def test_unproject_project_random(self):
"""Tests that unprojecting and projecting gives and identity mapping."""
tensor_size = np.random.randint(3)
tensor_shape = np.random.randint(1, 10, size=(tensor_size)).tolist()
random_point_2d = np.random.normal(size=tensor_shape + [2])
random_focal = np.random.normal(size=tensor_shape + [2])
random_principal_point = np.random.normal(size=tensor_shape + [2])
random_depth = np.random.normal(size=tensor_shape + [1])
point_3d = perspective.unproject(random_point_2d, random_depth,
random_focal, random_principal_point)
point_2d = perspective.project(point_3d, random_focal,
random_principal_point)
self.assertAllClose(random_point_2d, point_2d, rtol=1e-3)
def test_unproject_ray_random(self):
"""Tests that that ray is pointing toward the correct location."""
tensor_size = np.random.randint(3)
tensor_shape = np.random.randint(1, 10, size=(tensor_size)).tolist()
random_point_2d = np.random.normal(size=tensor_shape + [2])
random_focal = np.random.normal(size=tensor_shape + [2])
random_principal_point = np.random.normal(size=tensor_shape + [2])
random_depth = np.random.normal(size=tensor_shape + [1])
point_3d = perspective.unproject(random_point_2d, random_depth,
random_focal, random_principal_point)
ray_3d = perspective.ray(random_point_2d, random_focal,
random_principal_point)
ray_3d = random_depth * ray_3d
self.assertAllClose(point_3d, ray_3d, rtol=1e-3)