def testTransformBBoxes3DConsistentWithPoints(self):
num_boxes, num_points = 20, 100
points = tf.random_uniform((num_points, 3))
bboxes_3d = tf.random_uniform((num_boxes, 7))
in_bboxes = geometry.IsWithinBBox3D(points, bboxes_3d)
transforms = self._MakeTransformTestTranslationMatrices(1)[0]
points_transformed = geometry.TransformPoints(points, transforms)
bboxes_3d_transformed = geometry.TransformBBoxes3D(bboxes_3d, transforms)
in_bboxes_transformed = geometry.IsWithinBBox3D(points_transformed,
bboxes_3d_transformed)
with self.session() as sess:
actual_in_bboxes, actual_in_bboxes_transformed = sess.run(
(in_bboxes, in_bboxes_transformed))
self.assertAllEqual(actual_in_bboxes, actual_in_bboxes_transformed)
def testTransformBBoxes3D(self):
batch_size, num_boxes = 10, 20
bboxes_3d = tf.random_uniform((batch_size, num_boxes, 7))
transforms = self._MakeTransformTestTranslationMatrices(batch_size)
bboxes_3d_transformed = geometry.TransformBBoxes3D(bboxes_3d, transforms)
with self.session() as sess:
actual_bboxes_3d, actual_bboxes_3d_transformed = sess.run(
(bboxes_3d, bboxes_3d_transformed))
self.assertAllEqual(actual_bboxes_3d.shape,
actual_bboxes_3d_transformed.shape)
# Dimensions (slice 3:6) should remain unchanged.
self.assertAllClose(actual_bboxes_3d[..., 3:6],
actual_bboxes_3d_transformed[..., 3:6])
# Rotation should remain unchanged.
self.assertAllClose(actual_bboxes_3d[..., 6],
actual_bboxes_3d_transformed[..., 6])
# Center xyz should be different.
self.assertNotAllClose(actual_bboxes_3d[..., :3],
actual_bboxes_3d_transformed[..., :3])