Mercurial > hg > orthanc-stone
annotate UnitTestsSources/UnitTestsMain.cpp @ 879:12b591d5d63c am-dev
some Qt integration (wip)
author | Alain Mazy <alain@mazy.be> |
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date | Fri, 05 Jul 2019 14:52:43 +0200 |
parents | e8fdf29cd0ca |
children | 118fc5c85d07 |
rev | line source |
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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 |
439 | 5 * Copyright (C) 2017-2019 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 |
47 | 8 * modify it under the terms of the GNU Affero General Public License |
9 * as published by the Free Software Foundation, either version 3 of | |
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 |
47 | 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
15 * Affero General Public License for more details. | |
16 * | |
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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20 |
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21 |
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22 #include "gtest/gtest.h" |
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23 |
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24 #include "../Framework/Deprecated/Layers/FrameRenderer.h" |
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25 #include "../Framework/Deprecated/Toolbox/DownloadStack.h" |
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26 #include "../Framework/Deprecated/Toolbox/MessagingToolbox.h" |
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27 #include "../Framework/Deprecated/Toolbox/OrthancSlicesLoader.h" |
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28 #include "../Framework/Toolbox/FiniteProjectiveCamera.h" |
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29 #include "../Framework/Toolbox/GeometryToolbox.h" |
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30 #include "../Framework/Volumes/ImageBuffer3D.h" |
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31 #include "../Platforms/Generic/OracleWebService.h" |
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32 |
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33 #include <Core/HttpClient.h> |
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34 #include <Core/Images/ImageProcessing.h> |
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35 #include <Core/Logging.h> |
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36 #include <Core/MultiThreading/SharedMessageQueue.h> |
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37 #include <Core/OrthancException.h> |
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38 |
68 | 39 #include <boost/lexical_cast.hpp> |
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40 #include <boost/date_time/posix_time/posix_time.hpp> |
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41 #include <boost/thread/thread.hpp> |
102 | 42 #include <boost/math/special_functions/round.hpp> |
43 | |
68 | 44 |
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45 TEST(GeometryToolbox, Interpolation) |
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46 { |
177 | 47 using namespace OrthancStone::GeometryToolbox; |
48 | |
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49 // https://en.wikipedia.org/wiki/Bilinear_interpolation#Application_in_image_processing |
177 | 50 ASSERT_FLOAT_EQ(146.1f, ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95)); |
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51 |
177 | 52 ASSERT_FLOAT_EQ(91, ComputeBilinearInterpolationUnitSquare(0, 0, 91, 210, 162, 95)); |
53 ASSERT_FLOAT_EQ(210, ComputeBilinearInterpolationUnitSquare(1, 0, 91, 210, 162, 95)); | |
54 ASSERT_FLOAT_EQ(162, ComputeBilinearInterpolationUnitSquare(0, 1, 91, 210, 162, 95)); | |
55 ASSERT_FLOAT_EQ(95, ComputeBilinearInterpolationUnitSquare(1, 1, 91, 210, 162, 95)); | |
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56 |
177 | 57 ASSERT_FLOAT_EQ(123.35f, ComputeTrilinearInterpolationUnitSquare |
58 (0.5f, 0.2f, 0.7f, | |
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59 91, 210, 162, 95, |
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60 51, 190, 80, 92)); |
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61 |
177 | 62 ASSERT_FLOAT_EQ(ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95), |
63 ComputeTrilinearInterpolationUnitSquare(0.5f, 0.2f, 0, | |
64 91, 210, 162, 95, | |
65 51, 190, 80, 92)); | |
66 | |
67 ASSERT_FLOAT_EQ(ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 51, 190, 80, 92), | |
68 ComputeTrilinearInterpolationUnitSquare(0.5f, 0.2f, 1, | |
69 91, 210, 162, 95, | |
70 51, 190, 80, 92)); | |
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71 } |
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72 |
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73 |
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74 static bool CompareMatrix(const OrthancStone::Matrix& a, |
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75 const OrthancStone::Matrix& b, |
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76 double threshold = 0.00000001) |
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77 { |
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78 if (a.size1() != b.size1() || |
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79 a.size2() != b.size2()) |
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80 { |
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81 return false; |
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82 } |
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83 |
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84 for (size_t i = 0; i < a.size1(); i++) |
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85 { |
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86 for (size_t j = 0; j < a.size2(); j++) |
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87 { |
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88 if (fabs(a(i, j) - b(i, j)) > threshold) |
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89 { |
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90 LOG(ERROR) << "Too large difference in component (" |
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91 << i << "," << j << "): " << a(i,j) << " != " << b(i,j); |
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92 return false; |
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93 } |
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94 } |
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95 } |
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96 |
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97 return true; |
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98 } |
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99 |
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100 |
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101 static bool CompareVector(const OrthancStone::Vector& a, |
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102 const OrthancStone::Vector& b, |
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103 double threshold = 0.00000001) |
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104 { |
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105 if (a.size() != b.size()) |
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106 { |
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107 return false; |
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108 } |
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109 |
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110 for (size_t i = 0; i < a.size(); i++) |
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111 { |
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112 if (fabs(a(i) - b(i)) > threshold) |
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113 { |
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114 LOG(ERROR) << "Too large difference in component " |
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115 << i << ": " << a(i) << " != " << b(i); |
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116 return false; |
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117 } |
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118 } |
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119 |
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120 return true; |
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121 } |
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122 |
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123 |
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124 |
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125 TEST(FiniteProjectiveCamera, Decomposition1) |
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126 { |
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127 // Example 6.2 of "Multiple View Geometry in Computer Vision - 2nd |
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128 // edition" (page 163) |
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129 const double p[12] = { |
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130 3.53553e+2, 3.39645e+2, 2.77744e+2, -1.44946e+6, |
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131 -1.03528e+2, 2.33212e+1, 4.59607e+2, -6.32525e+5, |
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132 7.07107e-1, -3.53553e-1, 6.12372e-1, -9.18559e+2 |
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133 }; |
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134 |
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135 OrthancStone::FiniteProjectiveCamera camera(p); |
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136 ASSERT_EQ(3u, camera.GetMatrix().size1()); |
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137 ASSERT_EQ(4u, camera.GetMatrix().size2()); |
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138 ASSERT_EQ(3u, camera.GetIntrinsicParameters().size1()); |
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139 ASSERT_EQ(3u, camera.GetIntrinsicParameters().size2()); |
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140 ASSERT_EQ(3u, camera.GetRotation().size1()); |
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141 ASSERT_EQ(3u, camera.GetRotation().size2()); |
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142 ASSERT_EQ(3u, camera.GetCenter().size()); |
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143 |
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144 ASSERT_NEAR(1000.0, camera.GetCenter()[0], 0.01); |
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145 ASSERT_NEAR(2000.0, camera.GetCenter()[1], 0.01); |
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146 ASSERT_NEAR(1500.0, camera.GetCenter()[2], 0.01); |
144
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147 |
161
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148 ASSERT_NEAR(468.2, camera.GetIntrinsicParameters() (0, 0), 0.1); |
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149 ASSERT_NEAR(91.2, camera.GetIntrinsicParameters() (0, 1), 0.1); |
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150 ASSERT_NEAR(300.0, camera.GetIntrinsicParameters() (0, 2), 0.1); |
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151 ASSERT_NEAR(427.2, camera.GetIntrinsicParameters() (1, 1), 0.1); |
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152 ASSERT_NEAR(200.0, camera.GetIntrinsicParameters() (1, 2), 0.1); |
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153 ASSERT_NEAR(1.0, camera.GetIntrinsicParameters() (2, 2), 0.1); |
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154 |
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155 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (1, 0), 0.0000001); |
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156 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 0), 0.0000001); |
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157 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 1), 0.0000001); |
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158 |
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159 ASSERT_NEAR(0.41380, camera.GetRotation() (0, 0), 0.00001); |
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160 ASSERT_NEAR(0.90915, camera.GetRotation() (0, 1), 0.00001); |
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161 ASSERT_NEAR(0.04708, camera.GetRotation() (0, 2), 0.00001); |
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162 ASSERT_NEAR(-0.57338, camera.GetRotation() (1, 0), 0.00001); |
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163 ASSERT_NEAR(0.22011, camera.GetRotation() (1, 1), 0.00001); |
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164 ASSERT_NEAR(0.78917, camera.GetRotation() (1, 2), 0.00001); |
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165 ASSERT_NEAR(0.70711, camera.GetRotation() (2, 0), 0.00001); |
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166 ASSERT_NEAR(-0.35355, camera.GetRotation() (2, 1), 0.00001); |
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167 ASSERT_NEAR(0.61237, camera.GetRotation() (2, 2), 0.00001); |
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168 |
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169 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
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170 |
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171 OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(), |
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172 camera.GetRotation(), |
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173 camera.GetCenter()); |
162
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174 |
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175 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix())); |
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176 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters())); |
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177 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation())); |
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178 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter())); |
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179 } |
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180 |
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181 |
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182 TEST(FiniteProjectiveCamera, Decomposition2) |
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183 { |
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184 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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185 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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186 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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187 const double c[] = { 243.558936, -145.863085, 411.585964 }; |
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188 |
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189 OrthancStone::FiniteProjectiveCamera camera(p); |
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190 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
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191 |
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192 OrthancStone::FiniteProjectiveCamera camera2(k, r, c); |
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193 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix(), 1)); |
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194 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters(), 0.001)); |
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195 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation(), 0.000001)); |
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196 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter(), 0.0001)); |
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197 } |
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198 |
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199 |
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200 TEST(FiniteProjectiveCamera, Decomposition3) |
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201 { |
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202 const double p[] = { 10, 0, 0, 0, |
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203 0, 20, 0, 0, |
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204 0, 0, 30, 0 }; |
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205 |
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206 OrthancStone::FiniteProjectiveCamera camera(p); |
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207 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
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208 ASSERT_DOUBLE_EQ(10, camera.GetIntrinsicParameters() (0, 0)); |
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209 ASSERT_DOUBLE_EQ(20, camera.GetIntrinsicParameters() (1, 1)); |
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210 ASSERT_DOUBLE_EQ(30, camera.GetIntrinsicParameters() (2, 2)); |
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211 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (0, 0)); |
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212 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1)); |
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213 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 2)); |
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214 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (0)); |
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215 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (1)); |
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216 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (2)); |
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217 } |
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218 |
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219 |
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220 TEST(FiniteProjectiveCamera, Decomposition4) |
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221 { |
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222 const double p[] = { 1, 0, 0, 10, |
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223 0, 1, 0, 20, |
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224 0, 0, 1, 30 }; |
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225 |
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226 OrthancStone::FiniteProjectiveCamera camera(p); |
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227 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
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228 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (0, 0)); |
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229 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (1, 1)); |
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230 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (2, 2)); |
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231 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (0, 0)); |
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232 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1)); |
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233 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 2)); |
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234 ASSERT_DOUBLE_EQ(-10, camera.GetCenter() (0)); |
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235 ASSERT_DOUBLE_EQ(-20, camera.GetCenter() (1)); |
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236 ASSERT_DOUBLE_EQ(-30, camera.GetCenter() (2)); |
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237 } |
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238 |
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239 |
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240 TEST(FiniteProjectiveCamera, Decomposition5) |
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241 { |
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242 const double p[] = { 0, 0, 10, 0, |
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243 0, 20, 0, 0, |
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244 30, 0, 0, 0 }; |
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245 |
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246 OrthancStone::FiniteProjectiveCamera camera(p); |
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247 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
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248 ASSERT_DOUBLE_EQ(-10, camera.GetIntrinsicParameters() (0, 0)); |
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249 ASSERT_DOUBLE_EQ(20, camera.GetIntrinsicParameters() (1, 1)); |
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250 ASSERT_DOUBLE_EQ(30, camera.GetIntrinsicParameters() (2, 2)); |
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251 ASSERT_DOUBLE_EQ(-1, camera.GetRotation() (0, 2)); |
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252 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1)); |
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253 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 0)); |
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254 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (0)); |
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255 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (1)); |
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256 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (2)); |
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257 |
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258 OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(), |
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259 camera.GetRotation(), |
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260 camera.GetCenter()); |
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261 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix())); |
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262 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters())); |
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263 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation())); |
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264 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter())); |
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265 } |
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266 |
162
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267 |
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268 static double GetCosAngle(const OrthancStone::Vector& a, |
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269 const OrthancStone::Vector& b) |
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270 { |
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271 // Returns the cosine of the angle between two vectors |
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272 // https://en.wikipedia.org/wiki/Dot_product#Geometric_definition |
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273 return boost::numeric::ublas::inner_prod(a, b) / |
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274 (boost::numeric::ublas::norm_2(a) * boost::numeric::ublas::norm_2(b)); |
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275 } |
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276 |
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277 |
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278 TEST(FiniteProjectiveCamera, Ray) |
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279 { |
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280 const double pp[] = { -1499.650894, 2954.618773, -259.737419, 637891.819097, |
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281 -2951.517707, -1501.019129, -285.785281, 637891.819097, |
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282 0.008528, 0.003067, -0.999959, 2491.764918 }; |
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283 |
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284 const OrthancStone::FiniteProjectiveCamera camera(pp); |
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285 |
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286 ASSERT_NEAR(-21.2492, camera.GetCenter() (0), 0.0001); |
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287 ASSERT_NEAR(-7.64234, camera.GetCenter() (1), 0.00001); |
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288 ASSERT_NEAR(2491.66, camera.GetCenter() (2), 0.01); |
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289 |
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290 // Image plane that led to these parameters, with principal point at |
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291 // (256,256). The image has dimensions 512x512. |
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292 OrthancStone::Vector o = |
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293 OrthancStone::LinearAlgebra::CreateVector(7.009620, 2.521030, -821.942000); |
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294 OrthancStone::Vector ax = |
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295 OrthancStone::LinearAlgebra::CreateVector(-0.453219, 0.891399, -0.001131); |
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296 OrthancStone::Vector ay = |
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297 OrthancStone::LinearAlgebra::CreateVector(-0.891359, -0.453210, -0.008992); |
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298 |
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299 OrthancStone::CoordinateSystem3D imagePlane(o, ax, ay); |
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300 |
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301 // Back-projection of the principal point |
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302 { |
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303 OrthancStone::Vector ray = camera.GetRayDirection(256, 256); |
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304 |
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305 // The principal axis vector is orthogonal to the image plane |
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306 // (i.e. parallel to the plane normal), in the opposite direction |
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307 // ("-1" corresponds to "cos(pi)"). |
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308 ASSERT_NEAR(-1, GetCosAngle(ray, imagePlane.GetNormal()), 0.0000001); |
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309 |
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310 // Forward projection of principal axis, resulting in the principal point |
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311 double x, y; |
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312 camera.ApplyFinite(x, y, camera.GetCenter() - ray); |
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313 |
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314 ASSERT_NEAR(256, x, 0.00001); |
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315 ASSERT_NEAR(256, y, 0.00001); |
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316 } |
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317 |
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318 // Back-projection of the 4 corners of the image |
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319 std::vector<double> cx, cy; |
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320 cx.push_back(0); |
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321 cy.push_back(0); |
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322 cx.push_back(512); |
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323 cy.push_back(0); |
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324 cx.push_back(512); |
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325 cy.push_back(512); |
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326 cx.push_back(0); |
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327 cy.push_back(512); |
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328 |
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329 bool first = true; |
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330 double angle; |
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331 |
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332 for (size_t i = 0; i < cx.size(); i++) |
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333 { |
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334 OrthancStone::Vector ray = camera.GetRayDirection(cx[i], cy[i]); |
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335 |
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336 // Check that the angle wrt. principal axis is the same for all |
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337 // the 4 corners |
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338 double a = GetCosAngle(ray, imagePlane.GetNormal()); |
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339 if (first) |
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340 { |
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341 first = false; |
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342 angle = a; |
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343 } |
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344 else |
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345 { |
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346 ASSERT_NEAR(angle, a, 0.000001); |
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347 } |
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348 |
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349 // Forward projection of the ray, going back to the original point |
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350 double x, y; |
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351 camera.ApplyFinite(x, y, camera.GetCenter() - ray); |
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352 |
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353 ASSERT_NEAR(cx[i], x, 0.00001); |
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354 ASSERT_NEAR(cy[i], y, 0.00001); |
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355 |
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356 // Alternative construction, by computing the intersection of the |
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357 // ray with the image plane |
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358 OrthancStone::Vector p; |
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359 ASSERT_TRUE(imagePlane.IntersectLine(p, camera.GetCenter(), -ray)); |
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360 imagePlane.ProjectPoint(x, y, p); |
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361 ASSERT_NEAR(cx[i], x + 256, 0.01); |
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362 ASSERT_NEAR(cy[i], y + 256, 0.01); |
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363 } |
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364 } |
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365 |
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366 |
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367 TEST(Matrix, Inverse1) |
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368 { |
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369 OrthancStone::Matrix a, b; |
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370 |
164
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371 a.resize(0, 0); |
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372 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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373 ASSERT_EQ(0u, b.size1()); |
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374 ASSERT_EQ(0u, b.size2()); |
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375 |
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376 a.resize(2, 3); |
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377 ASSERT_THROW(OrthancStone::LinearAlgebra::InvertMatrix(b, a), Orthanc::OrthancException); |
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378 |
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379 a.resize(1, 1); |
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380 a(0, 0) = 45.0; |
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381 |
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382 ASSERT_DOUBLE_EQ(45, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); |
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383 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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384 ASSERT_EQ(1u, b.size1()); |
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385 ASSERT_EQ(1u, b.size2()); |
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386 ASSERT_DOUBLE_EQ(1.0 / 45.0, b(0, 0)); |
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387 |
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388 a(0, 0) = 0; |
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389 ASSERT_DOUBLE_EQ(0, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); |
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390 ASSERT_THROW(OrthancStone::LinearAlgebra::InvertMatrix(b, a), Orthanc::OrthancException); |
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391 } |
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392 |
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393 |
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394 TEST(Matrix, Inverse2) |
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395 { |
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396 OrthancStone::Matrix a, b; |
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397 a.resize(2, 2); |
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398 a(0, 0) = 4; |
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399 a(0, 1) = 3; |
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400 a(1, 0) = 3; |
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401 a(1, 1) = 2; |
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402 |
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403 ASSERT_DOUBLE_EQ(-1, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); |
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404 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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405 ASSERT_EQ(2u, b.size1()); |
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406 ASSERT_EQ(2u, b.size2()); |
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407 |
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408 ASSERT_DOUBLE_EQ(-2, b(0, 0)); |
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409 ASSERT_DOUBLE_EQ(3, b(0, 1)); |
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410 ASSERT_DOUBLE_EQ(3, b(1, 0)); |
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411 ASSERT_DOUBLE_EQ(-4, b(1, 1)); |
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412 |
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413 a(0, 0) = 1; |
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414 a(0, 1) = 2; |
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415 a(1, 0) = 3; |
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416 a(1, 1) = 4; |
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417 |
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418 ASSERT_DOUBLE_EQ(-2, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); |
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419 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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420 |
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421 ASSERT_DOUBLE_EQ(-2, b(0, 0)); |
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422 ASSERT_DOUBLE_EQ(1, b(0, 1)); |
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423 ASSERT_DOUBLE_EQ(1.5, b(1, 0)); |
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424 ASSERT_DOUBLE_EQ(-0.5, b(1, 1)); |
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425 } |
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426 |
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427 |
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428 TEST(Matrix, Inverse3) |
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429 { |
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430 OrthancStone::Matrix a, b; |
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431 a.resize(3, 3); |
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432 a(0, 0) = 7; |
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433 a(0, 1) = 2; |
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434 a(0, 2) = 1; |
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435 a(1, 0) = 0; |
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436 a(1, 1) = 3; |
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437 a(1, 2) = -1; |
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438 a(2, 0) = -3; |
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439 a(2, 1) = 4; |
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440 a(2, 2) = -2; |
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441 |
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442 ASSERT_DOUBLE_EQ(1, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); |
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443 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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444 ASSERT_EQ(3u, b.size1()); |
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445 ASSERT_EQ(3u, b.size2()); |
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446 |
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447 ASSERT_DOUBLE_EQ(-2, b(0, 0)); |
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448 ASSERT_DOUBLE_EQ(8, b(0, 1)); |
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449 ASSERT_DOUBLE_EQ(-5, b(0, 2)); |
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450 ASSERT_DOUBLE_EQ(3, b(1, 0)); |
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451 ASSERT_DOUBLE_EQ(-11, b(1, 1)); |
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452 ASSERT_DOUBLE_EQ(7, b(1, 2)); |
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453 ASSERT_DOUBLE_EQ(9, b(2, 0)); |
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454 ASSERT_DOUBLE_EQ(-34, b(2, 1)); |
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455 ASSERT_DOUBLE_EQ(21, b(2, 2)); |
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456 |
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457 |
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458 a(0, 0) = 1; |
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459 a(0, 1) = 2; |
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460 a(0, 2) = 2; |
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461 a(1, 0) = 1; |
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462 a(1, 1) = 0; |
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463 a(1, 2) = 1; |
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464 a(2, 0) = 1; |
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465 a(2, 1) = 2; |
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466 a(2, 2) = 1; |
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467 |
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468 ASSERT_DOUBLE_EQ(2, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); |
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469 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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470 ASSERT_EQ(3u, b.size1()); |
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471 ASSERT_EQ(3u, b.size2()); |
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472 |
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473 ASSERT_DOUBLE_EQ(-1, b(0, 0)); |
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474 ASSERT_DOUBLE_EQ(1, b(0, 1)); |
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475 ASSERT_DOUBLE_EQ(1, b(0, 2)); |
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476 ASSERT_DOUBLE_EQ(0, b(1, 0)); |
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477 ASSERT_DOUBLE_EQ(-0.5, b(1, 1)); |
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478 ASSERT_DOUBLE_EQ(0.5, b(1, 2)); |
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479 ASSERT_DOUBLE_EQ(1, b(2, 0)); |
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480 ASSERT_DOUBLE_EQ(0, b(2, 1)); |
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481 ASSERT_DOUBLE_EQ(-1, b(2, 2)); |
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482 } |
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483 |
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484 |
164
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485 TEST(Matrix, Inverse4) |
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486 { |
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487 OrthancStone::Matrix a, b; |
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488 a.resize(4, 4); |
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489 a(0, 0) = 2; |
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490 a(0, 1) = 1; |
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491 a(0, 2) = 2; |
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492 a(0, 3) = -3; |
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493 a(1, 0) = -2; |
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494 a(1, 1) = 2; |
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495 a(1, 2) = -1; |
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496 a(1, 3) = -1; |
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497 a(2, 0) = 2; |
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498 a(2, 1) = 2; |
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499 a(2, 2) = -3; |
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500 a(2, 3) = -1; |
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501 a(3, 0) = 3; |
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502 a(3, 1) = -2; |
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503 a(3, 2) = -3; |
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504 a(3, 3) = -1; |
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505 |
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506 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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507 ASSERT_EQ(4u, b.size1()); |
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508 ASSERT_EQ(4u, b.size2()); |
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509 |
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510 b *= 134.0; // This is the determinant |
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511 |
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512 ASSERT_DOUBLE_EQ(8, b(0, 0)); |
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513 ASSERT_DOUBLE_EQ(-44, b(0, 1)); |
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514 ASSERT_DOUBLE_EQ(30, b(0, 2)); |
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515 ASSERT_DOUBLE_EQ(-10, b(0, 3)); |
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516 ASSERT_DOUBLE_EQ(2, b(1, 0)); |
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517 ASSERT_DOUBLE_EQ(-11, b(1, 1)); |
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518 ASSERT_DOUBLE_EQ(41, b(1, 2)); |
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519 ASSERT_DOUBLE_EQ(-36, b(1, 3)); |
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520 ASSERT_DOUBLE_EQ(16, b(2, 0)); |
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521 ASSERT_DOUBLE_EQ(-21, b(2, 1)); |
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522 ASSERT_DOUBLE_EQ(-7, b(2, 2)); |
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523 ASSERT_DOUBLE_EQ(-20, b(2, 3)); |
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524 ASSERT_DOUBLE_EQ(-28, b(3, 0)); |
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525 ASSERT_DOUBLE_EQ(-47, b(3, 1)); |
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526 ASSERT_DOUBLE_EQ(29, b(3, 2)); |
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527 ASSERT_DOUBLE_EQ(-32, b(3, 3)); |
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528 } |
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529 |
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530 |
188
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531 TEST(FiniteProjectiveCamera, Calibration) |
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532 { |
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533 unsigned int volumeWidth = 512; |
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534 unsigned int volumeHeight = 512; |
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535 unsigned int volumeDepth = 110; |
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536 |
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537 OrthancStone::Vector camera = OrthancStone::LinearAlgebra::CreateVector |
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538 (-1000, -5000, -static_cast<double>(volumeDepth) * 32); |
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539 |
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540 OrthancStone::Vector principalPoint = OrthancStone::LinearAlgebra::CreateVector |
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541 (volumeWidth/2, volumeHeight/2, volumeDepth * 2); |
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542 |
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543 OrthancStone::FiniteProjectiveCamera c(camera, principalPoint, 0, 512, 512, 1, 1); |
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544 |
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545 double swapv[9] = { 1, 0, 0, |
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546 0, -1, 512, |
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547 0, 0, 1 }; |
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548 OrthancStone::Matrix swap; |
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549 OrthancStone::LinearAlgebra::FillMatrix(swap, 3, 3, swapv); |
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550 |
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551 OrthancStone::Matrix p = OrthancStone::LinearAlgebra::Product(swap, c.GetMatrix()); |
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552 p /= p(2,3); |
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553 |
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554 ASSERT_NEAR( 1.04437, p(0,0), 0.00001); |
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555 ASSERT_NEAR(-0.0703111, p(0,1), 0.00000001); |
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556 ASSERT_NEAR(-0.179283, p(0,2), 0.000001); |
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557 ASSERT_NEAR( 61.7431, p(0,3), 0.0001); |
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558 ASSERT_NEAR( 0.11127, p(1,0), 0.000001); |
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559 ASSERT_NEAR(-0.595541, p(1,1), 0.000001); |
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560 ASSERT_NEAR( 0.872211, p(1,2), 0.000001); |
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561 ASSERT_NEAR( 203.748, p(1,3), 0.001); |
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562 ASSERT_NEAR( 3.08593e-05, p(2,0), 0.0000000001); |
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563 ASSERT_NEAR( 0.000129138, p(2,1), 0.000000001); |
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564 ASSERT_NEAR( 9.18901e-05, p(2,2), 0.0000000001); |
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565 ASSERT_NEAR( 1, p(2,3), 0.0000001); |
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566 } |
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567 |
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568 |
189
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569 static bool IsEqualVector(OrthancStone::Vector a, |
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570 OrthancStone::Vector b) |
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571 { |
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572 if (a.size() == 3 && |
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573 b.size() == 3) |
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574 { |
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575 OrthancStone::LinearAlgebra::NormalizeVector(a); |
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576 OrthancStone::LinearAlgebra::NormalizeVector(b); |
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577 return OrthancStone::LinearAlgebra::IsCloseToZero(boost::numeric::ublas::norm_2(a - b)); |
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578 } |
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579 else |
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580 { |
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581 return false; |
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582 } |
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583 } |
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584 |
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585 |
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586 TEST(GeometryToolbox, AlignVectorsWithRotation) |
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587 { |
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588 OrthancStone::Vector a, b; |
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589 OrthancStone::Matrix r; |
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590 |
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591 OrthancStone::LinearAlgebra::AssignVector(a, -200, 200, -846.63); |
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592 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); |
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593 |
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594 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); |
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595 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); |
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596 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b)); |
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597 |
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598 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, b, a); |
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599 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); |
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600 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, b), a)); |
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601 |
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602 OrthancStone::LinearAlgebra::AssignVector(a, 1, 0, 0); |
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603 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); |
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604 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); |
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605 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); |
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606 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b)); |
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607 |
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608 OrthancStone::LinearAlgebra::AssignVector(a, 0, 1, 0); |
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609 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); |
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610 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); |
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611 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); |
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612 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b)); |
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613 |
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614 OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, 1); |
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615 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); |
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616 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); |
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617 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); |
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618 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b)); |
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619 |
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620 OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, 0); |
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621 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); |
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622 ASSERT_THROW(OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b), Orthanc::OrthancException); |
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623 |
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624 // TODO: Deal with opposite vectors |
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625 |
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626 /* |
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627 OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, -1); |
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628 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); |
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629 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); |
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630 OrthancStone::LinearAlgebra::Print(r); |
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631 OrthancStone::LinearAlgebra::Print(boost::numeric::ublas::prod(r, a)); |
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632 */ |
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633 } |
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634 |
307 | 635 TEST(MessagingToolbox, ParseJson) |
636 { | |
637 Json::Value response; | |
638 std::string source = "{\"command\":\"panel:takeDarkImage\",\"commandType\":\"simple\",\"args\":{}}"; | |
792
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639 ASSERT_TRUE(Deprecated::MessagingToolbox::ParseJson(response, source.c_str(), source.size())); |
307 | 640 } |
20
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641 |
685
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642 TEST(VolumeImageGeometry, Basic) |
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643 { |
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644 OrthancStone::VolumeImageGeometry g; |
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645 g.SetSize(10, 20, 30); |
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646 g.SetVoxelDimensions(1, 2, 3); |
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647 |
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648 OrthancStone::Vector p = g.GetCoordinates(0, 0, 0); |
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649 ASSERT_EQ(3u, p.size()); |
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650 ASSERT_FLOAT_EQ(-1.0 / 2.0, p[0]); |
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651 ASSERT_FLOAT_EQ(-2.0 / 2.0, p[1]); |
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652 ASSERT_FLOAT_EQ(-3.0 / 2.0, p[2]); |
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653 |
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654 p = g.GetCoordinates(1, 1, 1); |
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655 ASSERT_FLOAT_EQ(-1.0 / 2.0 + 10.0 * 1.0, p[0]); |
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656 ASSERT_FLOAT_EQ(-2.0 / 2.0 + 20.0 * 2.0, p[1]); |
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657 ASSERT_FLOAT_EQ(-3.0 / 2.0 + 30.0 * 3.0, p[2]); |
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658 |
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659 OrthancStone::VolumeProjection proj; |
689
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660 ASSERT_TRUE(g.DetectProjection(proj, g.GetAxialGeometry().GetNormal())); |
685
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661 ASSERT_EQ(OrthancStone::VolumeProjection_Axial, proj); |
689
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662 ASSERT_TRUE(g.DetectProjection(proj, g.GetCoronalGeometry().GetNormal())); |
685
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663 ASSERT_EQ(OrthancStone::VolumeProjection_Coronal, proj); |
689
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664 ASSERT_TRUE(g.DetectProjection(proj, g.GetSagittalGeometry().GetNormal())); |
685
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665 ASSERT_EQ(OrthancStone::VolumeProjection_Sagittal, proj); |
689
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666 |
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667 ASSERT_EQ(10u, g.GetProjectionWidth(OrthancStone::VolumeProjection_Axial)); |
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668 ASSERT_EQ(20u, g.GetProjectionHeight(OrthancStone::VolumeProjection_Axial)); |
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669 ASSERT_EQ(30u, g.GetProjectionDepth(OrthancStone::VolumeProjection_Axial)); |
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670 ASSERT_EQ(10u, g.GetProjectionWidth(OrthancStone::VolumeProjection_Coronal)); |
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671 ASSERT_EQ(30u, g.GetProjectionHeight(OrthancStone::VolumeProjection_Coronal)); |
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672 ASSERT_EQ(20u, g.GetProjectionDepth(OrthancStone::VolumeProjection_Coronal)); |
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673 ASSERT_EQ(20u, g.GetProjectionWidth(OrthancStone::VolumeProjection_Sagittal)); |
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674 ASSERT_EQ(30u, g.GetProjectionHeight(OrthancStone::VolumeProjection_Sagittal)); |
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675 ASSERT_EQ(10u, g.GetProjectionDepth(OrthancStone::VolumeProjection_Sagittal)); |
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676 |
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677 p = g.GetVoxelDimensions(OrthancStone::VolumeProjection_Axial); |
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678 ASSERT_EQ(3u, p.size()); |
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679 ASSERT_FLOAT_EQ(1, p[0]); |
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680 ASSERT_FLOAT_EQ(2, p[1]); |
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681 ASSERT_FLOAT_EQ(3, p[2]); |
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682 p = g.GetVoxelDimensions(OrthancStone::VolumeProjection_Coronal); |
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683 ASSERT_EQ(3u, p.size()); |
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684 ASSERT_FLOAT_EQ(1, p[0]); |
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685 ASSERT_FLOAT_EQ(3, p[1]); |
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686 ASSERT_FLOAT_EQ(2, p[2]); |
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687 p = g.GetVoxelDimensions(OrthancStone::VolumeProjection_Sagittal); |
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688 ASSERT_EQ(3u, p.size()); |
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689 ASSERT_FLOAT_EQ(2, p[0]); |
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690 ASSERT_FLOAT_EQ(3, p[1]); |
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691 ASSERT_FLOAT_EQ(1, p[2]); |
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692 |
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693 ASSERT_EQ(0, (int) OrthancStone::VolumeProjection_Axial); |
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694 ASSERT_EQ(1, (int) OrthancStone::VolumeProjection_Coronal); |
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695 ASSERT_EQ(2, (int) OrthancStone::VolumeProjection_Sagittal); |
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696 |
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697 for (int p = 0; p < 3; p++) |
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698 { |
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699 OrthancStone::VolumeProjection projection = (OrthancStone::VolumeProjection) p; |
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700 const OrthancStone::CoordinateSystem3D& s = g.GetProjectionGeometry(projection); |
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701 |
809
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VolumeImageGeometry::GetProjectionSlice()
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702 ASSERT_THROW(g.GetProjectionSlice(projection, g.GetProjectionDepth(projection)), Orthanc::OrthancException); |
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VolumeImageGeometry::GetProjectionSlice()
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703 |
689
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VolumeImageGeometry::DetectSlice()
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704 for (unsigned int i = 0; i < g.GetProjectionDepth(projection); i++) |
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VolumeImageGeometry::DetectSlice()
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705 { |
809
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VolumeImageGeometry::GetProjectionSlice()
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706 OrthancStone::CoordinateSystem3D plane = g.GetProjectionSlice(projection, i); |
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VolumeImageGeometry::GetProjectionSlice()
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707 |
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VolumeImageGeometry::GetProjectionSlice()
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708 ASSERT_TRUE(IsEqualVector(plane.GetOrigin(), s.GetOrigin() + static_cast<double>(i) * |
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709 s.GetNormal() * g.GetVoxelDimensions(projection)[2])); |
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VolumeImageGeometry::GetProjectionSlice()
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710 ASSERT_TRUE(IsEqualVector(plane.GetAxisX(), s.GetAxisX())); |
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VolumeImageGeometry::GetProjectionSlice()
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711 ASSERT_TRUE(IsEqualVector(plane.GetAxisY(), s.GetAxisY())); |
689
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VolumeImageGeometry::DetectSlice()
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712 |
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VolumeImageGeometry::DetectSlice()
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713 unsigned int slice; |
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VolumeImageGeometry::DetectSlice()
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714 OrthancStone::VolumeProjection q; |
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VolumeImageGeometry::DetectSlice()
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715 ASSERT_TRUE(g.DetectSlice(q, slice, plane)); |
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716 ASSERT_EQ(projection, q); |
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717 ASSERT_EQ(i, slice); |
689
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VolumeImageGeometry::DetectSlice()
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718 } |
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VolumeImageGeometry::DetectSlice()
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719 } |
685
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unit test: VolumeImageGeometry.Basic
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720 } |
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unit test: VolumeImageGeometry.Basic
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721 |
20
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skeleton for unit tests
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722 int main(int argc, char **argv) |
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skeleton for unit tests
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723 { |
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724 Orthanc::Logging::Initialize(); |
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725 Orthanc::Logging::EnableInfoLevel(true); |
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726 |
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727 ::testing::InitGoogleTest(&argc, argv); |
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728 int result = RUN_ALL_TESTS(); |
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skeleton for unit tests
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729 |
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730 Orthanc::Logging::Finalize(); |
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731 |
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skeleton for unit tests
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732 return result; |
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skeleton for unit tests
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733 } |