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/*=========================================================================
Program: Insight Segmentation & Registration Toolkit
Module: $RCSfile: itkVersorTest.cxx,v $
Language: C++
Date: $Date: 2007-12-20 19:19:18 $
Version: $Revision: 1.19 $
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
/**
*
* This program illustrates the use of Versors
*
* Versors are Unit Quaternions used to represent
* rotations.
*
*/
#include "itkVersor.h"
#include <iostream>
//-------------------------
//
// Main code
//
//-------------------------
int itkVersorTest(int, char* [] )
{
typedef double ValueType;
const ValueType epsilon = 1e-12;
// Versor type
typedef itk::Versor< ValueType > VersorType;
// Vector type
typedef VersorType::VectorType VectorType;
// Point type
typedef VersorType::PointType PointType;
// Covariant Vector type
typedef VersorType::CovariantVectorType CovariantVectorType;
// VnlVector type
typedef VersorType::VnlVectorType VnlVectorType;
// VnlQuaternion type
typedef VersorType::VnlQuaternionType VnlQuaternionType;
// Matrix type
typedef VersorType::MatrixType MatrixType;
{
std::cout << "Test default constructor... ";
VersorType qa;
if( fabs(qa.GetX()) > epsilon )
{
std::cout << "Error ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(qa.GetY()) > epsilon )
{
std::cout << "Error ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(qa.GetZ()) > epsilon )
{
std::cout << "Error ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(qa.GetW()-1.0) > epsilon )
{
std::cout << "Error ! " << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
}
{
std::cout << "Test initialization and GetMatrix()... ";
VersorType qa;
qa.SetIdentity();
MatrixType ma = qa.GetMatrix();
std::cout << "Matrix = " << std::endl;
std::cout << ma << std::endl;
}
{
std::cout << "Test for setting Axis and Angle...";
VersorType qa;
VectorType xa;
xa[0] = 2.5;
xa[1] = 1.5;
xa[2] = 0.5;
ValueType angle = atan(1.0)/3.0; // 15 degrees in radians
qa.Set( xa, angle );
xa.Normalize();
ValueType cosangle = cos( angle / 2.0 );
ValueType sinangle = sin( angle / 2.0 );
VectorType xb;
xb = xa * sinangle;
if( fabs(qa.GetX()-xb[0]) > epsilon )
{
std::cout << "Error in X ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(qa.GetY()-xb[1]) > epsilon )
{
std::cout << "Error in Y ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(qa.GetZ()-xb[2]) > epsilon )
{
std::cout << "Error in Z ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(qa.GetW()-cosangle) > epsilon )
{
std::cout << "Error in W ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(qa.GetAngle()-angle) > epsilon )
{
std::cout << "Error in Angle ! " << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
}
{
std::cout << "Test for setting Right part...";
VersorType qa;
VectorType xa;
ValueType angle = atan(1.0)*30.0/45.0;
ValueType sin2a = sin( angle/2.0 );
xa[0] = 0.7;
xa[1] = 0.3;
xa[2] = 0.1;
xa.Normalize();
xa *= sin2a;
qa.Set( xa, angle );
ValueType cos2a = cos( angle/2.0 );
if( fabs(qa.GetW()-cos2a) > epsilon )
{
std::cout << "Error in W ! " << std::endl;
std::cout << "W= " << qa.GetW();
std::cout << " it should be " << cos2a << std::endl;
return EXIT_FAILURE;
}
if( fabs(qa.GetAngle()-angle) > epsilon )
{
std::cout << "Error in Angle ! " << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
}
{
std::cout << "Test for Square Root...";
VersorType qa;
VectorType xa;
ValueType angle = atan(1.0)*30.0/45.0;
ValueType sin2a = sin( angle/2.0 );
xa[0] = 0.7;
xa[1] = 0.3;
xa[2] = 0.1;
xa.Normalize();
xa *= sin2a;
qa.Set( xa, angle );
VersorType qb;
qb = qa.SquareRoot();
if( fabs( qa.GetAngle() - 2.0 * qb.GetAngle() ) > epsilon )
{
std::cout << "Error in Square Root ! " << std::endl;
std::cout << "Angle = " << qb.GetAngle();
std::cout << " it should be " << qa.GetAngle() / 2.0 << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
}
{
std::cout << "Test for Transforming a vector...";
VersorType qa;
VectorType xa;
xa[0] = 2.5;
xa[1] = 2.5;
xa[2] = 2.5;
ValueType angle = 8.0*atan(1.0)/3.0; // 120 degrees in radians
qa.Set( xa, angle );
VectorType::ValueType xbInit[3] = {3.0, 7.0, 9.0};
VectorType xb = xbInit;
VectorType xc;
xc = qa.Transform( xb );
// This rotation will just permute the axis
if( fabs(xc[1]-xb[0]) > epsilon )
{
std::cout << "Error in X ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(xc[2]-xb[1]) > epsilon )
{
std::cout << "Error in Y ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(xc[0]-xb[2]) > epsilon )
{
std::cout << "Error in Z ! " << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
}
{
std::cout << "Test for Transforming a point...";
VersorType qa;
VectorType xa;
xa[0] = 2.5;
xa[1] = 2.5;
xa[2] = 2.5;
ValueType angle = 8.0*atan(1.0)/3.0; // 120 degrees in radians
qa.Set( xa, angle );
PointType::ValueType xbInit[3] = {3.0, 7.0, 9.0};
PointType xb = xbInit;
PointType xc;
xc = qa.Transform( xb );
// This rotation will just permute the axis
if( fabs(xc[1]-xb[0]) > epsilon )
{
std::cout << "Error in X ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(xc[2]-xb[1]) > epsilon )
{
std::cout << "Error in Y ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(xc[0]-xb[2]) > epsilon )
{
std::cout << "Error in Z ! " << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
}
{
std::cout << "Test for Transforming a covariantvector...";
VersorType qa;
VectorType xa;
xa[0] = 2.5;
xa[1] = 2.5;
xa[2] = 2.5;
ValueType angle = 8.0*atan(1.0)/3.0; // 120 degrees in radians
qa.Set( xa, angle );
CovariantVectorType::ValueType xbInit[3] = {3.0, 7.0, 9.0};
CovariantVectorType xb = xbInit;
CovariantVectorType xc;
xc = qa.Transform( xb );
// This rotation will just permute the axis
if( fabs(xc[1]-xb[0]) > epsilon )
{
std::cout << "Error in X ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(xc[2]-xb[1]) > epsilon )
{
std::cout << "Error in Y ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(xc[0]-xb[2]) > epsilon )
{
std::cout << "Error in Z ! " << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
}
{
std::cout << "Test for Transforming a vnl_vector...";
VersorType qa;
VectorType xa;
xa[0] = 2.5;
xa[1] = 2.5;
xa[2] = 2.5;
ValueType angle = 8.0*atan(1.0)/3.0; // 120 degrees in radians
qa.Set( xa, angle );
VnlVectorType xb;
xb[0] = 3.0;
xb[1] = 7.0;
xb[2] = 9.0;
VnlVectorType xc;
xc = qa.Transform( xb );
// This rotation will just permute the axis
if( fabs(xc[1]-xb[0]) > epsilon )
{
std::cout << "Error in X ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(xc[2]-xb[1]) > epsilon )
{
std::cout << "Error in Y ! " << std::endl;
return EXIT_FAILURE;
}
if( fabs(xc[0]-xb[2]) > epsilon )
{
std::cout << "Error in Z ! " << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
}
{
std::cout << "Test for Set components operations ...";
// First, create a known versor
VersorType v1;
VectorType::ValueType x1Init[3] = {2.5f, 1.5f, 3.5f};
VectorType x1 = x1Init;
ValueType angle1 = atan(1.0)/3.0; // 15 degrees in radians
v1.Set( x1, angle1 );
// Get the components and scale them
ValueType scale = 5.5;
ValueType x = v1.GetX() * scale;
ValueType y = v1.GetY() * scale;
ValueType z = v1.GetZ() * scale;
ValueType w = v1.GetW() * scale;
VersorType v2;
v2.Set( x, y, z, w );
// Compare both versors
if( fabs(v1.GetX() - v2.GetX() ) > epsilon ||
fabs(v1.GetY() - v2.GetY() ) > epsilon ||
fabs(v1.GetZ() - v2.GetZ() ) > epsilon ||
fabs(v1.GetW() - v2.GetW() ) > epsilon )
{
std::cout << "Error in Versor Set(x,y,z,w) ! " << std::endl;
std::cout << "v1 = " << v1 << std::endl;
std::cout << "v2 = " << v2 << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
std::cout << "Test for Set quaternion ...";
// Get a vnl_quaternion
VnlQuaternionType vnlq = v1.GetVnlQuaternion();
vnlq *= scale;
v2.Set( vnlq );
// Compare both versors
if( fabs(v1.GetX() - v2.GetX() ) > epsilon ||
fabs(v1.GetY() - v2.GetY() ) > epsilon ||
fabs(v1.GetZ() - v2.GetZ() ) > epsilon ||
fabs(v1.GetW() - v2.GetW() ) > epsilon )
{
std::cout << "Error in Versor Set( vnl_quaternion ) ! " << std::endl;
std::cout << "v1 = " << v1 << std::endl;
std::cout << "v2 = " << v2 << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
std::cout << "Test for Set(x,y,z,w) with negative W.";
// Check that a negative W results in negating
// all the versor components.
x = - v1.GetX();
y = - v1.GetY();
z = - v1.GetZ();
w = - v1.GetW();
VersorType v3;
v3.Set( x, y, z, w );
// Compare both versors
if( fabs( v1.GetX() - v3.GetX() ) > epsilon ||
fabs( v1.GetY() - v3.GetY() ) > epsilon ||
fabs( v1.GetZ() - v3.GetZ() ) > epsilon ||
fabs( v1.GetW() - v3.GetW() ) > epsilon )
{
std::cout << "Error in Versor Set() with negative W ! " << std::endl;
std::cout << "v1 = " << v1 << std::endl;
std::cout << "v3 = " << v3 << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
}
{
std::cout << "Test for Reciprocal and Conjugate Operations...";
VersorType v1;
VersorType v2;
VectorType::ValueType x1Init[3] = {2.5f, 1.5f, 0.5f};
VectorType x1 = x1Init;
ValueType angle1 = atan(1.0)/3.0; // 15 degrees in radians
VectorType::ValueType x2Init[3] = {1.5f, 0.5f, 0.5f};
VectorType x2 = x2Init;
ValueType angle2 = atan(1.0)/1.0; // 45 degrees in radians
v1.Set( x1, angle1 );
v2.Set( x2, angle2 );
VersorType unit;
VersorType v2r;
v2r = v2.GetReciprocal();
unit = v2 * v2r;
if( fabs( unit.GetX() ) > epsilon ||
fabs( unit.GetY() ) > epsilon ||
fabs( unit.GetZ() ) > epsilon ||
fabs( unit.GetW() - 1.0 ) > epsilon )
{
std::cout << "Error in Reciprocal ! " << std::endl;
std::cout << "Versor = " << v2 << std::endl;
std::cout << "Reciprocal = " << v2r << std::endl;
std::cout << "Product = " << unit << std::endl;
return EXIT_FAILURE;
}
unit = v2 / v2;
if( fabs( unit.GetX() ) > epsilon ||
fabs( unit.GetY() ) > epsilon ||
fabs( unit.GetZ() ) > epsilon ||
fabs( unit.GetW() - 1.0 ) > epsilon )
{
std::cout << "Error in Division ! " << std::endl;
std::cout << "Versor = " << v2 << std::endl;
std::cout << "Self Division = " << unit << std::endl;
return EXIT_FAILURE;
}
unit = v2;
unit /= v2;
if( fabs( unit.GetX() ) > epsilon ||
fabs( unit.GetY() ) > epsilon ||
fabs( unit.GetZ() ) > epsilon ||
fabs( unit.GetW() - 1.0 ) > epsilon )
{
std::cout << "Error in Division operator/= ! " << std::endl;
std::cout << "Versor = " << v2 << std::endl;
std::cout << "Self Division = " << unit << std::endl;
return EXIT_FAILURE;
}
x1.Normalize();
x2.Normalize();
VersorType v3;
v3 = v1 * v2;
VersorType v4;
v4 = v3 * v2r;
if( fabs(v1.GetX() - v4.GetX() ) > epsilon ||
fabs(v1.GetY() - v4.GetY() ) > epsilon ||
fabs(v1.GetZ() - v4.GetZ() ) > epsilon ||
fabs(v1.GetW() - v4.GetW() ) > epsilon )
{
std::cout << "Error in Versor division ! " << std::endl;
std::cout << "v1 = " << v1 << std::endl;
std::cout << "v1' = " << v4 << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
}
{ // Test for the Set() matrix method
std::cout << "Test for Set( MatrixType ) method ...";
VersorType vv;
MatrixType mm;
// Setting the matrix of a 90 degrees rotation around Z
mm[0][0] = 0.0;
mm[0][1] = 1.0;
mm[0][2] = 0.0;
mm[1][0] = 0.0;
mm[1][1] = -1.0;
mm[1][2] = 0.0;
mm[2][0] = 0.0;
mm[2][1] = 0.0;
mm[2][2] = 1.0;
vv.Set( mm );
const double halfSqrtOfTwo = vcl_sqrt( 2.0 ) / 2.0;
if( fabs(vv.GetX() - 0.0 ) > epsilon ||
fabs(vv.GetY() - 0.0 ) > epsilon ||
fabs(vv.GetZ() - (-halfSqrtOfTwo) ) > epsilon ||
fabs(vv.GetW() - halfSqrtOfTwo ) > epsilon )
{
std::cout << "Error in Versor Set(Matrix) method ! " << std::endl;
std::cout << "vv = " << vv << std::endl;
return EXIT_FAILURE;
}
std::cout << " PASSED !" << std::endl;
}
return EXIT_SUCCESS;
}
|
