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| """Tests for pointpillars utils."""
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| from absl.testing import parameterized
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| import numpy as np
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| import tensorflow as tf, tf_keras
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| from official.projects.pointpillars.utils import utils
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| class UtilsTest(parameterized.TestCase, tf.test.TestCase):
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|
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| @parameterized.parameters(
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| ([2, 1], [2, 1]),
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| ([1, 1], [4, 3]),
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| ([2, 2, 4], [2, 1, 5]),
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| )
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| def test_pad_or_trim_to_shape(self, original_shape, expected_shape):
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| x = np.ones(shape=original_shape)
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| x = utils.pad_or_trim_to_shape(x, expected_shape)
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| self.assertAllEqual(x.shape, expected_shape)
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|
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| @parameterized.parameters(
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| ([[1.1, 1.1, 2.2, 2.2]], 10.0, 5.0),
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| ([[1.1, 10.1, 2.2, 10.2]], 10.0, 10.0),
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| ([[-1.1, 10.1, -2.2, 10.2]], 5.0, 2.0),
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| )
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| def test_clip_boxes(self, boxes, height, width):
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| boxes = np.array(boxes)
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| boxes = utils.clip_boxes(boxes, height, width)
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| self.assertGreaterEqual(boxes[:, 0], 0.0)
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| self.assertGreaterEqual(boxes[:, 1], 0.0)
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| self.assertLessEqual(boxes[:, 2], height)
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| self.assertLessEqual(boxes[:, 3], width)
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| def test_get_vehicle_xy(self):
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| vehicle_xy = utils.get_vehicle_xy(10, 10, (-50, 50), (-50, 50))
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| self.assertEqual(vehicle_xy, (5, 5))
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| @parameterized.parameters(
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| ([[1.0, 1.0]]),
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| ([[-2.2, 4.2]]),
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| ([[3.7, -10.3]]),
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| )
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| def test_frame_to_image_and_image_to_frame(self, frame_xy):
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| frame_xy = np.array(frame_xy)
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| vehicle_xy = (0, 0)
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| resolution = 1.0
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| image_xy = utils.frame_to_image_coord(frame_xy, vehicle_xy, 1 / resolution)
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| frame_xy_1 = utils.image_to_frame_coord(image_xy, vehicle_xy, resolution)
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| self.assertAllEqual(frame_xy_1, np.floor(frame_xy))
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| @parameterized.parameters(
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| ([[1.0, 1.0, 2.0, 2.0]]),
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| ([[-2.2, -4.2, 2.2, 4.2]]),
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| )
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| def test_frame_to_image_boxes_and_image_to_frame_boxes(self, frame_boxes):
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| frame_boxes = np.array(frame_boxes)
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| vehicle_xy = (0, 0)
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| resolution = 1.0
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| image_boxes = utils.frame_to_image_boxes(frame_boxes, vehicle_xy,
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| 1 / resolution)
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| frame_boxes_1 = utils.image_to_frame_boxes(image_boxes, vehicle_xy,
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| resolution)
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| self.assertAllClose(frame_boxes_1, frame_boxes)
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| def test_generate_anchors(self):
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| min_level = 1
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| max_level = 3
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| image_size = [16, 16]
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| anchor_sizes = [(2.0, 1.0)]
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| all_anchors = utils.generate_anchors(min_level, max_level, image_size,
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| anchor_sizes)
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| for level in range(min_level, max_level + 1):
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| anchors = all_anchors[str(level)]
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| stride = 2**level
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| self.assertAllEqual(anchors.shape.as_list(),
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| [image_size[0] / stride, image_size[1] / stride, 4])
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| if __name__ == '__main__':
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| tf.test.main()
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|
