def test_relative_rotation(pairs_and_their_E):
for f1, _, _, _ in pairs_and_their_E:
vec_x = np.random.rand(3)
vec_x /= np.linalg.norm(vec_x)
vec_y = np.array([-vec_x[1], vec_x[0], 0.0])
vec_y /= np.linalg.norm(vec_y)
vec_z = np.cross(vec_x, vec_y)
rotation = np.array([vec_x, vec_y, vec_z])
f1 /= np.linalg.norm(f1, axis=1)[:, None]
f2 = [rotation.dot(x) for x in f1]
result = pygeometry.relative_rotation_n_points(f1, f2)
assert np.allclose(rotation, result, rtol=1e-10)
def test_relative_rotation(pairs_and_their_E) -> None:
for f1, _, _, _ in pairs_and_their_E:
vec_x = np.random.rand(3)
vec_x /= np.linalg.norm(vec_x)
vec_y = np.array([-vec_x[1], vec_x[0], 0.0])
vec_y /= np.linalg.norm(vec_y)
vec_z = np.cross(vec_x, vec_y)
rotation = np.array([vec_x, vec_y, vec_z])
f1 /= np.linalg.norm(f1, axis=1)[:, None]
f2 = [rotation.dot(x) for x in f1]
# pyre-fixme[6]: For 2nd param expected `ndarray` but got `List[typing.Any]`.
result = pygeometry.relative_rotation_n_points(f1, f2)
assert np.allclose(rotation, result, rtol=1e-10)