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/* Copyright (c) 1997 Regents of the University of California */
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#ifndef lint
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static char SCCSid[] = "$SunId$ LBL";
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#endif
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/*
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* 3D warping routines.
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*/
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#include <stdio.h>
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#include <math.h>
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#include "fvect.h"
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#include "warp3d.h"
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#define MIND 1e-5 /* minimum distance between input points */
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typedef struct {
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GNDX n; /* index must be first */
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W3VEC p;
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} KEYDP; /* key/data allocation pair */
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#define fgetvec(f,v) (fgetval(f,'f',v) > 0 && fgetval(f,'f',v+1) > 0 \
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&& fgetval(f,'f',v+2) > 0)
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#define AHUNK 32 /* number of points to allocate at a time */
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#ifndef malloc
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extern char *malloc(), *realloc();
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#endif
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extern void free();
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double
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wpdist2(p1, p2) /* compute square of distance between points */
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register W3VEC p1, p2;
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{
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double d, d2;
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d = p1[0] - p2[0]; d2 = d*d;
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d = p1[1] - p2[1]; d2 += d*d;
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d = p1[2] - p2[2]; d2 += d*d;
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return(d2);
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}
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int
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warp3d(po, pi, wp) /* warp 3D point according to the given map */
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W3VEC po, pi;
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register WARP3D *wp;
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{
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int rval = W3OK;
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GNDX gi;
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W3VEC gd;
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if (wp->grid.gn[0] == 0 && (rval = new3dwgrid(wp)) != W3OK)
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return(rval);
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rval |= gridpoint(gi, gd, pi, &wp->grid);
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if (wp->grid.flags & W3EXACT) {
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rval |= warp3dex(po, pi, wp);
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return(rval);
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}
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if (wp->grid.flags & W3FAST) {
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rval |= get3dgpt(po, gi, wp);
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return(rval);
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}
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rval |= get3dgin(po, gi, gd, wp);
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return(rval);
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}
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int
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gridpoint(ndx, rem, ipt, gp) /* compute grid position for ipt */
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GNDX ndx;
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W3VEC rem, ipt;
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register struct grid3d *gp;
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{
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int rval = W3OK;
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register int i;
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for (i = 0; i < 3; i++) {
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rem[i] = (ipt[i] - gp->gmin[i])/gp->gstep[i];
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if (rem[i] < 0.) {
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ndx[i] = 0;
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rval = W3GAMUT;
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} else if ((int)rem[i] >= gp->gn[i]) {
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ndx[i] = gp->gn[i] - 1;
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rval = W3GAMUT;
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} else
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ndx[i] = (int)rem[i];
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rem[i] -= (double)ndx[i];
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}
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return(rval);
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}
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int
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get3dgpt(po, ndx, wp) /* get value for voxel */
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W3VEC po;
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GNDX ndx;
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register WARP3D *wp;
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{
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W3VEC gpt;
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register LUENT *le;
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KEYDP *kd;
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int rval = W3OK;
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register int i;
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le = lu_find(&wp->grid.gtab, (char *)ndx);
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if (le == NULL)
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return(W3ERROR);
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if (le->data == NULL) {
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if (le->key != NULL)
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kd = (KEYDP *)le->key;
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else if ((kd = (KEYDP *)malloc(sizeof(KEYDP))) == NULL)
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return(W3ERROR);
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for (i = 0; i < 3; i++) {
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kd->n[i] = ndx[i];
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gpt[i] = wp->grid.gmin[i] + ndx[i]*wp->grid.gstep[i];
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if (wp->grid.flags & W3FAST) /* on centers */
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gpt[i] += .5*wp->grid.gstep[i];
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}
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rval |= warp3dex(kd->p, gpt, wp);
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le->key = (char *)kd->n;
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le->data = (char *)kd->p;
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}
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W3VCPY(po, (float *)le->data);
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return(rval);
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}
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int
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get3dgin(po, ndx, rem, wp) /* interpolate from warp grid */
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W3VEC po, rem;
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GNDX ndx;
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WARP3D *wp;
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{
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W3VEC cv[8];
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int rval;
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GNDX gi;
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register int i;
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/* get corner values */
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for (i = 0; i < 8; i++) {
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gi[0] = ndx[0] + (i & 1);
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gi[1] = ndx[1] + (i>>1 & 1);
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gi[2] = ndx[2] + (i>>2);
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rval |= get3dgpt(cv[i], gi, wp);
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}
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if (rval & W3ERROR)
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return(rval);
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l3interp(po, cv, rem, 3); /* perform trilinear interpolation */
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return(rval);
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}
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l3interp(vo, cl, dv, n) /* trilinear interpolation (recursive) */
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W3VEC vo, *cl, dv;
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int n;
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{
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W3VEC v0, v1;
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register int i;
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if (--n) {
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l3interp(v0, cl, dv, n);
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l3interp(v1, cl+(1<<n), dv, n);
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} else {
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W3VCPY(v0, cl[0]);
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W3VCPY(v1, cl[1]);
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}
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for (i = 0; i < 3; i++)
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vo[i] = (1.-dv[n])*v0[i] + dv[n]*v1[i];
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}
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int
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warp3dex(po, pi, wp) /* compute warp using 1/r^2 weighted avg. */
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W3VEC po, pi;
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register WARP3D *wp;
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{
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double d2, w, wsum;
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W3VEC pt;
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register int i;
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pt[0] = pt[1] = pt[2] = 0.;
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wsum = 0.;
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for (i = wp->npts; i--; ) {
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d2 = wpdist2(pi, wp->ip[i]);
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if (d2 <= MIND*MIND) w = 1./(MIND*MIND);
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else w = 1./d2;
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pt[0] += w*wp->op[i][0];
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pt[1] += w*wp->op[i][1];
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pt[2] += w*wp->op[i][2];
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wsum += w;
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}
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if (wsum > 0.) {
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po[0] = pt[0]/wsum;
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po[1] = pt[1]/wsum;
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po[2] = pt[2]/wsum;
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}
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return(W3OK);
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}
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WARP3D *
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new3dw(flgs) /* allocate and initialize WARP3D struct */
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int flgs;
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{
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register WARP3D *wp;
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if ((flgs & (W3EXACT|W3FAST)) == (W3EXACT|W3FAST)) {
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eputs("new3dw: only one of W3EXACT or W3FAST\n");
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return(NULL);
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}
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if ((wp = (WARP3D *)malloc(sizeof(WARP3D))) == NULL) {
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eputs("new3dw: no memory\n");
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return(NULL);
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}
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wp->ip = wp->op = NULL;
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wp->npts = 0;
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wp->grid.flags = flgs;
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wp->grid.gn[0] = wp->grid.gn[1] = wp->grid.gn[2] = 0;
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return(wp);
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}
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WARP3D *
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load3dw(fn, wp) /* load 3D warp from file */
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char *fn;
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WARP3D *wp;
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{
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FILE *fp;
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W3VEC inp, outp;
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if ((fp = fopen(fn, "r")) == NULL) {
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eputs(fn);
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eputs(": cannot open\n");
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return(NULL);
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}
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if (wp == NULL && (wp = new3dw()) == NULL)
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goto memerr;
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while (fgetvec(fp, inp) && fgetvec(fp, outp))
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if (!add3dpt(wp, inp, outp))
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goto memerr;
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if (!feof(fp)) {
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wputs(fn);
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wputs(": non-number in 3D warp file\n");
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}
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goto cleanup;
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memerr:
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eputs("load3dw: out of memory\n");
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cleanup:
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fclose(fp);
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return(wp);
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}
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int
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add3dpt(wp, pti, pto) /* add 3D point pair to warp structure */
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register WARP3D *wp;
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W3VEC pti, pto;
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{
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double d2;
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register W3VEC *na;
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register int i;
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if (wp->npts == 0) { /* initialize */
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wp->ip = (W3VEC *)malloc(AHUNK*sizeof(W3VEC));
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if (wp->ip == NULL) return(0);
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wp->op = (W3VEC *)malloc(AHUNK*sizeof(W3VEC));
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if (wp->op == NULL) return(0);
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wp->d2min = 1e10;
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wp->d2max = 0.;
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W3VCPY(wp->llim, pti);
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W3VCPY(wp->ulim, pti);
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} else {
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if (wp->npts % AHUNK == 0) { /* allocate another hunk */
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na = (W3VEC *)realloc((char *)wp->ip,
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(wp->npts+AHUNK)*sizeof(W3VEC));
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if (na == NULL) return(0);
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wp->ip = na;
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na = (W3VEC *)realloc((char *)wp->op,
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(wp->npts+AHUNK)*sizeof(W3VEC));
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if (na == NULL) return(0);
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wp->op = na;
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}
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for (i = 0; i < 3; i++) /* check boundaries */
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if (pti[i] < wp->llim[i])
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wp->llim[i] = pti[i];
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else if (pti[i] > wp->ulim[i])
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wp->ulim[i] = pti[i];
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for (i = wp->npts; i--; ) { /* check distances */
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d2 = wpdist2(pti, wp->ip[i]);
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if (d2 < MIND*MIND) /* value is too close */
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return(wp->npts);
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if (d2 < wp->d2min)
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wp->d2min = d2;
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if (d2 > wp->d2max)
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wp->d2max = d2;
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}
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}
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W3VCPY(wp->ip[wp->npts], pti); /* add new point */
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W3VCPY(wp->op[wp->npts], pto);
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done3dgrid(&wp->grid); /* old grid is invalid */
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return(++wp->npts);
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}
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free3dw(wp) /* free WARP3D data */
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register WARP3D *wp;
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{
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done3dgrid(&wp->grid);
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free((char *)wp->ip);
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free((char *)wp->op);
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free((char *)wp);
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}
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long
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gridhash(gp) /* hash a grid point index */
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GNDX gp;
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{
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return(((unsigned long)gp[0]<<GNBITS | gp[1])<<GNBITS | gp[2]);
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}
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int
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new3dwgrid(wp) /* initialize interpolating grid for warp */
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register WARP3D *wp;
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{
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double gridstep, d;
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register int i;
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/* free old grid (if any) */
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done3dgrid(&wp->grid);
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/* check parameters */
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if (wp->npts < 2)
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return(W3BADMAP); /* undefined for less than 2 points */
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if (wp->d2max < MIND)
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return(W3BADMAP); /* not enough disparity */
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/* compute gamut */
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W3VCPY(wp->grid.gmin, wp->llim);
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W3VCPY(wp->grid.gmax, wp->ulim);
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gridstep = sqrt(wp->d2min);
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for (i = 0; i < 3; i++) {
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wp->grid.gmin[i] -= .501*gridstep;
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wp->grid.gmax[i] += .501*gridstep;
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}
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if (wp->grid.flags & W3EXACT) {
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wp->grid.gn[0] = wp->grid.gn[1] = wp->grid.gn[2] = 1;
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return(W3OK); /* no interpolation, so no grid */
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}
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/* create grid */
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for (i = 0; i < 3; i++) {
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d = wp->grid.gmax[i] - wp->grid.gmin[i];
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wp->grid.gn[i] = d/gridstep + .5;
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if (wp->grid.gn[i] >= MAXGN)
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wp->grid.gn[i] = MAXGN-1;
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wp->grid.gstep[i] = d / wp->grid.gn[i];
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}
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/* initialize lookup table */
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wp->grid.gtab.hashf = gridhash;
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wp->grid.gtab.keycmp = NULL;
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wp->grid.gtab.freek = free;
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wp->grid.gtab.freed = NULL;
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return(lu_init(&wp->grid.gtab, 1024) ? W3OK : W3ERROR);
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}
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done3dgrid(gp) /* free interpolating grid for warp */
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register struct grid3d *gp;
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{
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if (gp->gn[0] == 0)
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return;
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lu_done(&gp->gtab);
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gp->gn[0] = gp->gn[1] = gp->gn[2] = 0;
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}
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