Mercurial > hg > orthanc-stone
diff OrthancStone/UnitTestsSources/UnitTestsMain.cpp @ 1512:244ad1e4e76a
reorganization of folders
author | Sebastien Jodogne <s.jodogne@gmail.com> |
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date | Tue, 07 Jul 2020 16:21:02 +0200 |
parents | UnitTestsSources/UnitTestsMain.cpp@5732edec7cbd |
children | ae17c8c8838f |
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/OrthancStone/UnitTestsSources/UnitTestsMain.cpp Tue Jul 07 16:21:02 2020 +0200 @@ -0,0 +1,894 @@ +/** + * Stone of Orthanc + * Copyright (C) 2012-2016 Sebastien Jodogne, Medical Physics + * Department, University Hospital of Liege, Belgium + * Copyright (C) 2017-2020 Osimis S.A., Belgium + * + * This program is free software: you can redistribute it and/or + * modify it under the terms of the GNU Affero General Public License + * as published by the Free Software Foundation, either version 3 of + * the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Affero General Public License for more details. + * + * You should have received a copy of the GNU Affero General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + **/ + + +#include <gtest/gtest.h> + +#include "../Sources/StoneInitialization.h" +#include "../Sources/Toolbox/FiniteProjectiveCamera.h" +#include "../Sources/Toolbox/GeometryToolbox.h" +#include "../Sources/Volumes/ImageBuffer3D.h" +#include "../Sources/Loaders/LoaderCache.h" + +#include <HttpClient.h> +#include <Images/ImageProcessing.h> +#include <Logging.h> +#include <MultiThreading/SharedMessageQueue.h> +#include <OrthancException.h> + +#include <boost/lexical_cast.hpp> +#include <boost/date_time/posix_time/posix_time.hpp> +#include <boost/thread/thread.hpp> +#include <boost/math/special_functions/round.hpp> + + +TEST(GeometryToolbox, Interpolation) +{ + using namespace OrthancStone::GeometryToolbox; + + // https://en.wikipedia.org/wiki/Bilinear_interpolation#Application_in_image_processing + ASSERT_FLOAT_EQ(146.1f, ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95)); + + ASSERT_FLOAT_EQ(91, ComputeBilinearInterpolationUnitSquare(0, 0, 91, 210, 162, 95)); + ASSERT_FLOAT_EQ(210, ComputeBilinearInterpolationUnitSquare(1, 0, 91, 210, 162, 95)); + ASSERT_FLOAT_EQ(162, ComputeBilinearInterpolationUnitSquare(0, 1, 91, 210, 162, 95)); + ASSERT_FLOAT_EQ(95, ComputeBilinearInterpolationUnitSquare(1, 1, 91, 210, 162, 95)); + + ASSERT_FLOAT_EQ(123.35f, ComputeTrilinearInterpolationUnitSquare + (0.5f, 0.2f, 0.7f, + 91, 210, 162, 95, + 51, 190, 80, 92)); + + ASSERT_FLOAT_EQ(ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95), + ComputeTrilinearInterpolationUnitSquare(0.5f, 0.2f, 0, + 91, 210, 162, 95, + 51, 190, 80, 92)); + + ASSERT_FLOAT_EQ(ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 51, 190, 80, 92), + ComputeTrilinearInterpolationUnitSquare(0.5f, 0.2f, 1, + 91, 210, 162, 95, + 51, 190, 80, 92)); +} + + +static bool CompareMatrix(const OrthancStone::Matrix& a, + const OrthancStone::Matrix& b, + double threshold = 0.00000001) +{ + if (a.size1() != b.size1() || + a.size2() != b.size2()) + { + return false; + } + + for (size_t i = 0; i < a.size1(); i++) + { + for (size_t j = 0; j < a.size2(); j++) + { + if (fabs(a(i, j) - b(i, j)) > threshold) + { + LOG(ERROR) << "Too large difference in component (" + << i << "," << j << "): " << a(i,j) << " != " << b(i,j); + return false; + } + } + } + + return true; +} + + +static bool CompareVector(const OrthancStone::Vector& a, + const OrthancStone::Vector& b, + double threshold = 0.00000001) +{ + if (a.size() != b.size()) + { + return false; + } + + for (size_t i = 0; i < a.size(); i++) + { + if (fabs(a(i) - b(i)) > threshold) + { + LOG(ERROR) << "Too large difference in component " + << i << ": " << a(i) << " != " << b(i); + return false; + } + } + + return true; +} + + + +TEST(FiniteProjectiveCamera, Decomposition1) +{ + // 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_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_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix())); + ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters())); + ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation())); + ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter())); +} + + +TEST(FiniteProjectiveCamera, Decomposition2) +{ + 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 }; + const double k[] = { -1528.494743, 0.000000, 256.000000, 0.000000, 1528.494743, 256.000000, 0.000000, 0.000000, 1.000000 }; + const double r[] = { -0.858893, -0.330733, 0.391047, -0.158171, 0.897503, 0.411668, -0.487118, 0.291726, -0.823172 }; + const double c[] = { 243.558936, -145.863085, 411.585964 }; + + OrthancStone::FiniteProjectiveCamera camera(p); + ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); + + OrthancStone::FiniteProjectiveCamera camera2(k, r, c); + ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix(), 1)); + ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters(), 0.001)); + ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation(), 0.000001)); + ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter(), 0.0001)); +} + + +TEST(FiniteProjectiveCamera, Decomposition3) +{ + const double p[] = { 10, 0, 0, 0, + 0, 20, 0, 0, + 0, 0, 30, 0 }; + + OrthancStone::FiniteProjectiveCamera camera(p); + ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); + ASSERT_DOUBLE_EQ(10, camera.GetIntrinsicParameters() (0, 0)); + ASSERT_DOUBLE_EQ(20, camera.GetIntrinsicParameters() (1, 1)); + ASSERT_DOUBLE_EQ(30, camera.GetIntrinsicParameters() (2, 2)); + ASSERT_DOUBLE_EQ(1, camera.GetRotation() (0, 0)); + ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1)); + ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 2)); + ASSERT_DOUBLE_EQ(0, camera.GetCenter() (0)); + ASSERT_DOUBLE_EQ(0, camera.GetCenter() (1)); + ASSERT_DOUBLE_EQ(0, camera.GetCenter() (2)); +} + + +TEST(FiniteProjectiveCamera, Decomposition4) +{ + const double p[] = { 1, 0, 0, 10, + 0, 1, 0, 20, + 0, 0, 1, 30 }; + + OrthancStone::FiniteProjectiveCamera camera(p); + ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); + ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (0, 0)); + ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (1, 1)); + ASSERT_DOUBLE_EQ(1, camera.GetIntrinsicParameters() (2, 2)); + ASSERT_DOUBLE_EQ(1, camera.GetRotation() (0, 0)); + ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1)); + ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 2)); + ASSERT_DOUBLE_EQ(-10, camera.GetCenter() (0)); + ASSERT_DOUBLE_EQ(-20, camera.GetCenter() (1)); + ASSERT_DOUBLE_EQ(-30, camera.GetCenter() (2)); +} + + +TEST(FiniteProjectiveCamera, Decomposition5) +{ + const double p[] = { 0, 0, 10, 0, + 0, 20, 0, 0, + 30, 0, 0, 0 }; + + OrthancStone::FiniteProjectiveCamera camera(p); + ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(camera.GetRotation())); + ASSERT_DOUBLE_EQ(-10, camera.GetIntrinsicParameters() (0, 0)); + ASSERT_DOUBLE_EQ(20, camera.GetIntrinsicParameters() (1, 1)); + ASSERT_DOUBLE_EQ(30, camera.GetIntrinsicParameters() (2, 2)); + ASSERT_DOUBLE_EQ(-1, camera.GetRotation() (0, 2)); + ASSERT_DOUBLE_EQ(1, camera.GetRotation() (1, 1)); + ASSERT_DOUBLE_EQ(1, camera.GetRotation() (2, 0)); + ASSERT_DOUBLE_EQ(0, camera.GetCenter() (0)); + ASSERT_DOUBLE_EQ(0, camera.GetCenter() (1)); + ASSERT_DOUBLE_EQ(0, camera.GetCenter() (2)); + + OrthancStone::FiniteProjectiveCamera camera2(camera.GetIntrinsicParameters(), + camera.GetRotation(), + camera.GetCenter()); + ASSERT_TRUE(CompareMatrix(camera.GetMatrix(), camera2.GetMatrix())); + ASSERT_TRUE(CompareMatrix(camera.GetIntrinsicParameters(), camera2.GetIntrinsicParameters())); + ASSERT_TRUE(CompareMatrix(camera.GetRotation(), camera2.GetRotation())); + ASSERT_TRUE(CompareVector(camera.GetCenter(), camera2.GetCenter())); +} + + +static double GetCosAngle(const OrthancStone::Vector& a, + const OrthancStone::Vector& b) +{ + // Returns the cosine of the angle between two vectors + // https://en.wikipedia.org/wiki/Dot_product#Geometric_definition + return boost::numeric::ublas::inner_prod(a, b) / + (boost::numeric::ublas::norm_2(a) * boost::numeric::ublas::norm_2(b)); +} + + +TEST(FiniteProjectiveCamera, Ray) +{ + const double pp[] = { -1499.650894, 2954.618773, -259.737419, 637891.819097, + -2951.517707, -1501.019129, -285.785281, 637891.819097, + 0.008528, 0.003067, -0.999959, 2491.764918 }; + + const OrthancStone::FiniteProjectiveCamera camera(pp); + + ASSERT_NEAR(-21.2492, camera.GetCenter() (0), 0.0001); + ASSERT_NEAR(-7.64234, camera.GetCenter() (1), 0.00001); + ASSERT_NEAR(2491.66, camera.GetCenter() (2), 0.01); + + // Image plane that led to these parameters, with principal point at + // (256,256). The image has dimensions 512x512. + OrthancStone::Vector o = + OrthancStone::LinearAlgebra::CreateVector(7.009620, 2.521030, -821.942000); + OrthancStone::Vector ax = + OrthancStone::LinearAlgebra::CreateVector(-0.453219, 0.891399, -0.001131); + OrthancStone::Vector ay = + OrthancStone::LinearAlgebra::CreateVector(-0.891359, -0.453210, -0.008992); + + OrthancStone::CoordinateSystem3D imagePlane(o, ax, ay); + + // Back-projection of the principal point + { + OrthancStone::Vector ray = camera.GetRayDirection(256, 256); + + // The principal axis vector is orthogonal to the image plane + // (i.e. parallel to the plane normal), in the opposite direction + // ("-1" corresponds to "cos(pi)"). + ASSERT_NEAR(-1, GetCosAngle(ray, imagePlane.GetNormal()), 0.0000001); + + // Forward projection of principal axis, resulting in the principal point + double x, y; + camera.ApplyFinite(x, y, camera.GetCenter() - ray); + + ASSERT_NEAR(256, x, 0.00001); + ASSERT_NEAR(256, y, 0.00001); + } + + // Back-projection of the 4 corners of the image + std::vector<double> cx, cy; + cx.push_back(0); + cy.push_back(0); + cx.push_back(512); + cy.push_back(0); + cx.push_back(512); + cy.push_back(512); + cx.push_back(0); + cy.push_back(512); + + bool first = true; + double angle; + + for (size_t i = 0; i < cx.size(); i++) + { + OrthancStone::Vector ray = camera.GetRayDirection(cx[i], cy[i]); + + // Check that the angle wrt. principal axis is the same for all + // the 4 corners + double a = GetCosAngle(ray, imagePlane.GetNormal()); + if (first) + { + first = false; + angle = a; + } + else + { + ASSERT_NEAR(angle, a, 0.000001); + } + + // Forward projection of the ray, going back to the original point + double x, y; + camera.ApplyFinite(x, y, camera.GetCenter() - ray); + + ASSERT_NEAR(cx[i], x, 0.00001); + ASSERT_NEAR(cy[i], y, 0.00001); + + // Alternative construction, by computing the intersection of the + // ray with the image plane + OrthancStone::Vector p; + ASSERT_TRUE(imagePlane.IntersectLine(p, camera.GetCenter(), -ray)); + imagePlane.ProjectPoint(x, y, p); + ASSERT_NEAR(cx[i], x + 256, 0.01); + ASSERT_NEAR(cy[i], y + 256, 0.01); + } +} + + +TEST(Matrix, Inverse1) +{ + OrthancStone::Matrix a, b; + + a.resize(0, 0); + OrthancStone::LinearAlgebra::InvertMatrix(b, a); + ASSERT_EQ(0u, b.size1()); + ASSERT_EQ(0u, b.size2()); + + a.resize(2, 3); + ASSERT_THROW(OrthancStone::LinearAlgebra::InvertMatrix(b, a), Orthanc::OrthancException); + + a.resize(1, 1); + a(0, 0) = 45.0; + + ASSERT_DOUBLE_EQ(45, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); + OrthancStone::LinearAlgebra::InvertMatrix(b, a); + ASSERT_EQ(1u, b.size1()); + ASSERT_EQ(1u, b.size2()); + ASSERT_DOUBLE_EQ(1.0 / 45.0, b(0, 0)); + + a(0, 0) = 0; + ASSERT_DOUBLE_EQ(0, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); + ASSERT_THROW(OrthancStone::LinearAlgebra::InvertMatrix(b, a), Orthanc::OrthancException); +} + + +TEST(Matrix, Inverse2) +{ + OrthancStone::Matrix a, b; + a.resize(2, 2); + a(0, 0) = 4; + a(0, 1) = 3; + a(1, 0) = 3; + a(1, 1) = 2; + + ASSERT_DOUBLE_EQ(-1, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); + OrthancStone::LinearAlgebra::InvertMatrix(b, a); + ASSERT_EQ(2u, b.size1()); + ASSERT_EQ(2u, b.size2()); + + ASSERT_DOUBLE_EQ(-2, b(0, 0)); + ASSERT_DOUBLE_EQ(3, b(0, 1)); + ASSERT_DOUBLE_EQ(3, b(1, 0)); + ASSERT_DOUBLE_EQ(-4, b(1, 1)); + + a(0, 0) = 1; + a(0, 1) = 2; + a(1, 0) = 3; + a(1, 1) = 4; + + ASSERT_DOUBLE_EQ(-2, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); + OrthancStone::LinearAlgebra::InvertMatrix(b, a); + + ASSERT_DOUBLE_EQ(-2, b(0, 0)); + ASSERT_DOUBLE_EQ(1, b(0, 1)); + ASSERT_DOUBLE_EQ(1.5, b(1, 0)); + ASSERT_DOUBLE_EQ(-0.5, b(1, 1)); +} + + +TEST(Matrix, Inverse3) +{ + OrthancStone::Matrix a, b; + a.resize(3, 3); + a(0, 0) = 7; + a(0, 1) = 2; + a(0, 2) = 1; + a(1, 0) = 0; + a(1, 1) = 3; + a(1, 2) = -1; + a(2, 0) = -3; + a(2, 1) = 4; + a(2, 2) = -2; + + ASSERT_DOUBLE_EQ(1, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); + OrthancStone::LinearAlgebra::InvertMatrix(b, a); + ASSERT_EQ(3u, b.size1()); + ASSERT_EQ(3u, b.size2()); + + ASSERT_DOUBLE_EQ(-2, b(0, 0)); + ASSERT_DOUBLE_EQ(8, b(0, 1)); + ASSERT_DOUBLE_EQ(-5, b(0, 2)); + ASSERT_DOUBLE_EQ(3, b(1, 0)); + ASSERT_DOUBLE_EQ(-11, b(1, 1)); + ASSERT_DOUBLE_EQ(7, b(1, 2)); + ASSERT_DOUBLE_EQ(9, b(2, 0)); + ASSERT_DOUBLE_EQ(-34, b(2, 1)); + ASSERT_DOUBLE_EQ(21, b(2, 2)); + + + a(0, 0) = 1; + a(0, 1) = 2; + a(0, 2) = 2; + a(1, 0) = 1; + a(1, 1) = 0; + a(1, 2) = 1; + a(2, 0) = 1; + a(2, 1) = 2; + a(2, 2) = 1; + + ASSERT_DOUBLE_EQ(2, OrthancStone::LinearAlgebra::ComputeDeterminant(a)); + OrthancStone::LinearAlgebra::InvertMatrix(b, a); + ASSERT_EQ(3u, b.size1()); + ASSERT_EQ(3u, b.size2()); + + ASSERT_DOUBLE_EQ(-1, b(0, 0)); + ASSERT_DOUBLE_EQ(1, b(0, 1)); + ASSERT_DOUBLE_EQ(1, b(0, 2)); + ASSERT_DOUBLE_EQ(0, b(1, 0)); + ASSERT_DOUBLE_EQ(-0.5, b(1, 1)); + ASSERT_DOUBLE_EQ(0.5, b(1, 2)); + ASSERT_DOUBLE_EQ(1, b(2, 0)); + ASSERT_DOUBLE_EQ(0, b(2, 1)); + ASSERT_DOUBLE_EQ(-1, b(2, 2)); +} + + +TEST(Matrix, Inverse4) +{ + OrthancStone::Matrix a, b; + a.resize(4, 4); + a(0, 0) = 2; + a(0, 1) = 1; + a(0, 2) = 2; + a(0, 3) = -3; + a(1, 0) = -2; + a(1, 1) = 2; + a(1, 2) = -1; + a(1, 3) = -1; + a(2, 0) = 2; + a(2, 1) = 2; + a(2, 2) = -3; + a(2, 3) = -1; + a(3, 0) = 3; + a(3, 1) = -2; + a(3, 2) = -3; + a(3, 3) = -1; + + OrthancStone::LinearAlgebra::InvertMatrix(b, a); + ASSERT_EQ(4u, b.size1()); + ASSERT_EQ(4u, b.size2()); + + b *= 134.0; // This is the determinant + + ASSERT_DOUBLE_EQ(8, b(0, 0)); + ASSERT_DOUBLE_EQ(-44, b(0, 1)); + ASSERT_DOUBLE_EQ(30, b(0, 2)); + ASSERT_DOUBLE_EQ(-10, b(0, 3)); + ASSERT_DOUBLE_EQ(2, b(1, 0)); + ASSERT_DOUBLE_EQ(-11, b(1, 1)); + ASSERT_DOUBLE_EQ(41, b(1, 2)); + ASSERT_DOUBLE_EQ(-36, b(1, 3)); + ASSERT_DOUBLE_EQ(16, b(2, 0)); + ASSERT_DOUBLE_EQ(-21, b(2, 1)); + ASSERT_DOUBLE_EQ(-7, b(2, 2)); + ASSERT_DOUBLE_EQ(-20, b(2, 3)); + ASSERT_DOUBLE_EQ(-28, b(3, 0)); + ASSERT_DOUBLE_EQ(-47, b(3, 1)); + ASSERT_DOUBLE_EQ(29, b(3, 2)); + ASSERT_DOUBLE_EQ(-32, b(3, 3)); +} + + +TEST(FiniteProjectiveCamera, Calibration) +{ + unsigned int volumeWidth = 512; + unsigned int volumeHeight = 512; + unsigned int volumeDepth = 110; + + OrthancStone::Vector camera = OrthancStone::LinearAlgebra::CreateVector + (-1000, -5000, -static_cast<double>(volumeDepth) * 32); + + OrthancStone::Vector principalPoint = OrthancStone::LinearAlgebra::CreateVector + (volumeWidth/2, volumeHeight/2, volumeDepth * 2); + + OrthancStone::FiniteProjectiveCamera c(camera, principalPoint, 0, 512, 512, 1, 1); + + double swapv[9] = { 1, 0, 0, + 0, -1, 512, + 0, 0, 1 }; + OrthancStone::Matrix swap; + OrthancStone::LinearAlgebra::FillMatrix(swap, 3, 3, swapv); + + OrthancStone::Matrix p = OrthancStone::LinearAlgebra::Product(swap, c.GetMatrix()); + p /= p(2,3); + + ASSERT_NEAR( 1.04437, p(0,0), 0.00001); + ASSERT_NEAR(-0.0703111, p(0,1), 0.00000001); + ASSERT_NEAR(-0.179283, p(0,2), 0.000001); + ASSERT_NEAR( 61.7431, p(0,3), 0.0001); + ASSERT_NEAR( 0.11127, p(1,0), 0.000001); + ASSERT_NEAR(-0.595541, p(1,1), 0.000001); + ASSERT_NEAR( 0.872211, p(1,2), 0.000001); + ASSERT_NEAR( 203.748, p(1,3), 0.001); + ASSERT_NEAR( 3.08593e-05, p(2,0), 0.0000000001); + ASSERT_NEAR( 0.000129138, p(2,1), 0.000000001); + ASSERT_NEAR( 9.18901e-05, p(2,2), 0.0000000001); + ASSERT_NEAR( 1, p(2,3), 0.0000001); +} + + +static bool IsEqualRotationVector(OrthancStone::Vector a, + OrthancStone::Vector b) +{ + if (a.size() != b.size() || + a.size() != 3) + { + return false; + } + else + { + OrthancStone::LinearAlgebra::NormalizeVector(a); + OrthancStone::LinearAlgebra::NormalizeVector(b); + return OrthancStone::LinearAlgebra::IsCloseToZero(boost::numeric::ublas::norm_2(a - b)); + } +} + + +TEST(GeometryToolbox, AlignVectorsWithRotation) +{ + OrthancStone::Vector a, b; + OrthancStone::Matrix r; + + OrthancStone::LinearAlgebra::AssignVector(a, -200, 200, -846.63); + OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); + + OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); + ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); + ASSERT_TRUE(IsEqualRotationVector(OrthancStone::LinearAlgebra::Product(r, a), b)); + + OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, b, a); + ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); + ASSERT_TRUE(IsEqualRotationVector(OrthancStone::LinearAlgebra::Product(r, b), a)); + + OrthancStone::LinearAlgebra::AssignVector(a, 1, 0, 0); + OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); + OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); + ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); + ASSERT_TRUE(IsEqualRotationVector(OrthancStone::LinearAlgebra::Product(r, a), b)); + + OrthancStone::LinearAlgebra::AssignVector(a, 0, 1, 0); + OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); + OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); + ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); + ASSERT_TRUE(IsEqualRotationVector(OrthancStone::LinearAlgebra::Product(r, a), b)); + + OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, 1); + OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); + OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); + ASSERT_TRUE(OrthancStone::LinearAlgebra::IsRotationMatrix(r)); + ASSERT_TRUE(IsEqualRotationVector(OrthancStone::LinearAlgebra::Product(r, a), b)); + + OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, 0); + OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); + ASSERT_THROW(OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b), Orthanc::OrthancException); + + // TODO: Deal with opposite vectors + + /* + OrthancStone::LinearAlgebra::AssignVector(a, 0, 0, -1); + OrthancStone::LinearAlgebra::AssignVector(b, 0, 0, 1); + OrthancStone::GeometryToolbox::AlignVectorsWithRotation(r, a, b); + OrthancStone::LinearAlgebra::Print(r); + OrthancStone::LinearAlgebra::Print(boost::numeric::ublas::prod(r, a)); + */ +} + + +static bool IsEqualVectorL1(OrthancStone::Vector a, + OrthancStone::Vector b) +{ + if (a.size() != b.size()) + { + return false; + } + else + { + for (size_t i = 0; i < a.size(); i++) + { + if (!OrthancStone::LinearAlgebra::IsNear(a[i], b[i], 0.0001)) + { + return false; + } + } + + return true; + } +} + + +TEST(VolumeImageGeometry, Basic) +{ + using namespace OrthancStone; + + VolumeImageGeometry g; + g.SetSizeInVoxels(10, 20, 30); + g.SetVoxelDimensions(1, 2, 3); + + Vector p = g.GetCoordinates(0, 0, 0); + ASSERT_EQ(3u, p.size()); + ASSERT_DOUBLE_EQ(-1.0 / 2.0, p[0]); + ASSERT_DOUBLE_EQ(-2.0 / 2.0, p[1]); + ASSERT_DOUBLE_EQ(-3.0 / 2.0, p[2]); + + p = g.GetCoordinates(1, 1, 1); + ASSERT_DOUBLE_EQ(-1.0 / 2.0 + 10.0 * 1.0, p[0]); + ASSERT_DOUBLE_EQ(-2.0 / 2.0 + 20.0 * 2.0, p[1]); + ASSERT_DOUBLE_EQ(-3.0 / 2.0 + 30.0 * 3.0, p[2]); + + VolumeProjection proj; + ASSERT_TRUE(g.DetectProjection(proj, g.GetAxialGeometry().GetNormal())); + ASSERT_EQ(VolumeProjection_Axial, proj); + ASSERT_TRUE(g.DetectProjection(proj, g.GetCoronalGeometry().GetNormal())); + ASSERT_EQ(VolumeProjection_Coronal, proj); + ASSERT_TRUE(g.DetectProjection(proj, g.GetSagittalGeometry().GetNormal())); + ASSERT_EQ(VolumeProjection_Sagittal, proj); + + ASSERT_EQ(10u, g.GetProjectionWidth(VolumeProjection_Axial)); + ASSERT_EQ(20u, g.GetProjectionHeight(VolumeProjection_Axial)); + ASSERT_EQ(30u, g.GetProjectionDepth(VolumeProjection_Axial)); + ASSERT_EQ(10u, g.GetProjectionWidth(VolumeProjection_Coronal)); + ASSERT_EQ(30u, g.GetProjectionHeight(VolumeProjection_Coronal)); + ASSERT_EQ(20u, g.GetProjectionDepth(VolumeProjection_Coronal)); + ASSERT_EQ(20u, g.GetProjectionWidth(VolumeProjection_Sagittal)); + ASSERT_EQ(30u, g.GetProjectionHeight(VolumeProjection_Sagittal)); + ASSERT_EQ(10u, g.GetProjectionDepth(VolumeProjection_Sagittal)); + + p = g.GetVoxelDimensions(VolumeProjection_Axial); + ASSERT_EQ(3u, p.size()); + ASSERT_DOUBLE_EQ(1, p[0]); + ASSERT_DOUBLE_EQ(2, p[1]); + ASSERT_DOUBLE_EQ(3, p[2]); + p = g.GetVoxelDimensions(VolumeProjection_Coronal); + ASSERT_EQ(3u, p.size()); + ASSERT_DOUBLE_EQ(1, p[0]); + ASSERT_DOUBLE_EQ(3, p[1]); + ASSERT_DOUBLE_EQ(2, p[2]); + p = g.GetVoxelDimensions(VolumeProjection_Sagittal); + ASSERT_EQ(3u, p.size()); + ASSERT_DOUBLE_EQ(2, p[0]); + ASSERT_DOUBLE_EQ(3, p[1]); + ASSERT_DOUBLE_EQ(1, p[2]); + + // Loop over all the voxels of the volume + for (unsigned int z = 0; z < g.GetDepth(); z++) + { + const float zz = (0.5f + static_cast<float>(z)) / static_cast<float>(g.GetDepth()); // Z-center of the voxel + + for (unsigned int y = 0; y < g.GetHeight(); y++) + { + const float yy = (0.5f + static_cast<float>(y)) / static_cast<float>(g.GetHeight()); // Y-center of the voxel + + for (unsigned int x = 0; x < g.GetWidth(); x++) + { + const float xx = (0.5f + static_cast<float>(x)) / static_cast<float>(g.GetWidth()); // X-center of the voxel + + const float sx = 1.0f; + const float sy = 2.0f; + const float sz = 3.0f; + + Vector p = g.GetCoordinates(xx, yy, zz); + + Vector q = (g.GetAxialGeometry().MapSliceToWorldCoordinates( + static_cast<double>(x) * sx, + static_cast<double>(y) * sy) + + z * sz * g.GetAxialGeometry().GetNormal()); + ASSERT_TRUE(IsEqualVectorL1(p, q)); + + q = (g.GetCoronalGeometry().MapSliceToWorldCoordinates( + static_cast<double>(x) * sx, + static_cast<double>(g.GetDepth() - 1 - z) * sz) + + y * sy * g.GetCoronalGeometry().GetNormal()); + ASSERT_TRUE(IsEqualVectorL1(p, q)); + + /** + * WARNING: In sagittal geometry, the normal points to + * REDUCING X-axis in the 3D world. This is necessary to keep + * the right-hand coordinate system. Hence the "-". + **/ + q = (g.GetSagittalGeometry().MapSliceToWorldCoordinates( + static_cast<double>(y) * sy, + static_cast<double>(g.GetDepth() - 1 - z) * sz) + + x * sx * (-g.GetSagittalGeometry().GetNormal())); + ASSERT_TRUE(IsEqualVectorL1(p, q)); + } + } + } + + ASSERT_EQ(0, (int) VolumeProjection_Axial); + ASSERT_EQ(1, (int) VolumeProjection_Coronal); + ASSERT_EQ(2, (int) VolumeProjection_Sagittal); + + for (int p = 0; p < 3; p++) + { + VolumeProjection projection = (VolumeProjection) p; + const CoordinateSystem3D& s = g.GetProjectionGeometry(projection); + + ASSERT_THROW(g.GetProjectionSlice(projection, g.GetProjectionDepth(projection)), Orthanc::OrthancException); + + for (unsigned int i = 0; i < g.GetProjectionDepth(projection); i++) + { + CoordinateSystem3D plane = g.GetProjectionSlice(projection, i); + + if (projection == VolumeProjection_Sagittal) + { + ASSERT_TRUE(IsEqualVectorL1(plane.GetOrigin(), s.GetOrigin() + static_cast<double>(i) * + (-s.GetNormal()) * g.GetVoxelDimensions(projection)[2])); + } + else + { + ASSERT_TRUE(IsEqualVectorL1(plane.GetOrigin(), s.GetOrigin() + static_cast<double>(i) * + s.GetNormal() * g.GetVoxelDimensions(projection)[2])); + } + + ASSERT_TRUE(IsEqualVectorL1(plane.GetAxisX(), s.GetAxisX())); + ASSERT_TRUE(IsEqualVectorL1(plane.GetAxisY(), s.GetAxisY())); + + unsigned int slice; + VolumeProjection q; + ASSERT_TRUE(g.DetectSlice(q, slice, plane)); + ASSERT_EQ(projection, q); + ASSERT_EQ(i, slice); + } + } +} + + +TEST(LinearAlgebra, ParseVectorLocale) +{ + OrthancStone::Vector v; + + ASSERT_TRUE(OrthancStone::LinearAlgebra::ParseVector(v, "1.2")); + ASSERT_EQ(1u, v.size()); + ASSERT_DOUBLE_EQ(1.2, v[0]); + + ASSERT_TRUE(OrthancStone::LinearAlgebra::ParseVector(v, "-1.2e+2")); + ASSERT_EQ(1u, v.size()); + ASSERT_DOUBLE_EQ(-120.0, v[0]); + + ASSERT_TRUE(OrthancStone::LinearAlgebra::ParseVector(v, "-1e-2\\2")); + ASSERT_EQ(2u, v.size()); + ASSERT_DOUBLE_EQ(-0.01, v[0]); + ASSERT_DOUBLE_EQ(2.0, v[1]); + + ASSERT_TRUE(OrthancStone::LinearAlgebra::ParseVector(v, "1.3671875\\1.3671875")); + ASSERT_EQ(2u, v.size()); + ASSERT_DOUBLE_EQ(1.3671875, v[0]); + ASSERT_DOUBLE_EQ(1.3671875, v[1]); +} + +TEST(LoaderCache, NormalizeUuid) +{ + std::string ref("44ca5051-14ef-4d2f-8bd7-db20bfb61fbb"); + + { + std::string u("44ca5051-14ef-4d2f-8bd7-db20bfb61fbb"); + OrthancStone::LoaderCache::NormalizeUuid(u); + ASSERT_EQ(ref, u); + } + + // space left + { + std::string u(" 44ca5051-14ef-4d2f-8bd7-db20bfb61fbb"); + OrthancStone::LoaderCache::NormalizeUuid(u); + ASSERT_EQ(ref, u); + } + + // space right + { + std::string u("44ca5051-14ef-4d2f-8bd7-db20bfb61fbb "); + OrthancStone::LoaderCache::NormalizeUuid(u); + ASSERT_EQ(ref, u); + } + + // space l & r + { + std::string u(" 44ca5051-14ef-4d2f-8bd7-db20bfb61fbb "); + OrthancStone::LoaderCache::NormalizeUuid(u); + ASSERT_EQ(ref, u); + } + + // space left + case + { + std::string u(" 44CA5051-14ef-4d2f-8bd7-dB20bfb61fbb"); + OrthancStone::LoaderCache::NormalizeUuid(u); + ASSERT_EQ(ref, u); + } + + // space right + case + { + std::string u("44ca5051-14EF-4D2f-8bd7-db20bfb61fbB "); + OrthancStone::LoaderCache::NormalizeUuid(u); + ASSERT_EQ(ref, u); + } + + // space l & r + case + { + std::string u(" 44cA5051-14Ef-4d2f-8bD7-db20bfb61fbb "); + OrthancStone::LoaderCache::NormalizeUuid(u); + ASSERT_EQ(ref, u); + } + + // no + { + std::string u(" 44ca5051-14ef-4d2f-8bd7- db20bfb61fbb"); + OrthancStone::LoaderCache::NormalizeUuid(u); + ASSERT_NE(ref, u); + } + + // no + { + std::string u("44ca5051-14ef-4d2f-8bd7-db20bfb61fb"); + OrthancStone::LoaderCache::NormalizeUuid(u); + ASSERT_NE(ref, u); + } +} + + +int main(int argc, char **argv) +{ + Orthanc::Logging::Initialize(); + Orthanc::Logging::EnableInfoLevel(true); + + ::testing::InitGoogleTest(&argc, argv); + int result = RUN_ALL_TESTS(); + + Orthanc::Logging::Finalize(); + + return result; +}