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64 lines
2.0 KiB
Python
64 lines
2.0 KiB
Python
"""
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Test misc data utils
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"""
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import numpy as np
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from pyquaternion import Quaternion
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from scipy.spatial.transform import Rotation
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# TODO(1480) use pycolmap instead of colmap_parsing_utils
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# import pycolmap
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from nerfstudio.data.utils.colmap_parsing_utils import qvec2rotmat
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def test_scalar_first_scalar_last_quaternions():
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"""Many nerfstudio datasets use quaternions for pose rotations. Some use
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scalar-first format and others use scalar-last. However internally
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nerfstudio uses rotation *matrices* / projection matrices. This test
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helps document differences in quaternion encodings & conversion to
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rotation matrices.
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FMI see call sites in nerfstudio where the various libraries are used. You
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might also consult this detailed reference:
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* "Why and How to Avoid the Flipped Quaternion Multiplication"
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Sommer et al.
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https://arxiv.org/abs/1801.07478
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"""
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# Pick an arbitrary euler rotation; note that different communities
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# also use different rotation axes (e.g. Euler vs Tait-Bryan ...)
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rot = Rotation.from_euler("xyz", np.array([10.0, 20.0, 30.0]), degrees=True)
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# scalar-last
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xyzw = rot.as_quat()
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assert np.allclose(xyzw, np.array([0.03813458, 0.18930786, 0.23929834, 0.95154852]))
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# scalar-first
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wxyz = xyzw[[3, 0, 1, 2]]
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assert np.allclose(wxyz, np.array([0.95154852, 0.03813458, 0.18930786, 0.23929834]))
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# Expected Rotation matrix
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# fmt: off
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R_expected = np.array( # pylint: disable=invalid-name
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[
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[ 0.81379768, -0.44096961, 0.37852231],
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[ 0.46984631, 0.88256412, 0.01802831],
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[-0.34202014, 0.16317591, 0.92541658]
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]
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)
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# fmt: on
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# Record3D / scipy
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R = Rotation.from_quat(xyzw).as_matrix()
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assert np.allclose(R, R_expected)
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# Nuscenes / pyquaternion
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R = Quaternion(wxyz).rotation_matrix
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assert np.allclose(R, R_expected)
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# COLMAP
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# TODO(1480) use pycolmap
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# R = pycolmap.qvec_to_rotmat(wxyz)
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R = qvec2rotmat(wxyz)
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assert np.allclose(R, R_expected)
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