def test_zero_angle(self, device, dtype, atol, rtol):
angle_axis = torch.tensor((0.0, 0.0, 0.0), device=device, dtype=dtype)
quaternion = kornia.angle_axis_to_quaternion(
angle_axis, order=QuaternionCoeffOrder.WXYZ)
angle_axis_hat = kornia.quaternion_to_angle_axis(
quaternion, order=QuaternionCoeffOrder.WXYZ)
assert_allclose(angle_axis_hat, angle_axis, atol=atol, rtol=rtol)
def test_y_rotation(self, device, dtype):
quaternion = torch.tensor([0., 0., 1., 0.], device=device, dtype=dtype)
expected = torch.tensor([0., kornia.pi, 0.],
device=device,
dtype=dtype)
angle_axis = kornia.quaternion_to_angle_axis(quaternion)
assert_allclose(angle_axis, expected, atol=1e-4, rtol=1e-4)
def test_unit_quaternion(self, device, dtype, atol, rtol):
quaternion = torch.tensor((1., 0., 0., 0.), device=device, dtype=dtype)
angle_axis = kornia.quaternion_to_angle_axis(
quaternion, order=QuaternionCoeffOrder.WXYZ)
quaternion_hat = kornia.angle_axis_to_quaternion(
angle_axis, order=QuaternionCoeffOrder.WXYZ)
assert_allclose(quaternion_hat, quaternion, atol=atol, rtol=rtol)
def test_unit_quaternion_xyzw(self, device, dtype, atol, rtol):
quaternion = torch.tensor((0.0, 0.0, 0.0, 1.0), device=device, dtype=dtype)
with pytest.warns(UserWarning):
angle_axis = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.XYZW)
with pytest.warns(UserWarning):
quaternion_hat = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.XYZW)
assert_close(quaternion_hat, quaternion, atol=atol, rtol=rtol)
def test_small_angle(self, device, dtype):
theta = 1e-2
quaternion = torch.tensor(
[np.cos(theta / 2), np.sin(theta / 2), 0., 0.]).to(device, dtype)
expected = torch.tensor([theta, 0., 0.]).to(device, dtype)
angle_axis = kornia.quaternion_to_angle_axis(quaternion)
assert_allclose(angle_axis, expected)
def test_rotation(self, axis, device, dtype, atol, rtol):
# half_sqrt2 = 0.5 * np.sqrt(2)
array = [0.0, 0.0, 0.0]
array[axis] = kornia.pi / 2.0
angle_axis = torch.tensor(array, device=device, dtype=dtype)
quaternion = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.WXYZ)
angle_axis_hat = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.WXYZ)
assert_close(angle_axis_hat, angle_axis, atol=atol, rtol=rtol)
def test_small_angle(self, axis, device, dtype, atol, rtol):
theta = 1.0e-2
array = [0.0, 0.0, 0.0]
array[axis] = theta
angle_axis = torch.tensor(array, device=device, dtype=dtype)
quaternion = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.WXYZ)
angle_axis_hat = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.WXYZ)
assert_close(angle_axis_hat, angle_axis, atol=atol, rtol=rtol)
def test_rotation_xyzw(self, axis, device, dtype, atol, rtol):
array = [0.0, 0.0, 0.0, 0.0]
array[axis] = 1.0
quaternion = torch.tensor(array, device=device, dtype=dtype)
with pytest.warns(UserWarning):
angle_axis = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.XYZW)
with pytest.warns(UserWarning):
quaternion_hat = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.XYZW)
assert_close(quaternion_hat, quaternion, atol=atol, rtol=rtol)
def test_small_angle_xyzw(self, axis, device, dtype, atol, rtol):
theta = 1.0e-2
array = [0.0, 0.0, 0.0, np.cos(theta / 2)]
array[axis] = np.sin(theta / 2.0)
quaternion = torch.tensor(array, device=device, dtype=dtype)
with pytest.warns(UserWarning):
angle_axis = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.XYZW)
with pytest.warns(UserWarning):
quaternion_hat = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.XYZW)
assert_close(quaternion_hat, quaternion, atol=atol, rtol=rtol)
def test_rotation(self, axis, device, dtype, atol, rtol):
array = [0.0, 0.0, 0.0, 0.0]
array[1 + axis] = 1.0
quaternion = torch.tensor(array, device=device, dtype=dtype)
angle_axis = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.WXYZ)
quaternion_hat = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.WXYZ)
assert_close(quaternion_hat, quaternion, atol=atol, rtol=rtol)
# just to be sure, check that mixing orders fails
with pytest.warns(UserWarning):
quaternion_hat_wrong = kornia.angle_axis_to_quaternion(angle_axis, order=QuaternionCoeffOrder.XYZW)
assert not torch.allclose(quaternion_hat_wrong, quaternion, atol=atol, rtol=rtol)
def test_triplet_amq(self, axis, device, dtype, atol, rtol):
array = [[0.0, 0.0, 0.0]]
array[0][axis] = kornia.pi / 2.0
angle_axis = torch.tensor(array, device=device, dtype=dtype)
assert angle_axis.shape[-1] == 3
rot_m = kornia.angle_axis_to_rotation_matrix(angle_axis)
assert rot_m.shape[-1] == 3
assert rot_m.shape[-2] == 3
quaternion = kornia.rotation_matrix_to_quaternion(rot_m, order=QuaternionCoeffOrder.WXYZ)
assert quaternion.shape[-1] == 4
angle_axis_hat = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.WXYZ)
assert_close(angle_axis_hat, angle_axis, atol=atol, rtol=rtol)
def test_small_angle(self, axis, device, dtype, atol, rtol):
theta = 1.e-2
array = [np.cos(theta / 2), 0., 0., 0.]
array[1 + axis] = np.sin(theta / 2.)
quaternion = torch.tensor(array, device=device, dtype=dtype)
angle_axis = kornia.quaternion_to_angle_axis(
quaternion, order=QuaternionCoeffOrder.WXYZ)
quaternion_hat = kornia.angle_axis_to_quaternion(
angle_axis, order=QuaternionCoeffOrder.WXYZ)
assert_allclose(quaternion_hat, quaternion, atol=atol, rtol=rtol)
# just to be sure, check that mixing orders fails
with pytest.warns(UserWarning):
quaternion_hat_wrong = kornia.angle_axis_to_quaternion(
angle_axis, order=QuaternionCoeffOrder.XYZW)
assert not torch.allclose(
quaternion_hat_wrong, quaternion, atol=atol, rtol=rtol)
def test_triplet_qam_xyzw(self, axis, device, dtype, atol, rtol):
array = [[0.0, 0.0, 0.0, 0.0]]
array[0][axis] = 1.0
quaternion = torch.tensor(array, device=device, dtype=dtype)
assert quaternion.shape[-1] == 4
with pytest.warns(UserWarning):
angle_axis = kornia.quaternion_to_angle_axis(quaternion, order=QuaternionCoeffOrder.XYZW)
assert angle_axis.shape[-1] == 3
rot_m = kornia.angle_axis_to_rotation_matrix(angle_axis)
assert rot_m.shape[-1] == 3
assert rot_m.shape[-2] == 3
with pytest.warns(UserWarning):
quaternion_hat = kornia.rotation_matrix_to_quaternion(rot_m, order=QuaternionCoeffOrder.XYZW)
assert_close(quaternion_hat, quaternion, atol=atol, rtol=rtol)
def test_smoke_batch(self, batch_size, device, dtype):
quaternion = torch.zeros(batch_size, 4, device=device, dtype=dtype)
angle_axis = kornia.quaternion_to_angle_axis(quaternion)
assert angle_axis.shape == (batch_size, 3)
def test_y_rotation(self, device):
quaternion = torch.tensor([0., 0., 1., 0.]).to(device)
expected = torch.tensor([0., kornia.pi, 0.]).to(device)
angle_axis = kornia.quaternion_to_angle_axis(quaternion)
assert_allclose(angle_axis, expected)
def test_small_angle(self):
theta = 1e-2
quaternion = torch.Tensor([np.cos(theta / 2), np.sin(theta / 2), 0, 0])
expected = torch.Tensor([theta, 0, 0])
angle_axis = kornia.quaternion_to_angle_axis(quaternion)
assert utils.check_equal_torch(angle_axis, expected)
def test_smoke(self, device, dtype):
quaternion = torch.zeros(4, device=device, dtype=dtype)
angle_axis = kornia.quaternion_to_angle_axis(quaternion)
assert angle_axis.shape == (3, )
def test_z_rotation(self):
quaternion = torch.Tensor([np.sqrt(3) / 2, 0, 0, 0.5])
expected = torch.Tensor([0, 0, kornia.pi / 3])
angle_axis = kornia.quaternion_to_angle_axis(quaternion)
assert utils.check_equal_torch(angle_axis, expected)
def test_y_rotation(self):
quaternion = torch.Tensor([0, 0, 1, 0])
expected = torch.Tensor([0, kornia.pi, 0])
angle_axis = kornia.quaternion_to_angle_axis(quaternion)
assert utils.check_equal_torch(angle_axis, expected)
def test_smoke(self):
quaternion = torch.zeros(4)
angle_axis = kornia.quaternion_to_angle_axis(quaternion)
assert angle_axis.shape == (3,)
def test_y_rotation(self):
quaternion = torch.Tensor([0, 0, 1, 0])
expected = torch.Tensor([0, kornia.pi, 0])
angle_axis = kornia.quaternion_to_angle_axis(quaternion)
assert_allclose(angle_axis, expected)
def test_z_rotation(self, device, dtype):
quaternion = torch.tensor([np.sqrt(3) / 2, 0., 0.,
0.5]).to(device, dtype)
expected = torch.tensor([0., 0., kornia.pi / 3]).to(device, dtype)
angle_axis = kornia.quaternion_to_angle_axis(quaternion)
assert_allclose(angle_axis, expected)
