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test_transforms.py
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import numpy as np
import pytest
import torch
from mmhuman3d.utils.transforms import (
aa_to_ee,
aa_to_quat,
aa_to_rot6d,
aa_to_rotmat,
aa_to_sja,
ee_to_aa,
ee_to_quat,
ee_to_rot6d,
ee_to_rotmat,
quat_to_aa,
quat_to_ee,
quat_to_rot6d,
quat_to_rotmat,
rot6d_to_aa,
rot6d_to_ee,
rot6d_to_quat,
rot6d_to_rotmat,
rotmat_to_aa,
rotmat_to_ee,
rotmat_to_quat,
rotmat_to_rot6d,
sja_to_aa,
)
def check_func(var1, var2, correct_var2_shape=None):
bool_type = type(var1) == type(var2)
bool_dtype = var1.dtype == var2.dtype
if type(var1) is torch.Tensor:
bool_grad = var1.requires_grad == var2.requires_grad
bool_device = var1.device == var2.device
else:
bool_grad = True
bool_device = True
if correct_var2_shape:
bool_shape = var2.shape == correct_var2_shape
else:
bool_shape = True
return bool_type and bool_dtype and bool_grad and bool_device and \
bool_shape
def test_transforms_value():
with pytest.raises(ValueError):
aa_to_ee(torch.zeros(3), convention='xyzz')
with pytest.raises(ValueError):
aa_to_ee(torch.zeros(3), convention='abc')
with pytest.raises(ValueError):
aa_to_ee(torch.zeros(4), convention='xyz')
with pytest.raises(ValueError):
ee_to_aa(torch.zeros(4), convention='xyz')
with pytest.raises(ValueError):
quat_to_aa(torch.zeros(5))
with pytest.raises(ValueError):
rot6d_to_aa(torch.zeros(4))
with pytest.raises(ValueError):
rotmat_to_aa(torch.zeros(4))
with pytest.raises(ValueError):
rotmat_to_aa(torch.zeros(3, 4))
with pytest.raises(ValueError):
aa_to_sja(
torch.zeros(1, 3),
R_t=torch.eye(3, 3).unsqueeze(0).expand(1, 3, 3),
R_t_inv=torch.eye(3, 3).unsqueeze(0).expand(1, 3, 3))
with pytest.raises(ValueError):
sja_to_aa(
torch.zeros(1, 3),
R_t=torch.eye(3, 3).unsqueeze(0).expand(1, 3, 3),
R_t_inv=torch.eye(3, 3).unsqueeze(0).expand(1, 3, 3))
def test_transforms_tensor():
aa = torch.zeros(3)
ee = torch.zeros(3)
quat = torch.FloatTensor([1, 0, 0, 0])
rotmat = torch.eye(3, 3)
rot6d = rotmat.view(-1)[:6]
aa_21 = torch.zeros(21, 3)
sja = torch.zeros(21, 3)
R_t = torch.eye(3, 3).unsqueeze(0).expand(21, 3, 3)
R_t_inv = torch.eye(3, 3).unsqueeze(0).expand(21, 3, 3)
# test ndims
for _ in range(10):
# test convention
assert check_func(aa, aa_to_ee(aa, convention='xyz'),
aa.shape[:-1] + (3, ))
assert check_func(aa, aa_to_ee(aa, convention='xzy'),
aa.shape[:-1] + (3, ))
assert check_func(aa, aa_to_ee(aa, convention='yxz'),
aa.shape[:-1] + (3, ))
assert check_func(aa, aa_to_ee(aa, convention='yzx'),
aa.shape[:-1] + (3, ))
assert check_func(aa, aa_to_ee(aa, convention='zyx'),
aa.shape[:-1] + (3, ))
assert check_func(aa, aa_to_ee(aa, convention='zxy'),
aa.shape[:-1] + (3, ))
# test aa convention
assert check_func(aa, aa_to_rotmat(aa), aa.shape[:-1] + (3, 3))
assert check_func(aa, aa_to_quat(aa), aa.shape[:-1] + (4, ))
assert check_func(aa, aa_to_rot6d(aa), aa.shape[:-1] + (6, ))
# test ee convention
assert check_func(ee, ee_to_aa(ee, convention='xyz'),
ee.shape[:-1] + (3, ))
assert check_func(ee, ee_to_rotmat(ee, convention='xyz'),
ee.shape[:-1] + (3, 3))
assert check_func(ee, ee_to_quat(ee, convention='xyz'),
ee.shape[:-1] + (4, ))
assert check_func(ee, ee_to_rot6d(ee, convention='xyz'),
ee.shape[:-1] + (6, ))
# test quat convention
assert check_func(quat, quat_to_aa(quat), quat.shape[:-1] + (3, ))
assert check_func(quat, quat_to_rotmat(quat), quat.shape[:-1] + (3, 3))
assert check_func(quat, quat_to_ee(quat, convention='xyz'),
quat.shape[:-1] + (3, ))
assert check_func(quat, quat_to_rot6d(quat), quat.shape[:-1] + (6, ))
# test rotmat convention
assert check_func(rotmat, rotmat_to_aa(rotmat),
rotmat.shape[:-2] + (3, ))
assert check_func(rotmat, rotmat_to_ee(rotmat, convention='xyz'),
rotmat.shape[:-2] + (3, ))
assert check_func(rotmat, rotmat_to_quat(rotmat),
rotmat.shape[:-2] + (4, ))
assert check_func(rotmat, rotmat_to_rot6d(rotmat),
rotmat.shape[:-2] + (6, ))
# test rot6d convention
assert check_func(rot6d, rot6d_to_aa(rot6d), rot6d.shape[:-1] + (3, ))
assert check_func(rot6d, rot6d_to_rotmat(rot6d),
rot6d.shape[:-1] + (3, 3))
assert check_func(rot6d, rot6d_to_quat(rot6d),
rot6d.shape[:-1] + (4, ))
assert check_func(rot6d, rot6d_to_ee(rot6d, convention='xyz'),
rot6d.shape[:-1] + (3, ))
# test standard joint angle convention
assert check_func(aa_21, aa_to_sja(aa_21, R_t=R_t, R_t_inv=R_t_inv),
aa_21.shape[:-2] + (21, 3))
assert check_func(sja, sja_to_aa(sja, R_t=R_t, R_t_inv=R_t_inv),
sja.shape[:-2] + (21, 3))
# test inverse transform
assert (aa == ee_to_aa(
aa_to_ee(aa, convention='xyz'), convention='xyz')).all()
assert (aa == rotmat_to_aa(aa_to_rotmat(aa))).all()
assert (aa == quat_to_aa(aa_to_quat(aa))).all()
assert (aa == rot6d_to_aa(aa_to_rot6d(aa))).all()
assert (ee == aa_to_ee(
ee_to_aa(ee, convention='xyz'), convention='xyz')).all()
assert (ee == rotmat_to_ee(
ee_to_rotmat(ee, convention='xyz'), convention='xyz')).all()
assert (ee == quat_to_ee(
ee_to_quat(ee, convention='xyz'), convention='xyz')).all()
assert (ee == rot6d_to_ee(
ee_to_rot6d(ee, convention='xyz'), convention='xyz')).all()
assert (quat == ee_to_quat(
quat_to_ee(quat, convention='xyz'), convention='xyz')).all()
assert (quat == rotmat_to_quat(quat_to_rotmat(quat))).all()
assert (quat == aa_to_quat(quat_to_aa(quat))).all()
assert (quat == rot6d_to_quat(quat_to_rot6d(quat))).all()
assert (rotmat == ee_to_rotmat(
rotmat_to_ee(rotmat, convention='xyz'), convention='xyz')).all()
assert (rotmat == aa_to_rotmat(rotmat_to_aa(rotmat))).all()
assert (rotmat == quat_to_rotmat(rotmat_to_quat(rotmat))).all()
assert (rotmat == rot6d_to_rotmat(rotmat_to_rot6d(rotmat))).all()
assert (rot6d == ee_to_rot6d(
rot6d_to_ee(rot6d, convention='xyz'), convention='xyz')).all()
assert (rot6d == rotmat_to_rot6d(rot6d_to_rotmat(rot6d))).all()
assert (rot6d == quat_to_rot6d(rot6d_to_quat(rot6d))).all()
assert (rot6d == aa_to_rot6d(rot6d_to_aa(rot6d))).all()
assert (aa_21 == sja_to_aa(
aa_to_sja(aa_21, R_t=R_t, R_t_inv=R_t_inv),
R_t=R_t,
R_t_inv=R_t_inv)).all()
assert (sja == aa_to_sja(
sja_to_aa(sja, R_t=R_t, R_t_inv=R_t_inv), R_t=R_t,
R_t_inv=R_t_inv)).all()
aa = aa[None]
ee = ee[None]
quat = quat[None]
rotmat = rotmat[None]
rot6d = rot6d[None]
aa_21 = aa_21[None]
sja = sja[None]
R_t = R_t[None]
R_t_inv = R_t_inv[None]
def test_transforms_numpy():
aa = np.zeros((3), dtype=np.float32)
ee = np.zeros((3), dtype=np.float32)
quat = np.array([1, 0, 0, 0], dtype=np.float32)
rotmat = np.eye(3, 3, dtype=np.float32)
rot6d = rotmat.reshape(-1)[:6]
aa_21 = np.zeros((21, 3))
sja = np.zeros((21, 3))
R_t = np.eye(3, 3).reshape(1, 3, 3).repeat(21, axis=0)
R_t_inv = np.eye(3, 3).reshape(1, 3, 3).repeat(21, axis=0)
# test ndims
for _ in range(10):
# test convention
assert check_func(aa, aa_to_ee(aa, convention='xyz'),
aa.shape[:-1] + (3, ))
assert check_func(aa, aa_to_ee(aa, convention='xzy'),
aa.shape[:-1] + (3, ))
assert check_func(aa, aa_to_ee(aa, convention='yxz'),
aa.shape[:-1] + (3, ))
assert check_func(aa, aa_to_ee(aa, convention='yzx'),
aa.shape[:-1] + (3, ))
assert check_func(aa, aa_to_ee(aa, convention='zyx'),
aa.shape[:-1] + (3, ))
assert check_func(aa, aa_to_ee(aa, convention='zxy'),
aa.shape[:-1] + (3, ))
# test aa convention
assert check_func(aa, aa_to_rotmat(aa), aa.shape[:-1] + (3, 3))
assert check_func(aa, aa_to_quat(aa), aa.shape[:-1] + (4, ))
assert check_func(aa, aa_to_rot6d(aa), aa.shape[:-1] + (6, ))
# test ee convention
assert check_func(ee, ee_to_aa(ee, convention='xyz'),
ee.shape[:-1] + (3, ))
assert check_func(ee, ee_to_rotmat(ee, convention='xyz'),
ee.shape[:-1] + (3, 3))
assert check_func(ee, ee_to_quat(ee, convention='xyz'),
ee.shape[:-1] + (4, ))
assert check_func(ee, ee_to_rot6d(ee, convention='xyz'),
ee.shape[:-1] + (6, ))
# test quat convention
assert check_func(quat, quat_to_aa(quat), quat.shape[:-1] + (3, ))
assert check_func(quat, quat_to_rotmat(quat), quat.shape[:-1] + (3, 3))
assert check_func(quat, quat_to_ee(quat, convention='xyz'),
quat.shape[:-1] + (3, ))
assert check_func(quat, quat_to_rot6d(quat), quat.shape[:-1] + (6, ))
# test rotmat convention
assert check_func(rotmat, rotmat_to_aa(rotmat),
rotmat.shape[:-2] + (3, ))
assert check_func(rotmat, rotmat_to_ee(rotmat, convention='xyz'),
rotmat.shape[:-2] + (3, ))
assert check_func(rotmat, rotmat_to_quat(rotmat),
rotmat.shape[:-2] + (4, ))
assert check_func(rotmat, rotmat_to_rot6d(rotmat),
rotmat.shape[:-2] + (6, ))
# test rot6d convention
assert check_func(rot6d, rot6d_to_aa(rot6d), rot6d.shape[:-1] + (3, ))
assert check_func(rot6d, rot6d_to_rotmat(rot6d),
rot6d.shape[:-1] + (3, 3))
assert check_func(rot6d, rot6d_to_quat(rot6d),
rot6d.shape[:-1] + (4, ))
assert check_func(rot6d, rot6d_to_ee(rot6d, convention='xyz'),
rot6d.shape[:-1] + (3, ))
# test inverse transform
assert (aa == ee_to_aa(
aa_to_ee(aa, convention='xyz'), convention='xyz')).all()
assert (aa == rotmat_to_aa(aa_to_rotmat(aa))).all()
assert (aa == quat_to_aa(aa_to_quat(aa))).all()
assert (aa == rot6d_to_aa(aa_to_rot6d(aa))).all()
assert (ee == aa_to_ee(
ee_to_aa(ee, convention='xyz'), convention='xyz')).all()
assert (ee == rotmat_to_ee(
ee_to_rotmat(ee, convention='xyz'), convention='xyz')).all()
assert (ee == quat_to_ee(
ee_to_quat(ee, convention='xyz'), convention='xyz')).all()
assert (ee == rot6d_to_ee(
ee_to_rot6d(ee, convention='xyz'), convention='xyz')).all()
assert (quat == ee_to_quat(
quat_to_ee(quat, convention='xyz'), convention='xyz')).all()
assert (quat == rotmat_to_quat(quat_to_rotmat(quat))).all()
assert (quat == aa_to_quat(quat_to_aa(quat))).all()
assert (quat == rot6d_to_quat(quat_to_rot6d(quat))).all()
assert (rotmat == ee_to_rotmat(
rotmat_to_ee(rotmat, convention='xyz'), convention='xyz')).all()
assert (rotmat == aa_to_rotmat(rotmat_to_aa(rotmat))).all()
assert (rotmat == quat_to_rotmat(rotmat_to_quat(rotmat))).all()
assert (rotmat == rot6d_to_rotmat(rotmat_to_rot6d(rotmat))).all()
assert (rot6d == ee_to_rot6d(
rot6d_to_ee(rot6d, convention='xyz'), convention='xyz')).all()
assert (rot6d == rotmat_to_rot6d(rot6d_to_rotmat(rot6d))).all()
assert (rot6d == quat_to_rot6d(rot6d_to_quat(rot6d))).all()
assert (rot6d == aa_to_rot6d(rot6d_to_aa(rot6d))).all()
aa = aa[None]
ee = ee[None]
quat = quat[None]
rotmat = rotmat[None]
rot6d = rot6d[None]
aa_21 = aa_21[None]
sja = sja[None]
R_t = R_t[None]
R_t_inv = R_t_inv[None]