3dCurvatureViewer.cpp

 
#include <iostream>
#include "DGtal/base/Common.h"
#include <cstring>
 
#include "CLI11.hpp"
 
 
// Shape constructors
#include "DGtal/io/readers/GenericReader.h"
#include "DGtal/images/ImageSelector.h"
#include "DGtal/images/imagesSetsUtils/SetFromImage.h"
#include "DGtal/images/IntervalForegroundPredicate.h"
#include "DGtal/topology/SurfelAdjacency.h"
#include "DGtal/topology/helpers/Surfaces.h"
#include "DGtal/topology/LightImplicitDigitalSurface.h"
#include <DGtal/topology/SetOfSurfels.h>
 
#include "DGtal/images/ImageHelper.h"
#include "DGtal/topology/DigitalSurface.h"
#include "DGtal/graph/DepthFirstVisitor.h"
#include "DGtal/graph/GraphVisitorRange.h"
 
// Integral Invariant includes
#include "DGtal/geometry/surfaces/estimation/IIGeometricFunctors.h"
#include "DGtal/geometry/surfaces/estimation/IntegralInvariantVolumeEstimator.h"
#include "DGtal/geometry/surfaces/estimation/IntegralInvariantCovarianceEstimator.h"
 
// Drawing
#include "DGtal/io/boards/Board3D.h"
#include "DGtal/io/colormaps/GradientColorMap.h"
 
#ifdef WITH_VISU3D_QGLVIEWER
#include "DGtal/io/viewers/Viewer3D.h"
#endif
 
using namespace DGtal;
using namespace functors;
 
const Color  AXIS_COLOR_RED( 200, 20, 20, 255 );
const Color  AXIS_COLOR_GREEN( 20, 200, 20, 255 );
const Color  AXIS_COLOR_BLUE( 20, 20, 200, 255 );
const double AXIS_LINESIZE = 0.05;
 
void missingParam( std::string param )
{
  trace.error() << " Parameter: " << param << " is required.";
  trace.info() << std::endl;
}
 
 
int main( int argc, char** argv )
{
  // parse command line using CLI ----------------------------------------------
  CLI::App app;
  std::string inputFileName;
  double re_convolution_kernel;
  double noiseLevel {0.5};
  unsigned int threshold {8};
  int minImageThreshold {0};
  int maxImageThreshold {255};
  std::string mode {"mean"};
  std::string export_obj_filename;
  std::string export_dat_filename;
  bool exportOnly {false};
  std::vector< double> vectScale;
  bool normalization {false};
  
  app.description("Visualisation of 3d curvature from .vol file using curvature from Integral Invarian\nBasic usage:\n \t3dCurvatureViewerNoise file.vol --radius 5 --mode mean  \n Below are the different available modes: \n\t - \"mean\" for the mean curvature \n \t - \"mean\" for the mean curvature\n\t - \"gaussian\" for the Gaussian curvature\n\t - \"k1\" for the first principal curvature\n\t - \"k2\" for the second principal curvature\n\t - \"prindir1\" for the first principal curvature direction\n\t - \"prindir2\" for the second principal curvature direction\n\t - \"normal\" for the normal vector");
 
   
   
   app.add_option("-i,--input,1", inputFileName, "vol file (.vol, .longvol .p3d, .pgm3d and if WITH_ITK is selected: dicom, dcm, mha, mhd). For longvol, dicom, dcm, mha or mhd formats, the input values are linearly scaled between 0 and 255." )
   ->required()
   ->check(CLI::ExistingFile);
   
   app.add_option("--radius,-r", re_convolution_kernel, "Kernel radius for IntegralInvariant" )
     ->required();
   app.add_option("--threshold,-t", threshold, "Min size of SCell boundary of an object", true);
   app.add_option("--minImageThreshold,-l",minImageThreshold,  "set the minimal image threshold to define the image object (object defined by the voxel with intensity belonging to ]minImageThreshold, maxImageThreshold ] ).", true);
   app.add_option("--maxImageThreshold,-u",maxImageThreshold, "set the maximal image threshold to define the image object (object defined by the voxel with intensity belonging to ]minImageThreshold, maxImageThreshold] ).", true);
   app.add_option("--mode,-m", mode, "type of output : mean, gaussian, k1, k2, prindir1, prindir2 or normal(default mean)", true)
    -> check(CLI::IsMember({"mean","gaussian", "k1", "k2", "prindir1","prindir2", "normal" }));
   app.add_option("--exportOBJ,-o", export_obj_filename, "Export the scene to specified OBJ/MTL filename (extensions added).");
   app.add_option("--exportDAT,-d",export_dat_filename, "Export resulting curvature (for mean, gaussian, k1 or k2 mode) in a simple data file each line representing a surfel."  );
   app.add_flag("--exportOnly", exportOnly, "Used to only export the result without the 3d Visualisation (usefull for scripts).");
   
   app.add_option("--imageScale,-s", vectScale,  "scaleX, scaleY, scaleZ: re sample the source image according with a grid of size 1.0/scale (usefull to compute curvature on image defined on anisotropic grid). Set by default to 1.0 for the three axis.")
    ->expected(3);
  
   app.add_option("--normalization,-n",normalization, "When exporting to OBJ, performs a normalization so that the geometry fits in [-1/2,1/2]^3") ;
   
   app.get_formatter()->column_width(40);
   CLI11_PARSE(app, argc, argv);
   // END parse command line using CLI ----------------------------------------------
 
  bool neededArgsGiven=true;
 
  
  #ifndef WITH_VISU3D_QGLVIEWER
    bool enable_visu = false;
  #else
    bool enable_visu = !exportOnly; 
  #endif
    bool enable_obj = export_obj_filename != ""; 
    bool enable_dat = export_dat_filename != ""; 
 
    if( !enable_visu && !enable_obj && !enable_dat )
      {
  #ifndef WITH_VISU3D_QGLVIEWER
        trace.error() << "You should specify what you want to export with --export and/or --exportDat." << std::endl;
  #else
        trace.error() << "You should specify what you want to export with --export and/or --exportDat, or remove --exportOnly." << std::endl;
  #endif
        neededArgsGiven = false;
      }
 
  
  double h = 1.0;
  if( enable_obj )
     {
       if( export_obj_filename.find(".obj") == std::string::npos )
         {
           std::ostringstream oss;
           oss << export_obj_filename << ".obj" << std::endl;
           export_obj_filename = oss.str();
         }
     }
  
 
  std::vector<  double > aGridSizeReSample;
  if( vectScale.size() == 3)
     {
       aGridSizeReSample.push_back(1.0/vectScale.at(0));
       aGridSizeReSample.push_back(1.0/vectScale.at(1));
       aGridSizeReSample.push_back(1.0/vectScale.at(2));
 
     }
   else
     {
       aGridSizeReSample.push_back(1.0);
       aGridSizeReSample.push_back(1.0);
       aGridSizeReSample.push_back(1.0);
     }
 
 
 
  // Construction of the shape from vol file
  typedef Z3i::Space::RealPoint RealPoint;
  typedef Z3i::Point Point;
  typedef ImageSelector< Z3i::Domain,  int>::Type Image;
  typedef DGtal::functors::BasicDomainSubSampler< HyperRectDomain<SpaceND<3, int> >,
                                                  DGtal::int32_t, double >   ReSampler;
  typedef DGtal::ConstImageAdapter<Image, Image::Domain, ReSampler,
                                   Image::Value,  DGtal::functors::Identity >  SamplerImageAdapter;
  typedef IntervalForegroundPredicate< SamplerImageAdapter > ImagePredicate;
  typedef BinaryPointPredicate<DomainPredicate<Image::Domain>, ImagePredicate, AndBoolFct2  > Predicate;
  typedef Z3i::KSpace KSpace;
  typedef KSpace::SCell SCell;
  typedef KSpace::Cell Cell;
 
  trace.beginBlock("Loading the file");
  Image image = GenericReader<Image>::import( inputFileName );
 
  PointVector<3,int> shiftVector3D( 0 ,0, 0 );
  DGtal::functors::BasicDomainSubSampler< HyperRectDomain< SpaceND< 3, int > >,
                                          DGtal::int32_t, double > reSampler(image.domain(),
                                                                             aGridSizeReSample,  shiftVector3D);
  const functors::Identity identityFunctor{};
  SamplerImageAdapter sampledImage ( image, reSampler.getSubSampledDomain(), reSampler, identityFunctor );
  ImagePredicate predicateIMG = ImagePredicate( sampledImage,  minImageThreshold, maxImageThreshold );
  DomainPredicate<Z3i::Domain> domainPredicate( sampledImage.domain() );
  AndBoolFct2 andF;
  Predicate predicate(domainPredicate, predicateIMG, andF  );
 
 
  Z3i::Domain domain =  sampledImage.domain();
  Z3i::KSpace K;
  bool space_ok = K.init( domain.lowerBound()-Z3i::Domain::Point::diagonal(),
                          domain.upperBound()+Z3i::Domain::Point::diagonal(), true );
  if (!space_ok)
    {
      trace.error() << "Error in the Khalimsky space construction."<<std::endl;
      return 2;
    }
  CanonicSCellEmbedder< KSpace > embedder( K );
  SurfelAdjacency< Z3i::KSpace::dimension > Sadj( true );
  trace.endBlock();
  // Viewer settings
 
 
  // Extraction of components
  typedef KSpace::SurfelSet SurfelSet;
  typedef SetOfSurfels< KSpace, SurfelSet > MySetOfSurfels;
  typedef DigitalSurface< MySetOfSurfels > MyDigitalSurface;
 
  trace.beginBlock("Extracting surfaces");
  std::vector< std::vector<SCell > > vectConnectedSCell;
  Surfaces<KSpace>::extractAllConnectedSCell(vectConnectedSCell,K, Sadj, predicate, false);
  std::ofstream outDat;
  if( enable_dat )
    {
      trace.info() << "Exporting curvature as dat file: "<< export_dat_filename <<std::endl;
      outDat.open( export_dat_filename.c_str() );
      outDat << "# data exported from 3dCurvatureViewer implementing the II curvature estimator (Coeurjolly, D.; Lachaud, J.O; Levallois, J., (2013). Integral based Curvature"
             << "  Estimators in Digital Geometry. DGCI 2013.) " << std::endl;
      outDat << "# format: surfel coordinates (in Khalimsky space) curvature: "<< mode <<  std::endl;
    }
 
  trace.info()<<"Number of components= "<<vectConnectedSCell.size()<<std::endl;
  trace.endBlock();
 
  if( vectConnectedSCell.size() == 0 )
    {
      trace.error()<< "No surface component exists. Please check the vol file threshold parameter.";
      trace.info()<<std::endl;
      exit(2);
    }
 
#ifdef WITH_VISU3D_QGLVIEWER
  QApplication application( argc, argv );
  typedef Viewer3D<Z3i::Space, Z3i::KSpace> Viewer;
#endif
  typedef Board3D<Z3i::Space, Z3i::KSpace> Board;
 
#ifdef WITH_VISU3D_QGLVIEWER
  Viewer viewer( K );
#endif
  Board board( K );
 
#ifdef WITH_VISU3D_QGLVIEWER
  if( enable_visu )
    {
      viewer.show();
    }
#endif
 
  for( unsigned int i = 0; i<vectConnectedSCell.size(); ++i )
    {
      if( vectConnectedSCell[i].size() <= threshold )
        {
          continue;
        }
 
      MySetOfSurfels  aSet(K, Sadj);
 
      for( std::vector<SCell>::const_iterator it = vectConnectedSCell.at(i).begin();
           it != vectConnectedSCell.at(i).end();
           ++it )
        {
          aSet.surfelSet().insert( *it);
        }
 
      MyDigitalSurface digSurf( aSet );
 
 
      typedef DepthFirstVisitor<MyDigitalSurface> Visitor;
      typedef GraphVisitorRange< Visitor > VisitorRange;
      typedef VisitorRange::ConstIterator SurfelConstIterator;
      VisitorRange range( new Visitor( digSurf, *digSurf.begin() ) );
      SurfelConstIterator abegin = range.begin();
      SurfelConstIterator aend = range.end();
 
      VisitorRange range2( new Visitor( digSurf, *digSurf.begin() ) );
      SurfelConstIterator abegin2 = range2.begin();
 
      trace.beginBlock("Curvature computation on a component");
      if( ( mode.compare("gaussian") == 0 ) || ( mode.compare("mean") == 0 )
          || ( mode.compare("k1") == 0 ) || ( mode.compare("k2") == 0 ))
        {
          typedef double Quantity;
          std::vector< Quantity > results;
          std::back_insert_iterator< std::vector< Quantity > > resultsIterator( results );
          if ( mode.compare("mean") == 0 )
            {
              typedef functors::IIMeanCurvature3DFunctor<Z3i::Space> MyIICurvatureFunctor;
              typedef IntegralInvariantVolumeEstimator<Z3i::KSpace, Predicate, MyIICurvatureFunctor> MyIIEstimator;
 
              MyIICurvatureFunctor functor;
              functor.init( h, re_convolution_kernel );
 
              MyIIEstimator estimator( functor );
              estimator.attach( K, predicate );
              estimator.setParams( re_convolution_kernel/h );
              estimator.init( h, abegin, aend );
 
              estimator.eval( abegin, aend, resultsIterator );
            }
          else if ( mode.compare("gaussian") == 0 )
            {
              typedef functors::IIGaussianCurvature3DFunctor<Z3i::Space> MyIICurvatureFunctor;
              typedef IntegralInvariantCovarianceEstimator<Z3i::KSpace, Predicate, MyIICurvatureFunctor> MyIIEstimator;
 
              MyIICurvatureFunctor functor;
              functor.init( h, re_convolution_kernel );
 
              MyIIEstimator estimator( functor ); estimator.attach( K,
                                                                    predicate ); estimator.setParams( re_convolution_kernel/h );
              estimator.init( h, abegin, aend );
 
              estimator.eval( abegin, aend, resultsIterator );
            }
          else if ( mode.compare("k1") == 0 )
            {
              typedef functors::IIFirstPrincipalCurvature3DFunctor<Z3i::Space> MyIICurvatureFunctor;
              typedef IntegralInvariantCovarianceEstimator<Z3i::KSpace, Predicate, MyIICurvatureFunctor> MyIIEstimator;
 
              MyIICurvatureFunctor functor;
              functor.init( h, re_convolution_kernel );
 
              MyIIEstimator estimator( functor );
              estimator.attach( K, predicate );
              estimator.setParams( re_convolution_kernel/h );
              estimator.init( h, abegin, aend );
 
              estimator.eval( abegin, aend, resultsIterator );
            }
          else if ( mode.compare("k2") == 0 )
            {
              typedef functors::IISecondPrincipalCurvature3DFunctor<Z3i::Space> MyIICurvatureFunctor;
              typedef IntegralInvariantCovarianceEstimator<Z3i::KSpace, Predicate, MyIICurvatureFunctor> MyIIEstimator;
 
              MyIICurvatureFunctor functor;
              functor.init( h, re_convolution_kernel );
 
              MyIIEstimator estimator( functor );
              estimator.attach( K, predicate );
              estimator.setParams( re_convolution_kernel/h );
              estimator.init( h, abegin, aend );
 
              estimator.eval( abegin, aend, resultsIterator );
            }
          trace.endBlock();
 
 
          // Drawing results
          trace.beginBlock("Visualisation");
          Quantity min = results[ 0 ];
          Quantity max = results[ 0 ];
          for ( unsigned int i = 1; i < results.size(); ++i )
            {
              if ( results[ i ] < min )
                {
                  min = results[ i ];
                }
              else if ( results[ i ] > max )
                {
                  max = results[ i ];
                }
            }
          trace.info() << "Max value= "<<max<<"  min value= "<<min<<std::endl;
          ASSERT( min <= max );
          typedef GradientColorMap< Quantity > Gradient;
          Gradient cmap_grad( min, (max==min)? max+1: max );
          cmap_grad.addColor( Color( 50, 50, 255 ) );
          cmap_grad.addColor( Color( 255, 0, 0 ) );
          cmap_grad.addColor( Color( 255, 255, 10 ) );
 
#ifdef WITH_VISU3D_QGLVIEWER
          if( enable_visu )
            {
              viewer << SetMode3D((*abegin2).className(), "Basic" );
            }
#endif
          if( enable_obj )
            {
              board << SetMode3D((K.unsigns(*abegin2)).className(), "Basic" );
            }
 
 
          for ( unsigned int i = 0; i < results.size(); ++i )
            {
#ifdef WITH_VISU3D_QGLVIEWER
              if( enable_visu )
                {
                  viewer << CustomColors3D( Color::Black, cmap_grad( results[ i ] ));
                  viewer << *abegin2;
                }
#endif
 
              if( enable_obj )
                {
                  board << CustomColors3D( Color::Black, cmap_grad( results[ i ] ));
                  board      << K.unsigns(*abegin2);
                }
 
              if( enable_dat )
                {
                  Point kCoords = K.uKCoords(K.unsigns(*abegin2));
                  outDat << kCoords[0] << " " << kCoords[1] << " " << kCoords[2] <<  " " <<  results[i] << std::endl;
                }
 
              ++abegin2;
            }
        }
      else
        {
          typedef Z3i::Space::RealVector Quantity;
          std::vector< Quantity > results;
          std::back_insert_iterator< std::vector< Quantity > > resultsIterator( results );
 
          if( mode.compare("prindir1") == 0 )
            {
              typedef functors::IIFirstPrincipalDirectionFunctor<Z3i::Space> MyIICurvatureFunctor;
              typedef IntegralInvariantCovarianceEstimator<Z3i::KSpace, Predicate, MyIICurvatureFunctor> MyIIEstimator;
 
              MyIICurvatureFunctor functor;
              functor.init( h, re_convolution_kernel );
 
              MyIIEstimator estimator( functor );
              estimator.attach( K, predicate );
              estimator.setParams( re_convolution_kernel/h );
              estimator.init( h, abegin, aend );
 
              estimator.eval( abegin, aend, resultsIterator );
            }
          else if( mode.compare("prindir2") == 0 )
            {
              typedef functors::IISecondPrincipalDirectionFunctor<Z3i::Space> MyIICurvatureFunctor;
              typedef IntegralInvariantCovarianceEstimator<Z3i::KSpace, Predicate, MyIICurvatureFunctor> MyIIEstimator;
 
              MyIICurvatureFunctor functor;
              functor.init( h, re_convolution_kernel );
 
              MyIIEstimator estimator( functor );
              estimator.attach( K, predicate );
              estimator.setParams( re_convolution_kernel/h );
              estimator.init( h, abegin, aend );
 
              estimator.eval( abegin, aend, resultsIterator );
            }
          else
            if( mode.compare("normal") == 0 )
              {
                typedef functors::IINormalDirectionFunctor<Z3i::Space> MyIICurvatureFunctor;
                typedef IntegralInvariantCovarianceEstimator<Z3i::KSpace, Predicate, MyIICurvatureFunctor> MyIIEstimator;
 
                MyIICurvatureFunctor functor;
                functor.init( h, re_convolution_kernel );
 
                MyIIEstimator estimator( functor );
                estimator.attach( K, predicate );
                estimator.setParams( re_convolution_kernel/h );
                estimator.init( h, abegin, aend );
 
                estimator.eval( abegin, aend, resultsIterator );
              }
 
 
 
 
#ifdef WITH_VISU3D_QGLVIEWER
          if( enable_visu )
            {
              viewer << SetMode3D(K.uCell( K.sKCoords(*abegin2) ).className(), "Basic" );
            }
#endif
 
          if( enable_obj )
            {
              board << SetMode3D(K.uCell( K.sKCoords(*abegin2) ).className(), "Basic" );
            }
 
          for ( unsigned int i = 0; i < results.size(); ++i )
            {
              DGtal::Dimension kDim = K.sOrthDir( *abegin2 );
              SCell outer = K.sIndirectIncident( *abegin2, kDim);
              if ( predicate(Z3i::Point(embedder(outer),functors::Round<>()) ))
                {
                  outer = K.sDirectIncident( *abegin2, kDim);
                }
 
              Cell unsignedSurfel = K.uCell( K.sKCoords(*abegin2) );
 
#ifdef WITH_VISU3D_QGLVIEWER
              if( enable_visu )
                {
                  viewer << CustomColors3D( DGtal::Color(255,255,255,255),
                                            DGtal::Color(255,255,255,255))
                         << unsignedSurfel;
                }
#endif
 
              if( enable_obj )
                {
                  board << CustomColors3D( DGtal::Color(255,255,255,255),
                                           DGtal::Color(255,255,255,255))
                        << unsignedSurfel;
                }
 
              if( enable_dat )
                {
                  Point kCoords = K.uKCoords(K.unsigns(*abegin2));
                  outDat << kCoords[0] << " " << kCoords[1] << " " << kCoords[2] << " "
                         << results[i][0] << " " << results[i][1] << " " << results[i][2]
                         << std::endl;
                }
 
              RealPoint center = embedder( outer );
 
#ifdef WITH_VISU3D_QGLVIEWER
              if( enable_visu )
                {
                  if( mode.compare("prindir1") == 0 )
                    {
                      viewer.setLineColor( AXIS_COLOR_BLUE );
                    }
                  else if( mode.compare("prindir2") == 0 )
                    {
                      viewer.setLineColor( AXIS_COLOR_RED );
                    }
                  else if( mode.compare("normal") == 0 )
                    {
                      viewer.setLineColor( AXIS_COLOR_GREEN );
                    }
 
 
                  viewer.addLine (
                                  RealPoint(
                                            center[0] -  0.5 * results[i][0],
                                            center[1] -  0.5 * results[i][1],
                                            center[2] -  0.5 * results[i][2]
                                            ),
                                  RealPoint(
                                            center[0] +  0.5 * results[i][0],
                                            center[1] +  0.5 * results[i][1],
                                            center[2] +  0.5 * results[i][2]
                                            ),
                                  AXIS_LINESIZE );
                }
#endif
 
              if( enable_obj )
                {
                  if( mode.compare("prindir1") == 0 )
                    {
                      board.setFillColor( AXIS_COLOR_BLUE );
                    }
                  else if( mode.compare("prindir2") == 0 )
                    {
                      board.setFillColor( AXIS_COLOR_RED );
                    }
                  else if( mode.compare("normal") == 0 )
                    {
                      board.setFillColor( AXIS_COLOR_GREEN );
                    }
 
                  board.addCylinder (
                                     RealPoint(
                                               center[0] -  0.5 * results[i][0],
                                               center[1] -  0.5 * results[i][1],
                                               center[2] -  0.5 * results[i][2]),
                                     RealPoint(
                                               center[0] +  0.5 * results[i][0],
                                               center[1] +  0.5 * results[i][1],
                                               center[2] +  0.5 * results[i][2]),
                                     0.2 );
                }
 
              ++abegin2;
            }
        }
      trace.endBlock();
    }
 
#ifdef WITH_VISU3D_QGLVIEWER
  if( enable_visu )
    {
      viewer << Viewer3D<>::updateDisplay;
    }
#endif
  if( enable_obj )
    {
      trace.info()<< "Exporting object: " << export_obj_filename << " ...";
      board.saveOBJ(export_obj_filename,normalization);
      trace.info() << "[done]" << std::endl;
    }
  if( enable_dat )
    {
      outDat.close();
    }
 
#ifdef WITH_VISU3D_QGLVIEWER
  if( enable_visu )
    {
      return application.exec();
    }
#endif
 
  return 0;
}