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fb440fedf3
* occupancy grid in progress * visualizing occupancy grid. currently restructing field and renderer head outputs * black and pylint. broke nerfw and semantic nerf but it's okay * get_project_root
58 lines
1.5 KiB
Python
58 lines
1.5 KiB
Python
"""
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Test samplers
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"""
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import torch
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from mattport.nerf.sampler import PDFSampler, UniformSampler
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from mattport.structures.rays import RayBundle
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from mattport.nerf.colliders import NearFarCollider
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def test_uniform_sampler():
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"""Test uniform sampler"""
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near_plane = 2
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far_plane = 4
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num_samples = 15
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sampler = UniformSampler(num_samples=num_samples)
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origins = torch.zeros((10, 3))
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directions = torch.ones_like(origins)
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ray_bundle = RayBundle(origins=origins, directions=directions)
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collider = NearFarCollider(near_plane, far_plane)
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ray_bundle = collider(ray_bundle)
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ray_samples = sampler(ray_bundle)
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assert ray_samples.positions.shape[-2] == num_samples
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# TODO Tancik: Add more precise tests
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def test_pdf_sampler():
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"""Test pdf sampler"""
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near_plane = 2
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far_plane = 4
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num_samples = 15
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origins = torch.zeros((10, 3))
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directions = torch.ones_like(origins)
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ray_bundle = RayBundle(origins=origins, directions=directions)
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collider = NearFarCollider(near_plane, far_plane)
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ray_bundle = collider(ray_bundle)
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uniform_sampler = UniformSampler(num_samples=num_samples)
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coarse_ray_samples = uniform_sampler(ray_bundle)
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weights = torch.ones((10, num_samples))
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# Just check that it doesn't crash. Need to add some actual tests.
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pdf_sampler = PDFSampler(num_samples)
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pdf_sampler(coarse_ray_samples, weights, num_samples)
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# TODO Tancik: Add more precise tests
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if __name__ == "__main__":
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test_uniform_sampler()
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test_pdf_sampler()
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