def test_rotation(self, axis, device, dtype, atol, rtol):
array = [0.0, 0.0, 0.0, 0.0]
array[1 + axis] = 1.0
quaternion = torch.tensor(array, device=device, dtype=dtype)
angle_axis = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.WXYZ)
quaternion_hat = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.WXYZ)
assert_close(quaternion_hat, quaternion, atol=atol, rtol=rtol)
# just to be sure, check that mixing orders fails
with pytest.warns(UserWarning):
quaternion_hat_wrong = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.XYZW)
assert not torch.allclose(quaternion_hat_wrong, quaternion, atol=atol, rtol=rtol)
def test_zero_angle(self, device, dtype, atol, rtol):
angle_axis = torch.tensor((0.0, 0.0, 0.0), device=device, dtype=dtype)
quaternion = kornia.angle_axis_to_quaternion(
angle_axis, order=QuaternionCoeffOrder.WXYZ)
angle_axis_hat = kornia.quaternion_to_angle_axis(
quaternion, order=QuaternionCoeffOrder.WXYZ)
assert_allclose(angle_axis_hat, angle_axis, atol=atol, rtol=rtol)
def test_unit_quaternion_xyzw(self, device, dtype, atol, rtol):
quaternion = torch.tensor((0.0, 0.0, 0.0, 1.0), device=device, dtype=dtype)
with pytest.warns(UserWarning):
angle_axis = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.XYZW)
with pytest.warns(UserWarning):
quaternion_hat = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.XYZW)
assert_close(quaternion_hat, quaternion, atol=atol, rtol=rtol)
def test_small_angle(self, device, dtype):
theta = 1e-2
angle_axis = torch.tensor([theta, 0., 0.]).to(device, dtype)
expected = torch.tensor([np.cos(theta / 2),
np.sin(theta / 2), 0., 0.]).to(device, dtype)
quaternion = kornia.angle_axis_to_quaternion(angle_axis)
assert_allclose(quaternion, expected)
def test_x_rotation(self, device, dtype):
half_sqrt2 = 0.5 * np.sqrt(2)
angle_axis = torch.tensor([kornia.pi / 2, 0., 0.]).to(device, dtype)
expected = torch.tensor([half_sqrt2, half_sqrt2, 0.,
0.]).to(device, dtype)
quaternion = kornia.angle_axis_to_quaternion(angle_axis)
assert_allclose(quaternion, expected)
def test_unit_quaternion(self, device, dtype, atol, rtol):
quaternion = torch.tensor((1., 0., 0., 0.), device=device, dtype=dtype)
angle_axis = kornia.quaternion_to_angle_axis(
quaternion, order=QuaternionCoeffOrder.WXYZ)
quaternion_hat = kornia.angle_axis_to_quaternion(
angle_axis, order=QuaternionCoeffOrder.WXYZ)
assert_allclose(quaternion_hat, quaternion, atol=atol, rtol=rtol)
def test_triplet_qma_xyzw(self, axis, device, dtype, atol, rtol):
array = [[0.0, 0.0, 0.0, 0.0]]
array[0][axis] = 1.0 # `0 + axis` should fail when WXYZ
quaternion = torch.tensor(array, device=device, dtype=dtype)
assert quaternion.shape[-1] == 4
with pytest.warns(UserWarning):
mm = kornia.quaternion_to_rotation_matrix(
quaternion, order=QuaternionCoeffOrder.XYZW)
assert mm.shape[-1] == 3
assert mm.shape[-2] == 3
angle_axis = kornia.rotation_matrix_to_angle_axis(mm)
assert angle_axis.shape[-1] == 3
angle_axis_expected = [[0.0, 0.0, 0.0]]
angle_axis_expected[0][axis] = kornia.pi
angle_axis_expected = torch.tensor(angle_axis_expected,
device=device,
dtype=dtype)
assert_allclose(angle_axis, angle_axis_expected, atol=atol, rtol=rtol)
with pytest.warns(UserWarning):
quaternion_hat = kornia.angle_axis_to_quaternion(
angle_axis, order=QuaternionCoeffOrder.XYZW)
assert_allclose(quaternion_hat, quaternion, atol=atol, rtol=rtol)
def test_rotation(self, axis, device, dtype, atol, rtol):
# half_sqrt2 = 0.5 * np.sqrt(2)
array = [0.0, 0.0, 0.0]
array[axis] = kornia.pi / 2.0
angle_axis = torch.tensor(array, device=device, dtype=dtype)
quaternion = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.WXYZ)
angle_axis_hat = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.WXYZ)
assert_close(angle_axis_hat, angle_axis, atol=atol, rtol=rtol)
def test_small_angle(self, axis, device, dtype, atol, rtol):
theta = 1.0e-2
array = [0.0, 0.0, 0.0]
array[axis] = theta
angle_axis = torch.tensor(array, device=device, dtype=dtype)
quaternion = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.WXYZ)
angle_axis_hat = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.WXYZ)
assert_close(angle_axis_hat, angle_axis, atol=atol, rtol=rtol)
def test_small_angle(self, axis, device, dtype, atol, rtol):
theta = 1.e-2
array = [np.cos(theta / 2), 0., 0., 0.]
array[1 + axis] = np.sin(theta / 2.)
quaternion = torch.tensor(array, device=device, dtype=dtype)
angle_axis = kornia.quaternion_to_angle_axis(
quaternion, order=QuaternionCoeffOrder.WXYZ)
quaternion_hat = kornia.angle_axis_to_quaternion(
angle_axis, order=QuaternionCoeffOrder.WXYZ)
assert_allclose(quaternion_hat, quaternion, atol=atol, rtol=rtol)
# just to be sure, check that mixing orders fails
with pytest.warns(UserWarning):
quaternion_hat_wrong = kornia.angle_axis_to_quaternion(
angle_axis, order=QuaternionCoeffOrder.XYZW)
assert not torch.allclose(
quaternion_hat_wrong, quaternion, atol=atol, rtol=rtol)
def test_rotation_xyzw(self, axis, device, dtype, atol, rtol):
array = [0.0, 0.0, 0.0, 0.0]
array[axis] = 1.0
quaternion = torch.tensor(array, device=device, dtype=dtype)
with pytest.warns(UserWarning):
angle_axis = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.XYZW)
with pytest.warns(UserWarning):
quaternion_hat = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.XYZW)
assert_close(quaternion_hat, quaternion, atol=atol, rtol=rtol)
def test_small_angle_xyzw(self, axis, device, dtype, atol, rtol):
theta = 1.0e-2
array = [0.0, 0.0, 0.0, np.cos(theta / 2)]
array[axis] = np.sin(theta / 2.0)
quaternion = torch.tensor(array, device=device, dtype=dtype)
with pytest.warns(UserWarning):
angle_axis = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.XYZW)
with pytest.warns(UserWarning):
quaternion_hat = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.XYZW)
assert_close(quaternion_hat, quaternion, atol=atol, rtol=rtol)
def test_triplet_aqm(self, axis, device, dtype, atol, rtol):
array = [[0.0, 0.0, 0.0]]
array[0][axis] = kornia.pi / 2.0
angle_axis = torch.tensor(array, device=device, dtype=dtype)
assert angle_axis.shape[-1] == 3
quaternion = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.WXYZ)
assert quaternion.shape[-1] == 4
rot_m = kornia.quaternion_to_rotation_matrix(quaternion, order=QuaternionCoeffOrder.WXYZ)
assert rot_m.shape[-1] == 3
assert rot_m.shape[-2] == 3
angle_axis_hat = kornia.rotation_matrix_to_angle_axis(rot_m)
assert_close(angle_axis_hat, angle_axis, atol=atol, rtol=rtol)
def test_triplet_qma(self, axis, device, dtype, atol, rtol):
array = [[0.0, 0.0, 0.0, 0.0]]
array[0][1 + axis] = 1.0 # `1 + axis` this should fail when XYZW
quaternion = torch.tensor(array, device=device, dtype=dtype)
assert quaternion.shape[-1] == 4
mm = kornia.quaternion_to_rotation_matrix(quaternion, order=QuaternionCoeffOrder.WXYZ)
assert mm.shape[-1] == 3
assert mm.shape[-2] == 3
angle_axis = kornia.rotation_matrix_to_angle_axis(mm)
assert angle_axis.shape[-1] == 3
angle_axis_expected = [[0.0, 0.0, 0.0]]
angle_axis_expected[0][axis] = kornia.pi
angle_axis_expected = torch.tensor(angle_axis_expected, device=device, dtype=dtype)
assert_close(angle_axis, angle_axis_expected, atol=atol, rtol=rtol)
quaternion_hat = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.WXYZ)
assert_close(quaternion_hat, quaternion, atol=atol, rtol=rtol)
def test_triplet_aqm_xyzw(self, axis, device, dtype, atol, rtol):
array = [[0., 0., 0.]]
array[0][axis] = kornia.pi / 2.
angle_axis = torch.tensor(array, device=device, dtype=dtype)
assert angle_axis.shape[-1] == 3
with pytest.warns(UserWarning):
quaternion = kornia.angle_axis_to_quaternion(
angle_axis, order=QuaternionCoeffOrder.XYZW)
assert quaternion.shape[-1] == 4
with pytest.warns(UserWarning):
rot_m = kornia.quaternion_to_rotation_matrix(
quaternion, order=QuaternionCoeffOrder.XYZW)
assert rot_m.shape[-1] == 3
assert rot_m.shape[-2] == 3
angle_axis_hat = kornia.rotation_matrix_to_angle_axis(rot_m)
assert_allclose(angle_axis_hat, angle_axis, atol=atol, rtol=rtol)
import torch
import numpy as np
import BPnP
import matplotlib.pyplot as plt
import torchvision
from scipy.io import loadmat, savemat
import kornia as kn
device = 'cuda'
cube = loadmat('demo_data/cube.mat')
pts3d_gt = torch.tensor(cube['pts3d'], device=device, dtype=torch.float)
n = pts3d_gt.size(0)
poses = loadmat('demo_data/poses.mat')
P = torch.tensor(poses['poses'][0],device=device).view(1,6) # camera poses in angle-axis
q_gt = kn.angle_axis_to_quaternion(P[0,0:3])
f = 300
u = 128
v = 128
K = torch.tensor(
[[f, 0, u],
[0, f, v],
[0, 0, 1]],
device=device, dtype=torch.float
)
pts2d_gt = BPnP.batch_project(P, pts3d_gt, K)
bpnp = BPnP.BPnP.apply
ite = 2000
def test_zero_angle(self, device, dtype):
angle_axis = torch.tensor([0., 0., 0.], device=device, dtype=dtype)
expected = torch.tensor([1., 0., 0., 0.], device=device, dtype=dtype)
quaternion = kornia.angle_axis_to_quaternion(angle_axis)
assert_allclose(quaternion, expected, atol=1e-4, rtol=1e-4)
def test_smoke_batch(self, batch_size, device, dtype):
angle_axis = torch.zeros(batch_size, 3, device=device, dtype=dtype)
quaternion = kornia.angle_axis_to_quaternion(angle_axis)
assert quaternion.shape == (batch_size, 4)
def test_smoke(self, device, dtype):
angle_axis = torch.zeros(3)
quaternion = kornia.angle_axis_to_quaternion(angle_axis)
assert quaternion.shape == (4, )
def test_x_rotation(self):
half_sqrt2 = 0.5 * np.sqrt(2)
angle_axis = torch.Tensor([kornia.pi / 2, 0, 0])
expected = torch.Tensor([half_sqrt2, half_sqrt2, 0, 0])
quaternion = kornia.angle_axis_to_quaternion(angle_axis)
assert utils.check_equal_torch(quaternion, expected)
def test_small_angle(self):
theta = 1e-2
angle_axis = torch.Tensor([theta, 0, 0])
expected = torch.Tensor([np.cos(theta / 2), np.sin(theta / 2), 0, 0])
quaternion = kornia.angle_axis_to_quaternion(angle_axis)
assert utils.check_equal_torch(quaternion, expected)
def test_zero_angle(self):
angle_axis = torch.Tensor([0, 0, 0])
expected = torch.Tensor([1, 0, 0, 0])
quaternion = kornia.angle_axis_to_quaternion(angle_axis)
assert utils.check_equal_torch(quaternion, expected)
def test_zero_angle(self, device):
angle_axis = torch.tensor([0., 0., 0.]).to(device)
expected = torch.tensor([1., 0., 0., 0.]).to(device)
quaternion = kornia.angle_axis_to_quaternion(angle_axis)
assert_allclose(quaternion, expected)
def test_zero_angle(self):
angle_axis = torch.Tensor([0, 0, 0])
expected = torch.Tensor([1, 0, 0, 0])
quaternion = kornia.angle_axis_to_quaternion(angle_axis)
assert_allclose(quaternion, expected)
