How to use _assert_check method in lisa

Best Python code snippet using lisa_python

quat_affine_test.py

Source:quat_affine_test.py

...23r2t = quat_affine.rot_list_to_tensor24v2t = quat_affine.vec_list_to_tensor25q2r = lambda q: r2t(quat_affine.quat_to_rot(q))26class QuatAffineTest(absltest.TestCase):27  def _assert_check(self, to_check, tol=1e-5):28    for k, (correct, generated) in to_check.items():29      if VERBOSE:30        logging.info(k)31        logging.info('Correct %s', correct)32        logging.info('Predicted %s', generated)33      self.assertLess(np.max(np.abs(correct - generated)), tol)34  def test_conversion(self):35    quat = jnp.array([-2., 5., -1., 4.])36    rotation = jnp.array([37        [0.26087, 0.130435, 0.956522],38        [-0.565217, -0.782609, 0.26087],39        [0.782609, -0.608696, -0.130435]])40    translation = jnp.array([1., -3., 4.])41    point = jnp.array([0.7, 3.2, -2.9])42    a = quat_affine.QuatAffine(quat, translation, unstack_inputs=True)43    true_new_point = jnp.matmul(rotation, point[:, None])[:, 0] + translation44    self._assert_check({45        'rot': (rotation, r2t(a.rotation)),46        'trans': (translation, v2t(a.translation)),47        'point': (true_new_point,48                  v2t(a.apply_to_point(jnp.moveaxis(point, -1, 0)))),49        # Because of the double cover, we must be careful and compare rotations50        'quat': (q2r(a.quaternion),51                 q2r(quat_affine.rot_to_quat(a.rotation))),52    })53  def test_double_cover(self):54    """Test that -q is the same rotation as q."""55    rng = jax.random.PRNGKey(42)56    keys = jax.random.split(rng)57    q = jax.random.normal(keys[0], (2, 4))58    trans = jax.random.normal(keys[1], (2, 3))59    a1 = quat_affine.QuatAffine(q, trans, unstack_inputs=True)60    a2 = quat_affine.QuatAffine(-q, trans, unstack_inputs=True)61    self._assert_check({62        'rot': (r2t(a1.rotation),63                r2t(a2.rotation)),64        'trans': (v2t(a1.translation),65                  v2t(a2.translation)),66    })67  def test_homomorphism(self):68    rng = jax.random.PRNGKey(42)69    keys = jax.random.split(rng, 4)70    vec_q1 = jax.random.normal(keys[0], (2, 3))71    q1 = jnp.concatenate([72        jnp.ones_like(vec_q1)[:, :1],73        vec_q1], axis=-1)74    q2 = jax.random.normal(keys[1], (2, 4))75    t1 = jax.random.normal(keys[2], (2, 3))76    t2 = jax.random.normal(keys[3], (2, 3))77    a1 = quat_affine.QuatAffine(q1, t1, unstack_inputs=True)78    a2 = quat_affine.QuatAffine(q2, t2, unstack_inputs=True)79    a21 = a2.pre_compose(jnp.concatenate([vec_q1, t1], axis=-1))80    rng, key = jax.random.split(rng)81    x = jax.random.normal(key, (2, 3))82    new_x = a21.apply_to_point(jnp.moveaxis(x, -1, 0))83    new_x_apply2 = a2.apply_to_point(a1.apply_to_point(jnp.moveaxis(x, -1, 0)))84    self._assert_check({85        'quat': (q2r(quat_affine.quat_multiply(a2.quaternion, a1.quaternion)),86                 q2r(a21.quaternion)),87        'rot': (jnp.matmul(r2t(a2.rotation), r2t(a1.rotation)),88                r2t(a21.rotation)),89        'point': (v2t(new_x_apply2),90                  v2t(new_x)),91        'inverse': (x, v2t(a21.invert_point(new_x))),92    })93  def test_batching(self):94    """Test that affine applies batchwise."""95    rng = jax.random.PRNGKey(42)96    keys = jax.random.split(rng, 3)97    q = jax.random.uniform(keys[0], (5, 2, 4))98    t = jax.random.uniform(keys[1], (2, 3))99    x = jax.random.uniform(keys[2], (5, 1, 3))100    a = quat_affine.QuatAffine(q, t, unstack_inputs=True)101    y = v2t(a.apply_to_point(jnp.moveaxis(x, -1, 0)))102    y_list = []103    for i in range(5):104      for j in range(2):105        a_local = quat_affine.QuatAffine(q[i, j], t[j],106                                         unstack_inputs=True)107        y_local = v2t(a_local.apply_to_point(jnp.moveaxis(x[i, 0], -1, 0)))108        y_list.append(y_local)109    y_combine = jnp.reshape(jnp.stack(y_list, axis=0), (5, 2, 3))110    self._assert_check({111        'batch': (y_combine, y),112        'quat': (q2r(a.quaternion),113                 q2r(quat_affine.rot_to_quat(a.rotation))),114    })115  def assertAllClose(self, a, b, rtol=1e-06, atol=1e-06):116    self.assertTrue(np.allclose(a, b, rtol=rtol, atol=atol))117  def assertAllEqual(self, a, b):118    self.assertTrue(np.all(np.array(a) == np.array(b)))119if __name__ == '__main__':...

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