def test_pg_rotx(self):
I = pgeometry.pg_rotx(90).dot(pgeometry.pg_rotx(-90))
np.testing.assert_almost_equal(I, np.eye(3))
for phi in [0, .1, np.pi, 4]:
Rx = pgeometry.pg_rotx(phi)
self.assertAlmostEqual(Rx[1, 1], np.cos(phi))
self.assertAlmostEqual(Rx[2, 1], np.sin(phi))
def test_decomposeProjectiveTransformation(self):
R = pgeometry.pg_rotation2H(pgeometry.pg_rotx(np.pi / 2))
Ha, Hs, Hp, _ = pgeometry.decomposeProjectiveTransformation(R)
self.assertIsInstance(Ha, np.ndarray)
np.testing.assert_array_almost_equal(Hs @ Ha @ Hp, R)
R = pgeometry.pg_rotation2H(pgeometry.pg_rotx(.012))
Ha, Hs, Hp, _ = pgeometry.decomposeProjectiveTransformation(R)
np.testing.assert_array_almost_equal(Hs @ Ha @ Hp, R)
def test_pg_rotation2H(self):
R = pgeometry.pg_rotx(0.12)
H = pgeometry.pg_rotation2H(R)
np.testing.assert_almost_equal(R, H[:3, :3])
self.assertIsNotNone(H)