bool
checkPlane( Integer a, Integer b, Integer c, Integer d,
int diameter, unsigned int nbpoints,
Statistic<double> & stats )
{
typedef typename NaivePlaneComputer::Point Point;
typedef typename Point::Component PointInteger;
IntegerComputer<Integer> ic;
Integer absA = ic.abs( a );
Integer absB = ic.abs( b );
Integer absC = ic.abs( c );
Integer x, y, z;
Dimension axis;
if ( ( absA >= absB ) && ( absA >= absC ) )
axis = 0;
else if ( ( absB >= absA ) && ( absB >= absC ) )
axis = 1;
else
axis = 2;
Point p;
NaivePlaneComputer plane;
plane.init( axis, diameter, 1, 1 );
// Checks that points within the naive plane are correctly recognized.
unsigned int nb = 0;
unsigned int nbok = 0;
unsigned int nbchanges = 0;
unsigned int complexity = plane.complexity();
while ( nb != nbpoints )
{
p[ 0 ] = getRandomInteger<PointInteger>( -diameter+1, diameter );
p[ 1 ] = getRandomInteger<PointInteger>( -diameter+1, diameter );
p[ 2 ] = getRandomInteger<PointInteger>( -diameter+1, diameter );
x = (Integer) p[ 0 ];
y = (Integer) p[ 1 ];
z = (Integer) p[ 2 ];
switch ( axis ) {
case 0: p[ 0 ] = NumberTraits<Integer>::castToInt64_t( ic.ceilDiv( d - b * y - c * z, a ) ); break;
case 1: p[ 1 ] = NumberTraits<Integer>::castToInt64_t( ic.ceilDiv( d - a * x - c * z, b ) ); break;
case 2: p[ 2 ] = NumberTraits<Integer>::castToInt64_t( ic.ceilDiv( d - a * x - b * y, c ) ); break;
}
bool ok = plane.extend( p ); // should be ok
++nb, nbok += ok ? 1 : 0;
if ( ! ok )
{
std::cerr << "[ERROR] p=" << p << " NOT IN plane=" << plane << std::endl;
break;
}
if ( plane.complexity() != complexity )
{
complexity = plane.complexity();
++nbchanges;
}
}
stats.addValue( (double) nbchanges );
return nb == nbok;
}
int main( int argc, char** argv )
{
//! [greedy-plane-segmentation-ex3-parseCommandLine]
trace.info() << "Segments the surface at given threshold within given volume into digital planes of rational width num/den." << std::endl;
// Setting default options: ----------------------------------------------
// input file used:
string inputFilename = examplesPath + "samples/Al.100.vol" ;
trace.info() << "input file used " << inputFilename << std::endl;
// parameter threshold
unsigned int threshold = 0;
trace.info() << "the value that defines the isosurface in the image (an integer between 0 and 255)= " << threshold<< std::endl;
// parameter widthNum
unsigned int widthNum = 1;
trace.info() << "the numerator of the rational width (a non-null integer) =" << widthNum<< std::endl;
// parameter widthDen
unsigned int widthDen = 1;
trace.info() << "the denominator of the rational width (a non-null integer)= " << widthDen<< std::endl;
//! [greedy-plane-segmentation-ex3-parseCommandLine]
//! [greedy-plane-segmentation-ex3-loadVolume]
QApplication application(argc,argv);
typedef ImageSelector < Domain, int>::Type Image;
Image image = VolReader<Image>::importVol(inputFilename);
DigitalSet set3d (image.domain());
SetFromImage<DigitalSet>::append<Image>(set3d, image, threshold,255);
//! [greedy-plane-segmentation-ex3-loadVolume]
//! [greedy-plane-segmentation-ex3-makeSurface]
trace.beginBlock( "Set up digital surface." );
// We initializes the cellular grid space used for defining the
// digital surface.
KSpace ks;
bool ok = ks.init( set3d.domain().lowerBound(),
set3d.domain().upperBound(), true );
if ( ! ok ) std::cerr << "[KSpace.init] Failed." << std::endl;
SurfelAdjacency<KSpace::dimension> surfAdj( true ); // interior in all directions.
MyDigitalSurfaceContainer* ptrSurfContainer =
new MyDigitalSurfaceContainer( ks, set3d, surfAdj );
MyDigitalSurface digSurf( ptrSurfContainer ); // acquired
trace.endBlock();
//! [greedy-plane-segmentation-ex3-makeSurface]
//! [greedy-plane-segmentation-ex3-segment]
Point p;
Dimension axis;
unsigned int j = 0;
unsigned int nb = digSurf.size();
// First pass to find biggest planes.
trace.beginBlock( "1) Segmentation first pass. Computes all planes so as to sort vertices by the plane size." );
std::map<Vertex,unsigned int> v2size;
NaivePlaneComputer planeComputer;
std::priority_queue<VertexSize> Q;
std::vector<Point> layer;
for ( ConstIterator it = digSurf.begin(), itE= digSurf.end(); it != itE; ++it )
{
if ( ( (++j) % 50 == 0 ) || ( j == nb ) ) trace.progressBar( j, nb );
Vertex v = *it;
axis = ks.sOrthDir( v );
planeComputer.init( axis, 500, widthNum, widthDen );
// The visitor takes care of all the breadth-first traversal.
Visitor visitor( digSurf, v );
layer.clear();
Visitor::Size currentSize = visitor.current().second;
while ( ! visitor.finished() )
{
Visitor::Node node = visitor.current();
v = node.first;
axis = ks.sOrthDir( v );
p = ks.sCoords( ks.sDirectIncident( v, axis ) );
if ( node.second != currentSize )
{
// std::cerr << "Layer " << currentSize << ", size=" << layer.size() << std::endl;
bool isExtended = planeComputer.extend( layer.begin(), layer.end() );
if ( ! isExtended )
break;
layer.clear();
currentSize = node.second;
}
layer.push_back( p );
visitor.expand();
}
// std::cerr << v << " -> " << planeComputer.size() << std::endl;
Q.push( VertexSize( v, planeComputer.size() ) );
}
trace.endBlock();
trace.beginBlock( "2) Segmentation second pass. Visits vertices from the one with biggest plane to the one with smallest plane." );
std::set<Vertex> processedVertices;
std::map<Vertex,SegmentedPlane*> v2plane;
std::vector<SegmentedPlane*> segmentedPlanes;
j = 0;
while ( ! Q.empty() )
{
if ( ( (++j) % 50 == 0 ) || ( j == nb ) ) trace.progressBar( j, nb );
Vertex v = Q.top().v;
Q.pop();
if ( processedVertices.find( v ) != processedVertices.end() ) // already in set
continue; // process to next vertex
SegmentedPlane* ptrSegment = new SegmentedPlane;
segmentedPlanes.push_back( ptrSegment ); // to delete them afterwards.
axis = ks.sOrthDir( v );
ptrSegment->plane.init( axis, 500, widthNum, widthDen );
// The visitor takes care of all the breadth-first traversal.
Visitor visitor( digSurf, v );
while ( ! visitor.finished() )
{
Visitor::Node node = visitor.current();
v = node.first;
if ( processedVertices.find( v ) == processedVertices.end() )
{ // Vertex is not in processedVertices
axis = ks.sOrthDir( v );
p = ks.sCoords( ks.sDirectIncident( v, axis ) );
bool isExtended = ptrSegment->plane.extend( p );
if ( isExtended )
{ // surfel is in plane.
processedVertices.insert( v );
v2plane[ v ] = ptrSegment;
visitor.expand();
}
else // surfel is not in plane and should not be used in the visit.
visitor.ignore();
}
else // surfel is already in some plane.
visitor.ignore();
}
// Assign random color for each plane.
ptrSegment->color = Color( rand() % 256, rand() % 256, rand() % 256, 255 );
}
trace.endBlock();
//! [greedy-plane-segmentation-ex3-segment]
//! [greedy-plane-segmentation-ex3-visualization]
Viewer3D<> viewer( ks );
viewer.show();
Color col( 255, 255, 120 );
for ( std::map<Vertex,SegmentedPlane*>::const_iterator
it = v2plane.begin(), itE = v2plane.end();
it != itE; ++it )
{
viewer << CustomColors3D( it->second->color, it->second->color );
viewer << ks.unsigns( it->first );
}
viewer << Viewer3D<>::updateDisplay;
//! [greedy-plane-segmentation-ex3-visualization]
//! [greedy-plane-segmentation-ex3-freeMemory]
for ( std::vector<SegmentedPlane*>::iterator
it = segmentedPlanes.begin(), itE = segmentedPlanes.end();
it != itE; ++it )
delete *it;
segmentedPlanes.clear();
v2plane.clear();
//! [greedy-plane-segmentation-ex3-freeMemory]
return application.exec();
}
int main( int argc, char** argv )
{
QApplication application(argc,argv);
string inputFilename = argc > 1 ? argv[ 1 ] : examplesPath+"/samples/Al.100.vol";
int threshold = argc > 2 ? atoi( argv[ 2 ] ) : 0;
int widthNum = argc > 3 ? atoi( argv[ 3 ] ) : 2;
int widthDen = argc > 4 ? atoi( argv[ 4 ] ) : 1;
//! [polyhedralizer-readVol]
trace.beginBlock( "Reading vol file into an image." );
typedef ImageContainerBySTLVector< Domain, int> Image;
Image image = VolReader<Image>::importVol(inputFilename);
typedef functors::SimpleThresholdForegroundPredicate<Image> DigitalObject;
DigitalObject digitalObject( image, threshold );
trace.endBlock();
//! [polyhedralizer-readVol]
//! [polyhedralizer-KSpace]
trace.beginBlock( "Construct the Khalimsky space from the image domain." );
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."<<endl;
return 2;
}
trace.endBlock();
//! [polyhedralizer-KSpace]
//! [polyhedralizer-SurfelAdjacency]
typedef SurfelAdjacency<KSpace::dimension> MySurfelAdjacency;
MySurfelAdjacency surfAdj( false ); // exterior in all directions.
//! [polyhedralizer-SurfelAdjacency]
//! [polyhedralizer-ExtractingSurface]
trace.beginBlock( "Extracting boundary by tracking the surface. " );
typedef KSpace::Surfel Surfel;
Surfel start_surfel = Surfaces<KSpace>::findABel( ks, digitalObject, 100000 );
typedef ImplicitDigitalSurface< KSpace, DigitalObject > MyContainer;
typedef DigitalSurface< MyContainer > MyDigitalSurface;
typedef MyDigitalSurface::ConstIterator ConstIterator;
MyContainer container( ks, digitalObject, surfAdj, start_surfel );
MyDigitalSurface digSurf( container );
trace.info() << "Digital surface has " << digSurf.size() << " surfels."
<< endl;
trace.endBlock();
//! [polyhedralizer-ExtractingSurface]
//! [polyhedralizer-ComputingPlaneSize]
// First pass to find biggest planes.
trace.beginBlock( "Decomposition first pass. Computes all planes so as to sort vertices by the plane size." );
typedef BreadthFirstVisitor<MyDigitalSurface> Visitor;
typedef ChordGenericNaivePlaneComputer<Z3,Z3::Point, DGtal::int64_t> NaivePlaneComputer;
map<Surfel,unsigned int> v2size;
for ( ConstIterator it = digSurf.begin(), itE= digSurf.end(); it != itE; ++it )
v2size[ *it ] = 0;
int j = 0;
int nb = digSurf.size();
NaivePlaneComputer planeComputer;
vector<Point> layer;
vector<Surfel> layer_surfel;
for ( ConstIterator it = digSurf.begin(), itE= digSurf.end(); it != itE; ++it )
{
if ( ( (++j) % 50 == 0 ) || ( j == nb ) ) trace.progressBar( j, nb );
Surfel v = *it;
planeComputer.init( widthNum, widthDen );
// The visitor takes care of all the breadth-first traversal.
Visitor visitor( digSurf, v );
layer.clear();
layer_surfel.clear();
Visitor::Size currentSize = visitor.current().second;
while ( ! visitor.finished() )
{
Visitor::Node node = visitor.current();
v = node.first;
int axis = ks.sOrthDir( v );
Point p = ks.sCoords( ks.sDirectIncident( v, axis ) );
if ( node.second != currentSize )
{
bool isExtended = planeComputer.extend( layer.begin(), layer.end() );
if ( isExtended )
{
for ( vector<Surfel>::const_iterator it_layer = layer_surfel.begin(),
it_layer_end = layer_surfel.end(); it_layer != it_layer_end; ++it_layer )
{
++v2size[ *it_layer ];
}
layer_surfel.clear();
layer.clear();
currentSize = node.second;
}
else
break;
}
layer_surfel.push_back( v );
layer.push_back( p );
visitor.expand();
}
}
// Prepare queue
typedef PairSorted2nd<Surfel,int> SurfelWeight;
priority_queue<SurfelWeight> Q;
for ( ConstIterator it = digSurf.begin(), itE= digSurf.end(); it != itE; ++it )
Q.push( SurfelWeight( *it, v2size[ *it ] ) );
trace.endBlock();
//! [polyhedralizer-ComputingPlaneSize]
//! [polyhedralizer-segment]
// Segmentation into planes
trace.beginBlock( "Decomposition second pass. Visits vertices from the one with biggest plane to the one with smallest plane." );
typedef Triple<NaivePlaneComputer, Color, pair<RealVector,double> > RoundPlane;
set<Surfel> processedVertices;
vector<RoundPlane*> roundPlanes;
map<Surfel,RoundPlane*> v2plane;
j = 0;
while ( ! Q.empty() )
{
if ( ( (++j) % 50 == 0 ) || ( j == nb ) ) trace.progressBar( j, nb );
Surfel v = Q.top().first;
Q.pop();
if ( processedVertices.find( v ) != processedVertices.end() ) // already in set
continue; // process to next vertex
RoundPlane* ptrRoundPlane = new RoundPlane;
roundPlanes.push_back( ptrRoundPlane ); // to delete them afterwards.
v2plane[ v ] = ptrRoundPlane;
ptrRoundPlane->first.init( widthNum, widthDen );
ptrRoundPlane->third = make_pair( RealVector::zero, 0.0 );
// The visitor takes care of all the breadth-first traversal.
Visitor visitor( digSurf, v );
layer.clear();
layer_surfel.clear();
Visitor::Size currentSize = visitor.current().second;
while ( ! visitor.finished() )
{
Visitor::Node node = visitor.current();
v = node.first;
Dimension axis = ks.sOrthDir( v );
Point p = ks.sCoords( ks.sDirectIncident( v, axis ) );
if ( node.second != currentSize )
{
bool isExtended = ptrRoundPlane->first.extend( layer.begin(), layer.end() );
if ( isExtended )
{
for ( vector<Surfel>::const_iterator it_layer = layer_surfel.begin(),
it_layer_end = layer_surfel.end(); it_layer != it_layer_end; ++it_layer )
{
Surfel s = *it_layer;
processedVertices.insert( s );
if ( v2plane.find( s ) == v2plane.end() )
v2plane[ s ] = ptrRoundPlane;
}
layer.clear();
layer_surfel.clear();
currentSize = node.second;
}
else break;
}
layer_surfel.push_back( v );
layer.push_back( p );
if ( processedVertices.find( v ) != processedVertices.end() )
// surfel is already in some plane.
visitor.ignore();
else
visitor.expand();
}
if ( visitor.finished() )
{
for ( vector<Surfel>::const_iterator it_layer = layer_surfel.begin(),
it_layer_end = layer_surfel.end(); it_layer != it_layer_end; ++it_layer )
{
Surfel s = *it_layer;
processedVertices.insert( s );
if ( v2plane.find( s ) == v2plane.end() )
v2plane[ s ] = ptrRoundPlane;
}
}
// Assign random color for each plane.
ptrRoundPlane->second = Color( rand() % 192 + 64, rand() % 192 + 64, rand() % 192 + 64, 255 );
}
trace.endBlock();
//! [polyhedralizer-segment]
//! [polyhedralizer-lsf]
for ( vector<RoundPlane*>::iterator
it = roundPlanes.begin(), itE = roundPlanes.end();
it != itE; ++it )
{
NaivePlaneComputer& computer = (*it)->first;
RealVector normal;
double mu = LSF( normal, computer.begin(), computer.end() );
(*it)->third = make_pair( normal, mu );
}
//! [polyhedralizer-lsf]
//! [polyhedralizer-projection]
map<Surfel, RealPoint> coordinates;
for ( map<Surfel,RoundPlane*>::const_iterator
it = v2plane.begin(), itE = v2plane.end();
it != itE; ++it )
{
Surfel v = it->first;
RoundPlane* rplane = it->second;
Point p = ks.sKCoords( v );
RealPoint rp( (double)p[ 0 ]/2.0, (double)p[ 1 ]/2.0, (double)p[ 2 ]/2.0 );
double mu = rplane->third.second;
RealVector normal = rplane->third.first;
double lambda = mu - rp.dot( normal );
coordinates[ v ] = rp + lambda*normal;
}
typedef vector<Surfel> SurfelRange;
map<Surfel, RealPoint> new_coordinates;
for ( ConstIterator it = digSurf.begin(), itE= digSurf.end(); it != itE; ++it )
{
Surfel s = *it;
SurfelRange neighbors;
back_insert_iterator<SurfelRange> writeIt = back_inserter( neighbors );
digSurf.writeNeighbors( writeIt, *it );
RealPoint x = RealPoint::zero;
for ( SurfelRange::const_iterator its = neighbors.begin(), itsE = neighbors.end();
its != itsE; ++its )
x += coordinates[ *its ];
new_coordinates[ s ] = x / neighbors.size();
}
//! [polyhedralizer-projection]
//! [polyhedralizer-MakeMesh]
typedef unsigned int Number;
typedef Mesh<RealPoint> MyMesh;
typedef MyMesh::MeshFace MeshFace;
typedef MyDigitalSurface::FaceSet FaceSet;
typedef MyDigitalSurface::VertexRange VertexRange;
map<Surfel, Number> index; // Numbers all vertices.
Number nbv = 0;
MyMesh polyhedron( true );
// Insert all projected surfels as vertices of the polyhedral surface.
for ( ConstIterator it = digSurf.begin(), itE= digSurf.end(); it != itE; ++it )
{
polyhedron.addVertex( new_coordinates[ *it ] );
index[ *it ] = nbv++;
}
// Define faces of the mesh. Outputs closed faces.
FaceSet faces = digSurf.allClosedFaces();
for ( typename FaceSet::const_iterator itf = faces.begin(), itf_end = faces.end();
itf != itf_end; ++itf )
{
MeshFace mface( itf->nbVertices );
VertexRange vtcs = digSurf.verticesAroundFace( *itf );
int i = 0;
for ( typename VertexRange::const_iterator itv = vtcs.begin(), itv_end = vtcs.end();
itv != itv_end; ++itv )
{
mface[ i++ ] = index[ *itv ];
}
polyhedron.addFace( mface, Color( 255, 243, 150, 255 ) );
}
//! [polyhedralizer-MakeMesh]
//! [polyhedralizer-visualization]
typedef Viewer3D<Space,KSpace> MyViewer3D;
MyViewer3D viewer( ks );
viewer.show();
bool isOK = polyhedron >> "test.off";
bool isOK2 = polyhedron >> "test.obj";
viewer << polyhedron;
viewer << MyViewer3D::updateDisplay;
application.exec();
//! [polyhedralizer-visualization]
//! [polyhedralizer-freeMemory]
for ( vector<RoundPlane*>::iterator
it = roundPlanes.begin(), itE = roundPlanes.end();
it != itE; ++it )
delete *it;
//! [polyhedralizer-freeMemory]
if (isOK && isOK2)
return 0;
else
return 1;
}
