def warp(self, depth_src, rgb_dst, cam_intrinsic, pose_src, pose_dest):
cam_intrinsic = cam_intrinsic.squeeze(1)
pose_src = pose_src.squeeze(1)
pose_dest = pose_dest.squeeze(1)
height = rgb_dst.size()[2]
width = rgb_dst.size()[3]
height_tensor = torch.tensor([height])
width_tensor = torch.tensor([width])
# pinholes camera models
pinhole_dst = kornia.PinholeCamera(cam_intrinsic, pose_dest,
height_tensor, width_tensor)
pinhole_src = kornia.PinholeCamera(cam_intrinsic, pose_src,
height_tensor, width_tensor)
# create the depth warper, compute the projection matrix
warper = kornia.DepthWarper(pinhole_dst, height, width)
warper.compute_projection_matrix(pinhole_src)
# warp the destionation frame to reference by depth
recon_rgb_src = warper(depth_src, rgb_dst) # NxCxHxW
return recon_rgb_src
def test_pinhole_camera_attributes_batch2(self):
batch_size = 2
height, width = 4, 6
fx, fy, cx, cy = 1, 2, width / 2, height / 2
tx, ty, tz = 1, 2, 3
intrinsics = self._create_intrinsics(batch_size, fx, fy, cx, cy)
extrinsics = self._create_extrinsics(batch_size, tx, ty, tz)
height = torch.ones(batch_size) * height
width = torch.ones(batch_size) * width
pinhole = kornia.PinholeCamera(intrinsics, extrinsics, height, width)
assert pinhole.batch_size == batch_size
assert pinhole.fx.shape[0] == batch_size
assert pinhole.fy.shape[0] == batch_size
assert pinhole.cx.shape[0] == batch_size
assert pinhole.cy.shape[0] == batch_size
assert pinhole.tx.shape[0] == batch_size
assert pinhole.ty.shape[0] == batch_size
assert pinhole.tz.shape[0] == batch_size
assert pinhole.height.shape[0] == batch_size
assert pinhole.width.shape[0] == batch_size
assert pinhole.rt_matrix.shape == (batch_size, 3, 4)
assert pinhole.camera_matrix.shape == (batch_size, 3, 3)
assert pinhole.rotation_matrix.shape == (batch_size, 3, 3)
assert pinhole.translation_vector.shape == (batch_size, 3, 1)
def test_pinhole_camera_translation_setters(self):
batch_size = 1
height, width = 4, 6
fx, fy, cx, cy = 1, 2, width / 2, height / 2
tx, ty, tz = 1, 2, 3
intrinsics = self._create_intrinsics(batch_size, fx, fy, cx, cy)
extrinsics = self._create_extrinsics(batch_size, tx, ty, tz)
height = torch.ones(batch_size) * height
width = torch.ones(batch_size) * width
pinhole = kornia.PinholeCamera(intrinsics, extrinsics, height, width)
assert pinhole.tx.item() == tx
assert pinhole.ty.item() == ty
assert pinhole.tz.item() == tz
# add offset
pinhole.tx += 3.
pinhole.ty += 2.
pinhole.tz += 1.
assert pinhole.tx.item() == tx + 3.
assert pinhole.ty.item() == ty + 2.
assert pinhole.tz.item() == tz + 1.
# set to zero
pinhole.tx = 0.
pinhole.ty = 0.
pinhole.tz = 0.
assert pinhole.tx.item() == 0.
assert pinhole.ty.item() == 0.
assert pinhole.tz.item() == 0.
def test_smoke(self):
intrinsics = torch.eye(4)[None]
extrinsics = torch.eye(4)[None]
height = torch.ones(1)
width = torch.ones(1)
pinhole = kornia.PinholeCamera(intrinsics, extrinsics, height, width)
assert isinstance(pinhole, kornia.PinholeCamera)
def test_pinhole_camera_scale_inplace(self):
batch_size = 2
height, width = 4, 6
fx, fy, cx, cy = 1, 2, width / 2, height / 2
tx, ty, tz = 1, 2, 3
scale_val = 2.0
intrinsics = self._create_intrinsics(batch_size, fx, fy, cx, cy)
extrinsics = self._create_extrinsics(batch_size, tx, ty, tz)
height = torch.ones(batch_size) * height
width = torch.ones(batch_size) * width
scale_factor = torch.ones(batch_size) * scale_val
pinhole = kornia.PinholeCamera(intrinsics, extrinsics, height, width)
pinhole_scale = pinhole.clone()
pinhole_scale.scale_(scale_factor)
assert_allclose(pinhole_scale.intrinsics[..., 0, 0],
pinhole.intrinsics[..., 0, 0] * scale_val) # fx
assert_allclose(pinhole_scale.intrinsics[..., 1, 1],
pinhole.intrinsics[..., 1, 1] * scale_val) # fy
assert_allclose(pinhole_scale.intrinsics[..., 0, 2],
pinhole.intrinsics[..., 0, 2] * scale_val) # cx
assert_allclose(pinhole_scale.intrinsics[..., 1, 2],
pinhole.intrinsics[..., 1, 2] * scale_val) # cy
assert_allclose(pinhole_scale.height, pinhole.height * scale_val)
assert_allclose(pinhole_scale.width, pinhole.width * scale_val)
def test_pinhole_camera_attributes(self, device, dtype):
batch_size = 1
height, width = 4, 6
fx, fy, cx, cy = 1, 2, width / 2, height / 2
tx, ty, tz = 1, 2, 3
intrinsics = self._create_intrinsics(batch_size, fx, fy, cx, cy, device=device, dtype=dtype)
extrinsics = self._create_extrinsics(batch_size, tx, ty, tz, device=device, dtype=dtype)
height = torch.ones(batch_size, device=device, dtype=dtype) * height
width = torch.ones(batch_size, device=device, dtype=dtype) * width
pinhole = kornia.PinholeCamera(intrinsics, extrinsics, height, width)
assert pinhole.batch_size == batch_size
assert pinhole.fx.item() == fx
assert pinhole.fy.item() == fy
assert pinhole.cx.item() == cx
assert pinhole.cy.item() == cy
assert pinhole.tx.item() == tx
assert pinhole.ty.item() == ty
assert pinhole.tz.item() == tz
assert pinhole.height.item() == height
assert pinhole.width.item() == width
assert pinhole.rt_matrix.shape == (batch_size, 3, 4)
assert pinhole.camera_matrix.shape == (batch_size, 3, 3)
assert pinhole.rotation_matrix.shape == (batch_size, 3, 3)
assert pinhole.translation_vector.shape == (batch_size, 3, 1)
def test_smoke(self, device, dtype):
intrinsics = torch.eye(4, device=device, dtype=dtype)[None]
extrinsics = torch.eye(4, device=device, dtype=dtype)[None]
height = torch.ones(1, device=device, dtype=dtype)
width = torch.ones(1, device=device, dtype=dtype)
pinhole = kornia.PinholeCamera(intrinsics, extrinsics, height, width)
assert isinstance(pinhole, kornia.PinholeCamera)
def test_smoke(self, device):
intrinsics = torch.eye(4)[None].to(device)
extrinsics = torch.eye(4)[None].to(device)
height = torch.ones(1).to(device)
width = torch.ones(1).to(device)
pinhole = kornia.PinholeCamera(intrinsics, extrinsics, height, width)
assert isinstance(pinhole, kornia.PinholeCamera)
def test_pinhole_camera_scale(self, device, dtype):
batch_size = 2
height, width = 4, 6
fx, fy, cx, cy = 1, 2, width / 2, height / 2
tx, ty, tz = 1, 2, 3
scale_val = 2.0
intrinsics = self._create_intrinsics(batch_size, fx, fy, cx, cy, device=device, dtype=dtype)
extrinsics = self._create_extrinsics(batch_size, tx, ty, tz, device=device, dtype=dtype)
height = torch.ones(batch_size, device=device, dtype=dtype) * height
width = torch.ones(batch_size, device=device, dtype=dtype) * width
scale_factor = torch.ones(batch_size, device=device, dtype=dtype) * scale_val
pinhole = kornia.PinholeCamera(intrinsics, extrinsics, height, width)
pinhole_scale = pinhole.scale(scale_factor)
assert_close(
pinhole_scale.intrinsics[..., 0, 0], pinhole.intrinsics[..., 0, 0] * scale_val, atol=1e-4, rtol=1e-4
) # fx
assert_close(
pinhole_scale.intrinsics[..., 1, 1], pinhole.intrinsics[..., 1, 1] * scale_val, atol=1e-4, rtol=1e-4
) # fy
assert_close(
pinhole_scale.intrinsics[..., 0, 2], pinhole.intrinsics[..., 0, 2] * scale_val, atol=1e-4, rtol=1e-4
) # cx
assert_close(
pinhole_scale.intrinsics[..., 1, 2], pinhole.intrinsics[..., 1, 2] * scale_val, atol=1e-4, rtol=1e-4
) # cy
assert_close(pinhole_scale.height, pinhole.height * scale_val, atol=1e-4, rtol=1e-4)
assert_close(pinhole_scale.width, pinhole.width * scale_val, atol=1e-4, rtol=1e-4)