wehub-resource-sync
85 lines
2.7 KiB
Python
85 lines
2.7 KiB
Python
from __future__ import annotations
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import itertools
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from fractions import Fraction
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from typing import cast
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import rerun as rr
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from rerun.datatypes import (
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Quaternion,
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RotationAxisAngle,
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)
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from .test_matnxn import MAT_3X3_INPUT
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from .test_vecnd import VEC_3D_INPUT
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SCALE_3D_INPUT = [
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# Uniform
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4,
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4.0,
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Fraction(8, 2),
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# ThreeD
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*VEC_3D_INPUT,
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]
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def test_instance_poses3d() -> None:
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rotation_axis_angle_arrays = [
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None,
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RotationAxisAngle([1, 2, 3], rr.Angle(deg=10)),
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[RotationAxisAngle([1, 2, 3], rr.Angle(deg=10)), RotationAxisAngle([3, 2, 1], rr.Angle(rad=1))],
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]
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quaternion_arrays = [
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None,
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Quaternion(xyzw=[1, 2, 3, 4]),
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[Quaternion(xyzw=[4, 3, 2, 1]), Quaternion(xyzw=[1, 2, 3, 4])],
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]
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# TODO(andreas): It would be nice to support scalar values here
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scale_arrays = [None, [1.0, 2.0, 3.0], [[1.0, 2.0, 3.0], [4.0, 5.0, 6.0]]]
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all_arrays = itertools.zip_longest(
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[*VEC_3D_INPUT, None],
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rotation_axis_angle_arrays,
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quaternion_arrays,
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scale_arrays,
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[*MAT_3X3_INPUT, None],
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)
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for (
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translation,
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rotation_axis_angle,
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quaternion,
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scale,
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mat3x3,
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) in all_arrays:
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translations = cast("rr.datatypes.Vec3DArrayLike | None", translation)
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rotation_axis_angles = cast("rr.datatypes.RotationAxisAngleArrayLike | None", rotation_axis_angle)
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quaternions = cast("rr.datatypes.QuaternionArrayLike | None", quaternion)
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scales = cast("rr.datatypes.Vec3DArrayLike | rr.datatypes.Float32Like | None", scale)
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mat3x3 = cast("rr.datatypes.Mat3x3ArrayLike | None", mat3x3)
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print(
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f"rr.InstancePoses3D(\n"
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f" translations={translations!r}\n"
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f" rotation_axis_angles={rotation_axis_angles!r}\n"
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f" quaternions={quaternions!r}\n"
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f" scales={scales!r}\n"
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f" mat3x3={mat3x3!r}\n"
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f")",
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)
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arch = rr.InstancePoses3D(
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translations=translations,
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rotation_axis_angles=rotation_axis_angles,
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quaternions=quaternions,
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scales=scales,
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mat3x3=mat3x3,
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)
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print(f"{arch}\n")
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assert arch.translations == rr.components.Translation3DBatch._converter(translations)
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assert arch.rotation_axis_angles == rr.components.RotationAxisAngleBatch._converter(rotation_axis_angles)
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assert arch.quaternions == rr.components.RotationQuatBatch._converter(quaternions)
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assert arch.scales == rr.components.Scale3DBatch._converter(scales)
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assert arch.mat3x3 == rr.components.TransformMat3x3Batch._converter(mat3x3)
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