def test_points2rotation1(self):
"""Test that X points returns R rotations."""
tol = 1e-5
skel = Skeleton("TEST")
rot = skel._points2rotation(X[None, ...])
result = torch.allclose(R, rot, atol=tol, rtol=tol)
self.assertTrue(result)
def test_roundtrip2(self):
"""Test that R rotations returns xyz points that make R rotations."""
tol = 1e-5
skel = Skeleton("TEST")
xyz = skel._rotation2points(R[None, ...])
_r = skel._points2rotation(xyz)
result = torch.allclose(R, _r, atol=tol, rtol=tol)
self.assertTrue(result)
def test_roundtrip(self):
"""Test that X points returns R rotations that make X points."""
tol = 1e-5
skel = Skeleton("TEST")
rot = skel._points2rotation(X[None, ...])
xyz = skel._rotation2points(rot)
result = torch.allclose(X, xyz, atol=tol, rtol=tol)
self.assertTrue(result)