| 1 |
/* Copyright (c) 1997 Regents of the University of California */ |
| 2 |
|
| 3 |
#ifndef lint |
| 4 |
static char SCCSid[] = "$SunId$ LBL"; |
| 5 |
#endif |
| 6 |
|
| 7 |
/* |
| 8 |
* 3D warping routines. |
| 9 |
*/ |
| 10 |
|
| 11 |
#include <stdio.h> |
| 12 |
|
| 13 |
#include <math.h> |
| 14 |
|
| 15 |
#include "fvect.h" |
| 16 |
|
| 17 |
#include "warp3d.h" |
| 18 |
|
| 19 |
#define MIND 1e-5 /* minimum distance between input points */ |
| 20 |
|
| 21 |
typedef struct { |
| 22 |
GNDX n; /* index must be first */ |
| 23 |
W3VEC p; |
| 24 |
} KEYDP; /* key/data allocation pair */ |
| 25 |
|
| 26 |
#define fgetvec(f,v) (fgetval(f,'f',v) > 0 && fgetval(f,'f',v+1) > 0 \ |
| 27 |
&& fgetval(f,'f',v+2) > 0) |
| 28 |
|
| 29 |
#define AHUNK 32 /* number of points to allocate at a time */ |
| 30 |
|
| 31 |
#ifndef malloc |
| 32 |
extern char *malloc(), *realloc(); |
| 33 |
#endif |
| 34 |
extern void free(); |
| 35 |
|
| 36 |
|
| 37 |
double |
| 38 |
wpdist2(p1, p2) /* compute square of distance between points */ |
| 39 |
register W3VEC p1, p2; |
| 40 |
{ |
| 41 |
double d, d2; |
| 42 |
|
| 43 |
d = p1[0] - p2[0]; d2 = d*d; |
| 44 |
d = p1[1] - p2[1]; d2 += d*d; |
| 45 |
d = p1[2] - p2[2]; d2 += d*d; |
| 46 |
return(d2); |
| 47 |
} |
| 48 |
|
| 49 |
|
| 50 |
int |
| 51 |
warp3d(po, pi, wp) /* warp 3D point according to the given map */ |
| 52 |
W3VEC po, pi; |
| 53 |
register WARP3D *wp; |
| 54 |
{ |
| 55 |
int rval = W3OK; |
| 56 |
GNDX gi; |
| 57 |
W3VEC gd; |
| 58 |
|
| 59 |
if (wp->grid.gn[0] == 0 && (rval = new3dwgrid(wp)) != W3OK) |
| 60 |
return(rval); |
| 61 |
rval |= gridpoint(gi, gd, pi, &wp->grid); |
| 62 |
if (wp->grid.flags & W3EXACT) { |
| 63 |
rval |= warp3dex(po, pi, wp); |
| 64 |
return(rval); |
| 65 |
} |
| 66 |
if (wp->grid.flags & W3FAST) { |
| 67 |
rval |= get3dgpt(po, gi, wp); |
| 68 |
return(rval); |
| 69 |
} |
| 70 |
rval |= get3dgin(po, gi, gd, wp); |
| 71 |
return(rval); |
| 72 |
} |
| 73 |
|
| 74 |
|
| 75 |
int |
| 76 |
gridpoint(ndx, rem, ipt, gp) /* compute grid position for ipt */ |
| 77 |
GNDX ndx; |
| 78 |
W3VEC rem, ipt; |
| 79 |
register struct grid3d *gp; |
| 80 |
{ |
| 81 |
int rval = W3OK; |
| 82 |
register int i; |
| 83 |
|
| 84 |
for (i = 0; i < 3; i++) { |
| 85 |
rem[i] = (ipt[i] - gp->gmin[i])/gp->gstep[i]; |
| 86 |
if (rem[i] < 0.) { |
| 87 |
ndx[i] = 0; |
| 88 |
rval = W3GAMUT; |
| 89 |
} else if ((int)rem[i] >= gp->gn[i]) { |
| 90 |
ndx[i] = gp->gn[i] - 1; |
| 91 |
rval = W3GAMUT; |
| 92 |
} else |
| 93 |
ndx[i] = (int)rem[i]; |
| 94 |
rem[i] -= (double)ndx[i]; |
| 95 |
} |
| 96 |
return(rval); |
| 97 |
} |
| 98 |
|
| 99 |
|
| 100 |
int |
| 101 |
get3dgpt(po, ndx, wp) /* get value for voxel */ |
| 102 |
W3VEC po; |
| 103 |
GNDX ndx; |
| 104 |
register WARP3D *wp; |
| 105 |
{ |
| 106 |
W3VEC gpt; |
| 107 |
register LUENT *le; |
| 108 |
KEYDP *kd; |
| 109 |
int rval = W3OK; |
| 110 |
register int i; |
| 111 |
|
| 112 |
le = lu_find(&wp->grid.gtab, (char *)ndx); |
| 113 |
if (le == NULL) |
| 114 |
return(W3ERROR); |
| 115 |
if (le->data == NULL) { |
| 116 |
if (le->key != NULL) |
| 117 |
kd = (KEYDP *)le->key; |
| 118 |
else if ((kd = (KEYDP *)malloc(sizeof(KEYDP))) == NULL) |
| 119 |
return(W3ERROR); |
| 120 |
for (i = 0; i < 3; i++) { |
| 121 |
kd->n[i] = ndx[i]; |
| 122 |
gpt[i] = wp->grid.gmin[i] + ndx[i]*wp->grid.gstep[i]; |
| 123 |
if (wp->grid.flags & W3FAST) /* on centers */ |
| 124 |
gpt[i] += .5*wp->grid.gstep[i]; |
| 125 |
} |
| 126 |
rval |= warp3dex(kd->p, gpt, wp); |
| 127 |
le->key = (char *)kd->n; |
| 128 |
le->data = (char *)kd->p; |
| 129 |
} |
| 130 |
W3VCPY(po, (float *)le->data); |
| 131 |
return(rval); |
| 132 |
} |
| 133 |
|
| 134 |
|
| 135 |
int |
| 136 |
get3dgin(po, ndx, rem, wp) /* interpolate from warp grid */ |
| 137 |
W3VEC po, rem; |
| 138 |
GNDX ndx; |
| 139 |
WARP3D *wp; |
| 140 |
{ |
| 141 |
W3VEC cv[8]; |
| 142 |
int rval; |
| 143 |
GNDX gi; |
| 144 |
register int i; |
| 145 |
/* get corner values */ |
| 146 |
for (i = 0; i < 8; i++) { |
| 147 |
gi[0] = ndx[0] + (i & 1); |
| 148 |
gi[1] = ndx[1] + (i>>1 & 1); |
| 149 |
gi[2] = ndx[2] + (i>>2); |
| 150 |
rval |= get3dgpt(cv[i], gi, wp); |
| 151 |
} |
| 152 |
if (rval & W3ERROR) |
| 153 |
return(rval); |
| 154 |
l3interp(po, cv, rem, 3); /* perform trilinear interpolation */ |
| 155 |
return(rval); |
| 156 |
} |
| 157 |
|
| 158 |
|
| 159 |
l3interp(vo, cl, dv, n) /* trilinear interpolation (recursive) */ |
| 160 |
W3VEC vo, *cl, dv; |
| 161 |
int n; |
| 162 |
{ |
| 163 |
W3VEC v0, v1; |
| 164 |
register int i; |
| 165 |
|
| 166 |
if (--n) { |
| 167 |
l3interp(v0, cl, dv, n); |
| 168 |
l3interp(v1, cl+(1<<n), dv, n); |
| 169 |
} else { |
| 170 |
W3VCPY(v0, cl[0]); |
| 171 |
W3VCPY(v1, cl[1]); |
| 172 |
} |
| 173 |
for (i = 0; i < 3; i++) |
| 174 |
vo[i] = (1.-dv[n])*v0[i] + dv[n]*v1[i]; |
| 175 |
} |
| 176 |
|
| 177 |
|
| 178 |
int |
| 179 |
warp3dex(po, pi, wp) /* compute warp using 1/r^2 weighted avg. */ |
| 180 |
W3VEC po, pi; |
| 181 |
register WARP3D *wp; |
| 182 |
{ |
| 183 |
double d2, w, wsum; |
| 184 |
W3VEC pt; |
| 185 |
register int i; |
| 186 |
|
| 187 |
pt[0] = pt[1] = pt[2] = 0.; |
| 188 |
wsum = 0.; |
| 189 |
for (i = wp->npts; i--; ) { |
| 190 |
d2 = wpdist2(pi, wp->ip[i]); |
| 191 |
if (d2 <= MIND*MIND) w = 1./(MIND*MIND); |
| 192 |
else w = 1./d2; |
| 193 |
pt[0] += w*wp->op[i][0]; |
| 194 |
pt[1] += w*wp->op[i][1]; |
| 195 |
pt[2] += w*wp->op[i][2]; |
| 196 |
wsum += w; |
| 197 |
} |
| 198 |
if (wsum > 0.) { |
| 199 |
po[0] = pt[0]/wsum; |
| 200 |
po[1] = pt[1]/wsum; |
| 201 |
po[2] = pt[2]/wsum; |
| 202 |
} |
| 203 |
return(W3OK); |
| 204 |
} |
| 205 |
|
| 206 |
|
| 207 |
WARP3D * |
| 208 |
new3dw(flgs) /* allocate and initialize WARP3D struct */ |
| 209 |
int flgs; |
| 210 |
{ |
| 211 |
register WARP3D *wp; |
| 212 |
|
| 213 |
if ((flgs & (W3EXACT|W3FAST)) == (W3EXACT|W3FAST)) { |
| 214 |
eputs("new3dw: only one of W3EXACT or W3FAST\n"); |
| 215 |
return(NULL); |
| 216 |
} |
| 217 |
if ((wp = (WARP3D *)malloc(sizeof(WARP3D))) == NULL) { |
| 218 |
eputs("new3dw: no memory\n"); |
| 219 |
return(NULL); |
| 220 |
} |
| 221 |
wp->ip = wp->op = NULL; |
| 222 |
wp->npts = 0; |
| 223 |
wp->grid.flags = flgs; |
| 224 |
wp->grid.gn[0] = wp->grid.gn[1] = wp->grid.gn[2] = 0; |
| 225 |
return(wp); |
| 226 |
} |
| 227 |
|
| 228 |
|
| 229 |
WARP3D * |
| 230 |
load3dw(fn, wp) /* load 3D warp from file */ |
| 231 |
char *fn; |
| 232 |
WARP3D *wp; |
| 233 |
{ |
| 234 |
FILE *fp; |
| 235 |
W3VEC inp, outp; |
| 236 |
|
| 237 |
if ((fp = fopen(fn, "r")) == NULL) { |
| 238 |
eputs(fn); |
| 239 |
eputs(": cannot open\n"); |
| 240 |
return(NULL); |
| 241 |
} |
| 242 |
if (wp == NULL && (wp = new3dw()) == NULL) |
| 243 |
goto memerr; |
| 244 |
while (fgetvec(fp, inp) && fgetvec(fp, outp)) |
| 245 |
if (!add3dpt(wp, inp, outp)) |
| 246 |
goto memerr; |
| 247 |
if (!feof(fp)) { |
| 248 |
wputs(fn); |
| 249 |
wputs(": non-number in 3D warp file\n"); |
| 250 |
} |
| 251 |
goto cleanup; |
| 252 |
memerr: |
| 253 |
eputs("load3dw: out of memory\n"); |
| 254 |
cleanup: |
| 255 |
fclose(fp); |
| 256 |
return(wp); |
| 257 |
} |
| 258 |
|
| 259 |
|
| 260 |
int |
| 261 |
add3dpt(wp, pti, pto) /* add 3D point pair to warp structure */ |
| 262 |
register WARP3D *wp; |
| 263 |
W3VEC pti, pto; |
| 264 |
{ |
| 265 |
double d2; |
| 266 |
register W3VEC *na; |
| 267 |
register int i; |
| 268 |
|
| 269 |
if (wp->npts == 0) { /* initialize */ |
| 270 |
wp->ip = (W3VEC *)malloc(AHUNK*sizeof(W3VEC)); |
| 271 |
if (wp->ip == NULL) return(0); |
| 272 |
wp->op = (W3VEC *)malloc(AHUNK*sizeof(W3VEC)); |
| 273 |
if (wp->op == NULL) return(0); |
| 274 |
wp->d2min = 1e10; |
| 275 |
wp->d2max = 0.; |
| 276 |
W3VCPY(wp->llim, pti); |
| 277 |
W3VCPY(wp->ulim, pti); |
| 278 |
} else { |
| 279 |
if (wp->npts % AHUNK == 0) { /* allocate another hunk */ |
| 280 |
na = (W3VEC *)realloc((char *)wp->ip, |
| 281 |
(wp->npts+AHUNK)*sizeof(W3VEC)); |
| 282 |
if (na == NULL) return(0); |
| 283 |
wp->ip = na; |
| 284 |
na = (W3VEC *)realloc((char *)wp->op, |
| 285 |
(wp->npts+AHUNK)*sizeof(W3VEC)); |
| 286 |
if (na == NULL) return(0); |
| 287 |
wp->op = na; |
| 288 |
} |
| 289 |
for (i = 0; i < 3; i++) /* check boundaries */ |
| 290 |
if (pti[i] < wp->llim[i]) |
| 291 |
wp->llim[i] = pti[i]; |
| 292 |
else if (pti[i] > wp->ulim[i]) |
| 293 |
wp->ulim[i] = pti[i]; |
| 294 |
for (i = wp->npts; i--; ) { /* check distances */ |
| 295 |
d2 = wpdist2(pti, wp->ip[i]); |
| 296 |
if (d2 < MIND*MIND) /* value is too close */ |
| 297 |
return(wp->npts); |
| 298 |
if (d2 < wp->d2min) |
| 299 |
wp->d2min = d2; |
| 300 |
if (d2 > wp->d2max) |
| 301 |
wp->d2max = d2; |
| 302 |
} |
| 303 |
} |
| 304 |
W3VCPY(wp->ip[wp->npts], pti); /* add new point */ |
| 305 |
W3VCPY(wp->op[wp->npts], pto); |
| 306 |
done3dgrid(&wp->grid); /* old grid is invalid */ |
| 307 |
return(++wp->npts); |
| 308 |
} |
| 309 |
|
| 310 |
|
| 311 |
free3dw(wp) /* free WARP3D data */ |
| 312 |
register WARP3D *wp; |
| 313 |
{ |
| 314 |
done3dgrid(&wp->grid); |
| 315 |
free((char *)wp->ip); |
| 316 |
free((char *)wp->op); |
| 317 |
free((char *)wp); |
| 318 |
} |
| 319 |
|
| 320 |
|
| 321 |
long |
| 322 |
gridhash(gp) /* hash a grid point index */ |
| 323 |
GNDX gp; |
| 324 |
{ |
| 325 |
return(((unsigned long)gp[0]<<GNBITS | gp[1])<<GNBITS | gp[2]); |
| 326 |
} |
| 327 |
|
| 328 |
|
| 329 |
int |
| 330 |
new3dwgrid(wp) /* initialize interpolating grid for warp */ |
| 331 |
register WARP3D *wp; |
| 332 |
{ |
| 333 |
double gridstep, d; |
| 334 |
register int i; |
| 335 |
/* free old grid (if any) */ |
| 336 |
done3dgrid(&wp->grid); |
| 337 |
/* check parameters */ |
| 338 |
if (wp->npts < 2) |
| 339 |
return(W3BADMAP); /* undefined for less than 2 points */ |
| 340 |
if (wp->d2max < MIND) |
| 341 |
return(W3BADMAP); /* not enough disparity */ |
| 342 |
/* compute gamut */ |
| 343 |
W3VCPY(wp->grid.gmin, wp->llim); |
| 344 |
W3VCPY(wp->grid.gmax, wp->ulim); |
| 345 |
gridstep = sqrt(wp->d2min); |
| 346 |
for (i = 0; i < 3; i++) { |
| 347 |
wp->grid.gmin[i] -= .501*gridstep; |
| 348 |
wp->grid.gmax[i] += .501*gridstep; |
| 349 |
} |
| 350 |
if (wp->grid.flags & W3EXACT) { |
| 351 |
wp->grid.gn[0] = wp->grid.gn[1] = wp->grid.gn[2] = 1; |
| 352 |
return(W3OK); /* no interpolation, so no grid */ |
| 353 |
} |
| 354 |
/* create grid */ |
| 355 |
for (i = 0; i < 3; i++) { |
| 356 |
d = wp->grid.gmax[i] - wp->grid.gmin[i]; |
| 357 |
wp->grid.gn[i] = d/gridstep + .5; |
| 358 |
if (wp->grid.gn[i] >= MAXGN) |
| 359 |
wp->grid.gn[i] = MAXGN-1; |
| 360 |
wp->grid.gstep[i] = d / wp->grid.gn[i]; |
| 361 |
} |
| 362 |
/* initialize lookup table */ |
| 363 |
wp->grid.gtab.hashf = gridhash; |
| 364 |
wp->grid.gtab.keycmp = NULL; |
| 365 |
wp->grid.gtab.freek = free; |
| 366 |
wp->grid.gtab.freed = NULL; |
| 367 |
return(lu_init(&wp->grid.gtab, 1024) ? W3OK : W3ERROR); |
| 368 |
} |
| 369 |
|
| 370 |
|
| 371 |
done3dgrid(gp) /* free interpolating grid for warp */ |
| 372 |
register struct grid3d *gp; |
| 373 |
{ |
| 374 |
if (gp->gn[0] == 0) |
| 375 |
return; |
| 376 |
lu_done(&gp->gtab); |
| 377 |
gp->gn[0] = gp->gn[1] = gp->gn[2] = 0; |
| 378 |
} |
