From 8e4d7a014fafe5e35e23ba391f72b09093300d7b Mon Sep 17 00:00:00 2001
From: "lodenthal@uni-bielefeld.de" <lodenthal@uni-bielefeld.de>
Date: Thu, 12 Apr 2018 13:42:19 +0300
Subject: [PATCH] uploaded convention tests for blender, but still not working
---
navipy/sensors/blendtest1.py | 158 +++++++++++++++++++++++++++++++++++
1 file changed, 158 insertions(+)
create mode 100644 navipy/sensors/blendtest1.py
diff --git a/navipy/sensors/blendtest1.py b/navipy/sensors/blendtest1.py
new file mode 100644
index 0000000..51ade5f
--- /dev/null
+++ b/navipy/sensors/blendtest1.py
@@ -0,0 +1,158 @@
+from navipy.sensors.renderer import BlenderRender
+from navipy.maths.euler import matrix, from_matrix
+from navipy.maths.quaternion import from_matrix as quat_matrix
+import pandas as pd
+import numpy as np
+import os
+import sys
+import unittest
+
+
+class TestCase(unittest.TestCase):
+ def setUp(self):
+ self.i = [np.array(['location', 'location', 'location',
+ 'sxyz', 'sxyz', 'sxyz']),
+ np.array(['x', 'y', 'z',
+ 'alpha_0', 'alpha_1', 'alpha_2'])]
+ self.i2 = [np.array(['location', 'location', 'location',
+ 'syzx', 'syzx', 'syzx']),
+ np.array(['x', 'y', 'z', 'alpha_0',
+ 'alpha_1', 'alpha_2'])]
+ self.image2 = np.zeros((4, 180, 360, 4, 1))
+ self.posorient2 = pd.Series(index=self.i2)
+ self.posorient2.loc['location']['x'] = 0
+ self.posorient2.loc['location']['y'] = 0
+ self.posorient2.loc['location']['z'] = 0
+ self.posorient2.loc['syzx']['alpha_0'] = 0
+ self.posorient2.loc['syzx']['alpha_1'] = 0
+ self.posorient2.loc['syzx']['alpha_2'] = 0
+
+ self.a = 1
+ self.b = 0.75
+ self.c = 0.5
+
+ self.posorient = pd.Series(index=self.i)
+ self.posorient.loc['location']['x'] = 0
+ self.posorient.loc['location']['y'] = 0
+ self.posorient.loc['location']['z'] = 0
+ self.posorient.loc['sxyz']['alpha_0'] = self.a
+ self.posorient.loc['sxyz']['alpha_1'] = self.b
+ self.posorient.loc['sxyz']['alpha_2'] = self.c
+
+ def test_diff_euler_xyz2yzx(self):
+ # print("euler test")
+ logfile = 'blender_render.log'
+ open(logfile, 'a').close()
+ old = os.dup(1)
+ sys.stdout.flush()
+ os.close(1)
+ os.open(logfile, os.O_WRONLY)
+
+ renderer = BlenderRender()
+ renderer2 = BlenderRender()
+ mat1 = matrix(self.a, self.b, self.c, axes='sxyz')
+ a1, a2, a3 = from_matrix(mat1, axes='sxyz')
+
+ at, bt, ct = from_matrix(mat1, axes='syzx')
+
+ self.posorient2.loc['syzx']['alpha_0'] = at
+ self.posorient2.loc['syzx']['alpha_1'] = bt
+ self.posorient2.loc['syzx']['alpha_2'] = ct
+ # renderer.camera_rotation_mode = 'YZX'
+ # print("poorient ### ",self.posorient2.loc[['syzx'],
+ # ['alpha_0', 'alpha_1', 'alpha_2']].values)
+ self.image2[0] = renderer2.scene(self.posorient2)
+ # conv = renderer2.camera_rotation_mode
+
+ # self.posorient.loc['sxyz']['alpha_0'] = a
+ # self.posorient.loc['sxyz']['alpha_1'] = b
+ # self.posorient.loc['sxyz']['alpha_2'] = c
+ # print("poorient ### ",posorient.loc[['sxyz'],
+ # ['alpha_0', 'alpha_1', 'alpha_2']].values)
+ # renderer.camera_rotation_mode = 'XYZ'
+ self.image2[1] = renderer.scene(self.posorient)
+
+ # disable output redirection
+ os.close(1)
+ os.dup(old)
+ os.close(old)
+ # print("first image")
+ # print(self.image[0,:,0,0] - self.image[1,:,0,0])
+ # print("second image")
+ # print(self.image[1,:,0,0])
+ # conv2= renderer.camera_rotation_mode
+ # print("angels xyz",a1,a2,a3,"angles yzx",at,bt,ct)
+ # print("sh be yzx",conv,"sh be xyz",conv2)
+ # print(np.sum(np.abs(image2[0,:,:,0]-image2[1,:,:,0])))
+ # print("max diff ",np.max(np.abs(self.image2[0]-self.image2[1])))
+ # assert np.testing,assert_allclose(self.image[0],
+ # self.image[1], atol = 0.007)
+
+ def test_euler_xyz_2_quaternion(self):
+ # print("quaternion test")
+ logfile = 'blender_render.log'
+ open(logfile, 'a').close()
+ old = os.dup(1)
+ sys.stdout.flush()
+ os.close(1)
+ os.open(logfile, os.O_WRONLY)
+
+ i2 = [np.array(['location', 'location', 'location',
+ 'quaternion', 'quaternion', 'quaternion',
+ 'quaternion']),
+ np.array(['x', 'y', 'z', 'q_0', 'q_1', 'q_2', 'q_3'])]
+ renderer = BlenderRender()
+ renderer2 = BlenderRender()
+
+ mat1 = matrix(self.a, self.b, self.c, axes='sxyz')
+ at, bt, ct, dt = quat_matrix(mat1)
+
+ posorient2 = pd.Series(index=i2)
+ posorient2.loc['location']['x'] = 0
+ posorient2.loc['location']['y'] = 0
+ posorient2.loc['location']['z'] = 0
+ posorient2.loc['quaternion']['q_0'] = at
+ posorient2.loc['quaternion']['q_1'] = bt
+ posorient2.loc['quaternion']['q_2'] = ct
+ posorient2.loc['quaternion']['q_3'] = dt
+ # renderer.camera_rotation_mode = 'YZX'
+ # print("poorient ### ",posorient2.loc[['quternion'],
+ # ['q_0', 'q_1',
+ # 'q_2', 'q_3']].values)
+ self.image2[2] = renderer2.scene(posorient2)
+ # conv = renderer2.camera_rotation_mode
+
+ # self.posorient = pd.Series(index=self.i)
+
+ # self.posorient.loc['sxyz']['alpha_0'] = a
+ # self.posorient.loc['sxyz']['alpha_1'] = b
+ # self.posorient.loc['sxyz']['alpha_2'] = c
+ # print("poorient ### ",self.posorient.loc[['sxyz'],
+ # ['alpha_0', 'alpha_1', 'alpha_2']].values)
+ # renderer.camera_rotation_mode = 'XYZ'
+ self.image2[3] = renderer.scene(self.posorient)
+
+ # disable output redirection
+ os.close(1)
+ os.dup(old)
+ os.close(old)
+
+ # print(self.image2[2,:,0,0] - self.image2[3,:,0,0])
+ # print("max diff ",np.max(np.abs(self.image2[2]-self.image2[3])))
+ # print("alternative");
+ # indices = np.where(np.abs(self.image2[0,:,:,0] -
+ # self.image2[1,:,:,0])
+ # ==np.max(np.abs(self.image2[0,:,:,0]
+ # - self.image2[1,:,:,0])))
+ # print("indices", indices)
+ # print("first image")
+ # print(self.image[0,0,:,0])
+ # print("second image")
+ # print(self.image[1,0,:,0])
+ # conv2= renderer.camera_rotation_mode
+ # print("angels xyz",a,b,c,"angles yzx",at,bt,ct)
+ # print("sh be yzx",conv,"sh be xyz",conv2)
+ # print(np.sum(np.abs(self.image[0,:,:,0]-self.image[1,:,:,0])))
+ # print(np.all(np.isclose(self.image[0], self.image[1])))
+ # assert np.testing.assert_allclose(self.image[0],
+ # self.image[1], atol = 0.007)
--
GitLab