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from typing import Dict |
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import pytest |
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import torch |
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from torch.autograd import gradcheck |
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import kornia |
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import kornia.geometry.epipolar as epi |
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from kornia.testing import assert_close |
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class TestTriangulation: |
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def test_smoke(self, device, dtype): |
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P1 = torch.rand(1, 3, 4, device=device, dtype=dtype) |
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P2 = torch.rand(1, 3, 4, device=device, dtype=dtype) |
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points1 = torch.rand(1, 1, 2, device=device, dtype=dtype) |
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points2 = torch.rand(1, 1, 2, device=device, dtype=dtype) |
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points3d = epi.triangulate_points(P1, P2, points1, points2) |
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assert points3d.shape == (1, 1, 3) |
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@pytest.mark.parametrize("batch_size, num_points", [(1, 3), (2, 4), (3, 5)]) |
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def test_shape(self, batch_size, num_points, device, dtype): |
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B, N = batch_size, num_points |
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P1 = torch.rand(B, 3, 4, device=device, dtype=dtype) |
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P2 = torch.rand(1, 3, 4, device=device, dtype=dtype) |
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points1 = torch.rand(1, N, 2, device=device, dtype=dtype) |
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points2 = torch.rand(B, N, 2, device=device, dtype=dtype) |
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points3d = epi.triangulate_points(P1, P2, points1, points2) |
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assert points3d.shape == (B, N, 3) |
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@pytest.mark.xfail |
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def test_two_view(self, device, dtype): |
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num_views: int = 2 |
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num_points: int = 10 |
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scene: Dict[str, torch.Tensor] = epi.generate_scene(num_views, num_points) |
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P1 = scene['P'][0:1] |
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P2 = scene['P'][1:2] |
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x1 = scene['points2d'][0:1] |
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x2 = scene['points2d'][1:2] |
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X = epi.triangulate_points(P1, P2, x1, x2) |
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x_reprojected = kornia.geometry.transform_points(scene['P'], X.expand(num_views, -1, -1)) |
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assert_close(scene['points3d'], X, rtol=1e-4, atol=1e-4) |
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assert_close(scene['points2d'], x_reprojected, rtol=1e-4, atol=1e-4) |
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def test_gradcheck(self, device): |
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points1 = torch.rand(1, 8, 2, device=device, dtype=torch.float64, requires_grad=True) |
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points2 = torch.rand(1, 8, 2, device=device, dtype=torch.float64) |
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P1 = kornia.eye_like(3, points1) |
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P1 = torch.nn.functional.pad(P1, [0, 1]) |
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P2 = kornia.eye_like(3, points2) |
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P2 = torch.nn.functional.pad(P2, [0, 1]) |
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assert gradcheck(epi.triangulate_points, (P1, P2, points1, points2), raise_exception=True) |
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