/
test_functional.py
73 lines (54 loc) · 2.17 KB
/
test_functional.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
import unittest
import torch
import torchgeometry as dgm
# test utilies
def create_eye_batch(batch_size):
return torch.eye(3).view(1, 3, 3).expand(batch_size, -1, -1)
def create_random_homography(batch_size, std_val=1e-1):
std = std_val * torch.rand(batch_size, 3, 3)
eye = create_eye_batch(batch_size)
return eye + std
class Tester(unittest.TestCase):
def test_convert_points_to_homogeneous(self):
# generate input data
batch_size = 2
points = torch.rand(batch_size, 2, 3)
# to homogeneous
points_h = dgm.convert_points_to_homogeneous(points)
self.assertTrue((points_h[..., -1] == torch.ones(1, 2, 1)).all())
def test_convert_points_from_homogeneous(self):
# generate input data
batch_size = 2
points_h = torch.rand(batch_size, 2, 3)
points_h[..., -1] = 1.0
# to euclidean
points = dgm.convert_points_from_homogeneous(points_h)
error = torch.sum((points_h[..., :2] - points) ** 2)
self.assertAlmostEqual(error, 0.0)
def test_inverse(self):
# generate input data
batch_size = 2
homographies = create_random_homography(batch_size)
homographies_inv = dgm.inverse(homographies)
# H_inv * H == I
res = torch.matmul(homographies_inv, homographies)
eye = create_eye_batch(batch_size)
error = torch.sum((res - eye) ** 2)
self.assertAlmostEqual(error, 0.0)
def test_transform_points(self):
# generate input data
batch_size = 2
num_points = 2
num_dims = 2
points_src = torch.rand(batch_size, 2, num_dims)
dst_homo_src = create_random_homography(batch_size)
# transform the points from dst to ref
points_dst = dgm.transform_points(dst_homo_src, points_src)
# transform the points from ref to dst
src_homo_dst = dgm.inverse(dst_homo_src)
points_dst_to_src = dgm.transform_points(src_homo_dst, points_dst)
# projected should be equal as initial
error = torch.sum((points_src - points_dst_to_src) ** 2)
self.assertAlmostEqual(error, 0.0)
if __name__ == '__main__':
unittest.main()