bool PointSetWrite(mitk::BaseGeometry* geometry = nullptr)
{
try
{
m_SavedPointSet = NULL;
std::ofstream tmpStream;
m_FilePath = mitk::IOUtil::CreateTemporaryFile(tmpStream) + ".mps";
MITK_INFO << "PointSet test file at " << m_FilePath;
mitk::IOUtil::Save(CreateTestPointSet(geometry), m_FilePath);
}
catch (std::exception& e)
{
MITK_ERROR << "Error during pointset creation: " << e.what();
return false;
}
return true;
}
int mitkToFDistanceImageToPointSetFilterTest(int /* argc */, char* /*argv*/[])
{
MITK_TEST_BEGIN("ToFDistanceImageToPointSetFilter");
mitk::ToFDistanceImageToPointSetFilter::Pointer filter = mitk::ToFDistanceImageToPointSetFilter::New();
//create test sub set
MITK_INFO<<"Create test pointset";
mitk::PointSet::Pointer subSet = CreateTestPointSet();
//create test image
unsigned int dimX = 204;
unsigned int dimY = 204;
MITK_INFO<<"Create test image";
mitk::Image::Pointer image = CreateTestImageWithPointSet(1000.0f,dimX,dimY,subSet);
//initialize intrinsic parameters
//initialize intrinsic parameters with some arbitrary values
mitk::ToFProcessingCommon::ToFPoint2D interPixelDistance;
interPixelDistance[0] = 0.04564;
interPixelDistance[1] = 0.0451564;
mitk::ToFProcessingCommon::ToFScalarType focalLengthX = 295.78960;
mitk::ToFProcessingCommon::ToFScalarType focalLengthY = 296.348535;
mitk::ToFProcessingCommon::ToFScalarType focalLength = (focalLengthX*interPixelDistance[0]+focalLengthY*interPixelDistance[1])/2.0;
mitk::ToFProcessingCommon::ToFScalarType k1=-0.36,k2=-0.14,p1=0.001,p2=-0.00;
mitk::ToFProcessingCommon::ToFPoint2D principalPoint;
principalPoint[0] = 103.576546;
principalPoint[1] = 100.1532;
mitk::CameraIntrinsics::Pointer cameraIntrinsics = mitk::CameraIntrinsics::New();
cameraIntrinsics->SetFocalLength(focalLengthX,focalLengthY);
cameraIntrinsics->SetPrincipalPoint(principalPoint[0],principalPoint[1]);
cameraIntrinsics->SetDistorsionCoeffs(k1,k2,p1,p2);
// test SetCameraIntrinsics()
filter->SetCameraIntrinsics(cameraIntrinsics);
MITK_TEST_CONDITION_REQUIRED((focalLengthX==filter->GetCameraIntrinsics()->GetFocalLengthX()),"Testing SetCameraIntrinsics with focalLength");
mitk::ToFProcessingCommon::ToFPoint2D pp;
pp[0] = filter->GetCameraIntrinsics()->GetPrincipalPointX();
pp[1] = filter->GetCameraIntrinsics()->GetPrincipalPointY();
MITK_TEST_CONDITION_REQUIRED(mitk::Equal(principalPoint,pp),"Testing SetCameraIntrinsics with principalPoint()");
// test SetInterPixelDistance()
filter->SetInterPixelDistance(interPixelDistance);
mitk::ToFProcessingCommon::ToFPoint2D ipD = filter->GetInterPixelDistance();
MITK_TEST_CONDITION_REQUIRED(mitk::Equal(ipD,interPixelDistance),"Testing Set/GetInterPixelDistance()");
// test Set/GetInput()
filter->SetInput(image);
MITK_TEST_CONDITION_REQUIRED((image==filter->GetInput()),"Testing Set/GetInput()");
// test filter without subset
MITK_INFO<<"Test filter without subset";
mitk::PointSet::Pointer expectedResult = mitk::PointSet::New();
unsigned int counter = 0;
for (unsigned int j=0; j<dimY; j++)
{
for (unsigned int i=0; i<dimX; i++)
{
mitk::Index3D index;
index[0] = i;
index[1] = j;
index[2] = 0;
mitk::ScalarType distance = image->GetPixelValueByIndex(index);
mitk::Point3D coordinate = mitk::ToFProcessingCommon::IndexToCartesianCoordinates(i,j,distance,focalLength,interPixelDistance,principalPoint);
expectedResult->InsertPoint(counter,coordinate);
counter++;
}
}
filter->Update();
mitk::PointSet::Pointer result = filter->GetOutput();
MITK_TEST_CONDITION_REQUIRED((expectedResult->GetSize()==result->GetSize()),"Test if point set size is equal");
MITK_TEST_CONDITION_REQUIRED(PointSetsEqual(expectedResult,result),"Testing filter without subset");
// compare filter result with ToFDistanceImageToSurfaceFilter
mitk::ToFDistanceImageToSurfaceFilter::Pointer surfaceFilter = mitk::ToFDistanceImageToSurfaceFilter::New();
surfaceFilter->SetInput(image);
surfaceFilter->SetInterPixelDistance(interPixelDistance);
surfaceFilter->SetCameraIntrinsics(cameraIntrinsics);
mitk::Surface::Pointer surface = surfaceFilter->GetOutput();
surface->Update();
// create point set from surface
vtkPolyData* polyData = surface->GetVtkPolyData();
int numberOfPoints = polyData->GetNumberOfPoints();
mitk::PointSet::Pointer pointSet = mitk::PointSet::New();
for (int i=0; i<numberOfPoints; i++)
{
double* currentPoint = polyData->GetPoint(i);
mitk::Point3D point;
point[0] = currentPoint[0];
point[1] = currentPoint[1];
point[2] = currentPoint[2];
pointSet->InsertPoint(i,point);
}
MITK_TEST_CONDITION_REQUIRED((pointSet->GetSize()==result->GetSize()),"Test if point set size is equal");
MITK_TEST_CONDITION_REQUIRED(PointSetsEqual(pointSet,result),"Compare with surface points");
// test filter with subset
MITK_INFO<<"Test filter with subset";
filter = mitk::ToFDistanceImageToPointSetFilter::New();
filter->SetInput(image);
filter->SetInterPixelDistance(interPixelDistance);
filter->SetCameraIntrinsics(cameraIntrinsics);
expectedResult = mitk::PointSet::New();
counter = 0;
for (unsigned int i=0; i<subSet->GetSize(); i++)
{
mitk::Point3D point = subSet->GetPoint(i);
mitk::Index3D index;
index[0] = point[0];
index[1] = point[1];
index[2] = 0;
mitk::ScalarType distance = image->GetPixelValueByIndex(index);
mitk::Point3D coordinate = mitk::ToFProcessingCommon::IndexToCartesianCoordinates(point[0],point[1],
distance,focalLength,interPixelDistance,principalPoint);
expectedResult->InsertPoint(counter,coordinate);
counter++;
}
filter->SetSubset(subSet);
filter->Modified();
filter->Update();
result = filter->GetOutput();
MITK_TEST_CONDITION_REQUIRED((expectedResult->GetSize()==result->GetSize()),"Test if point set size is equal");
MITK_TEST_CONDITION_REQUIRED(PointSetsEqual(expectedResult,result),"Testing filter with subset");
MITK_TEST_END();
}
