orthanc-stone: UnitTestsSources/UnitTestsMain.cpp annotate

annotate UnitTestsSources/UnitTestsMain.cpp @ 203:431e991af593

fix

author	Sebastien Jodogne <s.jodogne@gmail.com>
date	Tue, 27 Mar 2018 11:12:50 +0200
parents	e9c7a78a3e77
children	5412adf19980

rev	line source
20 946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	1 /**
946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	2 * Stone of Orthanc
946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics
946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	4 * Department, University Hospital of Liege, Belgium
134 4cff7b1ed31d upgrade to year 2018 Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	5 * Copyright (C) 2017-2018 Osimis S.A., Belgium
20 946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	6 *
946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	7 * This program is free software: you can redistribute it and/or
47 28956ed68280 agpl license Sebastien Jodogne <s.jodogne@gmail.com> parents: 40 diff changeset	8 * modify it under the terms of the GNU Affero General Public License
28956ed68280 agpl license Sebastien Jodogne <s.jodogne@gmail.com> parents: 40 diff changeset	9 * as published by the Free Software Foundation, either version 3 of
28956ed68280 agpl license Sebastien Jodogne <s.jodogne@gmail.com> parents: 40 diff changeset	10 * the License, or (at your option) any later version.
20 946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	11 *
946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	12 * This program is distributed in the hope that it will be useful, but
946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	13 * WITHOUT ANY WARRANTY; without even the implied warranty of
47 28956ed68280 agpl license Sebastien Jodogne <s.jodogne@gmail.com> parents: 40 diff changeset	14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
28956ed68280 agpl license Sebastien Jodogne <s.jodogne@gmail.com> parents: 40 diff changeset	15 * Affero General Public License for more details.
28956ed68280 agpl license Sebastien Jodogne <s.jodogne@gmail.com> parents: 40 diff changeset	16 *
28956ed68280 agpl license Sebastien Jodogne <s.jodogne@gmail.com> parents: 40 diff changeset	17 * You should have received a copy of the GNU Affero General Public License
20 946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	18 * along with this program. If not, see <http://www.gnu.org/licenses/>.
946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	19 **/
946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	20
946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	21
102 fcec0ab44054 display volumes Sebastien Jodogne <s.jodogne@gmail.com> parents: 93 diff changeset	22 #include "../Framework/dev.h"
20 946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	23 #include "gtest/gtest.h"
946377d1c992 skeleton for unit tests Sebastien Jodogne <s.jodogne@gmail.com> parents: diff changeset	24
113 2eca030792aa using the Orthanc Framework Sebastien Jodogne <s.jodogne@gmail.com> parents: 102 diff changeset	25 #include "../Framework/Layers/FrameRenderer.h"
2eca030792aa using the Orthanc Framework Sebastien Jodogne <s.jodogne@gmail.com> parents: 102 diff changeset	26 #include "../Framework/Layers/LayerSourceBase.h"
2eca030792aa using the Orthanc Framework Sebastien Jodogne <s.jodogne@gmail.com> parents: 102 diff changeset	27 #include "../Framework/Toolbox/DownloadStack.h"
161 197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	28 #include "../Framework/Toolbox/FiniteProjectiveCamera.h"
73 ffa6dded91bd reorganization Sebastien Jodogne <s.jodogne@gmail.com> parents: 72 diff changeset	29 #include "../Framework/Toolbox/OrthancSlicesLoader.h"
87 4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	30 #include "../Framework/Volumes/ImageBuffer3D.h"
88 90bf4116a23c ISlicedVolume Sebastien Jodogne <s.jodogne@gmail.com> parents: 87 diff changeset	31 #include "../Framework/Volumes/SlicedVolumeBase.h"
113 2eca030792aa using the Orthanc Framework Sebastien Jodogne <s.jodogne@gmail.com> parents: 102 diff changeset	32 #include "../Platforms/Generic/OracleWebService.h"
2eca030792aa using the Orthanc Framework Sebastien Jodogne <s.jodogne@gmail.com> parents: 102 diff changeset	33
201 e9c7a78a3e77 removed absolute paths Sebastien Jodogne <s.jodogne@gmail.com> parents: 196 diff changeset	34 #include "../Resources/Orthanc/Core/HttpClient.h"
e9c7a78a3e77 removed absolute paths Sebastien Jodogne <s.jodogne@gmail.com> parents: 196 diff changeset	35 #include "../Resources/Orthanc/Core/Images/ImageProcessing.h"
e9c7a78a3e77 removed absolute paths Sebastien Jodogne <s.jodogne@gmail.com> parents: 196 diff changeset	36 #include "../Resources/Orthanc/Core/Logging.h"
e9c7a78a3e77 removed absolute paths Sebastien Jodogne <s.jodogne@gmail.com> parents: 196 diff changeset	37 #include "../Resources/Orthanc/Core/MultiThreading/SharedMessageQueue.h"
e9c7a78a3e77 removed absolute paths Sebastien Jodogne <s.jodogne@gmail.com> parents: 196 diff changeset	38 #include "../Resources/Orthanc/Core/OrthancException.h"
87 4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	39
68 1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	40 #include <boost/lexical_cast.hpp>
70 f73aed014bde OrthancAsynchronousWebService Sebastien Jodogne <s.jodogne@gmail.com> parents: 69 diff changeset	41 #include <boost/date_time/posix_time/posix_time.hpp>
f73aed014bde OrthancAsynchronousWebService Sebastien Jodogne <s.jodogne@gmail.com> parents: 69 diff changeset	42 #include <boost/thread/thread.hpp>
102 fcec0ab44054 display volumes Sebastien Jodogne <s.jodogne@gmail.com> parents: 93 diff changeset	43 #include <boost/math/special_functions/round.hpp>
fcec0ab44054 display volumes Sebastien Jodogne <s.jodogne@gmail.com> parents: 93 diff changeset	44
68 1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	45
144 9b83f30fc1c0 bilinear and trilinear interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 135 diff changeset	46 #if 0
65 885932a893de OrthancFrameLayerSource Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	47 namespace OrthancStone
885932a893de OrthancFrameLayerSource Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	48 {
72 c1cc3bdba18c cleaning up OrthancSlicesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 71 diff changeset	49 class Tata : public OrthancSlicesLoader::ICallback
67 acb60cbb8301 refactoring SeriesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 66 diff changeset	50 {
acb60cbb8301 refactoring SeriesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 66 diff changeset	51 public:
72 c1cc3bdba18c cleaning up OrthancSlicesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 71 diff changeset	52 virtual void NotifyGeometryReady(const OrthancSlicesLoader& loader)
67 acb60cbb8301 refactoring SeriesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 66 diff changeset	53 {
80 f40a78cc7070 Oracle Sebastien Jodogne <s.jodogne@gmail.com> parents: 77 diff changeset	54 printf(">> %d\n", (int) loader.GetSliceCount());
70 f73aed014bde OrthancAsynchronousWebService Sebastien Jodogne <s.jodogne@gmail.com> parents: 69 diff changeset	55
f73aed014bde OrthancAsynchronousWebService Sebastien Jodogne <s.jodogne@gmail.com> parents: 69 diff changeset	56 for (size_t i = 0; i < loader.GetSliceCount(); i++)
f73aed014bde OrthancAsynchronousWebService Sebastien Jodogne <s.jodogne@gmail.com> parents: 69 diff changeset	57 {
93 5945e81734a3 decoding of JPEG images Sebastien Jodogne <s.jodogne@gmail.com> parents: 89 diff changeset	58 const_cast<OrthancSlicesLoader&>(loader).ScheduleLoadSliceImage(i, SliceImageQuality_Full);
70 f73aed014bde OrthancAsynchronousWebService Sebastien Jodogne <s.jodogne@gmail.com> parents: 69 diff changeset	59 }
68 1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	60 }
1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	61
72 c1cc3bdba18c cleaning up OrthancSlicesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 71 diff changeset	62 virtual void NotifyGeometryError(const OrthancSlicesLoader& loader)
68 1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	63 {
1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	64 printf("Error\n");
67 acb60cbb8301 refactoring SeriesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 66 diff changeset	65 }
66 298f375dcb68 LayerWidget Sebastien Jodogne <s.jodogne@gmail.com> parents: 65 diff changeset	66
72 c1cc3bdba18c cleaning up OrthancSlicesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 71 diff changeset	67 virtual void NotifySliceImageReady(const OrthancSlicesLoader& loader,
68 1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	68 unsigned int sliceIndex,
1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	69 const Slice& slice,
102 fcec0ab44054 display volumes Sebastien Jodogne <s.jodogne@gmail.com> parents: 93 diff changeset	70 std::auto_ptr<Orthanc::ImageAccessor>& image,
93 5945e81734a3 decoding of JPEG images Sebastien Jodogne <s.jodogne@gmail.com> parents: 89 diff changeset	71 SliceImageQuality quality)
67 acb60cbb8301 refactoring SeriesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 66 diff changeset	72 {
68 1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	73 std::auto_ptr<Orthanc::ImageAccessor> tmp(image);
70 f73aed014bde OrthancAsynchronousWebService Sebastien Jodogne <s.jodogne@gmail.com> parents: 69 diff changeset	74 printf("Slice OK %dx%d\n", tmp->GetWidth(), tmp->GetHeight());
68 1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	75 }
1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	76
72 c1cc3bdba18c cleaning up OrthancSlicesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 71 diff changeset	77 virtual void NotifySliceImageError(const OrthancSlicesLoader& loader,
68 1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	78 unsigned int sliceIndex,
93 5945e81734a3 decoding of JPEG images Sebastien Jodogne <s.jodogne@gmail.com> parents: 89 diff changeset	79 const Slice& slice,
5945e81734a3 decoding of JPEG images Sebastien Jodogne <s.jodogne@gmail.com> parents: 89 diff changeset	80 SliceImageQuality quality)
68 1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	81 {
1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	82 printf("ERROR 2\n");
67 acb60cbb8301 refactoring SeriesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 66 diff changeset	83 }
acb60cbb8301 refactoring SeriesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 66 diff changeset	84 };
65 885932a893de OrthancFrameLayerSource Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	85 }
885932a893de OrthancFrameLayerSource Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	86
885932a893de OrthancFrameLayerSource Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	87
87 4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	88 TEST(Toto, DISABLED_Tutu)
65 885932a893de OrthancFrameLayerSource Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	89 {
80 f40a78cc7070 Oracle Sebastien Jodogne <s.jodogne@gmail.com> parents: 77 diff changeset	90 OrthancStone::Oracle oracle(4);
f40a78cc7070 Oracle Sebastien Jodogne <s.jodogne@gmail.com> parents: 77 diff changeset	91 oracle.Start();
f40a78cc7070 Oracle Sebastien Jodogne <s.jodogne@gmail.com> parents: 77 diff changeset	92
65 885932a893de OrthancFrameLayerSource Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	93 Orthanc::WebServiceParameters web;
80 f40a78cc7070 Oracle Sebastien Jodogne <s.jodogne@gmail.com> parents: 77 diff changeset	94 //OrthancStone::OrthancAsynchronousWebService orthanc(web, 4);
f40a78cc7070 Oracle Sebastien Jodogne <s.jodogne@gmail.com> parents: 77 diff changeset	95 OrthancStone::OracleWebService orthanc(oracle, web);
f40a78cc7070 Oracle Sebastien Jodogne <s.jodogne@gmail.com> parents: 77 diff changeset	96 //orthanc.Start();
65 885932a893de OrthancFrameLayerSource Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	97
885932a893de OrthancFrameLayerSource Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	98 OrthancStone::Tata tata;
72 c1cc3bdba18c cleaning up OrthancSlicesLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 71 diff changeset	99 OrthancStone::OrthancSlicesLoader loader(tata, orthanc);
80 f40a78cc7070 Oracle Sebastien Jodogne <s.jodogne@gmail.com> parents: 77 diff changeset	100 loader.ScheduleLoadSeries("c1c4cb95-05e3bd11-8da9f5bb-87278f71-0b2b43f5");
77 f5f54ed8d307 refactoring Sebastien Jodogne <s.jodogne@gmail.com> parents: 73 diff changeset	101 //loader.ScheduleLoadSeries("67f1b334-02c16752-45026e40-a5b60b6b-030ecab5");
71 30c768873d47 OrthancSliceLoader::ScheduleLoadInstance Sebastien Jodogne <s.jodogne@gmail.com> parents: 70 diff changeset	102
80 f40a78cc7070 Oracle Sebastien Jodogne <s.jodogne@gmail.com> parents: 77 diff changeset	103 //loader.ScheduleLoadInstance("19816330-cb02e1cf-df3a8fe8-bf510623-ccefe9f5", 0);
68 1526d38ef6da SliceSorter Sebastien Jodogne <s.jodogne@gmail.com> parents: 67 diff changeset	104
70 f73aed014bde OrthancAsynchronousWebService Sebastien Jodogne <s.jodogne@gmail.com> parents: 69 diff changeset	105 /*printf(">> %d\n", loader.GetSliceCount());
f73aed014bde OrthancAsynchronousWebService Sebastien Jodogne <s.jodogne@gmail.com> parents: 69 diff changeset	106 loader.ScheduleLoadSliceImage(31);*/
f73aed014bde OrthancAsynchronousWebService Sebastien Jodogne <s.jodogne@gmail.com> parents: 69 diff changeset	107
f73aed014bde OrthancAsynchronousWebService Sebastien Jodogne <s.jodogne@gmail.com> parents: 69 diff changeset	108 boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
f73aed014bde OrthancAsynchronousWebService Sebastien Jodogne <s.jodogne@gmail.com> parents: 69 diff changeset	109
80 f40a78cc7070 Oracle Sebastien Jodogne <s.jodogne@gmail.com> parents: 77 diff changeset	110 //orthanc.Stop();
f40a78cc7070 Oracle Sebastien Jodogne <s.jodogne@gmail.com> parents: 77 diff changeset	111 oracle.Stop();
65 885932a893de OrthancFrameLayerSource Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	112 }
885932a893de OrthancFrameLayerSource Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	113
885932a893de OrthancFrameLayerSource Sebastien Jodogne <s.jodogne@gmail.com> parents: 47 diff changeset	114
87 4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	115 TEST(Toto, Tata)
4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	116 {
4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	117 OrthancStone::Oracle oracle(4);
4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	118 oracle.Start();
4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	119
4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	120 Orthanc::WebServiceParameters web;
4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	121 OrthancStone::OracleWebService orthanc(oracle, web);
121 e66b2c757790 displaying rt-struct Sebastien Jodogne <s.jodogne@gmail.com> parents: 113 diff changeset	122 OrthancStone::OrthancVolumeImage volume(orthanc, true);
87 4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	123
93 5945e81734a3 decoding of JPEG images Sebastien Jodogne <s.jodogne@gmail.com> parents: 89 diff changeset	124 //volume.ScheduleLoadInstance("19816330-cb02e1cf-df3a8fe8-bf510623-ccefe9f5", 0);
87 4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	125 //volume.ScheduleLoadSeries("318603c5-03e8cffc-a82b6ee1-3ccd3c1e-18d7e3bb"); // COMUNIX PET
93 5945e81734a3 decoding of JPEG images Sebastien Jodogne <s.jodogne@gmail.com> parents: 89 diff changeset	126 //volume.ScheduleLoadSeries("7124dba7-09803f33-98b73826-33f14632-ea842d29"); // COMUNIX CT
87 4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	127 //volume.ScheduleLoadSeries("5990e39c-51e5f201-fe87a54c-31a55943-e59ef80e"); // Delphine sagital
93 5945e81734a3 decoding of JPEG images Sebastien Jodogne <s.jodogne@gmail.com> parents: 89 diff changeset	128 volume.ScheduleLoadSeries("6f1b492a-e181e200-44e51840-ef8db55e-af529ab6"); // Delphine ax 2.5
87 4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	129
4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	130 boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	131
4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	132 oracle.Stop();
4a541cd4fa83 OrthancVolumeImageLoader Sebastien Jodogne <s.jodogne@gmail.com> parents: 82 diff changeset	133 }
144 9b83f30fc1c0 bilinear and trilinear interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 135 diff changeset	134 #endif
9b83f30fc1c0 bilinear and trilinear interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 135 diff changeset	135
9b83f30fc1c0 bilinear and trilinear interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 135 diff changeset	136
9b83f30fc1c0 bilinear and trilinear interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 135 diff changeset	137 TEST(GeometryToolbox, Interpolation)
9b83f30fc1c0 bilinear and trilinear interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 135 diff changeset	138 {
177 83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	139 using namespace OrthancStone::GeometryToolbox;
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	140
144 9b83f30fc1c0 bilinear and trilinear interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 135 diff changeset	141 // https://en.wikipedia.org/wiki/Bilinear_interpolation#Application_in_image_processing
177 83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	142 ASSERT_FLOAT_EQ(146.1f, ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95));
176 ab9c799f5de1 fix interpolation with negative coordinates Sebastien Jodogne <s.jodogne@gmail.com> parents: 165 diff changeset	143
177 83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	144 ASSERT_FLOAT_EQ(91, ComputeBilinearInterpolationUnitSquare(0, 0, 91, 210, 162, 95));
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	145 ASSERT_FLOAT_EQ(210, ComputeBilinearInterpolationUnitSquare(1, 0, 91, 210, 162, 95));
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	146 ASSERT_FLOAT_EQ(162, ComputeBilinearInterpolationUnitSquare(0, 1, 91, 210, 162, 95));
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	147 ASSERT_FLOAT_EQ(95, ComputeBilinearInterpolationUnitSquare(1, 1, 91, 210, 162, 95));
176 ab9c799f5de1 fix interpolation with negative coordinates Sebastien Jodogne <s.jodogne@gmail.com> parents: 165 diff changeset	148
177 83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	149 ASSERT_FLOAT_EQ(123.35f, ComputeTrilinearInterpolationUnitSquare
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	150 (0.5f, 0.2f, 0.7f,
161 197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	151 91, 210, 162, 95,
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	152 51, 190, 80, 92));
176 ab9c799f5de1 fix interpolation with negative coordinates Sebastien Jodogne <s.jodogne@gmail.com> parents: 165 diff changeset	153
177 83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	154 ASSERT_FLOAT_EQ(ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95),
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	155 ComputeTrilinearInterpolationUnitSquare(0.5f, 0.2f, 0,
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	156 91, 210, 162, 95,
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	157 51, 190, 80, 92));
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	158
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	159 ASSERT_FLOAT_EQ(ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 51, 190, 80, 92),
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	160 ComputeTrilinearInterpolationUnitSquare(0.5f, 0.2f, 1,
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	161 91, 210, 162, 95,
83200c4d07ca fix interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 176 diff changeset	162 51, 190, 80, 92));
161 197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	163 }
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	164
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	165
162 77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	166 static bool CompareMatrix(const OrthancStone::Matrix& a,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	167 const OrthancStone::Matrix& b,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	168 double threshold = 0.00000001)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	169 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	170 if (a.size1() != b.size1() \|\|
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	171 a.size2() != b.size2())
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	172 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	173 return false;
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	174 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	175
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	176 for (size_t i = 0; i < a.size1(); i++)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	177 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	178 for (size_t j = 0; j < a.size2(); j++)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	179 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	180 if (fabs(a(i, j) - b(i, j)) > threshold)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	181 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	182 LOG(ERROR) << "Too large difference in component ("
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	183 << i << "," << j << "): " << a(i,j) << " != " << b(i,j);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	184 return false;
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	185 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	186 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	187 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	188
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	189 return true;
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	190 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	191
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	192
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	193 static bool CompareVector(const OrthancStone::Vector& a,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	194 const OrthancStone::Vector& b,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	195 double threshold = 0.00000001)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	196 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	197 if (a.size() != b.size())
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	198 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	199 return false;
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	200 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	201
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	202 for (size_t i = 0; i < a.size(); i++)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	203 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	204 if (fabs(a(i) - b(i)) > threshold)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	205 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	206 LOG(ERROR) << "Too large difference in component "
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	207 << i << ": " << a(i) << " != " << b(i);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	208 return false;
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	209 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	210 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	211
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	212 return true;
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	213 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	214
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	215
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	216
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	217 TEST(FiniteProjectiveCamera, Decomposition1)
161 197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	218 {
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	219 // Example 6.2 of "Multiple View Geometry in Computer Vision - 2nd
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	220 // edition" (page 163)
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	221 const double p[12] = {
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	222 3.53553e+2, 3.39645e+2, 2.77744e+2, -1.44946e+6,
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	223 -1.03528e+2, 2.33212e+1, 4.59607e+2, -6.32525e+5,
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	224 7.07107e-1, -3.53553e-1, 6.12372e-1, -9.18559e+2
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	225 };
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	226
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	227 OrthancStone::FiniteProjectiveCamera camera(p);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	228 ASSERT_EQ(3u, camera.GetMatrix().size1());
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	229 ASSERT_EQ(4u, camera.GetMatrix().size2());
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	230 ASSERT_EQ(3u, camera.GetIntrinsicParameters().size1());
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	231 ASSERT_EQ(3u, camera.GetIntrinsicParameters().size2());
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	232 ASSERT_EQ(3u, camera.GetRotation().size1());
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	233 ASSERT_EQ(3u, camera.GetRotation().size2());
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	234 ASSERT_EQ(3u, camera.GetCenter().size());
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	235
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	236 ASSERT_NEAR(1000.0, camera.GetCenter()[0], 0.01);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	237 ASSERT_NEAR(2000.0, camera.GetCenter()[1], 0.01);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	238 ASSERT_NEAR(1500.0, camera.GetCenter()[2], 0.01);
144 9b83f30fc1c0 bilinear and trilinear interpolation Sebastien Jodogne <s.jodogne@gmail.com> parents: 135 diff changeset	239
161 197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	240 ASSERT_NEAR(468.2, camera.GetIntrinsicParameters() (0, 0), 0.1);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	241 ASSERT_NEAR(91.2, camera.GetIntrinsicParameters() (0, 1), 0.1);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	242 ASSERT_NEAR(300.0, camera.GetIntrinsicParameters() (0, 2), 0.1);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	243 ASSERT_NEAR(427.2, camera.GetIntrinsicParameters() (1, 1), 0.1);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	244 ASSERT_NEAR(200.0, camera.GetIntrinsicParameters() (1, 2), 0.1);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	245 ASSERT_NEAR(1.0, camera.GetIntrinsicParameters() (2, 2), 0.1);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	246
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	247 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (1, 0), 0.0000001);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	248 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 0), 0.0000001);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	249 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 1), 0.0000001);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	250
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	251 ASSERT_NEAR(0.41380, camera.GetRotation() (0, 0), 0.00001);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	252 ASSERT_NEAR(0.90915, camera.GetRotation() (0, 1), 0.00001);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	253 ASSERT_NEAR(0.04708, camera.GetRotation() (0, 2), 0.00001);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	254 ASSERT_NEAR(-0.57338, camera.GetRotation() (1, 0), 0.00001);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	255 ASSERT_NEAR(0.22011, camera.GetRotation() (1, 1), 0.00001);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	256 ASSERT_NEAR(0.78917, camera.GetRotation() (1, 2), 0.00001);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	257 ASSERT_NEAR(0.70711, camera.GetRotation() (2, 0), 0.00001);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	258 ASSERT_NEAR(-0.35355, camera.GetRotation() (2, 1), 0.00001);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	259 ASSERT_NEAR(0.61237, camera.GetRotation() (2, 2), 0.00001);
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	260
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	261 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation()));
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	262
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	263 OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(),
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	264 camera.GetRotation(),
197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	265 camera.GetCenter());
162 77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	266
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	267 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix()));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	268 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters()));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	269 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation()));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	270 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter()));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	271 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	272
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	273
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	274 TEST(FiniteProjectiveCamera, Decomposition2)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	275 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	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 };
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	277 const double k[] = { -1528.494743, 0.000000, 256.000000, 0.000000, 1528.494743, 256.000000, 0.000000, 0.000000, 1.000000 };
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	278 const double r[] = { -0.858893, -0.330733, 0.391047, -0.158171, 0.897503, 0.411668, -0.487118, 0.291726, -0.823172 };
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	279 const double c[] = { 243.558936, -145.863085, 411.585964 };
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	280
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	281 OrthancStone::FiniteProjectiveCamera camera(p);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	282 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation()));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	283
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	284 OrthancStone::FiniteProjectiveCamera camera2(k, r, c);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	285 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix(), 1));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	286 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters(), 0.001));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	287 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation(), 0.000001));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	288 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter(), 0.0001));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	289 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	290
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	291
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	292 TEST(FiniteProjectiveCamera, Decomposition3)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	293 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	294 const double p[] = { 10, 0, 0, 0,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	295 0, 20, 0, 0,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	296 0, 0, 30, 0 };
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	297
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	298 OrthancStone::FiniteProjectiveCamera camera(p);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	299 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation()));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	300 ASSERT_DOUBLE_EQ(10, camera.GetIntrinsicParameters() (0, 0));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	301 ASSERT_DOUBLE_EQ(20, camera.GetIntrinsicParameters() (1, 1));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	302 ASSERT_DOUBLE_EQ(30, camera.GetIntrinsicParameters() (2, 2));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	303 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (0, 0));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	304 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	305 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 2));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	306 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (0));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	307 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (1));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	308 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (2));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	309 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	310
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	311
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	312 TEST(FiniteProjectiveCamera, Decomposition4)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	313 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	314 const double p[] = { 1, 0, 0, 10,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	315 0, 1, 0, 20,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	316 0, 0, 1, 30 };
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	317
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	318 OrthancStone::FiniteProjectiveCamera camera(p);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	319 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation()));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	320 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (0, 0));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	321 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (1, 1));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	322 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (2, 2));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	323 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (0, 0));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	324 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	325 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 2));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	326 ASSERT_DOUBLE_EQ(-10, camera.GetCenter() (0));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	327 ASSERT_DOUBLE_EQ(-20, camera.GetCenter() (1));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	328 ASSERT_DOUBLE_EQ(-30, camera.GetCenter() (2));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	329 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	330
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	331
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	332 TEST(FiniteProjectiveCamera, Decomposition5)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	333 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	334 const double p[] = { 0, 0, 10, 0,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	335 0, 20, 0, 0,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	336 30, 0, 0, 0 };
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	337
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	338 OrthancStone::FiniteProjectiveCamera camera(p);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	339 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation()));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	340 ASSERT_DOUBLE_EQ(-10, camera.GetIntrinsicParameters() (0, 0));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	341 ASSERT_DOUBLE_EQ(20, camera.GetIntrinsicParameters() (1, 1));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	342 ASSERT_DOUBLE_EQ(30, camera.GetIntrinsicParameters() (2, 2));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	343 ASSERT_DOUBLE_EQ(-1, camera.GetRotation() (0, 2));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	344 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	345 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 0));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	346 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (0));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	347 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (1));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	348 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (2));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	349
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	350 OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(),
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	351 camera.GetRotation(),
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	352 camera.GetCenter());
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	353 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix()));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	354 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters()));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	355 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation()));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	356 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter()));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	357 }
161 197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	358
162 77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	359
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	360 static double GetCosAngle(const OrthancStone::Vector& a,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	361 const OrthancStone::Vector& b)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	362 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	363 // Returns the cosine of the angle between two vectors
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	364 // https://en.wikipedia.org/wiki/Dot_product#Geometric_definition
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	365 return boost::numeric::ublas::inner_prod(a, b) /
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	366 (boost::numeric::ublas::norm_2(a) * boost::numeric::ublas::norm_2(b));
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	367 }
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	368
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	369
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	370 TEST(FiniteProjectiveCamera, Ray)
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	371 {
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	372 const double pp[] = { -1499.650894, 2954.618773, -259.737419, 637891.819097,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	373 -2951.517707, -1501.019129, -285.785281, 637891.819097,
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	374 0.008528, 0.003067, -0.999959, 2491.764918 };
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	375
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	376 const OrthancStone::FiniteProjectiveCamera camera(pp);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	377
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	378 ASSERT_NEAR(-21.2492, camera.GetCenter() (0), 0.0001);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	379 ASSERT_NEAR(-7.64234, camera.GetCenter() (1), 0.00001);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	380 ASSERT_NEAR(2491.66, camera.GetCenter() (2), 0.01);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	381
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	382 // Image plane that led to these parameters, with principal point at
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	383 // (256,256). The image has dimensions 512x512.
165 8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	384 OrthancStone::Vector o =
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	385 OrthancStone::LinearAlgebra::CreateVector(7.009620, 2.521030, -821.942000);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	386 OrthancStone::Vector ax =
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	387 OrthancStone::LinearAlgebra::CreateVector(-0.453219, 0.891399, -0.001131);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	388 OrthancStone::Vector ay =
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	389 OrthancStone::LinearAlgebra::CreateVector(-0.891359, -0.453210, -0.008992);
8d50e6be565d LinearAlgebra toolbox Sebastien Jodogne <s.jodogne@gmail.com> parents: 164 diff changeset	390
162 77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	391 OrthancStone::CoordinateSystem3D imagePlane(o, ax, ay);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	392
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	393 // Back-projection of the principal point
161 197a5ddaf68c FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 144 diff changeset	394 {
162 77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	395 OrthancStone::Vector ray = camera.GetRayDirection(256, 256);
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	396
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	397 // The principal axis vector is orthogonal to the image plane
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	398 // (i.e. parallel to the plane normal), in the opposite direction
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	399 // ("-1" corresponds to "cos(pi)").
77715c340767 unit testing FiniteProjectiveCamera Sebastien Jodogne <s.jodogne@gmail.com> parents: 161 diff changeset	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 }

Mercurial > hg > orthanc-stone

annotate UnitTestsSources/UnitTestsMain.cpp @ 203:431e991af593