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//##########################################################################
//# #
//# CLOUDCOMPARE #
//# #
//# This program is free software; you can redistribute it and/or modify #
//# it under the terms of the GNU General Public License as published by #
//# the Free Software Foundation; version 2 or later of the License. #
//# #
//# This program is distributed in the hope that it will be useful, #
//# but WITHOUT ANY WARRANTY; without even the implied warranty of #
//# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the #
//# GNU General Public License for more details. #
//# #
//# COPYRIGHT: EDF R&D / TELECOM ParisTech (ENST-TSI) #
//# #
//##########################################################################
#include "ccNormalCompressor.h"
//CCLib
#include <CCConst.h>
//System
#include <assert.h>
void ccNormalCompressor::InvertNormal(CompressedNormType &code)
{
if (code != NULL_NORM_CODE)
{
//see 'Decompress' for a better understanding
code ^= (static_cast<CompressedNormType>(7) << 2 * QUANTIZE_LEVEL);
}
}
unsigned ccNormalCompressor::Compress(const PointCoordinateType n[3])
{
assert(QUANTIZE_LEVEL != 0);
/// compute in which sector lie the elements
unsigned res = 0;
PointCoordinateType x;
PointCoordinateType y;
PointCoordinateType z;
if (n[0] >= 0) { x = n[0]; } else { res |= 4; x = -n[0]; }
if (n[1] >= 0) { y = n[1]; } else { res |= 2; y = -n[1]; }
if (n[2] >= 0) { z = n[2]; } else { res |= 1; z = -n[2]; }
/// scale the sectored vector - early return for null vector
PointCoordinateType psnorm = x + y + z;
if (psnorm == 0)
{
return NULL_NORM_CODE;
}
x /= psnorm; y /= psnorm; z /= psnorm;
/// compute the box
PointCoordinateType box[6] = { 0, 0, 0, 1, 1, 1 };
/// then for each required level, quantize...
bool flip = false;
for (unsigned char level = QUANTIZE_LEVEL; level != 0; )
{
//next level
res <<= 2;
--level;
PointCoordinateType halfBox[3] = { (box[0] + box[3]) / 2,
(box[1] + box[4]) / 2,
(box[2] + box[5]) / 2 };
unsigned sector = 3;
if (flip)
{
if (z < halfBox[2]) sector = 2;
else if (y < halfBox[1]) sector = 1;
else if (x < halfBox[0]) sector = 0;
}
else
{
if (z > halfBox[2]) sector = 2;
else if (y > halfBox[1]) sector = 1;
else if (x > halfBox[0]) sector = 0;
}
res |= sector;
if (level != 0) //skip this at the last level
{
if (flip)
{
if (sector != 3)
psnorm = box[sector];
box[0] = halfBox[0];
box[1] = halfBox[1];
box[2] = halfBox[2];
if (sector != 3)
{
box[3 + sector] = box[sector];
box[sector] = psnorm;
}
else
{
flip = false;
}
}
else
{
if (sector != 3)
psnorm = box[3 + sector];
box[3] = halfBox[0];
box[4] = halfBox[1];
box[5] = halfBox[2];
if (sector != 3)
{
box[sector] = box[3 + sector];
box[3 + sector] = psnorm;
}
else
{
flip = true;
}
}
}
}
return res;
}
void ccNormalCompressor::Decompress(unsigned index, PointCoordinateType n[3], unsigned char level/*=QUANTIZE_LEVEL*/)
{
assert(level != 0);
/// special case for the null code
if (index == NULL_NORM_CODE)
{
n[0] = n[1] = n[2] = 0;
return;
}
/// recompute the box in the sector...
PointCoordinateType box[6] = { 0, 0, 0, 1, 1, 1 };
bool flip = false;
unsigned char l_shift = level * 2;
for (unsigned char k = 0; k < level; ++k)
{
l_shift -= 2;
const unsigned sector = ((index >> l_shift) & 3);
if (flip)
{
const PointCoordinateType tmp = box[sector];
box[0] = (box[0] + box[3]) / 2;
box[1] = (box[1] + box[4]) / 2;
box[2] = (box[2] + box[5]) / 2;
if (sector != 3)
{
box[3+sector] = box[sector];
box[sector] = tmp;
}
else
{
flip = false;
}
}
else
{
const PointCoordinateType tmp = (sector != 3 ? box[3 + sector] : 0);
box[3] = (box[0] + box[3]) / 2;
box[4] = (box[1] + box[4]) / 2;
box[5] = (box[2] + box[5]) / 2;
if (sector != 3)
{
box[sector] = box[3 + sector];
box[3 + sector] = tmp;
}
else
{
flip = true;
}
}
}
//get the sector
const unsigned sector = index >> (level + level);
n[0] = ((sector & 4) != 0 ? -(box[3] + box[0]) : box[3] + box[0]);
n[1] = ((sector & 2) != 0 ? -(box[4] + box[1]) : box[4] + box[1]);
n[2] = ((sector & 1) != 0 ? -(box[5] + box[2]) : box[5] + box[2]);
}
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