unit_test_octforest.py

if __name__ == "__main__":
    from scipy.spatial.transform import Rotation as R
    from scipy.interpolate import interp1d

    # test = 'easy'
    test = 'hard'

    _intr3x3 = torch.tensor([[500,0,1000],[0,500,500],[0,0,1]])
    cam_intrinsic = torch.eye(4, dtype=torch.double)
    cam_intrinsic[:3, :3] = _intr3x3

    if test == 'easy':
        world_dimension = 3
        trans_knots = np.random.uniform(-100, 100, size=(3,world_dimension))
        interp = interp1d([0,10,20], trans_knots, axis=0)
        rots = np.tile(np.eye(3), [20,1,1])
        trans = np.zeros([20,3])
        trans[:, :world_dimension] = interp(np.arange(20))
    
    elif test == 'hard':
        rots = R.random(20).as_matrix()
        trans = np.random.uniform(-100, 100, size=(20,3))

    c2ws = np.tile(np.eye(4), [20,1,1])
    c2ws[:, :3, :3] = rots
    c2ws[:, :3, 3] = trans
    

    octforest = OctForest(tree_size=64, near=0.1, far=100, intrinsic=cam_intrinsic, c2ws=c2ws)