def test_clone(self):
"""
Check that cloned transformations contain different _matrix objects.
Also, the clone of a composed translation and rotation has to be
the same as composition of clones of translation and rotation.
"""
tr = Translate(torch.FloatTensor([[1.0, 2.0, 3.0]]))
R = torch.FloatTensor([[0.0, 1.0, 0.0], [0.0, 0.0, 1.0],
[1.0, 0.0, 0.0]])
R = Rotate(R)
# check that the _matrix property of clones of
# both transforms are different
for t in (R, tr):
self.assertTrue(t._matrix is not t.clone()._matrix)
# check that the _transforms lists of composition of R, tr contain
# different objects
t1 = Transform3d().compose(R, tr)
for t, t_clone in (t1._transforms, t1.clone()._transforms):
self.assertTrue(t is not t_clone)
self.assertTrue(t._matrix is not t_clone._matrix)
# check that all composed transforms are numerically equivalent
t2 = Transform3d().compose(R.clone(), tr.clone())
t3 = t1.clone()
for t_pair in ((t1, t2), (t1, t3), (t2, t3)):
matrix1 = t_pair[0].get_matrix()
matrix2 = t_pair[1].get_matrix()
self.assertTrue(torch.allclose(matrix1, matrix2))
def test_inverse(self, batch_size=5):
device = torch.device("cuda:0")
log_rot = torch.randn((batch_size, 3), dtype=torch.float32, device=device)
R = so3_exp_map(log_rot)
t = Rotate(R)
im = t.inverse()._matrix
im_2 = t._matrix.inverse()
im_comp = t.get_matrix().inverse()
self.assertTrue(torch.allclose(im, im_comp, atol=1e-4))
self.assertTrue(torch.allclose(im, im_2, atol=1e-4))
def test_inverse(self, batch_size=5):
device = torch.device("cuda:0")
# generate a random chain of transforms
for _ in range(10): # 10 different tries
# list of transform matrices
ts = []
for i in range(10):
choice = float(torch.rand(1))
if choice <= 1.0 / 3.0:
t_ = Translate(
torch.randn((batch_size, 3),
dtype=torch.float32,
device=device),
device=device,
)
elif choice <= 2.0 / 3.0:
t_ = Rotate(
so3_exponential_map(
torch.randn(
(batch_size, 3),
dtype=torch.float32,
device=device,
)),
device=device,
)
else:
rand_t = torch.randn((batch_size, 3),
dtype=torch.float32,
device=device)
rand_t = rand_t.sign() * torch.clamp(rand_t.abs(), 0.2)
t_ = Scale(rand_t, device=device)
ts.append(t_._matrix.clone())
if i == 0:
t = t_
else:
t = t.compose(t_)
# generate the inverse transformation in several possible ways
m1 = t.inverse(invert_composed=True).get_matrix()
m2 = t.inverse(invert_composed=True)._matrix
m3 = t.inverse(invert_composed=False).get_matrix()
m4 = t.get_matrix().inverse()
# compute the inverse explicitly ...
m5 = torch.eye(4, dtype=torch.float32, device=device)
m5 = m5[None].repeat(batch_size, 1, 1)
for t_ in ts:
m5 = torch.bmm(torch.inverse(t_), m5)
# assert all same
for m in (m1, m2, m3, m4):
self.assertTrue(torch.allclose(m, m5, atol=1e-3))
def test_to(self):
tr = Translate(torch.FloatTensor([[1.0, 2.0, 3.0]]))
R = torch.FloatTensor([[0.0, 1.0, 0.0], [0.0, 0.0, 1.0],
[1.0, 0.0, 0.0]])
R = Rotate(R)
t = Transform3d().compose(R, tr)
for _ in range(3):
t.cpu()
t.cuda()
t.cuda()
t.cpu()
def test_single_matrix(self):
R = torch.eye(3)
t = Rotate(R)
matrix = torch.tensor(
[[
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.0],
[0.0, 0.0, 0.0, 1.0],
]],
dtype=torch.float32,
)
self.assertTrue(torch.allclose(t._matrix, matrix))
def test_to(self):
tr = Translate(torch.FloatTensor([[1.0, 2.0, 3.0]]))
R = torch.FloatTensor([[0.0, 1.0, 0.0], [0.0, 0.0, 1.0],
[1.0, 0.0, 0.0]])
cpu_points = torch.rand(9, 3)
cuda_points = cpu_points.cuda()
R = Rotate(R)
t = Transform3d().compose(R, tr)
for _ in range(3):
t = t.cpu()
t.transform_points(cpu_points)
t = t.cuda()
t.transform_points(cuda_points)
t = t.cuda()
t = t.cpu()
def test_invalid_dimensions(self):
R = torch.eye(4)
with self.assertRaises(ValueError):
Rotate(R)
def test_to(self):
tr = Translate(torch.FloatTensor([[1.0, 2.0, 3.0]]))
R = torch.FloatTensor([[0.0, 1.0, 0.0], [0.0, 0.0, 1.0],
[1.0, 0.0, 0.0]])
R = Rotate(R)
t = Transform3d().compose(R, tr)
cpu_device = torch.device("cpu")
cpu_t = t.to("cpu")
self.assertEqual(cpu_device, cpu_t.device)
self.assertEqual(cpu_device, t.device)
self.assertEqual(torch.float32, cpu_t.dtype)
self.assertEqual(torch.float32, t.dtype)
self.assertIs(t, cpu_t)
cpu_t = t.to(cpu_device)
self.assertEqual(cpu_device, cpu_t.device)
self.assertEqual(cpu_device, t.device)
self.assertEqual(torch.float32, cpu_t.dtype)
self.assertEqual(torch.float32, t.dtype)
self.assertIs(t, cpu_t)
cpu_t = t.to(dtype=torch.float64, device=cpu_device)
self.assertEqual(cpu_device, cpu_t.device)
self.assertEqual(cpu_device, t.device)
self.assertEqual(torch.float64, cpu_t.dtype)
self.assertEqual(torch.float32, t.dtype)
self.assertIsNot(t, cpu_t)
cuda_device = torch.device("cuda:0")
cuda_t = t.to("cuda:0")
self.assertEqual(cuda_device, cuda_t.device)
self.assertEqual(cpu_device, t.device)
self.assertEqual(torch.float32, cuda_t.dtype)
self.assertEqual(torch.float32, t.dtype)
self.assertIsNot(t, cuda_t)
cuda_t = t.to(cuda_device)
self.assertEqual(cuda_device, cuda_t.device)
self.assertEqual(cpu_device, t.device)
self.assertEqual(torch.float32, cuda_t.dtype)
self.assertEqual(torch.float32, t.dtype)
self.assertIsNot(t, cuda_t)
cuda_t = t.to(dtype=torch.float64, device=cuda_device)
self.assertEqual(cuda_device, cuda_t.device)
self.assertEqual(cpu_device, t.device)
self.assertEqual(torch.float64, cuda_t.dtype)
self.assertEqual(torch.float32, t.dtype)
self.assertIsNot(t, cuda_t)
cpu_points = torch.rand(9, 3)
cuda_points = cpu_points.cuda()
for _ in range(3):
t = t.cpu()
t.transform_points(cpu_points)
t = t.cuda()
t.transform_points(cuda_points)
t = t.cuda()
t = t.cpu()