def test_translation_Bx4x4(self, batch_size, device, dtype):
offset = 10
trans_01 = identity_matrix(batch_size, device=device, dtype=dtype)
trans_01[..., :3, -1] += offset # add offset to translation vector
trans_10 = kornia.inverse_transformation(trans_01)
trans_01_hat = kornia.inverse_transformation(trans_10)
assert_close(trans_01, trans_01_hat, atol=1e-4, rtol=1e-4)
def test_translation_Bx4x4(self, batch_size):
offset = 10
trans_01 = identity_matrix(batch_size)
trans_01[..., :3, -1] += offset # add offset to translation vector
trans_10 = kornia.inverse_transformation(trans_01)
trans_01_hat = kornia.inverse_transformation(trans_10)
assert_allclose(trans_01, trans_01_hat)
def test_translation_4x4(self):
offset = 10
trans_01 = identity_matrix(batch_size=1)[0]
trans_01[..., :3, -1] += offset # add offset to translation vector
trans_10 = kornia.inverse_transformation(trans_01)
trans_01_hat = kornia.inverse_transformation(trans_10)
assert utils.check_equal_torch(trans_01, trans_01_hat)
def test_rotation_translation_Bx4x4(self, batch_size):
offset = 10
x, y, z = 0, 0, kornia.pi
ones = torch.ones(batch_size)
rmat_01 = euler_angles_to_rotation_matrix(x * ones, y * ones, z * ones)
trans_01 = identity_matrix(batch_size)
trans_01[..., :3, -1] += offset # add offset to translation vector
trans_01[..., :3, :3] = rmat_01[..., :3, :3]
trans_10 = kornia.inverse_transformation(trans_01)
trans_01_hat = kornia.inverse_transformation(trans_10)
assert_allclose(trans_01, trans_01_hat)
