test/geometry/transform/test_projwarp.py

import pytest
import torch
from torch.autograd import gradcheck

import kornia
import kornia.geometry.transform.projwarp as proj
import kornia.testing as utils  # test utils
from kornia.testing import assert_close


class TestWarpAffine3d:
    def test_smoke(self, device, dtype):
        input = torch.rand(1, 3, 3, 4, 5, device=device, dtype=dtype)
        P = torch.rand(1, 3, 4, device=device, dtype=dtype)
        output = proj.warp_affine3d(input, P, (3, 4, 5))
        assert output.shape == (1, 3, 3, 4, 5)

    @pytest.mark.parametrize("batch_size", [1, 3])
    @pytest.mark.parametrize("num_channels", [1, 3, 5])
    @pytest.mark.parametrize("out_shape", [(3, 3, 3), (4, 5, 6)])
    def test_batch(self, batch_size, num_channels, out_shape, device, dtype):
        B, C = batch_size, num_channels
        input = torch.rand(B, C, 3, 4, 5, device=device, dtype=dtype)
        P = torch.rand(B, 3, 4, device=device, dtype=dtype)
        output = proj.warp_affine3d(input, P, out_shape)
        assert list(output.shape) == [B, C] + list(out_shape)

    def test_gradcheck(self, device):
        # generate input data
        input = torch.rand(1, 3, 3, 4, 5, device=device, dtype=torch.float64, requires_grad=True)
        P = torch.rand(1, 3, 4, device=device, dtype=torch.float64)
        assert gradcheck(proj.warp_affine3d, (input, P, (3, 3, 3)), raise_exception=True)

    def test_forth_back(self, device, dtype):
        out_shape = (3, 4, 5)
        input = torch.rand(2, 5, 3, 4, 5, device=device, dtype=dtype)
        P = torch.rand(2, 3, 4, device=device, dtype=dtype)
        P = kornia.geometry.convert_affinematrix_to_homography3d(P)
        P_hat = (P.inverse() @ P)[:, :3]
        output = proj.warp_affine3d(input, P_hat, out_shape, flags='nearest')
        assert_close(output, input, rtol=1e-4, atol=1e-4)

    def test_rotate_x(self, device, dtype):
        input = torch.tensor(
            [
                [
                    [
                        [[0.0, 0.0, 0.0], [0.0, 2.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                    ]
                ]
            ],
            device=device,
            dtype=dtype,
        )

        expected = torch.tensor(
            [
                [
                    [
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 2.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                    ]
                ]
            ],
            device=device,
            dtype=dtype,
        )

        _, _, D, H, W = input.shape
        center = torch.tensor([[(W - 1) / 2, (H - 1) / 2, (D - 1) / 2]], device=device, dtype=dtype)

        angles = torch.tensor([[90.0, 0.0, 0.0]], device=device, dtype=dtype)

        scales: torch.Tensor = torch.ones_like(angles, device=device, dtype=dtype)
        P = proj.get_projective_transform(center, angles, scales)
        output = proj.warp_affine3d(input, P, (3, 3, 3))
        assert_close(output, expected, rtol=1e-4, atol=1e-4)

    def test_rotate_y(self, device, dtype):
        input = torch.tensor(
            [
                [
                    [
                        [[0.0, 0.0, 0.0], [0.0, 2.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                    ]
                ]
            ],
            device=device,
            dtype=dtype,
        )

        expected = torch.tensor(
            [
                [
                    [
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [2.0, 1.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                    ]
                ]
            ],
            device=device,
            dtype=dtype,
        )

        _, _, D, H, W = input.shape
        center = torch.tensor([[(W - 1) / 2, (H - 1) / 2, (D - 1) / 2]], device=device, dtype=dtype)

        angles = torch.tensor([[0.0, 90.0, 0.0]], device=device, dtype=dtype)

        scales: torch.Tensor = torch.ones_like(angles, device=device, dtype=dtype)
        P = proj.get_projective_transform(center, angles, scales)
        output = proj.warp_affine3d(input, P, (3, 3, 3))
        assert_close(output, expected, rtol=1e-4, atol=1e-4)

    def test_rotate_z(self, device, dtype):
        input = torch.tensor(
            [
                [
                    [
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 2.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                    ]
                ]
            ],
            device=device,
            dtype=dtype,
        )

        expected = torch.tensor(
            [
                [
                    [
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 1.0, 2.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                    ]
                ]
            ],
            device=device,
            dtype=dtype,
        )

        _, _, D, H, W = input.shape
        center = torch.tensor([[(W - 1) / 2, (H - 1) / 2, (D - 1) / 2]], device=device, dtype=dtype)

        angles = torch.tensor([[0.0, 0.0, 90.0]], device=device, dtype=dtype)

        scales: torch.Tensor = torch.ones_like(angles, device=device, dtype=dtype)
        P = proj.get_projective_transform(center, angles, scales)
        output = proj.warp_affine3d(input, P, (3, 3, 3))
        assert_close(output, expected, rtol=1e-4, atol=1e-4)

    def test_rotate_y_large(self, device, dtype):
        """Rotates 90deg anti-clockwise."""
        input = torch.tensor(
            [
                [
                    [
                        [[0.0, 4.0, 0.0], [0.0, 3.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 2.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                    ],
                    [
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 9.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 6.0, 7.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 8.0, 0.0], [0.0, 0.0, 0.0]],
                    ],
                ]
            ],
            device=device,
            dtype=dtype,
        )

        expected = torch.tensor(
            [
                [
                    [
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                        [[4.0, 2.0, 0.0], [3.0, 1.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                    ],
                    [
                        [[0.0, 0.0, 0.0], [0.0, 7.0, 0.0], [0.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 6.0, 8.0], [9.0, 0.0, 0.0]],
                        [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]],
                    ],
                ]
            ],
            device=device,
            dtype=dtype,
        )

        _, _, D, H, W = input.shape
        center = torch.tensor([[(W - 1) / 2, (H - 1) / 2, (D - 1) / 2]], device=device, dtype=dtype)

        angles = torch.tensor([[0.0, 90.0, 0.0]], device=device, dtype=dtype)

        scales: torch.Tensor = torch.ones_like(angles, device=device, dtype=dtype)
        P = proj.get_projective_transform(center, angles, scales)
        output = proj.warp_affine3d(input, P, (3, 3, 3))
        assert_close(output, expected, rtol=1e-4, atol=1e-4)


class TestGetRotationMatrix3d:
    def test_smoke(self, device, dtype):
        center = torch.rand(1, 3, device=device, dtype=dtype)
        angle = torch.rand(1, 3, device=device, dtype=dtype)
        scales: torch.Tensor = torch.ones_like(angle, device=device, dtype=dtype)
        P = proj.get_projective_transform(center, angle, scales)
        assert P.shape == (1, 3, 4)

    @pytest.mark.parametrize("batch_size", [1, 3, 6])
    def test_batch(self, batch_size, device, dtype):
        B: int = batch_size
        center = torch.rand(B, 3, device=device, dtype=dtype)
        angle = torch.rand(B, 3, device=device, dtype=dtype)
        scales: torch.Tensor = torch.ones_like(angle, device=device, dtype=dtype)
        P = proj.get_projective_transform(center, angle, scales)
        assert P.shape == (B, 3, 4)

    def test_identity(self, device, dtype):
        center = torch.zeros(1, 3, device=device, dtype=dtype)
        angle = torch.zeros(1, 3, device=device, dtype=dtype)
        scales: torch.Tensor = torch.ones_like(angle, device=device, dtype=dtype)
        P = proj.get_projective_transform(center, angle, scales)
        P_expected = torch.tensor(
            [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0]], device=device, dtype=dtype
        ).unsqueeze(0)
        assert_close(P, P_expected, atol=1e-4, rtol=1e-4)

    def test_rot90x(self, device, dtype):
        center = torch.zeros(1, 3, device=device, dtype=dtype)
        angle = torch.tensor([[90.0, 0.0, 0.0]], device=device, dtype=dtype)
        scales: torch.Tensor = torch.ones_like(angle, device=device, dtype=dtype)
        P = proj.get_projective_transform(center, angle, scales)
        P_expected = torch.tensor(
            [[1.0, 0.0, 0.0, 0.0], [0.0, 0.0, -1.0, 0.0], [0.0, 1.0, 0.0, 0.0]], device=device, dtype=dtype
        ).unsqueeze(0)
        assert_close(P, P_expected, atol=1e-4, rtol=1e-4)

    def test_rot90y(self, device, dtype):
        center = torch.zeros(1, 3, device=device, dtype=dtype)
        angle = torch.tensor([[0.0, 90.0, 0.0]], device=device, dtype=dtype)
        scales: torch.Tensor = torch.ones_like(angle, device=device, dtype=dtype)
        P = proj.get_projective_transform(center, angle, scales)
        P_expected = torch.tensor(
            [[0.0, 0.0, 1.0, 0.0], [0.0, 1.0, 0.0, 0.0], [-1.0, 0.0, 0.0, 0.0]], device=device, dtype=dtype
        ).unsqueeze(0)
        assert_close(P, P_expected, atol=1e-4, rtol=1e-4)

    def test_rot90z(self, device, dtype):
        center = torch.zeros(1, 3, device=device, dtype=dtype)
        angle = torch.tensor([[0.0, 0.0, 90.0]], device=device, dtype=dtype)
        scales: torch.Tensor = torch.ones_like(angle, device=device, dtype=dtype)
        P = proj.get_projective_transform(center, angle, scales)
        P_expected = torch.tensor(
            [[0.0, -1.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0]], device=device, dtype=dtype
        ).unsqueeze(0)
        assert_close(P, P_expected, atol=1e-4, rtol=1e-4)

    def test_gradcheck(self, device, dtype):
        # generate input data
        center = torch.rand(1, 3, device=device, dtype=torch.float64, requires_grad=True)
        angle = torch.rand(1, 3, device=device, dtype=torch.float64)
        scales: torch.Tensor = torch.ones_like(angle, device=device, dtype=torch.float64)
        assert gradcheck(proj.get_projective_transform, (center, angle, scales), raise_exception=True)


class TestPerspectiveTransform3D:
    @pytest.mark.skip("Not working")
    @pytest.mark.parametrize("batch_size", [1, 2, 5])
    def test_get_perspective_transform3d(self, batch_size, device, dtype):
        # generate input data
        # d_max, h_max, w_max = 16, 64, 32  # height, width
        # d = torch.ceil(d_max * torch.rand(batch_size, device=device, dtype=dtype))
        # h = torch.ceil(h_max * torch.rand(batch_size, device=device, dtype=dtype))
        # w = torch.ceil(w_max * torch.rand(batch_size, device=device, dtype=dtype))

        norm = torch.rand(batch_size, 8, 3, device=device, dtype=dtype)
        points_src = torch.rand_like(norm, device=device, dtype=dtype)
        points_dst = points_src + norm

        # compute transform from source to target
        dst_homo_src = kornia.geometry.transform.get_perspective_transform3d(points_src, points_dst)

        # TODO: get_perspective_transform3d seems to be correct since it would result in the
        # expected output for cropping volumes. Not sure what is going on here.
        assert_close(
            kornia.geometry.linalg.transform_points(dst_homo_src, points_src), points_dst, rtol=1e-4, atol=1e-4
        )

        # compute gradient check
        points_src = utils.tensor_to_gradcheck_var(points_src)  # to var
        points_dst = utils.tensor_to_gradcheck_var(points_dst)  # to var
        assert gradcheck(
            kornia.geometry.transform.get_perspective_transform3d, (points_src, points_dst), raise_exception=True
        )

    @pytest.mark.parametrize("batch_size", [1, 2])
    def test_get_perspective_transform3d_2(self, batch_size, device, dtype):
        torch.manual_seed(0)
        src = kornia.geometry.bbox.bbox_generator3d(
            torch.randint_like(torch.ones(batch_size), 0, 50, dtype=dtype),
            torch.randint_like(torch.ones(batch_size), 0, 50, dtype=dtype),
            torch.randint_like(torch.ones(batch_size), 0, 50, dtype=dtype),
            torch.randint(0, 50, (1,), dtype=dtype).repeat(batch_size),
            torch.randint(0, 50, (1,), dtype=dtype).repeat(batch_size),
            torch.randint(0, 50, (1,), dtype=dtype).repeat(batch_size),
        ).to(device=device, dtype=dtype)
        dst = kornia.geometry.bbox.bbox_generator3d(
            torch.randint_like(torch.ones(batch_size), 0, 50, dtype=dtype),
            torch.randint_like(torch.ones(batch_size), 0, 50, dtype=dtype),
            torch.randint_like(torch.ones(batch_size), 0, 50, dtype=dtype),
            torch.randint(0, 50, (1,), dtype=dtype).repeat(batch_size),
            torch.randint(0, 50, (1,), dtype=dtype).repeat(batch_size),
            torch.randint(0, 50, (1,), dtype=dtype).repeat(batch_size),
        ).to(device=device, dtype=dtype)
        out = kornia.geometry.transform.get_perspective_transform3d(src, dst)
        if batch_size == 1:
            expected = torch.tensor(
                [
                    [
                        [3.3000, 0.0000, 0.0000, -118.2000],
                        [0.0000, 0.0769, 0.0000, 0.0000],
                        [0.0000, 0.0000, 0.5517, 28.7930],
                        [0.0000, 0.0000, 0.0000, 1.0000],
                    ]
                ],
                device=device,
                dtype=dtype,
            )
        if batch_size == 2:
            expected = torch.tensor(
                [
                    [
                        [0.9630, 0.0000, 0.0000, -9.3702],
                        [0.0000, 2.0000, 0.0000, -49.9999],
                        [0.0000, 0.0000, 0.3830, 44.0213],
                        [0.0000, 0.0000, 0.0000, 1.0000],
                    ],
                    [
                        [0.9630, 0.0000, 0.0000, -36.5555],
                        [0.0000, 2.0000, 0.0000, -14.0000],
                        [0.0000, 0.0000, 0.3830, 16.8940],
                        [0.0000, 0.0000, 0.0000, 1.0000],
                    ],
                ],
                device=device,
                dtype=dtype,
            )

        assert_close(out, expected, rtol=1e-4, atol=1e-4)

        # compute gradient check
        points_src = utils.tensor_to_gradcheck_var(src)  # to var
        points_dst = utils.tensor_to_gradcheck_var(dst)  # to var
        assert gradcheck(
            kornia.geometry.transform.get_perspective_transform3d, (points_src, points_dst), raise_exception=True
        )