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 <limits.h> |
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23 | #include <stdlib.h> |
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24 | #include <math.h> |
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25 | #include <unistd.h> |
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26 | #include <sys/wait.h> |
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27 | #include <sys/times.h> |
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28 | #include <sys/types.h> |
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29 | #include <sys/stat.h> |
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30 | #include <time.h> |
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31 | #include <errno.h> |
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32 | |
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33 | #include "vrip.h" |
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34 | #include "occFunc.h" |
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35 | #include "DepthMap.h" |
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36 | #include "vripRangeCmds.h" |
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37 | #include "vripGUICmds.h" |
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38 | #include "vripGlobals.h" |
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39 | #include "vripAux.h" |
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40 | |
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41 | #include "plyio.h" |
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42 | #include "DepthMapAux.h" |
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43 | #include "renderGeom.h" |
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44 | #include "configure.h" |
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45 | #include "scan.h" |
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46 | #include "scanRLE.h" |
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47 | #include "scanLinePerspRLE.h" |
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48 | #include "scanPerspRLE.h" |
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49 | #include "scanNormRLE.h" |
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50 | #include "Mesh.h" |
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51 | #include "rangePly.h" |
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52 | |
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53 | #include "defines.h" |
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54 | #include "linePersp.h" |
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55 | #include "perspective.h" |
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56 | |
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57 | static clock_t tm; |
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58 | static void start_time(); |
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59 | static void end_time(); |
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60 | static float time_elapsed(); |
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61 | |
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62 | static void parse_transformation(Mesh *mesh, Tcl_Interp *interp, |
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63 | int argc, const char**argv); |
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64 | |
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65 | //extern unsigned long TclGetClicks(); |
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66 | |
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67 | int |
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68 | Vrip_RangeScanCmd(ClientData, Tcl_Interp *interp, int argc, const char *argv[]) |
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69 | { |
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70 | if (argc != 2 && argc != 3 && argc != 6 && argc != 9 ) { |
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71 | interp->result = "wrong number of args"; |
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72 | return TCL_ERROR; |
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73 | } |
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74 | |
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75 | if (theGrid == NULL) { |
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76 | interp->result = "Grid not allocated."; |
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77 | return TCL_ERROR; |
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78 | } |
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79 | |
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80 | if (!SuperQuiet) |
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81 | printf("Integrating mesh %s...", argv[1]); |
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82 | |
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83 | initOccFunc(); |
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84 | |
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85 | start_time(); |
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86 | |
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87 | Mesh *mesh = readMeshFromPly(argv[1], FALSE, FALSE); |
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88 | if (mesh == NULL) |
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89 | return TCL_ERROR; |
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90 | |
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91 | if (!mesh->hasConfidence) |
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92 | doConfidence(mesh); |
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93 | |
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94 | end_time(); |
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95 | |
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96 | TesselationTime = time_elapsed(); |
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97 | |
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98 | start_time(); |
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99 | |
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100 | parse_transformation(mesh, interp, argc, argv); |
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101 | |
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102 | Vec3f newdir; |
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103 | float angle; |
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104 | if (!mesh->isWarped) |
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105 | angle = 0; |
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106 | else if (mesh->isRightMirrorOpen) |
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107 | angle = 30; |
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108 | else |
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109 | angle = -30; |
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110 | |
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111 | Vec3f dir(-sin(RAD(angle)), 0, -cos(RAD(angle))); |
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112 | |
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113 | Matrix4f rot; |
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114 | mesh->quat.toMatrix(rot); |
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115 | |
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116 | rot.multVec(dir, newdir); |
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117 | |
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118 | if (Verbose) |
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119 | printf("View dir: [%f, %f, %f]\n", newdir.x, newdir.y, newdir.z); |
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120 | |
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121 | vec3f yuk; |
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122 | yuk[0] = newdir.x; |
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123 | yuk[1] = newdir.y; |
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124 | yuk[2] = newdir.z; |
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125 | |
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126 | OrthoShear *shear = computeShear(yuk); |
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127 | configureGrid(theGrid, shear); |
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128 | |
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129 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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130 | |
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131 | if (UseEdgeLength) { |
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132 | MAX_DEPTH_DIFFERENCE = MaxEdgeLength/sampleSpacing; |
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133 | } |
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134 | else { |
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135 | MAX_DEPTH_DIFFERENCE = tan(acos(MinViewDot))* |
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136 | theGrid->resolution/sampleSpacing; |
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137 | } |
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138 | |
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139 | BBox3f *gbbox = getBBox(theGrid); |
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140 | |
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141 | prepareRender(mesh, shear, gbbox, theGrid->resolution, |
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142 | theDepthMap, FALSE); |
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143 | softRenderConfidence(mesh); |
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144 | |
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145 | /* |
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146 | DepthMap *dm = renderDepthMap(mesh, shear, gbbox, |
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147 | theGrid->resolution, NULL); |
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148 | */ |
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149 | |
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150 | if (UseTails) { |
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151 | if (FillBackground) { |
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152 | fillBackground(theDepthMap); |
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153 | } else if (DoSilhouette) { |
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154 | makeSilhouette(theDepthMap); |
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155 | } |
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156 | } |
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157 | |
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158 | end_time(); |
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159 | |
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160 | ResampleRangeTime = time_elapsed(); |
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161 | |
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162 | start_time(); |
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163 | |
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164 | if (UseTails) { |
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165 | scanConvertDragTails(theGrid, shear, theDepthMap); |
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166 | } |
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167 | else { |
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168 | scanConvert(theGrid, shear, theDepthMap); |
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169 | } |
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170 | |
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171 | end_time(); |
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172 | |
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173 | MergeTime = time_elapsed(); |
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174 | if (!SuperQuiet) |
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175 | printf("Time to process: %.2f sec\n", |
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176 | TesselationTime + ResampleRangeTime + MergeTime); |
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177 | |
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178 | delete shear; |
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179 | delete gbbox; |
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180 | |
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181 | return TCL_OK; |
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182 | } |
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183 | |
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184 | int |
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185 | Vrip_RangeScanTreeCmd(ClientData, Tcl_Interp *interp, int argc, const char *argv[]) |
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186 | { |
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187 | if (argc != 2 && argc != 3 && argc != 6 && argc != 9 ) { |
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188 | interp->result = "wrong number of args"; |
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189 | return TCL_ERROR; |
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190 | } |
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191 | |
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192 | if (theGrid == NULL) { |
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193 | interp->result = "Grid not allocated."; |
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194 | return TCL_ERROR; |
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195 | } |
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196 | |
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197 | if (!SuperQuiet) |
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198 | printf("Integrating mesh %s...\n", argv[1]); |
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199 | |
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200 | initOccFunc(); |
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201 | |
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202 | start_time(); |
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203 | |
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204 | Mesh *mesh = readMeshFromPly(argv[1], FALSE, FALSE); |
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205 | if (mesh == NULL) |
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206 | return TCL_ERROR; |
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207 | |
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208 | if (!mesh->hasConfidence) |
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209 | doConfidence(mesh); |
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210 | |
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211 | end_time(); |
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212 | |
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213 | TesselationTime = time_elapsed(); |
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214 | |
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215 | start_time(); |
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216 | |
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217 | parse_transformation(mesh, interp, argc, argv); |
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218 | |
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219 | Vec3f newdir; |
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220 | float angle; |
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221 | if (!mesh->isWarped) |
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222 | angle = 0; |
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223 | else if (mesh->isRightMirrorOpen) |
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224 | angle = 30; |
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225 | else |
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226 | angle = -30; |
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227 | |
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228 | Vec3f dir(-sin(RAD(angle)), 0, -cos(RAD(angle))); |
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229 | |
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230 | Matrix4f rot; |
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231 | mesh->quat.toMatrix(rot); |
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232 | |
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233 | rot.multVec(dir, newdir); |
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234 | |
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235 | if (Verbose) |
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236 | printf("View dir: [%f, %f, %f]\n", newdir.x, newdir.y, newdir.z); |
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237 | vec3f yuk; |
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238 | yuk[0] = newdir.x; |
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239 | yuk[1] = newdir.y; |
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240 | yuk[2] = newdir.z; |
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241 | |
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242 | |
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243 | OrthoShear *shear = computeShear(yuk); |
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244 | configureGrid(theGrid, shear); |
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245 | |
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246 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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247 | |
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248 | if (UseEdgeLength) { |
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249 | MAX_DEPTH_DIFFERENCE = MaxEdgeLength/sampleSpacing; |
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250 | } |
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251 | else { |
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252 | MAX_DEPTH_DIFFERENCE = tan(acos(MinViewDot))* |
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253 | theGrid->resolution/sampleSpacing; |
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254 | } |
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255 | |
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256 | BBox3f *gbbox = getBBox(theGrid); |
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257 | |
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258 | prepareRender(mesh, shear, gbbox, theGrid->resolution, |
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259 | theDepthMap, FALSE); |
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260 | softRenderConfidence(mesh); |
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261 | |
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262 | /* |
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263 | DepthMap *dm = renderDepthMap(mesh, shear, gbbox, |
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264 | theGrid->resolution, NULL); |
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265 | */ |
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266 | |
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267 | end_time(); |
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268 | |
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269 | ResampleRangeTime = time_elapsed(); |
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270 | |
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271 | start_time(); |
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272 | |
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273 | scanConvertTree(theGrid, shear, theDepthMap); |
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274 | |
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275 | end_time(); |
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276 | |
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277 | MergeTime = time_elapsed(); |
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278 | if (!SuperQuiet) |
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279 | printf("Time to process: %.2f sec\n", |
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280 | TesselationTime + ResampleRangeTime + MergeTime); |
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281 | |
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282 | delete shear; |
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283 | delete gbbox; |
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284 | |
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285 | return TCL_OK; |
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286 | } |
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287 | |
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288 | |
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289 | int |
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290 | Vrip_RangeScanNoTreeRLECmd(ClientData, Tcl_Interp *interp, int argc, const char *argv[]) |
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291 | { |
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292 | if (argc != 2 && argc != 3 && argc != 6 && argc != 9 ) { |
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293 | interp->result = "wrong number of args"; |
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294 | return TCL_ERROR; |
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295 | } |
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296 | |
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297 | if (backRLEGrid == NULL || frontRLEGrid == NULL) { |
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298 | interp->result = "Grid not allocated."; |
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299 | return TCL_ERROR; |
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300 | } |
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301 | |
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302 | if (!SuperQuiet) |
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303 | printf("Integrating mesh %s...\n", argv[1]); |
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304 | |
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305 | initOccFunc(); |
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306 | |
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307 | start_time(); |
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308 | |
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309 | if (!Quiet) |
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310 | printf("Assiging confidences...\n"); |
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311 | |
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312 | fflush(stdout); |
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313 | |
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314 | Mesh *mesh; |
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315 | if (UseTails && FillGaps) { |
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316 | mesh = readMeshFromPly(argv[1], TRUE, FALSE); |
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317 | } |
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318 | else { |
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319 | mesh = readMeshFromPly(argv[1], FALSE, FALSE); |
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320 | } |
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321 | |
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322 | if (mesh == NULL) |
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323 | return TCL_ERROR; |
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324 | |
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325 | //fprintf(stderr, "Not assigning confidence!!\n"); |
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326 | if (!mesh->hasConfidence) |
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327 | doConfidence(mesh); |
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328 | |
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329 | end_time(); |
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330 | |
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331 | TesselationTime = time_elapsed(); |
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332 | |
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333 | start_time(); |
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334 | |
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335 | parse_transformation(mesh, interp, argc, argv); |
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336 | |
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337 | Vec3f newdir; |
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338 | float angle; |
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339 | if (!mesh->isWarped) |
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340 | angle = 0; |
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341 | else if (mesh->isRightMirrorOpen) |
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342 | angle = 30; |
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343 | else |
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344 | angle = -30; |
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345 | |
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346 | Vec3f dir(-sin(RAD(angle)), 0, -cos(RAD(angle))); |
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347 | |
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348 | Matrix4f rot; |
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349 | mesh->quat.toMatrix(rot); |
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350 | |
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351 | rot.multVec(dir, newdir); |
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352 | |
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353 | if (Verbose) |
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354 | printf("View dir: [%f, %f, %f]\n", newdir.x, newdir.y, newdir.z); |
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355 | vec3f yuk; |
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356 | yuk[0] = newdir.x; |
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357 | yuk[1] = newdir.y; |
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358 | yuk[2] = newdir.z; |
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359 | |
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360 | |
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361 | OrthoShear *shear = computeShear(yuk); |
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362 | |
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363 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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364 | |
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365 | if (UseEdgeLength) { |
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366 | MAX_DEPTH_DIFFERENCE = MaxEdgeLength/sampleSpacing; |
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367 | } |
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368 | else { |
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369 | MAX_DEPTH_DIFFERENCE = tan(acos(MinViewDot))* |
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370 | backRLEGrid->resolution/sampleSpacing; |
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371 | } |
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372 | |
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373 | configureGrid(&frontRLEGrid, &backRLEGrid, shear); |
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374 | |
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375 | BBox3f *gbbox = getBBox(backRLEGrid); |
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376 | |
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377 | |
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378 | prepareRender(mesh, shear, gbbox, backRLEGrid->resolution, |
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379 | theDepthMap, FALSE); |
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380 | softRenderConfidence(mesh); |
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381 | |
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382 | updateRenderPhoto(theDepthMap); |
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383 | Tcl_Eval(interp, "update"); |
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384 | |
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385 | if (UseTails) { |
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386 | if (FillBackground) { |
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387 | fillBackground(theDepthMap); |
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388 | } else if (DoSilhouette) { |
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389 | makeSilhouette(theDepthMap); |
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390 | } |
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391 | } |
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392 | |
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393 | end_time(); |
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394 | |
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395 | ResampleRangeTime = time_elapsed(); |
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396 | |
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397 | start_time(); |
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398 | |
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399 | if (UseTails) { |
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400 | scanConvertDragTails(backRLEGrid, frontRLEGrid, shear, theDepthMap); |
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401 | } |
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402 | else { |
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403 | scanConvert(backRLEGrid, frontRLEGrid, shear, theDepthMap); |
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404 | } |
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405 | |
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406 | end_time(); |
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407 | |
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408 | MergeTime = time_elapsed(); |
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409 | if (!SuperQuiet) |
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410 | printf("Time to process: %.2f sec\n", |
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411 | TesselationTime + ResampleRangeTime + MergeTime); |
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412 | |
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413 | delete shear; |
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414 | delete gbbox; |
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415 | delete mesh; |
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416 | |
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417 | return TCL_OK; |
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418 | } |
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419 | |
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420 | |
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421 | int |
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422 | Vrip_RangeScanRLECmd(ClientData, Tcl_Interp *interp, int argc, const char *argv[]) |
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423 | { |
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424 | if (argc != 2 && argc != 3 && argc != 6 && argc != 9 ) { |
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425 | interp->result = "wrong number of args"; |
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426 | return TCL_ERROR; |
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427 | } |
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428 | |
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429 | if (backRLEGrid == NULL || frontRLEGrid == NULL) { |
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430 | interp->result = "Grid not allocated."; |
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431 | return TCL_ERROR; |
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432 | } |
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433 | |
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434 | if (!SuperQuiet) |
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435 | printf("Integrating mesh %s...\n", argv[1]); |
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436 | |
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437 | initOccFunc(); |
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438 | |
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439 | start_time(); |
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440 | |
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441 | if (!Quiet) |
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442 | printf("Assiging confidences...\n"); |
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443 | |
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444 | fflush(stdout); |
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445 | |
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446 | Mesh *mesh; |
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447 | if (UseTails && FillGaps) { |
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448 | mesh = readMeshFromPly(argv[1], TRUE, FALSE); |
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449 | } |
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450 | else { |
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451 | mesh = readMeshFromPly(argv[1], FALSE, FALSE); |
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452 | } |
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453 | |
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454 | if (mesh == NULL) |
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455 | return TCL_ERROR; |
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456 | |
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457 | //fprintf(stderr, "Not assigning confidence!!\n"); |
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458 | if (!mesh->hasConfidence) |
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459 | doConfidence(mesh); |
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460 | |
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461 | end_time(); |
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462 | |
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463 | TesselationTime = time_elapsed(); |
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464 | |
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465 | start_time(); |
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466 | |
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467 | parse_transformation(mesh, interp, argc, argv); |
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468 | |
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469 | Vec3f newdir; |
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470 | float angle; |
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471 | if (!mesh->isWarped) |
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472 | angle = 0; |
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473 | else if (mesh->isRightMirrorOpen) |
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474 | angle = 30; |
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475 | else |
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476 | angle = -30; |
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477 | |
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478 | Vec3f dir(-sin(RAD(angle)), 0, -cos(RAD(angle))); |
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479 | |
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480 | Matrix4f rot; |
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481 | mesh->quat.toMatrix(rot); |
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482 | |
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483 | rot.multVec(dir, newdir); |
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484 | |
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485 | if (Verbose) |
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486 | printf("View dir: [%f, %f, %f]\n", newdir.x, newdir.y, newdir.z); |
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487 | vec3f yuk; |
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488 | yuk[0] = newdir.x; |
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489 | yuk[1] = newdir.y; |
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490 | yuk[2] = newdir.z; |
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491 | |
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492 | |
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493 | OrthoShear *shear = computeShear(yuk); |
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494 | |
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495 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
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496 | |
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497 | if (UseEdgeLength) { |
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498 | MAX_DEPTH_DIFFERENCE = MaxEdgeLength/sampleSpacing; |
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499 | } |
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500 | else { |
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501 | MAX_DEPTH_DIFFERENCE = tan(acos(MinViewDot))* |
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502 | backRLEGrid->resolution/sampleSpacing; |
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503 | } |
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504 | |
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505 | configureGrid(&frontRLEGrid, &backRLEGrid, shear); |
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506 | |
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507 | BBox3f *gbbox = getBBox(backRLEGrid); |
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508 | |
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509 | prepareRender(mesh, shear, gbbox, backRLEGrid->resolution, |
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510 | theDepthMap, FALSE); |
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511 | softRenderConfidence(mesh); |
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512 | |
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513 | updateRenderPhoto(theDepthMap); |
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514 | Tcl_Eval(interp, "update"); |
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515 | |
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516 | if (UseTails) { |
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517 | if (FillBackground) { |
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518 | fillBackground(theDepthMap); |
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519 | } else if (DoSilhouette) { |
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520 | makeSilhouette(theDepthMap); |
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521 | } |
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522 | } |
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523 | |
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524 | theDepthMap->tagCellsForResampling(); |
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525 | theDepthMap->fillTree(2); |
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526 | |
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527 | end_time(); |
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528 | |
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529 | ResampleRangeTime = time_elapsed(); |
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530 | |
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531 | start_time(); |
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532 | |
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533 | if (UseTails) { |
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534 | if (OneLineAtATime) { |
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535 | for (int zz = 0; zz < backRLEGrid->zdim; zz++) { |
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536 | printf("\rProcessing slice %d of %d...", |
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537 | zz+1, backRLEGrid->zdim); |
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538 | fflush(stdout); |
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539 | int somethingNew = |
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540 | scanConvertTreeDragTailsOneLine(backRLEGrid, frontRLEGrid, |
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541 | shear, theDepthMap, zz); |
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542 | if (somethingNew) { |
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543 | updatePhotoSlice(); |
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544 | Tcl_Eval(interp, "update"); |
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545 | } |
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546 | swapgrids(); |
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547 | } |
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548 | printf("\n"); |
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549 | } else { |
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550 | scanConvertTreeDragTails(backRLEGrid, frontRLEGrid, shear, theDepthMap); |
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551 | } |
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552 | } |
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553 | else { |
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554 | //scanConvert(backRLEGrid, frontRLEGrid, shear, theDepthMap); |
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555 | //scanConvertTree(backRLEGrid, frontRLEGrid, shear, theDepthMap); |
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556 | scanConvertTreeFast(backRLEGrid, frontRLEGrid, shear, theDepthMap); |
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557 | } |
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558 | |
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559 | end_time(); |
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560 | |
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561 | MergeTime = time_elapsed(); |
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562 | if (!SuperQuiet) |
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563 | printf("Time to process: %.2f sec\n", |
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564 | TesselationTime + ResampleRangeTime + MergeTime); |
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565 | |
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566 | delete shear; |
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567 | delete gbbox; |
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568 | delete mesh; |
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569 | |
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570 | return TCL_OK; |
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571 | } |
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572 | |
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573 | |
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574 | int |
---|
575 | Vrip_RangeScanEdgesRLECmd(ClientData, Tcl_Interp *interp, |
---|
576 | int argc, const char *argv[]) |
---|
577 | { |
---|
578 | if (argc != 2 && argc != 3 && argc != 6 && argc != 9 ) { |
---|
579 | interp->result = "wrong number of args"; |
---|
580 | return TCL_ERROR; |
---|
581 | } |
---|
582 | |
---|
583 | if (backRLEGrid == NULL || frontRLEGrid == NULL) { |
---|
584 | interp->result = "Grid not allocated."; |
---|
585 | return TCL_ERROR; |
---|
586 | } |
---|
587 | |
---|
588 | if (!SuperQuiet) |
---|
589 | printf("Integrating mesh %s...\n", argv[1]); |
---|
590 | |
---|
591 | initOccFunc(); |
---|
592 | |
---|
593 | start_time(); |
---|
594 | |
---|
595 | if (!Quiet) |
---|
596 | printf("Assiging confidences...\n"); |
---|
597 | |
---|
598 | fflush(stdout); |
---|
599 | |
---|
600 | Mesh *mesh; |
---|
601 | if (UseTails && FillGaps) { |
---|
602 | mesh = readMeshFromPly(argv[1], TRUE, FALSE); |
---|
603 | } |
---|
604 | else { |
---|
605 | mesh = readMeshFromPly(argv[1], FALSE, TRUE); |
---|
606 | } |
---|
607 | |
---|
608 | if (mesh == NULL) |
---|
609 | return TCL_ERROR; |
---|
610 | |
---|
611 | if (!mesh->hasConfidence) |
---|
612 | doConfidence(mesh); |
---|
613 | |
---|
614 | end_time(); |
---|
615 | |
---|
616 | TesselationTime = time_elapsed(); |
---|
617 | |
---|
618 | start_time(); |
---|
619 | |
---|
620 | parse_transformation(mesh, interp, argc, argv); |
---|
621 | |
---|
622 | Vec3f newdir; |
---|
623 | float angle; |
---|
624 | if (!mesh->isWarped) |
---|
625 | angle = 0; |
---|
626 | else if (mesh->isRightMirrorOpen) |
---|
627 | angle = 30; |
---|
628 | else |
---|
629 | angle = -30; |
---|
630 | |
---|
631 | Vec3f dir(-sin(RAD(angle)), 0, -cos(RAD(angle))); |
---|
632 | |
---|
633 | Matrix4f rot; |
---|
634 | mesh->quat.toMatrix(rot); |
---|
635 | |
---|
636 | rot.multVec(dir, newdir); |
---|
637 | |
---|
638 | if (Verbose) |
---|
639 | printf("View dir: [%f, %f, %f]\n", newdir.x, newdir.y, newdir.z); |
---|
640 | vec3f yuk; |
---|
641 | yuk[0] = newdir.x; |
---|
642 | yuk[1] = newdir.y; |
---|
643 | yuk[2] = newdir.z; |
---|
644 | |
---|
645 | |
---|
646 | OrthoShear *shear = computeShear(yuk); |
---|
647 | |
---|
648 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
---|
649 | |
---|
650 | if (UseEdgeLength) { |
---|
651 | MAX_DEPTH_DIFFERENCE = MaxEdgeLength/sampleSpacing; |
---|
652 | } |
---|
653 | else { |
---|
654 | MAX_DEPTH_DIFFERENCE = tan(acos(MinViewDot))* |
---|
655 | backRLEGrid->resolution/sampleSpacing; |
---|
656 | } |
---|
657 | |
---|
658 | configureGrid(&frontRLEGrid, &backRLEGrid, shear); |
---|
659 | |
---|
660 | BBox3f *gbbox = getBBox(backRLEGrid); |
---|
661 | |
---|
662 | |
---|
663 | prepareRender(mesh, shear, gbbox, backRLEGrid->resolution, |
---|
664 | theDepthMap, FALSE); |
---|
665 | |
---|
666 | softRenderEdgeSteps(mesh); |
---|
667 | theDepthMap->updateEdgeSteps(); |
---|
668 | |
---|
669 | updateRenderPhoto(theDepthMap); |
---|
670 | Tcl_Eval(interp, "update"); |
---|
671 | |
---|
672 | // sleep(5); |
---|
673 | |
---|
674 | softRenderConfidence(mesh); |
---|
675 | |
---|
676 | updateRenderPhoto(theDepthMap); |
---|
677 | Tcl_Eval(interp, "update"); |
---|
678 | |
---|
679 | if (UseTails) { |
---|
680 | if (FillBackground) { |
---|
681 | fillBackground(theDepthMap); |
---|
682 | } else if (DoSilhouette) { |
---|
683 | makeSilhouette(theDepthMap); |
---|
684 | } |
---|
685 | } |
---|
686 | |
---|
687 | theDepthMap->fillTree(2); |
---|
688 | |
---|
689 | end_time(); |
---|
690 | |
---|
691 | ResampleRangeTime = time_elapsed(); |
---|
692 | |
---|
693 | start_time(); |
---|
694 | |
---|
695 | if (UseTails) { |
---|
696 | scanConvertTreeDragTails(backRLEGrid, frontRLEGrid, shear, theDepthMap); |
---|
697 | } |
---|
698 | else { |
---|
699 | //scanConvert(backRLEGrid, frontRLEGrid, shear, theDepthMap); |
---|
700 | //scanConvertTree(backRLEGrid, frontRLEGrid, shear, theDepthMap); |
---|
701 | scanConvertTreeBiasEdgesEmpty(backRLEGrid, frontRLEGrid, shear, theDepthMap); |
---|
702 | } |
---|
703 | |
---|
704 | end_time(); |
---|
705 | |
---|
706 | MergeTime = time_elapsed(); |
---|
707 | if (!SuperQuiet) |
---|
708 | printf("Time to process: %.2f sec\n", |
---|
709 | TesselationTime + ResampleRangeTime + MergeTime); |
---|
710 | |
---|
711 | delete shear; |
---|
712 | delete gbbox; |
---|
713 | delete mesh; |
---|
714 | |
---|
715 | return TCL_OK; |
---|
716 | } |
---|
717 | |
---|
718 | |
---|
719 | |
---|
720 | int |
---|
721 | Vrip_RangeScanNormRLECmd(ClientData, Tcl_Interp *interp, int argc, const char *argv[]) |
---|
722 | { |
---|
723 | if (argc != 2 && argc != 3 && argc != 6 && argc != 9 ) { |
---|
724 | interp->result = "wrong number of args"; |
---|
725 | return TCL_ERROR; |
---|
726 | } |
---|
727 | |
---|
728 | if (backRLEGridNorm == NULL || frontRLEGridNorm == NULL) { |
---|
729 | interp->result = "Grid not allocated."; |
---|
730 | return TCL_ERROR; |
---|
731 | } |
---|
732 | |
---|
733 | if (!SuperQuiet) |
---|
734 | printf("Integrating mesh %s...\n", argv[1]); |
---|
735 | |
---|
736 | initOccFunc(); |
---|
737 | |
---|
738 | start_time(); |
---|
739 | |
---|
740 | if (!Quiet) |
---|
741 | printf("Assiging confidences...\n"); |
---|
742 | fflush(stdout); |
---|
743 | |
---|
744 | Mesh *mesh; |
---|
745 | if (UseTails && FillGaps) { |
---|
746 | mesh = readMeshFromPly(argv[1], TRUE, FALSE); |
---|
747 | } |
---|
748 | else { |
---|
749 | mesh = readMeshFromPly(argv[1], FALSE, FALSE); |
---|
750 | } |
---|
751 | |
---|
752 | if (mesh == NULL) |
---|
753 | return TCL_ERROR; |
---|
754 | |
---|
755 | if (!mesh->hasConfidence) |
---|
756 | doConfidence(mesh); |
---|
757 | |
---|
758 | end_time(); |
---|
759 | |
---|
760 | TesselationTime = time_elapsed(); |
---|
761 | |
---|
762 | start_time(); |
---|
763 | |
---|
764 | parse_transformation(mesh, interp, argc, argv); |
---|
765 | |
---|
766 | Vec3f newdir; |
---|
767 | float angle; |
---|
768 | if (!mesh->isWarped) |
---|
769 | angle = 0; |
---|
770 | else if (mesh->isRightMirrorOpen) |
---|
771 | angle = 30; |
---|
772 | else |
---|
773 | angle = -30; |
---|
774 | |
---|
775 | Vec3f dir(-sin(RAD(angle)), 0, -cos(RAD(angle))); |
---|
776 | |
---|
777 | Matrix4f rot; |
---|
778 | mesh->quat.toMatrix(rot); |
---|
779 | |
---|
780 | rot.multVec(dir, newdir); |
---|
781 | |
---|
782 | if (Verbose) |
---|
783 | printf("View dir: [%f, %f, %f]\n", newdir.x, newdir.y, newdir.z); |
---|
784 | vec3f yuk; |
---|
785 | yuk[0] = newdir.x; |
---|
786 | yuk[1] = newdir.y; |
---|
787 | yuk[2] = newdir.z; |
---|
788 | |
---|
789 | |
---|
790 | OrthoShear *shear = computeShear(yuk); |
---|
791 | |
---|
792 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
---|
793 | |
---|
794 | if (UseEdgeLength) { |
---|
795 | MAX_DEPTH_DIFFERENCE = MaxEdgeLength/sampleSpacing; |
---|
796 | } |
---|
797 | else { |
---|
798 | MAX_DEPTH_DIFFERENCE = tan(acos(MinViewDot))* |
---|
799 | backRLEGrid->resolution/sampleSpacing; |
---|
800 | } |
---|
801 | |
---|
802 | configureGrid(&frontRLEGridNorm, &backRLEGridNorm, shear); |
---|
803 | |
---|
804 | BBox3f *gbbox = getBBox(backRLEGridNorm); |
---|
805 | |
---|
806 | prepareRender(mesh, shear, gbbox, backRLEGridNorm->resolution, |
---|
807 | theDepthMap, TRUE); |
---|
808 | softRenderNx(mesh); |
---|
809 | theDepthMap->updateNx(); |
---|
810 | updateRenderPhoto(theDepthMap); |
---|
811 | Tcl_Eval(interp, "update"); |
---|
812 | sleep(1); |
---|
813 | |
---|
814 | softRenderNy(mesh); |
---|
815 | theDepthMap->updateNy(); |
---|
816 | updateRenderPhoto(theDepthMap); |
---|
817 | Tcl_Eval(interp, "update"); |
---|
818 | sleep(1); |
---|
819 | |
---|
820 | softRenderNz(mesh); |
---|
821 | theDepthMap->updateNz(); |
---|
822 | updateRenderPhoto(theDepthMap); |
---|
823 | Tcl_Eval(interp, "update"); |
---|
824 | sleep(1); |
---|
825 | |
---|
826 | |
---|
827 | softRenderConfidence(mesh); |
---|
828 | updateRenderPhoto(theDepthMap); |
---|
829 | Tcl_Eval(interp, "update"); |
---|
830 | |
---|
831 | if (UseTails) { |
---|
832 | if (FillBackground) { |
---|
833 | fillBackground(theDepthMap); |
---|
834 | } else if (DoSilhouette) { |
---|
835 | makeSilhouette(theDepthMap); |
---|
836 | } |
---|
837 | } |
---|
838 | |
---|
839 | theDepthMap->fillTree(2); |
---|
840 | |
---|
841 | end_time(); |
---|
842 | |
---|
843 | ResampleRangeTime = time_elapsed(); |
---|
844 | |
---|
845 | start_time(); |
---|
846 | |
---|
847 | #if 0 |
---|
848 | if (UseTails) |
---|
849 | scanConvertTreeDragTails(backRLEGridNorm, frontRLEGridNorm, |
---|
850 | shear, theDepthMap); |
---|
851 | else |
---|
852 | scanConvertTree(backRLEGridNorm, frontRLEGridNorm, shear, theDepthMap); |
---|
853 | #else |
---|
854 | scanConvertTree(backRLEGridNorm, frontRLEGridNorm, shear, theDepthMap); |
---|
855 | #endif |
---|
856 | |
---|
857 | |
---|
858 | end_time(); |
---|
859 | |
---|
860 | MergeTime = time_elapsed(); |
---|
861 | if (!SuperQuiet) |
---|
862 | printf("Time to process: %.2f sec\n", |
---|
863 | TesselationTime + ResampleRangeTime + MergeTime); |
---|
864 | |
---|
865 | delete shear; |
---|
866 | delete gbbox; |
---|
867 | delete mesh; |
---|
868 | |
---|
869 | return TCL_OK; |
---|
870 | } |
---|
871 | |
---|
872 | |
---|
873 | |
---|
874 | int |
---|
875 | Vrip_RangeScanLinePerspCmd(ClientData, Tcl_Interp *interp, |
---|
876 | int argc, const char *argv[]) |
---|
877 | { |
---|
878 | Vec3f vec; |
---|
879 | |
---|
880 | if (argc != 2 && argc != 3 && argc != 6 && argc != 9 ) { |
---|
881 | interp->result = "wrong number of args"; |
---|
882 | return TCL_ERROR; |
---|
883 | } |
---|
884 | |
---|
885 | if (backRLEGrid == NULL || frontRLEGrid == NULL) { |
---|
886 | interp->result = "Grid not allocated."; |
---|
887 | return TCL_ERROR; |
---|
888 | } |
---|
889 | |
---|
890 | if (!SuperQuiet) |
---|
891 | printf("Integrating mesh %s...\n", argv[1]); |
---|
892 | |
---|
893 | initOccFunc(); |
---|
894 | |
---|
895 | start_time(); |
---|
896 | |
---|
897 | if (!Quiet) |
---|
898 | printf("Assiging confidences...\n"); |
---|
899 | fflush(stdout); |
---|
900 | |
---|
901 | |
---|
902 | Mesh *mesh; |
---|
903 | if (UseTails && FillGaps) { |
---|
904 | mesh = readMeshFromPly(argv[1], TRUE, FALSE); |
---|
905 | } |
---|
906 | else { |
---|
907 | mesh = readMeshFromPly(argv[1], FALSE, FALSE); |
---|
908 | } |
---|
909 | |
---|
910 | if (!mesh->hasConfidence) |
---|
911 | doConfidence(mesh); |
---|
912 | |
---|
913 | end_time(); |
---|
914 | |
---|
915 | TesselationTime = time_elapsed(); |
---|
916 | |
---|
917 | start_time(); |
---|
918 | |
---|
919 | parse_transformation(mesh, interp, argc, argv); |
---|
920 | |
---|
921 | |
---|
922 | float temp; |
---|
923 | int axis, flip; |
---|
924 | Vec3f center; |
---|
925 | center.setValue(frontRLEGrid->origin); |
---|
926 | |
---|
927 | if (frontRLEGrid->flip) |
---|
928 | center.z = -center.z; |
---|
929 | |
---|
930 | if (frontRLEGrid->axis == X_AXIS) { |
---|
931 | SWAP(center.x, center.z, temp); |
---|
932 | } |
---|
933 | else if (frontRLEGrid->axis == Y_AXIS) { |
---|
934 | SWAP(center.y, center.z, temp); |
---|
935 | } |
---|
936 | |
---|
937 | center.x += frontRLEGrid->resolution/2*frontRLEGrid->xdim; |
---|
938 | center.y += frontRLEGrid->resolution/2*frontRLEGrid->ydim; |
---|
939 | center.z += frontRLEGrid->resolution/2*frontRLEGrid->zdim; |
---|
940 | |
---|
941 | if (Verbose) { |
---|
942 | printf("Origin: (%f, %f, %f)\n", frontRLEGrid->origin[0], |
---|
943 | frontRLEGrid->origin[1], frontRLEGrid->origin[2]); |
---|
944 | printf("Center: (%f, %f, %f)\n", center.x, center.y, center.z); |
---|
945 | } |
---|
946 | |
---|
947 | OrthoShear *shear = initLinePersp(mesh->quat, mesh->trans, center, |
---|
948 | frontRLEGrid->resolution); |
---|
949 | |
---|
950 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
---|
951 | |
---|
952 | if (UseEdgeLength) { |
---|
953 | MAX_DEPTH_DIFFERENCE = MaxEdgeLength/sampleSpacing; |
---|
954 | } |
---|
955 | else { |
---|
956 | MAX_DEPTH_DIFFERENCE = tan(acos(MinViewDot))* |
---|
957 | backRLEGrid->resolution/sampleSpacing; |
---|
958 | } |
---|
959 | |
---|
960 | configureGridLinePersp(&frontRLEGrid, &backRLEGrid, shear); |
---|
961 | |
---|
962 | if (Verbose) { |
---|
963 | applyLinePersp(center, vec); |
---|
964 | printf("Transformed center: (%f, %f, %f)\n", vec.x, vec.y, vec.z); |
---|
965 | } |
---|
966 | |
---|
967 | int lineWidth; |
---|
968 | BBox3f *gbbox = getBBoxLinePersp(backRLEGrid, &lineWidth); |
---|
969 | if (Verbose) { |
---|
970 | printf("Line width = %d\n", lineWidth); |
---|
971 | } |
---|
972 | |
---|
973 | prepareRenderLinePersp(mesh, shear, gbbox, |
---|
974 | backRLEGrid->resolution, theDepthMap, FALSE); |
---|
975 | softRenderConfidence(mesh); |
---|
976 | |
---|
977 | updateRenderPhoto(theDepthMap); |
---|
978 | Tcl_Eval(interp, "update"); |
---|
979 | |
---|
980 | |
---|
981 | if (UseTails) { |
---|
982 | if (FillBackground) { |
---|
983 | fillBackground(theDepthMap); |
---|
984 | } else if (DoSilhouette) { |
---|
985 | makeSilhouette(theDepthMap); |
---|
986 | } |
---|
987 | } |
---|
988 | |
---|
989 | theDepthMap->fillTree(lineWidth); |
---|
990 | |
---|
991 | end_time(); |
---|
992 | |
---|
993 | ResampleRangeTime = time_elapsed(); |
---|
994 | |
---|
995 | start_time(); |
---|
996 | |
---|
997 | if (UseTails && !TailsOnly) { |
---|
998 | scanConvertLinePerspTreeDragTails(backRLEGrid, frontRLEGrid, |
---|
999 | shear, theDepthMap); |
---|
1000 | } else if (TailsOnly) { |
---|
1001 | #if 1 |
---|
1002 | scanConvertLinePerspTreeTailsOnly(backRLEGrid, frontRLEGrid, |
---|
1003 | shear, theDepthMap); |
---|
1004 | #else |
---|
1005 | printf("Using fast carver...\n"); |
---|
1006 | scanConvertLinePerspTreeTailsOnlyFast(backRLEGrid, frontRLEGrid, |
---|
1007 | shear, theDepthMap); |
---|
1008 | #endif |
---|
1009 | } |
---|
1010 | else { |
---|
1011 | scanConvertLinePerspTree(backRLEGrid, frontRLEGrid, shear, theDepthMap); |
---|
1012 | } |
---|
1013 | |
---|
1014 | end_time(); |
---|
1015 | |
---|
1016 | MergeTime = time_elapsed(); |
---|
1017 | if (!SuperQuiet) |
---|
1018 | printf("Time to process: %.2f sec\n", |
---|
1019 | TesselationTime + ResampleRangeTime + MergeTime); |
---|
1020 | |
---|
1021 | delete shear; |
---|
1022 | delete gbbox; |
---|
1023 | delete mesh; |
---|
1024 | |
---|
1025 | return TCL_OK; |
---|
1026 | } |
---|
1027 | |
---|
1028 | |
---|
1029 | int |
---|
1030 | Vrip_RangeScanPerspCmd(ClientData, Tcl_Interp *interp, |
---|
1031 | int argc, const char *argv[]) |
---|
1032 | { |
---|
1033 | Vec3f vec; |
---|
1034 | |
---|
1035 | if (argc != 2 && argc != 3 && argc != 6 && argc != 9 ) { |
---|
1036 | interp->result = "wrong number of args"; |
---|
1037 | return TCL_ERROR; |
---|
1038 | } |
---|
1039 | |
---|
1040 | if (backRLEGrid == NULL || frontRLEGrid == NULL) { |
---|
1041 | interp->result = "Grid not allocated."; |
---|
1042 | return TCL_ERROR; |
---|
1043 | } |
---|
1044 | |
---|
1045 | if (!SuperQuiet) |
---|
1046 | printf("Integrating mesh %s...\n", argv[1]); |
---|
1047 | |
---|
1048 | initOccFunc(); |
---|
1049 | |
---|
1050 | start_time(); |
---|
1051 | |
---|
1052 | if (!Quiet) |
---|
1053 | printf("Assiging confidences...\n"); |
---|
1054 | fflush(stdout); |
---|
1055 | |
---|
1056 | Mesh *mesh; |
---|
1057 | if (UseTails && FillGaps) { |
---|
1058 | mesh = readMeshFromPly(argv[1], TRUE, FALSE); |
---|
1059 | } |
---|
1060 | else { |
---|
1061 | mesh = readMeshFromPly(argv[1], FALSE, FALSE); |
---|
1062 | } |
---|
1063 | |
---|
1064 | if (!mesh->hasConfidence) |
---|
1065 | doConfidence(mesh, TRUE); |
---|
1066 | |
---|
1067 | end_time(); |
---|
1068 | |
---|
1069 | TesselationTime = time_elapsed(); |
---|
1070 | |
---|
1071 | if (!UsePerspectiveDir) { |
---|
1072 | mesh->computeBBox(); |
---|
1073 | Vec3f bboxCenter = mesh->bbox.fll + mesh->bbox.nur; |
---|
1074 | bboxCenter /= 2.0; |
---|
1075 | PerspectiveDir = bboxCenter - PerspectiveCOP; |
---|
1076 | PerspectiveDir.normalize(); |
---|
1077 | printf("Persp Dir: "); |
---|
1078 | PerspectiveDir.print(); |
---|
1079 | } |
---|
1080 | |
---|
1081 | start_time(); |
---|
1082 | |
---|
1083 | parse_transformation(mesh, interp, argc, argv); |
---|
1084 | |
---|
1085 | float temp; |
---|
1086 | int axis, flip; |
---|
1087 | Vec3f center; |
---|
1088 | center.setValue(frontRLEGrid->origin); |
---|
1089 | |
---|
1090 | if (frontRLEGrid->flip) |
---|
1091 | center.z = -center.z; |
---|
1092 | |
---|
1093 | if (frontRLEGrid->axis == X_AXIS) { |
---|
1094 | SWAP(center.x, center.z, temp); |
---|
1095 | } |
---|
1096 | else if (frontRLEGrid->axis == Y_AXIS) { |
---|
1097 | SWAP(center.y, center.z, temp); |
---|
1098 | } |
---|
1099 | |
---|
1100 | center.x += frontRLEGrid->resolution/2*frontRLEGrid->xdim; |
---|
1101 | center.y += frontRLEGrid->resolution/2*frontRLEGrid->ydim; |
---|
1102 | center.z += frontRLEGrid->resolution/2*frontRLEGrid->zdim; |
---|
1103 | |
---|
1104 | if (Verbose) { |
---|
1105 | printf("Origin: (%f, %f, %f)\n", frontRLEGrid->origin[0], |
---|
1106 | frontRLEGrid->origin[1], frontRLEGrid->origin[2]); |
---|
1107 | printf("Center: (%f, %f, %f)\n", center.x, center.y, center.z); |
---|
1108 | } |
---|
1109 | |
---|
1110 | OrthoShear *shear = initPersp(mesh->quat, mesh->trans, center, |
---|
1111 | frontRLEGrid->resolution); |
---|
1112 | |
---|
1113 | float sampleSpacing = sqrt(1 + shear->sx*shear->sx + shear->sy*shear->sy); |
---|
1114 | |
---|
1115 | if (UseEdgeLength) { |
---|
1116 | MAX_DEPTH_DIFFERENCE = MaxEdgeLength/sampleSpacing; |
---|
1117 | } |
---|
1118 | else { |
---|
1119 | MAX_DEPTH_DIFFERENCE = tan(acos(MinViewDot))* |
---|
1120 | backRLEGrid->resolution/sampleSpacing; |
---|
1121 | } |
---|
1122 | |
---|
1123 | configureGridPersp(&frontRLEGrid, &backRLEGrid, shear); |
---|
1124 | |
---|
1125 | if (Verbose) { |
---|
1126 | applyPersp(center, vec); |
---|
1127 | printf("Transformed center: (%f, %f, %f)\n", vec.x, vec.y, vec.z); |
---|
1128 | } |
---|
1129 | |
---|
1130 | int lineWidth; |
---|
1131 | BBox3f *gbbox = getBBoxPersp(backRLEGrid, &lineWidth); |
---|
1132 | if (Verbose) { |
---|
1133 | printf("Line width = %d\n", lineWidth); |
---|
1134 | } |
---|
1135 | |
---|
1136 | prepareRenderPersp(mesh, shear, gbbox, |
---|
1137 | backRLEGrid->resolution, theDepthMap, FALSE); |
---|
1138 | softRenderConfidence(mesh); |
---|
1139 | |
---|
1140 | updateRenderPhoto(theDepthMap); |
---|
1141 | Tcl_Eval(interp, "update"); |
---|
1142 | |
---|
1143 | |
---|
1144 | if (UseTails) { |
---|
1145 | if (FillBackground) { |
---|
1146 | fillBackground(theDepthMap); |
---|
1147 | } else if (DoSilhouette) { |
---|
1148 | makeSilhouette(theDepthMap); |
---|
1149 | } |
---|
1150 | } |
---|
1151 | |
---|
1152 | theDepthMap->fillTree(lineWidth); |
---|
1153 | |
---|
1154 | end_time(); |
---|
1155 | |
---|
1156 | ResampleRangeTime = time_elapsed(); |
---|
1157 | |
---|
1158 | start_time(); |
---|
1159 | |
---|
1160 | if (UseTails && !TailsOnly) { |
---|
1161 | scanConvertPerspTreeDragTails(backRLEGrid, frontRLEGrid, |
---|
1162 | shear, theDepthMap); |
---|
1163 | } else if (TailsOnly) { |
---|
1164 | #if 1 |
---|
1165 | scanConvertPerspTreeTailsOnly(backRLEGrid, frontRLEGrid, |
---|
1166 | shear, theDepthMap); |
---|
1167 | #else |
---|
1168 | printf("Using fast carver...\n"); |
---|
1169 | scanConvertPerspTreeTailsOnlyFast(backRLEGrid, frontRLEGrid, |
---|
1170 | shear, theDepthMap); |
---|
1171 | #endif |
---|
1172 | } |
---|
1173 | else { |
---|
1174 | scanConvertPerspTree(backRLEGrid, frontRLEGrid, shear, theDepthMap); |
---|
1175 | } |
---|
1176 | |
---|
1177 | end_time(); |
---|
1178 | |
---|
1179 | MergeTime = time_elapsed(); |
---|
1180 | if (!SuperQuiet) |
---|
1181 | printf("Time to process: %.2f sec\n", |
---|
1182 | TesselationTime + ResampleRangeTime + MergeTime); |
---|
1183 | |
---|
1184 | delete shear; |
---|
1185 | delete gbbox; |
---|
1186 | delete mesh; |
---|
1187 | |
---|
1188 | return TCL_OK; |
---|
1189 | } |
---|
1190 | |
---|
1191 | |
---|
1192 | static void |
---|
1193 | parse_transformation(Mesh *mesh, Tcl_Interp *interp, int argc, const char **argv) |
---|
1194 | { |
---|
1195 | Quaternion quat; |
---|
1196 | double xt,yt,zt; |
---|
1197 | double rot; |
---|
1198 | double q0,q1,q2,q3; |
---|
1199 | |
---|
1200 | /* parse the transformation info */ |
---|
1201 | |
---|
1202 | /* argc == 2, no transformation */ |
---|
1203 | /* argc == 3, <rot-about-y-axis> */ |
---|
1204 | /* argc == 6, <tx> <ty> <tz> <rot-about-y-axis> */ |
---|
1205 | /* argc == 9, <tx> <ty> <tz> <q0> <q1> <q2> <q3> */ |
---|
1206 | |
---|
1207 | |
---|
1208 | // First decide if a .xf file exists |
---|
1209 | int xfFileExists; |
---|
1210 | |
---|
1211 | // Awful code to create .xf filename |
---|
1212 | char filename[PATH_MAX]; |
---|
1213 | strcpy(filename, argv[1]); |
---|
1214 | char *dot = strrchr(filename, '.'); |
---|
1215 | *dot = 0; |
---|
1216 | strcat(filename, ".xf"); |
---|
1217 | struct stat sts; |
---|
1218 | if (stat(filename, &sts) == -1 && errno == ENOENT) { |
---|
1219 | xfFileExists = 0; |
---|
1220 | } else { |
---|
1221 | xfFileExists = 1; |
---|
1222 | } |
---|
1223 | |
---|
1224 | // If the .xf file exists and there are no overriding |
---|
1225 | // xform arguments, then go ahead and use the .xf file |
---|
1226 | if (argc == 2 && xfFileExists) { |
---|
1227 | float r1, r2, r3, t1, t2, t3; |
---|
1228 | Matrix4f mat; |
---|
1229 | mat.makeIdentity(); |
---|
1230 | FILE *fp = fopen(filename, "r"); |
---|
1231 | mat.read(fp); |
---|
1232 | t1 = mat.elem(0,3); |
---|
1233 | t2 = mat.elem(1,3); |
---|
1234 | t3 = mat.elem(2,3); |
---|
1235 | |
---|
1236 | /* |
---|
1237 | fscanf(fp, "%f %f %f %f", &r1, &r2, &r3, &t1); |
---|
1238 | mrot.setElem(0,0,r1); |
---|
1239 | mrot.setElem(1,0,r2); |
---|
1240 | mrot.setElem(2,0,r3); |
---|
1241 | fscanf(fp, "%f %f %f %f", &r1, &r2, &r3, &t2); |
---|
1242 | mrot.setElem(0,1,r1); |
---|
1243 | mrot.setElem(1,1,r2); |
---|
1244 | mrot.setElem(2,1,r3); |
---|
1245 | fscanf(fp, "%f %f %f %f", &r1, &r2, &r3, &t3); |
---|
1246 | mrot.setElem(0,2,r1); |
---|
1247 | mrot.setElem(1,2,r2); |
---|
1248 | mrot.setElem(2,2,r3); |
---|
1249 | */ |
---|
1250 | |
---|
1251 | mesh->quat.fromMatrix(mat); |
---|
1252 | mesh->trans.setValue(t1,t2,t3); |
---|
1253 | |
---|
1254 | return; |
---|
1255 | } |
---|
1256 | |
---|
1257 | /* translation */ |
---|
1258 | if (argc == 2 || argc == 3) { |
---|
1259 | mesh->trans.setValue(0,0,0); |
---|
1260 | } |
---|
1261 | else { |
---|
1262 | Tcl_GetDouble (interp, argv[2], &xt); |
---|
1263 | Tcl_GetDouble (interp, argv[3], &yt); |
---|
1264 | Tcl_GetDouble (interp, argv[4], &zt); |
---|
1265 | mesh->trans.setValue(xt, yt, zt); |
---|
1266 | } |
---|
1267 | |
---|
1268 | /* rotation */ |
---|
1269 | Matrix4f mrot; |
---|
1270 | mrot.makeIdentity(); |
---|
1271 | if (argc == 9) { |
---|
1272 | Tcl_GetDouble (interp, argv[5], &q0); |
---|
1273 | Tcl_GetDouble (interp, argv[6], &q1); |
---|
1274 | Tcl_GetDouble (interp, argv[7], &q2); |
---|
1275 | Tcl_GetDouble (interp, argv[8], &q3); |
---|
1276 | mesh->quat.q[0] = q0; |
---|
1277 | mesh->quat.q[1] = q1; |
---|
1278 | mesh->quat.q[2] = q2; |
---|
1279 | mesh->quat.q[3] = q3; |
---|
1280 | mesh->quat.toMatrix(mrot); |
---|
1281 | mrot.transpose(); |
---|
1282 | mesh->quat.fromMatrix(mrot); |
---|
1283 | } |
---|
1284 | else if (argc == 6) { |
---|
1285 | Tcl_GetDouble (interp, argv[5], &rot); |
---|
1286 | mrot.rotateY(RAD(rot)); |
---|
1287 | mesh->quat.fromMatrix(mrot); |
---|
1288 | } |
---|
1289 | else if (argc == 3) { |
---|
1290 | Tcl_GetDouble (interp, argv[2], &rot); |
---|
1291 | mrot.rotateY(RAD(rot)); |
---|
1292 | mesh->quat.fromMatrix(mrot); |
---|
1293 | } |
---|
1294 | else { |
---|
1295 | mesh->quat.fromMatrix(mrot); |
---|
1296 | } |
---|
1297 | } |
---|
1298 | |
---|
1299 | |
---|
1300 | static void |
---|
1301 | start_time() |
---|
1302 | { |
---|
1303 | struct tms buffer; |
---|
1304 | times(&buffer); |
---|
1305 | tm = buffer.tms_utime; |
---|
1306 | } |
---|
1307 | |
---|
1308 | static void |
---|
1309 | end_time() |
---|
1310 | { |
---|
1311 | struct tms buffer; |
---|
1312 | times(&buffer); |
---|
1313 | tm = buffer.tms_utime - tm; |
---|
1314 | } |
---|
1315 | |
---|
1316 | static float |
---|
1317 | time_elapsed() |
---|
1318 | { |
---|
1319 | return (double) tm / (double) CLOCKS_PER_SEC; |
---|
1320 | } |
---|
1321 | |
---|