Mercurial > hg > orthanc-stone

annotate UnitTestsSources/UnitTestsMain.cpp @ 269:0dfa83535cd7 am-2

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indentation
author am@osimis.io
date Wed, 22 Aug 2018 15:22:33 +0200
parents 9afafb192180
children be2660b6e40a
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1 /**
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2 * Stone of Orthanc
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3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics
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4 * Department, University Hospital of Liege, Belgium
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5 * Copyright (C) 2017-2018 Osimis S.A., Belgium
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6 *
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7 * This program is free software: you can redistribute it and/or
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28956ed68280 agpl license
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8 * modify it under the terms of the GNU Affero General Public License
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9 * as published by the Free Software Foundation, either version 3 of
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10 * the License, or (at your option) any later version.
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11 *
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12 * This program is distributed in the hope that it will be useful, but
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13 * WITHOUT ANY WARRANTY; without even the implied warranty of
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14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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15 * Affero General Public License for more details.
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16 *
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17 * You should have received a copy of the GNU Affero General Public License
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18 * along with this program. If not, see <http://www.gnu.org/licenses/>.
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19 **/
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22 #include "../Framework/dev.h"
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23 #include "gtest/gtest.h"
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25 #include "../Framework/Layers/FrameRenderer.h"
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26 #include "../Framework/Layers/LayerSourceBase.h"
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27 #include "../Framework/Toolbox/DownloadStack.h"
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28 #include "../Framework/Toolbox/FiniteProjectiveCamera.h"
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29 #include "../Framework/Toolbox/OrthancSlicesLoader.h"
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30 #include "../Framework/Volumes/ImageBuffer3D.h"
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31 #include "../Framework/Volumes/SlicedVolumeBase.h"
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32 #include "../Platforms/Generic/OracleWebService.h"
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33
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34 #include <Core/HttpClient.h>
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35 #include <Core/Images/ImageProcessing.h>
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36 #include <Core/Logging.h>
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37 #include <Core/MultiThreading/SharedMessageQueue.h>
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38 #include <Core/OrthancException.h>
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39
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40 #include <boost/lexical_cast.hpp>
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41 #include <boost/date_time/posix_time/posix_time.hpp>
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42 #include <boost/thread/thread.hpp>
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43 #include <boost/math/special_functions/round.hpp>
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44
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46 #if 0
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47 namespace OrthancStone
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48 {
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49 class Tata : public OrthancSlicesLoader::ICallback
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50 {
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51 public:
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52 virtual void NotifyGeometryReady(const OrthancSlicesLoader& loader)
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53 {
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54 printf(">> %d\n", (int) loader.GetSliceCount());
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56 for (size_t i = 0; i < loader.GetSliceCount(); i++)
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57 {
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58 const_cast<OrthancSlicesLoader&>(loader).ScheduleLoadSliceImage(i, SliceImageQuality_FullPng);
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59 }
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60 }
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61
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62 virtual void NotifyGeometryError(const OrthancSlicesLoader& loader)
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63 {
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64 printf("Error\n");
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65 }
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67 virtual void NotifySliceImageReady(const OrthancSlicesLoader& loader,
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68 unsigned int sliceIndex,
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69 const Slice& slice,
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70 std::auto_ptr<Orthanc::ImageAccessor>& image,
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71 SliceImageQuality quality)
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72 {
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73 std::auto_ptr<Orthanc::ImageAccessor> tmp(image);
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74 printf("Slice OK %dx%d\n", tmp->GetWidth(), tmp->GetHeight());
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75 }
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76
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77 virtual void NotifySliceImageError(const OrthancSlicesLoader& loader,
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78 unsigned int sliceIndex,
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79 const Slice& slice,
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80 SliceImageQuality quality)
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81 {
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82 printf("ERROR 2\n");
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83 }
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84 };
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85 }
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87
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88 TEST(Toto, DISABLED_Tutu)
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89 {
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90 OrthancStone::Oracle oracle(4);
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91 oracle.Start();
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92
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93 Orthanc::WebServiceParameters web;
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94 //OrthancStone::OrthancAsynchronousWebService orthanc(web, 4);
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95 OrthancStone::OracleWebService orthanc(oracle, web);
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96 //orthanc.Start();
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98 OrthancStone::Tata tata;
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99 OrthancStone::OrthancSlicesLoader loader(tata, orthanc);
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100 loader.ScheduleLoadSeries("c1c4cb95-05e3bd11-8da9f5bb-87278f71-0b2b43f5");
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101 //loader.ScheduleLoadSeries("67f1b334-02c16752-45026e40-a5b60b6b-030ecab5");
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102
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103 //loader.ScheduleLoadInstance("19816330-cb02e1cf-df3a8fe8-bf510623-ccefe9f5", 0);
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104
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105 /*printf(">> %d\n", loader.GetSliceCount());
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106 loader.ScheduleLoadSliceImage(31);*/
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108 boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
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109
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110 //orthanc.Stop();
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111 oracle.Stop();
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112 }
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114
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115 TEST(Toto, Tata)
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116 {
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117 OrthancStone::Oracle oracle(4);
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118 oracle.Start();
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119
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120 Orthanc::WebServiceParameters web;
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121 OrthancStone::OracleWebService orthanc(oracle, web);
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122 OrthancStone::OrthancVolumeImage volume(orthanc, true);
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123
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124 //volume.ScheduleLoadInstance("19816330-cb02e1cf-df3a8fe8-bf510623-ccefe9f5", 0);
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125 //volume.ScheduleLoadSeries("318603c5-03e8cffc-a82b6ee1-3ccd3c1e-18d7e3bb"); // COMUNIX PET
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126 //volume.ScheduleLoadSeries("7124dba7-09803f33-98b73826-33f14632-ea842d29"); // COMUNIX CT
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127 //volume.ScheduleLoadSeries("5990e39c-51e5f201-fe87a54c-31a55943-e59ef80e"); // Delphine sagital
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128 volume.ScheduleLoadSeries("6f1b492a-e181e200-44e51840-ef8db55e-af529ab6"); // Delphine ax 2.5
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129
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130 boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
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131
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132 oracle.Stop();
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133 }
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134 #endif
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135
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136
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137 TEST(GeometryToolbox, Interpolation)
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138 {
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139 using namespace OrthancStone::GeometryToolbox;
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140
144
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141 // https://en.wikipedia.org/wiki/Bilinear_interpolation#Application_in_image_processing
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142 ASSERT_FLOAT_EQ(146.1f, ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95));
176
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143
177
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144 ASSERT_FLOAT_EQ(91, ComputeBilinearInterpolationUnitSquare(0, 0, 91, 210, 162, 95));
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145 ASSERT_FLOAT_EQ(210, ComputeBilinearInterpolationUnitSquare(1, 0, 91, 210, 162, 95));
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146 ASSERT_FLOAT_EQ(162, ComputeBilinearInterpolationUnitSquare(0, 1, 91, 210, 162, 95));
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147 ASSERT_FLOAT_EQ(95, ComputeBilinearInterpolationUnitSquare(1, 1, 91, 210, 162, 95));
176
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148
177
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149 ASSERT_FLOAT_EQ(123.35f, ComputeTrilinearInterpolationUnitSquare
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150 (0.5f, 0.2f, 0.7f,
161
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151 91, 210, 162, 95,
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152 51, 190, 80, 92));
176
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153
177
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154 ASSERT_FLOAT_EQ(ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95),
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155 ComputeTrilinearInterpolationUnitSquare(0.5f, 0.2f, 0,
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156 91, 210, 162, 95,
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157 51, 190, 80, 92));
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158
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159 ASSERT_FLOAT_EQ(ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 51, 190, 80, 92),
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160 ComputeTrilinearInterpolationUnitSquare(0.5f, 0.2f, 1,
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161 91, 210, 162, 95,
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162 51, 190, 80, 92));
161
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163 }
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164
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165
162
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166 static bool CompareMatrix(const OrthancStone::Matrix& a,
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167 const OrthancStone::Matrix& b,
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168 double threshold = 0.00000001)
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169 {
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170 if (a.size1() != b.size1() ||
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171 a.size2() != b.size2())
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172 {
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173 return false;
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174 }
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175
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176 for (size_t i = 0; i < a.size1(); i++)
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177 {
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178 for (size_t j = 0; j < a.size2(); j++)
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179 {
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180 if (fabs(a(i, j) - b(i, j)) > threshold)
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181 {
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182 LOG(ERROR) << "Too large difference in component ("
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183 << i << "," << j << "): " << a(i,j) << " != " << b(i,j);
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184 return false;
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185 }
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186 }
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187 }
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188
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189 return true;
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190 }
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191
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192
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193 static bool CompareVector(const OrthancStone::Vector& a,
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194 const OrthancStone::Vector& b,
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195 double threshold = 0.00000001)
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196 {
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197 if (a.size() != b.size())
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198 {
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199 return false;
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200 }
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201
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202 for (size_t i = 0; i < a.size(); i++)
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203 {
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204 if (fabs(a(i) - b(i)) > threshold)
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205 {
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206 LOG(ERROR) << "Too large difference in component "
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207 << i << ": " << a(i) << " != " << b(i);
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208 return false;
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209 }
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210 }
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211
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212 return true;
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213 }
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214
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215
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216
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217 TEST(FiniteProjectiveCamera, Decomposition1)
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218 {
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219 // Example 6.2 of "Multiple View Geometry in Computer Vision - 2nd
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220 // edition" (page 163)
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221 const double p[12] = {
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222 3.53553e+2, 3.39645e+2, 2.77744e+2, -1.44946e+6,
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223 -1.03528e+2, 2.33212e+1, 4.59607e+2, -6.32525e+5,
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224 7.07107e-1, -3.53553e-1, 6.12372e-1, -9.18559e+2
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225 };
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226
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227 OrthancStone::FiniteProjectiveCamera camera(p);
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228 ASSERT_EQ(3u, camera.GetMatrix().size1());
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229 ASSERT_EQ(4u, camera.GetMatrix().size2());
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230 ASSERT_EQ(3u, camera.GetIntrinsicParameters().size1());
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231 ASSERT_EQ(3u, camera.GetIntrinsicParameters().size2());
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232 ASSERT_EQ(3u, camera.GetRotation().size1());
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233 ASSERT_EQ(3u, camera.GetRotation().size2());
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234 ASSERT_EQ(3u, camera.GetCenter().size());
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235
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236 ASSERT_NEAR(1000.0, camera.GetCenter()[0], 0.01);
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237 ASSERT_NEAR(2000.0, camera.GetCenter()[1], 0.01);
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238 ASSERT_NEAR(1500.0, camera.GetCenter()[2], 0.01);
144
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239
161
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240 ASSERT_NEAR(468.2, camera.GetIntrinsicParameters() (0, 0), 0.1);
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241 ASSERT_NEAR(91.2, camera.GetIntrinsicParameters() (0, 1), 0.1);
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242 ASSERT_NEAR(300.0, camera.GetIntrinsicParameters() (0, 2), 0.1);
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243 ASSERT_NEAR(427.2, camera.GetIntrinsicParameters() (1, 1), 0.1);
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244 ASSERT_NEAR(200.0, camera.GetIntrinsicParameters() (1, 2), 0.1);
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245 ASSERT_NEAR(1.0, camera.GetIntrinsicParameters() (2, 2), 0.1);
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246
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247 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (1, 0), 0.0000001);
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248 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 0), 0.0000001);
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249 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 1), 0.0000001);
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250
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251 ASSERT_NEAR(0.41380, camera.GetRotation() (0, 0), 0.00001);
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252 ASSERT_NEAR(0.90915, camera.GetRotation() (0, 1), 0.00001);
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diff changeset
253 ASSERT_NEAR(0.04708, camera.GetRotation() (0, 2), 0.00001);
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254 ASSERT_NEAR(-0.57338, camera.GetRotation() (1, 0), 0.00001);
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255 ASSERT_NEAR(0.22011, camera.GetRotation() (1, 1), 0.00001);
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diff changeset
256 ASSERT_NEAR(0.78917, camera.GetRotation() (1, 2), 0.00001);
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diff changeset
257 ASSERT_NEAR(0.70711, camera.GetRotation() (2, 0), 0.00001);
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diff changeset
258 ASSERT_NEAR(-0.35355, camera.GetRotation() (2, 1), 0.00001);
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diff changeset
259 ASSERT_NEAR(0.61237, camera.GetRotation() (2, 2), 0.00001);
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260
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261 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation()));
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diff changeset
262
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263 OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(),
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diff changeset
264 camera.GetRotation(),
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diff changeset
265 camera.GetCenter());
162
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diff changeset
266
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267 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix()));
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diff changeset
268 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters()));
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diff changeset
269 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation()));
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diff changeset
270 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter()));
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271 }
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272
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273
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274 TEST(FiniteProjectiveCamera, Decomposition2)
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275 {
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276 const double p[] = { 1188.111986, 580.205341, -808.445330, 128000.000000, -366.466264, 1446.510501, 418.499736, 128000.000000, -0.487118, 0.291726, -0.823172, 500.000000 };
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277 const double k[] = { -1528.494743, 0.000000, 256.000000, 0.000000, 1528.494743, 256.000000, 0.000000, 0.000000, 1.000000 };
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278 const double r[] = { -0.858893, -0.330733, 0.391047, -0.158171, 0.897503, 0.411668, -0.487118, 0.291726, -0.823172 };
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279 const double c[] = { 243.558936, -145.863085, 411.585964 };
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280
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281 OrthancStone::FiniteProjectiveCamera camera(p);
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282 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation()));
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283
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284 OrthancStone::FiniteProjectiveCamera camera2(k, r, c);
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285 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix(), 1));
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286 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters(), 0.001));
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287 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation(), 0.000001));
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288 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter(), 0.0001));
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289 }
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290
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291
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292 TEST(FiniteProjectiveCamera, Decomposition3)
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293 {
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294 const double p[] = { 10, 0, 0, 0,
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295 0, 20, 0, 0,
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296 0, 0, 30, 0 };
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297
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298 OrthancStone::FiniteProjectiveCamera camera(p);
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299 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation()));
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300 ASSERT_DOUBLE_EQ(10, camera.GetIntrinsicParameters() (0, 0));
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301 ASSERT_DOUBLE_EQ(20, camera.GetIntrinsicParameters() (1, 1));
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302 ASSERT_DOUBLE_EQ(30, camera.GetIntrinsicParameters() (2, 2));
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303 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (0, 0));
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304 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1));
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305 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 2));
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306 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (0));
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307 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (1));
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308 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (2));
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309 }
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310
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311
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312 TEST(FiniteProjectiveCamera, Decomposition4)
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313 {
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314 const double p[] = { 1, 0, 0, 10,
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315 0, 1, 0, 20,
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316 0, 0, 1, 30 };
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317
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318 OrthancStone::FiniteProjectiveCamera camera(p);
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319 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation()));
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320 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (0, 0));
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321 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (1, 1));
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322 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (2, 2));
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323 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (0, 0));
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324 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1));
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325 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 2));
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326 ASSERT_DOUBLE_EQ(-10, camera.GetCenter() (0));
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327 ASSERT_DOUBLE_EQ(-20, camera.GetCenter() (1));
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328 ASSERT_DOUBLE_EQ(-30, camera.GetCenter() (2));
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329 }
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330
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331
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332 TEST(FiniteProjectiveCamera, Decomposition5)
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333 {
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334 const double p[] = { 0, 0, 10, 0,
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335 0, 20, 0, 0,
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336 30, 0, 0, 0 };
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337
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338 OrthancStone::FiniteProjectiveCamera camera(p);
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339 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation()));
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340 ASSERT_DOUBLE_EQ(-10, camera.GetIntrinsicParameters() (0, 0));
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341 ASSERT_DOUBLE_EQ(20, camera.GetIntrinsicParameters() (1, 1));
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342 ASSERT_DOUBLE_EQ(30, camera.GetIntrinsicParameters() (2, 2));
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343 ASSERT_DOUBLE_EQ(-1, camera.GetRotation() (0, 2));
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344 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1));
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345 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 0));
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346 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (0));
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347 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (1));
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348 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (2));
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349
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350 OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(),
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351 camera.GetRotation(),
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352 camera.GetCenter());
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353 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix()));
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354 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters()));
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355 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation()));
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356 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter()));
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357 }
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358
162
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359
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360 static double GetCosAngle(const OrthancStone::Vector& a,
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361 const OrthancStone::Vector& b)
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362 {
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363 // Returns the cosine of the angle between two vectors
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364 // https://en.wikipedia.org/wiki/Dot_product#Geometric_definition
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365 return boost::numeric::ublas::inner_prod(a, b) /
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366 (boost::numeric::ublas::norm_2(a) * boost::numeric::ublas::norm_2(b));
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367 }
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368
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369
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370 TEST(FiniteProjectiveCamera, Ray)
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371 {
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372 const double pp[] = { -1499.650894, 2954.618773, -259.737419, 637891.819097,
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373 -2951.517707, -1501.019129, -285.785281, 637891.819097,
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374 0.008528, 0.003067, -0.999959, 2491.764918 };
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375
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376 const OrthancStone::FiniteProjectiveCamera camera(pp);
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377
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378 ASSERT_NEAR(-21.2492, camera.GetCenter() (0), 0.0001);
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379 ASSERT_NEAR(-7.64234, camera.GetCenter() (1), 0.00001);
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380 ASSERT_NEAR(2491.66, camera.GetCenter() (2), 0.01);
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381
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382 // Image plane that led to these parameters, with principal point at
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383 // (256,256). The image has dimensions 512x512.
165
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384 OrthancStone::Vector o =
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385 OrthancStone::LinearAlgebra::CreateVector(7.009620, 2.521030, -821.942000);
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386 OrthancStone::Vector ax =
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387 OrthancStone::LinearAlgebra::CreateVector(-0.453219, 0.891399, -0.001131);
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388 OrthancStone::Vector ay =
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389 OrthancStone::LinearAlgebra::CreateVector(-0.891359, -0.453210, -0.008992);
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390
162
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391 OrthancStone::CoordinateSystem3D imagePlane(o, ax, ay);
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392
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393 // Back-projection of the principal point
161
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394 {
162
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395 OrthancStone::Vector ray = camera.GetRayDirection(256, 256);
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396
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397 // The principal axis vector is orthogonal to the image plane
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398 // (i.e. parallel to the plane normal), in the opposite direction
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399 // ("-1" corresponds to "cos(pi)").
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400 ASSERT_NEAR(-1, GetCosAngle(ray, imagePlane.GetNormal()), 0.0000001);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
401
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
402 // Forward projection of principal axis, resulting in the principal point
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
403 double x, y;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
404 camera.ApplyFinite(x, y, camera.GetCenter() - ray);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
405
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
406 ASSERT_NEAR(256, x, 0.00001);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
407 ASSERT_NEAR(256, y, 0.00001);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
408 }
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
409
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
410 // Back-projection of the 4 corners of the image
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
411 std::vector<double> cx, cy;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
412 cx.push_back(0);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
413 cy.push_back(0);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
414 cx.push_back(512);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
415 cy.push_back(0);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
416 cx.push_back(512);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
417 cy.push_back(512);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
418 cx.push_back(0);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
419 cy.push_back(512);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
420
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
421 bool first = true;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
422 double angle;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
423
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
424 for (size_t i = 0; i < cx.size(); i++)
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
425 {
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
426 OrthancStone::Vector ray = camera.GetRayDirection(cx[i], cy[i]);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
427
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
428 // Check that the angle wrt. principal axis is the same for all
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
429 // the 4 corners
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
430 double a = GetCosAngle(ray, imagePlane.GetNormal());
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
431 if (first)
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 144
diff changeset
432 {
162
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
433 first = false;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
434 angle = a;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
435 }
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
436 else
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
437 {
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
438 ASSERT_NEAR(angle, a, 0.000001);
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 144
diff changeset
439 }
162
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
440
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
441 // Forward projection of the ray, going back to the original point
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
442 double x, y;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
443 camera.ApplyFinite(x, y, camera.GetCenter() - ray);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
444
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
445 ASSERT_NEAR(cx[i], x, 0.00001);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
446 ASSERT_NEAR(cy[i], y, 0.00001);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
447
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
448 // Alternative construction, by computing the intersection of the
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
449 // ray with the image plane
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
450 OrthancStone::Vector p;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
451 ASSERT_TRUE(imagePlane.IntersectLine(p, camera.GetCenter(), -ray));
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
452 imagePlane.ProjectPoint(x, y, p);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
453 ASSERT_NEAR(cx[i], x + 256, 0.01);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
454 ASSERT_NEAR(cy[i], y + 256, 0.01);
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 144
diff changeset
455 }
144
9b83f30fc1c0 bilinear and trilinear interpolation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 135
diff changeset
456 }
87
4a541cd4fa83 OrthancVolumeImageLoader
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 82
diff changeset
457
20
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
458
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
459 TEST(Matrix, Inverse1)
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
460 {
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
461 OrthancStone::Matrix a, b;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
462
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
463 a.resize(0, 0);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
464 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
465 ASSERT_EQ(0u, b.size1());
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
466 ASSERT_EQ(0u, b.size2());
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
467
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
468 a.resize(2, 3);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
469 ASSERT_THROW(OrthancStone::LinearAlgebra::InvertMatrix(b, a), Orthanc::OrthancException);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
470
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
471 a.resize(1, 1);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
472 a(0, 0) = 45.0;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
473
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
474 ASSERT_DOUBLE_EQ(45, OrthancStone::LinearAlgebra::ComputeDeterminant(a));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
475 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
476 ASSERT_EQ(1u, b.size1());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
477 ASSERT_EQ(1u, b.size2());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
478 ASSERT_DOUBLE_EQ(1.0 / 45.0, b(0, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
479
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
480 a(0, 0) = 0;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
481 ASSERT_DOUBLE_EQ(0, OrthancStone::LinearAlgebra::ComputeDeterminant(a));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
482 ASSERT_THROW(OrthancStone::LinearAlgebra::InvertMatrix(b, a), Orthanc::OrthancException);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
483 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
484
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
485
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
486 TEST(Matrix, Inverse2)
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
487 {
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
488 OrthancStone::Matrix a, b;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
489 a.resize(2, 2);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
490 a(0, 0) = 4;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
491 a(0, 1) = 3;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
492 a(1, 0) = 3;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
493 a(1, 1) = 2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
494
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
495 ASSERT_DOUBLE_EQ(-1, OrthancStone::LinearAlgebra::ComputeDeterminant(a));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
496 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
497 ASSERT_EQ(2u, b.size1());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
498 ASSERT_EQ(2u, b.size2());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
499
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
500 ASSERT_DOUBLE_EQ(-2, b(0, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
501 ASSERT_DOUBLE_EQ(3, b(0, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
502 ASSERT_DOUBLE_EQ(3, b(1, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
503 ASSERT_DOUBLE_EQ(-4, b(1, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
504
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
505 a(0, 0) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
506 a(0, 1) = 2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
507 a(1, 0) = 3;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
508 a(1, 1) = 4;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
509
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
510 ASSERT_DOUBLE_EQ(-2, OrthancStone::LinearAlgebra::ComputeDeterminant(a));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
511 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
512
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
513 ASSERT_DOUBLE_EQ(-2, b(0, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
514 ASSERT_DOUBLE_EQ(1, b(0, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
515 ASSERT_DOUBLE_EQ(1.5, b(1, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
516 ASSERT_DOUBLE_EQ(-0.5, b(1, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
517 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
518
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
519
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
520 TEST(Matrix, Inverse3)
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
521 {
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
522 OrthancStone::Matrix a, b;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
523 a.resize(3, 3);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
524 a(0, 0) = 7;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
525 a(0, 1) = 2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
526 a(0, 2) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
527 a(1, 0) = 0;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
528 a(1, 1) = 3;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
529 a(1, 2) = -1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
530 a(2, 0) = -3;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
531 a(2, 1) = 4;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
532 a(2, 2) = -2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
533
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
534 ASSERT_DOUBLE_EQ(1, OrthancStone::LinearAlgebra::ComputeDeterminant(a));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
535 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
536 ASSERT_EQ(3u, b.size1());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
537 ASSERT_EQ(3u, b.size2());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
538
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
539 ASSERT_DOUBLE_EQ(-2, b(0, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
540 ASSERT_DOUBLE_EQ(8, b(0, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
541 ASSERT_DOUBLE_EQ(-5, b(0, 2));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
542 ASSERT_DOUBLE_EQ(3, b(1, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
543 ASSERT_DOUBLE_EQ(-11, b(1, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
544 ASSERT_DOUBLE_EQ(7, b(1, 2));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
545 ASSERT_DOUBLE_EQ(9, b(2, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
546 ASSERT_DOUBLE_EQ(-34, b(2, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
547 ASSERT_DOUBLE_EQ(21, b(2, 2));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
548
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
549
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
550 a(0, 0) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
551 a(0, 1) = 2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
552 a(0, 2) = 2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
553 a(1, 0) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
554 a(1, 1) = 0;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
555 a(1, 2) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
556 a(2, 0) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
557 a(2, 1) = 2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
558 a(2, 2) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
559
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
560 ASSERT_DOUBLE_EQ(2, OrthancStone::LinearAlgebra::ComputeDeterminant(a));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
561 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
562 ASSERT_EQ(3u, b.size1());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
563 ASSERT_EQ(3u, b.size2());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
564
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
565 ASSERT_DOUBLE_EQ(-1, b(0, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
566 ASSERT_DOUBLE_EQ(1, b(0, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
567 ASSERT_DOUBLE_EQ(1, b(0, 2));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
568 ASSERT_DOUBLE_EQ(0, b(1, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
569 ASSERT_DOUBLE_EQ(-0.5, b(1, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
570 ASSERT_DOUBLE_EQ(0.5, b(1, 2));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
571 ASSERT_DOUBLE_EQ(1, b(2, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
572 ASSERT_DOUBLE_EQ(0, b(2, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
573 ASSERT_DOUBLE_EQ(-1, b(2, 2));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
574 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
575
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
576
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
577 TEST(Matrix, Inverse4)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
578 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
579 OrthancStone::Matrix a, b;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
580 a.resize(4, 4);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
581 a(0, 0) = 2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
582 a(0, 1) = 1;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
583 a(0, 2) = 2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
584 a(0, 3) = -3;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
585 a(1, 0) = -2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
586 a(1, 1) = 2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
587 a(1, 2) = -1;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
588 a(1, 3) = -1;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
589 a(2, 0) = 2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
590 a(2, 1) = 2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
591 a(2, 2) = -3;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
592 a(2, 3) = -1;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
593 a(3, 0) = 3;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
594 a(3, 1) = -2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
595 a(3, 2) = -3;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
596 a(3, 3) = -1;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
597
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
598 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
599 ASSERT_EQ(4u, b.size1());
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
600 ASSERT_EQ(4u, b.size2());
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
601
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
602 b *= 134.0; // This is the determinant
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
603
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
604 ASSERT_DOUBLE_EQ(8, b(0, 0));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
605 ASSERT_DOUBLE_EQ(-44, b(0, 1));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
606 ASSERT_DOUBLE_EQ(30, b(0, 2));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
607 ASSERT_DOUBLE_EQ(-10, b(0, 3));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
608 ASSERT_DOUBLE_EQ(2, b(1, 0));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
609 ASSERT_DOUBLE_EQ(-11, b(1, 1));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
610 ASSERT_DOUBLE_EQ(41, b(1, 2));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
611 ASSERT_DOUBLE_EQ(-36, b(1, 3));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
612 ASSERT_DOUBLE_EQ(16, b(2, 0));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
613 ASSERT_DOUBLE_EQ(-21, b(2, 1));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
614 ASSERT_DOUBLE_EQ(-7, b(2, 2));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
615 ASSERT_DOUBLE_EQ(-20, b(2, 3));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
616 ASSERT_DOUBLE_EQ(-28, b(3, 0));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
617 ASSERT_DOUBLE_EQ(-47, b(3, 1));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
618 ASSERT_DOUBLE_EQ(29, b(3, 2));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
619 ASSERT_DOUBLE_EQ(-32, b(3, 3));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
620 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
621
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
622
188
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
623 TEST(FiniteProjectiveCamera, Calibration)
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
624 {
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
625 unsigned int volumeWidth = 512;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
626 unsigned int volumeHeight = 512;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
627 unsigned int volumeDepth = 110;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
628
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
629 OrthancStone::Vector camera = OrthancStone::LinearAlgebra::CreateVector
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
630 (-1000, -5000, -static_cast<double>(volumeDepth) * 32);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
631
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
632 OrthancStone::Vector principalPoint = OrthancStone::LinearAlgebra::CreateVector
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
633 (volumeWidth/2, volumeHeight/2, volumeDepth * 2);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
634
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
635 OrthancStone::FiniteProjectiveCamera c(camera, principalPoint, 0, 512, 512, 1, 1);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
636
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
637 double swapv[9] = { 1, 0, 0,
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
638 0, -1, 512,
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
639 0, 0, 1 };
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
640 OrthancStone::Matrix swap;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
641 OrthancStone::LinearAlgebra::FillMatrix(swap, 3, 3, swapv);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
642
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
643 OrthancStone::Matrix p = OrthancStone::LinearAlgebra::Product(swap, c.GetMatrix());
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
644 p /= p(2,3);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
645
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
646 ASSERT_NEAR( 1.04437, p(0,0), 0.00001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
647 ASSERT_NEAR(-0.0703111, p(0,1), 0.00000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
648 ASSERT_NEAR(-0.179283, p(0,2), 0.000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
649 ASSERT_NEAR( 61.7431, p(0,3), 0.0001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
650 ASSERT_NEAR( 0.11127, p(1,0), 0.000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
651 ASSERT_NEAR(-0.595541, p(1,1), 0.000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
652 ASSERT_NEAR( 0.872211, p(1,2), 0.000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
653 ASSERT_NEAR( 203.748, p(1,3), 0.001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
654 ASSERT_NEAR( 3.08593e-05, p(2,0), 0.0000000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
655 ASSERT_NEAR( 0.000129138, p(2,1), 0.000000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
656 ASSERT_NEAR( 9.18901e-05, p(2,2), 0.0000000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
657 ASSERT_NEAR( 1, p(2,3), 0.0000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
658 }
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
659
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
660
189
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
661 static bool IsEqualVector(OrthancStone::Vector a,
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
662 OrthancStone::Vector b)
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
663 {
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
664 if (a.size() == 3 &&
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
665 b.size() == 3)
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
666 {
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
667 OrthancStone::LinearAlgebra::NormalizeVector(a);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
668 OrthancStone::LinearAlgebra::NormalizeVector(b);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
669 return OrthancStone::LinearAlgebra::IsCloseToZero(boost::numeric::ublas::norm_2(a - b));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
670 }
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
671 else
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
672 {
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
673 return false;
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
674 }
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
675 }
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
676
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
677
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
678 TEST(GeometryToolbox, AlignVectorsWithRotation)
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
679 {
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
680 OrthancStone::Vector a, b;
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
681 OrthancStone::Matrix r;
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
682
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
683 OrthancStone::LinearAlgebra::AssignVector(a, -200, 200, -846.63);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
684 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
685
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
686 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
687 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
688 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
689
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
690 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, b, a);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
691 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
692 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, b), a));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
693
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
694 OrthancStone::LinearAlgebra::AssignVector(a, 1, 0, 0);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
695 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
696 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
697 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
698 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
699
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
700 OrthancStone::LinearAlgebra::AssignVector(a, 0, 1, 0);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
701 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
702 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
703 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
704 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
705
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
706 OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
707 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
708 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
709 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
710 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
711
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
712 OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, 0);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
713 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
714 ASSERT_THROW(OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b), Orthanc::OrthancException);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
715
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
716 // TODO: Deal with opposite vectors
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
717
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
718 /*
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
719 OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, -1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
720 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
721 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
722 OrthancStone::LinearAlgebra::Print(r);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
723 OrthancStone::LinearAlgebra::Print(boost::numeric::ublas::prod(r, a));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
724 */
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
725 }
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
726
20
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
727
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
728 int main(int argc, char **argv)
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
729 {
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
730 Orthanc::Logging::Initialize();
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
731 Orthanc::Logging::EnableInfoLevel(true);
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
732
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
733 ::testing::InitGoogleTest(&argc, argv);
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
734 int result = RUN_ALL_TESTS();
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
735
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
736 Orthanc::Logging::Finalize();
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
737
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
738 return result;
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
739 }