def test_location(self):
forward = 51.2
up = 153.3
left = -126.07
pose = tum_loader.make_camera_pose(-1 * left, -1 * up, forward, 0, 0,
0, 1)
self.assertNPEqual((forward, left, up), pose.location)
def test_make_camera_pose_changes_rotation_each_axis(self):
# Roll, rotation around z-axis
quat = tf3d.quaternions.axangle2quat((0, 0, 1), np.pi / 6)
pose = tum_loader.make_camera_pose(10, -22.4, 13.2, quat[0], quat[1],
quat[2], quat[3])
self.assertNPClose((np.pi / 6, 0, 0), pose.euler)
# Pitch, rotation around x-axis
quat = tf3d.quaternions.axangle2quat((1, 0, 0), np.pi / 6)
pose = tum_loader.make_camera_pose(10, -22.4, 13.2, quat[0], quat[1],
quat[2], quat[3])
self.assertNPClose((0, -np.pi / 6, 0), pose.euler)
# Yaw, rotation around y-axis
quat = tf3d.quaternions.axangle2quat((0, 1, 0), np.pi / 6)
pose = tum_loader.make_camera_pose(10, -22.4, 13.2, quat[0], quat[1],
quat[2], quat[3])
self.assertNPClose((0, 0, -np.pi / 6), pose.euler)
def test_orientation(self):
angle = np.pi / 7
forward = 51.2
up = 153.3
left = -126.07
quat = tf3d.quaternions.axangle2quat((-1 * left, -1 * up, forward),
angle)
pose = tum_loader.make_camera_pose(0, 0, 0, quat[0], quat[1], quat[2],
quat[3])
self.assertNPEqual((0, 0, 0), pose.location)
self.assertNPEqual(
tf3d.quaternions.axangle2quat((forward, left, up), angle),
pose.rotation_quat(True))
def test_randomized(self):
for _ in range(10):
loc = np.random.uniform(-1000, 1000, 3)
rot_axis = np.random.uniform(-1, 1, 3)
rot_angle = np.random.uniform(-np.pi, np.pi)
quat = tf3d.quaternions.axangle2quat(
(-rot_axis[1], -rot_axis[2], rot_axis[0]), rot_angle, False)
pose = tum_loader.make_camera_pose(-loc[1], -loc[2], loc[0],
quat[0], quat[1], quat[2],
quat[3])
self.assertNPEqual(loc, pose.location)
self.assertNPClose(
tf3d.quaternions.axangle2quat(rot_axis, rot_angle, False),
pose.rotation_quat(True))
def test_both(self):
forward = 51.2
up = 153.3
left = -126.07
angle = np.pi / 7
o_forward = 1.151325
o_left = 5.1315
o_up = -0.2352323
quat = tf3d.quaternions.axangle2quat(
(-1 * o_left, -1 * o_up, o_forward), angle)
pose = tum_loader.make_camera_pose(-1 * left, -1 * up, forward,
quat[0], quat[1], quat[2], quat[3])
self.assertNPEqual((forward, left, up), pose.location)
self.assertNPEqual(
tf3d.quaternions.axangle2quat((o_forward, o_left, o_up), angle),
pose.rotation_quat(True))
def test_make_camera_pose_location_coordinates(self):
# Order here is right, down, forward
pose = tum_loader.make_camera_pose(10, -22.4, 13.2, 0, 0, 0, 1)
# Change coordinate order to forward, left, up
self.assertNPEqual((13.2, -10, 22.4), pose.location)
def test_make_camera_pose_returns_transform_object(self):
pose = tum_loader.make_camera_pose(10, -22.4, 13.2, 0, 0, 0, 1)
self.assertIsInstance(pose, tf.Transform)