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/*=========================================================================
Program: Insight Segmentation & Registration Toolkit
Module: itkRigid3DPerspectiveTransformTest.cxx
Language: C++
Date: $Date$
Version: $Revision$
Copyright (c) Insight Software Consortium. All rights reserved.
See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#if defined(_MSC_VER)
#pragma warning ( disable : 4786 )
#endif
#include <iostream>
#include "itkRigid3DPerspectiveTransform.h"
#include "vnl/vnl_vector_fixed.h"
#include "itkVector.h"
int itkRigid3DPerspectiveTransformTest(int ,char * [] )
{
typedef itk::Rigid3DPerspectiveTransform<double> TransformType;
const double epsilon = 1e-10;
const unsigned int N = 3;
const double focal = 100.0;
bool Ok = true;
/* Create a 3D identity transformation and show its parameters */
{
TransformType::Pointer identityTransform = TransformType::New();
identityTransform->SetFocalDistance( focal );
TransformType::OffsetType offset = identityTransform->GetOffset();
std::cout << "Vector from instantiating an identity transform: ";
std::cout << offset << std::endl;
for(unsigned int i=0; i<N; i++)
{
if( vcl_fabs( offset[i]-0.0 ) > epsilon )
{
Ok = false;
break;
}
}
if( !Ok )
{
std::cerr << "Identity doesn't have a null offset" << std::endl;
return EXIT_FAILURE;
}
}
/* Create a Rigid 3D transform with translation */
{
TransformType::Pointer translation = TransformType::New();
translation->SetFocalDistance( focal );
TransformType::OffsetType ioffset;
ioffset.Fill(0.0);
translation->SetOffset( ioffset );
TransformType::OffsetType offset = translation->GetOffset();
std::cout << "pure Translation test: ";
std::cout << offset << std::endl;
for(unsigned int i=0; i<N; i++)
{
if( vcl_fabs( offset[i]- ioffset[i] ) > epsilon )
{
Ok = false;
break;
}
}
if( !Ok )
{
std::cerr << "Get Offset differs from SetOffset value " << std::endl;
return EXIT_FAILURE;
}
{
// Projecting an itk::Point
TransformType::InputPointType p;
p.Fill(10);
TransformType::InputPointType q;
q = p + ioffset;
TransformType::OutputPointType s;
const double factor = focal/q[2];
s[0] = q[0] * factor;
s[1] = q[1] * factor;
TransformType::OutputPointType r;
r = translation->TransformPoint( p );
for(unsigned int i=0; i<N-1; i++)
{
if( vcl_fabs( s[i]- r[i] ) > epsilon )
{
Ok = false;
break;
}
}
if( !Ok )
{
std::cerr << "Error translating point: " << p << std::endl;
std::cerr << "Result should be : " << s << std::endl;
std::cerr << "Reported Result is : " << r << std::endl;
return EXIT_FAILURE;
}
else
{
std::cout << "Ok translating an itk::Point " << std::endl;
}
}
}
/* Create a Rigid 3D transform with a rotation */
{
TransformType::Pointer rigid = TransformType::New();
rigid->SetFocalDistance( focal );
TransformType::OffsetType ioffset;
ioffset.Fill(0.0);
rigid->SetOffset( ioffset );
TransformType::OffsetType offset = rigid->GetOffset();
std::cout << "pure Translation test: ";
std::cout << offset << std::endl;
typedef TransformType::VersorType VersorType;
VersorType rotation;
VersorType::VectorType axis;
VersorType::ValueType angle = 30.0f * vcl_atan( 1.0f ) / 45.0f;
axis[0] = 1.0f;
axis[1] = 1.0f;
axis[2] = 1.0f;
rotation.Set( axis, angle );
rigid->SetRotation( rotation );
{
// Project an itk::Point
TransformType::InputPointType p;
p.Fill(10.0);
TransformType::InputPointType q;
q = p + ioffset;
TransformType::OutputPointType s;
const double factor = focal/q[2];
s[0] = q[0] * factor;
s[1] = q[1] * factor;
TransformType::OutputPointType r;
r = rigid->TransformPoint( p );
for(unsigned int i=0; i<N-1; i++)
{
if( vcl_fabs( s[i]- r[i] ) > epsilon )
{
Ok = false;
break;
}
}
if( !Ok )
{
std::cerr << "Error rotating point: " << p << std::endl;
std::cerr << "Result should be : " << s << std::endl;
std::cerr << "Reported Result is : " << r << std::endl;
return EXIT_FAILURE;
}
else
{
std::cout << "Ok rotating an itk::Point " << std::endl;
}
}
}
std::cout << "Test successful" << std::endl;
return EXIT_SUCCESS;
}
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