting confidence to zero only allows for carving |
---|
1157 | confidence = 0; |
---|
1158 | updateCellForCarving(gridIn->sliceOrigins[zz][2], depth, |
---|
1159 | sampleSpacing, confidence, buf); |
---|
1160 | } |
---|
1161 | } |
---|
1162 | |
---|
1163 | gridOut->putScanline(scanline,yy,zz); |
---|
1164 | } |
---|
1165 | } |
---|
1166 | if (!Quiet) |
---|
1167 | printf("\n"); |
---|
1168 | |
---|
1169 | |
---|
1170 | delete inScanline; |
---|
1171 | delete outScanline; |
---|
1172 | } |
---|
1173 | |
---|
1174 | |
---|
1175 | |
---|
1176 | |
---|
1177 | static void |
---|
1178 | initScanline(OccGridRLE *inGrid, OccScanlineRLE *scanline) |
---|
1179 | { |
---|
1180 | theInGrid = inGrid; |
---|
1181 | theOutScanline = scanline; |
---|
1182 | theOutScanline->reset(); |
---|
1183 | currentLength = 0; |
---|
1184 | } |
---|
1185 | |
---|
1186 | |
---|
1187 | static void |
---|
1188 | appendScanlinePortion(OccGridRLE *inGrid, int inType, |
---|
1189 | OccElement *inElement, RunLength length) |
---|
1190 | { |
---|
1191 | int i; |
---|
1192 | |
---|
1193 | if (currentType == inType && currentLength > 0) { |
---|
1194 | |
---|
1195 | if (currentType == OccGridRLE::CONSTANT_DATA) { |
---|
1196 | |
---|
1197 | if (inElement->value == lastElement.value && |
---|
1198 | inElement->totalWeight == lastElement.totalWeight) { |
---|
1199 | |
---|
1200 | // If same constant then just increment length. |
---|
1201 | currentLength += length; |
---|
1202 | } else { |
---|
1203 | |
---|
1204 | // If different constants, then seal old run and start |
---|
1205 | // a new one |
---|
1206 | inGrid->setRunType(¤tLength, currentType); |
---|
1207 | theOutScanline->putNextLength(currentLength); |
---|
1208 | |
---|
1209 | theOutScanline->putNextElement(inElement); |
---|
1210 | lastElement = *inElement; |
---|
1211 | currentLength = length; |
---|
1212 | } |
---|
1213 | } else { |
---|
1214 | |
---|
1215 | // If old and new are varying, then add on new data |
---|
1216 | for (i = 0; i < length-1; i++) { |
---|
1217 | theOutScanline->putNextElement(inGrid->getNextElement()); |
---|
1218 | } |
---|
1219 | lastElement = *(inGrid->getNextElement()); |
---|
1220 | theOutScanline->putNextElement(&lastElement); |
---|
1221 | currentLength += length; |
---|
1222 | } |
---|
1223 | } |
---|
1224 | else { |
---|
1225 | // If different, then seal up the old run and start a |
---|
1226 | // new one |
---|
1227 | |
---|
1228 | if (currentLength > 0) { |
---|
1229 | inGrid->setRunType(¤tLength, currentType); |
---|
1230 | theOutScanline->putNextLength(currentLength); |
---|
1231 | } |
---|
1232 | |
---|
1233 | if (inType == OccGridRLE::CONSTANT_DATA) { |
---|
1234 | theOutScanline->putNextElement(inElement); |
---|
1235 | lastElement = *inElement; |
---|
1236 | } else { |
---|
1237 | for (i = 0; i < length-1; i++) { |
---|
1238 | theOutScanline->putNextElement(inGrid->getNextElement()); |
---|
1239 | } |
---|
1240 | lastElement = *(inGrid->getNextElement()); |
---|
1241 | theOutScanline->putNextElement(&lastElement); |
---|
1242 | } |
---|
1243 | currentLength = length; |
---|
1244 | currentType = inType; |
---|
1245 | } |
---|
1246 | } |
---|
1247 | |
---|
1248 | |
---|
1249 | static void |
---|
1250 | appendScanline(OccElement *inElement) |
---|
1251 | { |
---|
1252 | int i, inType; |
---|
1253 | |
---|
1254 | inType = theInGrid->decideType(inElement); |
---|
1255 | if (currentType == inType && currentLength > 0) { |
---|
1256 | if (currentType == OccGridRLE::CONSTANT_DATA) { |
---|
1257 | if (inElement->value == lastElement.value && |
---|
1258 | inElement->totalWeight == lastElement.totalWeight) { |
---|
1259 | |
---|
1260 | // If same constant then just increment length. |
---|
1261 | currentLength++; |
---|
1262 | } else { |
---|
1263 | |
---|
1264 | // If different constants, then seal old run and start |
---|
1265 | // a new one |
---|
1266 | theInGrid->setRunType(¤tLength, currentType); |
---|
1267 | theOutScanline->putNextLength(currentLength); |
---|
1268 | theOutScanline->putNextElement(inElement); |
---|
1269 | lastElement = *inElement; |
---|
1270 | currentLength = 1; |
---|
1271 | } |
---|
1272 | } else { |
---|
1273 | |
---|
1274 | // If old and new are varying, then add on new data |
---|
1275 | theOutScanline->putNextElement(inElement); |
---|
1276 | lastElement = *inElement; |
---|
1277 | currentLength++; |
---|
1278 | } |
---|
1279 | } |
---|
1280 | else { |
---|
1281 | // If different, then seal up the old run and start a |
---|
1282 | // new one |
---|
1283 | |
---|
1284 | if (currentLength > 0) { |
---|
1285 | theInGrid->setRunType(¤tLength, currentType); |
---|
1286 | theOutScanline->putNextLength(currentLength); |
---|
1287 | } |
---|
1288 | |
---|
1289 | lastElement = *inElement; |
---|
1290 | theOutScanline->putNextElement(inElement); |
---|
1291 | currentLength = 1; |
---|
1292 | currentType = inType; |
---|
1293 | } |
---|
1294 | } |
---|
1295 | |
---|
1296 | |
---|
1297 | static void |
---|
1298 | sealScanline() |
---|
1299 | { |
---|
1300 | theInGrid->setRunType(¤tLength, currentType); |
---|
1301 | theOutScanline->putNextLength(currentLength); |
---|
1302 | theOutScanline->putNextLength(OccGridRLE::END_OF_RUN); |
---|
1303 | } |
---|
1304 | |
---|
1305 | |
---|