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/************************************************************************
*
* Copyright (C) 2024 IRCAD France
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "concatenate_matrices_test.hpp"
#include <core/runtime/runtime.hpp>
#include <data/matrix4.hpp>
#include <service/op.hpp>
#include <boost/property_tree/xml_parser.hpp>
// Registers the fixture into the 'registry'
CPPUNIT_TEST_SUITE_REGISTRATION(sight::module::geometry::ut::concatenate_matrices_test);
namespace sight::module::geometry::ut
{
static const double DELTA = 1e-3;
using matrix_t = std::array<double, 16>;
//------------------------------------------------------------------------------
void concatenate_matrices_test::setUp()
{
}
//------------------------------------------------------------------------------
void concatenate_matrices_test::tearDown()
{
}
//------------------------------------------------------------------------------
void check_matrix(const matrix_t& _expected, const sight::data::matrix4& _actual)
{
for(size_t i = 0 ; i < _expected.size() ; ++i)
{
CPPUNIT_ASSERT_DOUBLES_EQUAL(_expected[i], _actual[i], DELTA);
}
}
//------------------------------------------------------------------------------
void concatenate_matrices_test::identity()
{
auto srv = sight::service::add("sight::module::geometry::concatenate_matrices");
CPPUNIT_ASSERT(srv != nullptr);
CPPUNIT_ASSERT(srv->is_a("sight::module::geometry::concatenate_matrices"));
// One identity matrix as input
{
std::stringstream config_string;
config_string
<< "<in group=\"matrix\">"
" <key uid=\"m1\" />"
"</in>";
sight::service::base::config_t config;
boost::property_tree::read_xml(config_string, config);
srv->set_config(config);
}
auto input = std::make_shared<sight::data::matrix4>();
auto output = std::make_shared<sight::data::matrix4>();
const matrix_t identity = sight::data::matrix4::identity();
check_matrix(identity, *input);
check_matrix(identity, *output);
srv->set_input(input, "matrix", true, false, 0);
srv->set_inout(output, "output");
srv->configure();
srv->start().get();
srv->update().get();
check_matrix(identity, *output);
CPPUNIT_ASSERT_NO_THROW(srv->stop().get());
// Add a second identity matrix as input
{
std::stringstream config_string;
config_string
<< "<in group=\"matrix\">"
" <key uid=\"m1\" />"
" <key uid=\"m2\" />"
"</in>";
sight::service::base::config_t config;
boost::property_tree::read_xml(config_string, config);
srv->set_config(config);
}
auto input2 = std::make_shared<sight::data::matrix4>();
srv->set_input(input2, "matrix", true, false, 1);
srv->configure();
srv->start().get();
srv->update().get();
check_matrix(identity, *output);
CPPUNIT_ASSERT_NO_THROW(srv->stop().get());
sight::service::remove(srv);
}
//------------------------------------------------------------------------------
void concatenate_matrices_test::single()
{
// Silly test to verify the output = the input if there is only one matrix
auto srv = sight::service::add("sight::module::geometry::concatenate_matrices");
CPPUNIT_ASSERT(srv != nullptr);
CPPUNIT_ASSERT(srv->is_a("sight::module::geometry::concatenate_matrices"));
{
std::stringstream config_string;
config_string
<< "<in group=\"matrix\">"
" <key uid=\"m1\" />"
"</in>";
sight::service::base::config_t config;
boost::property_tree::read_xml(config_string, config);
srv->set_config(config);
}
auto input = std::make_shared<sight::data::matrix4>();
auto output = std::make_shared<sight::data::matrix4>();
const matrix_t m = {0., 0., 0., 12.,
1., -0.866, -0.5, -51.34,
0., 0.5, -0.866, 1.314,
0., 0., 0., 1.
};
*input = m;
check_matrix(m, *input);
const matrix_t identity = sight::data::matrix4::identity();
check_matrix(identity, *output);
srv->set_input(input, "matrix", true, false, 0);
srv->set_inout(output, "output");
srv->configure();
srv->start().get();
srv->update().get();
check_matrix(m, *output);
CPPUNIT_ASSERT_NO_THROW(srv->stop().get());
sight::service::remove(srv);
}
//------------------------------------------------------------------------------
void concatenate_matrices_test::multiply_2()
{
auto srv = sight::service::add("sight::module::geometry::concatenate_matrices");
CPPUNIT_ASSERT(srv != nullptr);
CPPUNIT_ASSERT(srv->is_a("sight::module::geometry::concatenate_matrices"));
std::stringstream config_string;
config_string
<< "<in group=\"matrix\">"
" <key uid=\"m1\" />"
" <key uid=\"m2\" />"
"</in>";
sight::service::base::config_t config;
boost::property_tree::read_xml(config_string, config);
srv->set_config(config);
auto in1 = std::make_shared<sight::data::matrix4>();
auto in2 = std::make_shared<sight::data::matrix4>();
auto output = std::make_shared<sight::data::matrix4>();
*in1 = {
1., 0., 0., 4.,
0., 1., 0., -5.,
0., 0., 1., 2.,
0., 0., 0., 1.
};
*in2 = {1., 0., 0., 0.,
0., -0.866, -0.5, 0.,
0., 0.5, -0.866, 0.,
0., 0., 0., 1.
};
srv->set_input(in1, "matrix", true, false, 0);
srv->set_input(in2, "matrix", true, false, 1);
srv->set_inout(output, "output");
srv->configure();
srv->start().get();
const matrix_t identity = sight::data::matrix4::identity();
check_matrix(identity, *output);
srv->update().get();
const matrix_t expected = {
1., 0., 0., 4.,
0., -0.866, -0.5, -5.,
0., 0.5, -0.866, 2.,
0., 0., 0., 1.
};
check_matrix(expected, *output);
CPPUNIT_ASSERT_NO_THROW(srv->stop().get());
sight::service::remove(srv);
}
//------------------------------------------------------------------------------
void concatenate_matrices_test::multiply_4()
{
auto srv = sight::service::add("sight::module::geometry::concatenate_matrices");
CPPUNIT_ASSERT(srv != nullptr);
CPPUNIT_ASSERT(srv->is_a("sight::module::geometry::concatenate_matrices"));
std::stringstream config_string;
config_string
<< "<in group=\"matrix\">"
" <key uid=\"m1\" />"
" <key uid=\"m2\" />"
" <key uid=\"m3\" />"
" <key uid=\"m4\" />"
"</in>";
sight::service::base::config_t config;
boost::property_tree::read_xml(config_string, config);
srv->set_config(config);
auto in1 = std::make_shared<sight::data::matrix4>();
auto in2 = std::make_shared<sight::data::matrix4>();
auto in3 = std::make_shared<sight::data::matrix4>();
auto in4 = std::make_shared<sight::data::matrix4>();
auto output = std::make_shared<sight::data::matrix4>();
*in1 = {
1., 0., 0., 4.,
0., 1., 0., -5.,
0., 0., 1., 2.,
0., 0., 0., 1.
};
*in2 = {1., 0., 0., 0.,
0., -0.866, -0.5, 0.,
0., 0.5, -0.866, 0.,
0., 0., 0., 1.
};
*in3 = {0.5, 0., 0.866, 0.,
0., 1., 0., 0.,
-0.866, 0., 0.5, 0.,
0., 0., 0., 1.
};
*in4 = {-0.866, -0.5, 0., 14.94,
0.5, -0.866, 0., 0.,
0., 0., 1., -27.,
0., 0., 0., 1.
};
srv->set_input(in1, "matrix", true, false, 0);
srv->set_input(in2, "matrix", true, false, 1);
srv->set_input(in3, "matrix", true, false, 2);
srv->set_input(in4, "matrix", true, false, 3);
srv->set_inout(output, "output");
srv->configure();
srv->start().get();
const matrix_t identity = sight::data::matrix4::identity();
check_matrix(identity, *output);
srv->update().get();
const matrix_t expected = {-0.433, -0.25, 0.866, -11.912,
-0.807978, 0.533456, -0.25, 8.21902,
-0.399462, -0.807978, -0.433, 24.8953,
0., 0., 0., 1.,
};
check_matrix(expected, *output);
CPPUNIT_ASSERT_NO_THROW(srv->stop().get());
sight::service::remove(srv);
}
//------------------------------------------------------------------------------
void concatenate_matrices_test::multiply_inverse()
{
auto srv = sight::service::add("sight::module::geometry::concatenate_matrices");
CPPUNIT_ASSERT(srv != nullptr);
CPPUNIT_ASSERT(srv->is_a("sight::module::geometry::concatenate_matrices"));
std::stringstream config_string;
config_string
<< "<in group=\"matrix\">"
" <key uid=\"m1\" inverse=\"true\"/>"
" <key uid=\"m2\" />"
" <key uid=\"m3\" inverse=\"true\"/>"
" <key uid=\"m4\" inverse=\"true\"/>"
"</in>";
sight::service::base::config_t config;
boost::property_tree::read_xml(config_string, config);
srv->set_config(config);
auto in1 = std::make_shared<sight::data::matrix4>();
auto in2 = std::make_shared<sight::data::matrix4>();
auto in3 = std::make_shared<sight::data::matrix4>();
auto in4 = std::make_shared<sight::data::matrix4>();
auto output = std::make_shared<sight::data::matrix4>();
*in1 = {
1., 0., 0., 4.,
0., 1., 0., -5.,
0., 0., 1., 2.,
0., 0., 0., 1.
};
*in2 = {1., 0., 0., 0.,
0., -0.866, -0.5, 0.,
0., 0.5, -0.866, 0.,
0., 0., 0., 1.
};
*in3 = {0.5, 0., 0.866, 0.,
0., 1., 0., 0.,
-0.866, 0., 0.5, 0.,
0., 0., 0., 1.
};
*in4 = {-0.866, -0.5, 0., 14.94,
0.5, -0.866, 0., 0.,
0., 0., 1., -27.,
0., 0., 0., 1.
};
srv->set_input(in1, "matrix", true, false, 0);
srv->set_input(in2, "matrix", true, false, 1);
srv->set_input(in3, "matrix", true, false, 2);
srv->set_input(in4, "matrix", true, false, 3);
srv->set_inout(output, "output");
srv->configure();
srv->start().get();
const matrix_t identity = sight::data::matrix4::identity();
check_matrix(identity, *output);
// Stress a bit to ensure we always get the same result
for(int i = 0 ; i < 500 ; ++i)
{
srv->update().get();
const matrix_t expected = {-0.433038, 0.250022, -0.866038, -20.9134,
0.80803, 0.53347, -0.250011, -13.8223,
0.399508, -0.80803, -0.433019, -19.6602,
0., 0., 0., 1.
};
check_matrix(expected, *output);
}
CPPUNIT_ASSERT_NO_THROW(srv->stop().get());
sight::service::remove(srv);
}
//------------------------------------------------------------------------------
void concatenate_matrices_test::auto_connect()
{
auto srv = sight::service::add("sight::module::geometry::concatenate_matrices");
CPPUNIT_ASSERT(srv != nullptr);
CPPUNIT_ASSERT(srv->is_a("sight::module::geometry::concatenate_matrices"));
std::stringstream config_string;
config_string
<< "<in group=\"matrix\">"
" <key uid=\"m1\" auto_connect=\"false\"/>"
" <key uid=\"m2\" />"
"</in>";
sight::service::base::config_t config;
boost::property_tree::read_xml(config_string, config);
srv->set_config(config);
auto in1 = std::make_shared<sight::data::matrix4>();
auto in2 = std::make_shared<sight::data::matrix4>();
auto output = std::make_shared<sight::data::matrix4>();
const matrix_t identity = sight::data::matrix4::identity();
check_matrix(identity, *in1);
check_matrix(identity, *in2);
srv->set_input(in1, "matrix", false, false, 0);
srv->set_input(in2, "matrix", true, false, 1);
srv->set_inout(output, "output");
srv->configure();
srv->start().get();
srv->update().get();
check_matrix(identity, *output);
{
// Matrix 1 is not auto connected
*in1 = {
1., 0., 0., 4.,
0., 1., 0., -5.,
0., 0., 1., 2.,
0., 0., 0., 1.
};
auto sig = in1->signal<sight::data::matrix4::modified_signal_t>(sight::data::matrix4::MODIFIED_SIG);
sig->emit();
check_matrix(identity, *output);
// Thus we require an update
srv->update().get();
check_matrix(in1->get_content(), *output);
}
{
// Matrix 2 is auto connected
*in2 = {1., 0., 0., 0.,
0., -0.866, -0.5, 0.,
0., 0.5, -0.866, 0.,
0., 0., 0., 1.
};
auto sig = in2->signal<sight::data::matrix4::modified_signal_t>(sight::data::matrix4::MODIFIED_SIG);
sig->emit();
const matrix_t expected = {
1., 0., 0., 4.,
0., -0.866, -0.5, -5.,
0., 0.5, -0.866, 2.,
0., 0., 0., 1.
};
check_matrix(expected, *output);
}
CPPUNIT_ASSERT_NO_THROW(srv->stop().get());
sight::service::remove(srv);
}
} // namespace sight::module::geometry::ut
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