def test_back_and_forth(self, device):
quaternion_log = torch.tensor([0., 0., 0.]).to(device)
quaternion_exp = kornia.quaternion_log_to_exp(quaternion_log)
quaternion_log_hat = kornia.quaternion_exp_to_log(quaternion_exp)
assert_allclose(quaternion_log, quaternion_log_hat)
def test_pi_quaternion(self, device):
one = torch.tensor(1.).to(device)
quaternion_log = torch.tensor([1., 0., 0.]).to(device)
expected = torch.tensor([torch.sin(one), 0., 0.,
torch.cos(one)]).to(device)
assert_allclose(kornia.quaternion_log_to_exp(quaternion_log), expected)
def test_smoke_batch(self, device, batch_size):
quaternion_log = torch.zeros(batch_size, 3).to(device)
quaternion_exp = kornia.quaternion_log_to_exp(quaternion_log)
assert quaternion_exp.shape == (batch_size, 4)
def test_unit_quaternion(self, device):
quaternion_log = torch.tensor([0., 0., 0.]).to(device)
expected = torch.tensor([0., 0., 0., 1.]).to(device)
assert_allclose(kornia.quaternion_log_to_exp(quaternion_log), expected)
def test_back_and_forth(self):
quaternion_exp = torch.tensor([1., 0., 0., 0.])
quaternion_log = kornia.quaternion_exp_to_log(quaternion_exp)
quaternion_exp_hat = kornia.quaternion_log_to_exp(quaternion_log)
assert_allclose(quaternion_exp, quaternion_exp_hat)