marching_cubes_poisson.cpp
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00001 /*
00002 Copyright (c) 2006, Michael Kazhdan and Matthew Bolitho
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without modification,
00006 are permitted provided that the following conditions are met:
00007 
00008 Redistributions of source code must retain the above copyright notice, this list of
00009 conditions and the following disclaimer. Redistributions in binary form must reproduce
00010 the above copyright notice, this list of conditions and the following disclaimer
00011 in the documentation and/or other materials provided with the distribution. 
00012 
00013 Neither the name of the Johns Hopkins University nor the names of its contributors
00014 may be used to endorse or promote products derived from this software without specific
00015 prior written permission. 
00016 
00017 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
00018 EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO THE IMPLIED WARRANTIES 
00019 OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
00020 SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00021 INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
00022 TO, PROCUREMENT OF SUBSTITUTE  GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
00023 BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00024 CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00025 ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
00026 DAMAGE.
00027 */
00028 #include <math.h>
00029 #include <pcl/surface/3rdparty/poisson4/marching_cubes_poisson.h>
00030 
00032 // Square //
00034 
00035 namespace pcl
00036 {
00037   namespace poisson
00038   {
00039 
00040     int Square::AntipodalCornerIndex(int idx){
00041       int x,y;
00042       FactorCornerIndex(idx,x,y);
00043       return CornerIndex( (x+1)%2 , (y+1)%2 );
00044     }
00045     int Square::CornerIndex(int x,int y){return (y<<1)|x;}
00046     void Square::FactorCornerIndex(int idx,int& x,int& y){
00047       x=(idx>>0)%2;
00048       y=(idx>>1)%2;
00049     }
00050     int Square::EdgeIndex(int orientation,int i){
00051       switch(orientation){
00052       case 0: // x
00053         if(!i)  {return  0;} // (0,0) -> (1,0)
00054         else    {return  2;} // (0,1) -> (1,1)
00055       case 1: // y
00056         if(!i)  {return  3;} // (0,0) -> (0,1)
00057         else    {return  1;} // (1,0) -> (1,1)
00058       };
00059       return -1;
00060     }
00061     void Square::FactorEdgeIndex(int idx,int& orientation,int& i){
00062       switch(idx){
00063       case 0: case 2:
00064         orientation=0;
00065         i=idx/2;
00066         return;
00067       case 1: case 3:
00068         orientation=1;
00069         i=((idx/2)+1)%2;
00070         return;
00071       };
00072     }
00073     void Square::EdgeCorners(int idx,int& c1,int& c2){
00074       int orientation,i;
00075       FactorEdgeIndex(idx,orientation,i);
00076       switch(orientation){
00077       case 0:
00078         c1=CornerIndex(0,i);
00079         c2=CornerIndex(1,i);
00080         break;
00081       case 1:
00082         c1=CornerIndex(i,0);
00083         c2=CornerIndex(i,1);
00084         break;
00085       };
00086     }
00087     int Square::ReflectEdgeIndex(int idx,int edgeIndex){
00088       int orientation=edgeIndex%2;
00089       int o,i;
00090       FactorEdgeIndex(idx,o,i);
00091       if(o!=orientation){return idx;}
00092       else{return EdgeIndex(o,(i+1)%2);}
00093     }
00094     int Square::ReflectCornerIndex(int idx,int edgeIndex){
00095       int orientation=edgeIndex%2;
00096       int x,y;
00097       FactorCornerIndex(idx,x,y);
00098       switch(orientation){
00099       case 0:   return CornerIndex((x+1)%2,y);
00100       case 1:   return CornerIndex(x,(y+1)%2);
00101       };
00102       return -1;
00103     }
00104 
00105 
00106 
00108     // Cube //
00110     int Cube::CornerIndex(int x,int y,int z){return (z<<2)|(y<<1)|x;}
00111     void Cube::FactorCornerIndex(int idx,int& x,int& y,int& z){
00112       x=(idx>>0)%2;
00113       y=(idx>>1)%2;
00114       z=(idx>>2)%2;
00115     }
00116     int Cube::EdgeIndex(int orientation,int i,int j){return (i | (j<<1))|(orientation<<2);}
00117     void Cube::FactorEdgeIndex( int idx , int& orientation , int& i , int &j )
00118     {
00119       orientation=idx>>2;
00120       i = (idx&1);
00121       j = (idx&2)>>1;
00122     }
00123     int Cube::FaceIndex(int x,int y,int z){
00124       if                (x<0)   {return  0;}
00125       else if   (x>0)   {return  1;}
00126       else if   (y<0)   {return  2;}
00127       else if   (y>0)   {return  3;}
00128       else if   (z<0)   {return  4;}
00129       else if   (z>0)   {return  5;}
00130       else                      {return -1;}
00131     }
00132     int Cube::FaceIndex(int dir,int offSet){return (dir<<1)|offSet;}
00133 
00134     void Cube::FactorFaceIndex(int idx,int& x,int& y,int& z){
00135       x=y=z=0;
00136       switch(idx){
00137       case 0:           x=-1;   break;
00138       case 1:           x= 1;   break;
00139       case 2:           y=-1;   break;
00140       case 3:           y= 1;   break;
00141       case 4:           z=-1;   break;
00142       case 5:           z= 1;   break;
00143       };
00144     }
00145     void Cube::FactorFaceIndex(int idx,int& dir,int& offSet){
00146       dir  = idx>>1;
00147       offSet=idx &1;
00148     }
00149 
00150     int Cube::FaceAdjacentToEdges(int eIndex1,int eIndex2){
00151       int f1,f2,g1,g2;
00152       FacesAdjacentToEdge(eIndex1,f1,f2);
00153       FacesAdjacentToEdge(eIndex2,g1,g2);
00154       if(f1==g1 || f1==g2){return f1;}
00155       if(f2==g1 || f2==g2){return f2;}
00156       return -1;
00157     }
00158 
00159     void Cube::FacesAdjacentToEdge(int eIndex,int& f1Index,int& f2Index){
00160       int orientation,i1,i2;
00161       FactorEdgeIndex(eIndex,orientation,i1,i2);
00162       i1<<=1;
00163       i2<<=1;
00164       i1--;
00165       i2--;
00166       switch(orientation){
00167       case 0:
00168         f1Index=FaceIndex( 0,i1, 0);
00169         f2Index=FaceIndex( 0, 0,i2);
00170         break;
00171       case 1:
00172         f1Index=FaceIndex(i1, 0, 0);
00173         f2Index=FaceIndex( 0, 0,i2);
00174         break;
00175       case 2:
00176         f1Index=FaceIndex(i1, 0, 0);
00177         f2Index=FaceIndex( 0,i2, 0);
00178         break;
00179       };
00180     }
00181     void Cube::EdgeCorners(int idx,int& c1,int& c2){
00182       int orientation,i1,i2;
00183       FactorEdgeIndex(idx,orientation,i1,i2);
00184       switch(orientation){
00185       case 0:
00186         c1=CornerIndex(0,i1,i2);
00187         c2=CornerIndex(1,i1,i2);
00188         break;
00189       case 1:
00190         c1=CornerIndex(i1,0,i2);
00191         c2=CornerIndex(i1,1,i2);
00192         break;
00193       case 2:
00194         c1=CornerIndex(i1,i2,0);
00195         c2=CornerIndex(i1,i2,1);
00196         break;
00197       };
00198     }
00199     void Cube::FaceCorners(int idx,int& c1,int& c2,int& c3,int& c4){
00200       int i=idx%2;
00201       switch(idx/2){
00202       case 0:
00203         c1=CornerIndex(i,0,0);
00204         c2=CornerIndex(i,1,0);
00205         c3=CornerIndex(i,0,1);
00206         c4=CornerIndex(i,1,1);
00207         return;
00208       case 1:
00209         c1=CornerIndex(0,i,0);
00210         c2=CornerIndex(1,i,0);
00211         c3=CornerIndex(0,i,1);
00212         c4=CornerIndex(1,i,1);
00213         return;
00214       case 2:
00215         c1=CornerIndex(0,0,i);
00216         c2=CornerIndex(1,0,i);
00217         c3=CornerIndex(0,1,i);
00218         c4=CornerIndex(1,1,i);
00219         return;
00220       }
00221     }
00222     int Cube::AntipodalCornerIndex(int idx){
00223       int x,y,z;
00224       FactorCornerIndex(idx,x,y,z);
00225       return CornerIndex((x+1)%2,(y+1)%2,(z+1)%2);
00226     }
00227     int Cube::FaceReflectFaceIndex(int idx,int faceIndex){
00228       if(idx/2!=faceIndex/2){return idx;}
00229       else{
00230         if(idx%2)       {return idx-1;}
00231         else            {return idx+1;}
00232       }
00233     }
00234     int Cube::FaceReflectEdgeIndex(int idx,int faceIndex){
00235       int orientation=faceIndex/2;
00236       int o,i,j;
00237       FactorEdgeIndex(idx,o,i,j);
00238       if(o==orientation){return idx;}
00239       switch(orientation){
00240       case 0:   return EdgeIndex(o,(i+1)%2,j);
00241       case 1:
00242         switch(o){
00243         case 0: return EdgeIndex(o,(i+1)%2,j);
00244         case 2: return EdgeIndex(o,i,(j+1)%2);
00245         };
00246       case 2:   return EdgeIndex(o,i,(j+1)%2);
00247       };
00248       return -1;
00249     }
00250     int Cube::FaceReflectCornerIndex(int idx,int faceIndex){
00251       int orientation=faceIndex/2;
00252       int x,y,z;
00253       FactorCornerIndex(idx,x,y,z);
00254       switch(orientation){
00255       case 0:   return CornerIndex((x+1)%2,y,z);
00256       case 1:   return CornerIndex(x,(y+1)%2,z);
00257       case 2: return CornerIndex(x,y,(z+1)%2);
00258       };
00259       return -1;
00260     }
00261     int Cube::EdgeReflectCornerIndex(int idx,int edgeIndex){
00262       int orientation,x,y,z;
00263       FactorEdgeIndex(edgeIndex,orientation,x,y);
00264       FactorCornerIndex(idx,x,y,z);
00265       switch(orientation){
00266       case 0:   return CornerIndex( x     ,(y+1)%2,(z+1)%2);
00267       case 1:   return CornerIndex((x+1)%2, y     ,(z+1)%2);
00268       case 2:   return CornerIndex((x+1)%2,(y+1)%2, z     );
00269       };
00270       return -1;
00271     }
00272     int Cube::EdgeReflectEdgeIndex(int edgeIndex){
00273       int o,i1,i2;
00274       FactorEdgeIndex(edgeIndex,o,i1,i2);
00275       return Cube::EdgeIndex(o,(i1+1)%2,(i2+1)%2);
00276     }
00277 
00278 
00280     // MarchingSquares //
00282     /*
00283 0} // (0,0) -> (1,0)
00284 1} // (1,0) -> (1,1)
00285 2} // (0,1) -> (1,1)
00286 3} // (0,0) -> (0,1)
00287 */
00288     const int* MarchingSquares::edgeMask()
00289     {
00290         const static int edgeMask_local[1<<Square::CORNERS]=
00291         {
00292             0, //  0 ->         ->                         ->
00293             9, //  1 -> 0       -> (0,0)                   -> 0,3     ->  9
00294             3, //  2 -> 1       -> (1,0)                   -> 0,1     ->  3
00295             10, //  3 -> 0,1     -> (0,0) (1,0)             -> 1,3     -> 10
00296             12, //  4 -> 2       -> (0,1)                   -> 2,3     -> 12
00297             5, //  5 -> 0,2     -> (0,0) (0,1)             -> 0,2     ->  5
00298             15, //  6 -> 1,2     -> (1,0) (0,1)             -> 0,1,2,3 -> 15
00299             6, //  7 -> 0,1,2   -> (0,0) (1,0) (0,1)       -> 1,2     ->  6
00300             6, //  8 -> 3       -> (1,1)                   -> 1,2     ->  6
00301             15, //  9 -> 0,3     -> (0,0) (1,1)             -> 0,1,2,3 -> 15
00302             5, // 10 -> 1,3     -> (1,0) (1,1)             -> 0,2     ->  5
00303             12, // 11 -> 0,1,3   -> (0,0) (1,0) (1,1)       -> 2,3     -> 12
00304             10, // 12 -> 2,3     -> (0,1) (1,1)             -> 1,3     -> 10
00305             3, // 13 -> 0,2,3   -> (0,0) (0,1) (1,1)       -> 0,1     ->  3
00306             9, // 14 -> 1,2,3   -> (1,0) (0,1) (1,1)       -> 0,3     ->  9
00307             0, // 15 -> 0,1,2,3 -> (0,0) (1,0) (0,1) (1,1) ->    
00308           };
00309         return edgeMask_local;
00310     }
00311     
00312   int MarchingSquares::edges(int i, int j)
00313   {
00314     const static int edges_local[1<<Square::CORNERS][MAX_EDGES*2+1] = 
00315     {
00316         { -1,  -1,  -1,  -1,  -1}, //
00317         {  3,   0,  -1,  -1,  -1}, // (0,0)
00318         {  0,   1,  -1,  -1,  -1}, // (1,0)
00319         {  3,   1,  -1,  -1,  -1}, // (0,0) (1,0)
00320         {  2,   3,  -1,  -1,  -1}, // (0,1)
00321         {  2,   0,  -1,  -1,  -1}, // (0,0) (0,1)
00322         {  0,   1,   2,   3,  -1}, // (1,0) (0,1)
00323         {  1,   2,  -1,  -1,  -1}, // (0,0) (1,0) (0,1)
00324         {  2,   1,  -1,  -1,  -1}, // (1,1)
00325         {  3,   0,   1,   2,  -1}, // (0,0) (1,1)
00326         {  0,   2,  -1,  -1,  -1}, // (1,0) (1,1)
00327         {  3,   2,  -1,  -1,  -1}, // (0,0) (1,0) (1,1)
00328         {  1,   3,  -1,  -1,  -1}, // (0,1) (1,1)
00329         {  1,   0,  -1,  -1,  -1}, // (0,0) (0,1) (1,1)
00330         {  0,   3,  -1,  -1,  -1}, // (1,0) (0,1) (1,1)
00331         { -1,  -1,  -1,  -1,  -1}, // (0,0) (1,0) (0,1) (1,1)
00332     };
00333     return edges_local[i][j];
00334   }
00335 
00336 double& MarchingSquares::vertexList(int i, int j)
00337 {
00338   static double vertexList_local[Square::EDGES][2];
00339   return vertexList_local[i][j];
00340 }
00341 
00342 
00343 int MarchingSquares::GetIndex(const double v[Square::CORNERS],double iso){
00344   int idx=0;
00345   for(int i=0;i<Square::CORNERS;i++){if(v[i]<iso){idx|=(1<<i);}}
00346   return idx;
00347 }
00348 
00349 int MarchingSquares::IsAmbiguous(const double v[Square::CORNERS],double isoValue){
00350   int idx=GetIndex(v,isoValue);
00351   return (idx==5) || (idx==10);
00352 }
00353 int MarchingSquares::AddEdges(const double v[Square::CORNERS],double iso,Edge* isoEdges){
00354   int idx,nEdges=0;
00355   Edge e;
00356 
00357   idx=GetIndex(v,iso);
00358 
00359   /* Cube is entirely in/out of the surface */
00360   if (!edgeMask()[idx]) return 0;
00361 
00362   /* Find the vertices where the surface intersects the cube */
00363   int i,j,ii=1;
00364   for(i=0;i<12;i++){
00365     if(edgeMask()[idx] & ii){SetVertex(i,v,iso);}
00366     ii<<=1;
00367   }
00368   /* Create the triangle */
00369   for (i=0;edges(idx, i)!=-1;i+=2) {
00370     for(j=0;j<2;j++){
00371       e.p[0][j]=vertexList(edges(idx, i+0), j);
00372       e.p[1][j]=vertexList(edges(idx, i+1), j);
00373     }
00374     isoEdges[nEdges++]=e;
00375   }
00376   return nEdges;
00377 }
00378 
00379 int MarchingSquares::AddEdgeIndices(const double v[Square::CORNERS],double iso,int* isoIndices){
00380   int idx,nEdges=0;
00381 
00382   idx=GetIndex(v,iso);
00383 
00384   /* Cube is entirely in/out of the surface */
00385   if (!edgeMask()[idx]) return 0;
00386 
00387   /* Create the triangle */
00388   for(int i=0;edges(idx, i)!=-1;i+=2){
00389     for(int j=0;j<2;j++){isoIndices[i+j]=edges(idx, i+j);}
00390     nEdges++;
00391   }
00392   return nEdges;
00393 }
00394 void MarchingSquares::SetVertex(int e,const double values[Square::CORNERS],double iso){
00395   int o,i,c1,c2;
00396   Square::FactorEdgeIndex(e,o,i);
00397   Square::EdgeCorners(e,c1,c2);
00398   switch(o){
00399   case 0:
00400     vertexList(e, 0)=Interpolate(values[c1]-iso,values[c2]-iso);
00401     vertexList(e, 1)=i;
00402     break;
00403   case 1:
00404     vertexList(e, 1)=Interpolate(values[c1]-iso,values[c2]-iso);
00405     vertexList(e, 0)=i;
00406     break;
00407   }
00408 }
00409 double MarchingSquares::Interpolate(double v1,double v2){return v1/(v1-v2);}
00410 
00411 
00413 // MarchingCubes //
00415 const int* MarchingCubes::edgeMask()
00416 {
00417     static const int edgeMast_local[1<<Cube::CORNERS]=
00418     {
00419         0,  273,  545,  816, 2082, 2355, 2563, 2834,
00420         1042, 1283, 1587, 1826, 3120, 3361, 3601, 3840,
00421         324,   85,  869,  628, 2406, 2167, 2887, 2646,
00422         1366, 1095, 1911, 1638, 3444, 3173, 3925, 3652,
00423         644,  917,  165,  436, 2726, 2999, 2183, 2454,
00424         1686, 1927, 1207, 1446, 3764, 4005, 3221, 3460,
00425         960,  721,  481,  240, 3042, 2803, 2499, 2258,
00426         2002, 1731, 1523, 1250, 4080, 3809, 3537, 3264,
00427         2184, 2457, 2729, 3000,  170,  443,  651,  922,
00428         3226, 3467, 3771, 4010, 1208, 1449, 1689, 1928,
00429         2508, 2269, 3053, 2812,  494,  255,  975,  734,
00430         3550, 3279, 4095, 3822, 1532, 1261, 2013, 1740,
00431         2572, 2845, 2093, 2364,  558,  831,   15,  286,
00432         3614, 3855, 3135, 3374, 1596, 1837, 1053, 1292,
00433         2888, 2649, 2409, 2168,  874,  635,  331,   90,
00434         3930, 3659, 3451, 3178, 1912, 1641, 1369, 1096,
00435         1096, 1369, 1641, 1912, 3178, 3451, 3659, 3930,
00436         90,  331,  635,  874, 2168, 2409, 2649, 2888,
00437         1292, 1053, 1837, 1596, 3374, 3135, 3855, 3614,
00438         286,   15,  831,  558, 2364, 2093, 2845, 2572,
00439         1740, 2013, 1261, 1532, 3822, 4095, 3279, 3550,
00440         734,  975,  255,  494, 2812, 3053, 2269, 2508,
00441         1928, 1689, 1449, 1208, 4010, 3771, 3467, 3226,
00442         922,  651,  443,  170, 3000, 2729, 2457, 2184,
00443         3264, 3537, 3809, 4080, 1250, 1523, 1731, 2002,
00444         2258, 2499, 2803, 3042,  240,  481,  721,  960,
00445         3460, 3221, 4005, 3764, 1446, 1207, 1927, 1686,
00446         2454, 2183, 2999, 2726,  436,  165,  917,  644,
00447         3652, 3925, 3173, 3444, 1638, 1911, 1095, 1366,
00448         2646, 2887, 2167, 2406,  628,  869,   85,  324,
00449         3840, 3601, 3361, 3120, 1826, 1587, 1283, 1042,
00450         2834, 2563, 2355, 2082,  816,  545,  273,    0
00451     };
00452     return edgeMast_local;
00453 }
00454 
00455 int MarchingCubes::triangles(int i, int j)
00456 {
00457     static const int triangles_local[1<<Cube::CORNERS][MAX_TRIANGLES*3+1] = {
00458     {  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00459     {   0,   4,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00460     {   5,   0,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00461     {   8,   9,   5,   8,   5,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00462     {   1,   5,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00463     {   0,   4,   8,   1,   5,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00464     {   9,  11,   1,   9,   1,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00465     {   8,   9,  11,   8,  11,   1,   8,   1,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00466     {   4,   1,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00467     {  10,   8,   0,  10,   0,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00468     {   5,   0,   9,   4,   1,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00469     {  10,   8,   9,  10,   9,   5,  10,   5,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00470     {  11,  10,   4,  11,   4,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00471     {  11,  10,   8,  11,   8,   0,  11,   0,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00472     {   9,  11,  10,   9,  10,   4,   9,   4,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00473     {   8,   9,  11,   8,  11,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00474     {   8,   6,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00475     {   6,   2,   0,   4,   6,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00476     {   6,   2,   8,   5,   0,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00477     {   5,   4,   6,   9,   5,   6,   2,   9,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00478     {   1,   5,  11,   8,   6,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00479     {   1,   5,  11,   6,   2,   0,   4,   6,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00480     {   6,   2,   8,   9,  11,   1,   9,   1,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00481     {   9,  11,   2,   2,  11,   1,   2,   1,   6,   6,   1,   4,  -1,  -1,  -1,  -1},
00482     {   1,  10,   4,   2,   8,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00483     {   2,   0,   1,   6,   2,   1,  10,   6,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00484     {   5,   0,   9,   4,   1,  10,   8,   6,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00485     {   5,   2,   9,   5,   6,   2,   5,   1,   6,   1,  10,   6,  -1,  -1,  -1,  -1},
00486     {   2,   8,   6,   4,   5,  11,   4,  11,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00487     {   5,   2,   0,   6,   2,   5,  11,   6,   5,  10,   6,  11,  -1,  -1,  -1,  -1},
00488     {   9,  11,  10,   9,  10,   4,   9,   4,   0,   8,   6,   2,  -1,  -1,  -1,  -1},
00489     {   9,  11,   2,   2,  11,   6,  10,   6,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00490     {   9,   2,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00491     {   7,   9,   2,   4,   8,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00492     {   0,   2,   7,   0,   7,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00493     {   7,   5,   4,   2,   7,   4,   8,   2,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00494     {   7,   9,   2,   5,  11,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00495     {   1,   5,  11,   0,   4,   8,   9,   2,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00496     {   1,   0,   2,   1,   2,   7,   1,   7,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00497     {   1,   7,  11,   1,   2,   7,   1,   4,   2,   4,   8,   2,  -1,  -1,  -1,  -1},
00498     {   4,   1,  10,   9,   2,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00499     {   7,   9,   2,   0,   1,  10,   0,  10,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00500     {   4,   1,  10,   2,   7,   5,   0,   2,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00501     {   2,  10,   8,   1,  10,   2,   7,   1,   2,   5,   1,   7,  -1,  -1,  -1,  -1},
00502     {   7,   9,   2,  10,   4,   5,  11,  10,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00503     {  11,  10,   8,  11,   8,   0,  11,   0,   5,   9,   2,   7,  -1,  -1,  -1,  -1},
00504     {  11,  10,   7,   7,  10,   4,   7,   4,   2,   2,   4,   0,  -1,  -1,  -1,  -1},
00505     {  11,  10,   7,   7,  10,   2,   8,   2,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00506     {   7,   9,   8,   6,   7,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00507     {   4,   6,   7,   0,   4,   7,   9,   0,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00508     {   6,   7,   5,   8,   6,   5,   0,   8,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00509     {   4,   6,   7,   5,   4,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00510     {   5,  11,   1,   8,   6,   7,   9,   8,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00511     {   4,   6,   7,   0,   4,   7,   9,   0,   7,  11,   1,   5,  -1,  -1,  -1,  -1},
00512     {   8,   1,   0,  11,   1,   8,   6,  11,   8,   7,  11,   6,  -1,  -1,  -1,  -1},
00513     {  11,   6,   7,   1,   6,  11,   6,   1,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00514     {   1,  10,   4,   6,   7,   9,   6,   9,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00515     {   0,   1,   9,   9,   1,  10,   9,  10,   7,   7,  10,   6,  -1,  -1,  -1,  -1},
00516     {   6,   7,   5,   8,   6,   5,   0,   8,   5,   1,  10,   4,  -1,  -1,  -1,  -1},
00517     {   1,   7,   5,  10,   7,   1,   7,  10,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00518     {  11,  10,   4,  11,   4,   5,   7,   9,   8,   6,   7,   8,  -1,  -1,  -1,  -1},
00519     {   0,   6,   9,   9,   6,   7,   6,   0,   5,   5,  11,  10,   5,  10,   6,  -1},
00520     {   8,   7,   0,   6,   7,   8,   4,   0,   7,  11,  10,   4,   7,  11,   4,  -1},
00521     {  11,  10,   6,  11,   6,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00522     {  11,   7,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00523     {   0,   4,   8,  11,   7,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00524     {   9,   5,   0,  11,   7,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00525     {  11,   7,   3,   4,   8,   9,   5,   4,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00526     {   3,   1,   5,   3,   5,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00527     {   0,   4,   8,   7,   3,   1,   5,   7,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00528     {   3,   1,   0,   3,   0,   9,   3,   9,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00529     {   7,   8,   9,   4,   8,   7,   3,   4,   7,   1,   4,   3,  -1,  -1,  -1,  -1},
00530     {   1,  10,   4,   3,  11,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00531     {   3,  11,   7,   8,   0,   1,  10,   8,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00532     {   4,   1,  10,   5,   0,   9,  11,   7,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00533     {  10,   8,   9,  10,   9,   5,  10,   5,   1,  11,   7,   3,  -1,  -1,  -1,  -1},
00534     {   4,   5,   7,   4,   7,   3,   4,   3,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00535     {  10,   8,   3,   3,   8,   0,   3,   0,   7,   7,   0,   5,  -1,  -1,  -1,  -1},
00536     {   4,   3,  10,   4,   7,   3,   4,   0,   7,   0,   9,   7,  -1,  -1,  -1,  -1},
00537     {  10,   8,   3,   3,   8,   7,   9,   7,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00538     {  11,   7,   3,   8,   6,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00539     {  11,   7,   3,   2,   0,   4,   2,   4,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00540     {  11,   7,   3,   8,   6,   2,   5,   0,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00541     {   5,   4,   6,   9,   5,   6,   2,   9,   6,   3,  11,   7,  -1,  -1,  -1,  -1},
00542     {   8,   6,   2,   3,   1,   5,   3,   5,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00543     {   3,   1,   5,   3,   5,   7,   6,   2,   0,   4,   6,   0,  -1,  -1,  -1,  -1},
00544     {   3,   1,   0,   3,   0,   9,   3,   9,   7,   2,   8,   6,  -1,  -1,  -1,  -1},
00545     {   9,   4,   2,   2,   4,   6,   4,   9,   7,   7,   3,   1,   7,   1,   4,  -1},
00546     {   8,   6,   2,  11,   7,   3,   4,   1,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00547     {   2,   0,   1,   6,   2,   1,  10,   6,   1,  11,   7,   3,  -1,  -1,  -1,  -1},
00548     {   5,   0,   9,   4,   1,  10,   8,   6,   2,  11,   7,   3,  -1,  -1,  -1,  -1},
00549     {  11,   7,   3,   5,   2,   9,   5,   6,   2,   5,   1,   6,   1,  10,   6,  -1},
00550     {   4,   5,   7,   4,   7,   3,   4,   3,  10,   6,   2,   8,  -1,  -1,  -1,  -1},
00551     {  10,   5,   3,   3,   5,   7,   5,  10,   6,   6,   2,   0,   6,   0,   5,  -1},
00552     {   8,   6,   2,   4,   3,  10,   4,   7,   3,   4,   0,   7,   0,   9,   7,  -1},
00553     {   9,   7,  10,  10,   7,   3,  10,   6,   9,   6,   2,   9,  -1,  -1,  -1,  -1},
00554     {   3,  11,   9,   2,   3,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00555     {   4,   8,   0,   2,   3,  11,   2,  11,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00556     {   0,   2,   3,   0,   3,  11,   0,  11,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00557     {   2,   3,   8,   8,   3,  11,   8,  11,   4,   4,  11,   5,  -1,  -1,  -1,  -1},
00558     {   2,   3,   1,   2,   1,   5,   2,   5,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00559     {   2,   3,   1,   2,   1,   5,   2,   5,   9,   0,   4,   8,  -1,  -1,  -1,  -1},
00560     {   0,   2,   3,   0,   3,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00561     {   2,   3,   8,   8,   3,   4,   1,   4,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00562     {   1,  10,   4,   9,   2,   3,  11,   9,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00563     {  10,   8,   0,  10,   0,   1,   3,  11,   9,   2,   3,   9,  -1,  -1,  -1,  -1},
00564     {   0,   2,   3,   0,   3,  11,   0,  11,   5,   1,  10,   4,  -1,  -1,  -1,  -1},
00565     {   5,   2,  11,  11,   2,   3,   2,   5,   1,   1,  10,   8,   1,   8,   2,  -1},
00566     {  10,   2,   3,   9,   2,  10,   4,   9,  10,   5,   9,   4,  -1,  -1,  -1,  -1},
00567     {   5,  10,   0,   0,  10,   8,  10,   5,   9,   9,   2,   3,   9,   3,  10,  -1},
00568     {   0,   2,   4,   4,   2,  10,   3,  10,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00569     {  10,   8,   2,  10,   2,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00570     {  11,   9,   8,   3,  11,   8,   6,   3,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00571     {   0,  11,   9,   3,  11,   0,   4,   3,   0,   6,   3,   4,  -1,  -1,  -1,  -1},
00572     {  11,   5,   3,   5,   0,   3,   0,   6,   3,   0,   8,   6,  -1,  -1,  -1,  -1},
00573     {   3,   4,   6,  11,   4,   3,   4,  11,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00574     {   3,   1,   6,   6,   1,   5,   6,   5,   8,   8,   5,   9,  -1,  -1,  -1,  -1},
00575     {   0,   6,   9,   4,   6,   0,   5,   9,   6,   3,   1,   5,   6,   3,   5,  -1},
00576     {   3,   1,   6,   6,   1,   8,   0,   8,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00577     {   3,   1,   4,   3,   4,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00578     {  11,   9,   8,   3,  11,   8,   6,   3,   8,   4,   1,  10,  -1,  -1,  -1,  -1},
00579     {   3,   9,   6,  11,   9,   3,  10,   6,   9,   0,   1,  10,   9,   0,  10,  -1},
00580     {   4,   1,  10,  11,   5,   3,   5,   0,   3,   0,   6,   3,   0,   8,   6,  -1},
00581     {   5,  10,   6,   1,  10,   5,   6,  11,   5,   6,   3,  11,  -1,  -1,  -1,  -1},
00582     {  10,   5,   3,   4,   5,  10,   6,   3,   5,   9,   8,   6,   5,   9,   6,  -1},
00583     {   6,   3,  10,   9,   0,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00584     {   3,  10,   0,   0,  10,   4,   0,   8,   3,   8,   6,   3,  -1,  -1,  -1,  -1},
00585     {   6,   3,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00586     {  10,   3,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00587     {   3,   6,  10,   0,   4,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00588     {   5,   0,   9,  10,   3,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00589     {   3,   6,  10,   8,   9,   5,   8,   5,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00590     {  11,   1,   5,  10,   3,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00591     {   0,   4,   8,   1,   5,  11,  10,   3,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00592     {  10,   3,   6,   0,   9,  11,   1,   0,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00593     {   8,   9,  11,   8,  11,   1,   8,   1,   4,  10,   3,   6,  -1,  -1,  -1,  -1},
00594     {   4,   1,   3,   6,   4,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00595     {   0,   1,   3,   8,   0,   3,   6,   8,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00596     {   5,   0,   9,   3,   6,   4,   1,   3,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00597     {   8,   9,   6,   6,   9,   5,   6,   5,   3,   3,   5,   1,  -1,  -1,  -1,  -1},
00598     {   6,   4,   5,   6,   5,  11,   6,  11,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00599     {   0,   6,   8,   0,   3,   6,   0,   5,   3,   5,  11,   3,  -1,  -1,  -1,  -1},
00600     {   3,   9,  11,   0,   9,   3,   6,   0,   3,   4,   0,   6,  -1,  -1,  -1,  -1},
00601     {   8,   9,   6,   6,   9,   3,  11,   3,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00602     {   2,   8,  10,   3,   2,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00603     {   3,   2,   0,  10,   3,   0,   4,  10,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00604     {   5,   0,   9,   8,  10,   3,   8,   3,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00605     {   9,   3,   2,  10,   3,   9,   5,  10,   9,   4,  10,   5,  -1,  -1,  -1,  -1},
00606     {  11,   1,   5,   2,   8,  10,   3,   2,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00607     {   3,   2,   0,  10,   3,   0,   4,  10,   0,   5,  11,   1,  -1,  -1,  -1,  -1},
00608     {   9,  11,   1,   9,   1,   0,   2,   8,  10,   3,   2,  10,  -1,  -1,  -1,  -1},
00609     {  10,   2,   4,   3,   2,  10,   1,   4,   2,   9,  11,   1,   2,   9,   1,  -1},
00610     {   1,   3,   2,   4,   1,   2,   8,   4,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00611     {   0,   1,   3,   2,   0,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00612     {   1,   3,   2,   4,   1,   2,   8,   4,   2,   9,   5,   0,  -1,  -1,  -1,  -1},
00613     {   9,   3,   2,   5,   3,   9,   3,   5,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00614     {   3,   2,  11,  11,   2,   8,  11,   8,   5,   5,   8,   4,  -1,  -1,  -1,  -1},
00615     {   5,   2,   0,  11,   2,   5,   2,  11,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00616     {   4,   3,   8,   8,   3,   2,   3,   4,   0,   0,   9,  11,   0,  11,   3,  -1},
00617     {   9,  11,   3,   9,   3,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00618     {  10,   3,   6,   9,   2,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00619     {   9,   2,   7,  10,   3,   6,   0,   4,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00620     {  10,   3,   6,   7,   5,   0,   7,   0,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00621     {   7,   5,   4,   2,   7,   4,   8,   2,   4,  10,   3,   6,  -1,  -1,  -1,  -1},
00622     {  10,   3,   6,   9,   2,   7,   1,   5,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00623     {  10,   3,   6,   9,   2,   7,   1,   5,  11,   0,   4,   8,  -1,  -1,  -1,  -1},
00624     {   1,   0,   2,   1,   2,   7,   1,   7,  11,   3,   6,  10,  -1,  -1,  -1,  -1},
00625     {  10,   3,   6,   1,   7,  11,   1,   2,   7,   1,   4,   2,   4,   8,   2,  -1},
00626     {   9,   2,   7,   6,   4,   1,   6,   1,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00627     {   0,   1,   3,   8,   0,   3,   6,   8,   3,   7,   9,   2,  -1,  -1,  -1,  -1},
00628     {   0,   2,   7,   0,   7,   5,   4,   1,   3,   6,   4,   3,  -1,  -1,  -1,  -1},
00629     {   2,   5,   8,   7,   5,   2,   6,   8,   5,   1,   3,   6,   5,   1,   6,  -1},
00630     {   6,   4,   5,   6,   5,  11,   6,  11,   3,   7,   9,   2,  -1,  -1,  -1,  -1},
00631     {   9,   2,   7,   0,   6,   8,   0,   3,   6,   0,   5,   3,   5,  11,   3,  -1},
00632     {   3,   4,  11,   6,   4,   3,   7,  11,   4,   0,   2,   7,   4,   0,   7,  -1},
00633     {  11,   3,   8,   8,   3,   6,   8,   2,  11,   2,   7,  11,  -1,  -1,  -1,  -1},
00634     {   9,   8,  10,   7,   9,  10,   3,   7,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00635     {   9,   0,   7,   0,   4,   7,   4,   3,   7,   4,  10,   3,  -1,  -1,  -1,  -1},
00636     {   8,  10,   0,   0,  10,   3,   0,   3,   5,   5,   3,   7,  -1,  -1,  -1,  -1},
00637     {  10,   5,   4,   3,   5,  10,   5,   3,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00638     {   9,   8,  10,   7,   9,  10,   3,   7,  10,   1,   5,  11,  -1,  -1,  -1,  -1},
00639     {   1,   5,  11,   9,   0,   7,   0,   4,   7,   4,   3,   7,   4,  10,   3,  -1},
00640     {  11,   0,   7,   1,   0,  11,   3,   7,   0,   8,  10,   3,   0,   8,   3,  -1},
00641     {   7,   1,   4,  11,   1,   7,   4,   3,   7,   4,  10,   3,  -1,  -1,  -1,  -1},
00642     {   4,   9,   8,   7,   9,   4,   1,   7,   4,   3,   7,   1,  -1,  -1,  -1,  -1},
00643     {   7,   1,   3,   9,   1,   7,   1,   9,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00644     {   8,   7,   0,   0,   7,   5,   7,   8,   4,   4,   1,   3,   4,   3,   7,  -1},
00645     {   5,   1,   3,   7,   5,   3,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00646     {   3,   4,  11,  11,   4,   5,   4,   3,   7,   7,   9,   8,   7,   8,   4,  -1},
00647     {   3,   9,   0,   7,   9,   3,   0,  11,   3,   0,   5,  11,  -1,  -1,  -1,  -1},
00648     {   3,   7,  11,   8,   4,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00649     {   3,   7,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00650     {   6,  10,  11,   7,   6,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00651     {   0,   4,   8,  10,  11,   7,  10,   7,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00652     {   9,   5,   0,   6,  10,  11,   7,   6,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00653     {   8,   9,   5,   8,   5,   4,   6,  10,  11,   7,   6,  11,  -1,  -1,  -1,  -1},
00654     {   5,   7,   6,   5,   6,  10,   5,  10,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00655     {   5,   7,   6,   5,   6,  10,   5,  10,   1,   4,   8,   0,  -1,  -1,  -1,  -1},
00656     {   1,   0,  10,  10,   0,   9,  10,   9,   6,   6,   9,   7,  -1,  -1,  -1,  -1},
00657     {   1,   7,  10,  10,   7,   6,   7,   1,   4,   4,   8,   9,   4,   9,   7,  -1},
00658     {   7,   6,   4,   7,   4,   1,   7,   1,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00659     {  11,   0,   1,   8,   0,  11,   7,   8,  11,   6,   8,   7,  -1,  -1,  -1,  -1},
00660     {   7,   6,   4,   7,   4,   1,   7,   1,  11,   5,   0,   9,  -1,  -1,  -1,  -1},
00661     {  11,   6,   1,   7,   6,  11,   5,   1,   6,   8,   9,   5,   6,   8,   5,  -1},
00662     {   4,   5,   7,   4,   7,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00663     {   5,   7,   0,   0,   7,   8,   6,   8,   7,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00664     {   7,   6,   9,   9,   6,   0,   4,   0,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00665     {   8,   9,   7,   8,   7,   6,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00666     {   8,  10,  11,   2,   8,  11,   7,   2,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00667     {  10,  11,   4,   4,  11,   7,   4,   7,   0,   0,   7,   2,  -1,  -1,  -1,  -1},
00668     {   8,  10,  11,   2,   8,  11,   7,   2,  11,   5,   0,   9,  -1,  -1,  -1,  -1},
00669     {   9,   4,   2,   5,   4,   9,   7,   2,   4,  10,  11,   7,   4,  10,   7,  -1},
00670     {   1,   8,  10,   2,   8,   1,   5,   2,   1,   7,   2,   5,  -1,  -1,  -1,  -1},
00671     {   1,   7,  10,   5,   7,   1,   4,  10,   7,   2,   0,   4,   7,   2,   4,  -1},
00672     {   7,   1,   9,   9,   1,   0,   1,   7,   2,   2,   8,  10,   2,  10,   1,  -1},
00673     {   7,   2,   9,  10,   1,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00674     {   8,   4,   2,   4,   1,   2,   1,   7,   2,   1,  11,   7,  -1,  -1,  -1,  -1},
00675     {  11,   0,   1,   7,   0,  11,   0,   7,   2,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00676     {   5,   0,   9,   8,   4,   2,   4,   1,   2,   1,   7,   2,   1,  11,   7,  -1},
00677     {   2,   5,   1,   9,   5,   2,   1,   7,   2,   1,  11,   7,  -1,  -1,  -1,  -1},
00678     {   4,   5,   8,   8,   5,   2,   7,   2,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00679     {   7,   2,   0,   5,   7,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00680     {   7,   2,   4,   4,   2,   8,   4,   0,   7,   0,   9,   7,  -1,  -1,  -1,  -1},
00681     {   7,   2,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00682     {  10,  11,   9,   6,  10,   9,   2,   6,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00683     {  10,  11,   9,   6,  10,   9,   2,   6,   9,   0,   4,   8,  -1,  -1,  -1,  -1},
00684     {   5,  10,  11,   6,  10,   5,   0,   6,   5,   2,   6,   0,  -1,  -1,  -1,  -1},
00685     {   2,   5,   8,   8,   5,   4,   5,   2,   6,   6,  10,  11,   6,  11,   5,  -1},
00686     {  10,   1,   6,   1,   5,   6,   5,   2,   6,   5,   9,   2,  -1,  -1,  -1,  -1},
00687     {   0,   4,   8,  10,   1,   6,   1,   5,   6,   5,   2,   6,   5,   9,   2,  -1},
00688     {   1,   0,  10,  10,   0,   6,   2,   6,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00689     {   2,   6,   1,   1,   6,  10,   1,   4,   2,   4,   8,   2,  -1,  -1,  -1,  -1},
00690     {  11,   9,   1,   1,   9,   2,   1,   2,   4,   4,   2,   6,  -1,  -1,  -1,  -1},
00691     {   8,   1,   6,   0,   1,   8,   2,   6,   1,  11,   9,   2,   1,  11,   2,  -1},
00692     {  11,   6,   1,   1,   6,   4,   6,  11,   5,   5,   0,   2,   5,   2,   6,  -1},
00693     {   2,   6,   8,  11,   5,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00694     {   6,   4,   2,   2,   4,   9,   5,   9,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00695     {   5,   9,   6,   6,   9,   2,   6,   8,   5,   8,   0,   5,  -1,  -1,  -1,  -1},
00696     {   0,   2,   6,   0,   6,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00697     {   2,   6,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00698     {   8,  10,  11,   9,   8,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00699     {   0,  11,   9,   4,  11,   0,  11,   4,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00700     {   5,  10,  11,   0,  10,   5,  10,   0,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00701     {   4,  10,  11,   5,   4,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00702     {   1,   8,  10,   5,   8,   1,   8,   5,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00703     {   9,   4,  10,   0,   4,   9,  10,   5,   9,  10,   1,   5,  -1,  -1,  -1,  -1},
00704     {   0,   8,  10,   1,   0,  10,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00705     {  10,   1,   4,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00706     {   4,   9,   8,   1,   9,   4,   9,   1,  11,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00707     {   1,  11,   9,   0,   1,   9,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00708     {  11,   0,   8,   5,   0,  11,   8,   1,  11,   8,   4,   1,  -1,  -1,  -1,  -1},
00709     {  11,   5,   1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00710     {   5,   9,   8,   4,   5,   8,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00711     {   9,   0,   5,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00712     {   8,   4,   0,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1},
00713     {  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1,  -1}
00714     };
00715 
00716     return triangles_local[i][j];
00717 }
00718 const int* MarchingCubes::cornerMap()
00719 {
00720     static const int cornerMap_local[Cube::CORNERS]={0,1,3,2,4,5,7,6};
00721     return cornerMap_local;
00722 }
00723 double& MarchingCubes::vertexList(int i, int j)
00724 {
00725     static double vertexList_local[Cube::EDGES][3];
00726     return vertexList_local[i][j];
00727 }
00728 
00729 int MarchingCubes::GetIndex(const double v[Cube::CORNERS],double iso){
00730   int idx=0;
00731   if (v[Cube::CornerIndex(0,0,0)] < iso) idx |=   1;
00732   if (v[Cube::CornerIndex(1,0,0)] < iso) idx |=   2;
00733   if (v[Cube::CornerIndex(1,1,0)] < iso) idx |=   4;
00734   if (v[Cube::CornerIndex(0,1,0)] < iso) idx |=   8;
00735   if (v[Cube::CornerIndex(0,0,1)] < iso) idx |=  16;
00736   if (v[Cube::CornerIndex(1,0,1)] < iso) idx |=  32;
00737   if (v[Cube::CornerIndex(1,1,1)] < iso) idx |=  64;
00738   if (v[Cube::CornerIndex(0,1,1)] < iso) idx |= 128;
00739   return idx;
00740 }
00741 int MarchingCubes::GetFaceIndex(const double values[Cube::CORNERS],double iso,int faceIndex){
00742   int i,j,x,y,z,idx=0;
00743   double v[2][2];
00744   Cube::FactorFaceIndex(faceIndex,x,y,z);
00745   if            (x<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(0,i,j)];}}}
00746   else if       (x>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(1,i,j)];}}}
00747   else if       (y<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,0,j)];}}}
00748   else if       (y>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,1,j)];}}}
00749   else if       (z<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,j,0)];}}}
00750   else if       (z>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,j,1)];}}}
00751   if (v[0][0] < iso) idx |=   1;
00752   if (v[1][0] < iso) idx |=   2;
00753   if (v[1][1] < iso) idx |=   4;
00754   if (v[0][1] < iso) idx |=   8;
00755   return idx;
00756 }
00757 int MarchingCubes::IsAmbiguous(const double v[Cube::CORNERS],double isoValue,int faceIndex){
00758   int idx=GetFaceIndex(v,isoValue,faceIndex);
00759   return (idx==5) || (idx==10);
00760 }
00761 int MarchingCubes::HasRoots(const double v[Cube::CORNERS],double isoValue,int faceIndex){
00762   int idx=GetFaceIndex(v,isoValue,faceIndex);
00763   return (idx!=0) && (idx !=15);
00764 }
00765 int MarchingCubes::HasRoots(const double v[Cube::CORNERS],double isoValue){
00766   int idx=GetIndex(v,isoValue);
00767   if(idx==0 || idx==255){return 0;}
00768   else{return 1;}
00769 }
00770 int MarchingCubes::HasRoots(int mcIndex){
00771   if(mcIndex==0 || mcIndex==255){return 0;}
00772   else{return 1;}
00773 }
00774 int MarchingCubes::AddTriangles( const double v[Cube::CORNERS] , double iso , Triangle* isoTriangles )
00775 {
00776   int idx,ntriang=0;
00777   Triangle tri;
00778 
00779   idx=GetIndex(v,iso);
00780 
00781   /* Cube is entirely in/out of the surface */
00782   if (!edgeMask()[idx]) return 0;
00783 
00784   /* Find the vertices where the surface intersects the cube */
00785   int i,j,ii=1;
00786   for(i=0;i<12;i++){
00787     if(edgeMask()[idx] & ii){SetVertex(i,v,iso);}
00788     ii<<=1;
00789   }
00790   /* Create the triangle */
00791   for( i=0 ; triangles(idx, i)!=-1 ; i+=3 )
00792   {
00793     for(j=0;j<3;j++){
00794       tri.p[0][j]=vertexList(triangles(idx, i+0), j);
00795       tri.p[1][j]=vertexList(triangles(idx, i+1), j);
00796       tri.p[2][j]=vertexList(triangles(idx, i+2), j);
00797     }
00798     isoTriangles[ntriang++]=tri;
00799   }
00800   return ntriang;
00801 }
00802 
00803 int MarchingCubes::AddTriangleIndices(const double v[Cube::CORNERS],double iso,int* isoIndices){
00804   int idx,ntriang=0;
00805 
00806   idx=GetIndex(v,iso);
00807 
00808   /* Cube is entirely in/out of the surface */
00809   if (!edgeMask()[idx]) return 0;
00810 
00811   /* Create the triangle */
00812   for(int i=0;triangles(idx, i)!=-1;i+=3){
00813     for(int j=0;j<3;j++){isoIndices[i+j]=triangles(idx, i+j);}
00814     ntriang++;
00815   }
00816   return ntriang;
00817 }
00818 
00819 void MarchingCubes::SetVertex( int e , const double values[Cube::CORNERS] , double iso )
00820 {
00821   double t;
00822   int o , i1 , i2;
00823   Cube::FactorEdgeIndex( e , o , i1 , i2 );
00824   switch( o )
00825   {
00826   case 0:
00827     t = Interpolate( values[ Cube::CornerIndex( 0 , i1 , i2 ) ] - iso , values[ Cube::CornerIndex( 1 , i1 , i2 ) ] - iso );
00828     vertexList(e, 0) = t , vertexList(e, 1) = i1  , vertexList(e, 2) = i2;
00829     break;
00830   case 1:
00831     t = Interpolate( values[ Cube::CornerIndex( i1 , 0 , i2 ) ] - iso , values[ Cube::CornerIndex( i1 , 1 , i2 ) ] - iso );
00832     vertexList(e, 0) = i1 , vertexList(e, 1) = t  , vertexList(e, 2) = i2;
00833     break;
00834   case 2:
00835     t = Interpolate( values[ Cube::CornerIndex( i1 , i2 , 0 ) ] - iso , values[ Cube::CornerIndex( i1 , i2 , 1 ) ] - iso );
00836     vertexList(e, 0) = i1 , vertexList(e, 1) = i2  , vertexList(e, 2) = t;
00837     break;
00838   }
00839 }
00840 double MarchingCubes::Interpolate( double v1 , double v2 ) { return v1/(v1-v2); }
00841 
00842 
00844 int MarchingCubes::GetIndex(const float v[Cube::CORNERS],float iso){
00845   int idx=0;
00846   if (v[Cube::CornerIndex(0,0,0)] < iso) idx |=   1;
00847   if (v[Cube::CornerIndex(1,0,0)] < iso) idx |=   2;
00848   if (v[Cube::CornerIndex(1,1,0)] < iso) idx |=   4;
00849   if (v[Cube::CornerIndex(0,1,0)] < iso) idx |=   8;
00850   if (v[Cube::CornerIndex(0,0,1)] < iso) idx |=  16;
00851   if (v[Cube::CornerIndex(1,0,1)] < iso) idx |=  32;
00852   if (v[Cube::CornerIndex(1,1,1)] < iso) idx |=  64;
00853   if (v[Cube::CornerIndex(0,1,1)] < iso) idx |= 128;
00854   return idx;
00855 }
00856 int MarchingCubes::GetFaceIndex(const float values[Cube::CORNERS],float iso,int faceIndex){
00857   int i,j,x,y,z,idx=0;
00858   double v[2][2];
00859   Cube::FactorFaceIndex(faceIndex,x,y,z);
00860   if            (x<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(0,i,j)];}}}
00861   else if       (x>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(1,i,j)];}}}
00862   else if       (y<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,0,j)];}}}
00863   else if       (y>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,1,j)];}}}
00864   else if       (z<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,j,0)];}}}
00865   else if       (z>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=values[Cube::CornerIndex(i,j,1)];}}}
00866   if (v[0][0] < iso) idx |=   1;
00867   if (v[1][0] < iso) idx |=   2;
00868   if (v[1][1] < iso) idx |=   4;
00869   if (v[0][1] < iso) idx |=   8;
00870   return idx;
00871 }
00872 int MarchingCubes::GetFaceIndex(int mcIndex,int faceIndex){
00873   int i,j,x,y,z,idx=0;
00874   int v[2][2];
00875   Cube::FactorFaceIndex(faceIndex,x,y,z);
00876   if            (x<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=mcIndex&(1<<MarchingCubes::cornerMap()[Cube::CornerIndex(0,i,j)]);}}}
00877   else if       (x>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=mcIndex&(1<<MarchingCubes::cornerMap()[Cube::CornerIndex(1,i,j)]);}}}
00878   else if       (y<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=mcIndex&(1<<MarchingCubes::cornerMap()[Cube::CornerIndex(i,0,j)]);}}}
00879   else if       (y>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=mcIndex&(1<<MarchingCubes::cornerMap()[Cube::CornerIndex(i,1,j)]);}}}
00880   else if       (z<0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=mcIndex&(1<<MarchingCubes::cornerMap()[Cube::CornerIndex(i,j,1)]);}}}
00881   else if       (z>0){for(i=0;i<2;i++){for(j=0;j<2;j++){v[i][j]=mcIndex&(1<<MarchingCubes::cornerMap()[Cube::CornerIndex(i,j,1)]);}}}
00882   if (v[0][0]) idx |=   1;
00883   if (v[1][0]) idx |=   2;
00884   if (v[1][1]) idx |=   4;
00885   if (v[0][1]) idx |=   8;
00886   return idx;
00887 }
00888 int MarchingCubes::IsAmbiguous(const float v[Cube::CORNERS],float isoValue,int faceIndex){
00889   int idx=GetFaceIndex(v,isoValue,faceIndex);
00890   return (idx==5) || (idx==10);
00891 }
00892 int MarchingCubes::IsAmbiguous(int mcIndex,int faceIndex){
00893   int idx=GetFaceIndex(mcIndex,faceIndex);
00894   return (idx==5) || (idx==10);
00895 }
00896 int MarchingCubes::HasRoots(const float v[Cube::CORNERS],float isoValue){
00897   int idx=GetIndex(v,isoValue);
00898   if(idx==0 || idx==255){return 0;}
00899   else{return 1;}
00900 }
00901 int MarchingCubes::HasRoots(const float v[Cube::CORNERS],float isoValue,int faceIndex){
00902   int idx=GetFaceIndex(v,isoValue,faceIndex);
00903   return (idx!=0) && (idx!=15);
00904 }
00905 int MarchingCubes::HasFaceRoots(int mcIndex,int faceIndex){
00906   int idx=GetFaceIndex(mcIndex,faceIndex);
00907   return (idx!=0) && (idx!=15);
00908 }
00909 int MarchingCubes::HasEdgeRoots(int mcIndex,int edgeIndex){
00910   int c1,c2;
00911   Cube::EdgeCorners(edgeIndex,c1,c2);
00912   if(   ( (mcIndex&(1<<MarchingCubes::cornerMap()[c1])) &&  (mcIndex&(1<<MarchingCubes::cornerMap()[c2]))) ||
00913       (!(mcIndex&(1<<MarchingCubes::cornerMap()[c1])) && !(mcIndex&(1<<MarchingCubes::cornerMap()[c2])))){return 0;}
00914   else{return 1;}
00915 }
00916 int MarchingCubes::AddTriangles(const float v[Cube::CORNERS],float iso,Triangle* isoTriangles){
00917   int idx,ntriang=0;
00918   Triangle tri;
00919 
00920   idx=GetIndex(v,iso);
00921 
00922   /* Cube is entirely in/out of the surface */
00923   if (!edgeMask()[idx]) return 0;
00924 
00925   /* Find the vertices where the surface intersects the cube */
00926   int i,j,ii=1;
00927   for( i=0 ; i<12 ; i++ )
00928   {
00929     if(edgeMask()[idx] & ii) SetVertex( i , v , iso );
00930     ii<<=1;
00931   }
00932   /* Create the triangle */
00933   for (i=0;triangles(idx, i)!=-1;i+=3) {
00934     for(j=0;j<3;j++){
00935       tri.p[0][j]=vertexList(triangles(idx, i+0), j);
00936       tri.p[1][j]=vertexList(triangles(idx, i+1), j);
00937       tri.p[2][j]=vertexList(triangles(idx, i+2), j);
00938     }
00939     isoTriangles[ntriang++]=tri;
00940   }
00941   return ntriang;
00942 }
00943 
00944 int MarchingCubes::AddTriangleIndices( const float v[Cube::CORNERS] , float iso , int* isoIndices )
00945 {
00946   int idx,ntriang=0;
00947   idx=GetIndex(v,iso);
00948   /* Cube is entirely in/out of the surface */
00949   if (!edgeMask()[idx]) return 0;
00950   /* Create the triangle */
00951   for(int i=0;triangles(idx, i)!=-1;i+=3){
00952     for(int j=0;j<3;j++){isoIndices[i+j]=triangles(idx, i+j);}
00953     ntriang++;
00954   }
00955   return ntriang;
00956 }
00957 int MarchingCubes::AddTriangleIndices( int idx , int* isoIndices )
00958 {
00959   int ntriang=0;
00960 
00961   /* Cube is entirely in/out of the surface */
00962   if (!edgeMask()[idx]) return 0;
00963 
00964   /* Create the triangle */
00965   for(int i=0;triangles(idx, i)!=-1;i+=3){
00966     for(int j=0;j<3;j++){isoIndices[i+j]=triangles(idx, i+j);}
00967     ntriang++;
00968   }
00969   return ntriang;
00970 }
00971 
00972 void MarchingCubes::SetVertex( int e , const float values[Cube::CORNERS] , float iso )
00973 {
00974   double t;
00975   int o , i1 , i2;
00976   Cube::FactorEdgeIndex( e , o , i1 , i2 );
00977   switch( o )
00978   {
00979   case 0:
00980     t = Interpolate( values[ Cube::CornerIndex( 0 , i1 , i2 ) ] - iso , values[ Cube::CornerIndex( 1 , i1 , i2 ) ] - iso );
00981     vertexList(e, 0) = t , vertexList(e, 1) = i1  , vertexList(e, 2) = i2;
00982     break;
00983   case 1:
00984     t = Interpolate( values[ Cube::CornerIndex( i1 , 0 , i2 ) ] - iso , values[ Cube::CornerIndex( i1 , 1 , i2 ) ] - iso );
00985     vertexList(e, 0) = i1 , vertexList(e, 1) = t  , vertexList(e, 2) = i2;
00986     break;
00987   case 2:
00988     t = Interpolate( values[ Cube::CornerIndex( i1 , i2 , 0 ) ] - iso , values[ Cube::CornerIndex( i1 , i2 , 1 ) ] - iso );
00989     vertexList(e, 0) = i1 , vertexList(e, 1) = i2  , vertexList(e, 2) = t;
00990     break;
00991   }
00992 }
00993 float MarchingCubes::Interpolate( float v1 , float v2 ){ return v1/(v1-v2); }
00994 
00995 }
00996 }

pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:25:26