testUsBSpline3D.cpp

USTK usBSpline3D test

This example tests all functions declared in the usBSpline3D class.

/****************************************************************************
 *
 * This file is part of the UsNeedleDetection software.
 * Copyright (C) 2013 - 2016 by Inria. All rights reserved.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License ("GPL") as
 * published by the Free Software Foundation, either version 3 of the
 * License, or (at your option) any later version.
 * See the file COPYING at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact the
 * authors at Alexandre.Krupa@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Author:
 * Jason Chevrie
 *
 *****************************************************************************/
 
#include <visp3/ustk_core/usBSpline3D.h>
 
#include <vector>
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpHomogeneousMatrix.h>
 
int main()
{
  std::cout << "Start testUsBSpline3D" << std::endl;
  usBSpline3D spline;
  std::cout << "done: usBSpline3D default contructor" << std::endl;
  usBSpline3D spline2(spline);
  std::cout << "done: usBSpline3D copy contructor" << std::endl;
  spline = spline2;
  std::cout << "done: usBSpline3D assignment operator" << std::endl;
  usBSpline3D *spline3 = spline.clone();
  std::cout << "done: usBSpline3D polymorphic copy" << std::endl;
 
  std::vector<vpColVector> points(4, vpColVector(3, 0));
  points.at(1)[0] = 1;
  points.at(2)[1] = 2;
  points.at(3)[2] = 1;
  std::vector<double> params(4, 0);
  for (int i = 0; i < 4; i++)
    params[i] = i;
  usPolynomialCurve3D curve1;
  curve1.defineFromPoints(points, params, 3);
  usPolynomialCurve3D curve2(curve1);
  curve2.move(1, 0.5, 0, 1, 0, 0);
  usPolynomialCurve3D curve3(curve2);
  curve3.move(-0.5, 0, -0.5, 0, 1, 0.5);
 
  spline.addSegment(curve1);
  std::cout << "done: usBSpline3D::addSegment" << std::endl;
  spline.addSegment(curve3);
  spline.insertSegment(1, curve1);
  std::cout << "done: usBSpline3D::insertSegment" << std::endl;
 
  spline.setSegment(1, curve2);
  std::cout << "done: usBSpline3D::setSegment" << std::endl;
 
  spline.removeSegment(1);
  std::cout << "done: usBSpline3D::removeSegment" << std::endl;
  spline.removeLastSegment();
  std::cout << "done: usBSpline3D::removeLastSegment" << std::endl;
 
  spline.addSegment(curve2);
  spline.addSegment(curve3);
  spline.removeSegments(1, 2);
  std::cout << "done: usBSpline3D::removeSegments" << std::endl;
 
  spline.getNbSegments();
  std::cout << "done: usBSpline3D::getNbSegments" << std::endl;
  spline.getParametricLength();
  std::cout << "done: usBSpline3D::getParametricLength" << std::endl;
  spline.getLength(100);
  std::cout << "done: usBSpline3D::getLength" << std::endl;
 
  spline.clear();
  std::cout << "done: usBSpline3D::clear" << std::endl;
 
  std::vector<double> lengths(3, 1);
  spline.defineFromPoints(points, lengths, 3);
  std::cout << "done: usBSpline3D::defineFromPoints" << std::endl;
 
  curve2 = spline.accessSegment(1);
  std::cout << "done: usBSpline3D::accessSegment const" << std::endl;
  curve3 = spline.accessLastSegment();
  std::cout << "done: usBSpline3D::accessLastSegment const" << std::endl;
  spline.accessSegment(1) = curve2;
  std::cout << "done: usBSpline3D::addSegment" << std::endl;
  spline.accessLastSegment() = curve3;
  std::cout << "done: usBSpline3D::addSegment" << std::endl;
  *spline3 = spline.getSubSpline(0.5, 1.5);
  std::cout << "done: usBSpline3D::getSubSpline" << std::endl;
 
  spline.move(vpHomogeneousMatrix(0.5, -0.25, 0.1, 1, -1, 0.2));
  std::cout << "done: usBSpline3D::move(const vpHomogeneousMatrix&)" << std::endl;
  spline.move(0.5, -0.25, 0.1, 1, -1, 0.2);
  std::cout << "done: usBSpline3D::move(double,double,double,double,double,double)" << std::endl;
 
  spline.getPoint(1.2);
  std::cout << "done: usBSpline3D::getPoint" << std::endl;
  spline.getTangent(1.2);
  std::cout << "done: usBSpline3D::getTangent" << std::endl;
  spline.getDistanceFromPoint(points.at(1), 0, -1, 1e-6);
  std::cout << "done: usBSpline3D::getDistanceFromPoint" << std::endl;
  int index;
  double param;
  spline.getParametersFromLength(1.5, index, param);
  std::cout << "done: usBSpline3D::getParametersFromLength" << std::endl;
 
  vpColVector center3D;
  vpColVector direction3D;
  spline.getCurvatureFromShape(0, 1, center3D, direction3D);
  std::cout << "done: usBSpline3D::getCurvatureFromShape" << std::endl;
 
  delete spline3;
  std::cout << "done: usBSpline3D::~usBSpline3D" << std::endl;
 
  return 0;
}