kornia--kornia/tests/geometry/test_depth_warper.py

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# Copyright 2018 Kornia Team
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# limitations under the License.
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import pytest
import torch

import kornia
from kornia.geometry.conversions import normalize_pixel_coordinates

from testing.base import BaseTester


class TestDepthWarper(BaseTester):
    eps = 1e-6

    def _create_pinhole_pair(self, batch_size, device, dtype):
        # prepare data
        fx, fy = 1.0, 1.0
        height, width = 3, 5
        cx, cy = width / 2, height / 2
        tx, ty, tz = 0, 0, 0

        # create pinhole cameras
        pinhole_src = kornia.geometry.camera.PinholeCamera.from_parameters(
            fx, fy, cx, cy, height, width, tx, ty, tz, batch_size, device=device, dtype=dtype
        )
        pinhole_dst = kornia.geometry.camera.PinholeCamera.from_parameters(
            fx, fy, cx, cy, height, width, tx, ty, tz, batch_size, device=device, dtype=dtype
        )
        return pinhole_src, pinhole_dst

    @pytest.mark.parametrize("batch_size", (1, 2))
    def test_compute_projection_matrix(self, batch_size, device, dtype):
        height, width = 3, 5  # output shape
        pinhole_src, pinhole_dst = self._create_pinhole_pair(batch_size, device, dtype)
        pinhole_dst.tx += 1.0  # apply offset to tx

        # create warper
        warper = kornia.geometry.depth.DepthWarper(pinhole_dst, height, width)
        assert warper._dst_proj_src is None

        # initialize projection matrices
        warper.compute_projection_matrix(pinhole_src)
        assert warper._dst_proj_src is not None

        # retrieve computed projection matrix and compare to expected
        dst_proj_src = warper._dst_proj_src
        dst_proj_src_expected = torch.eye(4, device=device, dtype=dtype)[None].repeat(batch_size, 1, 1)  # Bx4x4
        dst_proj_src_expected[..., 0, -2] += pinhole_src.cx
        dst_proj_src_expected[..., 1, -2] += pinhole_src.cy
        dst_proj_src_expected[..., 0, -1] += 1.0  # offset to x-axis
        self.assert_close(dst_proj_src, dst_proj_src_expected)

    @pytest.mark.parametrize("batch_size", (1, 2))
    def test_warp_grid_offset_x1_depth1(self, batch_size, device, dtype):
        height, width = 3, 5  # output shape
        pinhole_src, pinhole_dst = self._create_pinhole_pair(batch_size, device, dtype)
        pinhole_dst.tx += 1.0  # apply offset to tx

        # initialize depth to one
        depth_src = torch.ones(batch_size, 1, height, width, device=device, dtype=dtype)

        # create warper, initialize projection matrices and warp grid
        warper = kornia.geometry.depth.DepthWarper(pinhole_dst, height, width)
        warper.compute_projection_matrix(pinhole_src)

        grid_warped = warper.warp_grid(depth_src)
        assert grid_warped.shape == (batch_size, height, width, 2)

        # normalize base meshgrid
        grid = warper.grid[..., :2].to(device=device, dtype=dtype)
        grid_norm = normalize_pixel_coordinates(grid, height, width)

        # check offset in x-axis
        self.assert_close(grid_warped[..., -2, 0], grid_norm[..., -1, 0].repeat(batch_size, 1), atol=1e-4, rtol=1e-4)
        # check that y-axis remain the same
        self.assert_close(grid_warped[..., -1, 1], grid_norm[..., -1, 1].repeat(batch_size, 1), rtol=1e-4, atol=1e-4)

    @pytest.mark.parametrize("batch_size", (1, 2))
    def test_warp_grid_offset_x1y1_depth1(self, batch_size, device, dtype):
        height, width = 3, 5  # output shape
        pinhole_src, pinhole_dst = self._create_pinhole_pair(batch_size, device, dtype)
        pinhole_dst.tx += 1.0  # apply offset to tx
        pinhole_dst.ty += 1.0  # apply offset to ty

        # initialize depth to one
        depth_src = torch.ones(batch_size, 1, height, width, device=device, dtype=dtype)

        # create warper, initialize projection matrices and warp grid
        warper = kornia.geometry.depth.DepthWarper(pinhole_dst, height, width)
        warper.compute_projection_matrix(pinhole_src)

        grid_warped = warper.warp_grid(depth_src)
        assert grid_warped.shape == (batch_size, height, width, 2)

        # normalize base meshgrid
        grid = warper.grid[..., :2].to(device=device, dtype=dtype)
        grid_norm = normalize_pixel_coordinates(grid, height, width)

        # check offset in x-axis
        self.assert_close(grid_warped[..., -2, 0], grid_norm[..., -1, 0].repeat(batch_size, 1), atol=1e-4, rtol=1e-4)
        # check that y-axis remain the same
        self.assert_close(
            grid_warped[..., -2, :, 1], grid_norm[..., -1, :, 1].repeat(batch_size, 1), rtol=1e-4, atol=1e-4
        )

    @pytest.mark.parametrize("batch_size", (1, 2))
    def test_warp_tensor_offset_x1y1(self, batch_size, device, dtype):
        channels, height, width = 3, 3, 5  # output shape
        pinhole_src, pinhole_dst = self._create_pinhole_pair(batch_size, device, dtype)
        pinhole_dst.tx += 1.0  # apply offset to tx
        pinhole_dst.ty += 1.0  # apply offset to ty

        # initialize depth to one
        depth_src = torch.ones(batch_size, 1, height, width, device=device, dtype=dtype)

        # create warper, initialize projection matrices and warp grid
        warper = kornia.geometry.depth.DepthWarper(pinhole_dst, height, width)
        warper.compute_projection_matrix(pinhole_src)

        # create patch to warp
        patch_dst = (
            torch.arange(float(height * width), device=device, dtype=dtype)
            .view(1, 1, height, width)
            .expand(batch_size, channels, -1, -1)
        )

        # warpd source patch by depth
        patch_src = warper(depth_src, patch_dst)

        # compare patches
        self.assert_close(patch_dst[..., 1:, 1:], patch_src[..., :2, :4], atol=1e-4, rtol=1e-4)

    @pytest.mark.parametrize("batch_size", (1, 2))
    def test_compute_projection(self, batch_size, device, dtype):
        height, width = 3, 5  # output shape
        pinhole_src, pinhole_dst = self._create_pinhole_pair(batch_size, device, dtype)

        # create warper, initialize projection matrices and warp grid
        warper = kornia.geometry.depth.DepthWarper(pinhole_dst, height, width)
        warper.compute_projection_matrix(pinhole_src)

        # test compute_projection
        xy_projected = warper._compute_projection(0.0, 0.0, 1.0)
        assert xy_projected.shape == (batch_size, 2)

    @pytest.mark.parametrize("batch_size", (1, 2))
    def test_compute_subpixel_step(self, batch_size, device, dtype):
        height, width = 3, 5  # output shape
        pinhole_src, pinhole_dst = self._create_pinhole_pair(batch_size, device, dtype)

        # create warper, initialize projection matrices and warp grid
        warper = kornia.geometry.depth.DepthWarper(pinhole_dst, height, width)
        warper.compute_projection_matrix(pinhole_src)

        # test compute_subpixel_step
        subpixel_step = warper.compute_subpixel_step()
        self.assert_close(subpixel_step.item(), 0.1715, rtol=1e-3, atol=1e-3)

    @pytest.mark.parametrize("batch_size", (1, 2))
    def test_gradcheck(self, batch_size, device):
        dtype = torch.float64
        # prepare data
        channels, height, width = 3, 3, 5  # output shape
        pinhole_src, pinhole_dst = self._create_pinhole_pair(batch_size, device, dtype)

        # initialize depth to one
        depth_src = torch.ones(batch_size, 1, height, width, device=device, dtype=dtype)

        # create patch to warp
        img_dst = torch.ones(batch_size, channels, height, width, device=device, dtype=dtype)

        # evaluate function gradient
        self.gradcheck(kornia.geometry.depth.depth_warp, (pinhole_dst, pinhole_src, depth_src, img_dst, height, width))

    # TODO(edgar): we should include a test showing some kind of occlusion
    # def test_warp_with_occlusion(self):
    #    pass