def test_make_objects_axis_aligned(self):
rotation1 = rotation_matrix.from_rotation_around_x(-math.pi / 6.0)
rotation2 = tf.constant(
[[0.0, 0.0, 1.0], [1.0, 0.0, 0.0], [0.0, 1.0, 0.0]],
dtype=tf.float32)
inputs = {
standard_fields.InputDataFields.objects_length:
tf.constant([[1.0], [2.0]], dtype=tf.float32),
standard_fields.InputDataFields.objects_width:
tf.constant([[3.0], [3.0]], dtype=tf.float32),
standard_fields.InputDataFields.objects_height:
tf.constant([[2.0], [1.0]], dtype=tf.float32),
standard_fields.InputDataFields.objects_center:
tf.constant([[1.0, 1.0, 1.0], [-1.0, 2.0, 1.0]]),
standard_fields.InputDataFields.objects_rotation_matrix:
tf.stack([rotation1, rotation2], axis=0),
}
expected_inputs = {
standard_fields.InputDataFields.objects_length:
tf.constant([[1.0], [1.0]], dtype=tf.float32),
standard_fields.InputDataFields.objects_width:
tf.constant([[3.5980759], [2.0]], dtype=tf.float32),
standard_fields.InputDataFields.objects_height:
tf.constant([[3.232051], [3.0]], dtype=tf.float32),
standard_fields.InputDataFields.objects_center:
tf.constant([[1.0, 1.0, 1.0], [-1.0, 2.0, 1.0]]),
standard_fields.InputDataFields.objects_rotation_matrix:
tf.tile(tf.expand_dims(tf.eye(3, dtype=tf.float32), axis=0),
[2, 1, 1]),
}
preprocessor_utils.make_objects_axis_aligned(inputs)
for key in expected_inputs:
self.assertAllClose(inputs[key].numpy(),
expected_inputs[key].numpy())
def test_rotation_around_axis_with_vector_input(self):
angle = tf.constant([0.0, 0.5 * np.pi, -0.5 * np.pi, np.pi, -np.pi])
x = rotation_matrix.from_rotation_around_x(angle)
y = rotation_matrix.from_rotation_around_y(angle)
z = rotation_matrix.from_rotation_around_z(angle)
self.assertEqual(x.shape, (5, 3, 3))
self.assertEqual(y.shape, (5, 3, 3))
self.assertEqual(z.shape, (5, 3, 3))
x = tf.matmul(x, rotation_matrix.from_rotation_around_x(-angle))
y = tf.matmul(y, rotation_matrix.from_rotation_around_y(-angle))
z = tf.matmul(z, rotation_matrix.from_rotation_around_z(-angle))
expected = np.repeat(np.expand_dims(np.eye(3), axis=0), 5, axis=0)
self.assertAllClose(x.numpy(), expected)
self.assertAllClose(y.numpy(), expected)
self.assertAllClose(z.numpy(), expected)
def test_rotation_around_axis_with_tensor_input(self):
angle = tf.random.uniform(shape=(5, 1))
x = rotation_matrix.from_rotation_around_x(angle)
y = rotation_matrix.from_rotation_around_y(angle)
z = rotation_matrix.from_rotation_around_z(angle)
self.assertEqual(x.shape, (5, 3, 3))
self.assertEqual(y.shape, (5, 3, 3))
self.assertEqual(z.shape, (5, 3, 3))
x = tf.matmul(x, rotation_matrix.from_rotation_around_x(-angle))
y = tf.matmul(y, rotation_matrix.from_rotation_around_y(-angle))
z = tf.matmul(z, rotation_matrix.from_rotation_around_z(-angle))
expected = np.repeat(np.expand_dims(np.eye(3), axis=0), 5, axis=0)
self.assertAllClose(x.numpy(), expected)
self.assertAllClose(y.numpy(), expected)
self.assertAllClose(z.numpy(), expected)
def test_rotation_around_axis_with_scalar_input(self):
for rad in [0.0, 0.5 * np.pi, -0.5 * np.pi, np.pi, -np.pi]:
angle = tf.constant(rad)
x = rotation_matrix.from_rotation_around_x(angle)
y = rotation_matrix.from_rotation_around_y(angle)
z = rotation_matrix.from_rotation_around_z(angle)
self.assertEqual(x.shape, (3, 3))
self.assertEqual(y.shape, (3, 3))
self.assertEqual(z.shape, (3, 3))
x = tf.matmul(x, rotation_matrix.from_rotation_around_x(-angle))
y = tf.matmul(y, rotation_matrix.from_rotation_around_y(-angle))
z = tf.matmul(z, rotation_matrix.from_rotation_around_z(-angle))
self.assertAllClose(x.numpy(), np.eye(3))
self.assertAllClose(y.numpy(), np.eye(3))
self.assertAllClose(z.numpy(), np.eye(3))
def test_from_euler(self):
angles = tf.constant([[np.pi, 0.0, 0.0], [0.0, np.pi, 0.0],
[0.0, 0.0, np.pi], [np.pi, np.pi, np.pi],
[0.0, 0.0, 0.0]])
rotations = rotation_matrix.from_euler(angles)
x = rotation_matrix.from_rotation_around_x(tf.constant(np.pi))
y = rotation_matrix.from_rotation_around_y(tf.constant(np.pi))
z = rotation_matrix.from_rotation_around_z(tf.constant(np.pi))
self.assertEqual(rotations.shape, (5, 3, 3))
np_rotations = rotations.numpy()
self.assertAllClose(np_rotations[0, Ellipsis], x.numpy())
self.assertAllClose(np_rotations[1, Ellipsis], y.numpy())
self.assertAllClose(np_rotations[2, Ellipsis], z.numpy())
self.assertAllClose(np_rotations[3, Ellipsis],
z.numpy().dot(y.numpy()).dot(x.numpy()))
self.assertAllClose(np_rotations[4, Ellipsis], np.eye(3))