align/tests/test_transforms.py

36     theta = np.array([dx, dy])
38     actual = transform.param_to_matrix(theta)
44     theta = np.array([angle])
48     actual = transform.param_to_matrix(theta)
54     theta = np.array([angle, dx, dy])
58     actual = transform.param_to_matrix(theta)
64     theta = np.array([factor])
66     actual = transform.param_to_matrix(theta)
72     theta = np.array([angle, dx, dy, factor])
78     actual = transform.param_to_matrix(theta)
84     theta = np.array([angle, dx, dy, sx, sy])
90     actual = transform.param_to_matrix(theta)
95     theta = rng.uniform(size=(6,))
97     expected[0, :] = theta[:3]
98     expected[1, :] = theta[3:6]
99     actual = transform.param_to_matrix(theta)
106         theta = np.zeros(n + 1, dtype=np.float64)
107         assert_raises(ValueError, transform.param_to_matrix, theta)
115     theta = np.array([dx, dy, dz])
120     actual = transform.param_to_matrix(theta)
146     theta = rng.uniform(size=(3,))
147     R = get_rotation_matrix(theta[0], theta[1], theta[2])
150     actual = transform.param_to_matrix(theta)
155     theta = rng.uniform(size=(6,))
156     R = get_rotation_matrix(theta[0], theta[1], theta[2])
159     expected[:3, 3] = theta[3:6]
160     actual = transform.param_to_matrix(theta)
165     theta = rng.uniform(size=(7,))
166     R = get_rotation_matrix(theta[0], theta[1], theta[2])
168     expected[:3, :3] = R[:3, :3] * theta[6]
169     expected[:3, 3] = theta[3:6]
170     actual = transform.param_to_matrix(theta)
175     theta = rng.uniform(size=(9,))
176     R = get_rotation_matrix(theta[0], theta[1], theta[2])
178     R[0, :3] *= theta[6]
179     R[1, :3] *= theta[7]
180     R[2, :3] *= theta[8]
182     expected[:3, 3] = theta[3:6]
183     actual = transform.param_to_matrix(theta)
189     theta = np.array([factor])
194     actual = transform.param_to_matrix(theta)
199     theta = rng.uniform(size=(12,))
201     expected[0, :] = theta[:4]
202     expected[1, :] = theta[4:8]
203     expected[2, :] = theta[8:12]
204     actual = transform.param_to_matrix(theta)
211         theta = np.zeros(n + 1, dtype=np.float64)
212         assert_raises(ValueError, transform.param_to_matrix, theta)
218         theta = transform.get_identity_parameters()
221         actual = transform.param_to_matrix(theta)
236         theta = rng.uniform(size=(n,))
237         T = transform.param_to_matrix(theta)
241             actual = transform.jacobian(theta, x)
247                 dtheta = theta.copy()
260         theta = np.zeros(n + 1)
262         assert_raises(ValueError, transform.jacobian, theta, x)
274     theta = np.ndarray(3)
276     assert_raises(ValueError, transform.jacobian, theta, x)
278     assert_raises(ValueError, transform.param_to_matrix, theta)