def test_inverse_jacobian_random(self):
"""Test the Jacobian of the inverse function."""
x_init = test_helpers.generate_random_test_rotation_matrix_3d()
x = tf.convert_to_tensor(value=x_init)
y = rotation_matrix_3d.inverse(x)
self.assert_jacobian_is_correct(x, x_init, y)
def test_inverse_normalized_random(self):
"""Checks that inverted rotation matrices are valid rotations."""
random_euler_angle = test_helpers.generate_random_test_euler_angles()
tensor_tile = random_euler_angle.shape[:-1]
random_matrix = rotation_matrix_3d.from_euler(random_euler_angle)
predicted_invert_random_matrix = rotation_matrix_3d.inverse(random_matrix)
self.assertAllEqual(
rotation_matrix_3d.is_valid(predicted_invert_random_matrix),
np.ones(tensor_tile + (1,)))
def test_inverse_random(self):
"""Checks that inverting rotated points results in no transformation."""
random_euler_angle = test_helpers.generate_random_test_euler_angles()
tensor_tile = random_euler_angle.shape[:-1]
random_matrix = rotation_matrix_3d.from_euler(random_euler_angle)
random_point = np.random.normal(size=tensor_tile + (3,))
rotated_random_points = rotation_matrix_3d.rotate(random_point,
random_matrix)
predicted_invert_random_matrix = rotation_matrix_3d.inverse(random_matrix)
predicted_invert_rotated_random_points = rotation_matrix_3d.rotate(
rotated_random_points, predicted_invert_random_matrix)
self.assertAllClose(
random_point, predicted_invert_rotated_random_points, rtol=1e-6)
