def test_to_euler(self):
"""mtx -> euler -> mtx"""
data = random_rotations(13, dtype=torch.float64)
for convention in self._all_euler_angle_conventions():
euler_angles = matrix_to_euler_angles(data, convention)
mdata = euler_angles_to_matrix(euler_angles, convention)
self.assertTrue(torch.allclose(data, mdata))
def _testcase_from_2d(self, y, print_stats, benchmark, skip_q=False):
x_cam = torch.cat((y, torch.rand_like(y[:, :1]) * 2.0 + 3.5), dim=1)
x_cam[:, :2] *= x_cam[:, 2:] # unproject
R = rotation_conversions.random_rotations(16).to(y)
T = torch.randn_like(R[:, :1, :])
x_world = torch.matmul(x_cam - T, R.transpose(1, 2))
if print_stats:
print('Run without noise')
if benchmark: # return curried call
torch.cuda.synchronize()
def result():
self._run_and_print(x_world, y, R, T, False, skip_q)
torch.cuda.synchronize()
return result
self._run_and_print(
x_world, y, R, T, print_stats, skip_q, check_output=True
)
# in the noisy case, there are no guarantees, so we check it doesn't crash
if print_stats:
print('Run with noise')
x_world += torch.randn_like(x_world) * 0.1
self._run_and_print(x_world, y, R, T, print_stats, skip_q)
def random_rotation(batch_size, dim, device=None):
"""
Generates a batch of random `dim`-dimensional rotation matrices.
"""
if dim == 3:
R = rotation_conversions.random_rotations(batch_size,
device=device)
else:
# generate random rotation matrices with orthogonalization of
# random normal square matrices, followed by a transformation
# that ensures determinant(R)==1
H = torch.randn(batch_size,
dim,
dim,
dtype=torch.float32,
device=device)
U, _, V = torch.svd(H)
E = torch.eye(dim, dtype=torch.float32,
device=device)[None].repeat(batch_size, 1, 1)
E[:, -1, -1] = torch.det(torch.bmm(U, V.transpose(2, 1)))
R = torch.bmm(torch.bmm(U, E), V.transpose(2, 1))
assert torch.allclose(torch.det(R),
R.new_ones(batch_size),
atol=1e-4)
return R
def test_6d(self):
"""Converting to 6d and back"""
r = random_rotations(13, dtype=torch.float64)
# 6D representation is not unique,
# but we implement it by taking the first two rows of the matrix
r6d = matrix_to_rotation_6d(r)
self.assertClose(r6d, r[:, :2, :].reshape(-1, 6))
# going to 6D and back should not change the matrix
r_hat = rotation_6d_to_matrix(r6d)
self.assertClose(r_hat, r)
# moving the second row R2 in the span of (R1, R2) should not matter
r6d[:, 3:] += 2 * r6d[:, :3]
r6d[:, :3] *= 3.0
r_hat = rotation_6d_to_matrix(r6d)
self.assertClose(r_hat, r)
# check that we map anything to a valid rotation
r6d = torch.rand(13, 6)
r6d[:4, :] *= 3.0
r6d[4:8, :] -= 0.5
r = rotation_6d_to_matrix(r6d)
self.assertClose(torch.matmul(r, r.permute(0, 2, 1)),
torch.eye(3).expand_as(r),
atol=1e-6)
def test_raysampler_caching(self, batch_size=10):
"""
Tests the consistency of the NeRF raysampler caching.
"""
raysampler = NeRFRaysampler(
min_x=0.0,
max_x=10.0,
min_y=0.0,
max_y=10.0,
n_pts_per_ray=10,
min_depth=0.1,
max_depth=10.0,
n_rays_per_image=12,
image_width=10,
image_height=10,
stratified=False,
stratified_test=False,
invert_directions=True,
)
raysampler.eval()
cameras, rays = [], []
for _ in range(batch_size):
R = random_rotations(1)
T = torch.randn(1, 3)
focal_length = torch.rand(1, 2) + 0.5
principal_point = torch.randn(1, 2)
camera = PerspectiveCameras(
focal_length=focal_length,
principal_point=principal_point,
R=R,
T=T,
)
cameras.append(camera)
rays.append(raysampler(camera))
raysampler.precache_rays(cameras, list(range(batch_size)))
for cam_index, rays_ in enumerate(rays):
rays_cached_ = raysampler(
cameras=cameras[cam_index],
chunksize=None,
chunk_idx=0,
camera_hash=cam_index,
caching=False,
)
for v, v_cached in zip(rays_, rays_cached_):
self.assertTrue(torch.allclose(v, v_cached))
def test_K(self, batch_size=10):
T = torch.randn(batch_size, 3)
R = random_rotations(batch_size)
K = torch.randn(batch_size, 4, 4)
for cam_type in (
FoVOrthographicCameras,
FoVPerspectiveCameras,
OrthographicCameras,
PerspectiveCameras,
):
cam = cam_type(R=R, T=T, K=K)
cam.get_projection_transform()
def test_probabilistic_raysampler(self, batch_size=1, n_pts_per_ray=60):
"""
Check that the probabilistic ray sampler does not crash for various
settings.
"""
raysampler_grid = NeRFRaysampler(
min_x=0.0,
max_x=10.0,
min_y=0.0,
max_y=10.0,
n_pts_per_ray=n_pts_per_ray,
min_depth=1.0,
max_depth=10.0,
n_rays_per_image=12,
image_width=10,
image_height=10,
stratified=False,
stratified_test=False,
invert_directions=True,
)
R = random_rotations(batch_size)
T = torch.randn(batch_size, 3)
focal_length = torch.rand(batch_size, 2) + 0.5
principal_point = torch.randn(batch_size, 2)
camera = PerspectiveCameras(
focal_length=focal_length,
principal_point=principal_point,
R=R,
T=T,
)
raysampler_grid.eval()
ray_bundle = raysampler_grid(cameras=camera)
ray_weights = torch.rand_like(ray_bundle.lengths)
# Just check that we dont crash for all possible settings.
for stratified_test in (True, False):
for stratified in (True, False):
raysampler_prob = ProbabilisticRaysampler(
n_pts_per_ray=n_pts_per_ray,
stratified=stratified,
stratified_test=stratified_test,
add_input_samples=True,
)
for mode in ("train", "eval"):
getattr(raysampler_prob, mode)()
for _ in range(10):
raysampler_prob(ray_bundle, ray_weights)
def _generate_epnp_test_from_2d(cls, y):
"""
Instantiate random x_world, x_cam, R, T given a set of input
2D projections y.
"""
batch_size = y.shape[0]
x_cam = torch.cat((y, torch.rand_like(y[:, :, :1]) * 2.0 + 3.5), dim=2)
x_cam[:, :, :2] *= x_cam[:, :, 2:] # unproject
R = rotation_conversions.random_rotations(batch_size).to(y)
T = torch.randn_like(R[:, :1, :])
T[:, :, 2] = (T[:, :, 2] + 3.0).clamp(2.0)
x_world = torch.matmul(x_cam - T, R.transpose(1, 2))
return x_cam, x_world, R, T
def _test_degenerate_eigenvalues(self, device):
"""
Test degenerate eigenvalues like zero-valued and with 2-/3-multiplicity
"""
# Error tolerances for degenerate values are increased as things might become
# numerically unstable
deg_atol = 1e-3
deg_rtol = 1.0
# Construct random orthonormal sets
test_eigenvecs = random_rotations(n=self.TEST_BATCH_SIZE, device=device)
# Construct random eigenvalues
test_eigenvals = torch.randn(
(self.TEST_BATCH_SIZE, 3), device=test_eigenvecs.device
)
self._test_eigenvalues_and_eigenvectors(
test_eigenvecs, test_eigenvals, atol=deg_atol, rtol=deg_rtol
)
# First eigenvalue is always 0.0 here: [0.0 X Y]
test_eigenvals_with_zero = test_eigenvals.clone()
test_eigenvals_with_zero[..., 0] = 0.0
self._test_eigenvalues_and_eigenvectors(
test_eigenvecs, test_eigenvals_with_zero, atol=deg_atol, rtol=deg_rtol
)
# First two eigenvalues are always the same here: [X X Y]
test_eigenvals_with_multiplicity2 = test_eigenvals.clone()
test_eigenvals_with_multiplicity2[..., 1] = test_eigenvals_with_multiplicity2[
..., 0
]
self._test_eigenvalues_and_eigenvectors(
test_eigenvecs,
test_eigenvals_with_multiplicity2,
atol=deg_atol,
rtol=deg_rtol,
)
# All three eigenvalues are the same here: [X X X]
test_eigenvals_with_multiplicity3 = test_eigenvals_with_multiplicity2.clone()
test_eigenvals_with_multiplicity3[..., 2] = test_eigenvals_with_multiplicity2[
..., 0
]
self._test_eigenvalues_and_eigenvectors(
test_eigenvecs,
test_eigenvals_with_multiplicity3,
atol=deg_atol,
rtol=deg_rtol,
)
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 test_get_camera_center(self, batch_size=10):
T = torch.randn(batch_size, 3)
R = random_rotations(batch_size)
for cam_type in (
OpenGLPerspectiveCameras,
OpenGLOrthographicCameras,
SfMOrthographicCameras,
SfMPerspectiveCameras,
FoVOrthographicCameras,
FoVPerspectiveCameras,
OrthographicCameras,
PerspectiveCameras,
):
cam = cam_type(R=R, T=T)
C = cam.get_camera_center()
C_ = -torch.bmm(R, T[:, :, None])[:, :, 0]
self.assertTrue(torch.allclose(C, C_, atol=1e-05))
def init_transform(batch_size: int = 10):
"""
Initialize a list of `batch_size` 4x4 SE(3) transforms.
"""
device = torch.device("cuda:0")
transform = torch.zeros(batch_size,
4,
4,
dtype=torch.float32,
device=device)
transform[:, :3, :3] = random_rotations(batch_size,
dtype=torch.float32,
device=device)
transform[:, 3, :3] = torch.randn((batch_size, 3),
dtype=torch.float32,
device=device)
transform[:, 3, 3] = 1.0
return transform
def test_random_rotation_invariant(self):
"""The image of the x-axis isn't biased among quadrants."""
N = 1000
base = random_rotation()
quadrants = list(itertools.product([False, True], repeat=3))
matrices = random_rotations(N)
transformed = torch.matmul(base, matrices)
transformed2 = torch.matmul(matrices, base)
for k, results in enumerate([matrices, transformed, transformed2]):
counts = {i: 0 for i in quadrants}
for j in range(N):
counts[tuple(i.item() > 0 for i in results[j, 0])] += 1
average = N / 8.0
counts_tensor = torch.tensor(list(counts.values()))
chisquare_statistic = torch.sum(
(counts_tensor - average) * (counts_tensor - average) / average
)
# The 0.1 significance level for chisquare(8-1) is
# scipy.stats.chi2(7).ppf(0.9) == 12.017.
self.assertLess(chisquare_statistic, 12, (counts, chisquare_statistic, k))
def test_to_quat(self):
"""mtx -> quat -> mtx"""
data = random_rotations(13, dtype=torch.float64)
mdata = quaternion_to_matrix(matrix_to_quaternion(data))
self.assertTrue(torch.allclose(data, mdata))
def test_to_axis_angle(self):
"""mtx -> axis_angle -> mtx"""
data = random_rotations(13, dtype=torch.float64)
euler_angles = matrix_to_axis_angle(data)
mdata = axis_angle_to_matrix(euler_angles)
self.assertClose(data, mdata)