def test_left_jacobians():
phi_small = torch.Tensor([0., 0., 0.])
phi_big = torch.Tensor([np.pi / 2, np.pi / 3, np.pi / 4])
left_jacobian_small = SO3.left_jacobian(phi_small)
inv_left_jacobian_small = SO3.inv_left_jacobian(phi_small)
assert utils.allclose(
torch.mm(left_jacobian_small, inv_left_jacobian_small), torch.eye(3))
left_jacobian_big = SO3.left_jacobian(phi_big)
inv_left_jacobian_big = SO3.inv_left_jacobian(phi_big)
assert utils.allclose(torch.mm(left_jacobian_big, inv_left_jacobian_big),
torch.eye(3))
def test_left_jacobians_batch():
phis = torch.Tensor([[0., 0., 0.], [np.pi / 2, np.pi / 3, np.pi / 4]])
left_jacobian = SO3.left_jacobian(phis)
inv_left_jacobian = SO3.inv_left_jacobian(phis)
assert utils.allclose(torch.bmm(left_jacobian, inv_left_jacobian),
torch.eye(3).unsqueeze_(dim=0).expand(2, 3, 3))