def test_perspective(self):
cameras = PerspectiveCameras()
P = cameras.get_projection_transform()
vertices = torch.randn([3, 4, 3], dtype=torch.float32)
v1 = P.transform_points(vertices)
v2 = sfm_perspective_project_naive(vertices)
self.assertClose(v1, v2)
def test_perspective_kwargs(self):
cameras = PerspectiveCameras(focal_length=5.0, principal_point=((2.5, 2.5),))
P = cameras.get_projection_transform(
focal_length=2.0, principal_point=((2.5, 3.5),)
)
vertices = torch.randn([3, 4, 3], dtype=torch.float32)
v1 = P.transform_points(vertices)
v2 = sfm_perspective_project_naive(vertices, fx=2.0, fy=2.0, p0x=2.5, p0y=3.5)
self.assertClose(v1, v2, atol=1e-6)
def test_perspective_scaled(self):
focal_length_x = 10.0
focal_length_y = 15.0
p0x = 15.0
p0y = 30.0
cameras = PerspectiveCameras(
focal_length=((focal_length_x, focal_length_y),),
principal_point=((p0x, p0y),),
)
P = cameras.get_projection_transform()
vertices = torch.randn([3, 4, 3], dtype=torch.float32)
v1 = P.transform_points(vertices)
v2 = sfm_perspective_project_naive(
vertices, fx=focal_length_x, fy=focal_length_y, p0x=p0x, p0y=p0y
)
v3 = cameras.transform_points(vertices)
self.assertClose(v1, v2)
self.assertClose(v3[..., :2], v2[..., :2])