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#ifndef lint |
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static const char RCSid[] = "$Id: warp3d.c,v 3.11 2019/12/28 18:05:14 greg Exp $"; |
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#endif |
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/* |
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* 3D warping routines. |
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*/ |
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|
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#include <stdlib.h> |
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#include <math.h> |
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|
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#include "rterror.h" |
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#include "rtio.h" |
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#include "fvect.h" |
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#include "warp3d.h" |
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|
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#define MIND 1e-5 /* minimum distance between input points */ |
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|
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typedef struct { |
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GNDX n; /* index must be first */ |
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W3VEC v; |
| 21 |
} KEYDP; /* key/data allocation pair */ |
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|
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#define fgetvec(p,v) (fgetval(p,'f',v) > 0 && fgetval(p,'f',v+1) > 0 \ |
| 24 |
&& fgetval(p,'f',v+2) > 0) |
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|
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#define AHUNK 24 /* number of points to allocate at a time */ |
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|
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|
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double wpdist2(W3VEC p1, W3VEC p2); |
| 30 |
static int gridpoint(GNDX ndx, W3VEC rem, W3VEC ipt, struct grid3d *gp); |
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static int get3dgpt(W3VEC ov, GNDX ndx, WARP3D *wp); |
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static int get3dgin(W3VEC ov, GNDX ndx, W3VEC rem, WARP3D *wp); |
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static void l3interp(W3VEC vo, W3VEC *cl, W3VEC dv, int n); |
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static int warp3dex(W3VEC ov, W3VEC pi, WARP3D *wp); |
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static lut_hashf_t gridhash; |
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static int new3dgrid(WARP3D *wp); |
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static void done3dgrid(struct grid3d *gp); |
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|
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|
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double |
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wpdist2( /* compute square of distance between points */ |
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W3VEC p1, |
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W3VEC p2 |
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) |
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{ |
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double d, d2; |
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|
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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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|
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|
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int |
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warp3d( /* warp 3D point according to the given map */ |
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W3VEC po, |
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W3VEC pi, |
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WARP3D *wp |
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) |
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{ |
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int rval = W3OK; |
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GNDX gi; |
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W3VEC gd, ov; |
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|
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if (wp->grid.gn[0] == 0 && (rval = new3dgrid(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(ov, pi, wp); |
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else if (wp->grid.flags & W3FAST) |
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rval |= get3dgpt(ov, gi, wp); |
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else |
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rval |= get3dgin(ov, gi, gd, wp); |
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po[0] = pi[0] + ov[0]; |
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po[1] = pi[1] + ov[1]; |
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po[2] = pi[2] + ov[2]; |
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return(rval); |
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} |
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|
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|
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static int |
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gridpoint( /* compute grid position for ipt */ |
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GNDX ndx, |
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W3VEC rem, |
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W3VEC ipt, |
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struct grid3d *gp |
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) |
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{ |
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int rval = W3OK; |
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int i; |
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|
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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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|
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|
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static int |
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get3dgpt( /* get value for voxel */ |
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W3VEC ov, |
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GNDX ndx, |
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WARP3D *wp |
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) |
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{ |
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W3VEC gpt; |
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LUENT *le; |
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KEYDP *kd; |
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int rval = W3OK; |
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int i; |
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|
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le = lu_find(&wp->grid.gtab, 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->v, gpt, wp); |
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le->key = (char *)kd->n; |
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le->data = (char *)kd->v; |
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} |
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W3VCPY(ov, (float *)le->data); |
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return(rval); |
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} |
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|
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|
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static int |
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get3dgin( /* interpolate from warp grid */ |
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W3VEC ov, |
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GNDX ndx, |
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W3VEC rem, |
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WARP3D *wp |
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) |
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{ |
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W3VEC cv[8]; |
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GNDX gi; |
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int rval = W3OK; |
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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(ov, cv, rem, 3); /* perform trilinear interpolation */ |
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return(rval); |
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} |
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|
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|
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static void |
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l3interp( /* trilinear interpolation (recursive) */ |
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W3VEC vo, |
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W3VEC *cl, |
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W3VEC dv, |
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int n |
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) |
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{ |
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W3VEC v0, v1; |
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int i; |
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|
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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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|
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|
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static int |
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warp3dex( /* compute warp using 1/r^2 weighted avg. */ |
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W3VEC ov, |
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W3VEC pi, |
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WARP3D *wp |
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) |
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{ |
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double d2, w, wsum; |
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W3VEC vt; |
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int i; |
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|
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vt[0] = vt[1] = vt[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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vt[0] += w*wp->ov[i][0]; |
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vt[1] += w*wp->ov[i][1]; |
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vt[2] += w*wp->ov[i][2]; |
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wsum += w; |
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} |
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if (wsum > 0.) { |
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ov[0] = vt[0]/wsum; |
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ov[1] = vt[1]/wsum; |
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ov[2] = vt[2]/wsum; |
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} |
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return(W3OK); |
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} |
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|
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|
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WARP3D * |
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new3dw( /* allocate and initialize WARP3D struct */ |
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int flgs |
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) |
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{ |
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WARP3D *wp; |
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|
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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->ov = 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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|
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|
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WARP3D * |
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load3dw( /* 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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{ |
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FILE *fp; |
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W3VEC inp, outp; |
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|
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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(0)) == 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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|
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|
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extern int |
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set3dwfl( /* reset warp flags */ |
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WARP3D *wp, |
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int flgs |
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) |
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{ |
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if (flgs == wp->grid.flags) |
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return(0); |
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if ((flgs & (W3EXACT|W3FAST)) == (W3EXACT|W3FAST)) { |
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eputs("set3dwfl: only one of W3EXACT or W3FAST\n"); |
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return(-1); |
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} |
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wp->grid.flags = flgs; |
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done3dgrid(&wp->grid); /* old grid is invalid */ |
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return(0); |
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} |
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|
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|
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int |
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add3dpt( /* add 3D point pair to warp structure */ |
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WARP3D *wp, |
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W3VEC pti, |
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W3VEC pto |
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) |
| 304 |
{ |
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double d2; |
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W3VEC *na; |
| 307 |
int i; |
| 308 |
|
| 309 |
if (wp->npts == 0) { /* initialize */ |
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wp->ip = (W3VEC *)malloc(AHUNK*sizeof(W3VEC)); |
| 311 |
if (wp->ip == NULL) return(0); |
| 312 |
wp->ov = (W3VEC *)malloc(AHUNK*sizeof(W3VEC)); |
| 313 |
if (wp->ov == NULL) return(0); |
| 314 |
wp->d2min = 1e10; |
| 315 |
wp->d2max = 0.; |
| 316 |
W3VCPY(wp->llim, pti); |
| 317 |
W3VCPY(wp->ulim, pti); |
| 318 |
} else { |
| 319 |
if (wp->npts % AHUNK == 0) { /* allocate another hunk */ |
| 320 |
na = (W3VEC *)realloc((void *)wp->ip, |
| 321 |
(wp->npts+AHUNK)*sizeof(W3VEC)); |
| 322 |
if (na == NULL) return(0); |
| 323 |
wp->ip = na; |
| 324 |
na = (W3VEC *)realloc((void *)wp->ov, |
| 325 |
(wp->npts+AHUNK)*sizeof(W3VEC)); |
| 326 |
if (na == NULL) return(0); |
| 327 |
wp->ov = na; |
| 328 |
} |
| 329 |
for (i = 0; i < 3; i++) /* check boundaries */ |
| 330 |
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]; |
| 334 |
for (i = wp->npts; i--; ) { /* check distances */ |
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d2 = wpdist2(pti, wp->ip[i]); |
| 336 |
if (d2 < MIND*MIND) /* value is too close */ |
| 337 |
return(wp->npts); |
| 338 |
if (d2 < wp->d2min) |
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wp->d2min = d2; |
| 340 |
if (d2 > wp->d2max) |
| 341 |
wp->d2max = d2; |
| 342 |
} |
| 343 |
} |
| 344 |
W3VCPY(wp->ip[wp->npts], pti); /* add new point */ |
| 345 |
wp->ov[wp->npts][0] = pto[0] - pti[0]; |
| 346 |
wp->ov[wp->npts][1] = pto[1] - pti[1]; |
| 347 |
wp->ov[wp->npts][2] = pto[2] - pti[2]; |
| 348 |
done3dgrid(&wp->grid); /* old grid is invalid */ |
| 349 |
return(++wp->npts); |
| 350 |
} |
| 351 |
|
| 352 |
|
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extern void |
| 354 |
free3dw( /* free WARP3D data */ |
| 355 |
WARP3D *wp |
| 356 |
) |
| 357 |
{ |
| 358 |
done3dgrid(&wp->grid); |
| 359 |
free(wp->ip); |
| 360 |
free(wp->ov); |
| 361 |
free(wp); |
| 362 |
} |
| 363 |
|
| 364 |
|
| 365 |
static unsigned long |
| 366 |
gridhash( /* hash a grid point index */ |
| 367 |
const char *gp |
| 368 |
) |
| 369 |
{ |
| 370 |
return(((unsigned long)((const unsigned char*)gp)[0]<<GNBITS | ((const unsigned char*)gp)[1])<<GNBITS | ((const unsigned char*)gp)[2]); |
| 371 |
} |
| 372 |
|
| 373 |
|
| 374 |
static int |
| 375 |
new3dgrid( /* initialize interpolating grid for warp */ |
| 376 |
WARP3D *wp |
| 377 |
) |
| 378 |
{ |
| 379 |
W3VEC gmax; |
| 380 |
double gridstep, d; |
| 381 |
int n; |
| 382 |
int i; |
| 383 |
/* free old grid (if any) */ |
| 384 |
done3dgrid(&wp->grid); |
| 385 |
/* check parameters */ |
| 386 |
if (wp->npts < 2) |
| 387 |
return(W3BADMAP); /* undefined for less than 2 points */ |
| 388 |
if (wp->d2max < MIND) |
| 389 |
return(W3BADMAP); /* not enough disparity */ |
| 390 |
/* compute gamut */ |
| 391 |
W3VCPY(wp->grid.gmin, wp->llim); |
| 392 |
W3VCPY(gmax, wp->ulim); |
| 393 |
gridstep = sqrt(wp->d2min); |
| 394 |
for (i = 0; i < 3; i++) { |
| 395 |
wp->grid.gmin[i] -= .501*gridstep; |
| 396 |
gmax[i] += .501*gridstep; |
| 397 |
} |
| 398 |
if (wp->grid.flags & W3EXACT) { |
| 399 |
wp->grid.gn[0] = wp->grid.gn[1] = wp->grid.gn[2] = 1; |
| 400 |
wp->grid.gstep[0] = gmax[0] - wp->grid.gmin[0]; |
| 401 |
wp->grid.gstep[1] = gmax[1] - wp->grid.gmin[1]; |
| 402 |
wp->grid.gstep[2] = gmax[2] - wp->grid.gmin[2]; |
| 403 |
return(W3OK); /* no interpolation, so no grid */ |
| 404 |
} |
| 405 |
/* create grid */ |
| 406 |
for (i = 0; i < 3; i++) { |
| 407 |
d = gmax[i] - wp->grid.gmin[i]; |
| 408 |
n = d/gridstep + .5; |
| 409 |
if (n >= MAXGN-1) |
| 410 |
n = MAXGN-2; |
| 411 |
wp->grid.gstep[i] = d / n; |
| 412 |
wp->grid.gn[i] = n; |
| 413 |
} |
| 414 |
/* initialize lookup table */ |
| 415 |
wp->grid.gtab.hashf = gridhash; |
| 416 |
wp->grid.gtab.keycmp = NULL; |
| 417 |
wp->grid.gtab.freek = free; |
| 418 |
wp->grid.gtab.freed = NULL; |
| 419 |
return(lu_init(&wp->grid.gtab, 1024) ? W3OK : W3ERROR); |
| 420 |
} |
| 421 |
|
| 422 |
|
| 423 |
static void |
| 424 |
done3dgrid( /* free interpolating grid for warp */ |
| 425 |
struct grid3d *gp |
| 426 |
) |
| 427 |
{ |
| 428 |
if (gp->gn[0] == 0) |
| 429 |
return; |
| 430 |
lu_done(&gp->gtab); |
| 431 |
gp->gn[0] = gp->gn[1] = gp->gn[2] = 0; |
| 432 |
} |
