Issue #168: added test to assert same images returned by using matric…

…es versus angle parametrisation

tests/widgets/test_lus_simulator.py

@@ -2,6 +2,7 @@
 
 import pytest
 import cv2
+import numpy as np
 import sksurgeryvtk.widgets.vtk_lus_simulator as lus
 
 
@@ -66,4 +67,91 @@ def test_basic_rendering_generator(setup_vtk_err):
                     masks[mask]
                     )
 
+def test_matrices_rendering_generator(setup_vtk_err):
+    """
+    Testing rendering generator returns the same images if matrix
+    used or params used.
+    """
 
+    _, app = setup_vtk_err
+
+    pytest.skip("Skipped, for now, as we can't publish test data.")
+
+    model_file = "tests/data/lus/surface_model_liver_probe.json"
+    background_file = "tests/data/rendering/background-960-x-540-black.png"
+    intrinsics_file = "tests/data/liver/calib.left.intrinsics.halved.txt"
+    reference_l2c_file = "tests/data/lus/spp_liver2camera.txt"
+    reference_p2c_file = "tests/data/lus/spp_liver2camera.txt"
+
+    generator = lus.VTKLUSSimulator(model_file,
+                                    background_file,
+                                    intrinsics_file,
+                                    reference_l2c_file,
+                                    reference_p2c_file)
+
+    # First generate image at reference pose exactly.
+    l2c, p2c, angle, position = generator.set_pose([0, 0, 0, 0, 0, 0], # anatomy rx, ry, rz, tx, ty, tz
+                                                   [0, 0, 0, 0, 0, 0], # probe rx, ry, rz, tx, ty, tz
+                                                   0,
+                                                   None
+                                                   )
+
+    generator.show()
+    generator.setFixedSize(960, 540)
+
+    image = generator.get_image()
+    cv2.imwrite('tests/output/lus_refererence_posn_image.png', image)
+    masks = generator.get_masks()
+    for mask in masks.keys():
+        cv2.imwrite('tests/output/lus_refererence_posn_mask_' + mask + '.png',
+                    masks[mask]
+                    )
+
+    # Check that the resulting masks with set_pose_with_matrices method are the same
+    generator.set_pose_with_matrices(p2c, l2c, angle)
+    generator.show()
+    generator.setFixedSize(960, 540)
+
+    image_w_matrix = generator.get_image()
+    cv2.imwrite('tests/output/lus_refererence_posn_image_w_matrices.png', image)
+    masks_w_matrix = generator.get_masks()
+    for mask in masks_w_matrix.keys():
+        cv2.imwrite('tests/output/lus_refererence_posn_mask_' + mask + '_w_matrices.png',
+                    masks_w_matrix[mask]
+                    )
+        assert np.allclose(masks_w_matrix[mask], masks[mask])
+
+    assert np.allclose(image, image_w_matrix)
+
+    # Now try another pose.
+    l2c, p2c, angle, position = generator.set_pose([20, 30, 40, 5, 10, 15], # anatomy rx, ry, rz, tx, ty, tz
+                                                   [2, 3, 4, 5, 6, 7], # probe rx, ry, rz, tx, ty, tz
+                                                   -20,
+                                                   [10.97657775878900566, -80.58924865722650566, -27.99212646484369316]
+                                                   )
+    generator.show()
+    generator.setFixedSize(960, 540)
+
+    image = generator.get_image()
+    cv2.imwrite('tests/output/lus_refererence_posn_image.png', image)
+    masks = generator.get_masks()
+    for mask in masks.keys():
+        cv2.imwrite('tests/output/lus_refererence_posn_mask_' + mask + '.png',
+                    masks[mask]
+                    )
+
+    # Check that the resulting masks with set_pose_with_matrices method are the same
+    generator.set_pose_with_matrices(p2c, l2c, angle)
+    generator.show()
+    generator.setFixedSize(960, 540)
+
+    image_w_matrix = generator.get_image()
+    cv2.imwrite('tests/output/lus_refererence_posn_image_w_matrices.png', image)
+    masks_w_matrix = generator.get_masks()
+    for mask in masks_w_matrix.keys():
+        cv2.imwrite('tests/output/lus_refererence_posn_mask_' + mask + '_w_matrices.png',
+                    masks_w_matrix[mask]
+                    )
+        assert np.allclose(masks_w_matrix[mask], masks[mask])
+
+    assert np.allclose(image, image_w_matrix)