Mercurial > hg > orthanc-stone
annotate UnitTestsSources/UnitTestsMain.cpp @ 622:8a3a25f2d42c
uncoupling oracle from context
author | Sebastien Jodogne <s.jodogne@gmail.com> |
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date | Tue, 07 May 2019 12:32:21 +0200 |
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1 /** |
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2 * Stone of Orthanc |
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3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics |
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4 * Department, University Hospital of Liege, Belgium |
439 | 5 * Copyright (C) 2017-2019 Osimis S.A., Belgium |
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6 * |
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7 * This program is free software: you can redistribute it and/or |
47 | 8 * modify it under the terms of the GNU Affero General Public License |
9 * as published by the Free Software Foundation, either version 3 of | |
10 * the License, or (at your option) any later version. | |
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11 * |
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12 * This program is distributed in the hope that it will be useful, but |
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13 * WITHOUT ANY WARRANTY; without even the implied warranty of |
47 | 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
15 * Affero General Public License for more details. | |
16 * | |
17 * You should have received a copy of the GNU Affero General Public License | |
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18 * along with this program. If not, see <http://www.gnu.org/licenses/>. |
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19 **/ |
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20 |
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21 |
102 | 22 #include "../Framework/dev.h" |
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23 #include "gtest/gtest.h" |
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24 |
113
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25 #include "../Framework/Layers/FrameRenderer.h" |
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26 #include "../Framework/Toolbox/DownloadStack.h" |
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27 #include "../Framework/Toolbox/FiniteProjectiveCamera.h" |
307 | 28 #include "../Framework/Toolbox/MessagingToolbox.h" |
73 | 29 #include "../Framework/Toolbox/OrthancSlicesLoader.h" |
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30 #include "../Framework/Volumes/ImageBuffer3D.h" |
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31 #include "../Platforms/Generic/OracleWebService.h" |
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32 |
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33 #include <Core/HttpClient.h> |
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34 #include <Core/Images/ImageProcessing.h> |
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35 #include <Core/Logging.h> |
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36 #include <Core/MultiThreading/SharedMessageQueue.h> |
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37 #include <Core/OrthancException.h> |
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38 |
68 | 39 #include <boost/lexical_cast.hpp> |
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40 #include <boost/date_time/posix_time/posix_time.hpp> |
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41 #include <boost/thread/thread.hpp> |
102 | 42 #include <boost/math/special_functions/round.hpp> |
43 | |
68 | 44 |
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45 #if 0 |
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46 namespace OrthancStone |
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47 { |
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48 class Tata : public OrthancSlicesLoader::ICallback |
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49 { |
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50 public: |
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51 virtual void NotifyGeometryReady(const OrthancSlicesLoader& loader) |
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52 { |
80 | 53 printf(">> %d\n", (int) loader.GetSliceCount()); |
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54 |
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55 for (size_t i = 0; i < loader.GetSliceCount(); i++) |
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56 { |
257 | 57 const_cast<OrthancSlicesLoader&>(loader).ScheduleLoadSliceImage(i, SliceImageQuality_FullPng); |
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58 } |
68 | 59 } |
60 | |
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61 virtual void NotifyGeometryError(const OrthancSlicesLoader& loader) |
68 | 62 { |
63 printf("Error\n"); | |
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64 } |
66 | 65 |
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66 virtual void NotifySliceImageReady(const OrthancSlicesLoader& loader, |
68 | 67 unsigned int sliceIndex, |
68 const Slice& slice, | |
102 | 69 std::auto_ptr<Orthanc::ImageAccessor>& image, |
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70 SliceImageQuality quality) |
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71 { |
68 | 72 std::auto_ptr<Orthanc::ImageAccessor> tmp(image); |
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73 printf("Slice OK %dx%d\n", tmp->GetWidth(), tmp->GetHeight()); |
68 | 74 } |
75 | |
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76 virtual void NotifySliceImageError(const OrthancSlicesLoader& loader, |
68 | 77 unsigned int sliceIndex, |
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78 const Slice& slice, |
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79 SliceImageQuality quality) |
68 | 80 { |
81 printf("ERROR 2\n"); | |
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82 } |
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83 }; |
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84 } |
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85 |
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86 |
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87 TEST(Toto, DISABLED_Tutu) |
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88 { |
80 | 89 OrthancStone::Oracle oracle(4); |
90 oracle.Start(); | |
91 | |
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92 Orthanc::WebServiceParameters web; |
80 | 93 //OrthancStone::OrthancAsynchronousWebService orthanc(web, 4); |
94 OrthancStone::OracleWebService orthanc(oracle, web); | |
95 //orthanc.Start(); | |
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96 |
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97 OrthancStone::Tata tata; |
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98 OrthancStone::OrthancSlicesLoader loader(tata, orthanc); |
80 | 99 loader.ScheduleLoadSeries("c1c4cb95-05e3bd11-8da9f5bb-87278f71-0b2b43f5"); |
77 | 100 //loader.ScheduleLoadSeries("67f1b334-02c16752-45026e40-a5b60b6b-030ecab5"); |
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101 |
80 | 102 //loader.ScheduleLoadInstance("19816330-cb02e1cf-df3a8fe8-bf510623-ccefe9f5", 0); |
68 | 103 |
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104 /*printf(">> %d\n", loader.GetSliceCount()); |
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105 loader.ScheduleLoadSliceImage(31);*/ |
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106 |
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107 boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); |
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108 |
80 | 109 //orthanc.Stop(); |
110 oracle.Stop(); | |
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111 } |
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112 |
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113 |
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114 TEST(Toto, Tata) |
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115 { |
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116 OrthancStone::Oracle oracle(4); |
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117 oracle.Start(); |
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118 |
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119 Orthanc::WebServiceParameters web; |
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120 OrthancStone::OracleWebService orthanc(oracle, web); |
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121 OrthancStone::OrthancVolumeImage volume(orthanc, true); |
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122 |
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123 //volume.ScheduleLoadInstance("19816330-cb02e1cf-df3a8fe8-bf510623-ccefe9f5", 0); |
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124 //volume.ScheduleLoadSeries("318603c5-03e8cffc-a82b6ee1-3ccd3c1e-18d7e3bb"); // COMUNIX PET |
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125 //volume.ScheduleLoadSeries("7124dba7-09803f33-98b73826-33f14632-ea842d29"); // COMUNIX CT |
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126 //volume.ScheduleLoadSeries("5990e39c-51e5f201-fe87a54c-31a55943-e59ef80e"); // Delphine sagital |
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127 volume.ScheduleLoadSeries("6f1b492a-e181e200-44e51840-ef8db55e-af529ab6"); // Delphine ax 2.5 |
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128 |
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129 boost::this_thread::sleep(boost::posix_time::milliseconds(1000)); |
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130 |
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131 oracle.Stop(); |
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132 } |
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133 #endif |
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134 |
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135 |
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136 TEST(GeometryToolbox, Interpolation) |
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137 { |
177 | 138 using namespace OrthancStone::GeometryToolbox; |
139 | |
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140 // https://en.wikipedia.org/wiki/Bilinear_interpolation#Application_in_image_processing |
177 | 141 ASSERT_FLOAT_EQ(146.1f, ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95)); |
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142 |
177 | 143 ASSERT_FLOAT_EQ(91, ComputeBilinearInterpolationUnitSquare(0, 0, 91, 210, 162, 95)); |
144 ASSERT_FLOAT_EQ(210, ComputeBilinearInterpolationUnitSquare(1, 0, 91, 210, 162, 95)); | |
145 ASSERT_FLOAT_EQ(162, ComputeBilinearInterpolationUnitSquare(0, 1, 91, 210, 162, 95)); | |
146 ASSERT_FLOAT_EQ(95, ComputeBilinearInterpolationUnitSquare(1, 1, 91, 210, 162, 95)); | |
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147 |
177 | 148 ASSERT_FLOAT_EQ(123.35f, ComputeTrilinearInterpolationUnitSquare |
149 (0.5f, 0.2f, 0.7f, | |
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150 91, 210, 162, 95, |
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151 51, 190, 80, 92)); |
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152 |
177 | 153 ASSERT_FLOAT_EQ(ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95), |
154 ComputeTrilinearInterpolationUnitSquare(0.5f, 0.2f, 0, | |
155 91, 210, 162, 95, | |
156 51, 190, 80, 92)); | |
157 | |
158 ASSERT_FLOAT_EQ(ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 51, 190, 80, 92), | |
159 ComputeTrilinearInterpolationUnitSquare(0.5f, 0.2f, 1, | |
160 91, 210, 162, 95, | |
161 51, 190, 80, 92)); | |
161
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162 } |
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163 |
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164 |
162
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165 static bool CompareMatrix(const OrthancStone::Matrix& a, |
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166 const OrthancStone::Matrix& b, |
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167 double threshold = 0.00000001) |
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168 { |
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169 if (a.size1() != b.size1() || |
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170 a.size2() != b.size2()) |
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171 { |
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172 return false; |
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173 } |
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174 |
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175 for (size_t i = 0; i < a.size1(); i++) |
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176 { |
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177 for (size_t j = 0; j < a.size2(); j++) |
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178 { |
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179 if (fabs(a(i, j) - b(i, j)) > threshold) |
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180 { |
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181 LOG(ERROR) << "Too large difference in component (" |
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182 << i << "," << j << "): " << a(i,j) << " != " << b(i,j); |
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183 return false; |
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184 } |
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185 } |
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186 } |
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187 |
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188 return true; |
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189 } |
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190 |
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191 |
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192 static bool CompareVector(const OrthancStone::Vector& a, |
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193 const OrthancStone::Vector& b, |
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194 double threshold = 0.00000001) |
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195 { |
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196 if (a.size() != b.size()) |
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197 { |
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198 return false; |
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199 } |
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200 |
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201 for (size_t i = 0; i < a.size(); i++) |
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202 { |
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203 if (fabs(a(i) - b(i)) > threshold) |
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204 { |
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205 LOG(ERROR) << "Too large difference in component " |
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206 << i << ": " << a(i) << " != " << b(i); |
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207 return false; |
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208 } |
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209 } |
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210 |
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211 return true; |
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212 } |
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213 |
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214 |
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215 |
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216 TEST(FiniteProjectiveCamera, Decomposition1) |
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217 { |
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218 // Example 6.2 of "Multiple View Geometry in Computer Vision - 2nd |
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219 // edition" (page 163) |
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220 const double p[12] = { |
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221 3.53553e+2, 3.39645e+2, 2.77744e+2, -1.44946e+6, |
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222 -1.03528e+2, 2.33212e+1, 4.59607e+2, -6.32525e+5, |
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223 7.07107e-1, -3.53553e-1, 6.12372e-1, -9.18559e+2 |
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224 }; |
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225 |
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226 OrthancStone::FiniteProjectiveCamera camera(p); |
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227 ASSERT_EQ(3u, camera.GetMatrix().size1()); |
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228 ASSERT_EQ(4u, camera.GetMatrix().size2()); |
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229 ASSERT_EQ(3u, camera.GetIntrinsicParameters().size1()); |
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230 ASSERT_EQ(3u, camera.GetIntrinsicParameters().size2()); |
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231 ASSERT_EQ(3u, camera.GetRotation().size1()); |
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232 ASSERT_EQ(3u, camera.GetRotation().size2()); |
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233 ASSERT_EQ(3u, camera.GetCenter().size()); |
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234 |
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235 ASSERT_NEAR(1000.0, camera.GetCenter()[0], 0.01); |
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236 ASSERT_NEAR(2000.0, camera.GetCenter()[1], 0.01); |
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237 ASSERT_NEAR(1500.0, camera.GetCenter()[2], 0.01); |
144
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238 |
161
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239 ASSERT_NEAR(468.2, camera.GetIntrinsicParameters() (0, 0), 0.1); |
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240 ASSERT_NEAR(91.2, camera.GetIntrinsicParameters() (0, 1), 0.1); |
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241 ASSERT_NEAR(300.0, camera.GetIntrinsicParameters() (0, 2), 0.1); |
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242 ASSERT_NEAR(427.2, camera.GetIntrinsicParameters() (1, 1), 0.1); |
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243 ASSERT_NEAR(200.0, camera.GetIntrinsicParameters() (1, 2), 0.1); |
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244 ASSERT_NEAR(1.0, camera.GetIntrinsicParameters() (2, 2), 0.1); |
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245 |
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246 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (1, 0), 0.0000001); |
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247 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 0), 0.0000001); |
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248 ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 1), 0.0000001); |
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249 |
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250 ASSERT_NEAR(0.41380, camera.GetRotation() (0, 0), 0.00001); |
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251 ASSERT_NEAR(0.90915, camera.GetRotation() (0, 1), 0.00001); |
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252 ASSERT_NEAR(0.04708, camera.GetRotation() (0, 2), 0.00001); |
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253 ASSERT_NEAR(-0.57338, camera.GetRotation() (1, 0), 0.00001); |
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254 ASSERT_NEAR(0.22011, camera.GetRotation() (1, 1), 0.00001); |
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255 ASSERT_NEAR(0.78917, camera.GetRotation() (1, 2), 0.00001); |
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256 ASSERT_NEAR(0.70711, camera.GetRotation() (2, 0), 0.00001); |
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257 ASSERT_NEAR(-0.35355, camera.GetRotation() (2, 1), 0.00001); |
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258 ASSERT_NEAR(0.61237, camera.GetRotation() (2, 2), 0.00001); |
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259 |
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260 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
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261 |
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262 OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(), |
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263 camera.GetRotation(), |
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264 camera.GetCenter()); |
162
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265 |
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266 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix())); |
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267 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters())); |
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268 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation())); |
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269 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter())); |
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270 } |
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271 |
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272 |
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273 TEST(FiniteProjectiveCamera, Decomposition2) |
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274 { |
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275 const double p[] = { 1188.111986, 580.205341, -808.445330, 128000.000000, -366.466264, 1446.510501, 418.499736, 128000.000000, -0.487118, 0.291726, -0.823172, 500.000000 }; |
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276 const double k[] = { -1528.494743, 0.000000, 256.000000, 0.000000, 1528.494743, 256.000000, 0.000000, 0.000000, 1.000000 }; |
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277 const double r[] = { -0.858893, -0.330733, 0.391047, -0.158171, 0.897503, 0.411668, -0.487118, 0.291726, -0.823172 }; |
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278 const double c[] = { 243.558936, -145.863085, 411.585964 }; |
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279 |
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280 OrthancStone::FiniteProjectiveCamera camera(p); |
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281 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
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282 |
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283 OrthancStone::FiniteProjectiveCamera camera2(k, r, c); |
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284 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix(), 1)); |
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285 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters(), 0.001)); |
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286 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation(), 0.000001)); |
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287 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter(), 0.0001)); |
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288 } |
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289 |
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290 |
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291 TEST(FiniteProjectiveCamera, Decomposition3) |
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292 { |
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293 const double p[] = { 10, 0, 0, 0, |
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294 0, 20, 0, 0, |
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295 0, 0, 30, 0 }; |
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296 |
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297 OrthancStone::FiniteProjectiveCamera camera(p); |
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298 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
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299 ASSERT_DOUBLE_EQ(10, camera.GetIntrinsicParameters() (0, 0)); |
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300 ASSERT_DOUBLE_EQ(20, camera.GetIntrinsicParameters() (1, 1)); |
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301 ASSERT_DOUBLE_EQ(30, camera.GetIntrinsicParameters() (2, 2)); |
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302 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (0, 0)); |
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303 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1)); |
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304 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 2)); |
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305 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (0)); |
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306 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (1)); |
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307 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (2)); |
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308 } |
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309 |
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310 |
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311 TEST(FiniteProjectiveCamera, Decomposition4) |
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312 { |
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313 const double p[] = { 1, 0, 0, 10, |
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314 0, 1, 0, 20, |
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315 0, 0, 1, 30 }; |
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316 |
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317 OrthancStone::FiniteProjectiveCamera camera(p); |
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318 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
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319 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (0, 0)); |
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320 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (1, 1)); |
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321 ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (2, 2)); |
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322 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (0, 0)); |
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323 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1)); |
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324 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 2)); |
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325 ASSERT_DOUBLE_EQ(-10, camera.GetCenter() (0)); |
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326 ASSERT_DOUBLE_EQ(-20, camera.GetCenter() (1)); |
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327 ASSERT_DOUBLE_EQ(-30, camera.GetCenter() (2)); |
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328 } |
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329 |
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330 |
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331 TEST(FiniteProjectiveCamera, Decomposition5) |
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332 { |
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333 const double p[] = { 0, 0, 10, 0, |
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334 0, 20, 0, 0, |
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335 30, 0, 0, 0 }; |
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336 |
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337 OrthancStone::FiniteProjectiveCamera camera(p); |
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338 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); |
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339 ASSERT_DOUBLE_EQ(-10, camera.GetIntrinsicParameters() (0, 0)); |
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340 ASSERT_DOUBLE_EQ(20, camera.GetIntrinsicParameters() (1, 1)); |
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341 ASSERT_DOUBLE_EQ(30, camera.GetIntrinsicParameters() (2, 2)); |
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342 ASSERT_DOUBLE_EQ(-1, camera.GetRotation() (0, 2)); |
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343 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1)); |
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344 ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 0)); |
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345 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (0)); |
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346 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (1)); |
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347 ASSERT_DOUBLE_EQ(0, camera.GetCenter() (2)); |
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348 |
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349 OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(), |
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350 camera.GetRotation(), |
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351 camera.GetCenter()); |
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352 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix())); |
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353 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters())); |
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354 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation())); |
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355 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter())); |
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356 } |
161
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357 |
162
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358 |
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359 static double GetCosAngle(const OrthancStone::Vector& a, |
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360 const OrthancStone::Vector& b) |
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361 { |
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362 // Returns the cosine of the angle between two vectors |
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363 // https://en.wikipedia.org/wiki/Dot_product#Geometric_definition |
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364 return boost::numeric::ublas::inner_prod(a, b) / |
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365 (boost::numeric::ublas::norm_2(a) * boost::numeric::ublas::norm_2(b)); |
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366 } |
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367 |
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368 |
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369 TEST(FiniteProjectiveCamera, Ray) |
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370 { |
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371 const double pp[] = { -1499.650894, 2954.618773, -259.737419, 637891.819097, |
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372 -2951.517707, -1501.019129, -285.785281, 637891.819097, |
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373 0.008528, 0.003067, -0.999959, 2491.764918 }; |
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374 |
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375 const OrthancStone::FiniteProjectiveCamera camera(pp); |
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376 |
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377 ASSERT_NEAR(-21.2492, camera.GetCenter() (0), 0.0001); |
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378 ASSERT_NEAR(-7.64234, camera.GetCenter() (1), 0.00001); |
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379 ASSERT_NEAR(2491.66, camera.GetCenter() (2), 0.01); |
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380 |
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381 // Image plane that led to these parameters, with principal point at |
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382 // (256,256). The image has dimensions 512x512. |
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383 OrthancStone::Vector o = |
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384 OrthancStone::LinearAlgebra::CreateVector(7.009620, 2.521030, -821.942000); |
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385 OrthancStone::Vector ax = |
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386 OrthancStone::LinearAlgebra::CreateVector(-0.453219, 0.891399, -0.001131); |
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387 OrthancStone::Vector ay = |
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388 OrthancStone::LinearAlgebra::CreateVector(-0.891359, -0.453210, -0.008992); |
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389 |
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390 OrthancStone::CoordinateSystem3D imagePlane(o, ax, ay); |
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391 |
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392 // Back-projection of the principal point |
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393 { |
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394 OrthancStone::Vector ray = camera.GetRayDirection(256, 256); |
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395 |
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396 // The principal axis vector is orthogonal to the image plane |
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397 // (i.e. parallel to the plane normal), in the opposite direction |
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398 // ("-1" corresponds to "cos(pi)"). |
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399 ASSERT_NEAR(-1, GetCosAngle(ray, imagePlane.GetNormal()), 0.0000001); |
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400 |
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401 // Forward projection of principal axis, resulting in the principal point |
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402 double x, y; |
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403 camera.ApplyFinite(x, y, camera.GetCenter() - ray); |
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404 |
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405 ASSERT_NEAR(256, x, 0.00001); |
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406 ASSERT_NEAR(256, y, 0.00001); |
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407 } |
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408 |
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409 // Back-projection of the 4 corners of the image |
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410 std::vector<double> cx, cy; |
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411 cx.push_back(0); |
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412 cy.push_back(0); |
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413 cx.push_back(512); |
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414 cy.push_back(0); |
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415 cx.push_back(512); |
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416 cy.push_back(512); |
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417 cx.push_back(0); |
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418 cy.push_back(512); |
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419 |
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420 bool first = true; |
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421 double angle; |
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422 |
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423 for (size_t i = 0; i < cx.size(); i++) |
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424 { |
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425 OrthancStone::Vector ray = camera.GetRayDirection(cx[i], cy[i]); |
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426 |
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427 // Check that the angle wrt. principal axis is the same for all |
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428 // the 4 corners |
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429 double a = GetCosAngle(ray, imagePlane.GetNormal()); |
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430 if (first) |
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431 { |
162
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432 first = false; |
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433 angle = a; |
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434 } |
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435 else |
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436 { |
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437 ASSERT_NEAR(angle, a, 0.000001); |
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438 } |
162
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439 |
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440 // Forward projection of the ray, going back to the original point |
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441 double x, y; |
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442 camera.ApplyFinite(x, y, camera.GetCenter() - ray); |
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443 |
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444 ASSERT_NEAR(cx[i], x, 0.00001); |
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445 ASSERT_NEAR(cy[i], y, 0.00001); |
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446 |
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447 // Alternative construction, by computing the intersection of the |
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448 // ray with the image plane |
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449 OrthancStone::Vector p; |
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450 ASSERT_TRUE(imagePlane.IntersectLine(p, camera.GetCenter(), -ray)); |
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451 imagePlane.ProjectPoint(x, y, p); |
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452 ASSERT_NEAR(cx[i], x + 256, 0.01); |
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453 ASSERT_NEAR(cy[i], y + 256, 0.01); |
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454 } |
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455 } |
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456 |
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457 |
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458 TEST(Matrix, Inverse1) |
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459 { |
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460 OrthancStone::Matrix a, b; |
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461 |
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462 a.resize(0, 0); |
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463 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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464 ASSERT_EQ(0u, b.size1()); |
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465 ASSERT_EQ(0u, b.size2()); |
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466 |
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467 a.resize(2, 3); |
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468 ASSERT_THROW(OrthancStone::LinearAlgebra::InvertMatrix(b, a), Orthanc::OrthancException); |
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469 |
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470 a.resize(1, 1); |
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471 a(0, 0) = 45.0; |
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472 |
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473 ASSERT_DOUBLE_EQ(45, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); |
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474 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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475 ASSERT_EQ(1u, b.size1()); |
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476 ASSERT_EQ(1u, b.size2()); |
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477 ASSERT_DOUBLE_EQ(1.0 / 45.0, b(0, 0)); |
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478 |
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479 a(0, 0) = 0; |
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480 ASSERT_DOUBLE_EQ(0, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); |
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481 ASSERT_THROW(OrthancStone::LinearAlgebra::InvertMatrix(b, a), Orthanc::OrthancException); |
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482 } |
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483 |
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484 |
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485 TEST(Matrix, Inverse2) |
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486 { |
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487 OrthancStone::Matrix a, b; |
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488 a.resize(2, 2); |
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489 a(0, 0) = 4; |
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490 a(0, 1) = 3; |
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491 a(1, 0) = 3; |
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492 a(1, 1) = 2; |
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493 |
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494 ASSERT_DOUBLE_EQ(-1, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); |
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495 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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496 ASSERT_EQ(2u, b.size1()); |
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497 ASSERT_EQ(2u, b.size2()); |
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498 |
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499 ASSERT_DOUBLE_EQ(-2, b(0, 0)); |
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500 ASSERT_DOUBLE_EQ(3, b(0, 1)); |
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501 ASSERT_DOUBLE_EQ(3, b(1, 0)); |
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502 ASSERT_DOUBLE_EQ(-4, b(1, 1)); |
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503 |
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504 a(0, 0) = 1; |
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505 a(0, 1) = 2; |
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506 a(1, 0) = 3; |
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507 a(1, 1) = 4; |
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508 |
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509 ASSERT_DOUBLE_EQ(-2, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); |
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changeset
|
510 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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511 |
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changeset
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512 ASSERT_DOUBLE_EQ(-2, b(0, 0)); |
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513 ASSERT_DOUBLE_EQ(1, b(0, 1)); |
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|
514 ASSERT_DOUBLE_EQ(1.5, b(1, 0)); |
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|
515 ASSERT_DOUBLE_EQ(-0.5, b(1, 1)); |
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516 } |
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LinearAlgebra::InvertMatrix
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changeset
|
517 |
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LinearAlgebra::InvertMatrix
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changeset
|
518 |
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changeset
|
519 TEST(Matrix, Inverse3) |
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520 { |
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521 OrthancStone::Matrix a, b; |
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522 a.resize(3, 3); |
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523 a(0, 0) = 7; |
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524 a(0, 1) = 2; |
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525 a(0, 2) = 1; |
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changeset
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526 a(1, 0) = 0; |
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527 a(1, 1) = 3; |
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528 a(1, 2) = -1; |
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529 a(2, 0) = -3; |
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530 a(2, 1) = 4; |
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|
531 a(2, 2) = -2; |
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|
532 |
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533 ASSERT_DOUBLE_EQ(1, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); |
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534 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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535 ASSERT_EQ(3u, b.size1()); |
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536 ASSERT_EQ(3u, b.size2()); |
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537 |
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changeset
|
538 ASSERT_DOUBLE_EQ(-2, b(0, 0)); |
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539 ASSERT_DOUBLE_EQ(8, b(0, 1)); |
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540 ASSERT_DOUBLE_EQ(-5, b(0, 2)); |
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changeset
|
541 ASSERT_DOUBLE_EQ(3, b(1, 0)); |
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542 ASSERT_DOUBLE_EQ(-11, b(1, 1)); |
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543 ASSERT_DOUBLE_EQ(7, b(1, 2)); |
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544 ASSERT_DOUBLE_EQ(9, b(2, 0)); |
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|
545 ASSERT_DOUBLE_EQ(-34, b(2, 1)); |
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changeset
|
546 ASSERT_DOUBLE_EQ(21, b(2, 2)); |
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changeset
|
547 |
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LinearAlgebra::InvertMatrix
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changeset
|
548 |
8c5b24892ed2
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changeset
|
549 a(0, 0) = 1; |
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changeset
|
550 a(0, 1) = 2; |
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changeset
|
551 a(0, 2) = 2; |
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552 a(1, 0) = 1; |
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|
553 a(1, 1) = 0; |
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554 a(1, 2) = 1; |
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555 a(2, 0) = 1; |
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556 a(2, 1) = 2; |
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changeset
|
557 a(2, 2) = 1; |
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LinearAlgebra::InvertMatrix
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changeset
|
558 |
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LinearAlgebra::InvertMatrix
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changeset
|
559 ASSERT_DOUBLE_EQ(2, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); |
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changeset
|
560 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
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561 ASSERT_EQ(3u, b.size1()); |
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562 ASSERT_EQ(3u, b.size2()); |
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LinearAlgebra::InvertMatrix
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changeset
|
563 |
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LinearAlgebra::InvertMatrix
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changeset
|
564 ASSERT_DOUBLE_EQ(-1, b(0, 0)); |
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changeset
|
565 ASSERT_DOUBLE_EQ(1, b(0, 1)); |
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changeset
|
566 ASSERT_DOUBLE_EQ(1, b(0, 2)); |
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|
567 ASSERT_DOUBLE_EQ(0, b(1, 0)); |
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LinearAlgebra::InvertMatrix
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568 ASSERT_DOUBLE_EQ(-0.5, b(1, 1)); |
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LinearAlgebra::InvertMatrix
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changeset
|
569 ASSERT_DOUBLE_EQ(0.5, b(1, 2)); |
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|
570 ASSERT_DOUBLE_EQ(1, b(2, 0)); |
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571 ASSERT_DOUBLE_EQ(0, b(2, 1)); |
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|
572 ASSERT_DOUBLE_EQ(-1, b(2, 2)); |
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LinearAlgebra::InvertMatrix
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162
diff
changeset
|
573 } |
8c5b24892ed2
LinearAlgebra::InvertMatrix
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162
diff
changeset
|
574 |
8c5b24892ed2
LinearAlgebra::InvertMatrix
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162
diff
changeset
|
575 |
164
432b1f812d14
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changeset
|
576 TEST(Matrix, Inverse4) |
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diff
changeset
|
577 { |
432b1f812d14
inversion of general matrices
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163
diff
changeset
|
578 OrthancStone::Matrix a, b; |
432b1f812d14
inversion of general matrices
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changeset
|
579 a.resize(4, 4); |
432b1f812d14
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changeset
|
580 a(0, 0) = 2; |
432b1f812d14
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changeset
|
581 a(0, 1) = 1; |
432b1f812d14
inversion of general matrices
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changeset
|
582 a(0, 2) = 2; |
432b1f812d14
inversion of general matrices
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|
583 a(0, 3) = -3; |
432b1f812d14
inversion of general matrices
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changeset
|
584 a(1, 0) = -2; |
432b1f812d14
inversion of general matrices
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|
585 a(1, 1) = 2; |
432b1f812d14
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changeset
|
586 a(1, 2) = -1; |
432b1f812d14
inversion of general matrices
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changeset
|
587 a(1, 3) = -1; |
432b1f812d14
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changeset
|
588 a(2, 0) = 2; |
432b1f812d14
inversion of general matrices
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changeset
|
589 a(2, 1) = 2; |
432b1f812d14
inversion of general matrices
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163
diff
changeset
|
590 a(2, 2) = -3; |
432b1f812d14
inversion of general matrices
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163
diff
changeset
|
591 a(2, 3) = -1; |
432b1f812d14
inversion of general matrices
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163
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changeset
|
592 a(3, 0) = 3; |
432b1f812d14
inversion of general matrices
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changeset
|
593 a(3, 1) = -2; |
432b1f812d14
inversion of general matrices
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163
diff
changeset
|
594 a(3, 2) = -3; |
432b1f812d14
inversion of general matrices
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163
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changeset
|
595 a(3, 3) = -1; |
432b1f812d14
inversion of general matrices
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163
diff
changeset
|
596 |
432b1f812d14
inversion of general matrices
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163
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changeset
|
597 OrthancStone::LinearAlgebra::InvertMatrix(b, a); |
432b1f812d14
inversion of general matrices
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changeset
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598 ASSERT_EQ(4u, b.size1()); |
432b1f812d14
inversion of general matrices
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changeset
|
599 ASSERT_EQ(4u, b.size2()); |
432b1f812d14
inversion of general matrices
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163
diff
changeset
|
600 |
432b1f812d14
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changeset
|
601 b *= 134.0; // This is the determinant |
432b1f812d14
inversion of general matrices
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diff
changeset
|
602 |
432b1f812d14
inversion of general matrices
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changeset
|
603 ASSERT_DOUBLE_EQ(8, b(0, 0)); |
432b1f812d14
inversion of general matrices
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|
604 ASSERT_DOUBLE_EQ(-44, b(0, 1)); |
432b1f812d14
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changeset
|
605 ASSERT_DOUBLE_EQ(30, b(0, 2)); |
432b1f812d14
inversion of general matrices
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changeset
|
606 ASSERT_DOUBLE_EQ(-10, b(0, 3)); |
432b1f812d14
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changeset
|
607 ASSERT_DOUBLE_EQ(2, b(1, 0)); |
432b1f812d14
inversion of general matrices
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changeset
|
608 ASSERT_DOUBLE_EQ(-11, b(1, 1)); |
432b1f812d14
inversion of general matrices
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changeset
|
609 ASSERT_DOUBLE_EQ(41, b(1, 2)); |
432b1f812d14
inversion of general matrices
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changeset
|
610 ASSERT_DOUBLE_EQ(-36, b(1, 3)); |
432b1f812d14
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changeset
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611 ASSERT_DOUBLE_EQ(16, b(2, 0)); |
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changeset
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612 ASSERT_DOUBLE_EQ(-21, b(2, 1)); |
432b1f812d14
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changeset
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613 ASSERT_DOUBLE_EQ(-7, b(2, 2)); |
432b1f812d14
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changeset
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614 ASSERT_DOUBLE_EQ(-20, b(2, 3)); |
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changeset
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615 ASSERT_DOUBLE_EQ(-28, b(3, 0)); |
432b1f812d14
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changeset
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616 ASSERT_DOUBLE_EQ(-47, b(3, 1)); |
432b1f812d14
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changeset
|
617 ASSERT_DOUBLE_EQ(29, b(3, 2)); |
432b1f812d14
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changeset
|
618 ASSERT_DOUBLE_EQ(-32, b(3, 3)); |
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619 } |
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620 |
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621 |
188
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622 TEST(FiniteProjectiveCamera, Calibration) |
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623 { |
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624 unsigned int volumeWidth = 512; |
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625 unsigned int volumeHeight = 512; |
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626 unsigned int volumeDepth = 110; |
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627 |
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628 OrthancStone::Vector camera = OrthancStone::LinearAlgebra::CreateVector |
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629 (-1000, -5000, -static_cast<double>(volumeDepth) * 32); |
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630 |
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631 OrthancStone::Vector principalPoint = OrthancStone::LinearAlgebra::CreateVector |
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632 (volumeWidth/2, volumeHeight/2, volumeDepth * 2); |
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633 |
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634 OrthancStone::FiniteProjectiveCamera c(camera, principalPoint, 0, 512, 512, 1, 1); |
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635 |
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636 double swapv[9] = { 1, 0, 0, |
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637 0, -1, 512, |
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638 0, 0, 1 }; |
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639 OrthancStone::Matrix swap; |
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640 OrthancStone::LinearAlgebra::FillMatrix(swap, 3, 3, swapv); |
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641 |
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642 OrthancStone::Matrix p = OrthancStone::LinearAlgebra::Product(swap, c.GetMatrix()); |
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643 p /= p(2,3); |
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644 |
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645 ASSERT_NEAR( 1.04437, p(0,0), 0.00001); |
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646 ASSERT_NEAR(-0.0703111, p(0,1), 0.00000001); |
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647 ASSERT_NEAR(-0.179283, p(0,2), 0.000001); |
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648 ASSERT_NEAR( 61.7431, p(0,3), 0.0001); |
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649 ASSERT_NEAR( 0.11127, p(1,0), 0.000001); |
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650 ASSERT_NEAR(-0.595541, p(1,1), 0.000001); |
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651 ASSERT_NEAR( 0.872211, p(1,2), 0.000001); |
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652 ASSERT_NEAR( 203.748, p(1,3), 0.001); |
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653 ASSERT_NEAR( 3.08593e-05, p(2,0), 0.0000000001); |
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654 ASSERT_NEAR( 0.000129138, p(2,1), 0.000000001); |
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655 ASSERT_NEAR( 9.18901e-05, p(2,2), 0.0000000001); |
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656 ASSERT_NEAR( 1, p(2,3), 0.0000001); |
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657 } |
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658 |
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659 |
189
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660 static bool IsEqualVector(OrthancStone::Vector a, |
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661 OrthancStone::Vector b) |
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662 { |
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663 if (a.size() == 3 && |
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664 b.size() == 3) |
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665 { |
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666 OrthancStone::LinearAlgebra::NormalizeVector(a); |
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667 OrthancStone::LinearAlgebra::NormalizeVector(b); |
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668 return OrthancStone::LinearAlgebra::IsCloseToZero(boost::numeric::ublas::norm_2(a - b)); |
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669 } |
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670 else |
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671 { |
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672 return false; |
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673 } |
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674 } |
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675 |
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676 |
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677 TEST(GeometryToolbox, AlignVectorsWithRotation) |
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678 { |
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679 OrthancStone::Vector a, b; |
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680 OrthancStone::Matrix r; |
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681 |
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682 OrthancStone::LinearAlgebra::AssignVector(a, -200, 200, -846.63); |
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683 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); |
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684 |
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685 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); |
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686 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); |
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687 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b)); |
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688 |
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689 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, b, a); |
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690 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); |
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691 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, b), a)); |
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692 |
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693 OrthancStone::LinearAlgebra::AssignVector(a, 1, 0, 0); |
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694 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); |
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695 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); |
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696 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); |
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697 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b)); |
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698 |
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699 OrthancStone::LinearAlgebra::AssignVector(a, 0, 1, 0); |
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700 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); |
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701 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); |
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702 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); |
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703 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b)); |
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704 |
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705 OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, 1); |
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706 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); |
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707 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); |
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708 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); |
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709 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b)); |
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710 |
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711 OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, 0); |
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712 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); |
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713 ASSERT_THROW(OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b), Orthanc::OrthancException); |
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714 |
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715 // TODO: Deal with opposite vectors |
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716 |
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717 /* |
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718 OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, -1); |
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719 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); |
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720 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); |
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721 OrthancStone::LinearAlgebra::Print(r); |
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722 OrthancStone::LinearAlgebra::Print(boost::numeric::ublas::prod(r, a)); |
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723 */ |
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724 } |
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725 |
307 | 726 TEST(MessagingToolbox, ParseJson) |
727 { | |
728 Json::Value response; | |
729 std::string source = "{\"command\":\"panel:takeDarkImage\",\"commandType\":\"simple\",\"args\":{}}"; | |
730 ASSERT_TRUE(OrthancStone::MessagingToolbox::ParseJson(response, source.c_str(), source.size())); | |
731 } | |
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732 |
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733 int main(int argc, char **argv) |
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734 { |
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735 Orthanc::Logging::Initialize(); |
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skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
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736 Orthanc::Logging::EnableInfoLevel(true); |
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Sebastien Jodogne <s.jodogne@gmail.com>
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737 |
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Sebastien Jodogne <s.jodogne@gmail.com>
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738 ::testing::InitGoogleTest(&argc, argv); |
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739 int result = RUN_ALL_TESTS(); |
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parents:
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740 |
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parents:
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741 Orthanc::Logging::Finalize(); |
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Sebastien Jodogne <s.jodogne@gmail.com>
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742 |
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Sebastien Jodogne <s.jodogne@gmail.com>
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743 return result; |
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parents:
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744 } |