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CurvaturesDemo

vtk-examples/Cxx/PolyData/CurvaturesDemo


Description

How to get the Gaussian and Mean curvatures of a surface.

Two different surfaces are used in this demonstration with each surface coloured according to its Gaussian and Mean curvatures.

  • The first surface is a superquadric surface, this demonstrates the use of extra filters that are needed to get a nice smooth surface.

  • The second surface is a parametric surface, in this case the surface has already been triangulated so no extra processing is necessary.

In order to get a nice coloured image, a vtkColorTransferFunction has been used to generate a set of colours for the vtkLookupTable tables. We have used a diverging colour space. Because of the symmetry of the ranges selected for the lookup tables, the white colouration represents a midpoint value whilst the blue represents values less than the midpoint value and orange represents colours greater than the midpoint value.

In the case of the Random Hills Gaussian curvature surface, this colouration shows the nature of the surface quite nicely. The blue areas are saddle points (negative Gaussian curvature) and the orange areas have a positive Gaussian curvature.

In the case of the mean curvature the blue colouration represents negative curvature perpendicular to one of the principal axes.

Other languages

See (Python)

Question

If you have a question about this example, please use the VTK Discourse Forum

Code

CurvaturesDemo.cxx

/*
The purpose of this is to demonstrate how to get the Gaussian and Mean
curvatures of a surface.

Two different surfaces are used in this demonstration with each
surface coloured according to its Gaussian and Mean curvatures.

The first surface is a superquadric surface, this demonstrates the use
of extra filters that are needed to get a nice smooth surface.

The second surface is a parametric surface, in this case the surface
has already been triangulated so no extra processing is necessary.

In order to get a nice coloured image, a vtkColorTransferFunction has
been used to generate a set of colours for the vtkLookUp tables. We
have used a diverging colour space.  Because of the symmetry of the
ranges selected for the lookup tables, the white colouration
represents a midpoint value whilst the blue represents values less
than the midopoint value and orange represents colours greater than the
midpoint value.

In the case of the Random Hills Gaussian Curvature surface, this
colouration shows the nature of the surface quite nicely. The blue
areas are saddle points (negative Gaussian curvature) and the orange
areas have a positive Gaussian curvature.
In the case of the mean curvature the blue colouration is representing
negative curvature perpendicular to one of the principal axes.

This example also demonstrates the use of std::vector and the linking
of the elements of the vector together to form a pipeline.
*/

#include <vtkActor.h>
#include <vtkActor2D.h>
#include <vtkCleanPolyData.h>
#include <vtkColorTransferFunction.h>
#include <vtkCurvatures.h>
#include <vtkFeatureEdges.h>
#include <vtkIdFilter.h>
#include <vtkLookupTable.h>
#include <vtkNamedColors.h>
#include <vtkNew.h>
#include <vtkParametricFunctionSource.h>
#include <vtkParametricRandomHills.h>
#include <vtkPointData.h>
#include <vtkPolyDataAlgorithm.h>
#include <vtkPolyDataMapper.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkRenderer.h>
#include <vtkScalarBarActor.h>
#include <vtkSmartPointer.h>
#include <vtkSuperquadricSource.h>
#include <vtkTextMapper.h>
#include <vtkTextProperty.h>
#include <vtkTransform.h>
#include <vtkTransformFilter.h>
#include <vtkTriangleFilter.h>
#include <vtkVersion.h>

#include <algorithm>
#include <array>
#include <iterator>
#include <map>
#include <numeric>
#include <set>
#include <string>
#include <vector>

namespace {
//! Adjust curvatures along the edges of the surface.
/*!
 * This function adjusts curvatures along the edges of the surface by replacing
 *  the value with the average value of the curvatures of points in the
 *  neighborhood.
 *
 * Remember to update the vtkCurvatures object before calling this.
 *
 * @param source - A vtkPolyData object corresponding to the vtkCurvatures
 * object.
 * @param curvatureName: The name of the curvature, "Gauss_Curvature" or
 * "Mean_Curvature".
 * @param epsilon: Curvature values less than this will be set to zero.
 * @return
 */
void AdjustEdgeCurvatures(vtkPolyData* source, std::string const& curvatureName,
                          double const& epsilon = 1.0e-08);

vtkSmartPointer<vtkLookupTable> GetDivergingLut();
vtkSmartPointer<vtkLookupTable> GetDivergingLut1();
} // namespace

int main(int, char*[])
{
  vtkNew<vtkNamedColors> colors;
  // We are going to handle two different sources.
  // The first source is a superquadric source.
  vtkNew<vtkSuperquadricSource> torus;
  torus->SetCenter(0.0, 0.0, 0.0);
  torus->SetScale(1.0, 1.0, 1.0);
  torus->SetPhiResolution(64);
  torus->SetThetaResolution(64);
  torus->SetThetaRoundness(1);
  torus->SetThickness(0.5);
  torus->SetSize(0.5);
  torus->SetToroidal(1);

  // Rotate the torus towards the observer (around the x-axis).
  vtkNew<vtkTransform> torusT;
  torusT->RotateX(55);

  vtkNew<vtkTransformFilter> torusTF;
  torusTF->SetInputConnection(torus->GetOutputPort());
  torusTF->SetTransform(torusT);

  // The quadric is made of strips, so pass it through a triangle filter as
  // the curvature filter only operates on polys.
  vtkNew<vtkTriangleFilter> tri;
  tri->SetInputConnection(torusTF->GetOutputPort());

  // The quadric has nasty discontinuities from the way the edges are generated
  // so let's pass it though a CleanPolyDataFilter and merge any points which
  // are coincident, or very close.
  vtkNew<vtkCleanPolyData> cleaner;
  cleaner->SetInputConnection(tri->GetOutputPort());
  cleaner->SetTolerance(0.005);
  cleaner->Update();

  // The next source will be a parametric function.
  vtkNew<vtkParametricRandomHills> rh;
  vtkNew<vtkParametricFunctionSource> rhFnSrc;
  rhFnSrc->SetParametricFunction(rh);
  rhFnSrc->Update();

  std::map<int, vtkSmartPointer<vtkPolyData>> sources;
  for (auto i = 0; i < 4; ++i)
  {
    std::string curvatureName;
    if (i < 2)
    {
      vtkNew<vtkCurvatures> cc;
      cc->SetInputConnection(cleaner->GetOutputPort());
      if (i % 2 == 0)
      {
        cc->SetCurvatureTypeToGaussian();
        curvatureName = "Gauss_Curvature";
      }
      else
      {
        cc->SetCurvatureTypeToMean();
        curvatureName = "Mean_Curvature";
      }
      cc->Update();
      AdjustEdgeCurvatures(cc->GetOutput(), curvatureName.c_str());
      sources[i] = cc->GetOutput();
    }
    else
    {
      vtkNew<vtkCurvatures> cc;
      cc->SetInputConnection(rhFnSrc->GetOutputPort());
      if (i % 2 == 0)
      {
        cc->SetCurvatureTypeToGaussian();
        curvatureName = "Gauss_Curvature";
      }
      else
      {
        cc->SetCurvatureTypeToMean();
        curvatureName = "Mean_Curvature";
      }
      cc->Update();
      AdjustEdgeCurvatures(cc->GetOutput(), curvatureName.c_str());
      sources[i] = cc->GetOutput();
    }
  }

  std::map<int, std::string> curvatures{
      {0, {"Gauss_Curvature"}},
      {1, {"Mean_Curvature"}},
      {2, {"Gauss_Curvature"}},
      {3, {"Mean_Curvature"}},
  };

  // auto lut = GetDivergingLut();
  auto lut = GetDivergingLut1();

  std::vector<vtkSmartPointer<vtkRenderer>> renderers;
  std::vector<vtkSmartPointer<vtkActor>> actors;
  std::vector<vtkSmartPointer<vtkPolyDataMapper>> mappers;
  std::vector<vtkSmartPointer<vtkTextMapper>> textmappers;
  std::vector<vtkSmartPointer<vtkActor2D>> textactors;
  std::vector<vtkSmartPointer<vtkScalarBarActor>> scalarBars;
  for (size_t idx = 0; idx < sources.size(); ++idx)
  {
    mappers.push_back(vtkSmartPointer<vtkPolyDataMapper>::New());
    actors.push_back(vtkSmartPointer<vtkActor>::New());
    textmappers.push_back(vtkSmartPointer<vtkTextMapper>::New());
    textactors.push_back(vtkSmartPointer<vtkActor2D>::New());
    scalarBars.push_back(vtkSmartPointer<vtkScalarBarActor>::New());
    renderers.push_back(vtkSmartPointer<vtkRenderer>::New());
  }

  // Create a common text property.
  vtkNew<vtkTextProperty> textProperty;
  textProperty->SetFontSize(24);
  textProperty->SetJustificationToCentered();

  // RenderWindow Dimensions
  //
  auto rendererSize = 512;
  auto gridDimensions = 2;
  auto windowWidth = rendererSize * gridDimensions;
  auto windowHeight = rendererSize * gridDimensions;

  for (auto idx = 0; idx < static_cast<int>(sources.size()); ++idx)
  {
    std::string curvatureName = curvatures[idx];
    std::replace(curvatureName.begin(), curvatureName.end(), '_', '\n');

    sources[idx]->GetPointData()->SetActiveScalars(curvatures[idx].c_str());
    auto scalarRange = sources[idx]
                           ->GetPointData()
                           ->GetScalars(curvatures[idx].c_str())
                           ->GetRange();

    mappers[idx]->SetInputData(sources[idx]);
    mappers[idx]->SetScalarModeToUsePointFieldData();
    mappers[idx]->SelectColorArray(curvatures[idx].c_str());
    mappers[idx]->SetScalarRange(scalarRange);
    mappers[idx]->SetLookupTable(lut);

    actors[idx]->SetMapper(mappers[idx]);

    textmappers[idx]->SetInput(curvatureName.c_str());
    textmappers[idx]->SetTextProperty(textProperty);

    textactors[idx]->SetMapper(textmappers[idx]);
    textactors[idx]->SetPosition(250, 16);

    // Create a scalar bar
    scalarBars[idx]->SetLookupTable(mappers[idx]->GetLookupTable());
    scalarBars[idx]->SetTitle(curvatureName.c_str());
    scalarBars[idx]->UnconstrainedFontSizeOn();
    scalarBars[idx]->SetNumberOfLabels(5);
    scalarBars[idx]->SetMaximumWidthInPixels(windowWidth / 8);
    scalarBars[idx]->SetMaximumHeightInPixels(windowHeight / 3);
    scalarBars[idx]->SetBarRatio(scalarBars[idx]->GetBarRatio() * 0.5);
    scalarBars[idx]->SetPosition(0.85, 0.1);
  }

  vtkNew<vtkRenderWindow> renderWindow;
  renderWindow->SetSize(rendererSize * gridDimensions,
                        rendererSize * gridDimensions);
  renderWindow->SetWindowName("CurvaturesDemo");

  // Add and position the renders to the render window.
  for (auto row = 0; row < gridDimensions; ++row)
  {
    for (auto col = 0; col < gridDimensions; ++col)
    {
      auto idx = row * gridDimensions + col;
      renderers[idx]->SetViewport(
          static_cast<double>(col) / gridDimensions,
          (static_cast<double>(gridDimensions) - (row + 1.0)) / gridDimensions,
          (static_cast<double>(col) + 1) / gridDimensions,
          (static_cast<double>(gridDimensions) - row) / gridDimensions);
      renderWindow->AddRenderer(renderers[idx]);

      renderers[idx]->AddActor(actors[idx]);
      renderers[idx]->AddActor(textactors[idx]);
      renderers[idx]->AddActor(scalarBars[idx]);
      renderers[idx]->SetBackground(colors->GetColor3d("SlateGray").GetData());
    }
  }

  vtkNew<vtkRenderWindowInteractor> interactor;
  interactor->SetRenderWindow(renderWindow);

  renderWindow->Render();

  interactor->Start();

  return EXIT_SUCCESS;
}

namespace {
void AdjustEdgeCurvatures(vtkPolyData* source, std::string const& curvatureName,
                          double const& epsilon)
{
  auto PointNeighbourhood =
      [&source](vtkIdType const& pId) -> std::set<vtkIdType> {
    // Extract the topological neighbors for point pId. In two steps:
    //  1) source->GetPointCells(pId, cellIds)
    //  2) source->GetCellPoints(cellId, cellPointIds) for all cellId in cellIds
    vtkNew<vtkIdList> cellIds;
    source->GetPointCells(pId, cellIds);
    std::set<vtkIdType> neighbours;
    for (vtkIdType i = 0; i < cellIds->GetNumberOfIds(); ++i)
    {
      auto cellId = cellIds->GetId(i);
      vtkNew<vtkIdList> cellPointIds;
      source->GetCellPoints(cellId, cellPointIds);
      for (vtkIdType j = 0; j < cellPointIds->GetNumberOfIds(); ++j)
      {
        neighbours.insert(cellPointIds->GetId(j));
      }
    }
    return neighbours;
  };

  auto ComputeDistance = [&source](vtkIdType const& ptIdA,
                                   vtkIdType const& ptIdB) {
    std::array<double, 3> ptA{0.0, 0.0, 0.0};
    std::array<double, 3> ptB{0.0, 0.0, 0.0};
    std::array<double, 3> ptC{0.0, 0.0, 0.0};
    source->GetPoint(ptIdA, ptA.data());
    source->GetPoint(ptIdB, ptB.data());
    std::transform(std::begin(ptA), std::end(ptA), std::begin(ptB),
                   std::begin(ptC), std::minus<double>());
    // Calculate the norm.
    auto result = std::sqrt(std::inner_product(std::begin(ptC), std::end(ptC),
                                               std::begin(ptC), 0.0));
    return result;
  };

  source->GetPointData()->SetActiveScalars(curvatureName.c_str());
  // Curvature as a vector.
  auto array = source->GetPointData()->GetAbstractArray(curvatureName.c_str());
  std::vector<double> curvatures;
  for (vtkIdType i = 0; i < source->GetNumberOfPoints(); ++i)
  {
    curvatures.push_back(array->GetVariantValue(i).ToDouble());
  }

  // Get the boundary point IDs.
  std::string name = "Ids";
  vtkNew<vtkIdFilter> idFilter;
  idFilter->SetInputData(source);
  idFilter->SetPointIds(true);
  idFilter->SetCellIds(false);
  idFilter->SetPointIdsArrayName(name.c_str());
  idFilter->SetCellIdsArrayName(name.c_str());
  idFilter->Update();

  vtkNew<vtkFeatureEdges> edges;

  edges->SetInputConnection(idFilter->GetOutputPort());
  edges->BoundaryEdgesOn();
  edges->ManifoldEdgesOff();
  edges->NonManifoldEdgesOff();
  edges->FeatureEdgesOff();
  edges->Update();

  auto edgeAarray =
      edges->GetOutput()->GetPointData()->GetAbstractArray(name.c_str());
  std::vector<vtkIdType> boundaryIds;
  for (vtkIdType i = 0; i < edges->GetOutput()->GetNumberOfPoints(); ++i)
  {
    boundaryIds.push_back(edgeAarray->GetVariantValue(i).ToInt());
  }
  // Remove duplicate Ids.
  std::set<vtkIdType> pIdsSet(boundaryIds.begin(), boundaryIds.end());
  for (auto const pId : boundaryIds)
  {
    auto pIdsNeighbors = PointNeighbourhood(pId);
    std::set<vtkIdType> pIdsNeighborsInterior;
    std::set_difference(
        pIdsNeighbors.begin(), pIdsNeighbors.end(), pIdsSet.begin(),
        pIdsSet.end(),
        std::inserter(pIdsNeighborsInterior, pIdsNeighborsInterior.begin()));
    // Compute distances and extract curvature values.
    std::vector<double> curvs;
    std::vector<double> dists;
    for (auto const pIdN : pIdsNeighborsInterior)
    {
      curvs.push_back(curvatures[pIdN]);
      dists.push_back(ComputeDistance(pIdN, pId));
    }
    std::vector<vtkIdType> nonZeroDistIds;
    for (size_t i = 0; i < dists.size(); ++i)
    {
      if (dists[i] > 0)
      {
        nonZeroDistIds.push_back(i);
      }
    }
    std::vector<double> curvsNonZero;
    std::vector<double> distsNonZero;
    for (auto const i : nonZeroDistIds)
    {
      curvsNonZero.push_back(curvs[i]);
      distsNonZero.push_back(dists[i]);
    }
    // Iterate over the edge points and compute the curvature as the weighted
    // average of the neighbours.
    auto countInvalid = 0;
    auto newCurv = 0.0;
    if (curvsNonZero.size() > 0)
    {
      std::vector<double> weights;
      double sum = 0.0;
      for (auto const d : distsNonZero)
      {
        sum += 1.0 / d;
        weights.push_back(1.0 / d);
      }
      for (size_t i = 0; i < weights.size(); ++i)
      {
        weights[i] = weights[i] / sum;
      }
      newCurv = std::inner_product(curvsNonZero.begin(), curvsNonZero.end(),
                                   weights.begin(), 0.0);
    }
    else
    {
      // Corner case.
      countInvalid += 1;
      // Assuming the curvature of the point is planar.
      newCurv = 0.0;
    }
    // Set the new curvature value.
    curvatures[pId] = newCurv;
  }

  // Set small values to zero.
  if (epsilon != 0.0)
  {
    auto eps = std::abs(epsilon);
    for (size_t i = 0; i < curvatures.size(); ++i)
    {
      if (std::abs(curvatures[i]) < eps)
      {
        curvatures[i] = 0.0;
      }
    }
  }

  if (static_cast<size_t>(source->GetNumberOfPoints()) != curvatures.size())
  {
    std::string s = curvatureName;
    s += ":\nCannot add the adjusted curvatures to the source.\n";
    s += " The number of points in source does not equal the\n";
    s += " number of point ids in the adjusted curvature array.";
    std::cerr << s << std::endl;
    return;
  }
  vtkNew<vtkDoubleArray> adjustedCurvatures;
  adjustedCurvatures->SetName(curvatureName.c_str());
  for (auto curvature : curvatures)
  {
    adjustedCurvatures->InsertNextTuple1(curvature);
  }
  source->GetPointData()->AddArray(adjustedCurvatures);
  source->GetPointData()->SetActiveScalars(curvatureName.c_str());
}

// clang-format off
/**
 * See: [Diverging Color Maps for Scientific Visualization](https://www.kennethmoreland.com/color-maps/)
 *
 *                   start point         midPoint            end point
 * cool to warm:     0.230, 0.299, 0.754 0.865, 0.865, 0.865 0.706, 0.016, 0.150
 * purple to orange: 0.436, 0.308, 0.631 0.865, 0.865, 0.865 0.759, 0.334, 0.046
 * green to purple:  0.085, 0.532, 0.201 0.865, 0.865, 0.865 0.436, 0.308, 0.631
 * blue to brown:    0.217, 0.525, 0.910 0.865, 0.865, 0.865 0.677, 0.492, 0.093
 * green to red:     0.085, 0.532, 0.201 0.865, 0.865, 0.865 0.758, 0.214, 0.233
 *
 */
// clang-format on
vtkSmartPointer<vtkLookupTable> GetDivergingLut()
{

  vtkNew<vtkColorTransferFunction> ctf;
  ctf->SetColorSpaceToDiverging();
  ctf->AddRGBPoint(0.0, 0.230, 0.299, 0.754);
  ctf->AddRGBPoint(0.5, 0.865, 0.865, 0.865);
  ctf->AddRGBPoint(1.0, 0.706, 0.016, 0.150);

  auto tableSize = 256;
  vtkNew<vtkLookupTable> lut;
  lut->SetNumberOfTableValues(tableSize);
  lut->Build();

  for (auto i = 0; i < lut->GetNumberOfColors(); ++i)
  {
    std::array<double, 3> rgb;
    ctf->GetColor(static_cast<double>(i) / lut->GetNumberOfColors(),
                  rgb.data());
    std::array<double, 4> rgba{0.0, 0.0, 0.0, 1.0};
    std::copy(std::begin(rgb), std::end(rgb), std::begin(rgba));
    lut->SetTableValue(static_cast<vtkIdType>(i), rgba.data());
  }

  return lut;
}

vtkSmartPointer<vtkLookupTable> GetDivergingLut1()
{
  vtkNew<vtkNamedColors> colors;
  // Colour transfer function.
  vtkNew<vtkColorTransferFunction> ctf;
  ctf->SetColorSpaceToDiverging();
  ctf->AddRGBPoint(0.0, colors->GetColor3d("MidnightBlue").GetRed(),
                   colors->GetColor3d("MidnightBlue").GetGreen(),
                   colors->GetColor3d("MidnightBlue").GetBlue());
  ctf->AddRGBPoint(0.5, colors->GetColor3d("Gainsboro").GetRed(),
                   colors->GetColor3d("Gainsboro").GetGreen(),
                   colors->GetColor3d("Gainsboro").GetBlue());
  ctf->AddRGBPoint(1.0, colors->GetColor3d("DarkOrange").GetRed(),
                   colors->GetColor3d("DarkOrange").GetGreen(),
                   colors->GetColor3d("DarkOrange").GetBlue());

  // Lookup table.
  vtkNew<vtkLookupTable> lut;
  lut->SetNumberOfColors(256);
  for (auto i = 0; i < lut->GetNumberOfColors(); ++i)
  {
    std::array<double, 3> rgb;
    ctf->GetColor(double(i) / lut->GetNumberOfColors(), rgb.data());
    std::array<double, 4> rgba{0.0, 0.0, 0.0, 1.0};
    std::copy(std::begin(rgb), std::end(rgb), std::begin(rgba));
    lut->SetTableValue(i, rgba.data());
  }

  return lut;
}

} // namespace

CMakeLists.txt

cmake_minimum_required(VERSION 3.3 FATAL_ERROR)

project(CurvaturesDemo)

find_package(VTK COMPONENTS 
  vtkCommonColor
  vtkCommonComputationalGeometry
  vtkCommonCore
  vtkCommonDataModel
  vtkCommonExecutionModel
  vtkCommonTransforms
  vtkFiltersCore
  vtkFiltersGeneral
  vtkFiltersSources
  vtkInteractionStyle
  vtkRenderingAnnotation
  vtkRenderingContextOpenGL2
  vtkRenderingCore
  vtkRenderingFreeType
  vtkRenderingGL2PSOpenGL2
  vtkRenderingOpenGL2
  QUIET
)

if (NOT VTK_FOUND)
  message("Skipping CurvaturesDemo: ${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(CurvaturesDemo MACOSX_BUNDLE CurvaturesDemo.cxx )
  target_link_libraries(CurvaturesDemo PRIVATE ${VTK_LIBRARIES})
else ()
  # include all components
  add_executable(CurvaturesDemo MACOSX_BUNDLE CurvaturesDemo.cxx )
  target_link_libraries(CurvaturesDemo PRIVATE ${VTK_LIBRARIES})
  # vtk_module_autoinit is needed
  vtk_module_autoinit(
    TARGETS CurvaturesDemo
    MODULES ${VTK_LIBRARIES}
    )
endif ()

Download and Build CurvaturesDemo

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

cd CurvaturesDemo/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:

./CurvaturesDemo

WINDOWS USERS

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