def test_dot_batch():
C1 = SO2(torch.Tensor([[0, -1],
[1, 0]]).expand(5, 2, 2))
C2 = SO2(torch.Tensor([[-1, 0],
[0, -1]]))
pt1 = torch.Tensor([1, 2])
pt2 = torch.Tensor([4, 5])
pt3 = torch.Tensor([7, 8])
pts = torch.cat([pt1.unsqueeze(dim=0),
pt2.unsqueeze(dim=0),
pt3.unsqueeze(dim=0)], dim=0) # 3x2
ptsbatch = pts.unsqueeze(dim=0).expand(5, 3, 2)
C1C1 = torch.bmm(C1.mat, C1.mat)
C1C1_SO2 = C1.dot(C1).mat
assert C1C1_SO2.shape == C1.mat.shape and utils.allclose(C1C1_SO2, C1C1)
C1C2 = torch.matmul(C1.mat, C2.mat)
C1C2_SO2 = C1.dot(C2).mat
assert C1C2_SO2.shape == C1.mat.shape and utils.allclose(C1C2_SO2, C1C2)
C1pt1 = torch.matmul(C1.mat, pt1)
C1pt1_SO2 = C1.dot(pt1)
assert C1pt1_SO2.shape == (C1.mat.shape[0], pt1.shape[0]) \
and utils.allclose(C1pt1_SO2, C1pt1)
C1pt2 = torch.matmul(C1.mat, pt2)
C1pt2_SO2 = C1.dot(pt2)
assert C1pt2_SO2.shape == (C1.mat.shape[0], pt2.shape[0]) \
and utils.allclose(C1pt2_SO2, C1pt2)
C1pts = torch.matmul(C1.mat, pts.transpose(1, 0)).transpose(2, 1)
C1pts_SO2 = C1.dot(pts)
assert C1pts_SO2.shape == (C1.mat.shape[0], pts.shape[0], pts.shape[1]) \
and utils.allclose(C1pts_SO2, C1pts) \
and utils.allclose(C1pt1, C1pts[:, 0, :]) \
and utils.allclose(C1pt2, C1pts[:, 1, :])
C1ptsbatch = torch.bmm(C1.mat, ptsbatch.transpose(2, 1)).transpose(2, 1)
C1ptsbatch_SO2 = C1.dot(ptsbatch)
assert C1ptsbatch_SO2.shape == ptsbatch.shape \
and utils.allclose(C1ptsbatch_SO2, C1ptsbatch) \
and utils.allclose(C1pt1, C1ptsbatch[:, 0, :]) \
and utils.allclose(C1pt2, C1ptsbatch[:, 1, :])
C2ptsbatch = torch.matmul(C2.mat, ptsbatch.transpose(2, 1)).transpose(2, 1)
C2ptsbatch_SO2 = C2.dot(ptsbatch)
assert C2ptsbatch_SO2.shape == ptsbatch.shape \
and utils.allclose(C2ptsbatch_SO2, C2ptsbatch) \
and utils.allclose(C2.dot(pt1), C2ptsbatch[:, 0, :]) \
and utils.allclose(C2.dot(pt2), C2ptsbatch[:, 1, :])
def test_dot():
C = SO2(torch.Tensor([[0, -1],
[1, 0]]))
pt = torch.Tensor([1, 2])
CC = C.mat.mm(C.mat)
assert utils.allclose(C.dot(C).mat, CC)
Cpt = C.mat.matmul(pt)
assert utils.allclose(C.dot(pt), Cpt)
def test_dot():
C = SO2(torch.Tensor([[0, -1], [1, 0]]))
pt = torch.Tensor([1, 2])
assert torch.allclose(torch.tensor([-2, 1], dtype=torch.float32),
C.dot(pt))