1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
|
/****************************************************************************
* VCGLib o o *
* Visual and Computer Graphics Library o o *
* _ O _ *
* Copyright(C) 2004-2016 \/)\/ *
* Visual Computing Lab /\/| *
* ISTI - Italian National Research Council | *
* \ *
* All rights reserved. *
* *
* 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; either version 2 of the License, or *
* (at your option) any later version. *
* *
* 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 (http://www.gnu.org/licenses/gpl.txt) *
* for more details. *
* *
****************************************************************************/
#ifndef __VOXEL_H__
#define __VOXEL_H__
namespace vcg {
// Stato di un voxel
// B() dice se ci sono dati in uno stadio usabile.
// Cnt() dice quanti ce ne sono stati sommati (per la normalizzazione)
// b==false cnt==0 totalmente non inzializzato (Zero)
// b==false cnt >0 da normalizzare
// b==true cnt==0 gia' normalizzato
// b==true cnt >0 Errore!!!
/**
*
*/
template<class SCALAR_TYPE=float>
class Voxel
{
public:
typedef SCALAR_TYPE scalar;
Voxel(SCALAR_TYPE vv, bool bb, Point3<scalar> nn, short _cnt) {v=vv;b=bb;n=nn;cnt=_cnt;}
Voxel(SCALAR_TYPE vv, Point3<scalar> nn, scalar qq) {v=vv;b=true;n=nn;cnt=0;q=qq;}
const Point3<scalar> &N() const { return n; }
void SetN(const Point3<scalar> &nn) { n=nn; }
const scalar &V() const { return v; }
void SetV(const scalar &vv) { v=vv; }
const scalar &Q() const { return q; }
void SetQ(const scalar &qq) { q=qq; }
bool B() const {return b;};
void SetB(bool val) {b=val;}
int Cnt() const {return cnt;}
void SetCnt(int val) {cnt=val;}
inline void Blend( Voxel const & vx, scalar w)
{
float w1=1.0-w;
v=v*w1+vx.v*w;
q=q*w1+vx.q*w;
n=n*w1+vx.n*w;
//return *this;
}
inline Voxel & operator += ( Voxel const & vx)
{
assert(!b);
if(cnt==0)
{
v=vx.v;
q=vx.q;
n=vx.n;
cnt=1;
b=false;
}
else
{
v+=vx.v;
q+=vx.q;
n+=vx.n;
++cnt;
}
return *this;
}
inline bool Normalize(int thr)
{
assert(cnt>0);
assert(!B());
if(cnt<thr)
{
(*this) = Zero();
return false;
}
v/=cnt;
q/=cnt;
n/=cnt;
cnt=0;
b=true;
return true;
}
static const Voxel &Zero() {
static Voxel tt(0,false,Point3f(0,0,0),0);
return tt;
}
void Merge(const Voxel &VOX)
{
v=(v*q+VOX.Q()*VOX.v)/(q+VOX.Q());
n=(n*q+VOX.n*VOX.Q())/(q+VOX.Q());
q=q+VOX.Q();
}
void Set(const Voxel &VOX)
{
v=VOX.v;
n=VOX.n;
q=VOX.q;
}
protected:
bool b;
short cnt;
scalar v;
scalar q;
Point3<SCALAR_TYPE> n;
};
class Voxelfc :public Voxel<float>
{
public:
Voxelfc(float vv, bool bb, Point3f nn, short _cnt) :Voxel<float>(vv,bb,nn,_cnt){}
Voxelfc(float vv, Point3f nn, scalar qq) :Voxel<float>(vv,nn,qq) {}
Voxelfc(float vv, Point3f nn, scalar qq,Color4b cc) :Voxel<float>(vv,nn,qq)
{
c[0]=cc[0];
c[1]=cc[1];
c[2]=cc[2];
}
inline bool Normalize(int thr)
{
if(cnt>=thr) c/=cnt;
return Voxel<float>::Normalize(thr);
}
static const Voxelfc &Zero() {
static Voxelfc tt(0,false,Point3f(0,0,0),0);
return tt;
}
void Merge(const Voxelfc &VOX)
{
c=( c*q + VOX.C()*VOX.Q() )/(q+VOX.Q());
Voxel<float>::Merge(VOX);
}
void Set(const Voxelfc &VOX)
{
Voxel<float>::Set(VOX);
c=VOX.c;
}
const float &C(const int i) const { return c[i]; }
const Point3f &C() const { return c; }
void SetC(const Point3f &cc) { c=cc; }
Color4b C4b() const
{
static Color4b cc;
cc=Color4b(c[0],c[1],c[2],255);
return cc;
}
inline void Blend( Voxelfc const & vx, scalar w)
{
float w1=1.0-w;
v=v*w1+vx.v*w;
q=q*w1+vx.q*w;
n=n*w1+vx.n*w;
c=c*w1+vx.c*w;
//return *this;
}
inline Voxelfc & operator += ( Voxelfc const & vx)
{
Voxel<float>::operator +=(vx);
if(cnt==1) c =vx.c;
else c+=vx.c;
return *this;
}
private:
Point3f c;
};
}
#endif
|
