def test_is_valid_random(self):
"""Tests that is_valid works as intended."""
random_euler_angle = test_helpers.generate_random_test_euler_angles()
tensor_tile = random_euler_angle.shape[:-1]
rotation_matrix = rotation_matrix_3d.from_euler(random_euler_angle)
pred_normalized = rotation_matrix_3d.is_valid(rotation_matrix)
with self.subTest(name="all_normalized"):
self.assertAllEqual(pred_normalized,
np.ones(shape=tensor_tile + (1, ), dtype=bool))
with self.subTest(name="non_orthonormal"):
test_matrix = np.array([[2., 0., 0.], [0., 0.5, 0], [0., 0., 1.]])
pred_normalized = rotation_matrix_3d.is_valid(test_matrix)
self.assertAllEqual(pred_normalized,
np.zeros(shape=(1, ), dtype=bool))
with self.subTest(name="negative_orthonormal"):
test_matrix = np.array([[1., 0., 0.], [0., -1., 0.], [0., 0., 1.]])
pred_normalized = rotation_matrix_3d.is_valid(test_matrix)
self.assertAllEqual(pred_normalized,
np.zeros(shape=(1, ), dtype=bool))
def test_from_euler_normalized_random(self):
"""Tests that euler angles can be converted to rotation matrices."""
random_euler_angles = test_helpers.generate_random_test_euler_angles()
matrix = rotation_matrix_3d.from_euler(random_euler_angles)
self.assertAllEqual(rotation_matrix_3d.is_valid(matrix),
np.ones(random_euler_angles.shape[0:-1] + (1, )))
def test_from_quaternion_normalized_random(self):
"""Tests that random quaternions can be converted to rotation matrices."""
random_quaternion = test_helpers.generate_random_test_quaternions()
tensor_shape = random_quaternion.shape[:-1]
random_matrix = rotation_matrix_3d.from_quaternion(random_quaternion)
self.assertAllEqual(rotation_matrix_3d.is_valid(random_matrix),
np.ones(tensor_shape + (1, )))
def test_from_quaternion_normalized_preset(self):
"""Tests that quaternions can be converted to rotation matrices."""
euler_angles = test_helpers.generate_preset_test_euler_angles()
quat = quaternion.from_euler(euler_angles)
matrix_quat = rotation_matrix_3d.from_quaternion(quat)
self.assertAllEqual(rotation_matrix_3d.is_valid(matrix_quat),
np.ones(euler_angles.shape[0:-1] + (1, )))
def test_from_axis_angle_normalized_preset(self):
"""Tests that axis-angles can be converted to rotation matrices."""
euler_angles = test_helpers.generate_preset_test_euler_angles()
axis, angle = axis_angle.from_euler(euler_angles)
matrix_axis_angle = rotation_matrix_3d.from_axis_angle(axis, angle)
self.assertAllEqual(rotation_matrix_3d.is_valid(matrix_axis_angle),
np.ones(euler_angles.shape[0:-1] + (1, )))
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_from_axis_angle_normalized_random(self):
"""Tests that axis-angles can be converted to rotation matrices."""
tensor_shape = np.random.randint(1, 10,
size=np.random.randint(3)).tolist()
random_axis = np.random.normal(size=tensor_shape + [3])
random_axis /= np.linalg.norm(random_axis, axis=-1, keepdims=True)
random_angle = np.random.normal(size=tensor_shape + [1])
matrix_axis_angle = rotation_matrix_3d.from_axis_angle(
random_axis, random_angle)
self.assertAllEqual(rotation_matrix_3d.is_valid(matrix_axis_angle),
np.ones(tensor_shape + [1]))
def test_from_axis_angle_random(self):
"""Tests conversion to matrix."""
tensor_shape = np.random.randint(1, 10, size=np.random.randint(3)).tolist()
random_axis = np.random.normal(size=tensor_shape + [3])
random_axis /= np.linalg.norm(random_axis, axis=-1, keepdims=True)
random_angle = np.random.normal(size=tensor_shape + [1])
matrix_axis_angle = rotation_matrix_3d.from_axis_angle(
random_axis, random_angle)
random_quaternion = quaternion.from_axis_angle(random_axis, random_angle)
matrix_quaternion = rotation_matrix_3d.from_quaternion(random_quaternion)
self.assertAllClose(matrix_axis_angle, matrix_quaternion, rtol=1e-3)
# Checks that resulting rotation matrices are normalized.
self.assertAllEqual(
rotation_matrix_3d.is_valid(matrix_axis_angle),
np.ones(tensor_shape + [1]))
