Mercurial > hg > orthanc-stone
diff UnitTestsSources/UnitTestsMain.cpp @ 1679:5b8b88e5bfd6
successfully running unit tests in WebAssembly
author | Sebastien Jodogne <s.jodogne@gmail.com> |
---|---|
date | Tue, 24 Nov 2020 12:59:10 +0100 |
parents | f62f685e0eb2 |
children | 03afa09cfcf1 |
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--- a/UnitTestsSources/UnitTestsMain.cpp Tue Nov 24 07:40:19 2020 +0100 +++ b/UnitTestsSources/UnitTestsMain.cpp Tue Nov 24 12:59:10 2020 +0100 @@ -21,923 +21,15 @@ #include <gtest/gtest.h> +#include "../OrthancStone/Sources/StoneEnumerations.h" #include "../OrthancStone/Sources/StoneInitialization.h" -#include "../OrthancStone/Sources/Toolbox/FiniteProjectiveCamera.h" -#include "../OrthancStone/Sources/Toolbox/GenericToolbox.h" -#include "../OrthancStone/Sources/Toolbox/GeometryToolbox.h" -#include "../OrthancStone/Sources/Volumes/ImageBuffer3D.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_DOUBLE_EQ(146.1f, ComputeBilinearInterpolationUnitSquare(0.5f, 0.2f, 91, 210, 162, 95)); - - ASSERT_DOUBLE_EQ(91, ComputeBilinearInterpolationUnitSquare(0, 0, 91, 210, 162, 95)); - ASSERT_DOUBLE_EQ(210, ComputeBilinearInterpolationUnitSquare(1, 0, 91, 210, 162, 95)); - ASSERT_DOUBLE_EQ(162, ComputeBilinearInterpolationUnitSquare(0, 1, 91, 210, 162, 95)); - ASSERT_DOUBLE_EQ(95, ComputeBilinearInterpolationUnitSquare(1, 1, 91, 210, 162, 95)); - - ASSERT_DOUBLE_EQ(123.35f, ComputeTrilinearInterpolationUnitSquare - (0.5f, 0.2f, 0.7f, - 91, 210, 162, 95, - 51, 190, 80, 92)); - - ASSERT_DOUBLE_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_DOUBLE_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)); -} - +#include <Logging.h> -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]); +#if defined(__EMSCRIPTEN__) +# include <emscripten.h> +#endif - // 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(GenericToolbox, NormalizeUuid) -{ - std::string ref("44ca5051-14ef-4d2f-8bd7-db20bfb61fbb"); - - { - std::string u("44ca5051-14ef-4d2f-8bd7-db20bfb61fbb"); - OrthancStone::GenericToolbox::NormalizeUuid(u); - ASSERT_EQ(ref, u); - } - - // space left - { - std::string u(" 44ca5051-14ef-4d2f-8bd7-db20bfb61fbb"); - OrthancStone::GenericToolbox::NormalizeUuid(u); - ASSERT_EQ(ref, u); - } - - // space right - { - std::string u("44ca5051-14ef-4d2f-8bd7-db20bfb61fbb "); - OrthancStone::GenericToolbox::NormalizeUuid(u); - ASSERT_EQ(ref, u); - } - - // space l & r - { - std::string u(" 44ca5051-14ef-4d2f-8bd7-db20bfb61fbb "); - OrthancStone::GenericToolbox::NormalizeUuid(u); - ASSERT_EQ(ref, u); - } - - // space left + case - { - std::string u(" 44CA5051-14ef-4d2f-8bd7-dB20bfb61fbb"); - OrthancStone::GenericToolbox::NormalizeUuid(u); - ASSERT_EQ(ref, u); - } - - // space right + case - { - std::string u("44ca5051-14EF-4D2f-8bd7-db20bfb61fbB "); - OrthancStone::GenericToolbox::NormalizeUuid(u); - ASSERT_EQ(ref, u); - } - - // space l & r + case - { - std::string u(" 44cA5051-14Ef-4d2f-8bD7-db20bfb61fbb "); - OrthancStone::GenericToolbox::NormalizeUuid(u); - ASSERT_EQ(ref, u); - } - - // no - { - std::string u(" 44ca5051-14ef-4d2f-8bd7- db20bfb61fbb"); - OrthancStone::GenericToolbox::NormalizeUuid(u); - ASSERT_NE(ref, u); - } - - // no - { - std::string u("44ca5051-14ef-4d2f-8bd7-db20bfb61fb"); - OrthancStone::GenericToolbox::NormalizeUuid(u); - ASSERT_NE(ref, u); - } -} - - -TEST(CoordinateSystem3D, Basic) -{ - using namespace OrthancStone; - - { - CoordinateSystem3D c; - ASSERT_FALSE(c.IsValid()); - ASSERT_DOUBLE_EQ(c.GetNormal()[0], 0); - ASSERT_DOUBLE_EQ(c.GetNormal()[1], 0); - ASSERT_DOUBLE_EQ(c.GetNormal()[2], 1); - - ASSERT_DOUBLE_EQ(0, c.ComputeDistance(LinearAlgebra::CreateVector(0, 0, 0))); - ASSERT_DOUBLE_EQ(0, c.ComputeDistance(LinearAlgebra::CreateVector(5, 0, 0))); - ASSERT_DOUBLE_EQ(0, c.ComputeDistance(LinearAlgebra::CreateVector(0, 5, 0))); - ASSERT_DOUBLE_EQ(5, c.ComputeDistance(LinearAlgebra::CreateVector(0, 0, 5))); - } - - { - CoordinateSystem3D c("nope1", "nope2"); - ASSERT_FALSE(c.IsValid()); - ASSERT_DOUBLE_EQ(c.GetNormal()[0], 0); - ASSERT_DOUBLE_EQ(c.GetNormal()[1], 0); - ASSERT_DOUBLE_EQ(c.GetNormal()[2], 1); - } - - { - // https://www.vedantu.com/maths/perpendicular-distance-of-a-point-from-a-plane - CoordinateSystem3D c = CoordinateSystem3D::CreateFromPlaneGeneralForm(2, 4, -4, -6); - ASSERT_DOUBLE_EQ(3, c.ComputeDistance(LinearAlgebra::CreateVector(0, 3, 6))); - } - - { - // https://mathinsight.org/distance_point_plane_examples - CoordinateSystem3D c = CoordinateSystem3D::CreateFromPlaneGeneralForm(2, -2, 5, 8); - ASSERT_DOUBLE_EQ(39.0 / sqrt(33.0), c.ComputeDistance(LinearAlgebra::CreateVector(4, -4, 3))); - } - - { - // https://www.ck12.org/calculus/distance-between-a-point-and-a-plane/lesson/Distance-Between-a-Point-and-a-Plane-MAT-ALY/ - const Vector a = LinearAlgebra::CreateVector(3, 6, 9); - const Vector b = LinearAlgebra::CreateVector(9, 6, 3); - const Vector c = LinearAlgebra::CreateVector(6, -9, 9); - CoordinateSystem3D d = CoordinateSystem3D::CreateFromThreePoints(a, b, c); - ASSERT_DOUBLE_EQ(0, d.ComputeDistance(a)); - ASSERT_DOUBLE_EQ(0, d.ComputeDistance(b)); - ASSERT_DOUBLE_EQ(0, d.ComputeDistance(c)); - } - - { - // https://tutorial.math.lamar.edu/classes/calcii/eqnsofplanes.aspx - const Vector a = LinearAlgebra::CreateVector(1, -2, 0); - const Vector b = LinearAlgebra::CreateVector(3, 1, 4); - const Vector c = LinearAlgebra::CreateVector(0, -1, 2); - CoordinateSystem3D d = CoordinateSystem3D::CreateFromThreePoints(a, b, c); - double r = d.GetNormal() [0] / 2.0; - ASSERT_DOUBLE_EQ(-8 * r, d.GetNormal() [1]); - ASSERT_DOUBLE_EQ(5 * r, d.GetNormal() [2]); - } -} TEST(Enumerations, Basic) @@ -965,13 +57,37 @@ int main(int argc, char **argv) { - Orthanc::Logging::Initialize(); - Orthanc::Logging::EnableInfoLevel(true); +#if defined(__EMSCRIPTEN__) + std::string output; +#endif + + int result; + + { + Orthanc::Logging::Initialize(); + Orthanc::Logging::EnableInfoLevel(true); - ::testing::InitGoogleTest(&argc, argv); - int result = RUN_ALL_TESTS(); + ::testing::InitGoogleTest(&argc, argv); + +#if defined(__EMSCRIPTEN__) + ::testing::internal::CaptureStdout(); +#endif + + result = RUN_ALL_TESTS(); + + Orthanc::Logging::Finalize(); - Orthanc::Logging::Finalize(); +#if defined(__EMSCRIPTEN__) + output = testing::internal::GetCapturedStdout(); +#endif + } + +#if defined(__EMSCRIPTEN__) + EM_ASM({ + document.getElementById("output").innerHTML = UTF8ToString($0); + }, + output.c_str()); +#endif return result; }