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))