def test_change_viewpoint(self):
vp1 = np.array((1.0, 0.0, 0.0))
vp2 = np.array((2.0, 150.0, 0.0))
h = hyp.I3DHypothesis(forward_model=None,
viewpoint=[vp1, vp2],
params=None)
for i in range(1000):
hp, p0, p1 = change_viewpoint(
h,
{'CHANGE_VIEWPOINT_VARIANCE': np.square(5.0 / 180.0 * np.pi)})
self.assertAlmostEqual(p0, 1.0)
self.assertAlmostEqual(p1, 1.0)
vp = hp.viewpoint[0]
self.assertAlmostEqual(vp[0], 1.0)
# because the variance is 1.0, we would expect the angle between vectors to be small
self.assertTrue(
geom_3d.angle_between_vectors(
geom_3d.spherical_to_cartesian(vp),
geom_3d.spherical_to_cartesian(vp1)) < 20.0)
vp = hp.viewpoint[1]
self.assertAlmostEqual(vp[0], 2.0)
self.assertTrue(
geom_3d.angle_between_vectors(
geom_3d.spherical_to_cartesian(vp),
geom_3d.spherical_to_cartesian(vp2)) < 20.0)
def test_change_viewpoint(self):
vp1 = np.array((1.0, 0.0, 0.0))
vp2 = np.array((2.0, 150.0, 0.0))
h = hyp.I3DHypothesis(forward_model=None, viewpoint=[vp1, vp2], params=None)
for i in range(1000):
hp, p0, p1 = change_viewpoint(h, {'CHANGE_VIEWPOINT_VARIANCE': np.square(5.0 / 180.0 * np.pi)})
self.assertAlmostEqual(p0, 1.0)
self.assertAlmostEqual(p1, 1.0)
vp = hp.viewpoint[0]
self.assertAlmostEqual(vp[0], 1.0)
# because the variance is 1.0, we would expect the angle between vectors to be small
self.assertTrue(geom_3d.angle_between_vectors(geom_3d.spherical_to_cartesian(vp),
geom_3d.spherical_to_cartesian(vp1)) < 20.0)
vp = hp.viewpoint[1]
self.assertAlmostEqual(vp[0], 2.0)
self.assertTrue(geom_3d.angle_between_vectors(geom_3d.spherical_to_cartesian(vp),
geom_3d.spherical_to_cartesian(vp2)) < 20.0)
def _get_joint_angle(self, joint_id):
if joint_id < 1 or joint_id >= self.joint_count-1:
raise ValueError('Joint id out out bounds.')
return geom_3d.angle_between_vectors(self.joint_positions[joint_id-1] - self.joint_positions[joint_id],
self.joint_positions[joint_id+1] - self.joint_positions[joint_id])
