1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
|
#if defined(_MSC_VER)
// Warning about: identifier was truncated to '255' characters
// in the debug information (MVC6.0 Debug)
#pragma warning( disable : 4786 )
#endif
#include <math.h>
#include <iostream>
#include "igstkPerspectiveTransform.h"
#include "igstkPulseGenerator.h"
int igstkPerspectiveTransformTest( int , char * [] )
{
igstk::RealTimeClock::Initialize();
try
{
//test the default constructor
igstk::PerspectiveTransform P;
//transformation should never be valid, default timestamp has
//the same start and end times (zero)
if( P.IsValidNow() )
{
std::cerr<<"Error in default constructor.\n";
return EXIT_FAILURE;
}
//test the transform setting and exporting
igstk::PerspectiveTransform::ExtrinsicMatrixType Rt;
igstk::PerspectiveTransform::IntrinsicMatrixType K;
Rt(0,0)= -0.77; Rt(0,1)= -0.64; Rt(0,2)= 0.00; Rt(0,3)= -0.92;
Rt(1,0)= 0.00; Rt(1,1)= -0.00; Rt(1,2)= -1.00; Rt(1,3)= -5.83;
Rt(2,0)= -0.64; Rt(2,1)= 0.77; Rt(2,2)= -0.00; Rt(2,3)= -745.91;
K(0,0)=3886.68; K(0,1)= 0.00; K(0,2)= 630.57;
K(1,0)= 0; K(1,1) = 3886.68; K(1,2)= 511.11;
K(2,0)= 0; K(2,1) = 0; K(2,2) = 1.00;
igstk::PerspectiveTransform coverageDummyTransform(P);
igstk::PerspectiveTransform coverageDummyTransform2;
coverageDummyTransform2 = P;
coverageDummyTransform2.Print(std::cout, 0);
igstk::TimeStamp::TimePeriodType millisecondsToExpiration = 100;
igstk::TransformBase::ErrorType estimationError = 0.5;
P.SetTransform( Rt, K, estimationError, millisecondsToExpiration );
//export the combined transform K[R,t]
vtkPerspectiveTransform *vtkP = vtkPerspectiveTransform::New();
vtkMatrix4x4 *vtkPMatrix = vtkMatrix4x4::New();
vtkMatrix4x4 *vtkRtMatrix = vtkMatrix4x4::New();
P.ExportTransform( *vtkP );
vtkP->GetMatrix( vtkPMatrix );
igstk::PerspectiveTransform::ExtrinsicMatrixType PMatrix;
PMatrix = K.GetVnlMatrix()*Rt.GetVnlMatrix();
if( ( PMatrix(0,0)-vtkPMatrix->GetElement(0,0) +
PMatrix(0,1)-vtkPMatrix->GetElement(0,1) +
PMatrix(0,2)-vtkPMatrix->GetElement(0,2) +
PMatrix(0,3)-vtkPMatrix->GetElement(0,3) +
PMatrix(1,0)-vtkPMatrix->GetElement(1,0) +
PMatrix(1,1)-vtkPMatrix->GetElement(1,1) +
PMatrix(1,2)-vtkPMatrix->GetElement(1,2) +
PMatrix(1,3)-vtkPMatrix->GetElement(1,3) +
PMatrix(2,0)-vtkPMatrix->GetElement(2,0) +
PMatrix(2,1)-vtkPMatrix->GetElement(2,1) +
PMatrix(2,2)-vtkPMatrix->GetElement(2,2) +
PMatrix(2,3)-vtkPMatrix->GetElement(2,3) )
!= 0.0 )
{
std::cerr<<"Error in export transformation.\n";
vtkP->Delete();
vtkPMatrix->Delete();
vtkRtMatrix->Delete();
return EXIT_FAILURE;
}
//export the intrinsic calibration matrix K
P.ExportIntrinsicParameters( *vtkP );
vtkP->GetMatrix( vtkPMatrix );
if( ( K(0,0)-vtkPMatrix->GetElement(0,0) +
K(0,1)-vtkPMatrix->GetElement(0,1) +
K(0,2)-vtkPMatrix->GetElement(0,2) +
K(1,0)-vtkPMatrix->GetElement(1,0) +
K(1,1)-vtkPMatrix->GetElement(1,1) +
K(1,2)-vtkPMatrix->GetElement(1,2) +
K(2,0)-vtkPMatrix->GetElement(2,0) +
K(2,1)-vtkPMatrix->GetElement(2,1) +
K(2,2)-vtkPMatrix->GetElement(2,2) )
!= 0.0 )
{
std::cerr<<"Error in export intrinsic transformation.\n";
vtkP->Delete();
vtkPMatrix->Delete();
vtkRtMatrix->Delete();
return EXIT_FAILURE;
}
P.ExportExtrinsicParameters( *vtkRtMatrix );
if( ( Rt(0,0)-vtkRtMatrix->GetElement(0,0) +
Rt(0,1)-vtkRtMatrix->GetElement(0,1) +
Rt(0,2)-vtkRtMatrix->GetElement(0,2) +
Rt(0,3)-vtkRtMatrix->GetElement(0,3) +
Rt(1,0)-vtkRtMatrix->GetElement(1,0) +
Rt(1,1)-vtkRtMatrix->GetElement(1,1) +
Rt(1,2)-vtkRtMatrix->GetElement(1,2) +
Rt(1,3)-vtkRtMatrix->GetElement(1,3) +
Rt(2,0)-vtkRtMatrix->GetElement(2,0) +
Rt(2,1)-vtkRtMatrix->GetElement(2,1) +
Rt(2,2)-vtkRtMatrix->GetElement(2,2) +
Rt(2,3)-vtkRtMatrix->GetElement(2,3) )
!= 0.0 )
{
std::cerr<<"Error in export intrinsic transformation.\n";
vtkP->Delete();
vtkPMatrix->Delete();
vtkRtMatrix->Delete();
return EXIT_FAILURE;
}
vtkP->Delete();
vtkPMatrix->Delete();
vtkRtMatrix->Delete();
}
catch(...)
{
std::cerr << "Exception caught !!!" << std::endl;
return EXIT_FAILURE;
}
std::cout << "Test PASSED ! " << std::endl;
return EXIT_SUCCESS;
}
|
