testIntegralInvariantCovarianceEstimator.cpp

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#include <iostream>
#include <tuple>
 
#include "DGtal/base/Common.h"
 
#include "DGtal/shapes/implicit/ImplicitBall.h"
 
#include "DGtal/shapes/GaussDigitizer.h"
#include "DGtal/topology/LightImplicitDigitalSurface.h"
#include "DGtal/topology/DigitalSurface.h"
#include "DGtal/graph/DepthFirstVisitor.h"
#include "DGtal/graph/GraphVisitorRange.h"
 
#include "DGtal/geometry/surfaces/estimation/IIGeometricFunctors.h"
#include "DGtal/geometry/surfaces/estimation/IntegralInvariantCovarianceEstimator.h"
 
 
 
 
using namespace DGtal;
 
// Functions for testing class IntegralInvariantCovarianceEstimator and IIGeometricFunctor.
 
bool testGaussianCurvature3d( double h, double delta )
{
  typedef ImplicitBall<Z3i::Space> ImplicitShape;
  typedef GaussDigitizer<Z3i::Space, ImplicitShape> DigitalShape;
  typedef LightImplicitDigitalSurface<Z3i::KSpace,DigitalShape> Boundary;
  typedef DigitalSurface< Boundary > MyDigitalSurface;
  typedef DepthFirstVisitor< MyDigitalSurface > Visitor;
  typedef GraphVisitorRange< Visitor > VisitorRange;
  typedef VisitorRange::ConstIterator VisitorConstIterator;
 
  typedef functors::IIGaussianCurvature3DFunctor<Z3i::Space> MyIICurvatureFunctor;
  typedef IntegralInvariantCovarianceEstimator< Z3i::KSpace, DigitalShape, MyIICurvatureFunctor > MyIICurvatureEstimator;
  typedef MyIICurvatureFunctor::Value Value;
 
  double re = 5.0;
  double radius = 5.0;
  double realValue = 1.0/(radius * radius);
 
  trace.beginBlock( "Shape initialisation ..." );
 
  ImplicitShape ishape( Z3i::RealPoint( 0, 0, 0 ), radius );
  DigitalShape dshape;
  dshape.attach( ishape );
  dshape.init( Z3i::RealPoint( -10.0, -10.0, -10.0 ), Z3i::RealPoint( 10.0, 10.0, 10.0 ), h );
 
  Z3i::KSpace K;
  if ( !K.init( dshape.getLowerBound(), dshape.getUpperBound(), true ) )
  {
    trace.error() << "Problem with Khalimsky space" << std::endl;
    return false;
  }
 
  Z3i::KSpace::Surfel bel = Surfaces<Z3i::KSpace>::findABel( K, dshape, 10000 );
  Boundary boundary( K, dshape, SurfelAdjacency<Z3i::KSpace::dimension>( true ), bel );
  MyDigitalSurface surf ( boundary );
 
  trace.endBlock();
 
  trace.beginBlock( "Curvature estimator initialisation ...");
  
  VisitorRange range( new Visitor( surf, *surf.begin() ));
  VisitorConstIterator ibegin = range.begin();
  VisitorConstIterator iend = range.end();
 
  MyIICurvatureFunctor curvatureFunctor;
  curvatureFunctor.init( h, re );
 
  MyIICurvatureEstimator curvatureEstimator( curvatureFunctor );
  curvatureEstimator.attach( K, dshape );
  curvatureEstimator.setParams( re/h );
  curvatureEstimator.init( h, ibegin, iend );
 
  trace.endBlock();
 
  trace.beginBlock( "Curvature estimator evaluation ...");
 
  std::vector< Value > results;
  std::back_insert_iterator< std::vector< Value > > resultsIt( results );
  curvatureEstimator.eval( ibegin, iend, resultsIt );
 
  trace.endBlock();
 
  trace.beginBlock ( "Comparing results of integral invariant 3D Gaussian curvature ..." );
 
  double mean = 0.0;
  unsigned int rsize = static_cast<unsigned int>(results.size());
 
  if( rsize == 0 )
  {
    trace.error() << "ERROR: surface is empty" << std::endl;
    trace.endBlock();
    return false;
  }
 
  for ( unsigned int i = 0; i < rsize; ++i )
  {
    mean += results[ i ];
  }
  mean /= rsize;
 
  if( mean != mean ) //NaN
  {
    trace.error() << "ERROR: result is NaN" << std::endl;
    trace.endBlock();
    return false;
  }
 
  double v = std::abs ( realValue - mean );
 
  trace.warning() << "True value: " << realValue << std::endl;
  trace.warning() << "Mean value: " << mean << std::endl;
  trace.warning() << "Delta: " << delta << " |true - mean|: " << v << std::endl;
 
  if( v > delta )
  {
    trace.endBlock();
    return false;
  }
  trace.endBlock();
  return true;
}
 
bool testPrincipalCurvatures3d( double h )
{
  typedef ImplicitBall<Z3i::Space> ImplicitShape;
  typedef GaussDigitizer<Z3i::Space, ImplicitShape> DigitalShape;
  typedef LightImplicitDigitalSurface<Z3i::KSpace,DigitalShape> Boundary;
  typedef DigitalSurface< Boundary > MyDigitalSurface;
  typedef DepthFirstVisitor< MyDigitalSurface > Visitor;
  typedef GraphVisitorRange< Visitor > VisitorRange;
  typedef VisitorRange::ConstIterator VisitorConstIterator;
 
  typedef functors::IIPrincipalCurvatures3DFunctor<Z3i::Space> MyIICurvatureFunctor;
  typedef IntegralInvariantCovarianceEstimator< Z3i::KSpace, DigitalShape, MyIICurvatureFunctor > MyIICurvatureEstimator;
  typedef MyIICurvatureFunctor::Value Value;
 
  typedef functors::IIPrincipalCurvaturesAndDirectionsFunctor<Z3i::Space> MyIICurvatureFunctorTensor;
  typedef IntegralInvariantCovarianceEstimator< Z3i::KSpace, DigitalShape, MyIICurvatureFunctorTensor > MyIICurvatureEstimatorTensor;
  typedef MyIICurvatureFunctorTensor::Value ValueTensor;
 
  double re = 5.0;
  double radius = 5.0;
 
  trace.beginBlock( "Shape initialisation ..." );
 
  ImplicitShape ishape( Z3i::RealPoint( 0, 0, 0 ), radius );
  DigitalShape dshape;
  dshape.attach( ishape );
  dshape.init( Z3i::RealPoint( -10.0, -10.0, -10.0 ), Z3i::RealPoint( 10.0, 10.0, 10.0 ), h );
 
  Z3i::KSpace K;
  if ( !K.init( dshape.getLowerBound(), dshape.getUpperBound(), true ) )
  {
    trace.error() << "Problem with Khalimsky space" << std::endl;
    return false;
  }
 
  Z3i::KSpace::Surfel bel = Surfaces<Z3i::KSpace>::findABel( K, dshape, 10000 );
  Boundary boundary( K, dshape, SurfelAdjacency<Z3i::KSpace::dimension>( true ), bel );
  MyDigitalSurface surf ( boundary );
 
  trace.endBlock();
 
  trace.beginBlock( "Curvature estimator initialisation ...");
  
  VisitorRange range( new Visitor( surf, *surf.begin() ));
  VisitorConstIterator ibegin = range.begin();
  VisitorConstIterator iend = range.end();
 
  MyIICurvatureFunctor curvatureFunctor;
  curvatureFunctor.init( h, re );
  MyIICurvatureEstimator curvatureEstimator( curvatureFunctor );
  curvatureEstimator.attach( K, dshape );
  curvatureEstimator.setParams( re/h );
  curvatureEstimator.init( h, ibegin, iend );
 
  MyIICurvatureFunctorTensor curvatureFunctorTensor;
  curvatureFunctorTensor.init( h, re );
  MyIICurvatureEstimatorTensor curvatureEstimatorTensor( curvatureFunctorTensor );
  curvatureEstimatorTensor.attach( K, dshape );
  curvatureEstimatorTensor.setParams( re/h );
  curvatureEstimatorTensor.init( h, ibegin, iend );
  
  trace.endBlock();
 
  trace.beginBlock( "Curvature estimator evaluation ...");
 
  std::vector< Value > results;
  std::back_insert_iterator< std::vector< Value > > resultsIt( results );
  curvatureEstimator.eval( ibegin, iend, resultsIt );
  trace.endBlock();
 
  
  
  trace.beginBlock( "Checking CurvaturesAndDirections functor");
  Value val = curvatureEstimator.eval( surf.begin() );
  ValueTensor valTensor = curvatureEstimatorTensor.eval( surf.begin() );
  bool ok = (val.first ==  std::get<0>(valTensor));
  ok &= (val.second ==  std::get<1>(valTensor));
  if (!ok)
    trace.error()<< "Error comparing principal curvatures between two different functors."<<std::endl;
  
  trace.endBlock();
 
  
  trace.beginBlock ( "Comparing results of integral invariant 3D Gaussian curvature ..." );
 
  unsigned int error_order = 0;
  unsigned int rsize = static_cast<unsigned int>(results.size());
 
  if( rsize == 0 )
  {
    trace.error() << "ERROR: surface is empty" << std::endl;
    trace.endBlock();
    return false;
  }
 
  for ( unsigned int i = 0; i < rsize; ++i )
  {
    if( std::abs(results[i].first) < std::abs(results[i].second) )
    {
      ++error_order;
    }
  }
 
  trace.warning() << "Error order: " << error_order << std::endl;
  trace.warning() << "If not equals to 0, something is wrong..." << std::endl;
 
  trace.endBlock();
 
  if( error_order != 0 )
  {
    return false;
  }
  return true;
}
 
// Standard services - public :
 
int main( int /*argc*/, char** /*argv*/ )
{
  trace.beginBlock ( "Testing class IntegralInvariantCovarianceEstimator and 3d functors" );
    bool res = testGaussianCurvature3d( 0.6, 0.007 ) && testPrincipalCurvatures3d( 0.6 );
    trace.emphase() << ( res ? "Passed." : "Error." ) << std::endl;
  trace.endBlock();
  return res ? 0 : 1;
}
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