static void TestMethodsNormalCases()
{
//create and initialize test objects
MyNavigationDataSourceTest::Pointer myFilter = MyNavigationDataSourceTest::New();
myFilter->CreateOutput();
mitk::NavigationData::PositionType initialPos;
mitk::FillVector3D(initialPos, 1.0, 2.0, 3.0);
mitk::NavigationData::OrientationType initialOri(0.1, 0.2, 0.3, 0.4);
mitk::ScalarType initialError(22.22);
bool initialValid(true);
mitk::NavigationData::Pointer nd1 = mitk::NavigationData::New();
nd1->SetPosition(initialPos);
nd1->SetOrientation(initialOri);
nd1->SetPositionAccuracy(initialError);
nd1->SetDataValid(initialValid);
//test method graft
MITK_TEST_OUTPUT(<< "testing Graftoutput()");
myFilter->GraftOutput(nd1);
mitk::NavigationData::Pointer out = myFilter->GetOutput();
MITK_TEST_CONDITION(out.GetPointer() != nd1.GetPointer(), "testing if output is same object as source of graft");
MITK_TEST_CONDITION( mitk::Equal(out->GetPosition(), nd1->GetPosition()) &&
mitk::Equal(out->GetOrientation(), nd1->GetOrientation()) &&
(out->GetCovErrorMatrix() == nd1->GetCovErrorMatrix()) &&
(out->IsDataValid() == nd1->IsDataValid()) &&
mitk::Equal(out->GetTimeStamp(), nd1->GetTimeStamp()), "testing if content of output is equal to input of Graft");
//test method GetParameters()
mitk::PropertyList::ConstPointer list = myFilter->GetParameters();
MITK_TEST_CONDITION(list.IsNotNull(), "testing GetParameters()");
}
static void TestMicroserviceRegister()
{
MyNavigationDataSourceTest::Pointer myFilter = MyNavigationDataSourceTest::New();
myFilter->CreateOutput();
mitk::NavigationData::PositionType initialPos;
mitk::FillVector3D(initialPos, 1.0, 2.0, 3.0);
mitk::NavigationData::OrientationType initialOri(0.1, 0.2, 0.3, 0.4);
mitk::ScalarType initialError(22.22);
bool initialValid(true);
mitk::NavigationData::Pointer nd1 = mitk::NavigationData::New();
nd1->SetPosition(initialPos);
nd1->SetOrientation(initialOri);
nd1->SetPositionAccuracy(initialError);
nd1->SetDataValid(initialValid);
myFilter->RegisterAsMicroservice();
MITK_TEST_CONDITION(myFilter->GetMicroserviceID()!="","Testing if microservice was registered successfully.");
}
/**Documentation
* test for the class "NavigationDataToNavigationDataFilter".
*/
int mitkNavigationDataToNavigationDataFilterTest(int /* argc */, char* /*argv*/[])
{
MITK_TEST_BEGIN("NavigationDataToNavigationDataFilter")
// let's create an object of our class
mitk::NavigationDataToNavigationDataFilter::Pointer myFilter = NavigationDataToNavigationDataFilterTestClass::New().GetPointer(); // create testing subclass, but treat it like the real NavigationDataToNavigationDataFilter
MITK_TEST_CONDITION_REQUIRED(myFilter.IsNotNull(),"Testing instantiation");
/* create helper objects: navigation data with position as origin, zero quaternion, zero error and data valid */
mitk::NavigationData::PositionType initialPos;
mitk::FillVector3D(initialPos, 1.0, 2.0, 3.0);
mitk::NavigationData::OrientationType initialOri(0.1, 0.2, 0.3, 0.4);
mitk::ScalarType initialError(22.22);
bool initialValid(true);
mitk::NavigationData::Pointer nd0 = mitk::NavigationData::New();
nd0->SetPosition(initialPos);
nd0->SetOrientation(initialOri);
nd0->SetPositionAccuracy(initialError);
nd0->SetDataValid(initialValid);
nd0->SetName("testName");
MITK_TEST_CONDITION(myFilter->GetOutput() == NULL, "testing GetOutput()");
MITK_TEST_CONDITION(myFilter->GetInput() == NULL, "testing GetInput() without SetInput()");
MITK_TEST_CONDITION(myFilter->GetInput(0) == NULL, "testing GetInput(0) without SetInput()");
myFilter->SetInput(nd0);
MITK_TEST_CONDITION(myFilter->GetInput() == nd0, "testing Set-/GetInput()");
MITK_TEST_CONDITION(myFilter->GetInput(0) == nd0, "testing Set-/GetInput(0)");
MITK_TEST_CONDITION(myFilter->GetOutput() != NULL, "testing GetOutput() after SetInput()");
MITK_TEST_CONDITION(myFilter->GetOutput(0) != NULL, "testing GetOutput() after SetInput()");
MITK_TEST_CONDITION(myFilter->GetOutput(0) != nd0, "testing GetOutput() different object than input");
// check getInput() string input
MITK_TEST_CONDITION(myFilter->GetInput("invalidName") == NULL, "testing GetInput(string) invalid string");
MITK_TEST_CONDITION(myFilter->GetInput("testName") == nd0, "testing GetInput(string) valid string");
// check getInputIndex() string input
bool throwsException = false;
try {
myFilter->GetInputIndex("invalidName");
}
catch(std::invalid_argument e) {
throwsException = true;
}
MITK_TEST_CONDITION_REQUIRED(throwsException, "testing GetInputIndex(string) invalid string");
MITK_TEST_CONDITION(myFilter->GetInputIndex("testName") == 0, "testing GetInputIndex(string) valid string");
mitk::NavigationData::Pointer nd1 = mitk::NavigationData::New();
nd1->Graft(nd0);
nd1->SetDataValid(false);
myFilter->SetInput(1, nd1);
MITK_TEST_CONDITION(myFilter->GetInput(1) == nd1, "testing Set-/GetInput(1)");
MITK_TEST_CONDITION(myFilter->GetInput(0) == nd0, "testing Set-/GetInput(0) again");
MITK_TEST_CONDITION(myFilter->GetOutput(1) != NULL, "testing GetOutput() after SetInput()");
MITK_TEST_CONDITION(myFilter->GetOutput(0) != myFilter->GetOutput(1), "testing GetOutput(0) different object than GetOutput(1)");
myFilter->SetInput(10, nd1);
MITK_TEST_CONDITION(myFilter->GetNumberOfInputs() == 11, "testing SetInput(10) produces 11 outputs");
MITK_TEST_CONDITION(myFilter->GetInput(10) == nd1, "testing Set-/GetInput(10)");
myFilter->SetInput(10, NULL);
MITK_TEST_CONDITION(myFilter->GetNumberOfInputs() == 10, "testing SetInput(10, NULL) removes output with index 10");
myFilter->SetInput(1, NULL);
MITK_TEST_CONDITION(myFilter->GetNumberOfInputs() == 10, "testing SetInput(1, NULL) does not change number of outputs");
// always end with this!
MITK_TEST_END();
}
/**Documentation
* test for the class "NavigationDataToMessageFilter".
*/
int mitkNavigationDataToMessageFilterTest(int /* argc */, char* /*argv*/[])
{
MITK_TEST_BEGIN("NavigationDataToMessageFilter");
/* first tests with one input */
{
// let's create an object of our class
mitk::NavigationDataToMessageFilter::Pointer myFilter = mitk::NavigationDataToMessageFilter::New();
// first test: did this work?
// using MITK_TEST_CONDITION_REQUIRED makes the test stop after failure, since
// it makes no sense to continue without an object.
MITK_TEST_CONDITION_REQUIRED(myFilter.IsNotNull(),"Testing instantiation");
/* create helper objects: navigation data with position as origin, zero quaternion, zero error and data valid */
mitk::NavigationData::PositionType initialPos;
mitk::FillVector3D(initialPos, 1.0, 2.0, 3.0);
mitk::NavigationData::OrientationType initialOri(1.0, 2.0, 3.0, 4.0);
mitk::NavigationData::Pointer nd1 = mitk::NavigationData::New();
nd1->SetPosition(initialPos);
nd1->SetOrientation(initialOri);
nd1->SetPositionAccuracy(11.111);
nd1->SetTimeStamp(64.46);
nd1->SetDataValid(true);
myFilter->SetInput(nd1);
MITK_TEST_CONDITION(myFilter->GetInput() == nd1, "testing Set-/GetInput()");
mitk::NavigationData* output = myFilter->GetOutput();
MITK_TEST_CONDITION_REQUIRED(output != NULL, "Testing GetOutput()");
/* register message receiver */
MessageReceiverClass answers(1);
myFilter->AddPositionChangedListener(mitk::MessageDelegate2<MessageReceiverClass, mitk::NavigationData::PositionType, unsigned int>(&answers, &MessageReceiverClass::OnPositionChanged));
myFilter->AddOrientationChangedListener(mitk::MessageDelegate2<MessageReceiverClass, mitk::NavigationData::OrientationType, unsigned int>(&answers, &MessageReceiverClass::OnOrientationChanged));
myFilter->AddErrorChangedListener(mitk::MessageDelegate2<MessageReceiverClass, mitk::NavigationData::CovarianceMatrixType, unsigned int>(&answers, &MessageReceiverClass::OnErrorChanged));
myFilter->AddTimeStampChangedListener(mitk::MessageDelegate2<MessageReceiverClass, mitk::NavigationData::TimeStampType, unsigned int>(&answers, &MessageReceiverClass::OnTimeStampChanged));
myFilter->AddDataValidChangedListener(mitk::MessageDelegate2<MessageReceiverClass, bool, unsigned int>(&answers, &MessageReceiverClass::OnDataValidChanged));
output->Update(); // execute filter
MITK_TEST_CONDITION( mitk::Equal(answers.m_ReceivedData[0]->GetPosition(), nd1->GetPosition()), "Testing PositionChanged message");
MITK_TEST_CONDITION( mitk::Equal(answers.m_ReceivedData[0]->GetOrientation(), nd1->GetOrientation()), "Testing OrientationChanged message");
MITK_TEST_CONDITION( answers.m_ReceivedData[0]->GetCovErrorMatrix() == nd1->GetCovErrorMatrix(), "Testing ErrorChanged message");
MITK_TEST_CONDITION( mitk::Equal(answers.m_ReceivedData[0]->GetTimeStamp(), nd1->GetTimeStamp()), "Testing TimeStampChanged message");
MITK_TEST_CONDITION( answers.m_ReceivedData[0]->IsDataValid() == nd1->IsDataValid(), "Testing PositionChanged message");
MITK_TEST_CONDITION( answers.m_MessagesReceived == 5, "Correct number of messages send?");
/* change one input parameter */
nd1->SetDataValid(false);
output->Update(); // re-execute filter
MITK_TEST_CONDITION( answers.m_ReceivedData[0]->IsDataValid() == nd1->IsDataValid(), "Testing PositionChanged message");
MITK_TEST_CONDITION( answers.m_MessagesReceived == 6, "only necessary messages send?"); // only datavalid message re-send
/* changing two input parameters */
mitk::FillVector3D(initialPos, 11.0, 21.0, 31.0);
nd1->SetPosition(initialPos); // change only one parameter
nd1->SetTimeStamp(55.55); // change only one parameter
output->Update(); // re-execute filter
MITK_TEST_CONDITION( mitk::Equal(answers.m_ReceivedData[0]->GetPosition(), nd1->GetPosition()), "Testing PositionChanged message");
MITK_TEST_CONDITION( mitk::Equal(answers.m_ReceivedData[0]->GetTimeStamp(), nd1->GetTimeStamp()), "Testing TimeStampChanged message");
MITK_TEST_CONDITION( answers.m_MessagesReceived == 8, "only necessary messages send?"); // only 2 new messages send
/* try to add a second input */
//MITK_TEST_OUTPUT_NO_ENDL( << "Exception on adding second input? --> ");
//mitk::NavigationData::Pointer nd2 = mitk::NavigationData::New();
//MITK_TEST_FOR_EXCEPTION(std::invalid_argument, myFilter->SetInput(1, nd2));
}
/* now test with multiple inputs */
{
MITK_TEST_OUTPUT( << "Now, perform tests with multiple inputs");
mitk::NavigationDataToMessageFilter::Pointer myFilter = mitk::NavigationDataToMessageFilter::New();
/* create helper objects: navigation data with position as origin, zero quaternion, zero error and data valid */
mitk::NavigationData::PositionType initialPos;
mitk::FillVector3D(initialPos, 1.0, 1.0, 1.0);
mitk::NavigationData::OrientationType initialOri(1.0, 1.0, 1.0, 1.0);
mitk::NavigationData::Pointer nd0 = mitk::NavigationData::New();
nd0->SetPosition(initialPos);
nd0->SetOrientation(initialOri);
nd0->SetPositionAccuracy(11.111);
nd0->SetTimeStamp(64.46);
nd0->SetDataValid(true);
mitk::FillVector3D(initialPos, 2.0, 2.0, 2.0);
mitk::NavigationData::OrientationType initialOri2(1.0, 1.0, 1.0, 1.0);
mitk::NavigationData::Pointer nd1 = mitk::NavigationData::New();
nd1->SetPosition(initialPos);
nd1->SetOrientation(initialOri2);
nd1->SetPositionAccuracy(22.222);
nd1->SetTimeStamp(222.2);
nd1->SetDataValid(true);
myFilter->SetInput(0, nd0);
myFilter->SetInput(1, nd1);
MITK_TEST_CONDITION(myFilter->GetInput(0) == nd0, "testing Set-/GetInput(0)");
MITK_TEST_CONDITION(myFilter->GetInput(1) == nd1, "testing Set-/GetInput(1)");
mitk::NavigationData* output0 = myFilter->GetOutput(0);
mitk::NavigationData* output1 = myFilter->GetOutput(1);
MITK_TEST_CONDITION_REQUIRED(output0 != NULL, "Testing GetOutput(0)");
MITK_TEST_CONDITION_REQUIRED(output1 != NULL, "Testing GetOutput(1)");
/* register message receiver */
MessageReceiverClass answers(2);
myFilter->AddPositionChangedListener(mitk::MessageDelegate2<MessageReceiverClass, mitk::NavigationData::PositionType, unsigned int>(&answers, &MessageReceiverClass::OnPositionChanged));
myFilter->AddOrientationChangedListener(mitk::MessageDelegate2<MessageReceiverClass, mitk::NavigationData::OrientationType, unsigned int>(&answers, &MessageReceiverClass::OnOrientationChanged));
myFilter->AddErrorChangedListener(mitk::MessageDelegate2<MessageReceiverClass, mitk::NavigationData::CovarianceMatrixType, unsigned int>(&answers, &MessageReceiverClass::OnErrorChanged));
myFilter->AddTimeStampChangedListener(mitk::MessageDelegate2<MessageReceiverClass, mitk::NavigationData::TimeStampType, unsigned int>(&answers, &MessageReceiverClass::OnTimeStampChanged));
myFilter->AddDataValidChangedListener(mitk::MessageDelegate2<MessageReceiverClass, bool, unsigned int>(&answers, &MessageReceiverClass::OnDataValidChanged));
output0->Update(); // execute filter. This should send messages for both inputs
MITK_TEST_CONDITION( mitk::Equal(answers.m_ReceivedData[0]->GetPosition(), nd0->GetPosition()), "Testing PositionChanged message");
MITK_TEST_CONDITION( mitk::Equal(answers.m_ReceivedData[0]->GetOrientation(), nd0->GetOrientation()), "Testing OrientationChanged message");
MITK_TEST_CONDITION( answers.m_ReceivedData[0]->GetCovErrorMatrix() == nd0->GetCovErrorMatrix(), "Testing ErrorChanged message");
MITK_TEST_CONDITION( mitk::Equal(answers.m_ReceivedData[0]->GetTimeStamp(), nd0->GetTimeStamp()), "Testing TimeStampChanged message");
MITK_TEST_CONDITION( answers.m_ReceivedData[0]->IsDataValid() == nd0->IsDataValid(), "Testing PositionChanged message");
MITK_TEST_CONDITION( mitk::Equal(answers.m_ReceivedData[1]->GetPosition(), nd1->GetPosition()), "Testing PositionChanged message");
MITK_TEST_CONDITION( mitk::Equal(answers.m_ReceivedData[1]->GetOrientation(), nd1->GetOrientation()), "Testing OrientationChanged message");
MITK_TEST_CONDITION( answers.m_ReceivedData[1]->GetCovErrorMatrix() == nd1->GetCovErrorMatrix(), "Testing ErrorChanged message");
MITK_TEST_CONDITION( mitk::Equal(answers.m_ReceivedData[1]->GetTimeStamp(), nd1->GetTimeStamp()), "Testing TimeStampChanged message");
MITK_TEST_CONDITION( answers.m_ReceivedData[1]->IsDataValid() == nd1->IsDataValid(), "Testing PositionChanged message");
MITK_TEST_CONDITION( answers.m_MessagesReceived == 10, "Correct number of messages send?");
MITK_TEST_OUTPUT( << "answers.m_MessagesReceived = " << answers.m_MessagesReceived);
/* change one input parameter */
nd0->SetDataValid(false);
output0->Update(); // re-execute filter
MITK_TEST_CONDITION( answers.m_ReceivedData[0]->IsDataValid() == nd0->IsDataValid(), "Testing PositionChanged message for input 0");
MITK_TEST_CONDITION( answers.m_MessagesReceived == 11, "only necessary messages send?"); // only datavalid message for input 0 re-send
/* remove one listener and check that message is not send */
myFilter->RemoveTimeStampChangedListener(mitk::MessageDelegate2<MessageReceiverClass, mitk::NavigationData::TimeStampType, unsigned int>(&answers, &MessageReceiverClass::OnTimeStampChanged));
mitk::NavigationData::TimeStampType oldValue = nd1->GetTimeStamp();
nd1->SetTimeStamp(999.9);
myFilter->Update();
MITK_TEST_CONDITION( ! mitk::Equal(answers.m_ReceivedData[1]->GetTimeStamp(), nd1->GetTimeStamp()), "Testing if TimeStamp message is _not_ send after RemoveListener (!= new value)");
MITK_TEST_CONDITION( mitk::Equal(answers.m_ReceivedData[1]->GetTimeStamp(), oldValue), "Testing if TimeStamp message is _not_ send after RemoveListener (== old value)");
MITK_TEST_CONDITION( answers.m_MessagesReceived == 11, "no new messages send?"); // no new message send?
/* other messages are still send? */
nd1->SetDataValid(false);
myFilter->Update();
MITK_TEST_CONDITION( answers.m_ReceivedData[1]->IsDataValid() == nd1->IsDataValid(), "Other messages still send? ->Testing PositionChanged message for input 1 again");
MITK_TEST_CONDITION( answers.m_MessagesReceived == 12, "only necessary messages send?"); // only DataValid message for input 1 re-send
/* check if other output still has its old value */
MITK_TEST_CONDITION( answers.m_ReceivedData[0]->IsDataValid() == nd0->IsDataValid(), "Testing PositionChanged message for input 0");
}
// The end
MITK_TEST_END();
}
/**Documentation
* test for the class "NavigationDataLandmarkTransformFilter".
*/
int mitkNavigationDataLandmarkTransformFilterTest(int /* argc */, char* /*argv*/[])
{
MITK_TEST_BEGIN("NavigationDataLandmarkTransformFilter")
// let's create an object of our class
mitk::NavigationDataLandmarkTransformFilter::Pointer myFilter = mitk::NavigationDataLandmarkTransformFilter::New();
// first test: did this work?
// using MITK_TEST_CONDITION_REQUIRED makes the test stop after failure, since
// it makes no sense to continue without an object.
MITK_TEST_CONDITION_REQUIRED(myFilter.IsNotNull(),"Testing instantiation");
/*create helper objects: source and target pointSets for landmark transform*/
mitk::Point3D sPoint1, sPoint2, sPoint3, tPoint1, tPoint2, tPoint3;
mitk::FillVector3D(sPoint1, 1.1, 1.1, 1.1);
mitk::FillVector3D(sPoint2, 2.2, 2.2, 2.2);
mitk::FillVector3D(sPoint3, 3.3, 3.3, 3.3);
mitk::FillVector3D(tPoint1, 2.1, 2.1, 2.1);
mitk::FillVector3D(tPoint2, 3.2, 3.2, 3.2);
mitk::FillVector3D(tPoint3, 4.3, 4.3, 4.3);
mitk::PointSet::Pointer sourcePoints = mitk::PointSet::New();
mitk::PointSet::Pointer targetPoints = mitk::PointSet::New();
sourcePoints->SetPoint(0,sPoint1);
sourcePoints->SetPoint(1,sPoint2);
sourcePoints->SetPoint(2,sPoint3);
targetPoints->SetPoint(0,tPoint1);
targetPoints->SetPoint(1,tPoint2);
targetPoints->SetPoint(2,tPoint3);
/* create helper objects: navigation data with position as origin, zero quaternion, zero error and data valid */
mitk::NavigationData::PositionType initialPos1,initialPos2, resultPos1,resultPos2;
mitk::FillVector3D(initialPos1, 1.1, 1.1, 1.1);
mitk::FillVector3D(initialPos2, 22.2,22.2, 22.2);
mitk::FillVector3D(resultPos1, 2.1, 2.1, 2.1);
mitk::FillVector3D(resultPos2, 23.2, 23.2, 23.2);
mitk::NavigationData::OrientationType initialOri(0.1, 0.1, 0.1, 0.1);
mitk::ScalarType initialError(0.0);
bool initialValid(true);
mitk::NavigationData::Pointer nd1 = mitk::NavigationData::New();
nd1->SetPosition(initialPos1);
nd1->SetOrientation(initialOri);
nd1->SetPositionAccuracy(initialError);
nd1->SetDataValid(initialValid);
mitk::NavigationData::Pointer nd2 = mitk::NavigationData::New();
nd2->SetPosition(initialPos2);
nd2->SetOrientation(initialOri);
nd2->SetPositionAccuracy(initialError);
nd2->SetDataValid(initialValid);
myFilter->SetInput(0,nd1);
MITK_TEST_CONDITION(myFilter->GetInput(0) == nd1, "Testing Set-/GetInput() ND1");
mitk::NavigationData* output1 = myFilter->GetOutput(0);
MITK_TEST_CONDITION_REQUIRED(output1 != NULL, "Testing GetOutput() ND1");
MITK_TEST_CONDITION(myFilter->IsInitialized() == false, "Testing IsInitialized() before setting source points");
myFilter->SetSourceLandmarks(sourcePoints);
MITK_TEST_CONDITION(myFilter->IsInitialized() == false, "Testing IsInitialized() after setting source points and before setting target points");
mitk::PointSet::Pointer zeroTargetPoints = mitk::PointSet::New();
MITK_TEST_FOR_EXCEPTION(itk::ExceptionObject, myFilter->SetTargetLandmarks(zeroTargetPoints));
MITK_TEST_CONDITION(myFilter->IsInitialized() == false, "Testing IsInitialized() after setting target pointset with insufficient points");
myFilter->SetTargetLandmarks(targetPoints);
MITK_TEST_CONDITION(myFilter->IsInitialized() == true, "Testing IsInitialized() after setting source& target points");
//------------------------landmark transform should be initialized at this point------------------------
output1->Update();
MITK_TEST_CONDITION_REQUIRED(
mitk::Equal(output1->GetPosition(), resultPos1),
"Testing ND1 position correctly transformed");
//------------------------add another ND------------------------
myFilter->SetInput(1,nd2);
MITK_TEST_CONDITION(myFilter->GetInput(1) == nd2, "Testing Set-/GetInput() ND2");
mitk::NavigationData* output2 = myFilter->GetOutput(1);
MITK_TEST_CONDITION_REQUIRED(output2 != NULL, "Testing GetOutput() ND2");
//------------------------update output1 but check result2------------------------
output1->Update();
MITK_TEST_CONDITION_REQUIRED(
mitk::Equal(output2->GetPosition(), resultPos2),
"Testing ND2 position correctly transformed");
//------------------------update ND on slot 1------------------------
mitk::FillVector3D(initialPos2, 222.22, 222.22, 222.22);
mitk::FillVector3D(resultPos2, 223.22, 223.22, 223.22);
nd2->SetPosition(initialPos2);
myFilter->SetInput(1,nd2);
MITK_TEST_CONDITION(myFilter->GetInput(1) == nd2, "Testing Set-/GetInput() ND2 after updating value");
output2 = myFilter->GetOutput(1);
MITK_TEST_CONDITION_REQUIRED(output2 != NULL, "Testing GetOutput() ND2 after updating value");
//------------------------update output2 and check result2------------------------
output2->Update();
MITK_TEST_CONDITION(
mitk::Equal(output2->GetPosition(), resultPos2),
"Testing ND2 position correctly transformed after updating value");
//------------------------change target PointSet------------------------
mitk::FillVector3D(tPoint1, 3.1, 3.1, 3.1);
mitk::FillVector3D(tPoint2, 4.2, 4.2, 4.2);
mitk::FillVector3D(tPoint3, 5.3, 5.3, 5.3);
mitk::FillVector3D(resultPos1, 3.1 ,3.1 ,3.1);
mitk::FillVector3D(resultPos2, 224.22, 224.22, 224.22);
targetPoints->SetPoint(0,tPoint1);
targetPoints->SetPoint(1,tPoint2);
targetPoints->SetPoint(2,tPoint3);
myFilter->SetTargetLandmarks(targetPoints);
output1->Update();
MITK_TEST_CONDITION(
mitk::Equal(output1->GetPosition(), resultPos1),
"Testing ND1 position correctly transformed after targetPointSet changed");
MITK_TEST_CONDITION(
mitk::Equal(output2->GetPosition(), resultPos2),
"Testing ND2 position correctly transformed after targetPointSet changed");
//------------------------change source PointSet------------------------
mitk::FillVector3D(sPoint1, 0.1, 0.1, 0.1);
mitk::FillVector3D(sPoint2, 1.2, 1.2, 1.2);
mitk::FillVector3D(sPoint3, 2.3, 2.3, 2.3);
mitk::FillVector3D(resultPos1, 4.1 ,4.1 ,4.1);
mitk::FillVector3D(resultPos2, 225.22, 225.22, 225.22);
sourcePoints->SetPoint(0,sPoint1);
sourcePoints->SetPoint(1,sPoint2);
sourcePoints->SetPoint(2,sPoint3);
myFilter->SetSourceLandmarks(sourcePoints);
output1->Update();
MITK_TEST_CONDITION(
mitk::Equal(output1->GetPosition(), resultPos1),
"Testing ND1 position correctly transformed after sourcePointSet changed");
MITK_TEST_CONDITION(
mitk::Equal(output2->GetPosition(), resultPos2),
"Testing ND2 position correctly transformed after sourcePointSet changed");
//--------------------- Test ICP initialization --------------------------
{
mitk::PointSet::Pointer sourcePoints = mitk::PointSet::New();
mitk::Point3D s1, s2, s3, s4, s5, s6;
mitk::FillVector3D(s1, 1.1, 1.1, 1.1);
mitk::FillVector3D(s2, 2.2, 2.2, 2.2);
mitk::FillVector3D(s3, 3.3, 3.3, 3.3);
mitk::FillVector3D(s4, 4.4, 4.4, 4.4);
mitk::FillVector3D(s5, 5.5, 5.5, 5.5);
mitk::FillVector3D(s6, 6.6, 6.6, 6.6);
sourcePoints->SetPoint(1, s4); // use random source point order
sourcePoints->SetPoint(2, s6);
sourcePoints->SetPoint(3, s3);
sourcePoints->SetPoint(4, s1);
sourcePoints->SetPoint(5, s2);
sourcePoints->SetPoint(6, s5);
mitk::PointSet::Pointer targetPoints = mitk::PointSet::New();
mitk::Point3D t1, t2, t3, t4, t5, t6;
mitk::FillVector3D(t1, 2.1, 2.1, 102.1); // ==> targets have offset [1, 1, 101]
mitk::FillVector3D(t2, 3.2, 3.2, 103.2);
mitk::FillVector3D(t3, 4.3, 4.3, 104.3);
mitk::FillVector3D(t4, 5.4, 5.4, 105.4);
mitk::FillVector3D(t5, 6.5, 6.5, 106.5);
mitk::FillVector3D(t6, 7.6, 7.6, 107.6);
targetPoints->SetPoint(1, t1);
targetPoints->SetPoint(2, t2);
targetPoints->SetPoint(3, t3);
targetPoints->SetPoint(4, t4);
targetPoints->SetPoint(5, t5);
targetPoints->SetPoint(6, t6);
mitk::NavigationDataLandmarkTransformFilter::Pointer myFilter = mitk::NavigationDataLandmarkTransformFilter::New();
myFilter->UseICPInitializationOn();
myFilter->SetSourceLandmarks(sourcePoints);
myFilter->SetTargetLandmarks(targetPoints); // errors would raise exceptions
// prepare input
mitk::NavigationData::PositionType initialPos1, resultPos1;
mitk::FillVector3D(initialPos1, 1.1, 1.1, 1.1);
mitk::FillVector3D(resultPos1, 2.1, 2.1, 102.1);
mitk::NavigationData::OrientationType initialOri(0.1, 0.1, 0.1, 0.1);
mitk::ScalarType initialError(0.0);
bool initialValid(true);
mitk::NavigationData::Pointer nd1 = mitk::NavigationData::New();
nd1->SetPosition(initialPos1);
nd1->SetOrientation(initialOri);
nd1->SetPositionAccuracy(initialError);
nd1->SetDataValid(initialValid);
myFilter->SetInput(0, nd1);
mitk::NavigationData::Pointer output = myFilter->GetOutput(0);
output->Update();
//MITK_TEST_CONDITION(mitk::Equal(output->GetPosition(), resultPos1), "Testing ND1 position correctly transformed after ICP initialization");
}
//------------------------catch exception --> source points < 3------------------------
mitk::NavigationDataLandmarkTransformFilter::Pointer myFilter2 = mitk::NavigationDataLandmarkTransformFilter::New();
MITK_TEST_CONDITION_REQUIRED(myFilter2.IsNotNull(),"Testing instantiation for second filter");
mitk::PointSet::Pointer sourcePoints2 = mitk::PointSet::New();
MITK_TEST_FOR_EXCEPTION(std::exception, myFilter2->SetSourceLandmarks(sourcePoints2););
