def test_randomly_rotate_and_project_sequences_3d_to_2d(self):
keypoints_3d_t1 = tf.constant([[[1.0, 2.0, 3.0], [4.0, 5.0, 6.0]],
[[7.0, 8.0, 9.0], [10.0, 11.0, 12.0]],
[[13.0, 14.0, 15.0], [16.0, 17.0, 18.0]]])
keypoints_3d_t2 = tf.constant([[[1.2, 2.2, 3.2], [4.2, 5.2, 6.2]],
[[7.4, 8.4, 9.4], [10.4, 11.4, 12.4]],
[[13.8, 14.8, 15.8], [16.8, 17.8, 18.8]]])
keypoints_3d_t3 = tf.constant([[[1.5, 2.5, 3.5], [4.5, 5.5, 6.5]],
[[7.6, 8.6, 9.6], [10.6, 11.6, 12.6]],
[[13.7, 14.7, 15.7], [16.7, 17.7, 18.7]]])
keypoints_3d = tf.stack(
[keypoints_3d_t1, keypoints_3d_t2, keypoints_3d_t3],
axis=-3)
keypoints_2d = keypoint_utils.randomly_rotate_and_project_3d_to_2d(
keypoints_3d,
azimuth_range=(math.pi / 2.0, math.pi / 2.0),
elevation_range=(-math.pi / 2.0, -math.pi / 2.0),
roll_range=(math.pi, math.pi),
default_camera_z=2.0,
sequential_inputs=True)
self.assertAllClose(
keypoints_2d,
[[[[-1.0 / 5.0, 2.0 / 5.0], [-4.0 / 8.0, 5.0 / 8.0]],
[[-1.2 / 5.2, 2.2 / 5.2], [-4.2 / 8.2, 5.2 / 8.2]],
[[-1.5 / 5.5, 2.5 / 5.5], [-4.5 / 8.5, 5.5 / 8.5]]],
[[[-7.0 / 11.0, 8.0 / 11.0], [-10.0 / 14.0, 11.0 / 14.0]],
[[-7.4 / 11.4, 8.4 / 11.4], [-10.4 / 14.4, 11.4 / 14.4]],
[[-7.6 / 11.6, 8.6 / 11.6], [-10.6 / 14.6, 11.6 / 14.6]]],
[[[-13.0 / 17.0, 14.0 / 17.0], [-16.0 / 20.0, 17.0 / 20.0]],
[[-13.8 / 17.8, 14.8 / 17.8], [-16.8 / 20.8, 17.8 / 20.8]],
[[-13.7 / 17.7, 14.7 / 17.7], [-16.7 / 20.7, 17.7 / 20.7]]]])
def test_randomly_rotate_and_project_3d_to_2d(self):
keypoints_3d = tf.constant([[[2.0, 1.0, 3.0], [5.0, 4.0, 6.0]],
[[8.0, 7.0, 9.0], [11.0, 10.0, 12.0]],
[[14.0, 13.0, 15.0], [17.0, 16.0, 18.0]]])
keypoints_2d = keypoint_utils.randomly_rotate_and_project_3d_to_2d(
keypoints_3d,
azimuth_range=(math.pi / 2.0, math.pi / 2.0),
elevation_range=(-math.pi / 2.0, -math.pi / 2.0),
roll_range=(math.pi, math.pi),
normalized_camera_depth_range=(2.0, 2.0))
self.assertAllClose(
keypoints_2d,
[[[-1.0 / 4.0, -3.0 / 4.0], [-4.0 / 7.0, -6.0 / 7.0]],
[[-7.0 / 10.0, -9.0 / 10.0], [-10.0 / 13.0, -12.0 / 13.0]],
[[-13.0 / 16.0, -15.0 / 16.0], [-16.0 / 19.0, -18.0 / 19.0]]])
def test_randomly_rotate_and_project_3d_to_2d(self):
keypoints_3d = tf.constant([[[1.0, 2.0, 3.0], [4.0, 5.0, 6.0]],
[[7.0, 8.0, 9.0], [10.0, 11.0, 12.0]],
[[13.0, 14.0, 15.0], [16.0, 17.0, 18.0]]])
keypoints_2d = keypoint_utils.randomly_rotate_and_project_3d_to_2d(
keypoints_3d,
azimuth_range=(math.pi / 2.0, math.pi / 2.0),
elevation_range=(-math.pi / 2.0, -math.pi / 2.0),
roll_range=(math.pi, math.pi),
default_camera_z=2.0)
self.assertAllClose(
keypoints_2d,
[[[-1.0 / 5.0, 2.0 / 5.0], [-4.0 / 8.0, 5.0 / 8.0]],
[[-7.0 / 11.0, 8.0 / 11.0], [-10.0 / 14.0, 11.0 / 14.0]],
[[-13.0 / 17.0, 14.0 / 17.0], [-16.0 / 20.0, 17.0 / 20.0]]])
def test_randomly_rotate_and_project_sequences_3d_to_2d(self):
# Shape = [1, 4, 2, 3].
keypoints_3d = tf.constant([[[[2.0, 1.0, 3.0], [5.0, 4.0, 6.0]],
[[2.1, 1.1, 3.1], [5.1, 4.1, 6.1]],
[[2.2, 1.2, 3.2], [5.2, 4.2, 6.2]],
[[2.3, 1.3, 3.3], [5.3, 4.3, 6.3]]]])
# Shape = [1, 4, 2, 2].
keypoints_2d = keypoint_utils.randomly_rotate_and_project_3d_to_2d(
keypoints_3d,
azimuth_range=(math.pi / 2.0, math.pi / 2.0),
elevation_range=(-math.pi / 2.0, -math.pi / 2.0),
roll_range=(math.pi, math.pi),
normalized_camera_depth_range=(2.0, 2.0),
sequential_inputs=True)
self.assertAllClose(
keypoints_2d, [[[[-1.0 / 4.0, -3.0 / 4.0], [-4.0 / 7.0, -6.0 / 7.0]],
[[-1.1 / 4.1, -3.1 / 4.1], [-4.1 / 7.1, -6.1 / 7.1]],
[[-1.2 / 4.2, -3.2 / 4.2], [-4.2 / 7.2, -6.2 / 7.2]],
[[-1.3 / 4.3, -3.3 / 4.3], [-4.3 / 7.3, -6.3 / 7.3]]]])
