[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 "resample.h" |
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| 30 | #include "occFunc.h" |
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| 31 | #include "scanRLE.h" |
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| 32 | |
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| 33 | |
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| 34 | static OccGridRLE *theOutGrid; |
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| 35 | static int currentType; |
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| 36 | static RunLength currentLength; |
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| 37 | static OccElement lastElement; |
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| 38 | |
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| 39 | |
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| 40 | static void initScanline(OccGridRLE *, int, int); |
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| 41 | static void appendScanlinePortion(OccGridRLE *inGrid, int inType, |
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| 42 | OccElement *inElement, RunLength length); |
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| 43 | static void appendScanline(OccElement *inElement); |
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| 44 | static void sealScanline(); |
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| 45 | |
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| 46 | |
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| 47 | |
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| 48 | // What happens when resample and updateCell are essentially no-ops? |
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| 49 | |
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| 50 | #if 0 |
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| 51 | |
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| 52 | #define resample(depthMap, xOff, yOff, pDepth, pConfidence) *pDepth = 100; *pConfidence = 0; |
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| 53 | |
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| 54 | #define updateCell(zz, depth, sampleSpacing, confidence, buf) confidence = 1; |
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| 55 | |
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| 56 | #endif |
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| 57 | |
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| 58 | |
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| 59 | |
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| 60 | void |
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| 61 | scanConvert(OccGridRLE *gridIn, OccGridRLE *gridOut, |
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| 62 | OrthoShear *shear, DepthMap *depthMap) |
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| 63 | { |
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| 64 | float xOff, yOff, res, depth, confidence; |
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| 65 | OccElement *buf, *scanline; |
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| 66 | int xx,yy,zz; |
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| 67 | |
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| 68 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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| 69 | |
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| 70 | res = gridIn->resolution; |
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| 71 | |
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| 72 | gridOut->copyParams(gridIn); |
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| 73 | |
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| 74 | gridOut->reset(); |
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| 75 | |
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| 76 | for (zz = 0; zz < gridIn->zdim; zz++) { |
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| 77 | if (!Quiet) |
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| 78 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
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| 79 | fflush(stdout); |
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| 80 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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| 81 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
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| 82 | buf = scanline = gridIn->getScanline(yy,zz); |
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| 83 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
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| 84 | for (xx = 0; xx < gridIn->xdim; xx++, xOff++, buf++) { |
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| 85 | resample(depthMap, xOff, yOff, &depth, &confidence); |
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| 86 | |
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| 87 | // Using the full-blown filler! |
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| 88 | updateCell(gridIn->sliceOrigins[zz][2], depth, |
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| 89 | sampleSpacing, confidence, buf); |
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| 90 | } |
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| 91 | gridOut->putScanline(scanline,yy,zz); |
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| 92 | } |
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| 93 | } |
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| 94 | if (!Quiet) |
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| 95 | printf("\n"); |
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| 96 | } |
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| 97 | |
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| 98 | |
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| 99 | void |
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| 100 | scanConvertDragTails(OccGridRLE *gridIn, OccGridRLE *gridOut, |
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| 101 | OrthoShear *shear, DepthMap *depthMap) |
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| 102 | { |
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| 103 | float xOff, yOff, res, depth, confidence; |
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| 104 | OccElement *buf, *scanline; |
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| 105 | int xx,yy,zz; |
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| 106 | |
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| 107 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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| 108 | |
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| 109 | res = gridIn->resolution; |
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| 110 | |
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| 111 | gridOut->copyParams(gridIn); |
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| 112 | |
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| 113 | gridOut->reset(); |
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| 114 | |
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| 115 | for (zz = 0; zz < gridIn->zdim; zz++) { |
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| 116 | if (!Quiet) |
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| 117 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
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| 118 | fflush(stdout); |
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| 119 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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| 120 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
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| 121 | buf = scanline = gridIn->getScanline(yy,zz); |
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| 122 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
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| 123 | for (xx = 0; xx < gridIn->xdim; xx++, xOff++, buf++) { |
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| 124 | resample(depthMap, xOff, yOff, &depth, &confidence); |
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| 125 | |
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| 126 | // Using the full-blown filler! |
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| 127 | updateCellForCarving(gridIn->sliceOrigins[zz][2], depth, |
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| 128 | sampleSpacing, confidence, buf); |
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| 129 | } |
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| 130 | gridOut->putScanline(scanline,yy,zz); |
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| 131 | } |
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| 132 | } |
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| 133 | if (!Quiet) |
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| 134 | printf("\n"); |
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| 135 | } |
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| 136 | |
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| 137 | |
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| 138 | |
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| 139 | void |
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| 140 | scanConvertTree(OccGridRLE *gridIn, OccGridRLE *gridOut, |
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| 141 | OrthoShear *shear, DepthMap *depthMap) |
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| 142 | { |
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| 143 | float xOff, yOff, res, depth, confidence; |
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| 144 | OccElement *buf, *scanline; |
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| 145 | int xx,yy,zz; |
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| 146 | int *depthRuns, numRuns; |
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| 147 | float zmin, zmax, xNewOff; |
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| 148 | int xmin, xmax; |
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| 149 | OccScanlineRLE *rleScanline; |
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| 150 | |
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| 151 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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| 152 | |
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| 153 | res = gridIn->resolution; |
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| 154 | |
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| 155 | gridOut->copyParams(gridIn); |
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| 156 | |
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| 157 | gridOut->reset(); |
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| 158 | |
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| 159 | for (zz = 0; zz < gridIn->zdim; zz++) { |
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| 160 | if (!Quiet) |
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| 161 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
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| 162 | fflush(stdout); |
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| 163 | |
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| 164 | // Something is really backwards here! |
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| 165 | |
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| 166 | /* |
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| 167 | zmin = gridIn->sliceOrigins[zz][2] + C5/sampleSpacing; |
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| 168 | zmax = gridIn->sliceOrigins[zz][2] + 2*C1/sampleSpacing; |
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| 169 | */ |
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| 170 | zmin = gridIn->sliceOrigins[zz][2] - C1/sampleSpacing; |
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| 171 | zmax = gridIn->sliceOrigins[zz][2] - C5/sampleSpacing; |
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| 172 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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| 173 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
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| 174 | depthRuns = depthMap->getDepthRuns(yOff, zmin, zmax, &numRuns); |
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| 175 | if (numRuns == 0) { |
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| 176 | rleScanline = gridIn->getRLEScanline(yy, zz); |
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| 177 | gridOut->copyScanline(rleScanline, yy, zz); |
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| 178 | continue; |
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| 179 | } |
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| 180 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
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| 181 | scanline = gridIn->getScanline(yy,zz); |
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| 182 | for (int i = 0; i < numRuns; i++) { |
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| 183 | xmin = int(depthRuns[2*i] - xOff); |
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| 184 | xmin = MAX(xmin, 0); |
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| 185 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
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| 186 | xmax = MIN(xmax, gridIn->xdim-1); |
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| 187 | xNewOff = xOff + xmin; |
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| 188 | buf = scanline + xmin; |
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| 189 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
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| 190 | resample(depthMap, xNewOff, yOff, &depth, &confidence); |
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| 191 | updateCell(gridIn->sliceOrigins[zz][2], depth, |
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| 192 | sampleSpacing, confidence, buf); |
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| 193 | } |
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| 194 | } |
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| 195 | gridOut->putScanline(scanline,yy,zz); |
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| 196 | } |
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| 197 | } |
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| 198 | if (!Quiet) |
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| 199 | printf("\n"); |
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| 200 | } |
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| 201 | |
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| 202 | |
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| 203 | void |
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| 204 | scanConvertTreeFast(OccGridRLE *gridIn, OccGridRLE *gridOut, |
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| 205 | OrthoShear *shear, DepthMap *depthMap) |
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| 206 | { |
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| 207 | float xOff, yOff, res, depth, confidence; |
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| 208 | OccElement *buf, *scanline, outElement; |
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| 209 | int xx,yy,zz; |
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| 210 | int *depthRuns, numRuns; |
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| 211 | float zmin, zmax, xNewOff; |
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| 212 | int xmin, xmax; |
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| 213 | OccScanlineRLE *rleScanline; |
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| 214 | |
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| 215 | |
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| 216 | //printf("Using bias toward emptiness\n"); |
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| 217 | |
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| 218 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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| 219 | |
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| 220 | res = gridIn->resolution; |
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| 221 | |
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| 222 | gridOut->copyParams(gridIn); |
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| 223 | |
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| 224 | gridOut->reset(); |
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| 225 | |
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| 226 | for (zz = 0; zz < gridIn->zdim; zz++) { |
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| 227 | if (!Quiet) |
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| 228 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
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| 229 | fflush(stdout); |
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| 230 | |
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| 231 | // Something is really backwards here! |
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| 232 | |
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| 233 | /* |
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| 234 | zmin = gridIn->sliceOrigins[zz][2] + C5/sampleSpacing; |
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| 235 | zmax = gridIn->sliceOrigins[zz][2] + 2*C1/sampleSpacing; |
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| 236 | */ |
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| 237 | zmin = gridIn->sliceOrigins[zz][2] - C1/sampleSpacing; |
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| 238 | zmax = gridIn->sliceOrigins[zz][2] - C5/sampleSpacing; |
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| 239 | |
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| 240 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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| 241 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
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| 242 | depthRuns = depthMap->getDepthRuns(yOff, zmin, zmax, &numRuns); |
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| 243 | if (numRuns == 0) { |
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| 244 | rleScanline = gridIn->getRLEScanline(yy, zz); |
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| 245 | gridOut->copyScanline(rleScanline, yy, zz); |
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| 246 | continue; |
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| 247 | } |
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| 248 | |
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| 249 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
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| 250 | xx = 0; |
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| 251 | |
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| 252 | // Prepare input scanline |
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| 253 | gridIn->setScanline(yy, zz); |
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| 254 | RunLength inLength = gridIn->getNextLength(); |
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| 255 | int inType = gridIn->getRunType(&inLength); |
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| 256 | int nextInOffset = inLength; |
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| 257 | OccElement *inElement; |
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| 258 | |
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| 259 | if (inType == OccGridRLE::CONSTANT_DATA) |
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| 260 | inElement = gridIn->getNextElement(); |
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| 261 | |
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| 262 | // Prepare output scanline |
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| 263 | initScanline(gridOut, yy, zz); |
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| 264 | |
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| 265 | for (int i = 0; i < numRuns; i++) { |
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| 266 | xmin = int(depthRuns[2*i] - xOff); |
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| 267 | xmin = MAX(xmin, 0); |
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| 268 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
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| 269 | xmax = MIN(xmax, gridIn->xdim-1); |
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| 270 | xNewOff = xOff + xmin; |
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| 271 | |
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| 272 | // Copy over all whole runs that precede the current xmin |
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| 273 | |
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| 274 | while (nextInOffset < xmin) { |
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| 275 | if (nextInOffset != xx) { |
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| 276 | appendScanlinePortion(gridIn, inType, inElement, |
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| 277 | nextInOffset - xx); |
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| 278 | } |
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| 279 | xx = nextInOffset; |
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| 280 | |
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| 281 | // Update for next run |
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| 282 | inLength = gridIn->getNextLength(); |
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| 283 | inType = gridIn->getRunType(&inLength); |
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| 284 | nextInOffset += inLength; |
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| 285 | if (inType == OccGridRLE::CONSTANT_DATA) { |
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| 286 | inElement = gridIn->getNextElement(); |
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| 287 | } |
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| 288 | } |
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| 289 | |
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| 290 | |
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| 291 | // Copy over the remaining portion of the first |
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| 292 | // overlapping run |
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| 293 | |
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| 294 | if (xx != xmin) { |
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| 295 | appendScanlinePortion(gridIn, inType, inElement, |
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| 296 | xmin - xx); |
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| 297 | } |
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| 298 | |
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| 299 | xx = xmin; |
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| 300 | |
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| 301 | // Update the output based on new data combined with |
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| 302 | // old data |
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| 303 | |
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| 304 | while (xx <= xmax) { |
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| 305 | |
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| 306 | // If old input run is finished, start a new one |
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| 307 | |
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| 308 | if (xx == nextInOffset) { |
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| 309 | inLength = gridIn->getNextLength(); |
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| 310 | inType = gridIn->getRunType(&inLength); |
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| 311 | nextInOffset += inLength; |
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| 312 | if (inType == OccGridRLE::CONSTANT_DATA) { |
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| 313 | inElement = gridIn->getNextElement(); |
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| 314 | } |
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| 315 | } |
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| 316 | |
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| 317 | // If varying run, get next element |
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| 318 | |
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| 319 | if (inType == OccGridRLE::VARYING_DATA) { |
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| 320 | inElement = gridIn->getNextElement(); |
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| 321 | } |
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| 322 | |
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| 323 | // Copy over element and update |
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| 324 | |
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| 325 | outElement = *inElement; |
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| 326 | //resample(depthMap, xNewOff, yOff, &depth, &confidence); |
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| 327 | resampleBetter(depthMap, xNewOff, yOff, &depth, &confidence); |
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| 328 | |
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| 329 | updateCell(gridIn->sliceOrigins[zz][2], |
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| 330 | depth, |
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| 331 | sampleSpacing, confidence, |
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| 332 | &outElement); |
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| 333 | |
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| 334 | // Write element to the output grid |
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| 335 | appendScanline(&outElement); |
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| 336 | |
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| 337 | xNewOff++; |
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| 338 | xx++; |
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| 339 | } |
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| 340 | } |
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| 341 | |
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| 342 | // Finish up any remaining runs |
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| 343 | |
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| 344 | while (xx < gridOut->xdim) { |
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| 345 | if (nextInOffset != xx) { |
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| 346 | appendScanlinePortion(gridIn, inType, inElement, |
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| 347 | nextInOffset - xx); |
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| 348 | } |
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| 349 | xx = nextInOffset; |
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| 350 | |
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| 351 | // Update for next run |
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| 352 | inLength = gridIn->getNextLength(); |
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| 353 | inType = gridIn->getRunType(&inLength); |
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| 354 | |
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| 355 | if (inType == OccGridRLE::END_OF_RUN) { |
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| 356 | break; |
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| 357 | } |
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| 358 | |
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| 359 | nextInOffset += inLength; |
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| 360 | if (inType == OccGridRLE::CONSTANT_DATA) { |
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| 361 | inElement = gridIn->getNextElement(); |
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| 362 | } |
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| 363 | } |
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| 364 | |
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| 365 | // Seal off the old run |
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| 366 | sealScanline(); |
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| 367 | } |
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| 368 | } |
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| 369 | if (!Quiet) |
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| 370 | printf("\n"); |
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| 371 | } |
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| 372 | |
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| 373 | |
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| 374 | void |
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| 375 | scanConvertTreeBiasEdgesEmpty(OccGridRLE *gridIn, OccGridRLE *gridOut, |
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| 376 | OrthoShear *shear, DepthMap *depthMap) |
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| 377 | { |
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| 378 | float xOff, yOff, res, depth, confidence; |
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| 379 | OccElement *buf, *scanline, outElement; |
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| 380 | int xx,yy,zz; |
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| 381 | int *depthRuns, numRuns; |
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| 382 | float zmin, zmax, xNewOff; |
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| 383 | float edgeConfidence; |
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| 384 | int xmin, xmax; |
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| 385 | OccScanlineRLE *rleScanline; |
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| 386 | |
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| 387 | |
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| 388 | // printf("Using bias toward emptiness\n"); |
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| 389 | |
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| 390 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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| 391 | |
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| 392 | res = gridIn->resolution; |
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| 393 | |
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| 394 | gridOut->copyParams(gridIn); |
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| 395 | |
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| 396 | gridOut->reset(); |
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| 397 | |
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| 398 | for (zz = 0; zz < gridIn->zdim; zz++) { |
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| 399 | if (!Quiet) |
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| 400 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
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| 401 | fflush(stdout); |
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| 402 | |
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| 403 | // Something is really backwards here! |
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| 404 | |
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| 405 | /* |
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| 406 | zmin = gridIn->sliceOrigins[zz][2] + C5/sampleSpacing; |
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| 407 | zmax = gridIn->sliceOrigins[zz][2] + 2*C1/sampleSpacing; |
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| 408 | */ |
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| 409 | zmin = gridIn->sliceOrigins[zz][2] - C1/sampleSpacing; |
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| 410 | zmax = gridIn->sliceOrigins[zz][2] - C5/sampleSpacing; |
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| 411 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
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| 412 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
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| 413 | depthRuns = depthMap->getDepthRuns(yOff, zmin, zmax, &numRuns); |
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| 414 | if (numRuns == 0) { |
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| 415 | rleScanline = gridIn->getRLEScanline(yy, zz); |
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| 416 | gridOut->copyScanline(rleScanline, yy, zz); |
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| 417 | continue; |
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| 418 | } |
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| 419 | |
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| 420 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
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| 421 | xx = 0; |
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| 422 | |
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| 423 | // Prepare input scanline |
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| 424 | gridIn->setScanline(yy, zz); |
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| 425 | RunLength inLength = gridIn->getNextLength(); |
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| 426 | int inType = gridIn->getRunType(&inLength); |
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| 427 | int nextInOffset = inLength; |
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| 428 | OccElement *inElement; |
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| 429 | |
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| 430 | if (inType == OccGridRLE::CONSTANT_DATA) |
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| 431 | inElement = gridIn->getNextElement(); |
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| 432 | |
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| 433 | // Prepare output scanline |
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| 434 | initScanline(gridOut, yy, zz); |
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| 435 | |
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| 436 | for (int i = 0; i < numRuns; i++) { |
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| 437 | xmin = int(depthRuns[2*i] - xOff); |
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| 438 | xmin = MAX(xmin, 0); |
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| 439 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
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| 440 | xmax = MIN(xmax, gridIn->xdim-1); |
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| 441 | xNewOff = xOff + xmin; |
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| 442 | |
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| 443 | // Copy over all whole runs that precede the current xmin |
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| 444 | |
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| 445 | while (nextInOffset < xmin) { |
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| 446 | if (nextInOffset != xx) { |
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| 447 | appendScanlinePortion(gridIn, inType, inElement, |
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| 448 | nextInOffset - xx); |
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| 449 | } |
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| 450 | xx = nextInOffset; |
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| 451 | |
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| 452 | // Update for next run |
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| 453 | inLength = gridIn->getNextLength(); |
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| 454 | inType = gridIn->getRunType(&inLength); |
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| 455 | nextInOffset += inLength; |
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| 456 | if (inType == OccGridRLE::CONSTANT_DATA) { |
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| 457 | inElement = gridIn->getNextElement(); |
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| 458 | } |
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| 459 | } |
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| 460 | |
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| 461 | |
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| 462 | // Copy over the remaining portion of the first |
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| 463 | // overlapping run |
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| 464 | |
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| 465 | if (xx != xmin) { |
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| 466 | appendScanlinePortion(gridIn, inType, inElement, |
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| 467 | xmin - xx); |
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| 468 | } |
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| 469 | |
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| 470 | xx = xmin; |
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| 471 | |
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| 472 | // Update the output based on new data combined with |
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| 473 | // old data |
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| 474 | |
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| 475 | while (xx <= xmax) { |
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| 476 | |
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| 477 | // If old input run is finished, start a new one |
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| 478 | |
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| 479 | if (xx == nextInOffset) { |
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| 480 | inLength = gridIn->getNextLength(); |
---|
| 481 | inType = gridIn->getRunType(&inLength); |
---|
| 482 | nextInOffset += inLength; |
---|
| 483 | if (inType == OccGridRLE::CONSTANT_DATA) { |
---|
| 484 | inElement = gridIn->getNextElement(); |
---|
| 485 | } |
---|
| 486 | } |
---|
| 487 | |
---|
| 488 | // If varying run, get next element |
---|
| 489 | |
---|
| 490 | if (inType == OccGridRLE::VARYING_DATA) { |
---|
| 491 | inElement = gridIn->getNextElement(); |
---|
| 492 | } |
---|
| 493 | |
---|
| 494 | // Copy over element and update |
---|
| 495 | |
---|
| 496 | outElement = *inElement; |
---|
| 497 | resampleWithEdge(depthMap, xNewOff, yOff, |
---|
| 498 | &depth, &confidence, &edgeConfidence); |
---|
| 499 | |
---|
| 500 | updateCellBiasEdgesEmpty(gridIn->sliceOrigins[zz][2], |
---|
| 501 | depth, |
---|
| 502 | sampleSpacing, confidence, |
---|
| 503 | edgeConfidence, |
---|
| 504 | &outElement); |
---|
| 505 | |
---|
| 506 | // Write element to the output grid |
---|
| 507 | appendScanline(&outElement); |
---|
| 508 | |
---|
| 509 | xNewOff++; |
---|
| 510 | xx++; |
---|
| 511 | } |
---|
| 512 | } |
---|
| 513 | |
---|
| 514 | // Finish up any remaining runs |
---|
| 515 | |
---|
| 516 | while (xx < gridOut->xdim) { |
---|
| 517 | if (nextInOffset != xx) { |
---|
| 518 | appendScanlinePortion(gridIn, inType, inElement, |
---|
| 519 | nextInOffset - xx); |
---|
| 520 | } |
---|
| 521 | xx = nextInOffset; |
---|
| 522 | |
---|
| 523 | // Update for next run |
---|
| 524 | inLength = gridIn->getNextLength(); |
---|
| 525 | inType = gridIn->getRunType(&inLength); |
---|
| 526 | |
---|
| 527 | if (inType == OccGridRLE::END_OF_RUN) { |
---|
| 528 | break; |
---|
| 529 | } |
---|
| 530 | |
---|
| 531 | nextInOffset += inLength; |
---|
| 532 | if (inType == OccGridRLE::CONSTANT_DATA) { |
---|
| 533 | inElement = gridIn->getNextElement(); |
---|
| 534 | } |
---|
| 535 | } |
---|
| 536 | |
---|
| 537 | // Seal off the old run |
---|
| 538 | sealScanline(); |
---|
| 539 | } |
---|
| 540 | } |
---|
| 541 | if (!Quiet) |
---|
| 542 | printf("\n"); |
---|
| 543 | } |
---|
| 544 | |
---|
| 545 | |
---|
| 546 | |
---|
| 547 | static void |
---|
| 548 | initScanline(OccGridRLE *grid, int yy, int zz) |
---|
| 549 | { |
---|
| 550 | theOutGrid = grid; |
---|
| 551 | theOutGrid->allocNewRun(yy, zz); |
---|
| 552 | currentLength = 0; |
---|
| 553 | } |
---|
| 554 | |
---|
| 555 | |
---|
| 556 | static void |
---|
| 557 | appendScanlinePortion(OccGridRLE *inGrid, int inType, |
---|
| 558 | OccElement *inElement, RunLength length) |
---|
| 559 | { |
---|
| 560 | int i; |
---|
| 561 | |
---|
| 562 | if (currentType == inType && currentLength > 0) { |
---|
| 563 | |
---|
| 564 | if (currentType == OccGridRLE::CONSTANT_DATA) { |
---|
| 565 | |
---|
| 566 | if (inElement->value == lastElement.value && |
---|
| 567 | inElement->totalWeight == lastElement.totalWeight) { |
---|
| 568 | |
---|
| 569 | // If same constant then just increment length. |
---|
| 570 | currentLength += length; |
---|
| 571 | } else { |
---|
| 572 | |
---|
| 573 | // If different constants, then seal old run and start |
---|
| 574 | // a new one |
---|
| 575 | theOutGrid->setRunType(¤tLength, currentType); |
---|
| 576 | theOutGrid->putNextLength(currentLength); |
---|
| 577 | |
---|
| 578 | theOutGrid->putNextElement(inElement); |
---|
| 579 | lastElement = *inElement; |
---|
| 580 | currentLength = length; |
---|
| 581 | } |
---|
| 582 | } else { |
---|
| 583 | |
---|
| 584 | // If old and new are varying, then add on new data |
---|
| 585 | for (i = 0; i < length-1; i++) { |
---|
| 586 | theOutGrid->putNextElement(inGrid->getNextElement()); |
---|
| 587 | } |
---|
| 588 | lastElement = *(inGrid->getNextElement()); |
---|
| 589 | theOutGrid->putNextElement(&lastElement); |
---|
| 590 | currentLength += length; |
---|
| 591 | } |
---|
| 592 | } |
---|
| 593 | else { |
---|
| 594 | // If different, then seal up the old run and start a |
---|
| 595 | // new one |
---|
| 596 | |
---|
| 597 | if (currentLength > 0) { |
---|
| 598 | theOutGrid->setRunType(¤tLength, currentType); |
---|
| 599 | theOutGrid->putNextLength(currentLength); |
---|
| 600 | } |
---|
| 601 | |
---|
| 602 | if (inType == OccGridRLE::CONSTANT_DATA) { |
---|
| 603 | theOutGrid->putNextElement(inElement); |
---|
| 604 | lastElement = *inElement; |
---|
| 605 | } else { |
---|
| 606 | for (i = 0; i < length-1; i++) { |
---|
| 607 | theOutGrid->putNextElement(inGrid->getNextElement()); |
---|
| 608 | } |
---|
| 609 | lastElement = *(inGrid->getNextElement()); |
---|
| 610 | theOutGrid->putNextElement(&lastElement); |
---|
| 611 | } |
---|
| 612 | currentLength = length; |
---|
| 613 | currentType = inType; |
---|
| 614 | } |
---|
| 615 | } |
---|
| 616 | |
---|
| 617 | |
---|
| 618 | static void |
---|
| 619 | appendScanline(OccElement *inElement) |
---|
| 620 | { |
---|
| 621 | int i, inType; |
---|
| 622 | |
---|
| 623 | inType = theOutGrid->decideType(inElement); |
---|
| 624 | if (currentType == inType && currentLength > 0) { |
---|
| 625 | if (currentType == OccGridRLE::CONSTANT_DATA) { |
---|
| 626 | if (inElement->value == lastElement.value && |
---|
| 627 | inElement->totalWeight == lastElement.totalWeight) { |
---|
| 628 | |
---|
| 629 | // If same constant then just increment length. |
---|
| 630 | currentLength++; |
---|
| 631 | } else { |
---|
| 632 | |
---|
| 633 | // If different constants, then seal old run and start |
---|
| 634 | // a new one |
---|
| 635 | theOutGrid->setRunType(¤tLength, currentType); |
---|
| 636 | theOutGrid->putNextLength(currentLength); |
---|
| 637 | theOutGrid->putNextElement(inElement); |
---|
| 638 | lastElement = *inElement; |
---|
| 639 | currentLength = 1; |
---|
| 640 | } |
---|
| 641 | } else { |
---|
| 642 | |
---|
| 643 | // If old and new are varying, then add on new data |
---|
| 644 | theOutGrid->putNextElement(inElement); |
---|
| 645 | lastElement = *inElement; |
---|
| 646 | currentLength++; |
---|
| 647 | } |
---|
| 648 | } |
---|
| 649 | else { |
---|
| 650 | // If different, then seal up the old run and start a |
---|
| 651 | // new one |
---|
| 652 | |
---|
| 653 | if (currentLength > 0) { |
---|
| 654 | theOutGrid->setRunType(¤tLength, currentType); |
---|
| 655 | theOutGrid->putNextLength(currentLength); |
---|
| 656 | } |
---|
| 657 | |
---|
| 658 | lastElement = *inElement; |
---|
| 659 | theOutGrid->putNextElement(inElement); |
---|
| 660 | currentLength = 1; |
---|
| 661 | currentType = inType; |
---|
| 662 | } |
---|
| 663 | } |
---|
| 664 | |
---|
| 665 | |
---|
| 666 | static void |
---|
| 667 | sealScanline() |
---|
| 668 | { |
---|
| 669 | theOutGrid->setRunType(¤tLength, currentType); |
---|
| 670 | theOutGrid->putNextLength(currentLength); |
---|
| 671 | theOutGrid->putNextLength(OccGridRLE::END_OF_RUN); |
---|
| 672 | } |
---|
| 673 | |
---|
| 674 | |
---|
| 675 | void |
---|
| 676 | scanConvertTreeDragTails(OccGridRLE *gridIn, OccGridRLE *gridOut, |
---|
| 677 | OrthoShear *shear, DepthMap *depthMap) |
---|
| 678 | { |
---|
| 679 | float xOff, yOff, res, depth, confidence; |
---|
| 680 | OccElement *buf, *scanline; |
---|
| 681 | int xx,yy,zz; |
---|
| 682 | int *depthRuns, numRuns, oldNumRuns; |
---|
| 683 | float zmin, zmax, xNewOff; |
---|
| 684 | int xmin, xmax; |
---|
| 685 | OccScanlineRLE *rleScanline; |
---|
| 686 | |
---|
| 687 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
---|
| 688 | |
---|
| 689 | res = gridIn->resolution; |
---|
| 690 | |
---|
| 691 | gridOut->copyParams(gridIn); |
---|
| 692 | |
---|
| 693 | gridOut->reset(); |
---|
| 694 | |
---|
| 695 | for (zz = 0; zz < gridIn->zdim; zz++) { |
---|
| 696 | if (!Quiet) |
---|
| 697 | printf("\rTraversing slice %d of %d.", zz, gridIn->zdim-1); |
---|
| 698 | fflush(stdout); |
---|
| 699 | |
---|
| 700 | // Something is really backwards here! |
---|
| 701 | |
---|
| 702 | /* |
---|
| 703 | zmin = gridIn->sliceOrigins[zz][2] + C5/sampleSpacing; |
---|
| 704 | zmax = gridIn->sliceOrigins[zz][2] + 2*C1/sampleSpacing; |
---|
| 705 | */ |
---|
| 706 | zmin = gridIn->sliceOrigins[zz][2] - C1/sampleSpacing; |
---|
| 707 | zmax = gridIn->sliceOrigins[zz][2] - C5/sampleSpacing; |
---|
| 708 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
---|
| 709 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
---|
| 710 | |
---|
| 711 | // Points near the surface |
---|
| 712 | depthRuns = depthMap->getDepthRuns(yOff, zmin, zmax, &numRuns); |
---|
| 713 | if (numRuns != 0) { |
---|
| 714 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
---|
| 715 | scanline = gridIn->getScanline(yy,zz); |
---|
| 716 | for (int i = 0; i < numRuns; i++) { |
---|
| 717 | xmin = int(depthRuns[2*i] - xOff); |
---|
| 718 | xmin = MAX(xmin, 0); |
---|
| 719 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
---|
| 720 | xmax = MIN(xmax, gridIn->xdim-1); |
---|
| 721 | xNewOff = xOff + xmin; |
---|
| 722 | buf = scanline + xmin; |
---|
| 723 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
---|
| 724 | resampleForCarving(depthMap, xNewOff, yOff, |
---|
| 725 | &depth, &confidence); |
---|
| 726 | updateCellForCarving(gridIn->sliceOrigins[zz][2], |
---|
| 727 | depth, |
---|
| 728 | sampleSpacing, confidence, buf); |
---|
| 729 | } |
---|
| 730 | } |
---|
| 731 | } |
---|
| 732 | |
---|
| 733 | oldNumRuns = numRuns; |
---|
| 734 | |
---|
| 735 | // Points in front of the surface |
---|
| 736 | depthRuns = depthMap->getDepthRunsUpperBound |
---|
| 737 | (yOff, zmin, &numRuns); |
---|
| 738 | |
---|
| 739 | int skip = 0; |
---|
| 740 | if (oldNumRuns == 0 && numRuns == 0) { |
---|
| 741 | rleScanline = gridIn->getRLEScanline(yy, zz); |
---|
| 742 | gridOut->copyScanline(rleScanline, yy, zz); |
---|
| 743 | skip = 1; |
---|
| 744 | } else if (numRuns == 0) { |
---|
| 745 | gridOut->putScanline(scanline,yy,zz); |
---|
| 746 | skip = 1; |
---|
| 747 | } else if (oldNumRuns == 0) { |
---|
| 748 | scanline = gridIn->getScanline(yy,zz); |
---|
| 749 | skip = 0; |
---|
| 750 | } |
---|
| 751 | |
---|
| 752 | if (!skip) { |
---|
| 753 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
---|
| 754 | for (int i = 0; i < numRuns; i++) { |
---|
| 755 | xmin = int(depthRuns[2*i] - xOff); |
---|
| 756 | xmin = MAX(xmin, 0); |
---|
| 757 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
---|
| 758 | xmax = MIN(xmax, gridIn->xdim-1); |
---|
| 759 | buf = scanline + xmin; |
---|
| 760 | for (xx = xmin; xx <= xmax; xx++, buf++) { |
---|
| 761 | if (buf->totalWeight == 0) { |
---|
| 762 | buf->value = 0; |
---|
| 763 | } |
---|
| 764 | } |
---|
| 765 | } |
---|
| 766 | } |
---|
| 767 | |
---|
| 768 | oldNumRuns += numRuns; |
---|
| 769 | |
---|
| 770 | depthRuns = depthMap->getDepthRunsEdges |
---|
| 771 | (yOff, zmin, &numRuns); |
---|
| 772 | |
---|
| 773 | if (oldNumRuns == 0 && numRuns == 0) { |
---|
| 774 | rleScanline = gridIn->getRLEScanline(yy, zz); |
---|
| 775 | gridOut->copyScanline(rleScanline, yy, zz); |
---|
| 776 | continue; |
---|
| 777 | } else if (numRuns == 0) { |
---|
| 778 | gridOut->putScanline(scanline,yy,zz); |
---|
| 779 | continue; |
---|
| 780 | } else if (oldNumRuns == 0) { |
---|
| 781 | scanline = gridIn->getScanline(yy,zz); |
---|
| 782 | } |
---|
| 783 | |
---|
| 784 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
---|
| 785 | for (int i = 0; i < numRuns; i++) { |
---|
| 786 | xmin = int(depthRuns[2*i] - xOff); |
---|
| 787 | xmin = MAX(xmin, 0); |
---|
| 788 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
---|
| 789 | xmax = MIN(xmax, gridIn->xdim-1); |
---|
| 790 | xNewOff = xOff + xmin; |
---|
| 791 | buf = scanline + xmin; |
---|
| 792 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
---|
| 793 | resampleForCarving(depthMap, xNewOff, yOff, |
---|
| 794 | &depth, &confidence); |
---|
| 795 | updateCellForCarving(gridIn->sliceOrigins[zz][2], depth, |
---|
| 796 | sampleSpacing, confidence, buf); |
---|
| 797 | } |
---|
| 798 | } |
---|
| 799 | |
---|
| 800 | gridOut->putScanline(scanline,yy,zz); |
---|
| 801 | } |
---|
| 802 | } |
---|
| 803 | if (!Quiet) |
---|
| 804 | printf("\n"); |
---|
| 805 | } |
---|
| 806 | |
---|
| 807 | |
---|
| 808 | |
---|
| 809 | int |
---|
| 810 | scanConvertTreeDragTailsOneLine(OccGridRLE *gridIn, OccGridRLE *gridOut, |
---|
| 811 | OrthoShear *shear, DepthMap *depthMap, |
---|
| 812 | int line) |
---|
| 813 | { |
---|
| 814 | float xOff, yOff, res, depth, confidence; |
---|
| 815 | OccElement *buf, *scanline; |
---|
| 816 | int xx,yy,zz; |
---|
| 817 | int nothingNew; |
---|
| 818 | int *depthRuns, numRuns, oldNumRuns; |
---|
| 819 | float zmin, zmax, xNewOff; |
---|
| 820 | int xmin, xmax; |
---|
| 821 | OccScanlineRLE *rleScanline; |
---|
| 822 | |
---|
| 823 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
---|
| 824 | |
---|
| 825 | res = gridIn->resolution; |
---|
| 826 | |
---|
| 827 | gridOut->copyParams(gridIn); |
---|
| 828 | |
---|
| 829 | gridOut->reset(); |
---|
| 830 | |
---|
| 831 | for (zz = 0; zz < line; zz++) { |
---|
| 832 | for (yy = 0; yy < gridIn->ydim; yy++) { |
---|
| 833 | rleScanline = gridIn->getRLEScanline(yy, zz); |
---|
| 834 | gridOut->copyScanline(rleScanline, yy, zz); |
---|
| 835 | } |
---|
| 836 | } |
---|
| 837 | |
---|
| 838 | for (zz = line; zz < line+1; zz++) { |
---|
| 839 | |
---|
| 840 | // Something is really backwards here! |
---|
| 841 | |
---|
| 842 | /* |
---|
| 843 | zmin = gridIn->sliceOrigins[zz][2] + C5/sampleSpacing; |
---|
| 844 | zmax = gridIn->sliceOrigins[zz][2] + 2*C1/sampleSpacing; |
---|
| 845 | */ |
---|
| 846 | zmin = gridIn->sliceOrigins[zz][2] - C1/sampleSpacing; |
---|
| 847 | zmax = gridIn->sliceOrigins[zz][2] - C5/sampleSpacing; |
---|
| 848 | yOff = (gridIn->sliceOrigins[zz][1] - depthMap->origin[1])/res; |
---|
| 849 | |
---|
| 850 | for (yy = 0; yy < gridIn->ydim; yy++, yOff++) { |
---|
| 851 | |
---|
| 852 | // Points near the surface |
---|
| 853 | depthRuns = depthMap->getDepthRuns(yOff, zmin, zmax, &numRuns); |
---|
| 854 | if (numRuns != 0) { |
---|
| 855 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
---|
| 856 | scanline = gridIn->getScanline(yy,zz); |
---|
| 857 | for (int i = 0; i < numRuns; i++) { |
---|
| 858 | xmin = int(depthRuns[2*i] - xOff); |
---|
| 859 | xmin = MAX(xmin, 0); |
---|
| 860 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
---|
| 861 | xmax = MIN(xmax, gridIn->xdim-1); |
---|
| 862 | xNewOff = xOff + xmin; |
---|
| 863 | buf = scanline + xmin; |
---|
| 864 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
---|
| 865 | resampleForCarving(depthMap, xNewOff, yOff, |
---|
| 866 | &depth, &confidence); |
---|
| 867 | updateCellForCarving(gridIn->sliceOrigins[zz][2], |
---|
| 868 | depth, |
---|
| 869 | sampleSpacing, confidence, buf); |
---|
| 870 | } |
---|
| 871 | } |
---|
| 872 | } |
---|
| 873 | |
---|
| 874 | oldNumRuns = numRuns; |
---|
| 875 | |
---|
| 876 | // Points in front of the surface |
---|
| 877 | depthRuns = depthMap->getDepthRunsUpperBound |
---|
| 878 | (yOff, zmin, &numRuns); |
---|
| 879 | |
---|
| 880 | int skip = 0; |
---|
| 881 | nothingNew = 0; |
---|
| 882 | if (oldNumRuns == 0 && numRuns == 0) { |
---|
| 883 | rleScanline = gridIn->getRLEScanline(yy, zz); |
---|
| 884 | gridOut->copyScanline(rleScanline, yy, zz); |
---|
| 885 | nothingNew = 1; |
---|
| 886 | skip = 1; |
---|
| 887 | } else if (numRuns == 0) { |
---|
| 888 | gridOut->putScanline(scanline,yy,zz); |
---|
| 889 | skip = 1; |
---|
| 890 | } else if (oldNumRuns == 0) { |
---|
| 891 | scanline = gridIn->getScanline(yy,zz); |
---|
| 892 | skip = 0; |
---|
| 893 | } |
---|
| 894 | |
---|
| 895 | if (!skip) { |
---|
| 896 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
---|
| 897 | for (int i = 0; i < numRuns; i++) { |
---|
| 898 | xmin = int(depthRuns[2*i] - xOff); |
---|
| 899 | xmin = MAX(xmin, 0); |
---|
| 900 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
---|
| 901 | xmax = MIN(xmax, gridIn->xdim-1); |
---|
| 902 | buf = scanline + xmin; |
---|
| 903 | for (xx = xmin; xx <= xmax; xx++, buf++) { |
---|
| 904 | if (buf->totalWeight == 0) { |
---|
| 905 | buf->value = 0; |
---|
| 906 | } |
---|
| 907 | } |
---|
| 908 | } |
---|
| 909 | } |
---|
| 910 | |
---|
| 911 | oldNumRuns += numRuns; |
---|
| 912 | |
---|
| 913 | depthRuns = depthMap->getDepthRunsEdges |
---|
| 914 | (yOff, zmin, &numRuns); |
---|
| 915 | |
---|
| 916 | if (oldNumRuns == 0 && numRuns == 0) { |
---|
| 917 | rleScanline = gridIn->getRLEScanline(yy, zz); |
---|
| 918 | gridOut->copyScanline(rleScanline, yy, zz); |
---|
| 919 | if (nothingNew) |
---|
| 920 | nothingNew = 1; |
---|
| 921 | else |
---|
| 922 | nothingNew = 0; |
---|
| 923 | continue; |
---|
| 924 | } else if (numRuns == 0) { |
---|
| 925 | gridOut->putScanline(scanline,yy,zz); |
---|
| 926 | continue; |
---|
| 927 | } else if (oldNumRuns == 0) { |
---|
| 928 | scanline = gridIn->getScanline(yy,zz); |
---|
| 929 | } |
---|
| 930 | |
---|
| 931 | xOff = (gridIn->sliceOrigins[zz][0] - depthMap->origin[0])/res; |
---|
| 932 | for (int i = 0; i < numRuns; i++) { |
---|
| 933 | xmin = int(depthRuns[2*i] - xOff); |
---|
| 934 | xmin = MAX(xmin, 0); |
---|
| 935 | xmax = int(ceil(depthRuns[2*i+1] - xOff)); |
---|
| 936 | xmax = MIN(xmax, gridIn->xdim-1); |
---|
| 937 | xNewOff = xOff + xmin; |
---|
| 938 | buf = scanline + xmin; |
---|
| 939 | for (xx = xmin; xx <= xmax; xx++, xNewOff++, buf++) { |
---|
| 940 | resampleForCarving(depthMap, xNewOff, yOff, |
---|
| 941 | &depth, &confidence); |
---|
| 942 | updateCellForCarving(gridIn->sliceOrigins[zz][2], depth, |
---|
| 943 | sampleSpacing, confidence, buf); |
---|
| 944 | } |
---|
| 945 | } |
---|
| 946 | |
---|
| 947 | gridOut->putScanline(scanline,yy,zz); |
---|
| 948 | } |
---|
| 949 | } |
---|
| 950 | |
---|
| 951 | for (zz = line+1; zz < gridIn->zdim; zz++) { |
---|
| 952 | for (yy = 0; yy < gridIn->ydim; yy++) { |
---|
| 953 | rleScanline = gridIn->getRLEScanline(yy, zz); |
---|
| 954 | gridOut->copyScanline(rleScanline, yy, zz); |
---|
| 955 | } |
---|
| 956 | } |
---|
| 957 | |
---|
| 958 | return !nothingNew; |
---|
| 959 | } |
---|
| 960 | |
---|