def test_pinhole_camera_attributes_batch2(self):
batch_size = 2
height, width = 4, 6
fx, fy, cx, cy = 1, 2, width / 2, height / 2
tx, ty, tz = 1, 2, 3
intrinsics = self._create_intrinsics(batch_size, fx, fy, cx, cy)
extrinsics = self._create_extrinsics(batch_size, tx, ty, tz)
height = torch.ones(batch_size) * height
width = torch.ones(batch_size) * width
pinhole = tgm.PinholeCamera(intrinsics, extrinsics, height, width)
assert pinhole.batch_size == batch_size
assert pinhole.fx.shape[0] == batch_size
assert pinhole.fy.shape[0] == batch_size
assert pinhole.cx.shape[0] == batch_size
assert pinhole.cy.shape[0] == batch_size
assert pinhole.tx.shape[0] == batch_size
assert pinhole.ty.shape[0] == batch_size
assert pinhole.tz.shape[0] == batch_size
assert pinhole.height.shape[0] == batch_size
assert pinhole.width.shape[0] == batch_size
assert pinhole.rt_matrix.shape == (batch_size, 3, 4)
assert pinhole.camera_matrix.shape == (batch_size, 3, 3)
assert pinhole.rotation_matrix.shape == (batch_size, 3, 3)
assert pinhole.translation_vector.shape == (batch_size, 3, 1)
def test_pinhole_camera_translation_setters(self):
batch_size = 1
height, width = 4, 6
fx, fy, cx, cy = 1, 2, width / 2, height / 2
tx, ty, tz = 1, 2, 3
intrinsics = self._create_intrinsics(batch_size, fx, fy, cx, cy)
extrinsics = self._create_extrinsics(batch_size, tx, ty, tz)
height = torch.ones(batch_size) * height
width = torch.ones(batch_size) * width
pinhole = tgm.PinholeCamera(intrinsics, extrinsics, height, width)
assert pinhole.tx.item() == tx
assert pinhole.ty.item() == ty
assert pinhole.tz.item() == tz
# add offset
pinhole.tx += 3.
pinhole.ty += 2.
pinhole.tz += 1.
assert pinhole.tx.item() == tx + 3.
assert pinhole.ty.item() == ty + 2.
assert pinhole.tz.item() == tz + 1.
# set to zero
pinhole.tx = 0.
pinhole.ty = 0.
pinhole.tz = 0.
assert pinhole.tx.item() == 0.
assert pinhole.ty.item() == 0.
assert pinhole.tz.item() == 0.
def test_smoke(self):
intrinsics = torch.eye(4)[None]
extrinsics = torch.eye(4)[None]
height = torch.ones(1)
width = torch.ones(1)
pinhole = tgm.PinholeCamera(intrinsics, extrinsics, height, width)
assert isinstance(pinhole, tgm.PinholeCamera)
def test_pinhole_camera_scale_inplace(self):
batch_size = 2
height, width = 4, 6
fx, fy, cx, cy = 1, 2, width / 2, height / 2
tx, ty, tz = 1, 2, 3
scale_val = 2.0
intrinsics = self._create_intrinsics(batch_size, fx, fy, cx, cy)
extrinsics = self._create_extrinsics(batch_size, tx, ty, tz)
height = torch.ones(batch_size) * height
width = torch.ones(batch_size) * width
scale_factor = torch.ones(batch_size) * scale_val
pinhole = tgm.PinholeCamera(intrinsics, extrinsics, height, width)
pinhole_scale = pinhole.clone()
pinhole_scale.scale_(scale_factor)
assert utils.check_equal_torch(
pinhole_scale.intrinsics[..., 0, 0],
pinhole.intrinsics[..., 0, 0] * scale_val) # fx
assert utils.check_equal_torch(
pinhole_scale.intrinsics[..., 1, 1],
pinhole.intrinsics[..., 1, 1] * scale_val) # fy
assert utils.check_equal_torch(
pinhole_scale.intrinsics[..., 0, 2],
pinhole.intrinsics[..., 0, 2] * scale_val) # cx
assert utils.check_equal_torch(
pinhole_scale.intrinsics[..., 1, 2],
pinhole.intrinsics[..., 1, 2] * scale_val) # cy
assert utils.check_equal_torch(
pinhole_scale.height, pinhole.height * scale_val)
assert utils.check_equal_torch(
pinhole_scale.width, pinhole.width * scale_val)
def test_pinhole_camera_list_get_pinhole(self):
batch_size = 1
height, width = 4, 6
fx, fy, cx, cy = 1, 2, width / 2, height / 2
tx, ty, tz = 1, 2, 3
intrinsics = self._create_intrinsics(batch_size, fx, fy, cx, cy)
extrinsics = self._create_extrinsics(batch_size, tx, ty, tz)
height = torch.ones(batch_size) * height
width = torch.ones(batch_size) * width
pinhole_1 = tgm.PinholeCamera(intrinsics, extrinsics, height, width)
pinhole_2 = pinhole_1.clone()
pinholes_list = [pinhole_1, pinhole_2]
pinholes = tgm.PinholeCamerasList(pinholes_list)
pinhole_11 = pinholes.get_pinhole(0)
assert pinhole_1.batch_size == pinhole_11.batch_size
assert torch.allclose(pinhole_1.fx, pinhole_11.fx)
assert torch.allclose(pinhole_1.fy, pinhole_11.fy)
assert torch.allclose(pinhole_1.cx, pinhole_11.cx)
assert torch.allclose(pinhole_1.cy, pinhole_11.cy)
assert torch.allclose(pinhole_1.tx, pinhole_11.tx)
assert torch.allclose(pinhole_1.ty, pinhole_11.ty)
assert torch.allclose(pinhole_1.tz, pinhole_11.tz)
assert torch.allclose(pinhole_1.rt_matrix, pinhole_11.rt_matrix)
assert torch.allclose(
pinhole_1.camera_matrix,
pinhole_11.camera_matrix)
assert torch.allclose(
pinhole_1.rotation_matrix, pinhole_11.rotation_matrix)
assert torch.allclose(
pinhole_1.translation_vector, pinhole_11.translation_vector)
def test_pinhole_camera_list_attributes(self):
batch_size = 1
height, width = 4, 6
fx, fy, cx, cy = 1, 2, width / 2, height / 2
tx, ty, tz = 1, 2, 3
intrinsics = self._create_intrinsics(batch_size, fx, fy, cx, cy)
extrinsics = self._create_extrinsics(batch_size, tx, ty, tz)
height = torch.ones(batch_size) * height
width = torch.ones(batch_size) * width
pinhole_1 = tgm.PinholeCamera(intrinsics, extrinsics, height, width)
pinhole_2 = pinhole_1.clone()
pinholes_list = [pinhole_1, pinhole_2]
pinholes = tgm.PinholeCamerasList(pinholes_list)
assert pinholes.batch_size == batch_size
assert pinholes.num_cameras == 2
assert torch.allclose(pinholes.fx, torch.ones(1, 2) * fx)
assert torch.allclose(pinholes.fy, torch.ones(1, 2) * fy)
assert torch.allclose(pinholes.cx, torch.ones(1, 2) * cx)
assert torch.allclose(pinholes.cy, torch.ones(1, 2) * cy)
assert torch.allclose(pinholes.tx, torch.ones(1, 2) * tx)
assert torch.allclose(pinholes.ty, torch.ones(1, 2) * ty)
assert torch.allclose(pinholes.tz, torch.ones(1, 2) * tz)
assert pinholes.rt_matrix.shape == (batch_size, 2, 3, 4)
assert pinholes.camera_matrix.shape == (batch_size, 2, 3, 3)
assert pinholes.rotation_matrix.shape == (batch_size, 2, 3, 3)
assert pinholes.translation_vector.shape == (batch_size, 2, 3, 1)
