mirror of
https://github.com/facebookresearch/pytorch3d.git
synced 2026-01-16 19:30:34 +08:00
transforms 3d convention fix
Summary: Fixed the rotation matrices generated by the RotateAxisAngle class and updated the tests. Added documentation for Transforms3d to clarify the conventions. Reviewed By: gkioxari Differential Revision: D19912903 fbshipit-source-id: c64926ce4e1381b145811557c32b73663d6d92d1
This commit is contained in:
Nikhila Ravi
committed by
Facebook Github Bot
Facebook Github Bot
parent
bdc2bb578c
commit
8301163d24
@@ -120,7 +120,7 @@ class TestTransform(unittest.TestCase):
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self.assertTrue(torch.allclose(normals_out, normals_out_expected))
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def test_rotate_axis_angle(self):
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t = Transform3d().rotate_axis_angle(-90.0, axis="Z")
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t = Transform3d().rotate_axis_angle(90.0, axis="Z")
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points = torch.tensor(
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[[0.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 1.0, 1.0]]
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).view(1, 3, 3)
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@@ -737,15 +737,23 @@ class TestRotateAxisAngle(unittest.TestCase):
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matrix = torch.tensor(
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[
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[
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, -1.0, 0.0], # noqa: E241, E201
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[0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[0.0, -1.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
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)
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# fmt: on
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points = torch.tensor([0.0, 1.0, 0.0])[None, None, :] # (1, 1, 3)
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transformed_points = t.transform_points(points)
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expected_points = torch.tensor([0.0, 0.0, 1.0])
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self.assertTrue(
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torch.allclose(
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transformed_points.squeeze(), expected_points, atol=1e-7
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)
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)
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self.assertTrue(torch.allclose(t._matrix, matrix))
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def test_rotate_x_torch_scalar(self):
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@@ -755,15 +763,23 @@ class TestRotateAxisAngle(unittest.TestCase):
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matrix = torch.tensor(
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[
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[
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, -1.0, 0.0], # noqa: E241, E201
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[0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[0.0, -1.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
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)
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# fmt: on
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points = torch.tensor([0.0, 1.0, 0.0])[None, None, :] # (1, 1, 3)
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transformed_points = t.transform_points(points)
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expected_points = torch.tensor([0.0, 0.0, 1.0])
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self.assertTrue(
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torch.allclose(
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transformed_points.squeeze(), expected_points, atol=1e-7
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)
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)
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self.assertTrue(torch.allclose(t._matrix, matrix, atol=1e-7))
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def test_rotate_x_torch_tensor(self):
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@@ -781,23 +797,23 @@ class TestRotateAxisAngle(unittest.TestCase):
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[0.0, 0.0, 0.0, 1.0],
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],
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[
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, r2_2, -r2_i, 0.0], # noqa: E241, E201
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[0.0, r2_i, r2_2, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, r2_2, r2_i, 0.0], # noqa: E241, E201
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[0.0, -r2_i, r2_2, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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],
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[
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, -1.0, 0.0], # noqa: E241, E201
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[0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[0.0, -1.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
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)
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# fmt: on
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self.assertTrue(torch.allclose(t._matrix, matrix, atol=1e-7))
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angle = angle[..., None] # (N, 1)
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angle = angle
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t = RotateAxisAngle(angle=angle, axis="X")
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self.assertTrue(torch.allclose(t._matrix, matrix, atol=1e-7))
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@@ -807,33 +823,54 @@ class TestRotateAxisAngle(unittest.TestCase):
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matrix = torch.tensor(
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[
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[
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[ 0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[ 0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[-1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[0.0, 0.0, -1.0, 0.0], # noqa: E241, E201
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[0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
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)
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# fmt: on
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points = torch.tensor([1.0, 0.0, 0.0])[None, None, :] # (1, 1, 3)
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transformed_points = t.transform_points(points)
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expected_points = torch.tensor([0.0, 0.0, -1.0])
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self.assertTrue(
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torch.allclose(
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transformed_points.squeeze(), expected_points, atol=1e-7
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)
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)
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self.assertTrue(torch.allclose(t._matrix, matrix, atol=1e-7))
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def test_rotate_y_torch_scalar(self):
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"""
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Test rotation about Y axis. With a right hand coordinate system this
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should result in a vector pointing along the x-axis being rotated to
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point along the negative z axis.
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"""
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angle = torch.tensor(90.0)
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t = RotateAxisAngle(angle=angle, axis="Y")
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# fmt: off
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matrix = torch.tensor(
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[
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[
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[ 0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[ 0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[-1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[0.0, 0.0, -1.0, 0.0], # noqa: E241, E201
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[0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
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)
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# fmt: on
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points = torch.tensor([1.0, 0.0, 0.0])[None, None, :] # (1, 1, 3)
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transformed_points = t.transform_points(points)
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expected_points = torch.tensor([0.0, 0.0, -1.0])
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self.assertTrue(
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torch.allclose(
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transformed_points.squeeze(), expected_points, atol=1e-7
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)
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)
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self.assertTrue(torch.allclose(t._matrix, matrix, atol=1e-7))
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def test_rotate_y_torch_tensor(self):
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@@ -851,16 +888,16 @@ class TestRotateAxisAngle(unittest.TestCase):
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[0.0, 0.0, 0.0, 1.0],
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],
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[
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[ r2_2, 0.0, r2_i, 0.0], # noqa: E241, E201
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[ 0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[-r2_i, 0.0, r2_2, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[r2_2, 0.0, -r2_i, 0.0], # noqa: E241, E201
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[ 0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[r2_i, 0.0, r2_2, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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],
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[
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[ 0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[ 0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[-1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[0.0, 0.0, -1.0, 0.0], # noqa: E241, E201
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[0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
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@@ -874,15 +911,23 @@ class TestRotateAxisAngle(unittest.TestCase):
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matrix = torch.tensor(
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[
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[
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[0.0, -1.0, 0.0, 0.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[ 0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[-1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
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)
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# fmt: on
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points = torch.tensor([1.0, 0.0, 0.0])[None, None, :] # (1, 1, 3)
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transformed_points = t.transform_points(points)
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expected_points = torch.tensor([0.0, 1.0, 0.0])
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self.assertTrue(
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torch.allclose(
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transformed_points.squeeze(), expected_points, atol=1e-7
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)
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)
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self.assertTrue(torch.allclose(t._matrix, matrix, atol=1e-7))
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def test_rotate_z_torch_scalar(self):
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@@ -892,15 +937,23 @@ class TestRotateAxisAngle(unittest.TestCase):
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matrix = torch.tensor(
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[
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[
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[0.0, -1.0, 0.0, 0.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[ 0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[-1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
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)
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# fmt: on
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points = torch.tensor([1.0, 0.0, 0.0])[None, None, :] # (1, 1, 3)
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transformed_points = t.transform_points(points)
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expected_points = torch.tensor([0.0, 1.0, 0.0])
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self.assertTrue(
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torch.allclose(
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transformed_points.squeeze(), expected_points, atol=1e-7
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)
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)
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self.assertTrue(torch.allclose(t._matrix, matrix, atol=1e-7))
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def test_rotate_z_torch_tensor(self):
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@@ -918,16 +971,16 @@ class TestRotateAxisAngle(unittest.TestCase):
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[0.0, 0.0, 0.0, 1.0],
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],
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[
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[r2_2, -r2_i, 0.0, 0.0], # noqa: E241, E201
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[r2_i, r2_2, 0.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[ r2_2, r2_i, 0.0, 0.0], # noqa: E241, E201
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[-r2_i, r2_2, 0.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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],
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[
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[0.0, -1.0, 0.0, 0.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[ 0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[-1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
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@@ -945,10 +998,10 @@ class TestRotateAxisAngle(unittest.TestCase):
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matrix1 = torch.tensor(
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[
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[
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, -1.0, 0.0], # noqa: E241, E201
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[0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[0.0, -1.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
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@@ -956,10 +1009,10 @@ class TestRotateAxisAngle(unittest.TestCase):
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matrix2 = torch.tensor(
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[
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[
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[ 0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[ 0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[-1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[0.0, 0.0, -1.0, 0.0], # noqa: E241, E201
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[0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
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@@ -967,10 +1020,10 @@ class TestRotateAxisAngle(unittest.TestCase):
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matrix3 = torch.tensor(
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[
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[
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[0.0, -1.0, 0.0, 0.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[ 0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[-1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
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@@ -987,10 +1040,10 @@ class TestRotateAxisAngle(unittest.TestCase):
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matrix = torch.tensor(
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[
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[
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[0.0, -1.0, 0.0, 0.0], # noqa: E241, E201
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[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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[ 0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
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[-1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
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[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
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]
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],
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dtype=torch.float32,
|
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@@ -1004,10 +1057,10 @@ class TestRotateAxisAngle(unittest.TestCase):
|
||||
matrix = torch.tensor(
|
||||
[
|
||||
[
|
||||
[0.0, -1.0, 0.0, 0.0], # noqa: E241, E201
|
||||
[1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
|
||||
[0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
|
||||
[0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
|
||||
[ 0.0, 1.0, 0.0, 0.0], # noqa: E241, E201
|
||||
[-1.0, 0.0, 0.0, 0.0], # noqa: E241, E201
|
||||
[ 0.0, 0.0, 1.0, 0.0], # noqa: E241, E201
|
||||
[ 0.0, 0.0, 0.0, 1.0], # noqa: E241, E201
|
||||
]
|
||||
],
|
||||
dtype=torch.float32,
|
||||
|
||||
Reference in New Issue
Block a user