def test_unproject_random(self):
"""Test the unproject function using random 2d points."""
point_2d = np.random.uniform(size=(100, 2))
depth = np.random.uniform(size=(100, 1))
pred = orthographic.unproject(point_2d, depth)
self.assertAllEqual(pred[:, 0:2], point_2d)
self.assertAllEqual(pred[:, 2], np.squeeze(depth))
def test_unproject_jacobian_random(self):
"""Test the Jacobian of the unproject function."""
tensor_size = np.random.randint(3)
tensor_shape = np.random.randint(1, 10, size=(tensor_size)).tolist()
point_2d_init = np.random.uniform(size=tensor_shape + [2])
depth_init = np.random.uniform(size=tensor_shape + [1])
point_2d = tf.convert_to_tensor(value=point_2d_init)
depth = tf.convert_to_tensor(value=depth_init)
y = orthographic.unproject(point_2d, depth)
self.assert_jacobian_is_correct(point_2d, point_2d_init, y)
self.assert_jacobian_is_correct(depth, depth_init, y)