def raysampler(
raysampler_type=GridRaysampler,
camera_type=PerspectiveCameras,
n_pts_per_ray=10,
batch_size=1,
image_width=10,
image_height=20,
):
device = torch.device("cuda")
# init raysamplers
raysampler = TestRaysampling.init_raysampler(
raysampler_type=raysampler_type,
min_x=-1.0,
max_x=1.0,
min_y=-1.0,
max_y=1.0,
image_width=image_width,
image_height=image_height,
min_depth=1.0,
max_depth=10.0,
n_pts_per_ray=n_pts_per_ray,
).to(device)
# init a batch of random cameras
cameras = init_random_cameras(camera_type, batch_size, random_z=True).to(device)
def run_raysampler():
raysampler(cameras=cameras)
torch.cuda.synchronize()
return run_raysampler
def test_ndc_convention(
self,
h=428,
w=760,
):
device = torch.device("cuda")
camera = init_random_cameras(PerspectiveCameras, 1,
random_z=True).to(device)
depth_map = torch.ones((1, 1, h, w)).to(device)
xyz = ray_bundle_to_ray_points(
NDCGridRaysampler(
image_width=w,
image_height=h,
n_pts_per_ray=1,
min_depth=1.0,
max_depth=1.0,
)(camera)._replace(lengths=depth_map[:, 0, ...,
None])).view(1, -1, 3)
# project pointcloud
xy = camera.transform_points(xyz)[:, :, :2].squeeze()
xy_grid = self._get_ndc_grid(h, w, device)
self.assertClose(
xy,
xy_grid,
atol=1e-4,
)
def test_corresponding_cameras_alignment(self):
"""
Checks the corresponding_cameras_alignment function.
"""
self.skipTest("Temporarily disabled pending investigation")
device = torch.device("cuda:0")
# try few different random setups
for _ in range(3):
for estimate_scale in (True, False):
# init true alignment transform
R_align_gt = random_rotations(1, device=device)[0]
T_align_gt = torch.randn(3, dtype=torch.float32, device=device)
# init true scale
if estimate_scale:
s_align_gt = torch.randn(1,
dtype=torch.float32,
device=device).exp()
else:
s_align_gt = torch.tensor(1.0,
dtype=torch.float32,
device=device)
for cam_type in (
SfMOrthographicCameras,
OpenGLPerspectiveCameras,
OpenGLOrthographicCameras,
SfMPerspectiveCameras,
):
# try well-determined and underdetermined cases
for batch_size in (10, 4, 3, 2, 1):
# get random cameras
cameras = init_random_cameras(cam_type,
batch_size,
random_z=True).to(device)
# try all alignment modes
for mode in ("extrinsics", "centers"):
# try different noise levels
for add_noise in (0.0, 0.01, 1e-4):
self._corresponding_cameras_alignment_test_case(
cameras,
R_align_gt,
T_align_gt,
s_align_gt,
estimate_scale,
mode,
add_noise,
)
def corresponding_cameras_alignment(
batch_size: int, estimate_scale: bool, mode: str, cam_type=SfMPerspectiveCameras
):
device = torch.device("cuda:0")
cameras_src, cameras_tgt = [
init_random_cameras(cam_type, batch_size, random_z=True).to(device)
for _ in range(2)
]
torch.cuda.synchronize()
def compute_corresponding_cameras_alignment():
corresponding_cameras_alignment(
cameras_src, cameras_tgt, estimate_scale=estimate_scale, mode=mode
)
torch.cuda.synchronize()
return compute_corresponding_cameras_alignment
def raysampler(
raysampler_type,
camera_type,
n_pts_per_ray: int,
batch_size: int,
image_width: int,
image_height: int,
) -> Callable[[], None]:
"""
Used for benchmarks.
"""
device = torch.device("cuda")
# init raysamplers
raysampler = TestRaysampling.init_raysampler(
raysampler_type=raysampler_type,
min_x=-1.0,
max_x=1.0,
min_y=-1.0,
max_y=1.0,
image_width=image_width,
image_height=image_height,
min_depth=1.0,
max_depth=10.0,
n_pts_per_ray=n_pts_per_ray,
).to(device)
# init a batch of random cameras
cameras = init_random_cameras(camera_type, batch_size,
random_z=True).to(device)
def run_raysampler() -> None:
raysampler(cameras=cameras)
torch.cuda.synchronize()
return run_raysampler
def test_raysamplers(
self,
batch_size=25,
min_x=-1.0,
max_x=1.0,
min_y=-1.0,
max_y=1.0,
image_width=10,
image_height=20,
min_depth=1.0,
max_depth=10.0,
):
"""
Tests the shapes and outputs of MC and GridRaysamplers for randomly
generated cameras and different numbers of points per ray.
"""
device = torch.device("cuda")
for n_pts_per_ray in (100, 1):
for raysampler_type in (
MonteCarloRaysampler,
GridRaysampler,
NDCGridRaysampler,
):
raysampler = TestRaysampling.init_raysampler(
raysampler_type=raysampler_type,
min_x=min_x,
max_x=max_x,
min_y=min_y,
max_y=max_y,
image_width=image_width,
image_height=image_height,
min_depth=min_depth,
max_depth=max_depth,
n_pts_per_ray=n_pts_per_ray,
)
if issubclass(raysampler_type, NDCGridRaysampler):
# adjust the gt bounds for NDCGridRaysampler
half_pix_width = 1.0 / image_width
half_pix_height = 1.0 / image_height
min_x_ = 1.0 - half_pix_width
max_x_ = -1.0 + half_pix_width
min_y_ = 1.0 - half_pix_height
max_y_ = -1.0 + half_pix_height
else:
min_x_ = min_x
max_x_ = max_x
min_y_ = min_y
max_y_ = max_y
# carry out the test over several camera types
for cam_type in (
FoVPerspectiveCameras,
FoVOrthographicCameras,
OrthographicCameras,
PerspectiveCameras,
):
# init a batch of random cameras
cameras = init_random_cameras(
cam_type, batch_size, random_z=True
).to(device)
# call the raysampler
ray_bundle = raysampler(cameras=cameras)
# check the shapes of the raysampler outputs
self._check_raysampler_output_shapes(
raysampler,
ray_bundle,
batch_size,
image_width,
image_height,
n_pts_per_ray,
)
# check the points sampled along each ray
self._check_raysampler_ray_points(
raysampler,
cameras,
ray_bundle,
min_x_,
max_x_,
min_y_,
max_y_,
image_width,
image_height,
min_depth,
max_depth,
)
# check the output direction vectors
self._check_raysampler_ray_directions(
cameras, raysampler, ray_bundle
)