35364f3d1dc129e68d8f5da1cf1d090073e4b556,unittests.py,TestGeomstatsMethods,test_rigid_transformations_riemannian_exp_log,#TestGeomstatsMethods#,163

Before Change

        r4 = (np.pi / (2 * np.sqrt(3)) *
              np.array([6 * 1e-8, 5.5 * 1e-7, -2 * 1e-6]))

        xs = [x1, x2, x3, x4]
        rs = map(rotations.regularize_rotation_vector, [r1, r2, r3, r4])
        for (x, r) in zip(xs, rs):
            (u, a) = rigid_transformations.riemannian_log(x_ref, r_ref, x, r)
            (x_result, r_result) = rigid_transformations.riemannian_exp(
                    x_ref, r_ref, u, a)
            (x_expected, r_expected) = (x, r)

            self.assertTrue(np.allclose(x_result, x_expected))
            self.assertTrue(np.allclose(r_result, r_expected))

if __name__ == "__main__":
        unittest.main()

After Change

        translation_1 = np.array([1, 0, -3])
        rot_vec_1 = np.pi / (3 * np.sqrt(2)) * np.array([0, 0, 0])
        transfo_1 = np.concatenate([rot_vec_1, translation_1])

        translation_2 = np.array([4, 0, 0])
        rot_vec_2 = np.pi / (2 * np.sqrt(3)) * np.array([1, 0, 0])
        transfo_2 = np.concatenate([rot_vec_2, translation_2])

        translation_3 = np.array([1.2, -3.6, 50])
        rot_vec_3 = np.pi / (2 * np.sqrt(3)) * np.array([1, -20, 50])
        transfo_3 = np.concatenate([rot_vec_3, translation_3])

        translation_4 = np.array([4, 10, -2])
        rot_vec_4 = (np.pi / (2 * np.sqrt(3)) *
                     np.array([6 * 1e-8, 5.5 * 1e-7, -2 * 1e-6]))
        transfo_4 = np.concatenate([rot_vec_4, translation_4])

        all_transfos = [transfo_1, transfo_2, transfo_3, transfo_4]

        for transfo in all_transfos:
            riem_log = rigid_transformations.riemannian_log(
                                                 transfo,
                                                 ref_point=transfo_ref_point)
            transfo_result = rigid_transformations.riemannian_exp(
                                                 riem_log,
                                                 ref_point=transfo_ref_point)
            transfo_expected = transfo

            self.assertTrue(np.allclose(transfo_result, transfo_expected))

if __name__ == "__main__":
        unittest.main()

Instances