def test_local_transform(self):
R = moveable._rotation_matrix_from_angles(*self.rotation_angles,
dummy_dimension=True)
T = moveable._translation_matrix_from_vector(self.translation)
L_ref = np.dot(T, R)
L_ans = self.PAS.local_transform
np.testing.assert_array_almost_equal(L_ref, L_ans)
def test_local_transform(self):
R = moveable._rotation_matrix_from_angles(*self.rotation_angles,
dummy_dimension=True)
T = moveable._translation_matrix_from_vector(self.translation)
L_ref = np.dot(T, R)
L_ans = self.PAS.local_transform
np.testing.assert_array_almost_equal(L_ref, L_ans)
def test_rotation_matrix_from_angles():
x = np.array([1.0, 0.0, 0.0]) # vector pointing at x
Rz = moveable._rotation_matrix_from_angles(90.0, 0.0, 0.0)
y = np.dot(Rz, x)
np.testing.assert_array_almost_equal(y, np.array([0.0, 1.0, 0.0]),
err_msg='Rz err')
Rx = moveable._rotation_matrix_from_angles(0.0, 0.0, 90.0)
z = np.dot(Rx, y)
np.testing.assert_array_almost_equal(z, np.array([0.0, 0.0, 1.0]),
err_msg='Rx err')
Ry = moveable._rotation_matrix_from_angles(0.0, -90.0, 0.0)
x = np.dot(Ry, z)
np.testing.assert_array_almost_equal(x, x, err_msg='Ry err')
def test_rotation_matrix_from_angles():
x = np.array([1.0, 0.0, 0.0]) # vector pointing at x
Rz = moveable._rotation_matrix_from_angles(90.0, 0.0, 0.0)
y = np.dot(Rz, x)
np.testing.assert_array_almost_equal(y,
np.array([0.0, 1.0, 0.0]),
err_msg='Rz err')
Rx = moveable._rotation_matrix_from_angles(0.0, 0.0, 90.0)
z = np.dot(Rx, y)
np.testing.assert_array_almost_equal(z,
np.array([0.0, 0.0, 1.0]),
err_msg='Rx err')
Ry = moveable._rotation_matrix_from_angles(0.0, -90.0, 0.0)
x = np.dot(Ry, z)
np.testing.assert_array_almost_equal(x, x, err_msg='Ry err')
def test_angle_retrieval():
for i in range(100):
alpha = np.random.rand() * 180.0
beta = np.random.rand() * 180.0
gamma = np.random.rand() * 180.0
R = moveable._rotation_matrix_from_angles(gamma, beta, alpha)
I = np.eye(3)
Ip = np.dot(R, I)
gp, bp, ap = moveable._angles_from_rotated_frame(Ip[:,0], Ip[:,1], Ip[:,2])
#print np.array([gamma, beta, alpha]), np.array([gp, bp, ap])
# test to make sure they rotate to the same thing
R2 = moveable._rotation_matrix_from_angles(gp, bp, ap)
assert np.sum( np.abs( R - R2 ) ) < 1e-12
def test_angle_retrieval():
for i in range(100):
alpha = np.random.rand() * 180.0
beta = np.random.rand() * 180.0
gamma = np.random.rand() * 180.0
R = moveable._rotation_matrix_from_angles(gamma, beta, alpha)
I = np.eye(3)
Ip = np.dot(R, I)
gp, bp, ap = moveable._angles_from_rotated_frame(
Ip[:, 0], Ip[:, 1], Ip[:, 2])
#print np.array([gamma, beta, alpha]), np.array([gp, bp, ap])
# test to make sure they rotate to the same thing
R2 = moveable._rotation_matrix_from_angles(gp, bp, ap)
assert np.sum(np.abs(R - R2)) < 1e-12
def test_xyz(self):
uxyz = self.PAS.untransformed_xyz
buff = np.ones(list(uxyz.shape[:-1]) + [1], dtype=uxyz.dtype)
uxyzd = np.concatenate([uxyz, buff], axis=-1)
R = moveable._rotation_matrix_from_angles(*self.rotation_angles,
dummy_dimension=True)
T = moveable._translation_matrix_from_vector(self.translation)
xyz_ans = np.dot(uxyzd, np.dot(T, R).T)
np.testing.assert_array_almost_equal(self.PAS.xyz, xyz_ans[..., :3])
def test_xyz(self):
uxyz = self.PAS.untransformed_xyz
buff = np.ones( list(uxyz.shape[:-1]) + [1], dtype=uxyz.dtype)
uxyzd = np.concatenate([uxyz, buff], axis=-1)
R = moveable._rotation_matrix_from_angles(*self.rotation_angles,
dummy_dimension=True)
T = moveable._translation_matrix_from_vector(self.translation)
xyz_ans = np.dot(uxyzd, np.dot(T, R).T)
np.testing.assert_array_almost_equal(self.PAS.xyz, xyz_ans[...,:3])
def test_global_transform(self):
ra_p = np.random.rand(3) * 360.0
t_p = np.random.randn(3)
Rp = moveable._rotation_matrix_from_angles(*ra_p, dummy_dimension=True)
Tp = moveable._translation_matrix_from_vector(t_p)
parent_obj = camera.CompoundCamera(type_name='daddy',
id_num=0, parent=None,
rotation_angles=ra_p,
translation=t_p)
self.PAS.set_parent(parent_obj)
R = moveable._rotation_matrix_from_angles(*self.rotation_angles,
dummy_dimension=True)
T = moveable._translation_matrix_from_vector(self.translation)
G_ref = np.dot( np.dot( np.dot(Tp, Rp), T), R) # T_1 . R_1 . T_2 . R_2
G_ans = self.PAS.global_transform
np.testing.assert_array_almost_equal(G_ref, G_ans)
def test_global_transform(self):
ra_p = np.random.rand(3) * 360.0
t_p = np.random.randn(3)
Rp = moveable._rotation_matrix_from_angles(*ra_p, dummy_dimension=True)
Tp = moveable._translation_matrix_from_vector(t_p)
parent_obj = camera.CompoundCamera(type_name='daddy',
id_num=0,
parent=None,
rotation_angles=ra_p,
translation=t_p)
self.PAS.set_parent(parent_obj)
R = moveable._rotation_matrix_from_angles(*self.rotation_angles,
dummy_dimension=True)
T = moveable._translation_matrix_from_vector(self.translation)
G_ref = np.dot(np.dot(np.dot(Tp, Rp), T), R) # T_1 . R_1 . T_2 . R_2
G_ans = self.PAS.global_transform
np.testing.assert_array_almost_equal(G_ref, G_ans)
def test_evaluate_transform(self):
# for rotation
x = np.array([[1.0, 0.0, 0.0]]) # vector pointing at x
Rz = moveable._rotation_matrix_from_angles(90.0, 0.0, 0.0,
dummy_dimension=True)
ref = np.array([[0.0, 1.0, 0.0]])
ans = camera.CompoundCamera._evaluate_transform(Rz, x)
np.testing.assert_array_almost_equal(ans, ref, err_msg='rotation')
# for translation
x = np.random.randint(0,5,size=(1,3))
y = np.random.randint(0,5,size=(1,3))
T = moveable._translation_matrix_from_vector(x)
assert np.all( camera.CompoundCamera._evaluate_transform(T, y) == x + y )
def test_evaluate_transform(self):
# for rotation
x = np.array([[1.0, 0.0, 0.0]]) # vector pointing at x
Rz = moveable._rotation_matrix_from_angles(90.0,
0.0,
0.0,
dummy_dimension=True)
ref = np.array([[0.0, 1.0, 0.0]])
ans = camera.CompoundCamera._evaluate_transform(Rz, x)
np.testing.assert_array_almost_equal(ans, ref, err_msg='rotation')
# for translation
x = np.random.randint(0, 5, size=(1, 3))
y = np.random.randint(0, 5, size=(1, 3))
T = moveable._translation_matrix_from_vector(x)
assert np.all(camera.CompoundCamera._evaluate_transform(T, y) == x + y)