def test_2d(self):
for voxel_traversal in backends():
bbox = np.array([3, 3, 0, 6, 6, 1], dtype=np.float32)
grid_shape = np.array([3, 3, 1], dtype=np.int32)
voxels = np.empty((10, 3), dtype=np.int32)
# Check an almost straight line
voxels.fill(0)
ray_start = np.array([3., 4.1, 0.5], dtype=np.float32)
ray_end = np.array([6., 4.9, 0.5], dtype=np.float32)
N = voxel_traversal(bbox, grid_shape, voxels, ray_start, ray_end)
self.assertEqual(3, N)
self.assertTrue(np.all(voxels[:3, 1] == 1))
self.assertTrue(np.all(voxels[:3, 0] == np.arange(3)))
# Check a downwards line
voxels.fill(0)
ray_start = np.array([4., 6., 0.5], dtype=np.float32)
ray_end = np.array([6., 5., 0.5], dtype=np.float32)
N = voxel_traversal(bbox, grid_shape, voxels, ray_start, ray_end)
self.assertEqual(2, N)
# Check a diagonal line
voxels.fill(0)
ray_start = np.array([3., 3., 0.5], dtype=np.float32)
ray_end = np.array([6., 6., 0.5], dtype=np.float32)
N = voxel_traversal(bbox, grid_shape, voxels, ray_start, ray_end)
self.assertEqual(5, N)
# Check a reversed diagonal line
voxels.fill(0)
ray_start = np.array([6., 6., 0.5], dtype=np.float32)
ray_end = np.array([3., 3., 0.5], dtype=np.float32)
N = voxel_traversal(bbox, grid_shape, voxels, ray_start, ray_end)
self.assertEqual(5, N)
def test_depth_distribution(self):
# Define a 2d grid of size 6x6
bbox = np.array([0, 0, 0, 6, 6, 1], dtype=np.float32)
grid_shape = np.array([6, 6, 1], dtype=np.int32)
ray_voxels_indices = np.empty((2, 11, 3), dtype=np.int32)
ray_voxels_indices.fill(0)
S_total = np.zeros((2, 11), dtype=np.float32)
ray_voxel_count = []
# Ray 1
ray_start = np.array([0.0, 3.5, 0.5], dtype=np.float32)
ray_end = np.array([6.0, 0.5, 0.5], dtype=np.float32)
Nr = voxel_traversal(
bbox,
grid_shape,
ray_voxels_indices[0, :, :],
ray_start,
ray_end
)
ray_voxel_count.append(Nr)
S_total[0, 2] = 0.5
S_total[0, 6] = 0.5
# Ray 2
ray_start = np.array([0.0, 1.5, 0.5], dtype=np.float32)
ray_end = np.array([4.5, 6.0, 0.5], dtype=np.float32)
Nr = voxel_traversal(
bbox,
grid_shape,
ray_voxels_indices[1, :, :],
ray_start, ray_end
)
ray_voxel_count.append(Nr)
S_total[1, 4] = 1.0
# Test for the different backends
BACKENDS = append_to_backends(grid_shape, 2, 11)
for i, bp in enumerate(BACKENDS):
ray_to_occupancy_accumulated_pon, ray_to_occupancy_messages_pon =\
bp.update_bp_messages(
S_total,
ray_voxels_indices,
np.stack(ray_voxel_count).astype(np.int32),
np.random.random((2, 11)).astype(np.float32)
)
S_new = bp.estimate_depth_probabilities_from_messages(
S_total,
ray_voxels_indices,
np.stack(ray_voxel_count).astype(np.int32),
ray_to_occupancy_accumulated_pon,
ray_to_occupancy_messages_pon,
np.zeros_like(S_total)
)
if isinstance(S_new, list):
S_new = S_new[0]
self.assertGreater(0.5, S_new[0, 2])
self.assertLess(0.9, S_new[0, 6])
self.assertLess(0.9, S_new[1, 4])
def test_2d_conflict(self):
# Define a 2d grid of size 6x6
bbox = np.array([0, 0, 0, 6, 6, 1], dtype=np.float32)
grid_shape = np.array([6, 6, 1], dtype=np.int32)
ray_voxels_indices = np.empty((2, 11, 3), dtype=np.int32)
ray_voxels_indices.fill(0)
S_total = np.zeros((2, 11), dtype=np.float32)
ray_voxel_count = []
# Ray 1
ray_start = np.array([0.0, 3.5, 0.5], dtype=np.float32)
ray_end = np.array([6.0, 0.5, 0.5], dtype=np.float32)
Nr = voxel_traversal(bbox, grid_shape, ray_voxels_indices[0, :, :], ray_start, ray_end)
ray_voxel_count.append(Nr)
S_total[0, 2] = 0.5
S_total[0, 6] = 0.5
# Ray 2
ray_start = np.array([0.0, 1.5, 0.5], dtype=np.float32)
ray_end = np.array([4.5, 6.0, 0.5], dtype=np.float32)
Nr = voxel_traversal(bbox, grid_shape, ray_voxels_indices[1, :, :], ray_start, ray_end)
ray_voxel_count.append(Nr)
S_total[1, 4] = 1.0
# Test for the different backends
BACKENDS = append_to_backends(grid_shape, 2, 11, batch_size=2)
for i, bp in enumerate(BACKENDS):
ray_to_occupancy_accumulated_pon, ray_to_occupancy_messages_pon = bp.update_bp_messages(
S_total,
ray_voxels_indices,
np.stack(ray_voxel_count).astype(np.int32),
np.random.random((2, 11)).astype(np.float32)
)
occupancy_probabilities = compute_occupancy_probabilities(
ray_to_occupancy_accumulated_pon
).T
self.assertTrue(occupancy_probabilities[0, 0, 2] < 0.1)
fig = plt.figure()
plt.imshow(occupancy_probabilities[:, :, 0].T)
plt.gca().invert_yaxis()
plt.colorbar()
plt.savefig("/tmp/bp%d_occupancy_probability_conflict.png" % (i,))
plt.close()
def test_speed(self):
bbox = np.array([3, 3, 1, 6, 6, 2], dtype=np.float32)
grid_shape = np.array([64, 64, 15], dtype=np.int32)
voxels = np.zeros((256, 3), dtype=np.int32)
ray_start = np.array([3., 3., 1.], dtype=np.float32)
ray_end = np.array([6., 6., 2.], dtype=np.float32)
start = time.time()
for i in range(1000):
N = voxel_traversal(bbox, grid_shape, voxels, ray_start, ray_end)
end = time.time()
self.assertGreater(1, end - start)
def test_2d_2(self):
for voxel_traversal in backends():
bbox = np.array([0, 0, 0, 6, 6, 1], dtype=np.float32)
grid_shape = np.array([6, 6, 1], dtype=np.int32)
ray_voxels_indices = np.empty((10, 3), dtype=np.int32)
ray_voxels_indices.fill(0)
ray_start = np.array([0., 3.5, 0.5], dtype=np.float32)
ray_end = np.array([6., 0.5, 0.5], dtype=np.float32)
Nr = voxel_traversal(bbox, grid_shape, ray_voxels_indices,
ray_start, ray_end)
self.assertEqual(9, Nr)
self.assertTrue(
np.all(ray_voxels_indices == np.array(
[[0, 3, 0], [0, 2, 0], [1, 2, 0], [2, 2, 0], [2, 1, 0],
[3, 1, 0], [4, 1, 0], [4, 0, 0], [5, 0, 0], [0, 0, 0]])))
def test_2d_single_ray(self):
# Define a 2d grid of size 6x6
bbox = np.array([0, 0, 0, 6, 6, 1], dtype=np.float32)
grid_shape = np.array([6, 6, 1], dtype=np.int32)
ray_voxels_indices = np.empty((10, 3), dtype=np.int32)
ray_voxels_indices.fill(0)
ray_start = np.array([0., 3.5, 0.5], dtype=np.float32)
ray_end = np.array([6., 0.5, 0.5], dtype=np.float32)
Nr = voxel_traversal(
bbox,
grid_shape,
ray_voxels_indices,
ray_start,
ray_end
)
# We assume that the (2, 2) voxel is occupied, thus we will give a
# higher probability
S = np.array(
[[0.075, 0.075, 0.075, 0.4, 0.075, 0.075, 0.075, 0.075, 0.075, 0.0]],
dtype=np.float32
)
# Test for the different backends
BACKENDS = append_to_backends(grid_shape, 1, 10)
for i, bp in enumerate(BACKENDS):
ray_to_occupancy_accumulated_pon, ray_to_occupancy_messages_pon = bp.update_bp_messages(
S,
ray_voxels_indices.reshape(1, 10, 3),
np.ones(1, dtype=np.int32) * Nr,
np.random.random((1, 10)).astype(np.float32)
)
occupancy_probabilities = compute_occupancy_probabilities(
ray_to_occupancy_accumulated_pon
)
# The (2, 2) voxel should have the higher probability
max_idx = np.where(occupancy_probabilities == occupancy_probabilities.max())
self.assertEqual(max_idx[0][0], 2)
self.assertEqual(max_idx[1][0], 2)
fig = plt.figure()
plt.imshow(occupancy_probabilities[:, :, 0].T)
plt.gca().invert_yaxis()
plt.colorbar()
plt.savefig("/tmp/bp%d_occupancy_probability_1ray.png" % (i,))
plt.close()
def test_3d(self):
for voxel_traversal in backends():
bbox = np.array([-3., -3., -0.5, 3., 3., 2.], dtype=np.float32)
grid_shape = np.array([32, 32, 10], dtype=np.int32)
voxels = np.empty((100, 3), dtype=np.int32)
voxels.fill(0)
ray_start = np.array([
-1.40056884,
-1.34645462,
2.,
],
dtype=np.float32)
ray_end = np.array([-2.30040455, 3., -0.37297964],
dtype=np.float32)
N = voxel_traversal(bbox, grid_shape, voxels, ray_start, ray_end)
self.assertLess(N, 50)
def test_2d_single_2rays(self):
# Define a 2d grid of size 6x6
bbox = np.array([0, 0, 0, 6, 6, 1], dtype=np.float32)
grid_shape = np.array([6, 6, 1], dtype=np.int32)
ray_voxels_indices = np.empty((2, 10, 3), dtype=np.int32)
ray_voxels_indices.fill(0)
S_total = np.zeros((2, 10), dtype=np.float32)
ray_start = np.array([0., 3.5, 0.5], dtype=np.float32)
ray_end = np.array([6., 0.5, 0.5], dtype=np.float32)
ray_voxel_count = []
Nr = voxel_traversal(
bbox,
grid_shape,
ray_voxels_indices[0, :, :],
ray_start,
ray_end
)
ray_voxel_count.append(Nr)
# We assume that the (2, 2) voxel is occupied, thus we will give a
# higher probability
S1 = np.array(
[[0.075, 0.075, 0.075, 0.4, 0.075, 0.075, 0.075, 0.075, 0.075, 0.0]],
dtype=np.float32
)
S_total[0, :] = S1
ray_start = np.array([6., 5.5, 0.5], dtype=np.float32)
ray_end = np.array([0.0, 2.5, 0.5], dtype=np.float32)
Nr = voxel_traversal(bbox, grid_shape, ray_voxels_indices[1, :, :], ray_start, ray_end)
ray_voxel_count.append(Nr)
# We assume that the (4, 3) voxel is occupied, thus we will give a
# higher probability
S2 = np.array(
[[0.075, 0.075, 0.075, 0.4, 0.075, 0.075, 0.075, 0.075, 0.075, 0.0]],
dtype=np.float32
)
S_total[1, :] = S2
# Test for the different backends
BACKENDS = append_to_backends(grid_shape, 2, 10, batch_size=2)
for i, bp in enumerate(BACKENDS):
ray_to_occupancy_accumulated_pon, ray_to_occupancy_messages_pon = bp.update_bp_messages(
S_total,
ray_voxels_indices,
np.stack(ray_voxel_count).astype(np.int32),
np.random.random((2, 10)).astype(np.float32)
)
occupancy_probabilities = compute_occupancy_probabilities(
ray_to_occupancy_accumulated_pon
).T
# Find which one of the two occupied voxels has the larger probability
max_prob = [occupancy_probabilities[0, 4, 3]
if occupancy_probabilities[0, 4, 3] > occupancy_probabilities[0, 2, 2] else occupancy_probabilities[0, 2, 2]][0]
for i in range(6):
for j in range(6):
self.assertGreaterEqual(max_prob, occupancy_probabilities[0, i, j])
fig = plt.figure()
plt.imshow(occupancy_probabilities[:, :, 0].T)
plt.gca().invert_yaxis()
plt.colorbar()
plt.savefig("/tmp/bp%d_occupancy_probability_2rays.png" % (i,))
plt.close()
def test_2d_single_3rays(self):
# Define a 2d grid of size 6x6
bbox = np.array([0, 0, 0, 6, 6, 1], dtype=np.float32)
grid_shape = np.array([6, 6, 1], dtype=np.int32)
ray_voxels_indices = np.empty((3, 11, 3), dtype=np.int32)
ray_voxels_indices.fill(0)
S_total = np.zeros((3, 11), dtype=np.float32)
ray_voxel_count = []
# Ray 1
ray_start = np.array([0., 3.5, 0.5], dtype=np.float32)
ray_end = np.array([6., 0.5, 0.5], dtype=np.float32)
Nr = voxel_traversal(bbox, grid_shape, ray_voxels_indices[0, :, :], ray_start, ray_end)
ray_voxel_count.append(Nr)
S1 = np.array(
[[0.075, 0.075, 0.075, 0.4, 0.075, 0.075, 0.075, 0.075, 0.075, 0.0, 0.0]],
dtype=np.float32
)
S_total[0, :] = S1
# Ray 2
ray_start = np.array([0.0, 2.5, 0.5], dtype=np.float32)
ray_end = np.array([6.0, 2.5, 0.5], dtype=np.float32)
Nr = voxel_traversal(bbox, grid_shape, ray_voxels_indices[1, :, :], ray_start, ray_end)
ray_voxel_count.append(Nr)
S2 = np.array(
[[0.45, 0.0875, 0.2, 0.0875, 0.0875, 0.0875, 0.0, 0.0, 0.0, 0.0, 0.0]],
dtype=np.float32
)
S_total[1, :] = S2
# Ray 3
ray_start = np.array([6., 5.5, 0.5], dtype=np.float32)
ray_end = np.array([0.0, 0.5, 0.5], dtype=np.float32)
Nr = voxel_traversal(bbox, grid_shape, ray_voxels_indices[2, :, :], ray_start, ray_end)
ray_voxel_count.append(Nr)
S3 = np.array(
[[0.07, 0.07, 0.185, 0.07, 0.07, 0.07, 0.185, 0.07, 0.07, 0.07, 0.07]],
dtype=np.float32
)
S_total[2, :] = S3
# Test for the different backends
BACKENDS = append_to_backends(grid_shape, 3, 11, batch_size=3)
for i, bp in enumerate(BACKENDS):
ray_to_occupancy_accumulated_pon, ray_to_occupancy_messages_pon = bp.update_bp_messages(
S_total,
ray_voxels_indices,
np.stack(ray_voxel_count).astype(np.int32),
np.random.random((3, 11)).astype(np.float32)
)
occupancy_probabilities = compute_occupancy_probabilities(
ray_to_occupancy_accumulated_pon
).T
# Make sure that the voxel, for which all rays vote there is a higher
# probability
for i in range(6):
for j in range(6):
self.assertGreaterEqual(
occupancy_probabilities[0, 2, 2],
occupancy_probabilities[0, i, j]
)
for i in range(6):
for j in range(6):
if i == 2 and j == 2:
continue
self.assertGreaterEqual(
occupancy_probabilities[0, 2, 0],
occupancy_probabilities[0, i, j]
)
for i in range(6):
for j in range(6):
if i == 2 and (j == 2 or j==0):
continue
self.assertGreaterEqual(
occupancy_probabilities[0, 4, 4],
occupancy_probabilities[0, i, j]
)
fig = plt.figure()
plt.imshow(occupancy_probabilities[:, :, 0].T)
plt.gca().invert_yaxis()
plt.colorbar()
plt.savefig("/tmp/bp%d_occupancy_probability_3rays.png" % (i,))
plt.close()