Mercurial > hg > orthanc-stone
annotate UnitTestsSources/UnitTestsMain.cpp @ 162:77715c340767 wasm
unit testing FiniteProjectiveCamera
author | Sebastien Jodogne <s.jodogne@gmail.com> |
---|---|
date | Wed, 14 Feb 2018 12:24:56 +0100 |
parents | 197a5ddaf68c |
children | 8c5b24892ed2 |
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 |
135
e2fe9352f240
upgrade to year 2018
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
121
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 | 8 * modify it under the terms of the GNU Affero General Public License |
9 * as published by the Free Software Foundation, either version 3 of | |
10 * the License, or (at your option) any later version. | |
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 | 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
15 * Affero General Public License for more details. | |
16 * | |
17 * You should have received a copy of the GNU Affero General Public License | |
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 | 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 | 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 | 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 |
2eca030792aa
using the Orthanc Framework
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
102
diff
changeset
|
34 #include <Core/HttpClient.h> |
2eca030792aa
using the Orthanc Framework
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
102
diff
changeset
|
35 #include <Core/Images/ImageProcessing.h> |
2eca030792aa
using the Orthanc Framework
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
102
diff
changeset
|
36 #include <Core/Logging.h> |
2eca030792aa
using the Orthanc Framework
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
102
diff
changeset
|
37 #include <Core/MultiThreading/SharedMessageQueue.h> |
2eca030792aa
using the Orthanc Framework
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
102
diff
changeset
|
38 #include <Core/OrthancException.h> |
87
4a541cd4fa83
OrthancVolumeImageLoader
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
82
diff
changeset
|
39 |
68 | 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 | 43 #include <boost/math/special_functions/round.hpp> |
44 | |
68 | 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 | 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 | 60 } |
61 | |
72
c1cc3bdba18c
cleaning up OrthancSlicesLoader
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
71
diff
changeset
|
62 virtual void NotifyGeometryError(const OrthancSlicesLoader& loader) |
68 | 63 { |
64 printf("Error\n"); | |
67
acb60cbb8301
refactoring SeriesLoader
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
66
diff
changeset
|
65 } |
66 | 66 |
72
c1cc3bdba18c
cleaning up OrthancSlicesLoader
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
71
diff
changeset
|
67 virtual void NotifySliceImageReady(const OrthancSlicesLoader& loader, |
68 | 68 unsigned int sliceIndex, |
69 const Slice& slice, | |
102 | 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 | 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 | 75 } |
76 | |
72
c1cc3bdba18c
cleaning up OrthancSlicesLoader
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
71
diff
changeset
|
77 virtual void NotifySliceImageError(const OrthancSlicesLoader& loader, |
68 | 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 | 81 { |
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 | 90 OrthancStone::Oracle oracle(4); |
91 oracle.Start(); | |
92 | |
65
885932a893de
OrthancFrameLayerSource
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
47
diff
changeset
|
93 Orthanc::WebServiceParameters web; |
80 | 94 //OrthancStone::OrthancAsynchronousWebService orthanc(web, 4); |
95 OrthancStone::OracleWebService orthanc(oracle, web); | |
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 | 100 loader.ScheduleLoadSeries("c1c4cb95-05e3bd11-8da9f5bb-87278f71-0b2b43f5"); |
77 | 101 //loader.ScheduleLoadSeries("67f1b334-02c16752-45026e40-a5b60b6b-030ecab5"); |
71
30c768873d47
OrthancSliceLoader::ScheduleLoadInstance
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
70
diff
changeset
|
102 |
80 | 103 //loader.ScheduleLoadInstance("19816330-cb02e1cf-df3a8fe8-bf510623-ccefe9f5", 0); |
68 | 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 | 110 //orthanc.Stop(); |
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 { |
9b83f30fc1c0
bilinear and trilinear interpolation
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
135
diff
changeset
|
139 // https://en.wikipedia.org/wiki/Bilinear_interpolation#Application_in_image_processing |
161
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
140 ASSERT_FLOAT_EQ(146.1f, OrthancStone::GeometryToolbox::ComputeBilinearInterpolation |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
141 (20.5f, 14.2f, 91, 210, 162, 95)); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
142 |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
143 ASSERT_FLOAT_EQ(123.35f, OrthancStone::GeometryToolbox::ComputeTrilinearInterpolation |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
144 (20.5f, 15.2f, 5.7f, |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
145 91, 210, 162, 95, |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
146 51, 190, 80, 92)); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
147 } |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
148 |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
149 |
162
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
150 static bool CompareMatrix(const OrthancStone::Matrix& a, |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
151 const OrthancStone::Matrix& b, |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
152 double threshold = 0.00000001) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
153 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
154 if (a.size1() != b.size1() || |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
155 a.size2() != b.size2()) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
156 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
157 return false; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
158 } |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
159 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
160 for (size_t i = 0; i < a.size1(); i++) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
161 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
162 for (size_t j = 0; j < a.size2(); j++) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
163 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
164 if (fabs(a(i, j) - b(i, j)) > threshold) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
165 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
166 LOG(ERROR) << "Too large difference in component (" |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
167 << i << "," << j << "): " << a(i,j) << " != " << b(i,j); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
168 return false; |
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 } |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
171 } |
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 true; |
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 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
177 static bool CompareVector(const OrthancStone::Vector& a, |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
178 const OrthancStone::Vector& b, |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
179 double threshold = 0.00000001) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
180 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
181 if (a.size() != b.size()) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
182 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
183 return false; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
184 } |
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 for (size_t i = 0; i < a.size(); i++) |
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 if (fabs(a(i) - b(i)) > threshold) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
189 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
190 LOG(ERROR) << "Too large difference in component " |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
191 << i << ": " << a(i) << " != " << b(i); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
192 return false; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
193 } |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
194 } |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
195 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
196 return true; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
197 } |
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 |
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 TEST(FiniteProjectiveCamera, Decomposition1) |
161
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
202 { |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
203 // Example 6.2 of "Multiple View Geometry in Computer Vision - 2nd |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
204 // edition" (page 163) |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
205 const double p[12] = { |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
206 3.53553e+2, 3.39645e+2, 2.77744e+2, -1.44946e+6, |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
207 -1.03528e+2, 2.33212e+1, 4.59607e+2, -6.32525e+5, |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
208 7.07107e-1, -3.53553e-1, 6.12372e-1, -9.18559e+2 |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
209 }; |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
210 |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
211 OrthancStone::FiniteProjectiveCamera camera(p); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
212 ASSERT_EQ(3u, camera.GetMatrix().size1()); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
213 ASSERT_EQ(4u, camera.GetMatrix().size2()); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
214 ASSERT_EQ(3u, camera.GetIntrinsicParameters().size1()); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
215 ASSERT_EQ(3u, camera.GetIntrinsicParameters().size2()); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
216 ASSERT_EQ(3u, camera.GetRotation().size1()); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
217 ASSERT_EQ(3u, camera.GetRotation().size2()); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
218 ASSERT_EQ(3u, camera.GetCenter().size()); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
219 |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
220 ASSERT_NEAR(1000.0, camera.GetCenter()[0], 0.01); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
221 ASSERT_NEAR(2000.0, camera.GetCenter()[1], 0.01); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
222 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
|
223 |
161
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
224 ASSERT_NEAR(468.2, camera.GetIntrinsicParameters() (0, 0), 0.1); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
225 ASSERT_NEAR(91.2, camera.GetIntrinsicParameters() (0, 1), 0.1); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
226 ASSERT_NEAR(300.0, camera.GetIntrinsicParameters() (0, 2), 0.1); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
227 ASSERT_NEAR(427.2, camera.GetIntrinsicParameters() (1, 1), 0.1); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
228 ASSERT_NEAR(200.0, camera.GetIntrinsicParameters() (1, 2), 0.1); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
229 ASSERT_NEAR(1.0, camera.GetIntrinsicParameters() (2, 2), 0.1); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
230 |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
231 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (1, 0), 0.0000001); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
232 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 0), 0.0000001); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
233 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 1), 0.0000001); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
234 |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
235 ASSERT_NEAR(0.41380, camera.GetRotation() (0, 0), 0.00001); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
236 ASSERT_NEAR(0.90915, camera.GetRotation() (0, 1), 0.00001); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
237 ASSERT_NEAR(0.04708, camera.GetRotation() (0, 2), 0.00001); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
238 ASSERT_NEAR(-0.57338, camera.GetRotation() (1, 0), 0.00001); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
239 ASSERT_NEAR(0.22011, camera.GetRotation() (1, 1), 0.00001); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
240 ASSERT_NEAR(0.78917, camera.GetRotation() (1, 2), 0.00001); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
241 ASSERT_NEAR(0.70711, camera.GetRotation() (2, 0), 0.00001); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
242 ASSERT_NEAR(-0.35355, camera.GetRotation() (2, 1), 0.00001); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
243 ASSERT_NEAR(0.61237, camera.GetRotation() (2, 2), 0.00001); |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
244 |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
245 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
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 OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(), |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
248 camera.GetRotation(), |
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
249 camera.GetCenter()); |
162
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
250 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
251 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix())); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
252 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters())); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
253 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation())); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
254 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter())); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
255 } |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
256 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
257 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
258 TEST(FiniteProjectiveCamera, Decomposition2) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
259 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
260 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
|
261 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
|
262 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
|
263 const double c[] = { 243.558936, -145.863085, 411.585964 }; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
264 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
265 OrthancStone::FiniteProjectiveCamera camera(p); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
266 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
267 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
268 OrthancStone::FiniteProjectiveCamera camera2(k, r, c); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
269 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix(), 1)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
270 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters(), 0.001)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
271 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation(), 0.000001)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
272 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter(), 0.0001)); |
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 |
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 TEST(FiniteProjectiveCamera, Decomposition3) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
277 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
278 const double p[] = { 10, 0, 0, 0, |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
279 0, 20, 0, 0, |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
280 0, 0, 30, 0 }; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
281 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
282 OrthancStone::FiniteProjectiveCamera camera(p); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
283 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
284 ASSERT_DOUBLE_EQ(10, camera.GetIntrinsicParameters() (0, 0)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
285 ASSERT_DOUBLE_EQ(20, camera.GetIntrinsicParameters() (1, 1)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
286 ASSERT_DOUBLE_EQ(30, camera.GetIntrinsicParameters() (2, 2)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
287 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (0, 0)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
288 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
289 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 2)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
290 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (0)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
291 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (1)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
292 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (2)); |
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 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
295 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
296 TEST(FiniteProjectiveCamera, Decomposition4) |
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 const double p[] = { 1, 0, 0, 10, |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
299 0, 1, 0, 20, |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
300 0, 0, 1, 30 }; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
301 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
302 OrthancStone::FiniteProjectiveCamera camera(p); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
303 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
304 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (0, 0)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
305 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (1, 1)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
306 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (2, 2)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
307 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (0, 0)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
308 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
309 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 2)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
310 ASSERT_DOUBLE_EQ(-10, camera.GetCenter() (0)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
311 ASSERT_DOUBLE_EQ(-20, camera.GetCenter() (1)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
312 ASSERT_DOUBLE_EQ(-30, camera.GetCenter() (2)); |
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 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
315 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
316 TEST(FiniteProjectiveCamera, Decomposition5) |
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 const double p[] = { 0, 0, 10, 0, |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
319 0, 20, 0, 0, |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
320 30, 0, 0, 0 }; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
321 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
322 OrthancStone::FiniteProjectiveCamera camera(p); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
323 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
324 ASSERT_DOUBLE_EQ(-10, camera.GetIntrinsicParameters() (0, 0)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
325 ASSERT_DOUBLE_EQ(20, camera.GetIntrinsicParameters() (1, 1)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
326 ASSERT_DOUBLE_EQ(30, camera.GetIntrinsicParameters() (2, 2)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
327 ASSERT_DOUBLE_EQ(-1, camera.GetRotation() (0, 2)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
328 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
329 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 0)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
330 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (0)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
331 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (1)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
332 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (2)); |
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 OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(), |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
335 camera.GetRotation(), |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
336 camera.GetCenter()); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
337 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix())); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
338 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters())); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
339 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation())); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
340 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter())); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
341 } |
161
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
342 |
162
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
343 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
344 static double GetCosAngle(const OrthancStone::Vector& a, |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
345 const OrthancStone::Vector& b) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
346 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
347 // Returns the cosine of the angle between two vectors |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
348 // https://en.wikipedia.org/wiki/Dot_product#Geometric_definition |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
349 return boost::numeric::ublas::inner_prod(a, b) / |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
350 (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
|
351 } |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
352 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
353 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
354 TEST(FiniteProjectiveCamera, Ray) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
355 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
356 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
|
357 -2951.517707, -1501.019129, -285.785281, 637891.819097, |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
358 0.008528, 0.003067, -0.999959, 2491.764918 }; |
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 const OrthancStone::FiniteProjectiveCamera camera(pp); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
361 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
362 ASSERT_NEAR(-21.2492, camera.GetCenter() (0), 0.0001); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
363 ASSERT_NEAR(-7.64234, camera.GetCenter() (1), 0.00001); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
364 ASSERT_NEAR(2491.66, camera.GetCenter() (2), 0.01); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
365 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
366 // 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
|
367 // (256,256). The image has dimensions 512x512. |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
368 OrthancStone::Vector o, ax, ay; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
369 OrthancStone::LinearAlgebra::AssignVector(o, 7.009620, 2.521030, -821.942000); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
370 OrthancStone::LinearAlgebra::AssignVector(ax, -0.453219, 0.891399, -0.001131 ); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
371 OrthancStone::LinearAlgebra::AssignVector(ay, -0.891359, -0.453210, -0.008992); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
372 OrthancStone::CoordinateSystem3D imagePlane(o, ax, ay); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
373 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
374 // Back-projection of the principal point |
161
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
375 { |
162
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
376 OrthancStone::Vector ray = camera.GetRayDirection(256, 256); |
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 // The principal axis vector is orthogonal to the image plane |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
379 // (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
|
380 // ("-1" corresponds to "cos(pi)"). |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
381 ASSERT_NEAR(-1, GetCosAngle(ray, imagePlane.GetNormal()), 0.0000001); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
382 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
383 // Forward projection of principal axis, resulting in the principal point |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
384 double x, y; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
385 camera.ApplyFinite(x, y, camera.GetCenter() - ray); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
386 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
387 ASSERT_NEAR(256, x, 0.00001); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
388 ASSERT_NEAR(256, y, 0.00001); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
389 } |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
390 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
391 // Back-projection of the 4 corners of the image |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
392 std::vector<double> cx, cy; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
393 cx.push_back(0); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
394 cy.push_back(0); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
395 cx.push_back(512); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
396 cy.push_back(0); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
397 cx.push_back(512); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
398 cy.push_back(512); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
399 cx.push_back(0); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
400 cy.push_back(512); |
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 bool first = true; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
403 double angle; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
404 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
405 for (size_t i = 0; i < cx.size(); i++) |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
406 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
407 OrthancStone::Vector ray = camera.GetRayDirection(cx[i], cy[i]); |
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 // 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
|
410 // the 4 corners |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
411 double a = GetCosAngle(ray, imagePlane.GetNormal()); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
412 if (first) |
161
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
413 { |
162
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
414 first = false; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
415 angle = a; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
416 } |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
417 else |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
418 { |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
419 ASSERT_NEAR(angle, a, 0.000001); |
161
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
420 } |
162
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
421 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
422 // 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
|
423 double x, y; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
424 camera.ApplyFinite(x, y, camera.GetCenter() - ray); |
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 ASSERT_NEAR(cx[i], x, 0.00001); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
427 ASSERT_NEAR(cy[i], y, 0.00001); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
428 |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
429 // Alternative construction, by computing the intersection of the |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
430 // ray with the image plane |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
431 OrthancStone::Vector p; |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
432 ASSERT_TRUE(imagePlane.IntersectLine(p, camera.GetCenter(), -ray)); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
433 imagePlane.ProjectPoint(x, y, p); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
434 ASSERT_NEAR(cx[i], x + 256, 0.01); |
77715c340767
unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
161
diff
changeset
|
435 ASSERT_NEAR(cy[i], y + 256, 0.01); |
161
197a5ddaf68c
FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
144
diff
changeset
|
436 } |
144
9b83f30fc1c0
bilinear and trilinear interpolation
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
135
diff
changeset
|
437 } |
87
4a541cd4fa83
OrthancVolumeImageLoader
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
82
diff
changeset
|
438 |
20
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
439 |
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
440 int main(int argc, char **argv) |
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
441 { |
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
442 Orthanc::Logging::Initialize(); |
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
443 Orthanc::Logging::EnableInfoLevel(true); |
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
444 |
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
445 ::testing::InitGoogleTest(&argc, argv); |
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
446 int result = RUN_ALL_TESTS(); |
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
447 |
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
448 Orthanc::Logging::Finalize(); |
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
449 |
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
450 return result; |
946377d1c992
skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff
changeset
|
451 } |