mitkNavigationDataReferenceTransformFilterTest.cpp
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00001 /*========================================================================= 00002 00003 Program: Medical Imaging & Interaction Toolkit 00004 Language: C++ 00005 Date: $Date: 2010-02-21 19:34:02 +0100 (So, 21 Feb 2010) $ 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 "mitkNavigationDataReferenceTransformFilter.h" 00019 #include "mitkNavigationData.h" 00020 00021 #include "mitkTestingMacros.h" 00022 00023 #include <iostream> 00024 00025 00029 int mitkNavigationDataReferenceTransformFilterTest(int /* argc */, char* /*argv*/[]) 00030 { 00031 00032 MITK_TEST_BEGIN("NavigationDataReferenceTransformFilter") 00033 00034 // let's create an object of our class 00035 mitk::NavigationDataReferenceTransformFilter::Pointer myFilter = mitk::NavigationDataReferenceTransformFilter::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 00043 00044 /*create helper objects: positions of the input sources*/ 00045 mitk::NavigationData::PositionType initialPos1,initialPos2, initialPos3, initialPos4; 00046 mitk::FillVector3D(initialPos1, 11.1, 11.1, 11.1); 00047 mitk::FillVector3D(initialPos2, 22.2, 22.2, 22.2); 00048 mitk::FillVector3D(initialPos3, 33.3, 33.3, 33.3); 00049 mitk::FillVector3D(initialPos4, 44.4, 44.4, 44.4); 00050 00051 /*create helper objects: orientations of the input sources*/ 00052 mitk::NavigationData::OrientationType initialOri1(0.1, 0.1, 0.1, 0.1); 00053 mitk::NavigationData::OrientationType initialOri2(0.2, 0.2, 0.2, 0.2); 00054 mitk::NavigationData::OrientationType initialOri3(0.3, 0.3, 0.3, 0.3); 00055 mitk::NavigationData::OrientationType initialOri4(0.4, 0.4, 0.4, 0.4); 00056 00057 /*create helper objects: ND position accurancy and validity bool*/ 00058 mitk::ScalarType initialError(0.0); 00059 bool initialValid(true); 00060 00061 /*create helper objects: NDs for the inputs*/ 00062 mitk::NavigationData::Pointer nd1 = mitk::NavigationData::New(); 00063 nd1->SetPosition(initialPos1); 00064 nd1->SetOrientation(initialOri1); 00065 nd1->SetPositionAccuracy(initialError); 00066 nd1->SetDataValid(initialValid); 00067 00068 mitk::NavigationData::Pointer nd2 = mitk::NavigationData::New(); 00069 nd2->SetPosition(initialPos2); 00070 nd2->SetOrientation(initialOri2); 00071 nd2->SetPositionAccuracy(initialError); 00072 nd2->SetDataValid(initialValid); 00073 00074 mitk::NavigationData::Pointer nd3 = mitk::NavigationData::New(); 00075 nd3->SetPosition(initialPos3); 00076 nd3->SetOrientation(initialOri3); 00077 nd3->SetPositionAccuracy(initialError); 00078 nd3->SetDataValid(initialValid); 00079 00080 mitk::NavigationData::Pointer nd4 = mitk::NavigationData::New(); 00081 nd4->SetPosition(initialPos4); 00082 nd4->SetOrientation(initialOri4); 00083 nd4->SetPositionAccuracy(initialError); 00084 nd4->SetDataValid(initialValid); 00085 00086 /* testing input setter */ 00087 myFilter->SetInput(0,nd1); 00088 MITK_TEST_CONDITION(myFilter->GetInput(0) == nd1, "Testing Set-/GetInput() ND1"); 00089 myFilter->SetInput(1,nd2); 00090 MITK_TEST_CONDITION(myFilter->GetInput(1) == nd2, "Testing Set-/GetInput() ND1"); 00091 myFilter->SetInput(2,nd3); 00092 MITK_TEST_CONDITION(myFilter->GetInput(2) == nd3, "Testing Set-/GetInput() ND1"); 00093 myFilter->SetInput(3,nd4); 00094 MITK_TEST_CONDITION(myFilter->GetInput(3) == nd4, "Testing Set-/GetInput() ND1"); 00095 00096 00097 00098 /* testing output getter */ 00099 mitk::NavigationData* output1 = myFilter->GetOutput(0); 00100 MITK_TEST_CONDITION_REQUIRED(output1 != NULL, "Testing GetOutput() ND1"); 00101 00102 mitk::NavigationData* output2 = myFilter->GetOutput(1); 00103 MITK_TEST_CONDITION_REQUIRED(output2 != NULL, "Testing GetOutput() ND2"); 00104 00105 mitk::NavigationData* output3 = myFilter->GetOutput(2); 00106 MITK_TEST_CONDITION_REQUIRED(output3 != NULL, "Testing GetOutput() ND3"); 00107 00108 mitk::NavigationData* output4 = myFilter->GetOutput(3); 00109 MITK_TEST_CONDITION_REQUIRED(output4 != NULL, "Testing GetOutput() ND4"); 00110 00111 00112 00113 /* testing IsInitialized() before setting/generating any points */ 00114 MITK_TEST_CONDITION_REQUIRED(myFilter->IsInitialized() == false, "Testing IsInitialized() before setting source points"); 00115 00116 /* trying to generate source landmarks with empty referenceID vector */ 00117 myFilter->GenerateSourceLandmarks(); 00118 00119 /* create helper objects: reference input IDs vector */ 00120 std::vector<int>* refIDs = new std::vector<int>(); 00121 00122 int refInpt = 0; 00123 00124 refIDs->push_back(refInpt); 00125 00126 myFilter->SetReferenceInputIndexes(refIDs); 00127 00128 MITK_TEST_CONDITION_REQUIRED(myFilter->GetOneSourceRegistration() == true,"Testing switch from OneSourceRegistration false to true" ); 00129 00130 MITK_TEST_CONDITION(myFilter->GetReferenceInputIndexes().at(0) == refInpt, "Testing single value of ReferenceInputIndexes"); 00131 MITK_TEST_CONDITION_REQUIRED(myFilter->GetReferenceInputIndexes().size()==1, "Testing size of ReferenceInputIndexes"); 00132 00133 myFilter->GenerateSourceLandmarks(); 00134 00135 MITK_TEST_CONDITION(myFilter->GetSourcePoints().size()==3 && myFilter->GetTargetPoints().size()==0, "Testing different SourcePoints and TargePoints sizes"); 00136 00137 /* testing IsInitialized() before setting target points */ 00138 MITK_TEST_CONDITION_REQUIRED(myFilter->IsInitialized() == false, "Testing IsInitialized() before setting target points"); 00139 00140 00141 myFilter->GenerateTargetLandmarks(); 00142 /* testing IsInitialized() after source and target points are set */ 00143 MITK_TEST_CONDITION_REQUIRED(myFilter->IsInitialized() == true, "Testing IsInitialized() after target and source points are set"); 00144 00145 00146 mitk::NavigationData::PositionType spos1 = myFilter->GetSourcePoints().at(0); 00147 mitk::NavigationData::PositionType spos2 = myFilter->GetSourcePoints().at(1); 00148 mitk::NavigationData::PositionType spos3 = myFilter->GetSourcePoints().at(2); 00149 00150 mitk::NavigationData::PositionType::RealType distance1 = spos1.EuclideanDistanceTo(spos2); 00151 mitk::NavigationData::PositionType::RealType distance2 = spos1.EuclideanDistanceTo(spos3); 00152 00153 MITK_TEST_CONDITION(mitk::Equal(distance1, distance2), "Testing distance between landmark Point and virtual landmark Points"); 00154 00155 MITK_TEST_CONDITION_REQUIRED(myFilter->GetReferencePoints().size() == 0, "Testing ReferencePoints size before initialization"); 00156 00157 MITK_TEST_CONDITION_REQUIRED(myFilter->InitializeReferenceLandmarks() == true, "Testing performing InitializeReferenceLandmarks()"); 00158 MITK_TEST_CONDITION_REQUIRED(myFilter->GetReferencePoints().size() == myFilter->GetSourcePoints().size(), "Testing ReferencePoints size after initialization"); 00159 00160 00161 mitk::NavigationDataReferenceTransformFilter::QuaternionTransformType::Pointer quatTransform = mitk::NavigationDataReferenceTransformFilter::QuaternionTransformType::New(); 00162 mitk::NavigationDataReferenceTransformFilter::QuaternionTransformType::Pointer inverseQuatTransform = mitk::NavigationDataReferenceTransformFilter::QuaternionTransformType::New(); 00163 mitk::NavigationDataReferenceTransformFilter::QuaternionTransformType::VnlQuaternionType doubleOrientation(initialOri1.x(), initialOri1.y(),initialOri1.z(),initialOri1.r()); 00164 00165 quatTransform->SetRotation(doubleOrientation); 00166 quatTransform->SetOffset(initialPos1.GetVectorFromOrigin()); 00167 quatTransform->Modified(); 00168 quatTransform->GetInverse(inverseQuatTransform); 00169 00170 00171 for(unsigned int i = 0; i < myFilter->GetReferencePoints().size(); ++i) 00172 { 00173 MITK_TEST_CONDITION_REQUIRED( 00174 mitk::Equal(myFilter->GetReferencePoints().at(i), inverseQuatTransform->TransformPoint(myFilter->GetSourcePoints().at(i))), "Testing inverse quaternion transform of SourcePoints"); 00175 } 00176 00177 00178 /* create helper object: moved reference input ND */ 00179 mitk::NavigationData::PositionType newPos1; 00180 mitk::FillVector3D(newPos1, 1.1, -16.1, 21.1); 00181 mitk::NavigationData::OrientationType newOrientation(0.1, 0.2, 0.3, 0.4); 00182 mitk::NavigationData::Pointer newnd1 = mitk::NavigationData::New(); 00183 newnd1->SetPosition(newPos1); 00184 newnd1->SetOrientation(newOrientation); 00185 newnd1->SetPositionAccuracy(initialError); 00186 newnd1->SetDataValid(initialValid); 00187 00188 00189 doubleOrientation[0] = newOrientation.x(); 00190 doubleOrientation[1] = newOrientation.y(); 00191 doubleOrientation[2] = newOrientation.z(); 00192 doubleOrientation[3] = newOrientation.r(); 00193 00194 quatTransform->SetRotation(doubleOrientation); 00195 quatTransform->SetOffset(newPos1.GetVectorFromOrigin()); 00196 quatTransform->Modified(); 00197 00198 myFilter->SetInput(0,newnd1); 00199 output1->Update(); 00200 00201 00202 for(unsigned int i = 0; i < myFilter->GetReferencePoints().size(); ++i) 00203 { 00204 MITK_TEST_CONDITION_REQUIRED( 00205 mitk::Equal(quatTransform->TransformPoint(myFilter->GetReferencePoints().at(i)), myFilter->GetSourcePoints().at(i)), "Testing quaternion transform of ReferencePoints ") ; 00206 } 00207 00208 00209 00210 // testing landmark point generation with 3 reference inputs */ 00211 00212 /* filling reference input IDs vector */ 00213 refIDs->clear(); 00214 refIDs->push_back(0); 00215 refIDs->push_back(1); 00216 refIDs->push_back(2); 00217 00218 myFilter->SetReferenceInputIndexes(refIDs); 00219 00220 bool oneSourceReg = myFilter->GetOneSourceRegistration(); 00221 bool refReg = myFilter->GetReferenceRegistration(); 00222 00223 MITK_TEST_CONDITION_REQUIRED(oneSourceReg == false && refReg == true,"Testing reference registration bool flags after switching from one reference input to three reference inputs" ); 00224 MITK_TEST_CONDITION_REQUIRED(myFilter->GetReferenceInputIndexes().size()==3, "Testing size of ReferenceInputIndexes"); 00225 00226 myFilter->GenerateSourceLandmarks(); 00227 myFilter->GenerateTargetLandmarks(); 00228 MITK_TEST_CONDITION_REQUIRED(myFilter->IsInitialized() == true, "Testing IsInitialized() 3 after reference input source and target points are set"); 00229 00230 00231 00232 mitk::Point3D sPoint1, sPoint2, sPoint3, tPoint1, tPoint2, tPoint3; 00233 mitk::FillVector3D(sPoint1, 1.1, 1.1, 1.1); 00234 mitk::FillVector3D(sPoint2, 2.2, 2.2, 2.2); 00235 mitk::FillVector3D(sPoint3, 3.3, 3.3, 3.3); 00236 00237 mitk::FillVector3D(tPoint1, 2.1, 2.1, 2.1); 00238 mitk::FillVector3D(tPoint2, 3.2, 3.2, 3.2); 00239 mitk::FillVector3D(tPoint3, 4.3, 4.3, 4.3); 00240 00241 mitk::PointSet::Pointer sourcePoints = mitk::PointSet::New(); 00242 mitk::PointSet::Pointer targetPoints = mitk::PointSet::New(); 00243 00244 sourcePoints->SetPoint(0,sPoint1); 00245 sourcePoints->SetPoint(1,sPoint2); 00246 sourcePoints->SetPoint(2,sPoint3); 00247 00248 targetPoints->SetPoint(0,tPoint1); 00249 targetPoints->SetPoint(1,tPoint2); 00250 targetPoints->SetPoint(2,tPoint3); 00251 00252 00253 /* create helper objects: navigation data with position as origin, zero quaternion, zero error and data valid */ 00254 mitk::NavigationData::PositionType resultPos1, resultPos2; 00255 00256 mitk::FillVector3D(initialPos1, 1.1, 1.1, 1.1); 00257 mitk::FillVector3D(initialPos2, 22.2,22.2, 22.2); 00258 mitk::FillVector3D(resultPos1, 2.1, 2.1, 2.1); 00259 mitk::FillVector3D(resultPos2, 23.2, 23.2, 23.2); 00260 mitk::NavigationData::OrientationType initialOri(0.1, 0.1, 0.1, 0.1); 00261 00262 nd1->SetPosition(initialPos1); 00263 nd1->SetOrientation(initialOri); 00264 nd1->SetPositionAccuracy(initialError); 00265 nd1->SetDataValid(initialValid); 00266 00267 nd2->SetPosition(initialPos2); 00268 nd2->SetOrientation(initialOri); 00269 nd2->SetPositionAccuracy(initialError); 00270 nd2->SetDataValid(initialValid); 00271 00272 myFilter->SetInput(0,nd1); 00273 00274 myFilter->SetSourceLandmarks(sourcePoints); 00275 myFilter->SetTargetLandmarks(targetPoints); 00276 00277 MITK_TEST_CONDITION_REQUIRED(myFilter->GetOneSourceRegistration() == false,"Testing switch from OneSourceRegistration true to false" ); 00278 00279 00280 00281 00282 00283 //------------------------landmark transform should be initialized at this point------------------------ 00284 output1->Update(); 00285 MITK_TEST_CONDITION_REQUIRED( 00286 mitk::Equal(output1->GetPosition(), resultPos1), 00287 "Testing ND1 position correctly transformed"); 00288 00289 //------------------------add another ND------------------------ 00290 myFilter->SetInput(1,nd2); 00291 MITK_TEST_CONDITION(myFilter->GetInput(1) == nd2, "Testing Set-/GetInput() ND2"); 00292 00293 output2 = myFilter->GetOutput(1); 00294 MITK_TEST_CONDITION_REQUIRED(output2 != NULL, "Testing GetOutput() ND2"); 00295 00296 //------------------------update output1 but check result2------------------------ 00297 output1->Update(); 00298 MITK_TEST_CONDITION_REQUIRED( 00299 mitk::Equal(output2->GetPosition(), resultPos2), 00300 "Testing ND2 position correctly transformed"); 00301 00302 //------------------------update ND on slot 1------------------------ 00303 mitk::FillVector3D(initialPos2, 222.22, 222.22, 222.22); 00304 mitk::FillVector3D(resultPos2, 223.22, 223.22, 223.22); 00305 nd2->SetPosition(initialPos2); 00306 myFilter->SetInput(1,nd2); 00307 MITK_TEST_CONDITION(myFilter->GetInput(1) == nd2, "Testing Set-/GetInput() ND2 after updating value"); 00308 00309 output2 = myFilter->GetOutput(1); 00310 MITK_TEST_CONDITION_REQUIRED(output2 != NULL, "Testing GetOutput() ND2 after updating value"); 00311 00312 00313 //------------------------update output2 and check result2------------------------ 00314 output2->Update(); 00315 MITK_TEST_CONDITION( 00316 mitk::Equal(output2->GetPosition(), resultPos2), 00317 "Testing ND2 position correctly transformed after updating value"); 00318 00319 00320 //------------------------change target PointSet------------------------ 00321 mitk::FillVector3D(tPoint1, 3.1, 3.1, 3.1); 00322 mitk::FillVector3D(tPoint2, 4.2, 4.2, 4.2); 00323 mitk::FillVector3D(tPoint3, 5.3, 5.3, 5.3); 00324 mitk::FillVector3D(resultPos1, 3.1 ,3.1 ,3.1); 00325 mitk::FillVector3D(resultPos2, 224.22, 224.22, 224.22); 00326 00327 00328 targetPoints->SetPoint(0,tPoint1); 00329 targetPoints->SetPoint(1,tPoint2); 00330 targetPoints->SetPoint(2,tPoint3); 00331 00332 myFilter->SetTargetLandmarks(targetPoints); 00333 00334 output1->Update(); 00335 00336 MITK_TEST_CONDITION( 00337 mitk::Equal(output1->GetPosition(), resultPos1), 00338 "Testing ND1 position correctly transformed after targetPointSet changed"); 00339 00340 MITK_TEST_CONDITION( 00341 mitk::Equal(output2->GetPosition(), resultPos2), 00342 "Testing ND2 position correctly transformed after targetPointSet changed"); 00343 00344 //------------------------change source PointSet------------------------ 00345 mitk::FillVector3D(sPoint1, 0.1, 0.1, 0.1); 00346 mitk::FillVector3D(sPoint2, 1.2, 1.2, 1.2); 00347 mitk::FillVector3D(sPoint3, 2.3, 2.3, 2.3); 00348 mitk::FillVector3D(resultPos1, 4.1 ,4.1 ,4.1); 00349 mitk::FillVector3D(resultPos2, 225.22, 225.22, 225.22); 00350 00351 00352 sourcePoints->SetPoint(0,sPoint1); 00353 sourcePoints->SetPoint(1,sPoint2); 00354 sourcePoints->SetPoint(2,sPoint3); 00355 00356 myFilter->SetSourceLandmarks(sourcePoints); 00357 00358 output1->Update(); 00359 00360 MITK_TEST_CONDITION( 00361 mitk::Equal(output1->GetPosition(), resultPos1), 00362 "Testing ND1 position correctly transformed after sourcePointSet changed"); 00363 00364 MITK_TEST_CONDITION( 00365 mitk::Equal(output2->GetPosition(), resultPos2), 00366 "Testing ND2 position correctly transformed after sourcePointSet changed"); 00367 00368 00369 00370 //------------------------rotate orientation------------------------ 00371 myFilter=NULL; 00372 myFilter = mitk::NavigationDataReferenceTransformFilter::New(); 00373 00374 mitk::FillVector3D(sPoint1, 1.1, 1.1, 1.1); 00375 mitk::FillVector3D(sPoint2, 1.1, -1.1, 1.1); 00376 mitk::FillVector3D(sPoint3, -1.1, -1.1, 1.1); 00377 00378 mitk::FillVector3D(tPoint1, -1.1, 1.1, 1.1); 00379 mitk::FillVector3D(tPoint2, 1.1, 1.1, 1.1); 00380 mitk::FillVector3D(tPoint3, 1.1, -1.1, 1.1); 00381 00382 sourcePoints->SetPoint(0,sPoint1); 00383 sourcePoints->SetPoint(1,sPoint2); 00384 sourcePoints->SetPoint(2,sPoint3); 00385 00386 targetPoints->SetPoint(0,tPoint1); 00387 targetPoints->SetPoint(1,tPoint2); 00388 targetPoints->SetPoint(2,tPoint3); 00389 00390 myFilter->SetSourceLandmarks(sourcePoints); 00391 myFilter->SetTargetLandmarks(targetPoints); 00392 00393 //set initial orientation (x y z r) 00394 mitk::NavigationData::OrientationType initialQuat(0.0, 0.0, 0.0, 1.0); 00395 mitk::NavigationData::OrientationType resultQuat(0.0, 0.0, -0.7071, -0.7071); 00396 00397 //set position 00398 mitk::FillVector3D(initialPos1, 2.2, 2.2, 2.2); 00399 mitk::FillVector3D(resultPos1, -2.2, 2.2, 2.2); 00400 00401 nd1->SetOrientation(initialQuat); 00402 nd1->SetPosition(initialPos1); 00403 00404 myFilter->SetInput(0,nd1); 00405 00406 output1 = myFilter->GetOutput(0); 00407 output1->Update(); 00408 00409 MITK_TEST_CONDITION( 00410 mitk::Equal(output1->GetPosition(), resultPos1), 00411 "Testing ND1 position correctly transformed "); 00412 00413 MITK_TEST_CONDITION( 00414 mitk::Equal(output1->GetOrientation(), resultQuat), 00415 "Testing ND1 orientation correctly transformed "); 00416 00417 00418 00419 00420 00421 00422 delete refIDs; 00423 00424 // always end with this! 00425 MITK_TEST_END(); 00426 } 00427 00428
