Release KITTI-C2L v1.0.0: documented self-contained benchmark, loader and baselines
db613b6 verified | from __future__ import annotations | |
| import numpy as np | |
| from kitti_c2l.geometry import ( | |
| euler_deg_to_matrix, | |
| matrix_to_euler_deg, | |
| matrix_to_rotation_6d, | |
| project_to_image, | |
| rotation_6d_to_matrix, | |
| se3_compose, | |
| se3_inverse, | |
| transform_points, | |
| ) | |
| def test_euler_round_trip(): | |
| euler_deg = np.array([12.0, -7.0, 33.0]) | |
| matrix = euler_deg_to_matrix(euler_deg) | |
| recovered = matrix_to_euler_deg(matrix) | |
| np.testing.assert_allclose(recovered, euler_deg, atol=1e-4) | |
| def test_euler_identity_at_zero(): | |
| matrix = euler_deg_to_matrix(np.zeros(3)) | |
| np.testing.assert_allclose(matrix, np.eye(3), atol=1e-10) | |
| def test_rotation_6d_round_trip(): | |
| matrix = euler_deg_to_matrix(np.array([5.0, 10.0, -15.0])) | |
| d6 = matrix_to_rotation_6d(matrix) | |
| recovered = rotation_6d_to_matrix(d6) | |
| np.testing.assert_allclose(recovered, matrix, atol=1e-6) | |
| def test_transform_points_identity(): | |
| points = np.array([[1.0, 2.0, 3.0], [4.0, 5.0, 6.0]]) | |
| transformed = transform_points(points, np.eye(3), np.zeros(3)) | |
| np.testing.assert_allclose(transformed, points) | |
| def test_transform_points_translation_only(): | |
| points = np.array([[1.0, 2.0, 3.0]]) | |
| transformed = transform_points(points, np.eye(3), np.array([10.0, 0.0, 0.0])) | |
| np.testing.assert_allclose(transformed, [[11.0, 2.0, 3.0]]) | |
| def test_project_to_image_principal_point(): | |
| # A point on the optical axis (relative to principal point offset) projects to (cx, cy). | |
| intrinsics = np.array([[700.0, 0.0, 16.0], [0.0, 700.0, 16.0], [0.0, 0.0, 1.0]]) | |
| points_cam = np.array([[0.0, 0.0, 5.0]]) | |
| pixels = project_to_image(points_cam, intrinsics) | |
| np.testing.assert_allclose(pixels, [[16.0, 16.0]], atol=1e-6) | |
| def test_se3_inverse_round_trip(): | |
| rotation = euler_deg_to_matrix(np.array([10.0, 20.0, 30.0])) | |
| translation = np.array([1.0, -2.0, 3.0]) | |
| rotation_inv, translation_inv = se3_inverse(rotation, translation) | |
| rotation_id, translation_id = se3_compose(rotation, translation, rotation_inv, translation_inv) | |
| np.testing.assert_allclose(rotation_id, np.eye(3), atol=1e-10) | |
| np.testing.assert_allclose(translation_id, np.zeros(3), atol=1e-10) | |
| def test_se3_compose_matches_matrix_multiplication(): | |
| rng = np.random.default_rng(0) | |
| r_b_a = euler_deg_to_matrix(rng.uniform(-30, 30, size=3)) | |
| t_b_a = rng.uniform(-10, 10, size=3) | |
| r_c_b = euler_deg_to_matrix(rng.uniform(-30, 30, size=3)) | |
| t_c_b = rng.uniform(-10, 10, size=3) | |
| r_c_a, t_c_a = se3_compose(r_b_a, t_b_a, r_c_b, t_c_b) | |
| # Cross-check via explicit 4x4 homogeneous matrices. | |
| def homogeneous(r, t): | |
| m = np.eye(4) | |
| m[:3, :3] = r | |
| m[:3, 3] = t | |
| return m | |
| expected = homogeneous(r_c_b, t_c_b) @ homogeneous(r_b_a, t_b_a) | |
| np.testing.assert_allclose(r_c_a, expected[:3, :3], atol=1e-10) | |
| np.testing.assert_allclose(t_c_a, expected[:3, 3], atol=1e-10) | |