Mercurial > hg > orthanc-stone
diff UnitTestsSources/UnitTestsMain.cpp @ 161:197a5ddaf68c wasm
FiniteProjectiveCamera
author | Sebastien Jodogne <s.jodogne@gmail.com> |
---|---|
date | Wed, 14 Feb 2018 11:29:26 +0100 |
parents | 9b83f30fc1c0 |
children | 77715c340767 |
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--- a/UnitTestsSources/UnitTestsMain.cpp Wed Feb 14 09:18:06 2018 +0100 +++ b/UnitTestsSources/UnitTestsMain.cpp Wed Feb 14 11:29:26 2018 +0100 @@ -25,6 +25,7 @@ #include "../Framework/Layers/FrameRenderer.h" #include "../Framework/Layers/LayerSourceBase.h" #include "../Framework/Toolbox/DownloadStack.h" +#include "../Framework/Toolbox/FiniteProjectiveCamera.h" #include "../Framework/Toolbox/OrthancSlicesLoader.h" #include "../Framework/Volumes/ImageBuffer3D.h" #include "../Framework/Volumes/SlicedVolumeBase.h" @@ -136,11 +137,81 @@ TEST(GeometryToolbox, Interpolation) { // https://en.wikipedia.org/wiki/Bilinear_interpolation#Application_in_image_processing - ASSERT_FLOAT_EQ(146.1f, OrthancStone::GeometryToolbox::ComputeBilinearInterpolation(20.5f, 14.2f, 91, 210, 162, 95)); + ASSERT_FLOAT_EQ(146.1f, OrthancStone::GeometryToolbox::ComputeBilinearInterpolation + (20.5f, 14.2f, 91, 210, 162, 95)); + + ASSERT_FLOAT_EQ(123.35f, OrthancStone::GeometryToolbox::ComputeTrilinearInterpolation + (20.5f, 15.2f, 5.7f, + 91, 210, 162, 95, + 51, 190, 80, 92)); +} + + +TEST(FiniteProjectiveCamera, Decomposition) +{ + // Example 6.2 of "Multiple View Geometry in Computer Vision - 2nd + // edition" (page 163) + const double p[12] = { + 3.53553e+2, 3.39645e+2, 2.77744e+2, -1.44946e+6, + -1.03528e+2, 2.33212e+1, 4.59607e+2, -6.32525e+5, + 7.07107e-1, -3.53553e-1, 6.12372e-1, -9.18559e+2 + }; + + OrthancStone::FiniteProjectiveCamera camera(p); + ASSERT_EQ(3u, camera.GetMatrix().size1()); + ASSERT_EQ(4u, camera.GetMatrix().size2()); + ASSERT_EQ(3u, camera.GetIntrinsicParameters().size1()); + ASSERT_EQ(3u, camera.GetIntrinsicParameters().size2()); + ASSERT_EQ(3u, camera.GetRotation().size1()); + ASSERT_EQ(3u, camera.GetRotation().size2()); + ASSERT_EQ(3u, camera.GetCenter().size()); + + ASSERT_NEAR(1000.0, camera.GetCenter()[0], 0.01); + ASSERT_NEAR(2000.0, camera.GetCenter()[1], 0.01); + ASSERT_NEAR(1500.0, camera.GetCenter()[2], 0.01); - ASSERT_FLOAT_EQ(123.35f, OrthancStone::GeometryToolbox::ComputeTrilinearInterpolation(20.5f, 15.2f, 5.7f, - 91, 210, 162, 95, - 51, 190, 80, 92)); + ASSERT_NEAR(468.2, camera.GetIntrinsicParameters() (0, 0), 0.1); + ASSERT_NEAR(91.2, camera.GetIntrinsicParameters() (0, 1), 0.1); + ASSERT_NEAR(300.0, camera.GetIntrinsicParameters() (0, 2), 0.1); + ASSERT_NEAR(427.2, camera.GetIntrinsicParameters() (1, 1), 0.1); + ASSERT_NEAR(200.0, camera.GetIntrinsicParameters() (1, 2), 0.1); + ASSERT_NEAR(1.0, camera.GetIntrinsicParameters() (2, 2), 0.1); + + ASSERT_NEAR(0, camera.GetIntrinsicParameters() (1, 0), 0.0000001); + ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 0), 0.0000001); + ASSERT_NEAR(0, camera.GetIntrinsicParameters() (2, 1), 0.0000001); + + ASSERT_NEAR(0.41380, camera.GetRotation() (0, 0), 0.00001); + ASSERT_NEAR(0.90915, camera.GetRotation() (0, 1), 0.00001); + ASSERT_NEAR(0.04708, camera.GetRotation() (0, 2), 0.00001); + ASSERT_NEAR(-0.57338, camera.GetRotation() (1, 0), 0.00001); + ASSERT_NEAR(0.22011, camera.GetRotation() (1, 1), 0.00001); + ASSERT_NEAR(0.78917, camera.GetRotation() (1, 2), 0.00001); + ASSERT_NEAR(0.70711, camera.GetRotation() (2, 0), 0.00001); + ASSERT_NEAR(-0.35355, camera.GetRotation() (2, 1), 0.00001); + ASSERT_NEAR(0.61237, camera.GetRotation() (2, 2), 0.00001); + + ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); + + OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(), + camera.GetRotation(), + camera.GetCenter()); + ASSERT_EQ(3u, camera2.GetMatrix().size1()); + ASSERT_EQ(4u, camera2.GetMatrix().size2()); + ASSERT_EQ(3u, camera2.GetIntrinsicParameters().size1()); + ASSERT_EQ(3u, camera2.GetIntrinsicParameters().size2()); + ASSERT_EQ(3u, camera2.GetRotation().size1()); + ASSERT_EQ(3u, camera2.GetRotation().size2()); + ASSERT_EQ(3u, camera2.GetCenter().size()); + + for (size_t i = 0; i < 3; i++) + { + for (size_t j = 0; j < 4; j++) + { + ASSERT_NEAR(camera.GetMatrix() (i, j), + camera2.GetMatrix() (i, j), 0.00000001); + } + } }