def test_between_two_vectors_3d_that_are_collinear(self):
"""Checks the extracted rotation between two collinear 3d vectors."""
axis = [(1.0, 0.0, 0.0), (0.0, 1.0, 0.0)]
antiparallel_axis = [(0.0, 1.0, 0.0), (0.0, 0.0, 1.0)]
source = np.multiply(axis, 10.)
target = np.multiply(axis, -10.)
rotation = quaternion.between_two_vectors_3d(source, target)
rotation_pi = quaternion.from_axis_angle(antiparallel_axis,
[[np.pi], [np.pi]])
self.assertAllClose(rotation_pi, rotation)
def test_between_two_vectors_3d_jacobian_random(self):
"""Tests the Jacobian of between_two_vectors_3d."""
tensor_size = np.random.randint(3)
tensor_shape = np.random.randint(1, 10, size=(tensor_size)).tolist()
x_1_init = np.random.random(tensor_shape + [3])
x_2_init = np.random.random(tensor_shape + [3])
x_1 = tf.convert_to_tensor(value=x_1_init)
x_2 = tf.convert_to_tensor(value=x_2_init)
y = quaternion.between_two_vectors_3d(x_1, x_2)
self.assert_jacobian_is_correct(x_1, x_1_init, y, atol=1e-4)
self.assert_jacobian_is_correct(x_2, x_2_init, y, atol=1e-4)
def test_between_two_vectors_3d_random(self):
"""Checks the extracted rotation between two 3d vectors."""
tensor_size = np.random.randint(3)
tensor_shape = np.random.randint(1, 10, size=(tensor_size)).tolist()
source = np.random.random(tensor_shape + [3]).astype(np.float32)
target = np.random.random(tensor_shape + [3]).astype(np.float32)
rotation = quaternion.between_two_vectors_3d(source, target)
rec_target = quaternion.rotate(source, rotation)
self.assertAllClose(tf.nn.l2_normalize(target, axis=-1),
tf.nn.l2_normalize(rec_target, axis=-1))
# Checks that resulting quaternions are normalized.
self.assertAllEqual(quaternion.is_normalized(rotation),
np.full(tensor_shape + [1], True))
def test_between_two_vectors_3d_that_are_the_same(self): """Checks the extracted rotation between two identical 3d vectors.""" source = np.random.random((1, 3)) rotation = quaternion.between_two_vectors_3d(source, source) self.assertAllEqual([[0, 0, 0, 1]], rotation)