mitkNavigationDataLandmarkTransformFilterTest.cpp
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00001 /*========================================================================= 00002 00003 Program: Medical Imaging & Interaction Toolkit 00004 Language: C++ 00005 Date: $Date$ 00006 Version: $Revision: 16010 $ 00007 00008 Copyright (c) German Cancer Research Center, Division of Medical and 00009 Biological Informatics. All rights reserved. 00010 See MITKCopyright.txt or https://www.mitk.org/copyright.html for details. 00011 00012 This software is distributed WITHOUT ANY WARRANTY; without even 00013 the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR 00014 PURPOSE. See the above copyright notices for more information. 00015 00016 =========================================================================*/ 00017 00018 #include "mitkNavigationDataLandmarkTransformFilter.h" 00019 #include "mitkNavigationData.h" 00020 00021 #include "mitkTestingMacros.h" 00022 00023 #include <iostream> 00024 00025 00029 int mitkNavigationDataLandmarkTransformFilterTest(int /* argc */, char* /*argv*/[]) 00030 { 00031 00032 MITK_TEST_BEGIN("NavigationDataLandmarkTransformFilter") 00033 00034 // let's create an object of our class 00035 mitk::NavigationDataLandmarkTransformFilter::Pointer myFilter = mitk::NavigationDataLandmarkTransformFilter::New(); 00036 00037 // first test: did this work? 00038 // using MITK_TEST_CONDITION_REQUIRED makes the test stop after failure, since 00039 // it makes no sense to continue without an object. 00040 MITK_TEST_CONDITION_REQUIRED(myFilter.IsNotNull(),"Testing instantiation"); 00041 00042 /*create helper objects: source and target pointSets for landmark transform*/ 00043 mitk::Point3D sPoint1, sPoint2, sPoint3, tPoint1, tPoint2, tPoint3; 00044 mitk::FillVector3D(sPoint1, 1.1, 1.1, 1.1); 00045 mitk::FillVector3D(sPoint2, 2.2, 2.2, 2.2); 00046 mitk::FillVector3D(sPoint3, 3.3, 3.3, 3.3); 00047 00048 mitk::FillVector3D(tPoint1, 2.1, 2.1, 2.1); 00049 mitk::FillVector3D(tPoint2, 3.2, 3.2, 3.2); 00050 mitk::FillVector3D(tPoint3, 4.3, 4.3, 4.3); 00051 00052 mitk::PointSet::Pointer sourcePoints = mitk::PointSet::New(); 00053 mitk::PointSet::Pointer targetPoints = mitk::PointSet::New(); 00054 00055 sourcePoints->SetPoint(0,sPoint1); 00056 sourcePoints->SetPoint(1,sPoint2); 00057 sourcePoints->SetPoint(2,sPoint3); 00058 00059 targetPoints->SetPoint(0,tPoint1); 00060 targetPoints->SetPoint(1,tPoint2); 00061 targetPoints->SetPoint(2,tPoint3); 00062 00063 /* create helper objects: navigation data with position as origin, zero quaternion, zero error and data valid */ 00064 mitk::NavigationData::PositionType initialPos1,initialPos2, resultPos1,resultPos2; 00065 mitk::FillVector3D(initialPos1, 1.1, 1.1, 1.1); 00066 mitk::FillVector3D(initialPos2, 22.2,22.2, 22.2); 00067 mitk::FillVector3D(resultPos1, 2.1, 2.1, 2.1); 00068 mitk::FillVector3D(resultPos2, 23.2, 23.2, 23.2); 00069 mitk::NavigationData::OrientationType initialOri(0.1, 0.1, 0.1, 0.1); 00070 mitk::ScalarType initialError(0.0); 00071 bool initialValid(true); 00072 00073 mitk::NavigationData::Pointer nd1 = mitk::NavigationData::New(); 00074 nd1->SetPosition(initialPos1); 00075 nd1->SetOrientation(initialOri); 00076 nd1->SetPositionAccuracy(initialError); 00077 nd1->SetDataValid(initialValid); 00078 00079 mitk::NavigationData::Pointer nd2 = mitk::NavigationData::New(); 00080 nd2->SetPosition(initialPos2); 00081 nd2->SetOrientation(initialOri); 00082 nd2->SetPositionAccuracy(initialError); 00083 nd2->SetDataValid(initialValid); 00084 00085 00086 myFilter->SetInput(0,nd1); 00087 MITK_TEST_CONDITION(myFilter->GetInput(0) == nd1, "Testing Set-/GetInput() ND1"); 00088 00089 mitk::NavigationData* output1 = myFilter->GetOutput(0); 00090 MITK_TEST_CONDITION_REQUIRED(output1 != NULL, "Testing GetOutput() ND1"); 00091 00092 MITK_TEST_CONDITION(myFilter->IsInitialized() == false, "Testing IsInitialized() before setting source points"); 00093 00094 myFilter->SetSourceLandmarks(sourcePoints); 00095 MITK_TEST_CONDITION(myFilter->IsInitialized() == false, "Testing IsInitialized() after setting source points and before setting target points"); 00096 00097 mitk::PointSet::Pointer zeroTargetPoints = mitk::PointSet::New(); 00098 00099 MITK_TEST_FOR_EXCEPTION(itk::ExceptionObject, myFilter->SetTargetLandmarks(zeroTargetPoints)); 00100 MITK_TEST_CONDITION(myFilter->IsInitialized() == false, "Testing IsInitialized() after setting target pointset with insufficient points"); 00101 00102 myFilter->SetTargetLandmarks(targetPoints); 00103 MITK_TEST_CONDITION(myFilter->IsInitialized() == true, "Testing IsInitialized() after setting source& target points"); 00104 00105 //------------------------landmark transform should be initialized at this point------------------------ 00106 output1->Update(); 00107 MITK_TEST_CONDITION_REQUIRED( 00108 mitk::Equal(output1->GetPosition(), resultPos1), 00109 "Testing ND1 position correctly transformed"); 00110 00111 00112 //------------------------add another ND------------------------ 00113 myFilter->SetInput(1,nd2); 00114 MITK_TEST_CONDITION(myFilter->GetInput(1) == nd2, "Testing Set-/GetInput() ND2"); 00115 00116 mitk::NavigationData* output2 = myFilter->GetOutput(1); 00117 MITK_TEST_CONDITION_REQUIRED(output2 != NULL, "Testing GetOutput() ND2"); 00118 00119 //------------------------update output1 but check result2------------------------ 00120 output1->Update(); 00121 MITK_TEST_CONDITION_REQUIRED( 00122 mitk::Equal(output2->GetPosition(), resultPos2), 00123 "Testing ND2 position correctly transformed"); 00124 00125 //------------------------update ND on slot 1------------------------ 00126 mitk::FillVector3D(initialPos2, 222.22, 222.22, 222.22); 00127 mitk::FillVector3D(resultPos2, 223.22, 223.22, 223.22); 00128 nd2->SetPosition(initialPos2); 00129 myFilter->SetInput(1,nd2); 00130 MITK_TEST_CONDITION(myFilter->GetInput(1) == nd2, "Testing Set-/GetInput() ND2 after updating value"); 00131 00132 output2 = myFilter->GetOutput(1); 00133 MITK_TEST_CONDITION_REQUIRED(output2 != NULL, "Testing GetOutput() ND2 after updating value"); 00134 00135 //------------------------update output2 and check result2------------------------ 00136 output2->Update(); 00137 MITK_TEST_CONDITION( 00138 mitk::Equal(output2->GetPosition(), resultPos2), 00139 "Testing ND2 position correctly transformed after updating value"); 00140 00141 00142 //------------------------change target PointSet------------------------ 00143 mitk::FillVector3D(tPoint1, 3.1, 3.1, 3.1); 00144 mitk::FillVector3D(tPoint2, 4.2, 4.2, 4.2); 00145 mitk::FillVector3D(tPoint3, 5.3, 5.3, 5.3); 00146 mitk::FillVector3D(resultPos1, 3.1 ,3.1 ,3.1); 00147 mitk::FillVector3D(resultPos2, 224.22, 224.22, 224.22); 00148 00149 00150 targetPoints->SetPoint(0,tPoint1); 00151 targetPoints->SetPoint(1,tPoint2); 00152 targetPoints->SetPoint(2,tPoint3); 00153 00154 myFilter->SetTargetLandmarks(targetPoints); 00155 00156 output1->Update(); 00157 00158 MITK_TEST_CONDITION( 00159 mitk::Equal(output1->GetPosition(), resultPos1), 00160 "Testing ND1 position correctly transformed after targetPointSet changed"); 00161 00162 MITK_TEST_CONDITION( 00163 mitk::Equal(output2->GetPosition(), resultPos2), 00164 "Testing ND2 position correctly transformed after targetPointSet changed"); 00165 00166 00167 //------------------------change source PointSet------------------------ 00168 mitk::FillVector3D(sPoint1, 0.1, 0.1, 0.1); 00169 mitk::FillVector3D(sPoint2, 1.2, 1.2, 1.2); 00170 mitk::FillVector3D(sPoint3, 2.3, 2.3, 2.3); 00171 mitk::FillVector3D(resultPos1, 4.1 ,4.1 ,4.1); 00172 mitk::FillVector3D(resultPos2, 225.22, 225.22, 225.22); 00173 00174 00175 sourcePoints->SetPoint(0,sPoint1); 00176 sourcePoints->SetPoint(1,sPoint2); 00177 sourcePoints->SetPoint(2,sPoint3); 00178 00179 myFilter->SetSourceLandmarks(sourcePoints); 00180 00181 output1->Update(); 00182 00183 MITK_TEST_CONDITION( 00184 mitk::Equal(output1->GetPosition(), resultPos1), 00185 "Testing ND1 position correctly transformed after sourcePointSet changed"); 00186 00187 MITK_TEST_CONDITION( 00188 mitk::Equal(output2->GetPosition(), resultPos2), 00189 "Testing ND2 position correctly transformed after sourcePointSet changed"); 00190 00191 //--------------------- Test ICP initialization -------------------------- 00192 { 00193 mitk::PointSet::Pointer sourcePoints = mitk::PointSet::New(); 00194 mitk::Point3D s1, s2, s3, s4, s5, s6; 00195 mitk::FillVector3D(s1, 1.1, 1.1, 1.1); 00196 mitk::FillVector3D(s2, 2.2, 2.2, 2.2); 00197 mitk::FillVector3D(s3, 3.3, 3.3, 3.3); 00198 mitk::FillVector3D(s4, 4.4, 4.4, 4.4); 00199 mitk::FillVector3D(s5, 5.5, 5.5, 5.5); 00200 mitk::FillVector3D(s6, 6.6, 6.6, 6.6); 00201 sourcePoints->SetPoint(1, s4); // use random source point order 00202 sourcePoints->SetPoint(2, s6); 00203 sourcePoints->SetPoint(3, s3); 00204 sourcePoints->SetPoint(4, s1); 00205 sourcePoints->SetPoint(5, s2); 00206 sourcePoints->SetPoint(6, s5); 00207 00208 mitk::PointSet::Pointer targetPoints = mitk::PointSet::New(); 00209 mitk::Point3D t1, t2, t3, t4, t5, t6; 00210 mitk::FillVector3D(t1, 2.1, 2.1, 102.1); // ==> targets have offset [1, 1, 101] 00211 mitk::FillVector3D(t2, 3.2, 3.2, 103.2); 00212 mitk::FillVector3D(t3, 4.3, 4.3, 104.3); 00213 mitk::FillVector3D(t4, 5.4, 5.4, 105.4); 00214 mitk::FillVector3D(t5, 6.5, 6.5, 106.5); 00215 mitk::FillVector3D(t6, 7.6, 7.6, 107.6); 00216 targetPoints->SetPoint(1, t1); 00217 targetPoints->SetPoint(2, t2); 00218 targetPoints->SetPoint(3, t3); 00219 targetPoints->SetPoint(4, t4); 00220 targetPoints->SetPoint(5, t5); 00221 targetPoints->SetPoint(6, t6); 00222 00223 mitk::NavigationDataLandmarkTransformFilter::Pointer myFilter = mitk::NavigationDataLandmarkTransformFilter::New(); 00224 myFilter->UseICPInitializationOn(); 00225 myFilter->SetSourceLandmarks(sourcePoints); 00226 myFilter->SetTargetLandmarks(targetPoints); // errors would raise exceptions 00227 00228 // prepare input 00229 mitk::NavigationData::PositionType initialPos1, resultPos1; 00230 mitk::FillVector3D(initialPos1, 1.1, 1.1, 1.1); 00231 mitk::FillVector3D(resultPos1, 2.1, 2.1, 102.1); 00232 mitk::NavigationData::OrientationType initialOri(0.1, 0.1, 0.1, 0.1); 00233 mitk::ScalarType initialError(0.0); 00234 bool initialValid(true); 00235 mitk::NavigationData::Pointer nd1 = mitk::NavigationData::New(); 00236 nd1->SetPosition(initialPos1); 00237 nd1->SetOrientation(initialOri); 00238 nd1->SetPositionAccuracy(initialError); 00239 nd1->SetDataValid(initialValid); 00240 00241 myFilter->SetInput(0, nd1); 00242 mitk::NavigationData::Pointer output = myFilter->GetOutput(0); 00243 00244 output->Update(); 00245 00246 //MITK_TEST_CONDITION(mitk::Equal(output->GetPosition(), resultPos1), "Testing ND1 position correctly transformed after ICP initialization"); 00247 } 00248 00249 //------------------------catch exception --> source points < 3------------------------ 00250 mitk::NavigationDataLandmarkTransformFilter::Pointer myFilter2 = mitk::NavigationDataLandmarkTransformFilter::New(); 00251 MITK_TEST_CONDITION_REQUIRED(myFilter2.IsNotNull(),"Testing instantiation for second filter"); 00252 00253 mitk::PointSet::Pointer sourcePoints2 = mitk::PointSet::New(); 00254 MITK_TEST_FOR_EXCEPTION(std::exception, myFilter2->SetSourceLandmarks(sourcePoints2);); 00255 00256 00257 //------------------------catch exception --> target points < 3------------------------ 00258 mitk::NavigationDataLandmarkTransformFilter::Pointer myFilter3 = mitk::NavigationDataLandmarkTransformFilter::New(); 00259 MITK_TEST_CONDITION_REQUIRED(myFilter3.IsNotNull(),"Testing instantiation for second filter"); 00260 00261 mitk::PointSet::Pointer targetPoints2 = mitk::PointSet::New(); 00262 MITK_TEST_FOR_EXCEPTION(std::exception, myFilter3->SetTargetLandmarks(targetPoints2);); 00263 00264 00265 //------------------------rotate orientation------------------------ 00266 myFilter=NULL; 00267 myFilter = mitk::NavigationDataLandmarkTransformFilter::New(); 00268 00269 mitk::FillVector3D(sPoint1, 1.1, 1.1, 1.1); 00270 mitk::FillVector3D(sPoint2, 1.1, -1.1, 1.1); 00271 mitk::FillVector3D(sPoint3, -1.1, -1.1, 1.1); 00272 00273 mitk::FillVector3D(tPoint1, -1.1, 1.1, 1.1); 00274 mitk::FillVector3D(tPoint2, 1.1, 1.1, 1.1); 00275 mitk::FillVector3D(tPoint3, 1.1, -1.1, 1.1); 00276 00277 sourcePoints->SetPoint(0,sPoint1); 00278 sourcePoints->SetPoint(1,sPoint2); 00279 sourcePoints->SetPoint(2,sPoint3); 00280 00281 targetPoints->SetPoint(0,tPoint1); 00282 targetPoints->SetPoint(1,tPoint2); 00283 targetPoints->SetPoint(2,tPoint3); 00284 00285 myFilter->SetSourceLandmarks(sourcePoints); 00286 myFilter->SetTargetLandmarks(targetPoints); 00287 00288 //set initial orientation (x y z r) 00289 mitk::NavigationData::OrientationType initialQuat(0.0, 0.0, 0.0, 1.0); 00290 mitk::NavigationData::OrientationType resultQuat(0.0, 0.0, -0.7071, -0.7071); 00291 00292 //set position 00293 mitk::FillVector3D(initialPos1, 2.2, 2.2, 2.2); 00294 mitk::FillVector3D(resultPos1, -2.2, 2.2, 2.2); 00295 00296 nd1->SetOrientation(initialQuat); 00297 nd1->SetPosition(initialPos1); 00298 00299 myFilter->SetInput(0,nd1); 00300 00301 output1 = myFilter->GetOutput(0); 00302 output1->Update(); 00303 00304 MITK_TEST_CONDITION( 00305 mitk::Equal(output1->GetPosition(), resultPos1), 00306 "Testing ND1 position correctly transformed "); 00307 00308 MITK_TEST_CONDITION( 00309 mitk::Equal(output1->GetOrientation(), resultQuat), 00310 "Testing ND1 orientation correctly transformed "); 00311 00312 //------------------------test FRE calculation------------------------ 00313 mitk::PointSet::Pointer refSet = mitk::PointSet::New(); 00314 mitk::PointSet::Pointer movSet = mitk::PointSet::New(); 00315 00316 mitk::Point3D refPoint; 00317 mitk::Point3D movPoint; 00318 00319 //Point 0 00320 refPoint.Fill(0); refSet->SetPoint(0, refPoint); 00321 movPoint.Fill(1); movSet->SetPoint(0, movPoint); 00322 00323 //Point 1 00324 refPoint[0]=3; refPoint[1]=0; refPoint[2]=0; refSet->SetPoint(1, refPoint); 00325 movPoint[0]=2; movPoint[1]=1; movPoint[2]=1; movSet->SetPoint(1, movPoint); 00326 00327 //Point 2 00328 refPoint[0]=0; refPoint[1]=0; refPoint[2]=3; refSet->SetPoint(2, refPoint); 00329 movPoint[0]=1; movPoint[1]=1; movPoint[2]=2; movSet->SetPoint(2, movPoint); 00330 00331 //Point 3 00332 refPoint[0]=3; refPoint[1]=0; refPoint[2]=3; refSet->SetPoint(3, refPoint); 00333 movPoint[0]=2; movPoint[1]=1; movPoint[2]=2; movSet->SetPoint(3, movPoint); 00334 00335 00336 //Point 4 00337 refPoint[0]=0; refPoint[1]=3; refPoint[2]=0; refSet->SetPoint(4, refPoint); 00338 movPoint[0]=1; movPoint[1]=2; movPoint[2]=1; movSet->SetPoint(4, movPoint); 00339 00340 //Point 5 00341 refPoint[0]=3; refPoint[1]=3; refPoint[2]=0; refSet->SetPoint(5, refPoint); 00342 movPoint[0]=2; movPoint[1]=2; movPoint[2]=1; movSet->SetPoint(5, movPoint); 00343 00344 //Point 6 00345 refPoint[0]=0; refPoint[1]=3; refPoint[2]=3; refSet->SetPoint(6, refPoint); 00346 movPoint[0]=1; movPoint[1]=2; movPoint[2]=2; movSet->SetPoint(6, movPoint); 00347 00348 //Point 7 00349 refPoint[0]=3; refPoint[1]=3; refPoint[2]=3; refSet->SetPoint(7, refPoint); 00350 movPoint[0]=2; movPoint[1]=2; movPoint[2]=2; movSet->SetPoint(7, movPoint); 00351 00352 mitk::NavigationDataLandmarkTransformFilter::Pointer myFREFilter = mitk::NavigationDataLandmarkTransformFilter::New(); 00353 myFREFilter->SetSourceLandmarks(refSet); 00354 myFREFilter->SetTargetLandmarks(movSet); 00355 00356 MITK_TEST_CONDITION_REQUIRED(myFREFilter->GetFRE() == (float) sqrt(3.0),"Testing mean error calculation") 00357 MITK_TEST_CONDITION_REQUIRED(myFREFilter->GetMaxError() == (float) sqrt(3.0),"Testing mean error calculation") 00358 MITK_TEST_CONDITION_REQUIRED(myFREFilter->GetMinError() == (float) sqrt(3.0),"Testing mean error calculation") 00359 MITK_TEST_CONDITION_REQUIRED(myFREFilter->GetRMSError() == (float) sqrt(3.0),"Testing mean error calculation") 00360 MITK_TEST_CONDITION_REQUIRED(myFREFilter->GetFREStdDev() == (float) 0.0,"Testing mean error calculation") 00361 00362 // always end with this! 00363 MITK_TEST_END(); 00364 }
