mitk: mitkNavigationDataTransformFilterTest.cpp Source File

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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 "mitkNavigationDataTransformFilter.h"
00019 #include "mitkNavigationData.h"
00020 
00021 #include "mitkTestingMacros.h"
00022 
00023 #include <itkTransform.h>
00024 #include <itkVector.h>
00025 #include <iostream>
00026 
00027 
00031 typedef itk::Rigid3DTransform<mitk::ScalarType > TransformType;
00032 
00033 typedef itk::Vector<mitk::ScalarType,3> VectorType;
00034 
00035 int mitkNavigationDataTransformFilterTest(int /* argc */, char* /*argv*/[])
00036 {
00037   MITK_TEST_BEGIN("NavigationDataTransformFilter")
00038 
00039     // let's create an object of our class  
00040     mitk::NavigationDataTransformFilter::Pointer myFilter = mitk::NavigationDataTransformFilter::New();
00041 
00042   // first test: did this work?
00043   // using MITK_TEST_CONDITION_REQUIRED makes the test stop after failure, since
00044   // it makes no sense to continue without an object.
00045   MITK_TEST_CONDITION_REQUIRED(myFilter.IsNotNull(),"Testing instantiation");
00046 
00047   /* create helper objects: navigation data with position as origin, zero quaternion, zero error and data valid */
00048   mitk::NavigationData::PositionType initialPos, resultPos;
00049   mitk::FillVector3D(initialPos, 1.1, 2.2, 3.3);
00050   mitk::FillVector3D(resultPos, 5.0, 5.0,5.0);
00051 
00052   mitk::NavigationData::OrientationType initialOri(0.0, 0.0, -0.7071, 0.7071);
00053   mitk::ScalarType initialError(0.0);
00054   bool initialValid(true);
00055 
00056   mitk::NavigationData::Pointer nd1 = mitk::NavigationData::New();
00057   nd1->SetPosition(initialPos);
00058   nd1->SetOrientation(initialOri);
00059   nd1->SetPositionAccuracy(initialError);
00060   nd1->SetDataValid(initialValid);
00061 
00062   myFilter->SetInput(nd1);
00063   MITK_TEST_CONDITION(myFilter->GetInput() == nd1, "Testing Set-/GetInput()");
00064 
00065   mitk::NavigationData* output = myFilter->GetOutput(0);
00066 
00067   /*test case no transform set*/
00068   MITK_TEST_FOR_EXCEPTION(std::exception, output->Update(););
00069 
00070   /* test transformation */
00071   mitk::NavigationDataTransformFilter::TransformType::Pointer transform =  mitk::NavigationDataTransformFilter::TransformType::New();
00072   VectorType translationVector;
00073   translationVector[0] = 3.9;
00074   translationVector[1] = 2.8;
00075   translationVector[2] = 1.7;
00076 
00077 
00078   /* test translation */
00079   transform->Translate(translationVector);
00080 
00081   myFilter->SetRigid3DTransform(transform);
00082 
00083   output = myFilter->GetOutput();
00084   MITK_TEST_CONDITION_REQUIRED(output != NULL, "Testing GetOutput()");
00085 
00086   output->Update(); // execute filter
00087 
00088   MITK_TEST_CONDITION(output->GetPosition() == resultPos, "Testing if translation was calculated correct");
00089   MITK_TEST_CONDITION( mitk::Equal(output->GetOrientation(),initialOri),"Testing if Orientation remains unchanged ");
00090   MITK_TEST_CONDITION(output->IsDataValid() == initialValid, "Testing if DataValid remains unchanged");
00091 
00092 
00093   // test rotation
00094   mitk::NavigationDataTransformFilter::Pointer myFilter2 = mitk::NavigationDataTransformFilter::New();
00095   // using MITK_TEST_CONDITION_REQUIRED makes the test stop after failure, since
00096   // it makes no sense to continue without an object.
00097   MITK_TEST_CONDITION_REQUIRED(myFilter2.IsNotNull(),"Testing instantiation");
00098 
00099   mitk::FillVector3D(initialPos, 1.1, 1.1, 1.1);
00100   mitk::FillVector3D(resultPos,  1.1, -1.1, 1.1);
00101 
00102   mitk::NavigationData::OrientationType resultOri(0.0, 0.0, -0.7071, 0.7071);
00103   initialOri[0] = 0;
00104   initialOri[1] = 0;
00105   initialOri[2] = 0;
00106   initialOri[3] = 1;
00107 
00108   nd1->SetPosition(initialPos);
00109   nd1->SetOrientation(initialOri);
00110 
00111   myFilter2->SetInput(nd1);
00112 
00113   itk::Matrix<mitk::ScalarType,3,3> rotMatrix;
00114   rotMatrix[0][0] = 0;
00115   rotMatrix[0][1] = 1;
00116   rotMatrix[0][2] = 0;
00117   rotMatrix[1][0] = -1;
00118   rotMatrix[1][1] = 0;
00119   rotMatrix[1][2] = 0;
00120   rotMatrix[2][0] = 0;
00121   rotMatrix[2][1] = 0;
00122   rotMatrix[2][2] = 1;
00123 
00124   mitk::NavigationDataTransformFilter::TransformType::Pointer transform2 =  mitk::NavigationDataTransformFilter::TransformType::New();
00125   transform2->SetRotationMatrix(rotMatrix);
00126 
00127   myFilter2->SetRigid3DTransform(transform2);
00128 
00129   mitk::NavigationData* output2 = myFilter2->GetOutput();
00130   MITK_TEST_CONDITION_REQUIRED(output2 != NULL, "Testing GetOutput()");
00131 
00132   output2->Update(); // execute filter
00133 
00134   MITK_TEST_CONDITION(output2->GetPosition() == resultPos, "Testing if position after rotation is correctly calculated");
00135   MITK_TEST_CONDITION( mitk::Equal(output2->GetOrientation(), resultOri),"Testing if orientation after rotation is correctly caclculated  ");
00136   MITK_TEST_CONDITION(output2->IsDataValid() == initialValid, "Testing if DataValid remains unchanged");
00137 
00138 
00139   //-----------------------------------------------------------------------------------------------------------
00140   /* now test the filter with multiple inputs */
00141   mitk::NavigationData::PositionType initialPos2, resultPos2;
00142   mitk::FillVector3D(initialPos, 1.1, 2.2, 3.3);
00143   mitk::FillVector3D(initialPos2, -1000.0, 567.89, 0.0);
00144   mitk::FillVector3D(resultPos, 2.2,-1.1, 3.3);
00145   mitk::FillVector3D(resultPos2, 567.89, 1000, 0.0);
00146   mitk::NavigationData::OrientationType initialOri2(0.5,0.5,0.5,0.5);
00147   mitk::NavigationData::OrientationType resultOri2(0.7071,0.0,0.0,0.7071);
00148   mitk::NavigationData::Pointer nd2 = mitk::NavigationData::New();
00149 
00150   nd1->SetPosition(initialPos);
00151   nd1->SetOrientation(initialOri);
00152   nd1->SetPositionAccuracy(initialError);
00153   nd1->SetDataValid(initialValid);
00154 
00155   nd2->SetPosition(initialPos2);
00156   nd2->SetOrientation(initialOri2);
00157   nd2->SetPositionAccuracy(initialError);
00158   nd2->SetDataValid(initialValid);
00159 
00160   myFilter = NULL;
00161   myFilter = mitk::NavigationDataTransformFilter::New();
00162   myFilter->SetRigid3DTransform(transform2);
00163   myFilter->SetInput(0, nd1);
00164   myFilter->SetInput(1, nd2);
00165 
00166   MITK_TEST_CONDITION(((myFilter->GetInput(0) == nd1) 
00167     && (myFilter->GetInput(1) == nd2)), "Testing Set-/GetInput(index, data)");
00168   output = NULL;
00169   output2 = NULL;
00170   output = myFilter->GetOutput(0);
00171   output2 = myFilter->GetOutput(1);
00172   output2->Update(); // execute filter pipeline. this should update both outputs!
00173   MITK_TEST_CONDITION_REQUIRED(((output != NULL) && (output2 != NULL)), "Testing GetOutput(index)");
00174 
00175   MITK_TEST_CONDITION(output->GetPosition() == resultPos, "Testing if position rotation was calculated correct [output 0]");
00176   MITK_TEST_CONDITION(mitk::Equal(output->GetOrientation(), resultOri),"Testing if orientation rotation was calculated correct [output 0]");
00177   MITK_TEST_CONDITION(output->IsDataValid() == initialValid, "Testing if DataValid remains unchanged for output 0");
00178 
00179   MITK_TEST_CONDITION(output2->GetPosition() == resultPos2, "Testing if rotation was calculated correct [output 1]");
00180   MITK_TEST_CONDITION(mitk::Equal(output2->GetOrientation(), resultOri2),"Testing if orientation rotation was calculated correct [output 1]");  
00181   MITK_TEST_CONDITION(output2->IsDataValid() == initialValid, "Testing if DataValid remains unchanged for output 1");
00182   //
00183   //  /* test if anything changes on second ->Update() */
00184   output->Update(); // nothing should change, since inputs remain unchanged
00185   MITK_TEST_CONDITION((output->GetPosition() == (resultPos)) && (output2->GetPosition() == (resultPos2)), "Testing translation calculation after second update()");
00186 
00187   /* change an input, see if output changes too */
00188   mitk::NavigationData::PositionType pos3, resultPos3;
00189   mitk::FillVector3D(pos3, 123.456, -234.567, 789.987);
00190   mitk::FillVector3D(resultPos3, -234.567, -123.456, 789.987);
00191   nd1->SetPosition(pos3);  // nd1 is modified, but nothing should change until pipe gets updated
00192   MITK_TEST_CONDITION((output->GetPosition() == (resultPos))
00193     &&(output2->GetPosition() == (resultPos2)), "Testing transfomr calculation after input change, before update()");
00194 
00195   output->Update(); // update pipeline. should recalculate positions, because input has changed
00196   MITK_TEST_CONDITION((output->GetPosition() == (resultPos3)) && (output2->GetPosition() == (resultPos2)), "Testing transform calculation after input change, after update()");
00197 
00198   // always end with this!
00199   MITK_TEST_END();
00200 }
00201