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add some more tests for Rotation class #402

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Merged
merged 2 commits into from
Mar 11, 2021
Merged

add some more tests for Rotation class #402

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a28d333
add some more tests for Rotation class
garrettwrong Mar 10, 2021
80b9dfd
testRotMatrices should have a dtype based tolerance
garrettwrong Mar 10, 2021
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38 changes: 37 additions & 1 deletion tests/test_rotation.py
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Original file line number Diff line number Diff line change
@@ -1,10 +1,13 @@
import logging
from unittest import TestCase

import numpy as np
from scipy.spatial.transform import Rotation as sp_rot

from aspire.utils import Rotation, utest_tolerance

logger = logging.getLogger(__name__)


class UtilsTestCase(TestCase):
def setUp(self):
Expand All @@ -19,7 +22,9 @@ def setUp(self):
def testRotMatrices(self):
rot_ref = sp_rot.from_matrix(self.matrices)
matrices = rot_ref.as_matrix().astype(self.dtype)
self.assertTrue(np.allclose(self.matrices, matrices))
self.assertTrue(
np.allclose(self.matrices, matrices, atol=utest_tolerance(self.dtype))
)

def testRotAngles(self):
rot_ref = sp_rot.from_euler("ZYZ", self.angles, degrees=False)
Expand Down Expand Up @@ -60,6 +65,18 @@ def testRegisterRots(self):
and np.allclose(q_mat_est, q_mat, atol=utest_tolerance(self.dtype))
)

def testRegister(self):
# These will yield two more distinct sets of random rotations wrt self.rot_obj
set1 = Rotation.generate_random_rotations(self.num_rots, dtype=self.dtype)
set2 = Rotation.generate_random_rotations(
self.num_rots, dtype=self.dtype, seed=7
)
# Align both sets of random rotations to rot_obj
aligned_rots1 = self.rot_obj.register(set1)
aligned_rots2 = self.rot_obj.register(set2)
self.assertTrue(aligned_rots1.mse(aligned_rots2) < utest_tolerance(self.dtype))
self.assertTrue(aligned_rots2.mse(aligned_rots1) < utest_tolerance(self.dtype))

def testMSE(self):
q_ang = [np.random.random(3)]
q_mat = sp_rot.from_euler("ZYZ", q_ang, degrees=False).as_matrix()[0]
Expand All @@ -71,3 +88,22 @@ def testMSE(self):
def testCommonLines(self):
ell_ij, ell_ji = self.rot_obj.common_lines(8, 11, 360)
self.assertTrue(ell_ij == 235 and ell_ji == 284)

def testString(self):
logger.debug(str(self.rot_obj))

def testRepr(self):
logger.debug(repr(self.rot_obj))

def testLen(self):
self.assertTrue(len(self.rot_obj) == self.num_rots)

def testSetterGetter(self):
# Excute set
tmp = np.arange(9).reshape((3, 3))
self.rot_obj[13] = tmp
# Execute get
self.assertTrue(np.all(self.rot_obj[13] == tmp))

def testDtype(self):
self.assertTrue(self.dtype == self.rot_obj.dtype)