def test_identity(self):
rotm = euldeg2rotm(0, 0, 0)
rotm = tf.convert_to_tensor(
np.tile(np.expand_dims(rotm, axis=0), (24, 1, 1)))
mat6d_gt = rotm2mat6d_tf(rotm)
rotm_est = mat6d2rotm_tf(mat6d_gt)
assert np.all(np.isclose(rotm, rotm_est))
def test_rand(self):
rotm = euldeg2rotm(23, 82, 13)
rotm = tf.convert_to_tensor(np.expand_dims(rotm, axis=0))
mat6d_gt = rotm2mat6d_tf(rotm)
rotm_est = mat6d2rotm_tf(mat6d_gt)
assert np.all(np.isclose(rotm, rotm_est))