def test_quaternion_inverse():
q1 = Quaternion(1, 2, 3, 4)
inv = q1.inverse()
assert q1 * inv == Quaternion.identity()
with pytest.raises(ValueError):
zero_q = Quaternion(0, 0, 0, 0)
zero_q.inverse()
def test_quaternion_normalize():
q1 = Quaternion(1, 2, 3, 4)
normalized = q1.normalize()
assert normalized.is_unit_quaternion()
with pytest.raises(ValueError):
zero_q = Quaternion(0, 0, 0, 0)
zero_q.normalize()
def test_quaternion_pow():
_ = Quaternion.identity()
i = Quaternion(0, 1, 0, 0)
j = Quaternion(0, 0, 1, 0)
k = Quaternion(0, 0, 0, 1)
i2 = i**2
j2 = j**2
k2 = k**2
assert i2 == j2 == k2
def test_quaternion_add():
q1 = Quaternion(1, 2, 3, 4)
q2 = Quaternion(1, 2, 3, 4)
q3 = Quaternion(2, 4, 6, 8)
assert q1 + q2 == q3
q1 += q2
assert q1 == q3
with pytest.raises(TypeError):
q1 + 45
def test_quaternion_sub():
q1 = Quaternion(1, 2, 3, 4)
q2 = Quaternion(1, 1, 0, 0)
q3 = Quaternion(0, 1, 3, 4)
assert q1 - q2 == q3
q1 -= q2
assert q1 == q3
with pytest.raises(TypeError):
q1 - 45
def test_quaternion_generation():
q = Quaternion()
identity = (1, 0, 0, 0)
assert all(i == j for i, j in zip(q, identity))
q_id = Quaternion.identity()
assert all(i == j for i, j in zip(q_id, identity))
def normRotation(self, tmpSkel=None, refPtIdx=None):
'''tmpSkel: normalize every palm pose to the tmpSkel pose (template skeleton)
refPtIdx: indexes of joints on the palm
'''
if tmpSkel is None:
tmpSkel = self.frmList[0].norm_skel
if refPtIdx is None:
refPtIdx = self.refPtIdx
refIdx = []
for idx in refPtIdx:
refIdx += [idx * 3, idx * 3 + 1, idx * 3 + 2]
keep_list = set(range(3*self.skel_num)).\
difference(set(refIdx+range(self.centerPtIdx, self.centerPtIdx+3)))
keep_list = list(keep_list)
temp = tmpSkel[refIdx].copy()
temp.shape = (-1, 3)
for frm in self.frmList:
model = frm.norm_skel[refIdx]
model.shape = (-1, 3)
R = np.zeros((3, 3), np.float32)
for vt, vm in zip(temp, model):
R = R + np.dot(vm.reshape(3, 1), vt.reshape(1, 3))
U, s, V = svd(R, full_matrices=True)
R = np.dot(V.transpose(), U.transpose())
frm.quad = Quaternion(R)
frm.norm_skel.shape = (-1, 3)
frm.norm_skel = np.dot(R, frm.norm_skel.transpose())
frm.norm_skel = frm.norm_skel.flatten('F')
def __init__(self, *args, **kwargs):
if len(args) == len(kwargs) == 0:
args = np.concatenate([P0().data, Q0().data], axis=1)
if len(args) == 2:
args = np.concatenate([args[0].data, args[1].data], axis=1)
super().__init__(*args, **kwargs)
self.p = Point(self.data[:, :3])
self.q = Quaternion(self.data[:, 3:])
def test_quaternion_mul_basis():
_ = Quaternion.identity()
i = Quaternion(0, 1, 0, 0)
j = Quaternion(0, 0, 1, 0)
k = Quaternion(0, 0, 0, 1)
# test identity multiplication
assert _ * i == i
assert i * _ == i
assert j * _ == j
assert _ * j == j
assert _ * k == k
assert k * _ == k
i2 = i * i
j2 = j * j
k2 = k * k
ijk = i * j * k
assert i2 == j2 == k2 == ijk == -_
def test_quaternion_div_real():
q1 = Quaternion(1, 2, 3, 4)
real = 4
q2 = Quaternion(*(i / real for i in q1))
assert q1 / real == q2
def test_quaternion_div():
q1 = Quaternion(1, 2, 3, 4)
assert q1 / q1 == Quaternion.identity()
def test_quaternion_mul_real():
q1 = Quaternion(1, 2, 3, 4)
real = 4
q2 = Quaternion(*(i * real for i in q1))
assert q1 * real == q2
def test_quaternion_neg():
q1 = Quaternion(1, 2, 3, 4)
assert -q1 == Quaternion(-1, -2, -3, -4)