void BDSInpainting<TImage>::Inpaint(TPatchMatchFunctor* const patchMatchFunctor,
                                    TCompositor* const compositor)
{
  assert(this->Image);
  assert(this->InpaintingMask);

  ConstructValidPatchCentersImage();

  // Initialize the output with the input
  typename TImage::Pointer currentImage = TImage::New();
  ITKHelpers::DeepCopy(this->Image.GetPointer(), currentImage.GetPointer());

  // Allocate the initial NNField
  NNFieldType::Pointer nnField =
    NNFieldType::New();
  nnField->SetRegions(currentImage->GetLargestPossibleRegion());
  nnField->Allocate();

  // Initialize the NNField in the target region
  typedef SSD<TImage> PatchDistanceFunctorType;
  PatchDistanceFunctorType patchDistanceFunctor;
  patchDistanceFunctor.SetImage(currentImage);

  patchMatchFunctor->SetValidPatchCentersImage(this->ValidPatchCentersImage);

  std::vector<itk::Index<2> > pixelsToProcess = this->InpaintingMask->GetHolePixels();
  patchMatchFunctor->SetTargetPixels(pixelsToProcess);
  patchMatchFunctor->SetPatchRadius(this->PatchRadius);

  patchMatchFunctor->GetPropagationFunctor()->SetPatchDistanceFunctor(&patchDistanceFunctor);
  patchMatchFunctor->GetPropagationFunctor()->SetPatchRadius(this->PatchRadius);

  patchMatchFunctor->GetRandomSearchFunctor()->SetImage(this->Image);
  patchMatchFunctor->GetRandomSearchFunctor()->SetPatchRadius(this->PatchRadius);
  patchMatchFunctor->GetRandomSearchFunctor()->SetPatchDistanceFunctor(&patchDistanceFunctor);

  compositor->SetPatchRadius(this->PatchRadius);
  compositor->SetTargetMask(this->InpaintingMask);
  compositor->SetImage(currentImage);
  compositor->SetNearestNeighborField(patchMatchFunctor->GetNNField());

  for(unsigned int iteration = 0; iteration < this->Iterations; ++iteration)
  {
    // Run PatchMatch to compute the NNField
    patchMatchFunctor->Compute();

    std::stringstream ssNNFieldFileName;
    ssNNFieldFileName << "BDS_" << iteration << "_NNField.mha";
    PatchMatchHelpers::WriteNNField(patchMatchFunctor->GetNNField(), ssNNFieldFileName.str());

    // Update the target pixels
    compositor->Composite();
    ITKHelpers::DeepCopy(compositor->GetOutput(), currentImage.GetPointer());
  }

  ITKHelpers::DeepCopy(currentImage.GetPointer(), this->Output.GetPointer());
}
//BasicViewerWidget<TImage>::BasicViewerWidget(TImage* const image, Mask* const mask) :
BasicViewerWidget<TImage>::BasicViewerWidget(typename TImage::Pointer image, Mask::Pointer mask) :
  Image(image), MaskImage(mask)
{
  qRegisterMetaType<itk::ImageRegion<2> >("itkImageRegion");

  this->setupUi(this);

  int dims[3];
  this->ImageLayer.ImageData->GetDimensions(dims);

  typename TImage::Pointer tempImage = TImage::New();
  ITKHelpers::DeepCopy(image.GetPointer(), tempImage.GetPointer());

  typename TImage::PixelType zeroPixel(tempImage->GetNumberOfComponentsPerPixel());
  zeroPixel = itk::NumericTraits<typename TImage::PixelType>::ZeroValue(zeroPixel);
  mask->ApplyToImage(tempImage.GetPointer(), zeroPixel);
  ITKVTKHelpers::ITKVectorImageToVTKImageFromDimension(tempImage.GetPointer(), this->ImageLayer.ImageData);

//   if(chkScaleImage->isChecked())
//   {
//     VTKHelpers::ScaleImage(this->ImageLayer.ImageData);
//   }

  this->ImageDimension[0] = dims[0];
  this->ImageDimension[1] = dims[1];
  this->ImageDimension[2] = dims[2];

  SetupScenes();

//  this->InteractorStyle = vtkSmartPointer<InteractorStyleImageWithDrag>::New();
  this->InteractorStyle = vtkSmartPointer<vtkInteractorStyleImage>::New();

  this->Renderer = vtkSmartPointer<vtkRenderer>::New();
  this->qvtkWidget->GetRenderWindow()->AddRenderer(this->Renderer);

  this->Renderer->AddViewProp(ImageLayer.ImageSlice);

  this->InteractorStyle->SetCurrentRenderer(this->Renderer);
  this->qvtkWidget->GetRenderWindow()->GetInteractor()->SetInteractorStyle(this->InteractorStyle);
//  this->InteractorStyle->Init();

//  this->Camera = new ImageCamera(this->Renderer);
  this->ItkVtkCamera = new ITKVTKCamera(this->InteractorStyle, this->Renderer,
                                        this->qvtkWidget->GetRenderWindow());
  this->ItkVtkCamera->SetCameraPositionPNG();
}
void ManualPatchSelectionDialog<TImage>::slot_UpdateSource(const itk::ImageRegion<2>& sourceRegion,
                                                           const itk::ImageRegion<2>& targetRegion)
{
  // This function needs the targetRegion because this is the region of the Mask that is used to mask the source patch.
  // std::cout << "Update source." << std::endl;

  if(!this->Image->GetLargestPossibleRegion().IsInside(sourceRegion))
  {
    std::cerr << "Source region is outside the image!" << std::endl;
    return;
  }
  
  if(MaskImage->CountHolePixels(sourceRegion) > 0)
  {
    std::cerr << "The source patch must not have any hole pixels!" << std::endl;
    btnAccept->setVisible(false);
  }
  else
  {
    btnAccept->setVisible(true);
  }

  typename TImage::Pointer tempImage = TImage::New();
  ITKHelpers::ConvertTo3Channel(this->Image, tempImage.GetPointer());

  typename TImage::PixelType zeroPixel(3);
  zeroPixel.Fill(0);
  this->MaskImage->ApplyToImage(tempImage.GetPointer(), zeroPixel);
  QImage maskedSourceImage = ITKQtHelpers::GetQImageColor(tempImage.GetPointer(), sourceRegion);
  QGraphicsPixmapItem* item = this->SourcePatchScene->addPixmap(QPixmap::fromImage(maskedSourceImage));
  gfxSource->fitInView(item);

  // Refresh the image
  //ITKVTKHelpers::ITKImageToVTKRGBImage(this->Image, this->ImageLayer.ImageData);
  unsigned char green[3] = {0, 255, 0};

  MaskOperations::ITKImageToVTKImageMasked(tempImage, this->MaskImage,
                                          this->ImageLayer.ImageData, green);

  // Outline the source patch
  unsigned char blue[3] = {0, 0, 255};
  ITKVTKHelpers::OutlineRegion(this->ImageLayer.ImageData, sourceRegion, blue);

  this->qvtkWidget->GetRenderWindow()->Render();
}
ManualPatchSelectionDialog<TImage>::ManualPatchSelectionDialog(TImage* const image, Mask* const mask,
                                                               const itk::ImageRegion<2>& targetRegion)
: Image(image), MaskImage(mask), TargetRegion(targetRegion)
{
  // Allow the type itkImageRegion to be used in signals/slots.
  qRegisterMetaType<itk::ImageRegion<2> >("itkImageRegion");

  this->setupUi(this);

  this->ImageLayer.ImageSlice->SetDragable(false);
  this->ImageLayer.ImageSlice->SetPickable(false);

  typename TImage::Pointer tempImage = TImage::New();
  ITKHelpers::DeepCopy(image, tempImage.GetPointer());
  typename TImage::PixelType zeroPixel(tempImage->GetNumberOfComponentsPerPixel());
  zeroPixel.Fill(0);
  mask->ApplyToImage(tempImage.GetPointer(), zeroPixel);
  ITKVTKHelpers::ITKVectorImageToVTKImageFromDimension(tempImage.GetPointer(), this->ImageLayer.ImageData);

  SetupScenes();

  this->Renderer = vtkSmartPointer<vtkRenderer>::New();
  this->InteractorStyle = vtkSmartPointer<InteractorStyleImageWithDrag>::New();

  this->qvtkWidget->GetRenderWindow()->AddRenderer(this->Renderer);

  this->Renderer->AddViewProp(ImageLayer.ImageSlice);

  // Per the comment in InteractorStyleImageWithDrag, the next 3 lines must be in this order
  this->InteractorStyle->SetCurrentRenderer(this->Renderer);
  this->qvtkWidget->GetRenderWindow()->GetInteractor()->SetInteractorStyle(this->InteractorStyle);
  this->InteractorStyle->Init();

  this->PatchSelector = new MovablePatch(this->TargetRegion.GetSize()[0]/2, this->InteractorStyle, this->gfxSource);

  // slot_UpdateImage();

  this->Renderer->ResetCamera();
  this->qvtkWidget->GetRenderWindow()->Render();
  // this->Camera = new ImageCamera(this->Renderer);

  connect(this->PatchSelector, SIGNAL(signal_PatchMoved()), this, SLOT(slot_PatchMoved()));
}
void ManualPatchSelectionDialog<TImage>::slot_UpdateTarget(const itk::ImageRegion<2>& region)
{
  // std::cout << "Update target." << std::endl;

  unsigned char red[3] = {255, 0, 0};
  ITKVTKHelpers::OutlineRegion(this->ImageLayer.ImageData, region, red);

  this->qvtkWidget->GetRenderWindow()->Render();

  // Masked target patch
  typename TImage::Pointer tempImage = TImage::New();
  ITKHelpers::ConvertTo3Channel(this->Image, tempImage.GetPointer());
  typename TImage::PixelType zeroPixel(3);
  zeroPixel.Fill(0);
  this->MaskImage->ApplyToImage(tempImage.GetPointer(), zeroPixel);
  QImage maskedTargetImage = ITKQtHelpers::GetQImageColor(tempImage.GetPointer(), region);
  QGraphicsPixmapItem* maskedItem = this->TargetPatchScene->addPixmap(QPixmap::fromImage(maskedTargetImage));
  gfxTarget->fitInView(maskedItem);
}
void TopPatchesDialog<TImage>::SetQueryNode(const Node& queryNode)
{
    this->QueryNode = queryNode;

    itk::Index<2> queryIndex = ITKHelpers::CreateIndex(queryNode);
    itk::ImageRegion<2> queryRegion = ITKHelpers::GetRegionInRadiusAroundPixel(queryIndex, PatchHalfWidth);

    typename TImage::Pointer tempImage = TImage::New();
    ITKHelpers::ConvertTo3Channel(this->Image, tempImage.GetPointer());

    typename TImage::PixelType zeroPixel(3);
    zeroPixel.Fill(0);
    this->MaskImage->ApplyToImage(tempImage.GetPointer(), zeroPixel);

    QImage maskedQueryPatch = ITKQtHelpers::GetQImageColor(tempImage.GetPointer(), queryRegion);
    MaskedQueryPatchItem = this->QueryPatchScene->addPixmap(QPixmap::fromImage(maskedQueryPatch));

    // We do this here because we could potentially call SetQueryNode after the widget is constructed as well.
    gfxQueryPatch->fitInView(MaskedQueryPatchItem);
}
  /** The mask is inpainted with ValidValue in this function. */
  void FinishVertex(VertexDescriptorType targetNode, VertexDescriptorType sourceNode)// __attribute__((optimize(0))) // This supposedly makes this function build in debug mode (-g -O0) when the rest of the program is built in -O3 or similar)
  {
    // Mark this pixel and the area around it as filled, and mark the mask in this region as filled.
    // Determine the new boundary, and setup the nodes in the boundary queue.

//    std::cout << "InpaintingVisitor::FinishVertex()" << std::endl;

    // Construct the region around the vertex
    itk::Index<2> indexToFinish = ITKHelpers::CreateIndex(targetNode);

    itk::ImageRegion<2> regionToFinishFull = ITKHelpers::GetRegionInRadiusAroundPixel(indexToFinish, this->PatchHalfWidth);

    // Copy this region so that we can change (crop) the regionToFinish and still have a copy of the original region
    itk::ImageRegion<2> regionToFinish = regionToFinishFull;

    // Make sure the region is entirely inside the image
    // (because we allow target patches to not be entirely inside the image to handle the case where
    // the hole boundary is near the image boundary)
    regionToFinish.Crop(this->Image->GetLargestPossibleRegion());

    if(this->DebugImages)
    {
      ITKHelpers::WriteImage(this->MaskImage, Helpers::GetSequentialFileName("Mask_Before", this->NumberOfFinishedPatches, "png", 3));
    }

    // Mark all the pixels in this region as filled in the mask.
    ITKHelpers::SetRegionToConstant(this->MaskImage, regionToFinish, this->MaskImage->GetValidValue());

    if(this->DebugImages)
    {
      ITKHelpers::WriteImage(this->MaskImage, Helpers::GetSequentialFileName("Mask_After", this->NumberOfFinishedPatches, "png", 3));

      typename TImage::PixelType red;
      red.Fill(0);
      red[0] = 255;

      typename TImage::PixelType green;
      green.Fill(0);
      green[1] = 255;

      typename TImage::Pointer patchesCopiedImage = TImage::New();
      ITKHelpers::DeepCopy(this->Image, patchesCopiedImage.GetPointer());
      ITKHelpers::OutlineRegion(patchesCopiedImage.GetPointer(), regionToFinish, red);

      itk::Index<2> sourceRegionCenter = ITKHelpers::CreateIndex(sourceNode);
      itk::ImageRegion<2> sourceRegion = ITKHelpers::GetRegionInRadiusAroundPixel(sourceRegionCenter, this->PatchHalfWidth);

      sourceRegion = ITKHelpers::CropRegionAtPosition(sourceRegion, this->Image->GetLargestPossibleRegion(), regionToFinishFull);

      ITKHelpers::OutlineRegion(patchesCopiedImage.GetPointer(), sourceRegion, green);

      ITKHelpers::WriteRGBImage(patchesCopiedImage.GetPointer(), Helpers::GetSequentialFileName("PatchesCopied", this->NumberOfFinishedPatches, "png", 3));
    }

    // Update the priority function. This must be done AFTER the mask is filled,
    // as some of the Priority functors only compute things on the hole boundary, or only
    // use data from the valid region of the image (indicated by valid pixels in the mask).
    this->PriorityFunction->Update(sourceNode, targetNode, this->NumberOfFinishedPatches);

    // Initialize (if requested) all vertices in the newly filled region because they may now be valid source nodes.
    // (You may not want to do this in some cases (i.e. if the descriptors needed cannot be
    // computed on newly filled regions))

    if(this->AllowNewPatches)
    {
      itk::ImageRegionConstIteratorWithIndex<TImage> gridIterator(Image, regionToFinish);
      while(!gridIterator.IsAtEnd())
      {
        VertexDescriptorType v = Helpers::ConvertFrom<VertexDescriptorType, itk::Index<2> >(gridIterator.GetIndex());

        InitializeVertex(v);
        ++gridIterator;
      }
    }

    // Add pixels that are on the new boundary to the queue, and mark other pixels as not in the queue.
    itk::ImageRegionConstIteratorWithIndex<Mask> imageIterator(this->MaskImage, regionToFinish);

    typedef typename TBoundaryNodeQueue::HandleType HandleType;

    while(!imageIterator.IsAtEnd())
    {
      VertexDescriptorType v = Helpers::ConvertFrom<VertexDescriptorType, itk::Index<2> >(imageIterator.GetIndex());

      if(this->MaskImage->HasHoleNeighbor(imageIterator.GetIndex()))
      {
        float priority = this->PriorityFunction->ComputePriority(imageIterator.GetIndex());
        this->BoundaryNodeQueue.push_or_update(v, priority);
      }
      else
      {
        this->BoundaryNodeQueue.mark_as_invalid(v);
      }

      ++imageIterator;
    }

    // std::cout << "FinishVertex after traversing finishing region there are "
    //           << BoostHelpers::CountValidQueueNodes(BoundaryNodeQueue, BoundaryStatusMap)
    //           << " valid nodes in the queue." << std::endl;
    
    // Sometimes pixels that are not in the finishing region that were boundary pixels are no longer
    // boundary pixels after the filling. Check for these.
    // E.g. (H=hole, B=boundary, V=valid, Q=query, F=filled, N=new boundary,
    // R=old boundary pixel that needs to be removed because it is no longer on the boundary)
    // Before filling

    /* V V V B H H H H
     * V V V B H H H H
     * V V V B H H H H
     * V V V B B Q B B
     * V V V V V V V V
     */
    // After filling

    /* V V V B H H H H
     * V V V B H H H H
     * V V V B F F F H
     * V V V B F F F B
     * V V V V F F F V
     */
    // New boundary
    /* V V V B H H H H
     * V V V B H H H H
     * V V V B N N N H
     * V V V R F F N B
     * V V V V F F F V
     */

    // Expand the region
    itk::ImageRegion<2> expandedRegion = ITKHelpers::GetRegionInRadiusAroundPixel(indexToFinish, PatchHalfWidth + 1);
    // Make sure the region is entirely inside the image (to allow for target regions near the image boundary)
    expandedRegion.Crop(this->Image->GetLargestPossibleRegion());
    std::vector<itk::Index<2> > boundaryPixels = ITKHelpers::GetBoundaryPixels(expandedRegion);
    for(unsigned int i = 0; i < boundaryPixels.size(); ++i)
    {
      // the region (the entire image) can be omitted, as this function automatically checks if the pixels are inside the image
      if(!this->MaskImage->HasHoleNeighbor(boundaryPixels[i]))
      {
        VertexDescriptorType v = Helpers::ConvertFrom<VertexDescriptorType, itk::Index<2> >(boundaryPixels[i]);

        put(this->BoundaryNodeQueue.BoundaryStatusMap, v, false);
      }
    }

    // std::cout << "FinishVertex after removing stale nodes outside finishing region there are "
    //               << BoostHelpers::CountValidQueueNodes(BoundaryNodeQueue, BoundaryStatusMap)
    //               << " valid nodes in the queue." << std::endl;

    this->NumberOfFinishedPatches++;

//    std::cout << "Leave InpaintingVisitor::FinishVertex()" << std::endl;
  } // end FinishVertex
void ManualPatchSelectionDialog<TImage>::slot_UpdateResult(const itk::ImageRegion<2>& sourceRegion,
                                                           const itk::ImageRegion<2>& targetRegion)
{
  assert(sourceRegion.GetSize() == targetRegion.GetSize());

  if(!this->Image->GetLargestPossibleRegion().IsInside(sourceRegion))
  {
    std::cerr << "Source region is outside the image!" << std::endl;
    return;
  }
  
  QImage qimage(sourceRegion.GetSize()[0], sourceRegion.GetSize()[1], QImage::Format_RGB888);

  if(MaskImage->CountHolePixels(sourceRegion) > 0)
  {
    //std::cerr << "The source patch must not have any hole pixels!" << std::endl;
    //btnAccept->setVisible(false);
    qimage.fill(Qt::green);
  }
  else
  {
    typename TImage::Pointer tempImage = TImage::New();
    ITKHelpers::ConvertTo3Channel(this->Image, tempImage.GetPointer());
    if(this->Image->GetNumberOfComponentsPerPixel() != 3)
      {
      ITKHelpers::ScaleAllChannelsTo255(tempImage.GetPointer());
      }

    itk::ImageRegionIterator<TImage> sourceIterator(tempImage, sourceRegion);
    itk::ImageRegionIterator<TImage> targetIterator(tempImage, targetRegion);
    itk::ImageRegionIterator<Mask> maskIterator(MaskImage, targetRegion);

    typename TImage::Pointer resultPatch = TImage::New();
    resultPatch->SetNumberOfComponentsPerPixel(Image->GetNumberOfComponentsPerPixel());
    itk::ImageRegion<2> resultPatchRegion;
    resultPatchRegion.SetSize(sourceRegion.GetSize());
    resultPatch->SetRegions(resultPatchRegion);
    resultPatch->Allocate();

    while(!maskIterator.IsAtEnd())
      {
      ITKHelpers::FloatVectorImageType::PixelType pixel;

      if(MaskImage->IsHole(maskIterator.GetIndex()))
        {
        pixel = sourceIterator.Get();
        }
      else
        {
        pixel = targetIterator.Get();
        }

      itk::Offset<2> offset = sourceIterator.GetIndex() - sourceRegion.GetIndex();
      itk::Index<2> offsetIndex;
      offsetIndex[0] = offset[0];
      offsetIndex[1] = offset[1];
      resultPatch->SetPixel(offsetIndex, pixel);

      ++sourceIterator;
      ++targetIterator;
      ++maskIterator;
      } // end iterator loop

    qimage = ITKQtHelpers::GetQImageColor(resultPatch.GetPointer(), resultPatch->GetLargestPossibleRegion());
  } // end else

  this->ResultPatchScene->clear();
  QGraphicsPixmapItem* item = this->ResultPatchScene->addPixmap(QPixmap::fromImage(qimage));
  gfxResult->fitInView(item);

}
Beispiel #9
0
void itkSegmentLV< TImage>
::ThreadedGenerateData(const OutputImageRegionType& outputRegionForThread,
                       ThreadIdType threadId)
{



  typename TImage::ConstPointer input = this->GetInput();
  typename TImage::Pointer output = this->GetOutput();

  //caster2->SetInput(input);

  ConnectedRegionGrowing->SetInput( input );

  ConnectedRegionGrowing->SetLower( lowerThreshold );

  ConnectedRegionGrowing->SetUpper( upperThreshold );

  ConnectedRegionGrowing->SetRadius( radius );

  ConnectedRegionGrowing->SetSeed( index );

  ConnectedRegionGrowing->SetReplaceValue( 255 );

  binaryErode->SetKernel( structuringElement );

  binaryDilate->SetKernel( structuringElement );

  binaryDilate->SetInput( ConnectedRegionGrowing->GetOutput());

  binaryErode->SetInput( binaryDilate->GetOutput() );



  sbs->SetInput(binaryErode->GetOutput() );

//  sbs->SetInput(ConnectedRegionGrowing->GetOutput() );

  sbs->SetInputFilter(connected);

  sbs->SetOutputFilter(rescaleFilter);

  labelShapeKeepNObjectsImageFilter->SetInput( connected->GetOutput() );

  labelShapeKeepNObjectsImageFilter->SetBackgroundValue( 0 );

  labelShapeKeepNObjectsImageFilter->SetNumberOfObjects( 1 );

  labelShapeKeepNObjectsImageFilter->SetAttribute( LabelShapeKeepNObjectsImageFilterType::
		  LabelObjectType::NUMBER_OF_PIXELS);


  rescaleFilter->SetOutputMinimum(0);

  rescaleFilter->SetOutputMaximum(itk::NumericTraits<signed short>::max());

  rescaleFilter->SetInput(labelShapeKeepNObjectsImageFilter->GetOutput());

  sbs->Update();

  this->AllocateOutputs();

  ImageAlgorithm::Copy(sbs->GetOutput(), output.GetPointer(), output->GetRequestedRegion(),
                       output->GetRequestedRegion() );

}
void LidarInpaintingRGBTextureVerification(TImage* const originalImage, Mask* const mask,
                                           const unsigned int patchHalfWidth, const unsigned int numberOfKNN,
                                           float slightBlurVariance = 1.0f, unsigned int searchRadius = 1000)
{
  typedef TImage RGBDxDyImageType;

  itk::ImageRegion<2> fullRegion = originalImage->GetLargestPossibleRegion();

  // Extract the RGB image
  typedef itk::Image<itk::CovariantVector<float, 3>, 2> RGBImageType;
  std::vector<unsigned int> firstThreeChannels = {0,1,2};
  RGBImageType::Pointer rgbImage = RGBImageType::New();
  ITKHelpers::ExtractChannels(originalImage, firstThreeChannels, rgbImage.GetPointer());

  // Blur the image for gradient computation stability (Criminisi's data term)
  RGBImageType::Pointer blurredRGBImage = RGBImageType::New();
  float blurVariance = 2.0f;
  MaskOperations::MaskedBlur(rgbImage.GetPointer(), mask, blurVariance, blurredRGBImage.GetPointer());

  ITKHelpers::WriteRGBImage(blurredRGBImage.GetPointer(), "BlurredRGBImage.png");

  // Blur the image slightly so that the SSD comparisons are not so noisy
  typename TImage::Pointer slightlyBlurredRGBDxDyImage = TImage::New();

  MaskOperations::MaskedBlur(originalImage, mask, slightBlurVariance, slightlyBlurredRGBDxDyImage.GetPointer());

  ITKHelpers::WriteImage(slightlyBlurredRGBDxDyImage.GetPointer(), "SlightlyBlurredRGBDxDyImage.mha");

  // Create the graph
  typedef ImagePatchPixelDescriptor<TImage> ImagePatchPixelDescriptorType;

  typedef boost::grid_graph<2> VertexListGraphType;

  // We can't make this a signed type (size_t versus int) because we allow negative
  boost::array<std::size_t, 2> graphSideLengths = { { fullRegion.GetSize()[0],
                                                      fullRegion.GetSize()[1] } };
  VertexListGraphType graph(graphSideLengths);
  typedef boost::graph_traits<VertexListGraphType>::vertex_descriptor VertexDescriptorType;
  typedef boost::graph_traits<VertexListGraphType>::vertex_iterator VertexIteratorType;

  // Get the index map
  typedef boost::property_map<VertexListGraphType, boost::vertex_index_t>::const_type IndexMapType;
  IndexMapType indexMap(get(boost::vertex_index, graph));

  // Create the descriptor map. This is where the data for each pixel is stored.
  typedef boost::vector_property_map<ImagePatchPixelDescriptorType, IndexMapType> ImagePatchDescriptorMapType;
  ImagePatchDescriptorMapType imagePatchDescriptorMap(num_vertices(graph), indexMap);

  // Create the patch inpainter.
  typedef PatchInpainter<TImage> OriginalImageInpainterType;
  OriginalImageInpainterType originalImagePatchInpainter(patchHalfWidth, originalImage, mask);
  originalImagePatchInpainter.SetDebugImages(true);
  originalImagePatchInpainter.SetImageName("RGB");

  // Create an inpainter for the blurred image.
  typedef PatchInpainter<RGBImageType> BlurredImageInpainterType;
  BlurredImageInpainterType blurredRGBImagePatchInpainter(patchHalfWidth, blurredRGBImage, mask);

  // Create an inpainter for the slightly blurred image.
  typedef PatchInpainter<TImage> SlightlyBlurredRGBDxDyImageImageInpainterType;
  SlightlyBlurredRGBDxDyImageImageInpainterType slightlyBlurredRGBDxDyImageImagePatchInpainter(patchHalfWidth, slightlyBlurredRGBDxDyImage, mask);

  // Create a composite inpainter. (Note: the mask is inpainted in InpaintingVisitor::FinishVertex)
  CompositePatchInpainter inpainter;
  inpainter.AddInpainter(&originalImagePatchInpainter);
  inpainter.AddInpainter(&blurredRGBImagePatchInpainter);
  inpainter.AddInpainter(&slightlyBlurredRGBDxDyImageImagePatchInpainter);

  // Create the priority function
  typedef PriorityCriminisi<RGBImageType> PriorityType;
  PriorityType priorityFunction(blurredRGBImage, mask, patchHalfWidth);
//  priorityFunction.SetDebugLevel(1);

  // Queue
  typedef IndirectPriorityQueue<VertexListGraphType> BoundaryNodeQueueType;
  BoundaryNodeQueueType boundaryNodeQueue(graph);

  // Create the descriptor visitor (used for SSD comparisons).
  typedef ImagePatchDescriptorVisitor<VertexListGraphType, TImage, ImagePatchDescriptorMapType>
      ImagePatchDescriptorVisitorType;
//  ImagePatchDescriptorVisitorType imagePatchDescriptorVisitor(originalImage, mask,
//                                  imagePatchDescriptorMap, patchHalfWidth); // Use the non-blurred image for the SSD comparisons
  ImagePatchDescriptorVisitorType imagePatchDescriptorVisitor(slightlyBlurredRGBDxDyImage, mask,
                                  imagePatchDescriptorMap, patchHalfWidth); // Use the slightly blurred image for the SSD comparisons.

  typedef DefaultAcceptanceVisitor<VertexListGraphType> AcceptanceVisitorType;
  AcceptanceVisitorType acceptanceVisitor;

  // Create the inpainting visitor. (The mask is inpainted in FinishVertex)
  typedef InpaintingVisitor<VertexListGraphType, BoundaryNodeQueueType,
      ImagePatchDescriptorVisitorType, AcceptanceVisitorType, PriorityType, TImage>
      InpaintingVisitorType;
  InpaintingVisitorType inpaintingVisitor(mask, boundaryNodeQueue,
                                          imagePatchDescriptorVisitor, acceptanceVisitor,
                                          &priorityFunction, patchHalfWidth, "InpaintingVisitor", originalImage);
  inpaintingVisitor.SetDebugImages(true); // This produces PatchesCopied* images showing where patches were copied from/to at each iteration
//  inpaintingVisitor.SetAllowNewPatches(false);
  inpaintingVisitor.SetAllowNewPatches(true); // we can do this as long as we use one of the LinearSearchKNNProperty*Reuse (like LinearSearchKNNPropertyLimitLocalReuse) in the steps below

  InitializePriority(mask, boundaryNodeQueue, &priorityFunction);

  // Initialize the boundary node queue from the user provided mask image.
  InitializeFromMaskImage<InpaintingVisitorType, VertexDescriptorType>(mask, &inpaintingVisitor);
  std::cout << "PatchBasedInpaintingNonInteractive: There are " << boundaryNodeQueue.CountValidNodes()
            << " nodes in the boundaryNodeQueue" << std::endl;

#define DUseWeightedDifference

#ifdef DUseWeightedDifference
  // The absolute value of the depth derivative range is usually about [0,12], so to make
  // it comparable to to the color image channel range of [0,255], we multiply by 255/12 ~= 20.
//  float depthDerivativeWeight = 20.0f;

  // This should not be computed "by eye" by looking at the Dx and Dy channels of the PTX scan, because there are typically
  // huge depth discontinuties around the objects that are going to be inpainted. We'd have to look at the masked version of this
  // image to determine the min/max values of the unmasked pixels. They will be much smaller than the min/max values of the original
  // image, which will make the depth derivative weights much higher (~100 or so)

//  std::vector<typename TImage::PixelType> channelMins = ITKHelpers::ComputeMinOfAllChannels(originalImage);
//  std::vector<typename TImage::PixelType> channelMaxs = ITKHelpers::ComputeMaxOfAllChannels(originalImage);
  typename TImage::PixelType channelMins;
  ITKHelpers::ComputeMinOfAllChannels(originalImage, channelMins);

  typename TImage::PixelType channelMaxs;
  ITKHelpers::ComputeMaxOfAllChannels(originalImage, channelMaxs);

  float minX = fabs(channelMins[3]);
  float maxX = fabs(channelMaxs[3]);
  float maxValueX = std::max(minX, maxX);
  std::cout << "maxValueX = " << maxValueX << std::endl;
  float depthDerivativeWeightX = 255.0f / maxValueX;
  std::cout << "Computed depthDerivativeWeightX = " << depthDerivativeWeightX << std::endl;

  float minY = fabs(channelMins[4]);
  float maxY = fabs(channelMaxs[4]);
  float maxValueY = std::max(minY, maxY);
  std::cout << "maxValueY = " << maxValueY << std::endl;
  float depthDerivativeWeightY = 255.0f / maxValueY;
  std::cout << "Computed depthDerivativeWeightY = " << depthDerivativeWeightY << std::endl;

  // Full pixels
  std::vector<float> weights = {1.0f, 1.0f, 1.0f, depthDerivativeWeightX, depthDerivativeWeightY};
  typedef WeightedSumSquaredPixelDifference<typename TImage::PixelType> FullPixelDifferenceType;
  FullPixelDifferenceType fullPixelDifferenceFunctor(weights);

  typedef ImagePatchDifference<ImagePatchPixelDescriptorType,
      FullPixelDifferenceType > FullPatchDifferenceType;
  FullPatchDifferenceType fullPatchDifferenceFunctor(fullPixelDifferenceFunctor);

  // First 3 channels only pixels
  typedef RGBSSD<typename TImage::PixelType> RGBPixelDifferenceType;
  RGBPixelDifferenceType rgbPixelDifferenceFunctor;

  typedef ImagePatchDifference<ImagePatchPixelDescriptorType,
      RGBPixelDifferenceType > RGBPatchDifferenceType;
  RGBPatchDifferenceType rgbPatchDifferenceFunctor(rgbPixelDifferenceFunctor);
#else
  // Use an unweighted pixel difference
  typedef ImagePatchDifference<ImagePatchPixelDescriptorType,
      SumSquaredPixelDifference<typename TImage::PixelType> > PatchDifferenceType;

  PatchDifferenceType patchDifferenceFunctor;
#endif

//#define DAllowReuse // comment/uncomment this line to toggle allowing patches to be used as the source patch more than once

#ifdef DAllowReuse
  // Create the first (KNN) neighbor finder
  typedef LinearSearchKNNProperty<ImagePatchDescriptorMapType, PatchDifferenceType> KNNSearchType;
  KNNSearchType linearSearchKNN(imagePatchDescriptorMap, numberOfKNN, patchDifferenceFunctor);
#else
  // Full pixel search
  typedef LinearSearchKNNPropertyLimitLocalReuse<ImagePatchDescriptorMapType, FullPatchDifferenceType, RGBImageType> FullKNNSearchType;
  FullKNNSearchType fullSearchKNN(imagePatchDescriptorMap, mask, numberOfKNN,
                                  fullPatchDifferenceFunctor, inpaintingVisitor.GetSourcePixelMapImage(),
                                  rgbImage.GetPointer());
  fullSearchKNN.SetDebugImages(true);

  // RGB-only search
  typedef LinearSearchKNNPropertyLimitLocalReuse<ImagePatchDescriptorMapType, RGBPatchDifferenceType, RGBImageType> RGBKNNSearchType;
  RGBKNNSearchType rgbSearchKNN(imagePatchDescriptorMap, mask, numberOfKNN,
                                  rgbPatchDifferenceFunctor, inpaintingVisitor.GetSourcePixelMapImage(),
                                  rgbImage.GetPointer());
  rgbSearchKNN.SetDebugImages(true);

  // Combine
  typedef LinearSearchKNNPropertyCombine<FullKNNSearchType, RGBKNNSearchType> KNNSearchType;
  KNNSearchType linearSearchKNN(fullSearchKNN, rgbSearchKNN);
#endif

  // Setup the second (1-NN) neighbor finder
  typedef std::vector<VertexDescriptorType>::iterator VertexDescriptorVectorIteratorType;

  // This is templated on TImage because we need it to write out debug patches from this searcher (since we are not using an RGB image to compute the histograms)
//  typedef LinearSearchBestTexture<ImagePatchDescriptorMapType, RGBImageType,
//      VertexDescriptorVectorIteratorType, TImage> BestSearchType; // Use the histogram of the gradient magnitudes of a scalar represetnation of the image (e.g. magnitude image)
//  typedef LinearSearchBestLidarTextureDerivatives<ImagePatchDescriptorMapType, RGBImageType,
//      VertexDescriptorVectorIteratorType, TImage> BestSearchType; // Use the concatenated histograms of the absolute value of the derivatives of each channel
  typedef LinearSearchBestLidarRGBTextureGradient<ImagePatchDescriptorMapType, RGBDxDyImageType,
      VertexDescriptorVectorIteratorType, RGBImageType> BestSearchType; // Use the concatenated histograms of the gradient magnitudes of each channel. This RGBDxDyImageType must match the rgbDxDyImage provided below

//  BestSearchType linearSearchBest(imagePatchDescriptorMap, rgbDxDyImage.GetPointer(), mask); // use non-blurred for texture sorting
  Debug debug;
//  debug.SetDebugOutputs(true);
//  debug.SetDebugImages(true);
//  linearSearchBest.SetDebugOutputs(true);
//  linearSearchBest.SetDebugImages(true);

   // use slightly blurred for texture sorting
  BestSearchType linearSearchBest(imagePatchDescriptorMap, slightlyBlurredRGBDxDyImage.GetPointer(),
                                  mask, rgbImage.GetPointer(), debug);
  linearSearchBest.WritePatches = true;


  // Setup the two step neighbor finder
  TwoStepNearestNeighbor<KNNSearchType, BestSearchType>
      twoStepNearestNeighbor(linearSearchKNN, linearSearchBest);

  // #define DFullSearch // comment/uncomment this line to set the search region

#ifdef DFullSearch
  // Perform the inpainting (full search)
  InpaintingAlgorithm(graph, inpaintingVisitor, &boundaryNodeQueue,
                      twoStepNearestNeighbor, &inpainter);
#else
  NeighborhoodSearch<VertexDescriptorType, ImagePatchDescriptorMapType> neighborhoodSearch(originalImage->GetLargestPossibleRegion(),
                                                              searchRadius, imagePatchDescriptorMap);

  // Perform the inpainting (local search)
  InpaintingAlgorithmWithLocalSearch(graph, inpaintingVisitor, &boundaryNodeQueue,
                                     twoStepNearestNeighbor, &inpainter, neighborhoodSearch);
#endif

}