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annotate UnitTestsSources/UnitTestsMain.cpp @ 622:8a3a25f2d42c

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uncoupling oracle from context
author Sebastien Jodogne <s.jodogne@gmail.com>
date Tue, 07 May 2019 12:32:21 +0200
parents b70e9be013e4
children ea1a5b963798
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1 /**
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2 * Stone of Orthanc
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3 * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics
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4 * Department, University Hospital of Liege, Belgium
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5 * Copyright (C) 2017-2019 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
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8 * modify it under the terms of the GNU Affero General Public License
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9 * as published by the Free Software Foundation, either version 3 of
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10 * the License, or (at your option) any later version.
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11 *
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12 * This program is distributed in the hope that it will be useful, but
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13 * WITHOUT ANY WARRANTY; without even the implied warranty of
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14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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15 * Affero General Public License for more details.
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16 *
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17 * You should have received a copy of the GNU Affero General Public License
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18 * along with this program. If not, see <http://www.gnu.org/licenses/>.
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19 **/
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22 #include "../Framework/dev.h"
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23 #include "gtest/gtest.h"
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24
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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"
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28 #include "../Framework/Toolbox/MessagingToolbox.h"
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29 #include "../Framework/Toolbox/OrthancSlicesLoader.h"
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30 #include "../Framework/Volumes/ImageBuffer3D.h"
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31 #include "../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
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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>
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42 #include <boost/math/special_functions/round.hpp>
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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 {
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53 printf(">> %d\n", (int) loader.GetSliceCount());
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55 for (size_t i = 0; i < loader.GetSliceCount(); i++)
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56 {
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57 const_cast<OrthancSlicesLoader&>(loader).ScheduleLoadSliceImage(i, SliceImageQuality_FullPng);
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58 }
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59 }
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61 virtual void NotifyGeometryError(const OrthancSlicesLoader& loader)
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62 {
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63 printf("Error\n");
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64 }
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66 virtual void NotifySliceImageReady(const OrthancSlicesLoader& loader,
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67 unsigned int sliceIndex,
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68 const Slice& slice,
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69 std::auto_ptr<Orthanc::ImageAccessor>& image,
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70 SliceImageQuality quality)
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71 {
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72 std::auto_ptr<Orthanc::ImageAccessor> tmp(image);
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73 printf("Slice OK %dx%d\n", tmp->GetWidth(), tmp->GetHeight());
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74 }
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76 virtual void NotifySliceImageError(const OrthancSlicesLoader& loader,
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77 unsigned int sliceIndex,
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78 const Slice& slice,
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79 SliceImageQuality quality)
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80 {
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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 {
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89 OrthancStone::Oracle oracle(4);
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90 oracle.Start();
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91
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92 Orthanc::WebServiceParameters web;
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93 //OrthancStone::OrthancAsynchronousWebService orthanc(web, 4);
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94 OrthancStone::OracleWebService orthanc(oracle, web);
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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);
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99 loader.ScheduleLoadSeries("c1c4cb95-05e3bd11-8da9f5bb-87278f71-0b2b43f5");
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100 //loader.ScheduleLoadSeries("67f1b334-02c16752-45026e40-a5b60b6b-030ecab5");
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101
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102 //loader.ScheduleLoadInstance("19816330-cb02e1cf-df3a8fe8-bf510623-ccefe9f5", 0);
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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
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109 //orthanc.Stop();
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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 {
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138 using namespace OrthancStone::GeometryToolbox;
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139
144
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140 // https://en.wikipedia.org/wiki/Bilinear_interpolation#Application_in_image_processing
177
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141 ASSERT_FLOAT_EQ(146.1f, ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95));
176
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142
177
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143 ASSERT_FLOAT_EQ(91, ComputeBilinearInterpolationUnitSquare(0, 0, 91, 210, 162, 95));
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144 ASSERT_FLOAT_EQ(210, ComputeBilinearInterpolationUnitSquare(1, 0, 91, 210, 162, 95));
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145 ASSERT_FLOAT_EQ(162, ComputeBilinearInterpolationUnitSquare(0, 1, 91, 210, 162, 95));
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146 ASSERT_FLOAT_EQ(95, ComputeBilinearInterpolationUnitSquare(1, 1, 91, 210, 162, 95));
176
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147
177
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148 ASSERT_FLOAT_EQ(123.35f, ComputeTrilinearInterpolationUnitSquare
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149 (0.5f, 0.2f, 0.7f,
161
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150 91, 210, 162, 95,
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151 51, 190, 80, 92));
176
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152
177
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153 ASSERT_FLOAT_EQ(ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95),
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154 ComputeTrilinearInterpolationUnitSquare(0.5f, 0.2f, 0,
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155 91, 210, 162, 95,
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156 51, 190, 80, 92));
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157
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158 ASSERT_FLOAT_EQ(ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 51, 190, 80, 92),
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159 ComputeTrilinearInterpolationUnitSquare(0.5f, 0.2f, 1,
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160 91, 210, 162, 95,
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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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diff changeset
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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diff changeset
242 ASSERT_NEAR(427.2, camera.GetIntrinsicParameters() (1, 1), 0.1);
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diff changeset
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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diff changeset
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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diff changeset
251 ASSERT_NEAR(0.90915, camera.GetRotation() (0, 1), 0.00001);
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diff changeset
252 ASSERT_NEAR(0.04708, camera.GetRotation() (0, 2), 0.00001);
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diff changeset
253 ASSERT_NEAR(-0.57338, camera.GetRotation() (1, 0), 0.00001);
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diff changeset
254 ASSERT_NEAR(0.22011, camera.GetRotation() (1, 1), 0.00001);
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diff changeset
255 ASSERT_NEAR(0.78917, camera.GetRotation() (1, 2), 0.00001);
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diff changeset
256 ASSERT_NEAR(0.70711, camera.GetRotation() (2, 0), 0.00001);
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diff changeset
257 ASSERT_NEAR(-0.35355, camera.GetRotation() (2, 1), 0.00001);
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diff changeset
258 ASSERT_NEAR(0.61237, camera.GetRotation() (2, 2), 0.00001);
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diff changeset
259
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260 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation()));
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diff changeset
261
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diff changeset
262 OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(),
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diff changeset
263 camera.GetRotation(),
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diff changeset
264 camera.GetCenter());
162
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diff changeset
265
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diff changeset
266 ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix()));
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diff changeset
267 ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters()));
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diff changeset
268 ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation()));
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diff changeset
269 ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter()));
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diff changeset
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 }
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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.
165
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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
162
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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
161
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393 {
162
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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
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
401 // Forward projection of principal axis, resulting in the principal point
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
402 double x, y;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
403 camera.ApplyFinite(x, y, camera.GetCenter() - ray);
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 ASSERT_NEAR(256, x, 0.00001);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
406 ASSERT_NEAR(256, y, 0.00001);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
407 }
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 // Back-projection of the 4 corners of the image
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
410 std::vector<double> cx, cy;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
411 cx.push_back(0);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
412 cy.push_back(0);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
413 cx.push_back(512);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
414 cy.push_back(0);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
415 cx.push_back(512);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
416 cy.push_back(512);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
417 cx.push_back(0);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
418 cy.push_back(512);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
419
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
420 bool first = true;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
421 double angle;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
422
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
423 for (size_t i = 0; i < cx.size(); i++)
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
424 {
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
425 OrthancStone::Vector ray = camera.GetRayDirection(cx[i], cy[i]);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
426
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
427 // 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
428 // the 4 corners
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
429 double a = GetCosAngle(ray, imagePlane.GetNormal());
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
430 if (first)
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 144
diff changeset
431 {
162
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
432 first = false;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
433 angle = a;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
434 }
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
435 else
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
436 {
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
437 ASSERT_NEAR(angle, a, 0.000001);
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 144
diff changeset
438 }
162
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
439
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
440 // 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
441 double x, y;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
442 camera.ApplyFinite(x, y, camera.GetCenter() - ray);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
443
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
444 ASSERT_NEAR(cx[i], x, 0.00001);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
445 ASSERT_NEAR(cy[i], y, 0.00001);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
446
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
447 // Alternative construction, by computing the intersection of the
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
448 // ray with the image plane
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
449 OrthancStone::Vector p;
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
450 ASSERT_TRUE(imagePlane.IntersectLine(p, camera.GetCenter(), -ray));
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
451 imagePlane.ProjectPoint(x, y, p);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
452 ASSERT_NEAR(cx[i], x + 256, 0.01);
77715c340767 unit testing FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 161
diff changeset
453 ASSERT_NEAR(cy[i], y + 256, 0.01);
161
197a5ddaf68c FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 144
diff changeset
454 }
144
9b83f30fc1c0 bilinear and trilinear interpolation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 135
diff changeset
455 }
87
4a541cd4fa83 OrthancVolumeImageLoader
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 82
diff changeset
456
20
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
457
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
458 TEST(Matrix, Inverse1)
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
459 {
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
460 OrthancStone::Matrix a, b;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
461
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
462 a.resize(0, 0);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
463 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
464 ASSERT_EQ(0u, b.size1());
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
465 ASSERT_EQ(0u, b.size2());
163
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
466
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
467 a.resize(2, 3);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
468 ASSERT_THROW(OrthancStone::LinearAlgebra::InvertMatrix(b, a), Orthanc::OrthancException);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
469
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
470 a.resize(1, 1);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
471 a(0, 0) = 45.0;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
472
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
473 ASSERT_DOUBLE_EQ(45, OrthancStone::LinearAlgebra::ComputeDeterminant(a));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
474 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
475 ASSERT_EQ(1u, b.size1());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
476 ASSERT_EQ(1u, b.size2());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
477 ASSERT_DOUBLE_EQ(1.0 / 45.0, b(0, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
478
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
479 a(0, 0) = 0;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
480 ASSERT_DOUBLE_EQ(0, OrthancStone::LinearAlgebra::ComputeDeterminant(a));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
481 ASSERT_THROW(OrthancStone::LinearAlgebra::InvertMatrix(b, a), Orthanc::OrthancException);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
482 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
483
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
484
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
485 TEST(Matrix, Inverse2)
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
486 {
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
487 OrthancStone::Matrix a, b;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
488 a.resize(2, 2);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
489 a(0, 0) = 4;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
490 a(0, 1) = 3;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
491 a(1, 0) = 3;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
492 a(1, 1) = 2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
493
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
494 ASSERT_DOUBLE_EQ(-1, OrthancStone::LinearAlgebra::ComputeDeterminant(a));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
495 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
496 ASSERT_EQ(2u, b.size1());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
497 ASSERT_EQ(2u, b.size2());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
498
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
499 ASSERT_DOUBLE_EQ(-2, b(0, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
500 ASSERT_DOUBLE_EQ(3, b(0, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
501 ASSERT_DOUBLE_EQ(3, b(1, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
502 ASSERT_DOUBLE_EQ(-4, b(1, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
503
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
504 a(0, 0) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
505 a(0, 1) = 2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
506 a(1, 0) = 3;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
507 a(1, 1) = 4;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
508
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
509 ASSERT_DOUBLE_EQ(-2, OrthancStone::LinearAlgebra::ComputeDeterminant(a));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
510 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
511
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
512 ASSERT_DOUBLE_EQ(-2, b(0, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
513 ASSERT_DOUBLE_EQ(1, b(0, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
514 ASSERT_DOUBLE_EQ(1.5, b(1, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
515 ASSERT_DOUBLE_EQ(-0.5, b(1, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
516 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
517
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
518
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
519 TEST(Matrix, Inverse3)
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
520 {
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
521 OrthancStone::Matrix a, b;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
522 a.resize(3, 3);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
523 a(0, 0) = 7;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
524 a(0, 1) = 2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
525 a(0, 2) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
526 a(1, 0) = 0;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
527 a(1, 1) = 3;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
528 a(1, 2) = -1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
529 a(2, 0) = -3;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
530 a(2, 1) = 4;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
531 a(2, 2) = -2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
532
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
533 ASSERT_DOUBLE_EQ(1, OrthancStone::LinearAlgebra::ComputeDeterminant(a));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
534 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
535 ASSERT_EQ(3u, b.size1());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
536 ASSERT_EQ(3u, b.size2());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
537
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
538 ASSERT_DOUBLE_EQ(-2, b(0, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
539 ASSERT_DOUBLE_EQ(8, b(0, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
540 ASSERT_DOUBLE_EQ(-5, b(0, 2));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
541 ASSERT_DOUBLE_EQ(3, b(1, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
542 ASSERT_DOUBLE_EQ(-11, b(1, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
543 ASSERT_DOUBLE_EQ(7, b(1, 2));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
544 ASSERT_DOUBLE_EQ(9, b(2, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
545 ASSERT_DOUBLE_EQ(-34, b(2, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
546 ASSERT_DOUBLE_EQ(21, b(2, 2));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
547
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
548
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
549 a(0, 0) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
550 a(0, 1) = 2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
551 a(0, 2) = 2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
552 a(1, 0) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
553 a(1, 1) = 0;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
554 a(1, 2) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
555 a(2, 0) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
556 a(2, 1) = 2;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
557 a(2, 2) = 1;
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
558
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
559 ASSERT_DOUBLE_EQ(2, OrthancStone::LinearAlgebra::ComputeDeterminant(a));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
560 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
561 ASSERT_EQ(3u, b.size1());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
562 ASSERT_EQ(3u, b.size2());
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
563
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
564 ASSERT_DOUBLE_EQ(-1, b(0, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
565 ASSERT_DOUBLE_EQ(1, b(0, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
566 ASSERT_DOUBLE_EQ(1, b(0, 2));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
567 ASSERT_DOUBLE_EQ(0, b(1, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
568 ASSERT_DOUBLE_EQ(-0.5, b(1, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
569 ASSERT_DOUBLE_EQ(0.5, b(1, 2));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
570 ASSERT_DOUBLE_EQ(1, b(2, 0));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
571 ASSERT_DOUBLE_EQ(0, b(2, 1));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
572 ASSERT_DOUBLE_EQ(-1, b(2, 2));
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
573 }
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
574
8c5b24892ed2 LinearAlgebra::InvertMatrix
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 162
diff changeset
575
164
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
576 TEST(Matrix, Inverse4)
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
577 {
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
578 OrthancStone::Matrix a, b;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
579 a.resize(4, 4);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
580 a(0, 0) = 2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
581 a(0, 1) = 1;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
582 a(0, 2) = 2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
583 a(0, 3) = -3;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
584 a(1, 0) = -2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
585 a(1, 1) = 2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
586 a(1, 2) = -1;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
587 a(1, 3) = -1;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
588 a(2, 0) = 2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
589 a(2, 1) = 2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
590 a(2, 2) = -3;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
591 a(2, 3) = -1;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
592 a(3, 0) = 3;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
593 a(3, 1) = -2;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
594 a(3, 2) = -3;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
595 a(3, 3) = -1;
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
596
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
597 OrthancStone::LinearAlgebra::InvertMatrix(b, a);
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
598 ASSERT_EQ(4u, b.size1());
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
599 ASSERT_EQ(4u, b.size2());
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
600
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
601 b *= 134.0; // This is the determinant
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
602
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
603 ASSERT_DOUBLE_EQ(8, b(0, 0));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
604 ASSERT_DOUBLE_EQ(-44, b(0, 1));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
605 ASSERT_DOUBLE_EQ(30, b(0, 2));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
606 ASSERT_DOUBLE_EQ(-10, b(0, 3));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
607 ASSERT_DOUBLE_EQ(2, b(1, 0));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
608 ASSERT_DOUBLE_EQ(-11, b(1, 1));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
609 ASSERT_DOUBLE_EQ(41, b(1, 2));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
610 ASSERT_DOUBLE_EQ(-36, b(1, 3));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
611 ASSERT_DOUBLE_EQ(16, b(2, 0));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
612 ASSERT_DOUBLE_EQ(-21, b(2, 1));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
613 ASSERT_DOUBLE_EQ(-7, b(2, 2));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
614 ASSERT_DOUBLE_EQ(-20, b(2, 3));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
615 ASSERT_DOUBLE_EQ(-28, b(3, 0));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
616 ASSERT_DOUBLE_EQ(-47, b(3, 1));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
617 ASSERT_DOUBLE_EQ(29, b(3, 2));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
618 ASSERT_DOUBLE_EQ(-32, b(3, 3));
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
619 }
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
620
432b1f812d14 inversion of general matrices
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 163
diff changeset
621
188
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
622 TEST(FiniteProjectiveCamera, Calibration)
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
623 {
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
624 unsigned int volumeWidth = 512;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
625 unsigned int volumeHeight = 512;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
626 unsigned int volumeDepth = 110;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
627
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
628 OrthancStone::Vector camera = OrthancStone::LinearAlgebra::CreateVector
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
629 (-1000, -5000, -static_cast<double>(volumeDepth) * 32);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
630
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
631 OrthancStone::Vector principalPoint = OrthancStone::LinearAlgebra::CreateVector
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
632 (volumeWidth/2, volumeHeight/2, volumeDepth * 2);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
633
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
634 OrthancStone::FiniteProjectiveCamera c(camera, principalPoint, 0, 512, 512, 1, 1);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
635
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
636 double swapv[9] = { 1, 0, 0,
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
637 0, -1, 512,
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
638 0, 0, 1 };
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
639 OrthancStone::Matrix swap;
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
640 OrthancStone::LinearAlgebra::FillMatrix(swap, 3, 3, swapv);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
641
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
642 OrthancStone::Matrix p = OrthancStone::LinearAlgebra::Product(swap, c.GetMatrix());
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
643 p /= p(2,3);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
644
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
645 ASSERT_NEAR( 1.04437, p(0,0), 0.00001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
646 ASSERT_NEAR(-0.0703111, p(0,1), 0.00000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
647 ASSERT_NEAR(-0.179283, p(0,2), 0.000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
648 ASSERT_NEAR( 61.7431, p(0,3), 0.0001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
649 ASSERT_NEAR( 0.11127, p(1,0), 0.000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
650 ASSERT_NEAR(-0.595541, p(1,1), 0.000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
651 ASSERT_NEAR( 0.872211, p(1,2), 0.000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
652 ASSERT_NEAR( 203.748, p(1,3), 0.001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
653 ASSERT_NEAR( 3.08593e-05, p(2,0), 0.0000000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
654 ASSERT_NEAR( 0.000129138, p(2,1), 0.000000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
655 ASSERT_NEAR( 9.18901e-05, p(2,2), 0.0000000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
656 ASSERT_NEAR( 1, p(2,3), 0.0000001);
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
657 }
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
658
45b03b04a777 calibration of FiniteProjectiveCamera
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 177
diff changeset
659
189
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
660 static bool IsEqualVector(OrthancStone::Vector a,
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
661 OrthancStone::Vector b)
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
662 {
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
663 if (a.size() == 3 &&
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
664 b.size() == 3)
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
665 {
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
666 OrthancStone::LinearAlgebra::NormalizeVector(a);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
667 OrthancStone::LinearAlgebra::NormalizeVector(b);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
668 return OrthancStone::LinearAlgebra::IsCloseToZero(boost::numeric::ublas::norm_2(a - b));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
669 }
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
670 else
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
671 {
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
672 return false;
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
673 }
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
674 }
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
675
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
676
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
677 TEST(GeometryToolbox, AlignVectorsWithRotation)
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
678 {
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
679 OrthancStone::Vector a, b;
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
680 OrthancStone::Matrix r;
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
681
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
682 OrthancStone::LinearAlgebra::AssignVector(a, -200, 200, -846.63);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
683 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
684
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
685 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
686 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
687 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
688
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
689 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, b, a);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
690 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
691 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, b), a));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
692
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
693 OrthancStone::LinearAlgebra::AssignVector(a, 1, 0, 0);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
694 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
695 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
696 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
697 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
698
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
699 OrthancStone::LinearAlgebra::AssignVector(a, 0, 1, 0);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
700 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
701 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
702 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
703 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
704
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
705 OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
706 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
707 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
708 ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
709 ASSERT_TRUE(IsEqualVector(OrthancStone::LinearAlgebra::Product(r, a), b));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
710
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
711 OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, 0);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
712 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
713 ASSERT_THROW(OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b), Orthanc::OrthancException);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
714
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
715 // TODO: Deal with opposite vectors
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
716
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
717 /*
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
718 OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, -1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
719 OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
720 OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
721 OrthancStone::LinearAlgebra::Print(r);
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
722 OrthancStone::LinearAlgebra::Print(boost::numeric::ublas::prod(r, a));
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
723 */
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
724 }
964118e7e6de unit test for AlignVectorsWithRotation
Sebastien Jodogne <s.jodogne@gmail.com>
parents: 188
diff changeset
725
307
be2660b6e40a wip: commands + status update
am@osimis.io
parents: 257
diff changeset
726 TEST(MessagingToolbox, ParseJson)
be2660b6e40a wip: commands + status update
am@osimis.io
parents: 257
diff changeset
727 {
be2660b6e40a wip: commands + status update
am@osimis.io
parents: 257
diff changeset
728 Json::Value response;
be2660b6e40a wip: commands + status update
am@osimis.io
parents: 257
diff changeset
729 std::string source = "{\"command\":\"panel:takeDarkImage\",\"commandType\":\"simple\",\"args\":{}}";
be2660b6e40a wip: commands + status update
am@osimis.io
parents: 257
diff changeset
730 ASSERT_TRUE(OrthancStone::MessagingToolbox::ParseJson(response, source.c_str(), source.size()));
be2660b6e40a wip: commands + status update
am@osimis.io
parents: 257
diff changeset
731 }
20
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
732
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
733 int main(int argc, char **argv)
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
734 {
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
735 Orthanc::Logging::Initialize();
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
736 Orthanc::Logging::EnableInfoLevel(true);
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
737
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
738 ::testing::InitGoogleTest(&argc, argv);
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
739 int result = RUN_ALL_TESTS();
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
740
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
741 Orthanc::Logging::Finalize();
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
742
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
743 return result;
946377d1c992 skeleton for unit tests
Sebastien Jodogne <s.jodogne@gmail.com>
parents:
diff changeset
744 }