void LidarSegmentationWidget::on_action_View_DepthImage_triggered()
{
//Helpers::ITKImageChannelToVTKImage(thresholdFilter->GetOutput(), 3, this->OriginalImageData);
typedef itk::Image<ImageType::InternalPixelType, 2> ScalarImageType;
ScalarImageType::Pointer depthImage = ScalarImageType::New();
ITKHelpers::ExtractChannel(this->Image.GetPointer(), 3, depthImage.GetPointer());
typedef itk::ThresholdImageFilter<ScalarImageType> ThresholdImageFilterType;
float maxDepth = 20.0f;
ThresholdImageFilterType::Pointer thresholdFilter = ThresholdImageFilterType::New();
thresholdFilter->SetInput(depthImage);
thresholdFilter->ThresholdAbove(maxDepth);
thresholdFilter->SetOutsideValue(maxDepth);
thresholdFilter->Update();
ITKVTKHelpers::ITKScalarImageToScaledVTKImage(thresholdFilter->GetOutput(), this->OriginalImageData);
Refresh();
}
int main(int argc, char *argv[])
{
unsigned int t = time(NULL);
srand(t);
itk::Size<2> size;
size.Fill(10);
itk::Index<2> index;
index.Fill(0);
itk::ImageRegion<2> region(index, size);
/*
// Generate a random image (this method doesn't work with VectorImage)
itk::RandomImageSource<FloatVectorImageType>::Pointer imageSource =
itk::RandomImageSource<FloatVectorImageType>::New();
imageSource->SetNumberOfThreads(1); // to produce non-random results
imageSource->SetSize(size);
imageSource->SetMin(0);
imageSource->SetMax(100);
imageSource->Update();
FloatVectorImageType::Pointer image = imageSource->GetOutput();
*/
// Generate a random image
FloatVectorImageType::Pointer image = FloatVectorImageType::New();
image->SetRegions(region);
image->SetNumberOfComponentsPerPixel(3);
image->Allocate();
{
itk::ImageRegionIterator<FloatVectorImageType> imageIterator(image, image->GetLargestPossibleRegion());
while(!imageIterator.IsAtEnd())
{
FloatVectorImageType::PixelType pixel;
pixel.SetSize(3);
pixel[0] = RandomFloat();
pixel[1] = RandomFloat();
pixel[2] = RandomFloat();
imageIterator.Set(pixel);
++imageIterator;
}
}
// Write the image
itk::ImageFileWriter<FloatVectorImageType>::Pointer imageWriter =
itk::ImageFileWriter<FloatVectorImageType>::New();
imageWriter->SetFileName("image.mha");
imageWriter->SetInput(image);
imageWriter->Update();
// Generate a random mask
itk::RandomImageSource<Mask>::Pointer maskSource =
itk::RandomImageSource<Mask>::New();
maskSource->SetNumberOfThreads(1); // to produce non-random results
maskSource->SetSize(size);
maskSource->SetMin(0);
maskSource->SetMax(255);
maskSource->Update();
// Threshold the mask
//typedef itk::ThresholdImageFilter <UnsignedCharImageType> ThresholdImageFilterType;
typedef itk::BinaryThresholdImageFilter <Mask, Mask> ThresholdImageFilterType;
ThresholdImageFilterType::Pointer thresholdFilter = ThresholdImageFilterType::New();
thresholdFilter->SetInput(maskSource->GetOutput());
thresholdFilter->SetLowerThreshold(0);
thresholdFilter->SetUpperThreshold(122);
thresholdFilter->SetOutsideValue(1);
thresholdFilter->SetInsideValue(0);
thresholdFilter->Update();
Mask::Pointer mask = thresholdFilter->GetOutput();
// Write the mask
itk::ImageFileWriter<Mask>::Pointer maskWriter =
itk::ImageFileWriter<Mask>::New();
maskWriter->SetFileName("mask.png");
maskWriter->SetInput(mask);
maskWriter->Update();
unsigned int patchRadius = 1;
// Create source patches
itk::ImageRegionConstIterator<FloatVectorImageType> imageIterator(image, image->GetLargestPossibleRegion());
std::vector<itk::ImageRegion<2> > sourcePatches;
while(!imageIterator.IsAtEnd())
{
itk::Index<2> currentPixel = imageIterator.GetIndex();
itk::ImageRegion<2> region = GetRegionInRadiusAroundPixel(currentPixel, patchRadius);
if(image->GetLargestPossibleRegion().IsInside(region))
{
sourcePatches.push_back(region);
}
++imageIterator;
}
itk::Size<2> targetSize;
targetSize.Fill(patchRadius * 2 + 1);
itk::Index<2> targetIndex;
targetIndex.Fill(3);
itk::ImageRegion<2> targetRegion(targetIndex, targetSize);
SelfPatchCompare patchCompare;
patchCompare.SetImage(image);
patchCompare.SetMask(mask);
patchCompare.SetSourceRegions(sourcePatches);
patchCompare.SetTargetRegion(targetRegion);
patchCompare.ComputeOffsets();
//unsigned int bestMatchSourcePatchId = patchCompare.FindBestPatch();
//std::cout << "bestMatchSourcePatchId: " << bestMatchSourcePatchId << std::endl;
unsigned int patchId = 1;
float slowPatchDifference = patchCompare.SlowDifference(sourcePatches[patchId]);
std::cout << "slowPatchDifference: " << slowPatchDifference << std::endl;
float fastPatchDifference = patchCompare.PatchDifference(sourcePatches[patchId]);
std::cout << "fastPatchDifference: " << fastPatchDifference << std::endl;
unsigned int iterations = 1e6;
itk::TimeProbe slowTimer;
slowTimer.Start();
for(unsigned int i = 0; i < iterations; ++i)
{
float slowPatchDifference = patchCompare.SlowDifference(sourcePatches[patchId]);
}
slowTimer.Stop();
std::cout << "Slow Total: " << slowTimer.GetTotal() << std::endl;
itk::TimeProbe fastTimer;
fastTimer.Start();
for(unsigned int i = 0; i < iterations; ++i)
{
float fastPatchDifference = patchCompare.PatchDifference(sourcePatches[patchId]);
}
fastTimer.Stop();
std::cout << "Fast Total: " << fastTimer.GetTotal() << std::endl;
return EXIT_SUCCESS;
}
