def test_ray_box_intersection_shape_pairwise(self):
r = 10000
box_center = tf.random.uniform([r, 3],
minval=-1000.0,
maxval=1000.0,
dtype=tf.float32)
box_size = tf.random.uniform([r, 3],
minval=1.0,
maxval=100.0,
dtype=tf.float32)
box_rotation_matrix = tf.tile(
tf.expand_dims(tf.constant([[1, 0, 0], [0, 1, 0], [0, 0, 1]],
dtype=tf.float32),
axis=0), [r, 1, 1])
rays_start_point = tf.random.uniform([r, 3],
minval=-1000.0,
maxval=1000.0,
dtype=tf.float32)
rays_end_point = tf.random.uniform([r, 3],
minval=-1000.0,
maxval=1000.0,
dtype=tf.float32)
intersection_points, intersection_indices = box_utils.ray_box_intersection(
box_center=box_center,
box_rotation_matrix=box_rotation_matrix,
box_length=box_size[:, 0],
box_height=box_size[:, 1],
box_width=box_size[:, 2],
rays_start_point=rays_start_point,
rays_end_point=rays_end_point)
num_intersecting_rays = intersection_points.shape[0]
self.assertAllEqual(intersection_points.shape,
np.array([num_intersecting_rays, 2, 3]))
self.assertAllEqual(intersection_indices.shape,
np.array([num_intersecting_rays]))
def test_ray_box_intersection(self):
rays_start_point = tf.constant([[-1, 0, 0], [0, 0, 0], [-5, 0, 0]],
dtype=tf.float32)
rays_end_point = tf.constant([[1, 0, 0], [0, 1, 0], [-5, 1, 0]],
dtype=tf.float32)
box_center = tf.constant([0, 0, 0], dtype=tf.float32)
box_rotation_matrix = tf.constant([[1, 0, 0], [0, 1, 0], [0, 0, 1]],
dtype=tf.float32)
box_size = tf.constant([2.0, 4.0, 6.0], dtype=tf.float32)
intersection_points, intersection_indices = box_utils.ray_box_intersection(
box_center=box_center,
box_rotation_matrix=box_rotation_matrix,
box_length=box_size[0],
box_width=box_size[1],
box_height=box_size[2],
rays_start_point=rays_start_point,
rays_end_point=rays_end_point)
self.assertAllClose(
intersection_points.numpy(),
np.array([[[-1, 0, 0], [1, 0, 0]], [[0, -2, 0], [0, 2, 0]]]))
self.assertAllEqual(intersection_indices.numpy(), np.array([0, 1]))