def test_get_roto_translation_matrix_get_check_shape_and_translation():
rt = get_roto_translation_matrix(np.pi / 8,
rotation_axis=np.array([1, 0, 0]),
translation=np.array([1, 2, 3]))
assert rt.shape == (4, 4)
assert_array_equal(rt[3, :], np.array([0, 0, 0, 1]))
assert_array_equal(rt[:, 3], np.array([1, 2, 3, 1]))
def test_get_roto_translation_matrix_around_z_axis():
# standard nifti convention (RAS) x -> pitch, y -> roll, z -> yaw.
theta = np.pi / 9
rot_axis = np.array([0, 0, 1])
transl = np.array([1, 2, 3])
expected_rot = np.array([[np.cos(theta), -np.sin(theta), 0],
[np.sin(theta), np.cos(theta), 0], [0, 0, 1]])
rt = get_roto_translation_matrix(theta, rot_axis, transl)
expected_rt = np.eye(4)
expected_rt[:3, :3] = expected_rot
expected_rt[:3, 3] = transl
assert_array_equal(rt, expected_rt)
def test_get_roto_translation_matrix_too_small_rotation_axis():
with assert_raises(IOError):
get_roto_translation_matrix(np.pi / 4,
rotation_axis=np.array([0.0009, 0, 0]),
translation=np.array([0, 0, 0]))