CompareExtractSurface

VTKExamples/Cxx/Points/CompareExtractSurface


Description

This example compares three surface reconstruction algorithms:

  1. ExtractSurface
  2. PoissonReconstruction
  3. Powercrust

We usually try to keep examples short, but this example teaches several concepts.

  1. Compare multiple algorithms
  2. Time multiple algorithms
  3. Reuse code from other examples
  4. Use multiple remote modules
  5. Generate figures for papers

Warning

This example runs longer than most. Be patient.

Info

See PoissonReconstruction Remote Module to configure.

Info

See Powercrust Remote Module to configure.

Question

If you have a simple question about this example contact us at VTKExamplesProject If your question is more complex and may require extended discussion, please use the VTK Discourse Forum

Code

CompareExtractSurface.cxx

#include <vtkActor.h>
#include <vtkActor2D.h>
#include <vtkCamera.h>
#include <vtkCoordinate.h>
#include <vtkExtractSurface.h>
#include <vtkNamedColors.h>
#include <vtkPCANormalEstimation.h>
#include <vtkPointData.h>
#include <vtkPoissonReconstruction.h>
#include <vtkPolyDataMapper.h>
#include <vtkPolyDataMapper2D.h>
#include <vtkPolyLine.h>
#include <vtkPowerCrustSurfaceReconstruction.h>
#include <vtkProperty.h>
#include <vtkProperty2D.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkRenderer.h>
#include <vtkSignedDistance.h>
#include <vtkSmartPointer.h>
#include <vtkTextMapper.h>
#include <vtkTextProperty.h>
#include <vtkTimerLog.h>

// Readers
#include <vtkBYUReader.h>
#include <vtkOBJReader.h>
#include <vtkPLYReader.h>
#include <vtkPolyDataReader.h>
#include <vtkSTLReader.h>
#include <vtkXMLPolyDataReader.h>

#include <vtkPolyData.h>
#include <vtkSphereSource.h>

#include <algorithm> // For transform()
#include <cctype>    // For to_lower
#include <sstream>
#include <string>
#include <vector>

namespace {
vtkSmartPointer<vtkPolyData> ReadPolyData(std::string const& fileName);
vtkSmartPointer<vtkPolyDataAlgorithm> MakeExtractSurface(vtkPolyData*);
vtkSmartPointer<vtkPolyDataAlgorithm> MakePoissonExtractSurface(vtkPolyData*);
vtkSmartPointer<vtkPolyDataAlgorithm>
MakePowercrustExtractSurface(vtkPolyData*);
void MakeViewportGrid(std::vector<vtkSmartPointer<vtkRenderer>>& renderers,
                      unsigned int renderersize, unsigned int xGridDimensions,
                      unsigned int yGridDimensions);
void ViewportBorder(vtkSmartPointer<vtkRenderer>& renderer, double* color,
                    bool last = false);
} // namespace

int main(int argc, char* argv[])
{
  auto polyData = ReadPolyData(argc > 1 ? argv[1] : "");

  std::cout << "# of points: " << polyData->GetNumberOfPoints() << std::endl;

  auto colors = vtkSmartPointer<vtkNamedColors>::New();

  auto renderWindow = vtkSmartPointer<vtkRenderWindow>::New();

  std::vector<vtkSmartPointer<vtkPolyDataAlgorithm>> surfaceObjects;
  surfaceObjects.push_back(MakeExtractSurface(polyData.GetPointer()));
  surfaceObjects.push_back(MakePoissonExtractSurface(polyData.GetPointer()));
  surfaceObjects.push_back(MakePowercrustExtractSurface(polyData.GetPointer()));

  std::vector<vtkSmartPointer<vtkRenderer>> renderers;

  // One camera for all
  auto camera = vtkSmartPointer<vtkCamera>::New();
  for (size_t i = 0; i < surfaceObjects.size(); ++i)
  {
    auto timer = vtkSmartPointer<vtkTimerLog>::New();
    timer->StartTimer();
    surfaceObjects[i]->Update();
    timer->StopTimer();

    auto surfaceMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
    surfaceMapper->SetInputConnection(surfaceObjects[i]->GetOutputPort());

    auto back = vtkSmartPointer<vtkProperty>::New();
    back->SetDiffuseColor(colors->GetColor3d("Banana").GetData());
    back->SetSpecular(.6);
    back->SetSpecularPower(50.0);

    auto surfaceActor = vtkSmartPointer<vtkActor>::New();
    surfaceActor->SetMapper(surfaceMapper);
    surfaceActor->GetProperty()->SetDiffuseColor(
        colors->GetColor3d("Tomato").GetData());
    surfaceActor->GetProperty()->SetSpecular(.6);
    surfaceActor->GetProperty()->SetSpecularPower(50.0);
    surfaceActor->SetBackfaceProperty(back);
    // Setup renderer
    auto renderer = vtkSmartPointer<vtkRenderer>::New();
    renderer->AddActor(surfaceActor);
    renderer->SetBackground(colors->GetColor3d("SlateGray").GetData());
    renderer->SetActiveCamera(camera);
    renderer->GetActiveCamera()->SetPosition(-1, 0, 0);
    renderer->GetActiveCamera()->SetFocalPoint(0, 1, 0);
    renderer->GetActiveCamera()->SetViewUp(0, 0, 1);
    renderer->GetActiveCamera()->Dolly(5);
    renderer->ResetCamera();
    renderer->ResetCameraClippingRange();
    renderers.push_back(renderer);
    renderWindow->AddRenderer(renderer);

    auto textProperty = vtkSmartPointer<vtkTextProperty>::New();
    textProperty->SetFontSize(15);
    textProperty->SetJustificationToCentered();

    std::stringstream ss;
    ss << surfaceObjects[i]->GetClassName() << std::endl;
    ss << "# of Polys: " << surfaceObjects[i]->GetOutput()->GetNumberOfPolys()
       << std::endl;
    ss << "Time: " << timer->GetElapsedTime() << std::endl;

    auto textMapper = vtkSmartPointer<vtkTextMapper>::New();
    textMapper->SetInput(ss.str().c_str());
    textMapper->SetTextProperty(textProperty);

    auto textActor = vtkSmartPointer<vtkActor2D>::New();
    textActor->SetMapper(textMapper);
    textActor->SetPosition(200, 0);
    textActor->GetProperty()->SetLineWidth(4.0); // Line Width

    renderer->AddViewProp(textActor);
  }

  unsigned int rendererSize = 400;
  unsigned int xGridDimensions = 3;
  unsigned int yGridDimensions = 1;
  renderWindow->SetSize(rendererSize * xGridDimensions,
                        rendererSize * yGridDimensions);

  MakeViewportGrid(renderers, rendererSize, xGridDimensions, yGridDimensions);
  for (size_t i = 0; i < renderers.size(); ++i)
  {
    ViewportBorder(renderers[i], colors->GetColor3d("Gold").GetData(),
                   i == renderers.size() - 1);
  }
  auto iren = vtkSmartPointer<vtkRenderWindowInteractor>::New();
  iren->SetRenderWindow(renderWindow);

  renderWindow->Render();
  iren->Initialize();
  iren->Start();

  return EXIT_SUCCESS;
}

namespace {
vtkSmartPointer<vtkPolyData> ReadPolyData(std::string const& fileName)
{
  vtkSmartPointer<vtkPolyData> polyData;
  std::string extension = "";
  if (fileName.find_last_of(".") != std::string::npos)
  {
    extension = fileName.substr(fileName.find_last_of("."));
  }
  // Make the extension lowercase
  std::transform(extension.begin(), extension.end(), extension.begin(),
                 ::tolower);
  if (extension == ".ply")
  {
    auto reader = vtkSmartPointer<vtkPLYReader>::New();
    reader->SetFileName(fileName.c_str());
    reader->Update();
    polyData = reader->GetOutput();
  }
  else if (extension == ".vtp")
  {
    auto reader = vtkSmartPointer<vtkXMLPolyDataReader>::New();
    reader->SetFileName(fileName.c_str());
    reader->Update();
    polyData = reader->GetOutput();
  }
  else if (extension == ".obj")
  {
    auto reader = vtkSmartPointer<vtkOBJReader>::New();
    reader->SetFileName(fileName.c_str());
    reader->Update();
    polyData = reader->GetOutput();
  }
  else if (extension == ".stl")
  {
    auto reader = vtkSmartPointer<vtkSTLReader>::New();
    reader->SetFileName(fileName.c_str());
    reader->Update();
    polyData = reader->GetOutput();
  }
  else if (extension == ".vtk")
  {
    auto reader = vtkSmartPointer<vtkPolyDataReader>::New();
    reader->SetFileName(fileName.c_str());
    reader->Update();
    polyData = reader->GetOutput();
  }
  else if (extension == ".g")
  {
    auto reader = vtkSmartPointer<vtkBYUReader>::New();
    reader->SetGeometryFileName(fileName.c_str());
    reader->Update();
    polyData = reader->GetOutput();
  }
  else
  {
    // Return a polydata sphere if the extension is unknown.
    auto source = vtkSmartPointer<vtkSphereSource>::New();
    source->SetThetaResolution(20);
    source->SetPhiResolution(11);
    source->Update();
    polyData = source->GetOutput();
  }
  return polyData;
}

vtkSmartPointer<vtkPolyDataAlgorithm> MakeExtractSurface(vtkPolyData* polyData)
{
  double bounds[6];
  polyData->GetBounds(bounds);
  double range[3];
  for (int i = 0; i < 3; ++i)
  {
    range[i] = bounds[2 * i + 1] - bounds[2 * i];
  }

  int sampleSize = polyData->GetNumberOfPoints() * .00005;
  if (sampleSize < 10)
  {
    sampleSize = 50;
  }

  // Do we need to estimate normals?
  auto distance = vtkSmartPointer<vtkSignedDistance>::New();
  if (polyData->GetPointData()->GetNormals())
  {
    std::cout << "ExtractSurface: Using normals from input file" << std::endl;
    distance->SetInputData(polyData);
  }
  else
  {
    std::cout << " ExtractSurface: Estimating normals using PCANormalEstimation"
              << std::endl;
    auto normals = vtkSmartPointer<vtkPCANormalEstimation>::New();
    normals->SetInputData(polyData);
    normals->SetSampleSize(sampleSize);
    normals->SetNormalOrientationToGraphTraversal();
    normals->FlipNormalsOn();
    distance->SetInputConnection(normals->GetOutputPort());
  }
  int dimension = 256;
  double radius;
  radius = std::max(std::max(range[0], range[1]), range[2]) /
      static_cast<double>(dimension) * 4; // ~4 voxels

  distance->SetRadius(radius);
  distance->SetDimensions(dimension, dimension, dimension);
  distance->SetBounds(bounds[0] - range[0] * .1, bounds[1] + range[0] * .1,
                      bounds[2] - range[1] * .1, bounds[3] + range[1] * .1,
                      bounds[4] - range[2] * .1, bounds[5] + range[2] * .1);

  auto surface = vtkSmartPointer<vtkExtractSurface>::New();
  surface->SetInputConnection(distance->GetOutputPort());
  surface->SetRadius(radius * .99);
  return surface;
}
vtkSmartPointer<vtkPolyDataAlgorithm>
MakePoissonExtractSurface(vtkPolyData* polyData)
{
  double bounds[6];
  polyData->GetBounds(bounds);
  double range[3];
  for (int i = 0; i < 3; ++i)
  {
    range[i] = bounds[2 * i + 1] - bounds[2 * i];
  }

  int sampleSize = polyData->GetNumberOfPoints() * .00005;
  if (sampleSize < 10)
  {
    sampleSize = 10;
  }

  auto surface = vtkSmartPointer<vtkPoissonReconstruction>::New();
  surface->SetDepth(12);
  if (polyData->GetPointData()->GetNormals())
  {
    std::cout << "PoissonReconstruction: Using normals from input file"
              << std::endl;
    surface->SetInputData(polyData);
  }
  else
  {
    std::cout << "ExtractSurface: Estimating normals using PCANormalEstimation"
              << std::endl;
    auto normals = vtkSmartPointer<vtkPCANormalEstimation>::New();
    normals->SetInputData(polyData);
    normals->SetSampleSize(sampleSize);
    normals->SetNormalOrientationToGraphTraversal();
    normals->FlipNormalsOff();
    surface->SetInputConnection(normals->GetOutputPort());
  }
  return surface;
}
vtkSmartPointer<vtkPolyDataAlgorithm>
MakePowercrustExtractSurface(vtkPolyData* polyData)
{
  auto surface = vtkSmartPointer<vtkPowerCrustSurfaceReconstruction>::New();
  surface->SetInputData(polyData);
  return surface;
}

void MakeViewportGrid(std::vector<vtkSmartPointer<vtkRenderer>>& renderers,
                      unsigned int rendererSize, unsigned int xGridDimensions,
                      unsigned int yGridDimensions)
{
  //
  // Setup viewports for the renderers
  for (int row = 0; row < static_cast<int>(yGridDimensions); row++)
  {
    for (int col = 0; col < static_cast<int>(xGridDimensions); col++)
    {
      auto index = row * xGridDimensions + col;

      // (xmin, ymin, xmax, ymax)
      double viewport[4] = {static_cast<double>(col) * rendererSize /
                                (xGridDimensions * rendererSize),
                            static_cast<double>(yGridDimensions - (row + 1)) *
                                rendererSize / (yGridDimensions * rendererSize),
                            static_cast<double>(col + 1) * rendererSize /
                                (xGridDimensions * rendererSize),
                            static_cast<double>(yGridDimensions - row) *
                                rendererSize /
                                (yGridDimensions * rendererSize)};
      renderers[index]->SetViewport(viewport);
    }
  }
}
// draw the borders of a renderer's viewport
void ViewportBorder(vtkSmartPointer<vtkRenderer>& renderer, double* color,
                    bool last)
{
  // points start at upper right and proceed anti-clockwise
  auto points = vtkSmartPointer<vtkPoints>::New();
  points->SetNumberOfPoints(4);
  points->InsertPoint(0, 1, 1, 0);
  points->InsertPoint(1, 0, 1, 0);
  points->InsertPoint(2, 0, 0, 0);
  points->InsertPoint(3, 1, 0, 0);

  // create cells, and lines
  auto cells = vtkSmartPointer<vtkCellArray>::New();
  cells->Initialize();

  auto lines = vtkSmartPointer<vtkPolyLine>::New();

  // only draw last line if this is the last viewport
  // this prevents double vertical lines at right border
  // if different colors are used for each border, then do
  // not specify last
  if (last)
  {
    lines->GetPointIds()->SetNumberOfIds(5);
  }
  else
  {
    lines->GetPointIds()->SetNumberOfIds(4);
  }
  for (unsigned int i = 0; i < 4; ++i)
  {
    lines->GetPointIds()->SetId(i, i);
  }
  if (last)
  {
    lines->GetPointIds()->SetId(4, 0);
  }
  cells->InsertNextCell(lines);

  // now make the polydata and display it
  auto poly = vtkSmartPointer<vtkPolyData>::New();
  poly->Initialize();
  poly->SetPoints(points);
  poly->SetLines(cells);

  // use normalized viewport coordinates since
  // they are independent of window size
  auto coordinate = vtkSmartPointer<vtkCoordinate>::New();
  coordinate->SetCoordinateSystemToNormalizedViewport();

  auto mapper = vtkSmartPointer<vtkPolyDataMapper2D>::New();
  mapper->SetInputData(poly);
  mapper->SetTransformCoordinate(coordinate);

  auto actor = vtkSmartPointer<vtkActor2D>::New();
  actor->SetMapper(mapper);
  actor->GetProperty()->SetColor(color);
  // line width should be at least 2 to be visible at extremes

  actor->GetProperty()->SetLineWidth(4.0); // Line Width

  renderer->AddViewProp(actor);
}

} // namespace

CMakeLists.txt

cmake_minimum_required(VERSION 3.3 FATAL_ERROR)

project(CompareExtractSurface)

find_package(VTK COMPONENTS 
  vtkCommonColor
  vtkCommonCore
  vtkCommonDataModel
  vtkCommonSystem
  vtkFiltersPoints
  vtkFiltersSources
  vtkIOGeometry
  vtkIOLegacy
  vtkIOPLY
  vtkIOXML
  vtkInteractionStyle
  vtkPoissonReconstruction
  vtkPowercrust
  vtkRenderingContextOpenGL2
  vtkRenderingCore
  vtkRenderingFreeType
  vtkRenderingGL2PSOpenGL2
  vtkRenderingOpenGL2 QUIET)
if (NOT VTK_FOUND)
  message("Skipping CompareExtractSurface: ${VTK_NOT_FOUND_MESSAGE}")
  return ()
endif()
message (STATUS "VTK_VERSION: ${VTK_VERSION}")
if (VTK_VERSION VERSION_LESS "8.90.0")
  # old system
  include(${VTK_USE_FILE})
  add_executable(CompareExtractSurface MACOSX_BUNDLE CompareExtractSurface.cxx )
  target_link_libraries(CompareExtractSurface PRIVATE ${VTK_LIBRARIES})
else ()
  # include all components
  add_executable(CompareExtractSurface MACOSX_BUNDLE CompareExtractSurface.cxx )
  target_link_libraries(CompareExtractSurface PRIVATE ${VTK_LIBRARIES})
  # vtk_module_autoinit is needed
  vtk_module_autoinit(
    TARGETS CompareExtractSurface
    MODULES ${VTK_LIBRARIES}
    )
endif () 

Download and Build CompareExtractSurface

Click here to download CompareExtractSurface and its CMakeLists.txt file. Once the tarball CompareExtractSurface.tar has been downloaded and extracted,

cd CompareExtractSurface/build 

If VTK is installed:

cmake ..

If VTK is not installed but compiled on your system, you will need to specify the path to your VTK build:

cmake -DVTK_DIR:PATH=/home/me/vtk_build ..

Build the project:

make

and run it:

./CompareExtractSurface

WINDOWS USERS

Be sure to add the VTK bin directory to your path. This will resolve the VTK dll's at run time.