def test_disparity_from_layers(self):
# A 3-layer 2x2 MPI. Only the alpha channel is relevant.
one = [0.0, 0.0, 0.0, 1.0]
zero = [0.0, 0.0, 0.0, 0.0]
half = [0.0, 0.0, 0.0, 0.5]
quarter = [0.0, 0.0, 0.0, 0.25]
layers = tf.constant([[[one, one], [one, one]],
[[one, zero], [half, quarter]],
[[one, half], [zero,
quarter]]]) # pyformat: disable
# Layer disparities will be 1, 2 and 3.
depths = mpi.make_depths(1.0 / 3.0, 1.0, 3)
disparity = mpi.disparity_from_layers(layers, depths)
self.assertAllClose(
disparity,
[[[3.0], [2.0]], [[1.5], [1.6875]]]) # pyformat: disable
def test_render(self):
red = [1.0, 0.0, 0.0, 1.0]
blue = [0.0, 0.0, 1.0, 1.0]
green = [0.0, 1.0, 0.0, 1.0]
none = [0.0, 0.0, 0.0, 0.0]
# An example 8x8 MPI with 3 layers:
layers = tf.constant([
# * a solid red background layer (8x8)
[[red, red, red, red, red, red, red, red]] * 8,
# * a 4x4 blue square in the center
[[none, none, none, none, none, none, none, none]] * 2 +
[[none, none, blue, blue, blue, blue, none, none]] * 4 +
[[none, none, none, none, none, none, none, none]] * 2,
# * a 2x2 green square in the center
[[none, none, none, none, none, none, none, none]] * 3 +
[[none, none, none, green, green, none, none, none]] * 2 +
[[none, none, none, none, none, none, none, none]] * 3
]) # pyformat: disable
# Disparities will be 1/6, 1/3, 1/2.
depths = mpi.make_depths(2.0, 6.0, 3)
# 90-degree field of view
intrinsics = tf.constant([0.5, 0.5, 0.5, 0.5])
identity_pose = tf.constant([[1.0, 0.0, 0.0,
0.0], [0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0,
0.0]]) # pyformat: disable
# Rendering at the reference position gives three concentric squares.
reference_image = mpi.render(layers, depths, identity_pose, intrinsics,
identity_pose, intrinsics)
r = [1.0, 0.0, 0.0]
g = [0.0, 1.0, 0.0]
b = [0.0, 0.0, 1.0]
self.assertAllClose(
reference_image,
[[r, r, r, r, r, r, r, r]] * 2 + [[r, r, b, b, b, b, r, r]] +
[[r, r, b, g, g, b, r, r]] * 2 + [[r, r, b, b, b, b, r, r]] +
[[r, r, r, r, r, r, r, r]] * 2) # pyformat: disable
# At the reference position with narrower field of view, we only see the
# inner two squares:
narrow_intrinsics = tf.constant([1.0, 1.0, 0.5, 0.5])
narrow_image = mpi.render(layers,
depths,
identity_pose,
intrinsics,
identity_pose,
narrow_intrinsics,
height=4,
width=4) # pyformat: disable
self.assertAllClose(narrow_image, [[b, b, b, b]] + [[b, g, g, b]] * 2 +
[[b, b, b, b]]) # pyformat: disable
# Back to wider field of view. If we move forward enough, the central
# green square fills the image:
close_pose = tf.constant([[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, -1.75]]) # pyformat: disable
close_image = mpi.render(layers,
depths,
identity_pose,
intrinsics,
close_pose,
intrinsics,
height=4,
width=4) # pyformat: disable
self.assertAllClose(close_image, [[g, g, g, g]] * 4)
# If we move far enough sideways, only the background layer is visible:
side_pose = tf.constant([[1.0, 0.0, 0.0, 5.0], [0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.0]]) # pyformat: disable
side_image = mpi.render(layers,
depths,
identity_pose,
intrinsics,
side_pose,
intrinsics,
height=5,
width=7) # pyformat: disable
self.assertAllClose(side_image, [[r, r, r, r, r, r, r]] * 5)
def test_make_depths(self):
self.assertAllClose(mpi.make_depths(2.0, 18.0, 2), [18.0, 2.0])
self.assertAllClose(mpi.make_depths(1.0, 10.0, 10),
[10.0 / (x + 1.0) for x in range(10)])