def _compare_positions(a, b, max_dist=0.003, max_angle=5.):
"""Compare estimated cHPI positions"""
from scipy.interpolate import interp1d
trans, rot, t = a
trans_est, rot_est, t_est = b
quats_est = _rot_to_quat(rot_est)
# maxfilter produces some times that are implausibly large (weird)
use_mask = (t >= t_est[0]) & (t <= t_est[-1])
t = t[use_mask]
trans = trans[use_mask]
quats = _rot_to_quat(rot)
quats = quats[use_mask]
# double-check our angle function
for q in (quats, quats_est):
angles = _angle_between_quats(q, q)
assert_allclose(angles, 0., atol=1e-5)
# < 3 mm translation difference between MF and our estimation
trans_est_interp = interp1d(t_est, trans_est, axis=0)(t)
worst = np.sqrt(np.sum((trans - trans_est_interp) ** 2, axis=1)).max()
assert_true(worst <= max_dist, '%0.1f > %0.1f mm'
% (1000 * worst, 1000 * max_dist))
# < 5 degrees rotation difference between MF and our estimation
# (note that the interpolation will make this slightly worse)
quats_est_interp = interp1d(t_est, quats_est, axis=0)(t)
worst = 180 * _angle_between_quats(quats_est_interp, quats).max() / np.pi
assert_true(worst <= max_angle, '%0.1f > %0.1f deg' % (worst, max_angle,))
def _compare_positions(a, b, max_dist=0.003, max_angle=5.):
"""Compare estimated cHPI positions"""
from scipy.interpolate import interp1d
trans, rot, t = a
trans_est, rot_est, t_est = b
quats_est = _rot_to_quat(rot_est)
# maxfilter produces some times that are implausibly large (weird)
use_mask = (t >= t_est[0]) & (t <= t_est[-1])
t = t[use_mask]
trans = trans[use_mask]
quats = _rot_to_quat(rot)
quats = quats[use_mask]
# double-check our angle function
for q in (quats, quats_est):
angles = _angle_between_quats(q, q)
assert_allclose(angles, 0., atol=1e-5)
# < 3 mm translation difference between MF and our estimation
trans_est_interp = interp1d(t_est, trans_est, axis=0)(t)
worst = np.sqrt(np.sum((trans - trans_est_interp)**2, axis=1)).max()
assert_true(worst <= max_dist,
'%0.1f > %0.1f mm' % (1000 * worst, 1000 * max_dist))
# < 5 degrees rotation difference between MF and our estimation
# (note that the interpolation will make this slightly worse)
quats_est_interp = interp1d(t_est, quats_est, axis=0)(t)
worst = 180 * _angle_between_quats(quats_est_interp, quats).max() / np.pi
assert_true(worst <= max_angle, '%0.1f > %0.1f deg' % (
worst,
max_angle,
))
def test_quaternions():
"""Test quaternion calculations
"""
rots = [np.eye(3)]
for fname in [test_fif_fname, ctf_fname, hp_fif_fname]:
rots += [read_info(fname)['dev_head_t']['trans'][:3, :3]]
for rot in rots:
assert_allclose(rot,
_quat_to_rot(_rot_to_quat(rot)),
rtol=1e-5,
atol=1e-5)
rot = rot[np.newaxis, np.newaxis, :, :]
assert_allclose(rot,
_quat_to_rot(_rot_to_quat(rot)),
rtol=1e-5,
atol=1e-5)
# let's make sure our angle function works in some reasonable way
for ii in range(3):
for jj in range(3):
a = np.zeros(3)
b = np.zeros(3)
a[ii] = 1.
b[jj] = 1.
expected = np.pi if ii != jj else 0.
assert_allclose(_angle_between_quats(a, b), expected, atol=1e-5)
def test_quaternions():
"""Test quaternion calculations
"""
rots = [np.eye(3)]
for fname in [test_fif_fname, ctf_fname, hp_fif_fname]:
rots += [read_info(fname)['dev_head_t']['trans'][:3, :3]]
# nasty numerical cases
rots += [
np.array([
[-0.99978541, -0.01873462, -0.00898756],
[-0.01873462, 0.62565561, 0.77987608],
[-0.00898756, 0.77987608, -0.62587152],
])
]
rots += [
np.array([
[0.62565561, -0.01873462, 0.77987608],
[-0.01873462, -0.99978541, -0.00898756],
[0.77987608, -0.00898756, -0.62587152],
])
]
rots += [
np.array([
[-0.99978541, -0.00898756, -0.01873462],
[-0.00898756, -0.62587152, 0.77987608],
[-0.01873462, 0.77987608, 0.62565561],
])
]
for rot in rots:
assert_allclose(rot,
_quat_to_rot(_rot_to_quat(rot)),
rtol=1e-5,
atol=1e-5)
rot = rot[np.newaxis, np.newaxis, :, :]
assert_allclose(rot,
_quat_to_rot(_rot_to_quat(rot)),
rtol=1e-5,
atol=1e-5)
# let's make sure our angle function works in some reasonable way
for ii in range(3):
for jj in range(3):
a = np.zeros(3)
b = np.zeros(3)
a[ii] = 1.
b[jj] = 1.
expected = np.pi if ii != jj else 0.
assert_allclose(_angle_between_quats(a, b), expected, atol=1e-5)
def test_quaternions():
"""Test quaternion calculations
"""
rots = [np.eye(3)]
for fname in [test_fif_fname, ctf_fname, hp_fif_fname]:
rots += [read_info(fname)['dev_head_t']['trans'][:3, :3]]
for rot in rots:
assert_allclose(rot, _quat_to_rot(_rot_to_quat(rot)),
rtol=1e-5, atol=1e-5)
rot = rot[np.newaxis, np.newaxis, :, :]
assert_allclose(rot, _quat_to_rot(_rot_to_quat(rot)),
rtol=1e-5, atol=1e-5)
# let's make sure our angle function works in some reasonable way
for ii in range(3):
for jj in range(3):
a = np.zeros(3)
b = np.zeros(3)
a[ii] = 1.
b[jj] = 1.
expected = np.pi if ii != jj else 0.
assert_allclose(_angle_between_quats(a, b), expected, atol=1e-5)