def test_b1_ch1_h3w3_ws23(self):
input = torch.arange(9.).view(1, 1, 3, 3)
m = kornia.contrib.ExtractTensorPatches((2, 3))
patches = m(input)
assert patches.shape == (1, 2, 1, 2, 3)
assert utils.check_equal_torch(input[0, :, 0:2, 0:3], patches[0, 0])
assert utils.check_equal_torch(input[0, :, 1:3, 0:3], patches[0, 1])
def test_warp_grid_offset_x1y1_depth1(self, batch_size):
height, width = 3, 5 # output shape
pinhole_src, pinhole_dst = self._create_pinhole_pair(batch_size)
pinhole_dst.tx += 1. # apply offset to tx
pinhole_dst.ty += 1. # apply offset to ty
# initialize depth to one
depth_src = torch.ones(batch_size, 1, height, width)
# create warper, initialize projection matrices and warp grid
warper = kornia.DepthWarper(pinhole_dst, height, width)
warper.compute_projection_matrix(pinhole_src)
grid_warped = warper.warp_grid(depth_src)
assert grid_warped.shape == (batch_size, height, width, 2)
# normalize base meshgrid
grid = warper.grid[..., :2]
grid_norm = normalize_pixel_coordinates(grid, height, width)
# check offset in x-axis
assert utils.check_equal_torch(grid_norm[..., -1, 0],
grid_warped[..., -2, 0])
# check that y-axis remain the same
assert utils.check_equal_torch(grid_norm[..., -1, :, 1],
grid_warped[..., -2, :, 1])
def test_inverse_pinhole_matrix(batch_size, device_type):
# generate input data
image_height, image_width = 32., 32.
cx, cy = image_width / 2, image_height / 2
fx, fy = 1., 1.
rx, ry, rz = 0., 0., 0.
tx, ty, tz = 0., 0., 0.
offset_x = 10. # we will apply a 10units offset to `i` camera
eps = 1e-6
pinhole = utils.create_pinhole(
fx, fy, cx, cy, image_height, image_width, rx, ry, rx, tx, ty, tz)
pinhole = pinhole.repeat(batch_size, 1).to(torch.device(device_type))
pinhole_matrix = tgm.inverse_pinhole_matrix(pinhole)
ones = torch.ones(batch_size)
assert utils.check_equal_torch(pinhole_matrix[:, 0, 0], (1. / fx) * ones)
assert utils.check_equal_torch(pinhole_matrix[:, 1, 1], (1. / fy) * ones)
assert utils.check_equal_torch(
pinhole_matrix[:, 0, 2], (-1. * cx / fx) * ones)
assert utils.check_equal_torch(
pinhole_matrix[:, 1, 2], (-1. * cy / fx) * ones)
# functional
assert tgm.InversePinholeMatrix()(pinhole).shape == (batch_size, 4, 4)
# evaluate function gradient
pinhole = utils.tensor_to_gradcheck_var(pinhole) # to var
assert gradcheck(tgm.pinhole_matrix, (pinhole,),
raise_exception=True)
def test_warp_perspective_crop(self):
# generate input data
batch_size = 1
src_h, src_w = 3, 4
dst_h, dst_w = 3, 2
# [x, y] origin
# top-left, top-right, bottom-right, bottom-left
points_src = torch.FloatTensor([[
[1, 0], [2, 0], [2, 2], [1, 2],
]])
# [x, y] destination
# top-left, top-right, bottom-right, bottom-left
points_dst = torch.FloatTensor([[
[0, 0], [dst_w - 1, 0], [dst_w - 1, dst_h - 1], [0, dst_h - 1],
]])
# compute transformation between points
dst_pix_trans_src_pix = tgm.get_perspective_transform(
points_src, points_dst)
# create points grid in normalized coordinates
grid_src_norm = tgm.create_meshgrid(src_h, src_w,
normalized_coordinates=True)
grid_src_norm = torch.unsqueeze(grid_src_norm, dim=0)
# create points grid in pixel coordinates
grid_src_pix = tgm.create_meshgrid(src_h, src_w,
normalized_coordinates=False)
grid_src_pix = torch.unsqueeze(grid_src_pix, dim=0)
src_norm_trans_src_pix = tgm.normal_transform_pixel(src_h, src_w)
src_pix_trans_src_norm = tgm.inverse(src_norm_trans_src_pix)
dst_norm_trans_dst_pix = tgm.normal_transform_pixel(dst_h, dst_w)
# transform pixel grid
grid_dst_pix = tgm.transform_points(
dst_pix_trans_src_pix, grid_src_pix)
grid_dst_norm = tgm.transform_points(
dst_norm_trans_dst_pix, grid_dst_pix)
# transform norm grid
dst_norm_trans_src_norm = torch.matmul(
dst_norm_trans_dst_pix, torch.matmul(
dst_pix_trans_src_pix, src_pix_trans_src_norm))
grid_dst_norm2 = tgm.transform_points(
dst_norm_trans_src_norm, grid_src_norm)
# grids should be equal
self.assertTrue(utils.check_equal_torch(
grid_dst_norm, grid_dst_norm2))
# warp tensor
patch = torch.rand(batch_size, 1, src_h, src_w)
patch_warped = tgm.warp_perspective(
patch, dst_pix_trans_src_pix, (dst_h, dst_w))
self.assertTrue(utils.check_equal_torch(
patch[:, :, :3, 1:3], patch_warped))
def _test_b1_ch1_h3w4_ws23(self):
input = torch.arange(12.).view(1, 1, 3, 4)
m = tgm.contrib.ExtractTensorPatches((2, 3))
patches = m(input)
assert patches.shape == (1, 4, 1, 2, 3)
assert utils.check_equal_torch(input[0, :, 0:2, 0:3], patches[0, 0])
assert utils.check_equal_torch(input[0, :, 0:2, 1:4], patches[0, 1])
assert utils.check_equal_torch(input[0, :, 1:3, 0:3], patches[0, 2])
assert utils.check_equal_torch(input[0, :, 1:3, 1:4], patches[0, 3])
def test_b1_ch1_h4w4_ws3(self):
input = torch.arange(16.).view(1, 1, 4, 4)
m = kornia.contrib.ExtractTensorPatches(3)
patches = m(input)
assert patches.shape == (1, 4, 1, 3, 3)
assert utils.check_equal_torch(input[0, :, :3, :3], patches[0, 0])
assert utils.check_equal_torch(input[0, :, :3, 1:], patches[0, 1])
assert utils.check_equal_torch(input[0, :, 1:, :3], patches[0, 2])
assert utils.check_equal_torch(input[0, :, 1:, 1:], patches[0, 3])
def test_b1_ch1_h4w4_ws2(self):
input = torch.arange(16.).view(1, 1, 4, 4)
m = kornia.contrib.ExtractTensorPatches(2)
patches = m(input)
assert patches.shape == (1, 9, 1, 2, 2)
assert utils.check_equal_torch(input[0, :, 0:2, 1:3], patches[0, 1])
assert utils.check_equal_torch(input[0, :, 0:2, 2:4], patches[0, 2])
assert utils.check_equal_torch(input[0, :, 1:3, 1:3], patches[0, 4])
assert utils.check_equal_torch(input[0, :, 2:4, 1:3], patches[0, 7])
def test_b1_ch1_h4w4_ws2_stride21(self):
input = torch.arange(16.).view(1, 1, 4, 4)
m = kornia.contrib.ExtractTensorPatches(2, stride=(2, 1))
patches = m(input)
assert patches.shape == (1, 6, 1, 2, 2)
assert utils.check_equal_torch(input[0, :, 0:2, 1:3], patches[0, 1])
assert utils.check_equal_torch(input[0, :, 0:2, 2:4], patches[0, 2])
assert utils.check_equal_torch(input[0, :, 2:4, 0:2], patches[0, 3])
assert utils.check_equal_torch(input[0, :, 2:4, 2:4], patches[0, 5])
def test_b1_ch1_h3w3_ws2_stride1_padding1(self):
input = torch.arange(9.).view(1, 1, 3, 3)
m = kornia.contrib.ExtractTensorPatches(2, stride=1, padding=1)
patches = m(input)
assert patches.shape == (1, 16, 1, 2, 2)
assert utils.check_equal_torch(input[0, :, 0:2, 0:2], patches[0, 5])
assert utils.check_equal_torch(input[0, :, 0:2, 1:3], patches[0, 6])
assert utils.check_equal_torch(input[0, :, 1:3, 0:2], patches[0, 9])
assert utils.check_equal_torch(input[0, :, 1:3, 1:3], patches[0, 10])
def test_b1_ch2_h4w4_ws3(self):
input = torch.arange(16.).view(1, 1, 4, 4)
input = input.expand(-1, 2, -1, -1) # copy all channels
m = kornia.contrib.ExtractTensorPatches(3)
patches = m(input)
assert patches.shape == (1, 4, 2, 3, 3)
assert utils.check_equal_torch(input[0, :, :3, :3], patches[0, 0])
assert utils.check_equal_torch(input[0, :, :3, 1:], patches[0, 1])
assert utils.check_equal_torch(input[0, :, 1:, :3], patches[0, 2])
assert utils.check_equal_torch(input[0, :, 1:, 1:], patches[0, 3])
def test_b2_ch1_h3w3_ws2_stride1_padding1(self):
batch_size = 2
input = torch.arange(9.).view(1, 1, 3, 3)
input = input.expand(batch_size, -1, -1, -1)
m = kornia.contrib.ExtractTensorPatches(2, stride=1, padding=1)
patches = m(input)
assert patches.shape == (batch_size, 16, 1, 2, 2)
for i in range(batch_size):
assert utils.check_equal_torch(input[i, :, 0:2, 0:2], patches[i,
5])
assert utils.check_equal_torch(input[i, :, 0:2, 1:3], patches[i,
6])
assert utils.check_equal_torch(input[i, :, 1:3, 0:2], patches[i,
9])
assert utils.check_equal_torch(input[i, :, 1:3, 1:3], patches[i,
10])
def test_get_perspective_transform(batch_size, device_type):
# generate input data
device = torch.device(device_type)
h_max, w_max = 64, 32 # height, width
h = torch.ceil(h_max * torch.rand(batch_size)).to(device)
w = torch.ceil(w_max * torch.rand(batch_size)).to(device)
norm = torch.rand(batch_size, 4, 2).to(device)
points_src = torch.zeros_like(norm)
points_src[:, 1, 0] = h
points_src[:, 2, 1] = w
points_src[:, 3, 0] = h
points_src[:, 3, 1] = w
points_dst = points_src + norm
# compute transform from source to target
dst_homo_src = tgm.get_perspective_transform(points_src, points_dst)
assert utils.check_equal_torch(
tgm.transform_points(dst_homo_src, points_src), points_dst)
# compute gradient check
points_src = utils.tensor_to_gradcheck_var(points_src) # to var
points_dst = utils.tensor_to_gradcheck_var(points_dst) # to var
assert gradcheck(tgm.get_perspective_transform, (
points_src,
points_dst,
),
raise_exception=True)
def test_homography_i_H_ref(batch_size, device_type):
# generate input data
device = torch.device(device_type)
image_height, image_width = 32., 32.
cx, cy = image_width / 2, image_height / 2
fx, fy = 1., 1.
rx, ry, rz = 0., 0., 0.
tx, ty, tz = 0., 0., 0.
offset_x = 10. # we will apply a 10units offset to `i` camera
eps = 1e-6
pinhole_ref = utils.create_pinhole(fx, fy, cx, cy, image_height,
image_width, rx, ry, rx, tx, ty, tz)
pinhole_ref = pinhole_ref.repeat(batch_size, 1).to(device)
pinhole_i = utils.create_pinhole(fx, fy, cx, cy, image_height, image_width,
rx, ry, rx, tx + offset_x, ty, tz)
pinhole_i = pinhole_i.repeat(batch_size, 1).to(device)
# compute homography from ref to i
i_H_ref = tgm.homography_i_H_ref(pinhole_i, pinhole_ref) + eps
i_H_ref_inv = torch.inverse(i_H_ref)
# compute homography from i to ref
ref_H_i = tgm.homography_i_H_ref(pinhole_ref, pinhole_i) + eps
assert utils.check_equal_torch(i_H_ref_inv, ref_H_i)
# evaluate function gradient
assert gradcheck(tgm.homography_i_H_ref, (
utils.tensor_to_gradcheck_var(pinhole_ref) + eps,
utils.tensor_to_gradcheck_var(pinhole_i) + eps,
),
raise_exception=True)
def test_homography_i_H_ref(self):
# generate input data
image_height, image_width = 32., 32.
cx, cy = image_width / 2, image_height / 2
fx, fy = 1., 1.
rx, ry, rz = 0., 0., 0.
tx, ty, tz = 0., 0., 0.
offset_x = 10. # we will apply a 10units offset to `i` camera
pinhole_ref = utils.create_pinhole(fx, fy, cx, cy, image_height,
image_width, rx, ry, rx, tx, ty, tz)
pinhole_i = utils.create_pinhole(fx, fy, cx, cy, image_height,
image_width, rx, ry, rx,
tx + offset_x, ty, tz)
# compute homography from ref to i
i_H_ref = tgm.homography_i_H_ref(pinhole_i, pinhole_ref)
i_H_ref_inv = tgm.inverse(i_H_ref)
# compute homography from i to ref
ref_H_i = tgm.homography_i_H_ref(pinhole_ref, pinhole_i)
res = utils.check_equal_torch(i_H_ref_inv, ref_H_i)
self.assertTrue(res)
def test_ssim(batch_shape, device_type, window_size, reduction_type):
# input data
device = torch.device(device_type)
img1 = torch.rand(batch_shape).to(device)
img2 = torch.rand(batch_shape).to(device)
ssim = tgm.losses.SSIM(window_size, reduction_type)
ssim_loss_val = ssim(img1, img2)
if reduction_type == 'none':
assert ssim_loss_val.shape == batch_shape
else:
assert ssim_loss_val.dim() == 0
assert pytest.approx(ssim(img1, img1).sum().item(), 0.0)
assert pytest.approx(ssim(img2, img2).sum().item(), 0.0)
# functional
assert utils.check_equal_torch(
ssim_loss_val, tgm.losses.ssim(
img1, img2, window_size, reduction_type))
# evaluate function gradient
img1 = utils.tensor_to_gradcheck_var(img1) # to var
img2 = utils.tensor_to_gradcheck_var(img2, requires_grad=False) # to var
assert gradcheck(ssim, (img1, img2,), raise_exception=True)
def test_warp_perspective(self):
# generate input data
batch_size = 1
height, width = 16, 32
alpha = tgm.pi / 2 # 90 deg rotation
# create data patch
patch = torch.rand(batch_size, 1, height, width)
# create transformation (rotation)
M = torch.tensor([[
[torch.cos(alpha), -torch.sin(alpha), 0.],
[torch.sin(alpha), torch.cos(alpha), 0.],
[0., 0., 1.],
]]) # Bx3x3
# apply transformation and inverse
_, _, h, w = patch.shape
patch_warped = tgm.warp_perspective(patch, M, dsize=(height, width))
patch_warped_inv = tgm.warp_perspective(patch_warped, tgm.inverse(M),
dsize=(height, width))
# generate mask to compute error
mask = torch.ones_like(patch)
mask_warped_inv = tgm.warp_perspective(
tgm.warp_perspective(patch, M, dsize=(height, width)),
tgm.inverse(M), dsize=(height, width))
res = utils.check_equal_torch(mask_warped_inv * patch,
mask_warped_inv * patch_warped_inv)
self.assertTrue(res)
def test_translation_Bx4x4(self, batch_size):
offset = 10
trans_01 = identity_matrix(batch_size)
trans_01[..., :3, -1] += offset # add offset to translation vector
trans_10 = tgm.inverse_transformation(trans_01)
trans_01_hat = tgm.inverse_transformation(trans_10)
assert utils.check_equal_torch(trans_01, trans_01_hat)
def test_translation_Bx4x4(self, batch_size):
offset = 10
trans_01 = identity_matrix(batch_size)
trans_12 = identity_matrix(batch_size)
trans_12[..., :3, -1] += offset # add offset to translation vector
trans_02 = tgm.compose_transformations(trans_01, trans_12)
assert utils.check_equal_torch(trans_02, trans_12)
def test_translation_4x4(self):
offset = 10
trans_01 = identity_matrix(batch_size=1)[0]
trans_12 = identity_matrix(batch_size=1)[0]
trans_12[..., :3, -1] += offset # add offset to translation vector
trans_02 = tgm.boxplus_transformation(trans_01, trans_12)
assert utils.check_equal_torch(trans_02, trans_12)
def test_two_classes(self):
num_classes = 2
actual = torch.tensor([[1, 1, 1, 1, 0, 0, 0, 0]])
predicted = torch.tensor([[1, 1, 1, 1, 0, 0, 0, 1]])
conf_mat = tgm.metrics.confusion_matrix(predicted, actual, num_classes)
conf_mat_real = torch.tensor([[[3, 1], [0, 4]]], dtype=torch.float32)
assert utils.check_equal_torch(conf_mat, conf_mat_real)
def test_depth_warper(self):
# generate input data
batch_size = 1
height, width = 8, 8
cx, cy = width / 2, height / 2
fx, fy = 1., 1.
rx, ry, rz = 0., 0., 0.
tx, ty, tz = 0., 0., 0.
offset = 1. # we will apply a 1unit offset to `i` camera
pinhole_ref = utils.create_pinhole(fx, fy, cx, cy, height, width, rx,
ry, rx, tx, ty, tz)
pinhole_ref = pinhole_ref.expand(batch_size, -1)
pinhole_i = utils.create_pinhole(fx, fy, cx, cy, height, width, rx, ry,
rx, tx + offset, ty + offset, tz)
pinhole_i = pinhole_i.expand(batch_size, -1)
# create checkerboard
board = utils.create_checkerboard(height, width, 4)
patch_i = torch.from_numpy(board).view(1, 1, height, width).expand(
batch_size, 1, height, width)
# instantiate warper and compute relative homographies
warper = tgm.DepthWarper(pinhole_i)
warper.compute_homographies(pinhole_ref,
scale=torch.ones(batch_size, 1))
# generate synthetic inverse depth
inv_depth_ref = torch.ones(batch_size, 1, height, width)
# warpd source patch by depth
patch_ref = warper(inv_depth_ref, patch_i)
# compute error
res = utils.check_equal_torch(
patch_ref[..., :int(height - offset), :int(width - offset)],
patch_i[..., int(offset):, int(offset):])
self.assertTrue(res)
# test functional
patch_ref_functional = tgm.depth_warp(pinhole_i, pinhole_ref,
inv_depth_ref, patch_i)
res = utils.check_equal_torch(patch_ref, patch_ref_functional)
self.assertTrue(res)
def test_warp_grid_translation(self, shape, offset):
# create input data
height, width = shape
patch_src = torch.rand(1, 1, height, width)
dst_homo_src = utils.create_eye_batch(batch_size=1, eye_size=3)
dst_homo_src[..., 0, 2] = offset # apply offset in x
# instantiate warper
warper = tgm.HomographyWarper(height,
width,
normalized_coordinates=False)
flow = warper.warp_grid(dst_homo_src)
# the grid the src plus the offset should be equal to the flow
# on the x-axis, y-axis remains the same.
assert utils.check_equal_torch(warper.grid[..., 0] + offset, flow[...,
0])
assert utils.check_equal_torch(warper.grid[..., 1], flow[..., 1])
def test_translation(self, batch_size):
offset = 1.
channels, height, width = 1, 3, 4
aff_ab = torch.eye(2, 3).repeat(batch_size, 1, 1) # Bx2x3
aff_ab[..., -1] += offset
img_b = torch.arange(float(height * width)).view(
1, channels, height, width).repeat(batch_size, 1, 1, 1)
img_a = kornia.warp_affine(img_b, aff_ab, (height, width))
assert utils.check_equal_torch(img_b[..., :2, :3], img_a[..., 1:, 1:])
def test_translation_4x4(self):
offset = 10.
trans_01 = identity_matrix(batch_size=1)[0]
trans_02 = identity_matrix(batch_size=1)[0]
trans_02[..., :3, -1] += offset # add offset to translation vector
trans_12 = tgm.relative_transformation(trans_01, trans_02)
trans_02_hat = tgm.compose_transformations(trans_01, trans_12)
assert utils.check_equal_torch(trans_02_hat, trans_02)
def test_identity_resize(self, batch_shape):
# create input data
batch_size, channels, height, width = batch_shape
patch_src = torch.rand(batch_size, channels, height, width)
dst_homo_src = utils.create_eye_batch(batch_size, eye_size=3)
# instantiate warper warp from source to destination
warper = tgm.HomographyWarper(height // 2, width // 2)
patch_dst = warper(patch_src, dst_homo_src)
# check the corners
assert utils.check_equal_torch(patch_src[..., 0, 0], patch_dst[..., 0,
0])
assert utils.check_equal_torch(patch_src[..., 0, -1], patch_dst[..., 0,
-1])
assert utils.check_equal_torch(patch_src[..., -1, 0], patch_dst[...,
-1, 0])
assert utils.check_equal_torch(patch_src[..., -1, -1],
patch_dst[..., -1, -1])
def test_two_classes_perfect(self):
batch_size = 1
num_classes = 2
actual = torch.tensor([[1, 1, 1, 1, 0, 0, 0, 0]])
predicted = torch.tensor([[1, 1, 1, 1, 0, 0, 0, 0]])
mean_iou = tgm.metrics.mean_iou(predicted, actual, num_classes)
mean_iou_real = torch.tensor([[1.0, 1.0]], dtype=torch.float32)
assert mean_iou.shape == (batch_size, num_classes)
assert utils.check_equal_torch(mean_iou, mean_iou_real)
def test_three_classes(self):
num_classes = 3
actual = torch.tensor(
[[2, 2, 0, 0, 1, 0, 0, 2, 1, 1, 0, 0, 1, 2, 1, 0]])
predicted = torch.tensor(
[[2, 1, 0, 0, 0, 0, 0, 1, 0, 2, 2, 1, 0, 0, 2, 2]])
conf_mat = tgm.metrics.confusion_matrix(predicted, actual, num_classes)
conf_mat_real = torch.tensor([[[4, 1, 2], [3, 0, 2], [1, 2, 1]]],
dtype=torch.float32)
assert utils.check_equal_torch(conf_mat, conf_mat_real)
def test_two_classes_batch2(self):
batch_size = 2
num_classes = 2
actual = torch.tensor([[1, 1, 1, 1, 0, 0, 0, 0]]).repeat(batch_size, 1)
predicted = torch.tensor([[1, 1, 1, 1, 0, 0, 0,
1]]).repeat(batch_size, 1)
conf_mat = kornia.utils.metrics.confusion_matrix(
predicted, actual, num_classes)
conf_mat_real = torch.tensor([[[3, 1], [0, 4]]], dtype=torch.float32)
assert utils.check_equal_torch(conf_mat, conf_mat_real)
def test_identity(self):
# create input data
height, width = 2, 5
patch_src = torch.rand(1, 1, height, width)
dst_homo_src = utils.create_eye_batch(batch_size=1, eye_size=3)
# instantiate warper
warper = tgm.HomographyWarper(height, width)
# warp from source to destination
patch_dst = warper(patch_src, dst_homo_src)
assert utils.check_equal_torch(patch_src, patch_dst)
def test_translation(self, shape):
# create input data
offset = 2. # in pixel
height, width = shape
patch_src = torch.rand(1, 1, height, width)
dst_homo_src = utils.create_eye_batch(batch_size=1, eye_size=3)
dst_homo_src[..., 0, 2] = offset / (width - 1) # apply offset in x
# instantiate warper and from source to destination
warper = tgm.HomographyWarper(height, width)
patch_dst = warper(patch_src, dst_homo_src)
assert utils.check_equal_torch(patch_src[..., 1:], patch_dst[..., :-1])