def pre_compose_test(args, name):
(tensor, update), res = load_data(args, name)
qa = QuatAffine.from_tensor(tensor)
this_res = qa.pre_compose(update).to_tensor()
err, max_err, mean_err = check_recursive(res, this_res)
print(f'Max error = {max_err}, mean error = {mean_err} total error = {err}')
print(f'Success = {(max_err < 1e-4) and (mean_err < 1e-5)}')
def invert_point_test(args, name):
(tensor, point), res = load_data(args, name)
qa = QuatAffine.from_tensor(tensor)
this_res = qa.invert_point(point)
err, max_err, mean_err = check_recursive(res, this_res)
print(f'Max error = {max_err}, mean error = {mean_err} total error = {err}')
print(f'Success = {(max_err < 1e-4) and (mean_err < 1e-5)}')
def init_test(args, name):
args, res = load_data(args, name)
qa = QuatAffine.from_tensor(*args)
this_res = qa.quaternion, qa.translation, qa.rotation
for a,b in zip(res, this_res):
err, max_err, mean_err = check_recursive(a,b)
print(f'Max error = {max_err}, mean error = {mean_err} total error = {err}')
print(f'Success = {(max_err < 1e-4) and (mean_err < 1e-5)}')
def to_tensor_test(args, name):
(tensor, ), res = load_data(args, name)
qa = QuatAffine.from_tensor(tensor)
qa = qa.apply_rotation_tensor_fn(lambda t: t+1.0)
this_res = qa.to_tensor()
err, max_err, mean_err = check_recursive(res,this_res)
print(f'Max error = {max_err}, mean error = {mean_err} total error = {err}')
print(f'Success = {(max_err < 1e-4) and (mean_err < 1e-5)}')
def apply_rot_func_test(args, name):
(tensor, ), res = load_data(args, name)
qa = QuatAffine.from_tensor(tensor)
qa = qa.apply_rotation_tensor_fn(lambda t: t+1.0)
this_res = qa.quaternion, qa.translation, qa.rotation
for a,b in zip(res, this_res):
err, max_err, mean_err = check_recursive(a,b)
print(f'Max error = {max_err}, mean error = {mean_err} total error = {err}')
print(f'Success = {(max_err < 1e-4) and (mean_err < 1e-5)}')