Rough scripts deletion

stretch_camera_testrig/nodes/rough.py

@@ -1,64 +0,0 @@
-#!/usr/bin/env python
-
-import numpy as np
-from scipy.spatial.transform import Rotation
-import math
-
-x = np.array([[1,2,3,4],[5,6,7,8],[9,10,11,12],[13,14,15,16]])
-
-r1 =  [[-0.956395958000000,0.292073230000000,0.000014880000000],
-       [-0.292073218000000,-0.956395931000000,0.000242173000000],
-       [0.000084963000000,0.000227268000000,0.999999971000000]]
-
-r2 = [[-0.956227882, 0.292623030000000, -0.000013768000000],
-      [-0.292073218000000, -0.956227882000000,-0.000029806000000],
-      [-0.000021887000000, 0.000024473000000, 0.999999999000000]]
-
-print(x)
-
-def rot_to_axes(r): 
-    x_axis = np.reshape(r[:3,0], (3,1))
-    y_axis = np.reshape(r[:3,1], (3,1))
-    z_axis = np.reshape(r[:3,2], (3,1))
-    return [x_axis, y_axis, z_axis]
-    
-def norm_axes(axes):
-    x_axis, y_axis, z_axis = axes
-    x_axis = x_axis / np.linalg.norm(x_axis)
-    y_axis = y_axis / np.linalg.norm(y_axis)
-    z_axis = z_axis / np.linalg.norm(z_axis)
-    return [x_axis, y_axis, z_axis]
-
-def quat_to_rotated_axes(rot_mat, q):
-    r = Rotation.from_quat([q.x, q.y, q.z, q.w]).as_dcm()
-    rotated_r = np.matmul(rot_mat, r)
-    return rot_to_axes(rotated_r)
-
-def axis_error(axis, axis_target):
-    # dot product comparison: 1.0 is best case and -1.0 is worst case
-    error = np.dot(axis_target.transpose(), axis)
-    # linear transform: 0.0 is best case and 1.0 is worst case
-    return (1.0 - error) / 2.0
-
-def axes_error(axes, axes_target):
-    # 0.0 is the best case and 1.0 is the worst case
-    errors = np.array([axis_error(axis, axis_target) for axis, axis_target in zip(axes, axes_target)])
-    return np.sum(errors)/3.0
-
-def affine_matrix_difference(t1, t2, size=4):
-    error = 0.0
-    for i in range(size):
-        for j in range(size):
-            error += abs(t1[i,j] - t2[i,j])
-    return error
-
-def angle_rot_error(r1,r2):
-    rot1 = np.array(r1)
-    rot2 = np.array(r2)
-    rot12 = np.matmul(rot1.T,rot2)
-    theta_error = np.arccos((np.trace(rot12)-1)/2)
-    return theta_error
-
-print(np.rad2deg(angle_rot_error(r1,r2)))
-
-print(x[:3,:3].shape)