def testTransformPointsRotation(self):
batch_size, num_points = 10, 8
points = tf.random_uniform((batch_size, num_points, 3))
transforms = self._MakeTransformTestRotationMatrices(batch_size)
points_transformed = geometry.TransformPoints(points, transforms)
with self.session() as sess:
actual_points, actual_points_transformed = sess.run(
(points, points_transformed))
# Points are the same on the z-axis (no rotation).
self.assertAllClose(actual_points[:, :, 2],
actual_points_transformed[:, :, 2])
# Points are transformed, and different.
self.assertNotAllClose(actual_points, actual_points_transformed)
def testTransformBBoxes3DConsistentWithPoints(self):
num_boxes, num_points = 20, 100
points = tf.random_uniform((num_points, 3))
bboxes_3d = tf.random_uniform((num_boxes, 7))
in_bboxes = geometry.IsWithinBBox3D(points, bboxes_3d)
transforms = self._MakeTransformTestTranslationMatrices(1)[0]
points_transformed = geometry.TransformPoints(points, transforms)
bboxes_3d_transformed = geometry.TransformBBoxes3D(bboxes_3d, transforms)
in_bboxes_transformed = geometry.IsWithinBBox3D(points_transformed,
bboxes_3d_transformed)
with self.session() as sess:
actual_in_bboxes, actual_in_bboxes_transformed = sess.run(
(in_bboxes, in_bboxes_transformed))
self.assertAllEqual(actual_in_bboxes, actual_in_bboxes_transformed)
def testTransformPointsTranslation(self):
batch_size, num_points = 10, 8
points = tf.random_uniform((batch_size, num_points, 3))
transforms = self._MakeTransformTestTranslationMatrices(batch_size)
points_transformed = geometry.TransformPoints(points, transforms)
with self.session() as sess:
actual_points, actual_points_transformed, actual_transforms = sess.run(
(points, points_transformed, transforms))
# Points are transformed, and different.
self.assertNotAllClose(actual_points, actual_points_transformed)
# Manually transform points and check that they are as expected.
actual_translation = actual_transforms[:, :3, 3]
self.assertAllClose(actual_points + actual_translation[:, np.newaxis, :],
actual_points_transformed)
