io/viewers/viewer3D-7-stdplane.cpp

This example shows the recognition of a simple standard digital plane with the COBA algorithm (class DGtal::COBAGenericStandardPlaneComputer). Green points belong to the naive plane. Grey points show farther points that also belong to the strip.

See also

Standard plane recognition with COBA algorithm

$ ./examples/io/viewers/viewer3D-7-stdplane

Piece of standard plane.

 
#include <cstdlib>
#include <iostream>
#include "DGtal/base/Common.h"
#include "DGtal/helpers/StdDefs.h"
#include "DGtal/io/viewers/Viewer3D.h"
#include "DGtal/geometry/surfaces/COBAGenericStandardPlaneComputer.h"
 
using namespace std;
using namespace DGtal;
 
// Standard services - public :
 
/*
  Displays in the \a viewer all the points in the \a domain that
  satisfies the predicate \a pred.
*/
template <typename Viewer3D, typename Domain, typename Predicate>
void
displayPredicate( Viewer3D & viewer,
                  const Domain & domain, const Predicate & pred )
{
  for ( typename Domain::ConstIterator itB = domain.begin(), itE = domain.end();
        itB != itE; ++itB )
    {
      if ( pred( *itB ) )
        viewer << *itB;
    }
}
/*
  Displays in the \a viewer all the points in the range [it,itE).
*/
template <typename Viewer3D, typename InputIterator>
void
displayRange( Viewer3D & viewer, InputIterator it, InputIterator itE )
{
  for ( ; it != itE; ++it )
    viewer << *it;
}
 
/*
  Returns all the points in the \a domain that belongs to the standard
  plane mu <= a*x+b*y+c*z < mu+|a|+|b|+|c|.
*/
template <typename Domain>
std::vector<typename Domain::Point> pointsInStandardPlane
( const Domain & domain,
  typename Domain::Integer a,
  typename Domain::Integer b,
  typename Domain::Integer c,
  typename Domain::Integer mu )
{
  typedef typename Domain::Integer Integer;
  typedef typename Domain::Point Point;
  typedef typename Domain::ConstIterator ConstIterator;
  std::vector<Point> pts;
  Integer mup = mu + abs(a) + abs(b) + abs(c);
  for ( ConstIterator it = domain.begin(), itE = domain.end();
        it != itE; ++it )
    {
      Point p = *it;
      Integer r = a * p[ 0 ] + b * p[ 1 ] + c * p[ 2 ];
      if ( ( mu <= r ) && ( r < mup ) )
        pts.push_back( p );
    }
  return pts;
}
 
 
int main( int argc, char** argv )
{
  using namespace Z3i;
  unsigned int nb = 0;
  unsigned int nbok = 0;
 
  QApplication application(argc,argv);
 
  unsigned int diameter = argc > 1 ? atoi( argv[ 1 ] ) : 10;
  int a = argc > 2 ? atoi( argv[ 2 ] ) : 2;
  int b = argc > 3 ? atoi( argv[ 3 ] ) : 3;
  int c = argc > 4 ? atoi( argv[ 4 ] ) : 5;
  int mu = argc > 5 ? atoi( argv[ 5 ] ) : 0;
  trace.beginBlock ( "Testing class COBAGenericStandardPlaneComputer" );
  trace.info() << "Recognizing plane "
               << mu << " <= " << a << " * x + "
               << b << " * y + " << c << " * z < "
               << (mu+abs(a)+abs(b)+abs(c)) << std::endl;
  Domain domain1( Point( -diameter, -diameter, -diameter ),
                  Point(  diameter,  diameter,  diameter ) );
 
  typedef COBAGenericStandardPlaneComputer<Z3, BigInteger> PlaneComputer;
  typedef PlaneComputer::Primitive Primitive;
  PlaneComputer plane;
  plane.init( 2*diameter, 1, 1 );
 
  std::vector<Point> recognized = pointsInStandardPlane( domain1,
                                                         a, b , c, mu );
  ++nb, nbok += plane.extend( recognized.begin(), recognized.end() ) ? 1 : 0;
  trace.info() << "(" << nbok << "/" << nb
               << ") All points are recognized." << std::endl;
  trace.info() << " - Plane=" << plane
               << std::endl;
  Primitive strip = plane.primitive();
  trace.info() << "strip=" << strip
               << " axis=" << strip.mainAxis()
               << " axiswidth=" << strip.axisWidth()
               << " diag=" << strip.mainDiagonal()
               << " diagwidth=" << strip.diagonalWidth()
               << std::endl;
  ++nb, nbok += ( strip.diagonalWidth() < sqrt(3.0) ) ? 1 : 0;
  trace.info() << "(" << nbok << "/" << nb
               << ") Diagonal width < sqrt(3)." << std::endl;
  trace.emphase() << ( (nb == nbok) ? "Passed." : "Error." ) << endl;
  trace.endBlock();
 
  typedef Viewer3D<> MyViewer;
  MyViewer viewer;
  viewer.show();
  Color red( 255, 0, 0 );
  Color green( 0, 255, 0 );
  Color grey( 200, 200, 200 );
  Domain domain2( Point( -2*diameter, -2*diameter, -2*diameter ),
                  Point(  2*diameter,  2*diameter,  2*diameter ) );
  viewer << CustomColors3D( red, red );
  for ( std::vector<Point>::const_iterator it = recognized.begin(),
          itE = recognized.end(); it != itE; ++it )
    if ( ! strip( *it ) ) viewer << *it;
  viewer << CustomColors3D( green, green );
  displayRange( viewer, plane.begin(), plane.end() );
  viewer << CustomColors3D( grey, grey );
  displayPredicate( viewer, domain2, strip );
  viewer << MyViewer::updateDisplay;
  trace.info() << "- Points in green have been recognized as belonging to this standard plane." << std::endl;
  trace.info() << "- Points in grey belongs also to the parallel strip of the recognized standard plane." << std::endl;
  trace.info() << "- Points in red belongs to the parallel strip of the recognized standard plane but not to the input standard plane: NONE should be red." << std::endl;
 
  return application.exec();
}
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