def test_translation_Bx4x4(self, batch_size):
offset = 10
trans_01 = identity_matrix(batch_size)
trans_12 = identity_matrix(batch_size)
trans_12[..., :3, -1] += offset # add offset to translation vector
trans_02 = kornia.compose_transformations(trans_01, trans_12)
assert_allclose(trans_02, trans_12)
def test_translation_Bx4x4(self, batch_size, device, dtype):
offset = 10
trans_01 = identity_matrix(batch_size, device=device, dtype=dtype)
trans_12 = identity_matrix(batch_size, device=device, dtype=dtype)
trans_12[..., :3, -1] += offset # add offset to translation vector
trans_02 = kornia.compose_transformations(trans_01, trans_12)
assert_close(trans_02, trans_12, atol=1e-4, rtol=1e-4)
def test_translation_4x4(self):
offset = 10
trans_01 = identity_matrix(batch_size=1)[0]
trans_12 = identity_matrix(batch_size=1)[0]
trans_12[..., :3, -1] += offset # add offset to translation vector
trans_02 = kornia.compose_transformations(trans_01, trans_12)
assert utils.check_equal_torch(trans_02, trans_12)
def test_translation_4x4(self):
offset = 10.
trans_01 = identity_matrix(batch_size=1)[0]
trans_02 = identity_matrix(batch_size=1)[0]
trans_02[..., :3, -1] += offset # add offset to translation vector
trans_12 = kornia.relative_transformation(trans_01, trans_02)
trans_02_hat = kornia.compose_transformations(trans_01, trans_12)
assert_allclose(trans_02_hat, trans_02)
def test_translation_4x4(self, device, dtype):
offset = 10.0
trans_01 = identity_matrix(batch_size=1, device=device, dtype=dtype)[0]
trans_02 = identity_matrix(batch_size=1, device=device, dtype=dtype)[0]
trans_02[..., :3, -1] += offset # add offset to translation vector
trans_12 = kornia.relative_transformation(trans_01, trans_02)
trans_02_hat = kornia.compose_transformations(trans_01, trans_12)
assert_close(trans_02_hat, trans_02, atol=1e-4, rtol=1e-4)
def test_rotation_translation_Bx4x4(self, batch_size):
offset = 10.
x, y, z = 0., 0., kornia.pi
ones = torch.ones(batch_size)
rmat_02 = euler_angles_to_rotation_matrix(x * ones, y * ones, z * ones)
trans_01 = identity_matrix(batch_size)
trans_02 = identity_matrix(batch_size)
trans_02[..., :3, -1] += offset # add offset to translation vector
trans_02[..., :3, :3] = rmat_02[..., :3, :3]
trans_12 = kornia.relative_transformation(trans_01, trans_02)
trans_02_hat = kornia.compose_transformations(trans_01, trans_12)
assert_allclose(trans_02_hat, trans_02)
