1 |
greg |
3.1 |
#ifndef lint |
2 |
greg |
3.8 |
static const char RCSid[] = "$Id: warp3d.c,v 3.7 2004/03/28 20:33:14 schorsch Exp $"; |
3 |
greg |
3.1 |
#endif |
4 |
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/* |
5 |
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* 3D warping routines. |
6 |
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*/ |
7 |
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8 |
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#include <stdio.h> |
9 |
greg |
3.5 |
#include <stdlib.h> |
10 |
greg |
3.1 |
#include <math.h> |
11 |
schorsch |
3.7 |
|
12 |
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#include "rterror.h" |
13 |
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#include "rtio.h" |
14 |
greg |
3.1 |
#include "fvect.h" |
15 |
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#include "warp3d.h" |
16 |
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17 |
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#define MIND 1e-5 /* minimum distance between input points */ |
18 |
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19 |
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typedef struct { |
20 |
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GNDX n; /* index must be first */ |
21 |
greg |
3.2 |
W3VEC v; |
22 |
greg |
3.1 |
} KEYDP; /* key/data allocation pair */ |
23 |
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24 |
greg |
3.2 |
#define fgetvec(p,v) (fgetval(p,'f',v) > 0 && fgetval(p,'f',v+1) > 0 \ |
25 |
|
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&& fgetval(p,'f',v+2) > 0) |
26 |
greg |
3.1 |
|
27 |
greg |
3.2 |
#define AHUNK 24 /* number of points to allocate at a time */ |
28 |
greg |
3.1 |
|
29 |
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30 |
schorsch |
3.7 |
double wpdist2(W3VEC p1, W3VEC p2); |
31 |
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static int gridpoint(GNDX ndx, W3VEC rem, W3VEC ipt, struct grid3d *gp); |
32 |
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static int get3dgpt(W3VEC ov, GNDX ndx, WARP3D *wp); |
33 |
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static int get3dgin(W3VEC ov, GNDX ndx, W3VEC rem, WARP3D *wp); |
34 |
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static void l3interp(W3VEC vo, W3VEC *cl, W3VEC dv, int n); |
35 |
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static int warp3dex(W3VEC ov, W3VEC pi, WARP3D *wp); |
36 |
greg |
3.8 |
//static unsigned long gridhash(const void *gp); |
37 |
schorsch |
3.7 |
static lut_hashf_t gridhash; |
38 |
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static int new3dgrid(WARP3D *wp); |
39 |
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static void done3dgrid(struct grid3d *gp); |
40 |
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41 |
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42 |
greg |
3.1 |
double |
43 |
schorsch |
3.7 |
wpdist2( /* compute square of distance between points */ |
44 |
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register W3VEC p1, |
45 |
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register W3VEC p2 |
46 |
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) |
47 |
greg |
3.1 |
{ |
48 |
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double d, d2; |
49 |
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50 |
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d = p1[0] - p2[0]; d2 = d*d; |
51 |
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d = p1[1] - p2[1]; d2 += d*d; |
52 |
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d = p1[2] - p2[2]; d2 += d*d; |
53 |
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return(d2); |
54 |
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} |
55 |
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56 |
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57 |
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int |
58 |
schorsch |
3.7 |
warp3d( /* warp 3D point according to the given map */ |
59 |
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W3VEC po, |
60 |
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W3VEC pi, |
61 |
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register WARP3D *wp |
62 |
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) |
63 |
greg |
3.1 |
{ |
64 |
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int rval = W3OK; |
65 |
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GNDX gi; |
66 |
greg |
3.2 |
W3VEC gd, ov; |
67 |
greg |
3.1 |
|
68 |
greg |
3.2 |
if (wp->grid.gn[0] == 0 && (rval = new3dgrid(wp)) != W3OK) |
69 |
greg |
3.1 |
return(rval); |
70 |
|
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rval |= gridpoint(gi, gd, pi, &wp->grid); |
71 |
greg |
3.2 |
if (wp->grid.flags & W3EXACT) |
72 |
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rval |= warp3dex(ov, pi, wp); |
73 |
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else if (wp->grid.flags & W3FAST) |
74 |
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rval |= get3dgpt(ov, gi, wp); |
75 |
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else |
76 |
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rval |= get3dgin(ov, gi, gd, wp); |
77 |
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po[0] = pi[0] + ov[0]; |
78 |
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po[1] = pi[1] + ov[1]; |
79 |
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po[2] = pi[2] + ov[2]; |
80 |
greg |
3.1 |
return(rval); |
81 |
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} |
82 |
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83 |
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84 |
schorsch |
3.7 |
static int |
85 |
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gridpoint( /* compute grid position for ipt */ |
86 |
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GNDX ndx, |
87 |
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W3VEC rem, |
88 |
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W3VEC ipt, |
89 |
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register struct grid3d *gp |
90 |
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) |
91 |
greg |
3.1 |
{ |
92 |
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int rval = W3OK; |
93 |
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register int i; |
94 |
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95 |
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for (i = 0; i < 3; i++) { |
96 |
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rem[i] = (ipt[i] - gp->gmin[i])/gp->gstep[i]; |
97 |
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if (rem[i] < 0.) { |
98 |
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ndx[i] = 0; |
99 |
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rval = W3GAMUT; |
100 |
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} else if ((int)rem[i] >= gp->gn[i]) { |
101 |
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ndx[i] = gp->gn[i] - 1; |
102 |
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rval = W3GAMUT; |
103 |
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} else |
104 |
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ndx[i] = (int)rem[i]; |
105 |
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rem[i] -= (double)ndx[i]; |
106 |
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} |
107 |
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return(rval); |
108 |
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} |
109 |
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110 |
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111 |
schorsch |
3.7 |
static int |
112 |
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get3dgpt( /* get value for voxel */ |
113 |
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W3VEC ov, |
114 |
|
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GNDX ndx, |
115 |
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register WARP3D *wp |
116 |
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) |
117 |
greg |
3.1 |
{ |
118 |
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W3VEC gpt; |
119 |
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register LUENT *le; |
120 |
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KEYDP *kd; |
121 |
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int rval = W3OK; |
122 |
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register int i; |
123 |
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|
124 |
greg |
3.2 |
le = lu_find(&wp->grid.gtab, ndx); |
125 |
greg |
3.1 |
if (le == NULL) |
126 |
|
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return(W3ERROR); |
127 |
|
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if (le->data == NULL) { |
128 |
|
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if (le->key != NULL) |
129 |
|
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kd = (KEYDP *)le->key; |
130 |
|
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else if ((kd = (KEYDP *)malloc(sizeof(KEYDP))) == NULL) |
131 |
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return(W3ERROR); |
132 |
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for (i = 0; i < 3; i++) { |
133 |
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kd->n[i] = ndx[i]; |
134 |
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gpt[i] = wp->grid.gmin[i] + ndx[i]*wp->grid.gstep[i]; |
135 |
|
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if (wp->grid.flags & W3FAST) /* on centers */ |
136 |
|
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gpt[i] += .5*wp->grid.gstep[i]; |
137 |
|
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} |
138 |
greg |
3.2 |
rval = warp3dex(kd->v, gpt, wp); |
139 |
greg |
3.1 |
le->key = (char *)kd->n; |
140 |
greg |
3.2 |
le->data = (char *)kd->v; |
141 |
greg |
3.1 |
} |
142 |
greg |
3.2 |
W3VCPY(ov, (float *)le->data); |
143 |
greg |
3.1 |
return(rval); |
144 |
|
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} |
145 |
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|
146 |
|
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|
147 |
schorsch |
3.7 |
static int |
148 |
|
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get3dgin( /* interpolate from warp grid */ |
149 |
|
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W3VEC ov, |
150 |
|
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GNDX ndx, |
151 |
|
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W3VEC rem, |
152 |
|
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WARP3D *wp |
153 |
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) |
154 |
greg |
3.1 |
{ |
155 |
|
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W3VEC cv[8]; |
156 |
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GNDX gi; |
157 |
greg |
3.3 |
int rval = W3OK; |
158 |
greg |
3.1 |
register int i; |
159 |
|
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/* get corner values */ |
160 |
|
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for (i = 0; i < 8; i++) { |
161 |
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gi[0] = ndx[0] + (i & 1); |
162 |
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gi[1] = ndx[1] + (i>>1 & 1); |
163 |
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gi[2] = ndx[2] + (i>>2); |
164 |
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rval |= get3dgpt(cv[i], gi, wp); |
165 |
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} |
166 |
|
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if (rval & W3ERROR) |
167 |
|
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return(rval); |
168 |
greg |
3.2 |
l3interp(ov, cv, rem, 3); /* perform trilinear interpolation */ |
169 |
greg |
3.1 |
return(rval); |
170 |
|
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} |
171 |
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|
172 |
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|
173 |
schorsch |
3.7 |
static void |
174 |
|
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l3interp( /* trilinear interpolation (recursive) */ |
175 |
|
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W3VEC vo, |
176 |
|
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W3VEC *cl, |
177 |
|
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W3VEC dv, |
178 |
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int n |
179 |
|
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) |
180 |
greg |
3.1 |
{ |
181 |
|
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W3VEC v0, v1; |
182 |
|
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register int i; |
183 |
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|
184 |
|
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if (--n) { |
185 |
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l3interp(v0, cl, dv, n); |
186 |
|
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l3interp(v1, cl+(1<<n), dv, n); |
187 |
|
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} else { |
188 |
|
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W3VCPY(v0, cl[0]); |
189 |
|
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W3VCPY(v1, cl[1]); |
190 |
|
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} |
191 |
|
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for (i = 0; i < 3; i++) |
192 |
|
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vo[i] = (1.-dv[n])*v0[i] + dv[n]*v1[i]; |
193 |
|
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} |
194 |
|
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|
195 |
|
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|
196 |
schorsch |
3.7 |
static int |
197 |
|
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warp3dex( /* compute warp using 1/r^2 weighted avg. */ |
198 |
|
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W3VEC ov, |
199 |
|
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W3VEC pi, |
200 |
|
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register WARP3D *wp |
201 |
|
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) |
202 |
greg |
3.1 |
{ |
203 |
|
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double d2, w, wsum; |
204 |
greg |
3.2 |
W3VEC vt; |
205 |
greg |
3.1 |
register int i; |
206 |
|
|
|
207 |
greg |
3.2 |
vt[0] = vt[1] = vt[2] = 0.; |
208 |
greg |
3.1 |
wsum = 0.; |
209 |
|
|
for (i = wp->npts; i--; ) { |
210 |
|
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d2 = wpdist2(pi, wp->ip[i]); |
211 |
|
|
if (d2 <= MIND*MIND) w = 1./(MIND*MIND); |
212 |
|
|
else w = 1./d2; |
213 |
greg |
3.2 |
vt[0] += w*wp->ov[i][0]; |
214 |
|
|
vt[1] += w*wp->ov[i][1]; |
215 |
|
|
vt[2] += w*wp->ov[i][2]; |
216 |
greg |
3.1 |
wsum += w; |
217 |
|
|
} |
218 |
|
|
if (wsum > 0.) { |
219 |
greg |
3.2 |
ov[0] = vt[0]/wsum; |
220 |
|
|
ov[1] = vt[1]/wsum; |
221 |
|
|
ov[2] = vt[2]/wsum; |
222 |
greg |
3.1 |
} |
223 |
|
|
return(W3OK); |
224 |
|
|
} |
225 |
|
|
|
226 |
|
|
|
227 |
|
|
WARP3D * |
228 |
schorsch |
3.7 |
new3dw( /* allocate and initialize WARP3D struct */ |
229 |
|
|
int flgs |
230 |
|
|
) |
231 |
greg |
3.1 |
{ |
232 |
|
|
register WARP3D *wp; |
233 |
|
|
|
234 |
|
|
if ((flgs & (W3EXACT|W3FAST)) == (W3EXACT|W3FAST)) { |
235 |
|
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eputs("new3dw: only one of W3EXACT or W3FAST\n"); |
236 |
|
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return(NULL); |
237 |
|
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} |
238 |
|
|
if ((wp = (WARP3D *)malloc(sizeof(WARP3D))) == NULL) { |
239 |
|
|
eputs("new3dw: no memory\n"); |
240 |
|
|
return(NULL); |
241 |
|
|
} |
242 |
greg |
3.2 |
wp->ip = wp->ov = NULL; |
243 |
greg |
3.1 |
wp->npts = 0; |
244 |
|
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wp->grid.flags = flgs; |
245 |
|
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wp->grid.gn[0] = wp->grid.gn[1] = wp->grid.gn[2] = 0; |
246 |
|
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return(wp); |
247 |
|
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} |
248 |
|
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|
249 |
|
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|
250 |
|
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WARP3D * |
251 |
schorsch |
3.7 |
load3dw( /* load 3D warp from file */ |
252 |
|
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char *fn, |
253 |
|
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WARP3D *wp |
254 |
|
|
) |
255 |
greg |
3.1 |
{ |
256 |
|
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FILE *fp; |
257 |
|
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W3VEC inp, outp; |
258 |
|
|
|
259 |
|
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if ((fp = fopen(fn, "r")) == NULL) { |
260 |
|
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eputs(fn); |
261 |
|
|
eputs(": cannot open\n"); |
262 |
|
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return(NULL); |
263 |
|
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} |
264 |
greg |
3.2 |
if (wp == NULL && (wp = new3dw(0)) == NULL) |
265 |
greg |
3.1 |
goto memerr; |
266 |
|
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while (fgetvec(fp, inp) && fgetvec(fp, outp)) |
267 |
|
|
if (!add3dpt(wp, inp, outp)) |
268 |
|
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goto memerr; |
269 |
|
|
if (!feof(fp)) { |
270 |
|
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wputs(fn); |
271 |
|
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wputs(": non-number in 3D warp file\n"); |
272 |
|
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} |
273 |
|
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goto cleanup; |
274 |
|
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memerr: |
275 |
|
|
eputs("load3dw: out of memory\n"); |
276 |
|
|
cleanup: |
277 |
|
|
fclose(fp); |
278 |
|
|
return(wp); |
279 |
|
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} |
280 |
|
|
|
281 |
|
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|
282 |
schorsch |
3.7 |
extern int |
283 |
|
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set3dwfl( /* reset warp flags */ |
284 |
|
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register WARP3D *wp, |
285 |
|
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int flgs |
286 |
|
|
) |
287 |
greg |
3.2 |
{ |
288 |
|
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if (flgs == wp->grid.flags) |
289 |
|
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return(0); |
290 |
|
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if ((flgs & (W3EXACT|W3FAST)) == (W3EXACT|W3FAST)) { |
291 |
|
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eputs("set3dwfl: only one of W3EXACT or W3FAST\n"); |
292 |
|
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return(-1); |
293 |
|
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} |
294 |
|
|
wp->grid.flags = flgs; |
295 |
|
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done3dgrid(&wp->grid); /* old grid is invalid */ |
296 |
|
|
return(0); |
297 |
|
|
} |
298 |
|
|
|
299 |
|
|
|
300 |
|
|
int |
301 |
schorsch |
3.7 |
add3dpt( /* add 3D point pair to warp structure */ |
302 |
|
|
register WARP3D *wp, |
303 |
|
|
W3VEC pti, |
304 |
|
|
W3VEC pto |
305 |
|
|
) |
306 |
greg |
3.1 |
{ |
307 |
|
|
double d2; |
308 |
|
|
register W3VEC *na; |
309 |
|
|
register int i; |
310 |
|
|
|
311 |
|
|
if (wp->npts == 0) { /* initialize */ |
312 |
|
|
wp->ip = (W3VEC *)malloc(AHUNK*sizeof(W3VEC)); |
313 |
|
|
if (wp->ip == NULL) return(0); |
314 |
greg |
3.2 |
wp->ov = (W3VEC *)malloc(AHUNK*sizeof(W3VEC)); |
315 |
|
|
if (wp->ov == NULL) return(0); |
316 |
greg |
3.1 |
wp->d2min = 1e10; |
317 |
|
|
wp->d2max = 0.; |
318 |
|
|
W3VCPY(wp->llim, pti); |
319 |
|
|
W3VCPY(wp->ulim, pti); |
320 |
|
|
} else { |
321 |
|
|
if (wp->npts % AHUNK == 0) { /* allocate another hunk */ |
322 |
greg |
3.6 |
na = (W3VEC *)realloc((void *)wp->ip, |
323 |
greg |
3.1 |
(wp->npts+AHUNK)*sizeof(W3VEC)); |
324 |
|
|
if (na == NULL) return(0); |
325 |
|
|
wp->ip = na; |
326 |
greg |
3.6 |
na = (W3VEC *)realloc((void *)wp->ov, |
327 |
greg |
3.1 |
(wp->npts+AHUNK)*sizeof(W3VEC)); |
328 |
|
|
if (na == NULL) return(0); |
329 |
greg |
3.2 |
wp->ov = na; |
330 |
greg |
3.1 |
} |
331 |
|
|
for (i = 0; i < 3; i++) /* check boundaries */ |
332 |
|
|
if (pti[i] < wp->llim[i]) |
333 |
|
|
wp->llim[i] = pti[i]; |
334 |
|
|
else if (pti[i] > wp->ulim[i]) |
335 |
|
|
wp->ulim[i] = pti[i]; |
336 |
|
|
for (i = wp->npts; i--; ) { /* check distances */ |
337 |
|
|
d2 = wpdist2(pti, wp->ip[i]); |
338 |
|
|
if (d2 < MIND*MIND) /* value is too close */ |
339 |
|
|
return(wp->npts); |
340 |
|
|
if (d2 < wp->d2min) |
341 |
|
|
wp->d2min = d2; |
342 |
|
|
if (d2 > wp->d2max) |
343 |
|
|
wp->d2max = d2; |
344 |
|
|
} |
345 |
|
|
} |
346 |
|
|
W3VCPY(wp->ip[wp->npts], pti); /* add new point */ |
347 |
greg |
3.2 |
wp->ov[wp->npts][0] = pto[0] - pti[0]; |
348 |
|
|
wp->ov[wp->npts][1] = pto[1] - pti[1]; |
349 |
|
|
wp->ov[wp->npts][2] = pto[2] - pti[2]; |
350 |
greg |
3.1 |
done3dgrid(&wp->grid); /* old grid is invalid */ |
351 |
|
|
return(++wp->npts); |
352 |
|
|
} |
353 |
|
|
|
354 |
|
|
|
355 |
schorsch |
3.7 |
extern void |
356 |
|
|
free3dw( /* free WARP3D data */ |
357 |
|
|
register WARP3D *wp |
358 |
|
|
) |
359 |
greg |
3.1 |
{ |
360 |
|
|
done3dgrid(&wp->grid); |
361 |
greg |
3.5 |
free((void *)wp->ip); |
362 |
|
|
free((void *)wp->ov); |
363 |
|
|
free((void *)wp); |
364 |
greg |
3.1 |
} |
365 |
|
|
|
366 |
|
|
|
367 |
schorsch |
3.7 |
static unsigned long |
368 |
|
|
gridhash( /* hash a grid point index */ |
369 |
|
|
//GNDX gp |
370 |
greg |
3.8 |
const void *gp |
371 |
schorsch |
3.7 |
) |
372 |
greg |
3.1 |
{ |
373 |
schorsch |
3.7 |
//return(((unsigned long)gp[0]<<GNBITS | gp[1])<<GNBITS | gp[2]); |
374 |
greg |
3.8 |
return(((unsigned long)((const unsigned char*)gp)[0]<<GNBITS | ((const unsigned char*)gp)[1])<<GNBITS | ((const unsigned char*)gp)[2]); |
375 |
greg |
3.1 |
} |
376 |
|
|
|
377 |
|
|
|
378 |
schorsch |
3.7 |
static int |
379 |
|
|
new3dgrid( /* initialize interpolating grid for warp */ |
380 |
|
|
register WARP3D *wp |
381 |
|
|
) |
382 |
greg |
3.1 |
{ |
383 |
greg |
3.2 |
W3VEC gmax; |
384 |
greg |
3.1 |
double gridstep, d; |
385 |
greg |
3.2 |
int n; |
386 |
greg |
3.1 |
register int i; |
387 |
|
|
/* free old grid (if any) */ |
388 |
|
|
done3dgrid(&wp->grid); |
389 |
|
|
/* check parameters */ |
390 |
|
|
if (wp->npts < 2) |
391 |
|
|
return(W3BADMAP); /* undefined for less than 2 points */ |
392 |
|
|
if (wp->d2max < MIND) |
393 |
|
|
return(W3BADMAP); /* not enough disparity */ |
394 |
|
|
/* compute gamut */ |
395 |
|
|
W3VCPY(wp->grid.gmin, wp->llim); |
396 |
greg |
3.2 |
W3VCPY(gmax, wp->ulim); |
397 |
greg |
3.1 |
gridstep = sqrt(wp->d2min); |
398 |
|
|
for (i = 0; i < 3; i++) { |
399 |
|
|
wp->grid.gmin[i] -= .501*gridstep; |
400 |
greg |
3.2 |
gmax[i] += .501*gridstep; |
401 |
greg |
3.1 |
} |
402 |
|
|
if (wp->grid.flags & W3EXACT) { |
403 |
|
|
wp->grid.gn[0] = wp->grid.gn[1] = wp->grid.gn[2] = 1; |
404 |
greg |
3.3 |
wp->grid.gstep[0] = gmax[0] - wp->grid.gmin[0]; |
405 |
|
|
wp->grid.gstep[1] = gmax[1] - wp->grid.gmin[1]; |
406 |
|
|
wp->grid.gstep[2] = gmax[2] - wp->grid.gmin[2]; |
407 |
greg |
3.1 |
return(W3OK); /* no interpolation, so no grid */ |
408 |
|
|
} |
409 |
|
|
/* create grid */ |
410 |
|
|
for (i = 0; i < 3; i++) { |
411 |
greg |
3.2 |
d = gmax[i] - wp->grid.gmin[i]; |
412 |
|
|
n = d/gridstep + .5; |
413 |
|
|
if (n >= MAXGN-1) |
414 |
|
|
n = MAXGN-2; |
415 |
|
|
wp->grid.gstep[i] = d / n; |
416 |
|
|
wp->grid.gn[i] = n; |
417 |
greg |
3.1 |
} |
418 |
|
|
/* initialize lookup table */ |
419 |
|
|
wp->grid.gtab.hashf = gridhash; |
420 |
|
|
wp->grid.gtab.keycmp = NULL; |
421 |
|
|
wp->grid.gtab.freek = free; |
422 |
|
|
wp->grid.gtab.freed = NULL; |
423 |
|
|
return(lu_init(&wp->grid.gtab, 1024) ? W3OK : W3ERROR); |
424 |
|
|
} |
425 |
|
|
|
426 |
|
|
|
427 |
schorsch |
3.7 |
static void |
428 |
|
|
done3dgrid( /* free interpolating grid for warp */ |
429 |
|
|
register struct grid3d *gp |
430 |
|
|
) |
431 |
greg |
3.1 |
{ |
432 |
|
|
if (gp->gn[0] == 0) |
433 |
|
|
return; |
434 |
|
|
lu_done(&gp->gtab); |
435 |
|
|
gp->gn[0] = gp->gn[1] = gp->gn[2] = 0; |
436 |
|
|
} |