def test_pose_error(self):
"""
Test rotation and translation error metric.
"""
self.ground_truth = ProjectScene.load(self.data_path,
'bounding_box_sample2')
self.submission = ProjectScene.load(self.data_path,
'bounding_box_sample2')
self.settings.thresholds = [0.5]
# verify that correct pose is ok
evaluator = BBEvaluator(self.submission, self.ground_truth,
self.settings)
rotation_error, translation_error = evaluator.pose_error()
self.assertAlmostEqual(rotation_error, 0)
self.assertAlmostEqual(translation_error, 0)
# verify that rotation by symmetry amount is ok
pose_orig = self.submission.elements["1069"].pose
new_pose = Pose3(R=pose_orig.R * Rot3.Ry(math.pi), t=pose_orig.t)
self.submission.elements["1069"].pose = new_pose
evaluator = BBEvaluator(self.submission, self.ground_truth,
self.settings)
rotation_error, translation_error = evaluator.pose_error()
self.assertAlmostEqual(rotation_error, 0)
self.assertAlmostEqual(translation_error, 0)
# verify that rotation by non-symmetry amount give correct error
new_pose = Pose3(R=pose_orig.R * Rot3.Ry(math.radians(10)),
t=pose_orig.t)
self.submission.elements["1069"].pose = new_pose
evaluator = BBEvaluator(self.submission, self.ground_truth,
self.settings)
rotation_error, translation_error = evaluator.pose_error()
self.assertAlmostEqual(rotation_error, math.radians(10))
self.assertAlmostEqual(translation_error, 0)
# verify that translation gives translation error
new_pose = Pose3(R=pose_orig.R, t=pose_orig.t + [0.05, 0, 0])
self.submission.elements["1069"].pose = new_pose
evaluator = BBEvaluator(self.submission, self.ground_truth,
self.settings)
rotation_error, translation_error = evaluator.pose_error()
self.assertAlmostEqual(rotation_error, 0)
self.assertAlmostEqual(translation_error, 0.05)
# verify that empty sumission gives None, None
new_pose = Pose3(R=pose_orig.R, t=pose_orig.t + [1, 0, 0])
self.submission.elements["1069"].pose = new_pose
evaluator = BBEvaluator(self.submission, self.ground_truth,
self.settings)
rotation_error, translation_error = evaluator.pose_error()
self.assertEqual(rotation_error, None)
self.assertEqual(translation_error, None)
def test_to_rotation_matrix(self):
rot1 = self.q1.to_rotation_matrix()
np.testing.assert_array_almost_equal(rot1, np.identity(3))
M2 = Rot3.Rx(self.theta1).matrix()
rot2 = self.q2.to_rotation_matrix()
self.assertTrue(np.allclose(rot2, M2))
M3 = Rot3.Rz(self.theta2).matrix()
rot3 = self.q3.to_rotation_matrix()
np.testing.assert_array_almost_equal(rot3, M3)
def test_ENU_camera_w_photosphere(self):
# Make sure we agree with conventions at
# https://developers.google.com/streetview/spherical-metadata
pitch = 0.1
roll = 0.1
wRt = Rot3.ENU_camera(pitch=pitch, roll=roll)
expected_wRr = Rot3.Rx(pitch) * Rot3.Ry(roll) # from rotated to ENU
# But our tilted frame uses the camera convention.
# TODO: maybe it should not! Why do we do this?
expected_wRt = Rot3(expected_wRr * ENU_R_CAMERA)
np.testing.assert_array_almost_equal(
wRt.matrix(), expected_wRt.matrix(), decimal=2
)
def euler_to_matrix(e):
"""
Convert ZYX Euler angles to 3x3 rotation matrix.
Inputs:
e (numpy 3-vector of float) - ZYX Euler angles (radians)
Return:
matrix (3x3 numpy array2 of float) - rotation matrix
TODO: This could be optimized somewhat by using the direct
equations for the final matrix rather than multiplying out the
matrices.
"""
return (Rot3.Rz(e[0]) * Rot3.Ry(e[1]) * Rot3.Rx(e[2])).R
def test_transform_from(self):
'''Test transform_from.'''
t = Vector3(1, 1, 1)
R = Rot3()
T = Pose3(R, t).inverse()
cloud = PointCloud(np.zeros((3, 1)))
new_cloud = cloud.transform_from(T)
np.testing.assert_array_equal(new_cloud.points(),
[[-1.0], [-1.0], [-1.0]])
def test_from_xml(self):
'''Conversion from xml'''
# test common case
s = '<rotation><c1>1, 4, 7</c1><c2>2, 5, 8</c2><c3>3, 6, 9</c3></rotation>'
rot_xml = ET.fromstring(s)
rot = Rot3.from_xml(rot_xml)
expected_rot = Rot3(R=np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]]))
rot.assert_almost_equal(expected_rot)
# test missing field
s = '<rotation><c1>1, 4, 7</c1><c3>3, 6, 9</c3></rotation>'
self.assertRaises(ValueError, Rot3.from_xml, ET.fromstring(s))
# test incorrect field
s = '<rotation><foobar>1, 4, 7</foobar><c2>2, 5, 8</c2><c3>3, 6, 9</c3>\
</rotation>'
self.assertRaises(ValueError, Rot3.from_xml, ET.fromstring(s))
def test_to_xml(self):
'''
Test conversion to xml.
'''
rot = Rot3(R=np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]]))
rot_xml = rot.to_xml()
expected_xml = '<rotation><c1>1, 4, 7</c1><c2>2, 5, 8</c2><c3>3, 6, 9</c3>\
</rotation>'
self.assertEqual(ET.tostring(rot_xml, encoding='unicode'), expected_xml)
def test_register(self):
''' Test registering point clouds in different frames. '''
t = Vector3(1, 1, 1)
R = Rot3()
T = Pose3(R, t).inverse()
cloud = PointCloud(np.zeros((3, 1)))
registred_cloud = PointCloud.register([(Pose3(), cloud), (T, cloud)])
np.testing.assert_array_equal(
registred_cloud.points(),
np.column_stack([Vector3(0, 0, 0),
Vector3(-1.0, -1.0, -1.0)]))
def test_quat_matrix(self):
rx = 10 # degrees
ry = 20
rz = 30
Rx = Rot3.Rx(math.radians(rx))
Ry = Rot3.Ry(math.radians(ry))
Rz = Rot3.Rz(math.radians(rz))
# matrix -> quat
R = Rz * Ry * Rx
q = utils.matrix_to_quat(R.R)
expected_q = np.array([0.9515485, 0.0381346, 0.1893079,
0.2392983]) # computed manually
np.testing.assert_array_almost_equal(q, expected_q, 4)
# quat -> matrix
R2 = utils.quat_to_matrix(expected_q)
np.testing.assert_array_almost_equal(R2, R.R, 4)
# round trip
R2 = utils.quat_to_matrix(q)
np.testing.assert_array_almost_equal(R.R, R2, 4)
def test_RollPitchYaw(self):
roll, pitch, yaw = 0.1, 0.2, 0.3
np.testing.assert_array_equal(
Rot3.Rx(roll).matrix(), Rot3.AxisAngle(UNIT_X, roll).matrix()
)
np.testing.assert_array_equal(
Rot3.Ry(pitch).matrix(), Rot3.AxisAngle(UNIT_Y, pitch).matrix()
)
np.testing.assert_array_equal(
Rot3.Rz(yaw).matrix(), Rot3.AxisAngle(UNIT_Z, yaw).matrix()
)
def cylindrical_symmetric_rot(self, det_rot, gt_rot, axis):
"""
Compute rot that zeroes out the rotation error between
<det_rot> and <gt_rot> along axis <axis>.
Inputs
det_rot (Rot3) - rotation for detection
gt_rot (Rot3) - rotation for ground truth
axis (int) - cylindrical rotation axis (0=x, 1=y, 2=z)
Return:
Rot3 - new rotation matrix with gt set to det rotation on target axis
Algorithm:
1. convert to zyx Euler angles
2. set gt to detection value for target axis
3. convert back to matrix rep
"""
det_euler = utils.matrix_to_euler(det_rot.R)
gt_euler = utils.matrix_to_euler(gt_rot.R)
# note e[0] is z
det_euler[2 - axis] = gt_euler[2 - axis]
return Rot3(utils.euler_to_matrix(det_euler))
def test_ENU_camera(self):
d = 0.1 # positive pitch
wRt = Rot3.ENU_camera(pitch=d)
expected = np.transpose(np.array([[1, 0, 0], [0, d, -1], [0, 1, d]]))
np.testing.assert_array_almost_equal(wRt.matrix(), expected, decimal=2)
def setUp(self):
# Camera with z-axis looking at world y-axis
wRc = np.transpose(
np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]], dtype=float)
)
self.rot = Rot3(wRc)
def test_json(self):
'''Test conversion to/from json dict.'''
json_dict = self.rot.to_json()
decoded_rot = Rot3.from_json(json_dict)
decoded_rot.assert_almost_equal(self.rot)
print('colored_category.category_id_to_rgb(133):\n',
colored_category.category_id_to_rgb(133))
print('colored_category.category_name_to_rgb(\'shoes\'):\n',
colored_category.category_name_to_rgb('shoes'))
print('colored_category.LUT:\n', colored_category.LUT)
lut = colored_category.LUT
print('lut.shape[0]: ', lut.shape[0], 'lut.shape[1]: ', lut.shape[1])
from sumo.base.vector import Vector2, Vector2f, Vector3, Vector3f, on_left, unitize
print('unitize(Vector3(100, 201, 50)): ', unitize(Vector3(100, 201, 50)))
# rot3_tests
from sumo.geometry.rot3 import Rot3, ENU_R_CAMERA
import numpy as np
wRc = np.transpose(np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]], dtype=float))
rot = Rot3(wRc)
print(rot.matrix())
# MultiImageTiff
from sumo.geometry.inverse_depth import depth_image_of_inverse_depth_map
from sumo.images.multi_image_tiff import MultiImageTiff, MultiImagePageType
tiff_path = parutil.get_file_path(
'/mnt/lustre/sunjiankai/Dataset/sample_data/sumo-input/sumo-input.tif')
multi = MultiImageTiff.load(tiff_path)
print('multi.rgb.shape: ', multi.rgb.shape, 'multi.range.shape (Depth): ',
multi.range.shape, 'multi.category.shape (Category): ',
multi.category.shape, 'multi.instance.shape (Instance): ',
multi.instance.shape)
# multi.rgb.shape: (1024, 6144, 3) multi.range.shape: (1024, 6144) multi.category.shape: (1024, 6144) multi.instance.shape: (1024, 6144)
