bool testRaySurface()
{
typedef ImplicitBall<Z3i::Space> ImplicitShape;
typedef GaussDigitizer<Z3i::Space, ImplicitShape> DigitalShape;
typedef LightImplicitDigitalSurface<Z3i::KSpace,DigitalShape> Boundary;
typedef DigitalSurface< Boundary > MyDigitalSurface;
trace.beginBlock(" Ray shooting in digital surface");
trace.beginBlock( "Shape initialisation ..." );
ImplicitShape ishape( Z3i::RealPoint( 0, 0 ,0), 12 );
DigitalShape dshape;
dshape.attach( ishape );
dshape.init( Z3i::RealPoint( -20.0, -20.0 ,-20.0 ), Z3i::RealPoint( 20.0, 20.0, 20.0 ), 1.0 );
Z3i::KSpace K;
if ( !K.init( dshape.getLowerBound(), dshape.getUpperBound(), true ) )
{
trace.error() << "Problem with Khalimsky space init" << std::endl;
return false;
}
Z3i::KSpace::Surfel bel = Surfaces<Z3i::KSpace>::findABel( K, dshape, 10000 );
Boundary boundary( K, dshape, SurfelAdjacency<Z3i::KSpace::dimension>( true ), bel );
MyDigitalSurface surf ( boundary );
trace.endBlock();
trace.beginBlock(" Ray shooting the shape");
RayIntersectionPredicate<Z3i::KSpace::Cell::Point> ray(Z3i::KSpace::Cell::Point(0,0,0),
Z3i::KSpace::Cell::Point(2,2,2));
RayIntersectionPredicate<Z3i::KSpace::Cell::Point> ray2(Z3i::KSpace::Cell::Point(0,0,0),
Z3i::KSpace::Cell::Point(1,0,0));
MyDigitalSurface::ConstIterator it = std::find_if(surf.begin(), surf.end(), ray);
trace.info() << "Ray shooting returns : "<< *it<<std::endl;
MyDigitalSurface::ConstIterator it2 = std::find_if(surf.begin(), surf.end(), ray2);
trace.info() << "Ray shooting returns : "<< *it2<<std::endl;
trace.endBlock();
trace.endBlock();
return true;
}
/**
* Example of a test. To be completed.
*
*/
bool testLocalConvolutionNormalVectorEstimator ( int /*argc*/, char**/*argv*/ )
{
unsigned int nbok = 0;
unsigned int nb = 0;
trace.beginBlock ( "Testing convolution neighborhood ..." );
std::string filename = testPath + "samples/cat10.vol";
typedef ImageSelector < Z3i::Domain, int>::Type Image;
Image image = VolReader<Image>::importVol ( filename );
trace.info() <<image<<std::endl;
DigitalSet set3d ( image.domain() );
SetFromImage<DigitalSet>::append<Image> ( set3d, image,
0,256 );
KSpace ks;
bool space_ok = ks.init ( image.domain().lowerBound(),
image.domain().upperBound(), true );
if ( !space_ok )
{
trace.error() << "Error in the Khamisky space construction."<<std::endl;
return 2;
}
trace.endBlock();
typedef SurfelAdjacency<KSpace::dimension> MySurfelAdjacency;
MySurfelAdjacency surfAdj ( true ); // interior in all directions.
trace.beginBlock ( "Set up digital surface." );
typedef LightImplicitDigitalSurface<KSpace, DigitalSet >
MyDigitalSurfaceContainer;
typedef DigitalSurface<MyDigitalSurfaceContainer> MyDigitalSurface;
SCell bel = Surfaces<KSpace>::findABel ( ks, set3d, 100000 );
MyDigitalSurfaceContainer* ptrSurfContainer =
new MyDigitalSurfaceContainer ( ks, set3d, surfAdj, bel );
MyDigitalSurface digSurf ( ptrSurfContainer ); // acquired
MyDigitalSurface::ConstIterator it = digSurf.begin();
trace.endBlock();
trace.beginBlock ( "Compute and output surface <cat10-constant.off> with trivial normals." );
//Convolution kernel
ConstantConvolutionWeights<MyDigitalSurface::Size> kernel;
//Estimator definition
typedef LocalConvolutionNormalVectorEstimator
< MyDigitalSurface,
ConstantConvolutionWeights<MyDigitalSurface::Size> > MyConstantEstimator;
BOOST_CONCEPT_ASSERT ( ( CNormalVectorEstimator< MyConstantEstimator > ) );
MyConstantEstimator myNormalEstimator ( digSurf, kernel );
// Embedder definition
typedef CanonicDigitalSurfaceEmbedder<MyDigitalSurface> SurfaceEmbedder;
SurfaceEmbedder surfaceEmbedder ( digSurf );
typedef DigitalSurfaceEmbedderWithNormalVectorEstimator
< SurfaceEmbedder, MyConstantEstimator > SurfaceEmbedderWithTrivialNormal;
SurfaceEmbedderWithTrivialNormal mySurfelEmbedder ( surfaceEmbedder,
myNormalEstimator );
// Compute normal vector field and displays it.
myNormalEstimator.init ( 1.0, 2 );
MyConstantEstimator::Quantity res = myNormalEstimator.eval ( it );
trace.info() << "Normal vector at begin() : "<< res << std::endl;
ofstream out ( "cat10-constant.off" );
if ( out.good() )
digSurf.exportAs3DNOFF ( out,mySurfelEmbedder );
out.close();
trace.endBlock();
trace.beginBlock ( "Compute and output surface <cat10-gaussian.off> with gaussian convoluted normals." );
//Convolution kernel
GaussianConvolutionWeights < MyDigitalSurface::Size > Gkernel ( 4.0 );
//Estimator definition
typedef LocalConvolutionNormalVectorEstimator < MyDigitalSurface,
GaussianConvolutionWeights< MyDigitalSurface::Size> > MyGaussianEstimator;
BOOST_CONCEPT_ASSERT ( ( CNormalVectorEstimator< MyGaussianEstimator > ) );
MyGaussianEstimator myNormalEstimatorG ( digSurf, Gkernel );
// Embedder definition
typedef DigitalSurfaceEmbedderWithNormalVectorEstimator<SurfaceEmbedder,MyGaussianEstimator> SurfaceEmbedderWithGaussianNormal;
SurfaceEmbedderWithGaussianNormal mySurfelEmbedderG ( surfaceEmbedder, myNormalEstimatorG );
// Compute normal vector field and displays it.
myNormalEstimatorG.init ( 1.0, 5 );
MyGaussianEstimator::Quantity res2 = myNormalEstimatorG.eval ( it );
trace.info() << "Normal vector at begin() : "<< res2 << std::endl;
std::vector<MyGaussianEstimator::Quantity> allNormals;
myNormalEstimatorG.evalAll ( std::back_inserter ( allNormals ) );
trace.info() << "Normal vector field of size "<< allNormals.size() << std::endl;
ofstream out2 ( "cat10-gaussian.off" );
if ( out2.good() )
digSurf.exportAs3DNOFF ( out2 ,mySurfelEmbedderG );
out2.close();
nbok += true ? 1 : 0;
nb++;
trace.info() << "(" << nbok << "/" << nb << ") "
<< "true == true" << std::endl;
trace.endBlock();
return true;
}
/**
* Example of a test. To be completed.
*
*/
bool testLocalConvolutionNormalVectorEstimator ( int argc, char**argv )
{
unsigned int nbok = 0;
unsigned int nb = 0;
trace.beginBlock ( "Testing convolution neighborhood ..." );
QApplication application ( argc,argv );
DGtal::Viewer3D<> viewer;
std::string filename = testPath + "samples/cat10.vol";
typedef ImageSelector < Z3i::Domain, int>::Type Image;
Image image = VolReader<Image>::importVol ( filename );
trace.info() <<image<<std::endl;
DigitalSet set3d ( image.domain() );
SetFromImage<DigitalSet>::append<Image> ( set3d, image,
0,256 );
KSpace ks;
bool space_ok = ks.init ( image.domain().lowerBound(),
image.domain().upperBound(), true );
if ( !space_ok )
{
trace.error() << "Error in the Khamisky space construction."<<std::endl;
return true; //2; (return a bool !!!)
}
trace.endBlock();
typedef SurfelAdjacency<KSpace::dimension> MySurfelAdjacency;
MySurfelAdjacency surfAdj ( true ); // interior in all directions.
trace.beginBlock ( "Set up digital surface." );
typedef LightImplicitDigitalSurface<KSpace, DigitalSet >
MyDigitalSurfaceContainer;
typedef DigitalSurface<MyDigitalSurfaceContainer> MyDigitalSurface;
SCell bel = Surfaces<KSpace>::findABel ( ks, set3d, 100000 );
MyDigitalSurfaceContainer* ptrSurfContainer =
new MyDigitalSurfaceContainer ( ks, set3d, surfAdj, bel );
MyDigitalSurface digSurf ( ptrSurfContainer ); // acquired
MyDigitalSurface::ConstIterator it = digSurf.begin();
//Convolution kernel
deprecated::ConstantConvolutionWeights< MyDigitalSurface::Size > kernel;
//Estimator definition
typedef deprecated::LocalConvolutionNormalVectorEstimator<MyDigitalSurface,
deprecated::ConstantConvolutionWeights< MyDigitalSurface::Size > > MyEstimator;
MyEstimator myNormalEstimator ( digSurf, kernel );
myNormalEstimator.init ( 1.0, 5 );
MyEstimator::Quantity res = myNormalEstimator.eval ( it );
trace.info() << "Normal vector at begin() : "<< res << std::endl;
viewer.show();
DGtal::Color lineColorSave = viewer.getLineColor();
viewer.setLineColor( DGtal::Color ( 200,20,20 ));
for ( MyDigitalSurface::ConstIterator itbis = digSurf.begin(),itend=digSurf.end();
itbis!=itend; ++itbis )
{
viewer << ks.unsigns ( *itbis );
Point center = ks.sCoords ( *itbis );
MyEstimator::Quantity normal = myNormalEstimator.eval ( itbis );
viewer.addLine ( center,
DGtal::Z3i::RealPoint(center[0]-3*normal[0],
center[1]-3*normal[1],
center[2]-3*normal[2]) );
}
viewer.setLineColor( lineColorSave);
viewer<< Viewer3D<>::updateDisplay;
//Convolution kernel
deprecated::GaussianConvolutionWeights< MyDigitalSurface::Size > Gkernel ( 14.0 );
//Estimator definition
typedef deprecated::LocalConvolutionNormalVectorEstimator<MyDigitalSurface,
deprecated::GaussianConvolutionWeights< MyDigitalSurface::Size > > MyEstimatorGaussian;
MyEstimatorGaussian myNormalEstimatorG ( digSurf, Gkernel );
myNormalEstimatorG.init ( 1.0, 15 );
MyEstimatorGaussian::Quantity res2 = myNormalEstimatorG.eval ( it );
trace.info() << "Normal vector at begin() : "<< res2 << std::endl;
viewer<< CustomColors3D ( Color ( 200, 0, 0 ),Color ( 200, 0,0 ) );
lineColorSave = viewer.getLineColor();
viewer.setLineColor( DGtal::Color ( 200,20,20 ));
for ( MyDigitalSurface::ConstIterator itbis = digSurf.begin(),itend=digSurf.end();
itbis!=itend; ++itbis )
{
viewer << ks.unsigns ( *itbis );
Point center = ks.sCoords ( *itbis );
MyEstimatorGaussian::Quantity normal = myNormalEstimatorG.eval ( itbis );
viewer.addLine ( center,
DGtal::Z3i::RealPoint(center[0]-3*normal[0],
center[1]-3*normal[1],
center[2]-3*normal[2]) );
}
viewer.setLineColor( lineColorSave);
viewer<< Viewer3D<>::updateDisplay;
nbok += true ? 1 : 0;
nb++;
trace.info() << "(" << nbok << "/" << nb << ") "
<< "true == true" << std::endl;
trace.endBlock();
return application.exec();
}
/**
* Example of a test. To be completed.
*
*/
bool testEstimatorCache(double h)
{
unsigned int nbok = 0;
unsigned int nb = 0;
typedef ImplicitBall<Z3i::Space> ImplicitShape;
typedef GaussDigitizer<Z3i::Space, ImplicitShape> DigitalShape;
typedef LightImplicitDigitalSurface<Z3i::KSpace,DigitalShape> Boundary;
typedef DigitalSurface< Boundary > MyDigitalSurface;
typedef DepthFirstVisitor< MyDigitalSurface > Visitor;
typedef GraphVisitorRange< Visitor > VisitorRange;
typedef VisitorRange::ConstIterator VisitorConstIterator;
typedef functors::IIGaussianCurvature3DFunctor<Z3i::Space> MyIICurvatureFunctor;
typedef IntegralInvariantCovarianceEstimator< Z3i::KSpace, DigitalShape, MyIICurvatureFunctor > MyIICurvatureEstimator;
// typedef MyIICurvatureFunctor::Value Value;
double re = 5.0;
double radius = 5.0;
trace.beginBlock( "Shape initialisation ..." );
ImplicitShape ishape( Z3i::RealPoint( 0, 0, 0 ), radius );
DigitalShape dshape;
dshape.attach( ishape );
dshape.init( Z3i::RealPoint( -10.0, -10.0, -10.0 ), Z3i::RealPoint( 10.0, 10.0, 10.0 ), h );
Z3i::KSpace K;
if ( !K.init( dshape.getLowerBound(), dshape.getUpperBound(), true ) )
{
trace.error() << "Problem with Khalimsky space" << std::endl;
return false;
}
Z3i::KSpace::Surfel bel = Surfaces<Z3i::KSpace>::findABel( K, dshape, 10000 );
Boundary boundary( K, dshape, SurfelAdjacency<Z3i::KSpace::dimension>( true ), bel );
MyDigitalSurface surf ( boundary );
trace.endBlock();
trace.beginBlock( "Curvature estimator computation ...");
VisitorRange range( new Visitor( surf, *surf.begin() ));
VisitorConstIterator ibegin = range.begin();
VisitorConstIterator iend = range.end();
MyIICurvatureFunctor curvatureFunctor;
curvatureFunctor.init( h, re );
MyIICurvatureEstimator curvatureEstimator( curvatureFunctor );
curvatureEstimator.attach( K, dshape );
curvatureEstimator.setParams( re/h );
curvatureEstimator.init( h, ibegin, iend );
std::vector<MyIICurvatureEstimator::Quantity> results;
std::back_insert_iterator< std::vector<MyIICurvatureEstimator::Quantity> > itback(results);
curvatureEstimator.eval(ibegin,iend,itback);
trace.info() << "Number of values = "<< results.size()<<std::endl;
trace.endBlock();
trace.beginBlock( "Caching values ...");
VisitorRange range2( new Visitor( surf, *surf.begin() ));
VisitorConstIterator ibegin2 = range2.begin();
VisitorConstIterator iend2 = range2.end();
typedef EstimatorCache<MyIICurvatureEstimator> GaussianCache;
BOOST_CONCEPT_ASSERT(( concepts::CSurfelLocalEstimator<GaussianCache> ));
GaussianCache cache( curvatureEstimator );
cache.init( h, ibegin2, iend2 );
trace.info() << "Number of cached values = "<< cache.size()<<std::endl;
trace.info() << "Value at begin="<< cache.eval(surf.begin())<<" expected = "<< curvatureEstimator.eval(surf.begin())<<std::endl;
trace.endBlock();
trace.beginBlock( "Complete test ...");
bool ok=true;
for(MyDigitalSurface::ConstIterator it = surf.begin(), itend=surf.end(); it != itend; ++it)
{
if ( cache.eval(it) != curvatureEstimator.eval(it) )
{
ok=false;
trace.error() << "Incorrect values at "<<*it<<" read " <<cache.eval(it)<< " and expecting "<<curvatureEstimator.eval(it)<<std::endl;
}
}
trace.endBlock();
trace.beginBlock( "Timing cache access ...");
for(MyDigitalSurface::ConstIterator it = surf.begin(), itend=surf.end(); it != itend; ++it)
{
if ( cache.eval(it) == 12345678 ) //making sure to visit
//all surfels
{
ok=false;
trace.error() << "Incorrect values at "<<*it<<std::endl;
}
}
trace.endBlock();
trace.beginBlock( "Copy construction and timing cache access ...");
GaussianCache cache2(cache);
trace.info() << "Number of cached values = "<< cache.size()<<std::endl;
trace.info() << "Value at begin="<< cache2.eval(surf.begin())<<" expected = "<< curvatureEstimator.eval(surf.begin())<<std::endl;
for(MyDigitalSurface::ConstIterator it = surf.begin(), itend=surf.end(); it != itend; ++it)
{
if ( cache.eval(it) == 12345678 ) //making sure to visit
//all surfels
{
ok=false;
trace.error() << "Incorrect values at "<<*it<<std::endl;
}
}
trace.endBlock();
nbok += ok ? 1 : 0;
nb++;
trace.info() << "(" << nbok << "/" << nb << ") "
<< "cache == eval" << std::endl;
return nbok == nb;
}
bool
processShape( const std::string & name,
Shape & aShape,
double border_min[],
double border_max[],
double h,
const std::string & namePCLFile = "" )
{
typedef typename Space::RealPoint RealPoint;
typedef typename Space::Integer Integer;
typedef GaussDigitizer< Space, Shape > Digitizer;
typedef KhalimskySpaceND< Space::dimension, Integer > KSpace;
typedef LightImplicitDigitalSurface< KSpace, Digitizer > LightImplicitDigSurface;
typedef HyperRectDomain< Space > Domain;
typedef DigitalSurface< LightImplicitDigSurface > MyDigitalSurface;
typedef typename MyDigitalSurface::ConstIterator ConstIterator;
typedef typename KSpace::Surfel Surfel;
Digitizer dig;
dig.attach( aShape );
dig.init( RealPoint( border_min ), RealPoint( border_max ), h );
Domain domain = dig.getDomain();
typedef typename ImageSelector< Domain, unsigned int >::Type Image;
Image image( domain );
DGtal::imageFromRangeAndValue( domain.begin(), domain.end(), image );
KSpace K;
bool ok = K.init( domain.lowerBound(), domain.upperBound(), true );
if ( ! ok )
{
std::cerr << "[compareShapeEstimators]" << " error in creating KSpace." << std::endl;
return false;
}
try
{
// Extracts shape boundary
SurfelAdjacency< KSpace::dimension > SAdj ( true );
Surfel bel = Surfaces<KSpace>::findABel ( K, dig, 10000 );
LightImplicitDigSurface LightImplDigSurf ( K, dig, SAdj, bel );
MyDigitalSurface surf ( LightImplDigSurf );
typedef typename MyDigitalSurface::ConstIterator SurfelConstIterator;
std::ofstream PCL;
trace.info() << "Filename = "<<namePCLFile<<std::endl;
PCL.open( namePCLFile.c_str() );
//Count the number of points
long int cpt=0;
for(SurfelConstIterator it = surf.begin(), itend=surf.end(); it != itend; ++it)
cpt++;
trace.info() << "Surface size = "<<cpt<<std::endl;
PCL << "# range size = " << surf.size() << std::endl;
PCL << "# h = " << h << std::endl;
PCL << "# .PCD v.7 - Point Cloud Data file format"<< std::endl;
PCL <<" VERSION .7"<<std::endl;
PCL <<" FIELDS x y z"<<std::endl;
PCL <<" SIZE 4 4 4 4"<<std::endl;
PCL <<" TYPE I I I I"<<std::endl;
PCL <<" COUNT 1 1 1 1"<<std::endl;
PCL <<" WIDTH "<< cpt <<std::endl;
PCL <<" HEIGHT 1"<<std::endl;
PCL <<" VIEWPOINT 0 0 0 1 0 0 0"<<std::endl;
PCL <<" POINTS "<< cpt <<std::endl;
PCL <<" DATA ascii"<<std::endl;
PCL <<std::endl;
for(SurfelConstIterator it = surf.begin(), itend=surf.end(); it != itend; ++it)
PCL << K.sCoord(*it , 0) << " " << K.sCoord(*it , 1) <<" "<< K.sCoord(*it , 2) <<std::endl;
PCL.close();
}
catch ( InputException e )
{
std::cerr << "[estimatorCurvatureComparator3D]"
<< " error."
<< e.what() << std::endl;
return false;
}
return true;
}
