def test_load_poses(self):
"""Test that the poses belong to SE(3)."""
se3 = SpecialEuclidean(n=3, point_type="vector")
data, _ = data_utils.load_poses(only_rotations=False)
result = se3.belongs(data)
self.assertTrue(gs.all(result))
def test_load_poses_only_rotations(self):
"""Test that the poses belong to SO(3)."""
so3 = SpecialOrthogonal(n=3, point_type="vector")
data, _ = data_utils.load_poses()
result = so3.belongs(data)
self.assertTrue(gs.all(result))