def test_interpolated_rotations(self):
x = Rotation.from_axis_angle([1, 0, 0], 0)
a = math.pi / 2
y = Rotation.from_axis_angle([0, 1, 0], a)
i_list = Rotation.interpolated_rotations(x, y, 3)
nose.tools.assert_equal([i._ctype for i in i_list], ['d'] * 3)
i0_e_axis, i0_e_angle = [0, 1, 0], a * 0.25
i1_e_axis, i1_e_angle = [0, 1, 0], a * 0.50
i2_e_axis, i2_e_angle = [0, 1, 0], a * 0.75
numpy.testing.assert_almost_equal(i_list[0].axis(), i0_e_axis, 14)
numpy.testing.assert_almost_equal(i_list[0].angle(), i0_e_angle, 14)
numpy.testing.assert_almost_equal(i_list[1].axis(), i1_e_axis, 14)
numpy.testing.assert_almost_equal(i_list[1].angle(), i1_e_angle, 14)
numpy.testing.assert_almost_equal(i_list[2].axis(), i2_e_axis, 14)
numpy.testing.assert_almost_equal(i_list[2].angle(), i2_e_angle, 14)
# Mixed types
a = math.pi / 2
x = Rotation.from_axis_angle([1, 0, 0], 0, 'f')
y = Rotation.from_axis_angle([0, 1, 0], a)
i_list = Rotation.interpolated_rotations(x, y, 3)
nose.tools.assert_equal([i._ctype for i in i_list], ['f'] * 3)
numpy.testing.assert_almost_equal(i_list[0].axis(), i0_e_axis, 14)
numpy.testing.assert_almost_equal(i_list[0].angle(), i0_e_angle, 6)
numpy.testing.assert_almost_equal(i_list[1].axis(), i1_e_axis, 14)
numpy.testing.assert_almost_equal(i_list[1].angle(), i1_e_angle, 6)
numpy.testing.assert_almost_equal(i_list[2].axis(), i2_e_axis, 14)
numpy.testing.assert_almost_equal(i_list[2].angle(), i2_e_angle, 6)
def test_translation_initialized(self):
center = EigenArray.from_array([[1],[2],[3]])
rotation = Rotation.from_axis_angle([0, 1, 0], math.pi / 2.)
cam = Camera(center, rotation)
numpy.testing.assert_array_equal(
cam.translation,
-(rotation * center.get_matrix())
)
def test_from_aa(self):
# Axis should come out of rotation normalized
angle = 0.8
axis = numpy.array([[-3], [2], [1]])
axis_norm = axis / numpy.linalg.norm(axis)
r = Rotation.from_axis_angle(axis, angle)
nose.tools.assert_equal(angle, r.angle())
numpy.testing.assert_equal(axis_norm, r.axis())
def test_from_aa(self):
# Axis should come out of rotation normalized
angle = 0.8
axis = [-3,2,1]
axis_norm = array_normalize(axis)
r = Rotation.from_axis_angle(axis, angle)
nose.tools.assert_equal(angle, r.angle())
numpy.testing.assert_equal(axis_norm, r.axis())
def test_from_aa(self):
# Axis should come out of rotation normalized
angle = 0.8
axis = [-3, 2, 1]
axis_norm = array_normalize(axis)
r = Rotation.from_axis_angle(axis, angle)
nose.tools.assert_equal(angle, r.angle())
numpy.testing.assert_equal(axis_norm, r.axis())
def test_from_aa(self):
# Axis should come out of rotation normalized
angle = 0.8
axis = numpy.array([[-3],
[2],
[1]])
axis_norm = axis / numpy.linalg.norm(axis)
r = Rotation.from_axis_angle(axis, angle)
nose.tools.assert_equal(angle, r.angle())
numpy.testing.assert_equal(axis_norm, r.axis())
def test_equal(self):
cam1 = Camera()
cam2 = Camera()
nose.tools.assert_equal(cam1, cam1)
nose.tools.assert_equal(cam1, cam2)
center = EigenArray.from_iterable([[1], [2], [3]])
rotation = Rotation.from_axis_angle([[0], [1], [0]], math.pi / 2.)
cam1 = Camera(center, rotation)
cam2 = Camera(center, rotation)
nose.tools.assert_equal(cam1, cam1)
nose.tools.assert_equal(cam1, cam2)
def test_equal(self):
cam1 = Camera()
cam2 = Camera()
nose.tools.assert_equal(cam1, cam1)
nose.tools.assert_equal(cam1, cam2)
center = EigenArray.from_array([[1],[2],[3]])
rotation = Rotation.from_axis_angle([0, 1, 0], math.pi / 2.)
cam1 = Camera(center, rotation)
cam2 = Camera(center, rotation)
nose.tools.assert_equal(cam1, cam1)
nose.tools.assert_equal(cam1, cam2)
def test_interpolation(self):
x_d = Rotation.from_axis_angle([1, 0, 0], 0, 'd')
y_d = Rotation.from_axis_angle([0, 1, 0], math.pi / 2, 'd')
r_d = Rotation.from_axis_angle([0, 1, 0], math.pi / 4, 'd')
x_f = Rotation.from_axis_angle([1, 0, 0], 0, 'f')
y_f = Rotation.from_axis_angle([0, 1, 0], math.pi / 2, 'f')
r_f = Rotation.from_axis_angle([0, 1, 0], math.pi / 4, 'f')
z_d = Rotation.interpolate(x_d, y_d, 0.5)
z_f = Rotation.interpolate(x_f, y_f, 0.5)
nose.tools.assert_almost_equal((z_d.inverse() * r_d).angle(), 0, 14)
nose.tools.assert_almost_equal((z_f.inverse() * r_f).angle(), 0, 6)
# Should auto-convert different y-type into x's type for computation.
# Return should be of x's type.
z_d = Rotation.interpolate(x_d, y_f, 0.5)
nose.tools.assert_is(z_d._ctype, x_d._ctype)
nose.tools.assert_is_not(z_d._ctype, y_f._ctype)
nose.tools.assert_almost_equal((z_d.inverse() * r_d).angle(), 0, 14)
z_f = Rotation.interpolate(x_f, y_d, 0.5)
nose.tools.assert_is(z_f._ctype, x_f._ctype)
nose.tools.assert_is_not(z_f._ctype, y_d._ctype)
nose.tools.assert_almost_equal((z_f.inverse() * r_f).angle(), 0, 6)
def test_interpolation(self):
x_d = Rotation.from_axis_angle([1, 0, 0], 0, 'd')
y_d = Rotation.from_axis_angle([0, 1, 0], math.pi / 2, 'd')
r_d = Rotation.from_axis_angle([0, 1, 0], math.pi / 4, 'd')
x_f = Rotation.from_axis_angle([1, 0, 0], 0, 'f')
y_f = Rotation.from_axis_angle([0, 1, 0], math.pi / 2, 'f')
r_f = Rotation.from_axis_angle([0, 1, 0], math.pi / 4, 'f')
z_d = Rotation.interpolate(x_d, y_d, 0.5)
z_f = Rotation.interpolate(x_f, y_f, 0.5)
nose.tools.assert_almost_equal((z_d.inverse() * r_d).angle(), 0, 14)
nose.tools.assert_almost_equal((z_f.inverse() * r_f).angle(), 0, 6)
# Should auto-convert different y-type into x's type for computation.
# Return should be of x's type.
z_d = Rotation.interpolate(x_d, y_f, 0.5)
nose.tools.assert_is(z_d._ctype, x_d._ctype)
nose.tools.assert_is_not(z_d._ctype, y_f._ctype)
nose.tools.assert_almost_equal((z_d.inverse() * r_d).angle(), 0, 14)
z_f = Rotation.interpolate(x_f, y_d, 0.5)
nose.tools.assert_is(z_f._ctype, x_f._ctype)
nose.tools.assert_is_not(z_f._ctype, y_d._ctype)
nose.tools.assert_almost_equal((z_f.inverse() * r_f).angle(), 0, 6)
def test_interpolated_rotations(self):
x = Rotation.from_axis_angle([1, 0, 0], 0)
a = math.pi / 2
y = Rotation.from_axis_angle([0, 1, 0], a)
i_list = Rotation.interpolated_rotations(x, y, 3)
nose.tools.assert_equal([i._ctype for i in i_list],
['d'] * 3)
i0_e_axis, i0_e_angle = [0, 1, 0], a * 0.25
i1_e_axis, i1_e_angle = [0, 1, 0], a * 0.50
i2_e_axis, i2_e_angle = [0, 1, 0], a * 0.75
numpy.testing.assert_almost_equal(i_list[0].axis(), i0_e_axis, 14)
numpy.testing.assert_almost_equal(i_list[0].angle(), i0_e_angle, 14)
numpy.testing.assert_almost_equal(i_list[1].axis(), i1_e_axis, 14)
numpy.testing.assert_almost_equal(i_list[1].angle(), i1_e_angle, 14)
numpy.testing.assert_almost_equal(i_list[2].axis(), i2_e_axis, 14)
numpy.testing.assert_almost_equal(i_list[2].angle(), i2_e_angle, 14)
# Mixed types
a = math.pi / 2
x = Rotation.from_axis_angle([1, 0, 0], 0, 'f')
y = Rotation.from_axis_angle([0, 1, 0], a)
i_list = Rotation.interpolated_rotations(x, y, 3)
nose.tools.assert_equal([i._ctype for i in i_list],
['f'] * 3)
numpy.testing.assert_almost_equal(i_list[0].axis(), i0_e_axis, 14)
numpy.testing.assert_almost_equal(i_list[0].angle(), i0_e_angle, 6)
numpy.testing.assert_almost_equal(i_list[1].axis(), i1_e_axis, 14)
numpy.testing.assert_almost_equal(i_list[1].angle(), i1_e_angle, 6)
numpy.testing.assert_almost_equal(i_list[2].axis(), i2_e_axis, 14)
numpy.testing.assert_almost_equal(i_list[2].angle(), i2_e_angle, 6)
def test_rotation_vector(self):
vec = [1, 0, 0]
vec_expected = [0, 1, 0]
r_axis = [0, 0, 1]
r_angle = math.pi / 2.
r = Rotation.from_axis_angle(r_axis, r_angle)
vec_rotated = r.rotate_vector(vec)
numpy.testing.assert_array_almost_equal(vec_expected, vec_rotated)
# should be able to multiply a rotation as a left-hand side arg with a
# 3x1 vector as the right-hand side arg
vec_rotated = r * vec
numpy.testing.assert_array_almost_equal(vec_expected, vec_rotated)
def test_rotation_vector(self):
vec = [1, 0, 0]
vec_expected = [0, 1, 0]
r_axis = [0, 0, 1]
r_angle = math.pi / 2.
r = Rotation.from_axis_angle(r_axis, r_angle)
vec_rotated = r.rotate_vector(vec)
numpy.testing.assert_array_almost_equal(vec_expected, vec_rotated)
# should be able to multiply a rotation as a left-hand side arg with a
# 3x1 vector as the right-hand side arg
vec_rotated = r * vec
numpy.testing.assert_array_almost_equal(vec_expected, vec_rotated)
def test_to_from_string(self):
cam = Camera()
cam_s = cam.as_string()
cam2 = Camera.from_string(cam_s)
print "Default camera string:\n%s" % cam_s
print "Default newcam string:\n%s" % cam2.as_string()
nose.tools.assert_equal(cam, cam2)
center = EigenArray.from_iterable([[1], [2], [3]])
rotation = Rotation.from_axis_angle([[0], [1], [0]], math.pi / 2.)
cam = Camera(center, rotation)
cam_s = cam.as_string()
cam2 = Camera.from_string(cam_s)
print "Custom camera string:\n%s" % cam_s
print "Custom newcam string:\n%s" % cam2.as_string()
nose.tools.assert_equal(cam, cam2)
def test_to_from_string(self):
cam = Camera()
cam_s = cam.as_string()
cam2 = Camera.from_string(cam_s)
print "Default camera string:\n%s" % cam_s
print "Default newcam string:\n%s" % cam2.as_string()
nose.tools.assert_equal(cam, cam2)
center = EigenArray.from_iterable([[1],
[2],
[3]])
rotation = Rotation.from_axis_angle([[0], [1], [0]], math.pi / 2.)
cam = Camera(center, rotation)
cam_s = cam.as_string()
cam2 = Camera.from_string(cam_s)
print "Custom camera string:\n%s" % cam_s
print "Custom newcam string:\n%s" % cam2.as_string()
nose.tools.assert_equal(cam, cam2)
def test_rotation_initialized(self):
r_expected = Rotation.from_axis_angle([[0],[1],[0]], math.pi / 8)
cam = Camera(rotation=r_expected)
nose.tools.assert_is_not(cam.rotation, r_expected)
nose.tools.assert_equal(cam.rotation, r_expected)
def test_rotation_initialized(self):
r_expected = Rotation.from_axis_angle([[0], [1], [0]], math.pi / 8)
cam = Camera(rotation=r_expected)
nose.tools.assert_is_not(cam.rotation, r_expected)
nose.tools.assert_equal(cam.rotation, r_expected)
def test_translation_initialized(self):
center = EigenArray.from_iterable([[1], [2], [3]])
rotation = Rotation.from_axis_angle([[0], [1], [0]], math.pi / 2.)
cam = Camera(center, rotation)
numpy.testing.assert_array_equal(cam.translation, -(rotation * center))
def test_rotation_initialized(self):
center = EigenArray.from_array([[1], [2], [3]])
r_expected = Rotation.from_axis_angle([0, 1, 0], math.pi / 8)
cam = Camera(center, r_expected)
nose.tools.assert_is_not(cam.rotation, r_expected)
nose.tools.assert_equal(cam.rotation, r_expected)
def test_rotation_initialized(self):
center = EigenArray.from_array([[1],[2],[3]])
r_expected = Rotation.from_axis_angle([0,1,0], math.pi / 8)
cam = Camera(center, r_expected)
nose.tools.assert_is_not(cam.rotation, r_expected)
nose.tools.assert_equal(cam.rotation, r_expected)
