From 907dd41f41134beb204c2a4ebce32326eaa6c02e Mon Sep 17 00:00:00 2001
From: "Olivier J.N. Bertrand" <olivier.bertrand@uni-bielefeld.de>
Date: Wed, 18 Apr 2018 19:24:03 +0200
Subject: [PATCH] Update Blender render/test
Clean test function of blender, so to remove unnessesray lines
---
navipy/sensors/blendtest1.py | 132 +++++++++------------------
navipy/sensors/blendtest_renderer.py | 7 --
2 files changed, 41 insertions(+), 98 deletions(-)
diff --git a/navipy/sensors/blendtest1.py b/navipy/sensors/blendtest1.py
index 3be5c5a..a02c335 100644
--- a/navipy/sensors/blendtest1.py
+++ b/navipy/sensors/blendtest1.py
@@ -1,119 +1,69 @@
from navipy.sensors.renderer import BlenderRender
-import tempfile
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.tuples = [('location', 'x'), ('location', 'y'),
- ('location', 'z'), ('rxyz', 'alpha_0'),
- ('rxyz', 'alpha_1'), ('rxyz', 'alpha_2')]
+ """
+ Prepare for the test
+ """
convention = 'rxyz'
- self.tuples2 = [('location', 'x'), ('location', 'y'),
- ('location', 'z'), (convention, 'alpha_0'),
- (convention, 'alpha_1'), (convention, 'alpha_2')]
- self.image2 = np.zeros((7, 180, 360, 4, 1))
- index = pd.MultiIndex.from_tuples(self.tuples2,
- names=['position', 'orientation'])
- self.posorient2 = pd.Series(index=index)
- self.posorient2.loc['location']['x'] = 0
- self.posorient2.loc['location']['y'] = 0
- self.posorient2.loc['location']['z'] = 0
- self.posorient2.loc[convention]['alpha_0'] = 0
- self.posorient2.loc[convention]['alpha_1'] = 0
- self.posorient2.loc[convention]['alpha_2'] = 0
-
- self.a = np.pi/4
- self.b = 0
- self.c = np.pi/3
-
- index = pd.MultiIndex.from_tuples(self.tuples,
- names=['position', 'orientation'])
+ index = pd.MultiIndex.from_tuples(
+ [('location', 'x'), ('location', 'y'),
+ ('location', 'z'), (convention, 'alpha_0'),
+ (convention, 'alpha_1'), (convention, 'alpha_2')])
self.posorient = pd.Series(index=index)
self.posorient.loc['location']['x'] = 0
self.posorient.loc['location']['y'] = 0
- self.posorient.loc['location']['z'] = 0
- self.posorient.loc['rxyz']['alpha_0'] = self.a
- self.posorient.loc['rxyz']['alpha_1'] = self.b
- self.posorient.loc['rxyz']['alpha_2'] = self.c
+ self.posorient.loc['location']['z'] = 1
+ self.posorient.loc[convention]['alpha_0'] = np.pi/4
+ self.posorient.loc[convention]['alpha_1'] = np.pi/7
+ self.posorient.loc[convention]['alpha_2'] = np.pi/3
+
+ convention = self.posorient.index.get_level_values(0)[-1]
+ a, b, c = self.posorient.loc[convention]
+ self.matorient = matrix(a, b, c, axes=convention)
self.renderer = BlenderRender()
+ self.image_ref = self.renderer.scene(self.posorient)
def test_diff_euler_xyz2yzx(self):
"""
Test if images rendered from two different conventions match \
one another
"""
+ convention = 'ryzx'
+ index = pd.MultiIndex.from_tuples(
+ [('location', 'x'), ('location', 'y'),
+ ('location', 'z'), (convention, 'alpha_0'),
+ (convention, 'alpha_1'), (convention, 'alpha_2')])
+ posorient2 = pd.Series(index=index)
+ posorient2.loc['location'][:] = self.posorient.loc['location'][:]
# An orientation matrix need to be calculated from
# the euler angle of the convention of 'reference'
# so that it can be decompase in another convention
- mat1 = matrix(self.a, self.b, self.c, axes='rxyz')
- convention = self.posorient2.index.get_level_values(0)[-1]
- at, bt, ct = from_matrix(mat1, axes=convention)
- print(self.a*180/np.pi, self.b*180/np.pi, self.c*180/np.pi)
- print(at*180/np.pi, bt*180/np.pi, ct*180/np.pi)
- self.image2[0] = self.renderer.scene(self.posorient)
- from itertools import permutations
- for p_i, ang in enumerate(permutations([at, bt, ct])):
- self.posorient2.loc[(convention, 'alpha_0')] = ang[0]
- self.posorient2.loc[(convention, 'alpha_1')] = ang[1]
- self.posorient2.loc[(convention, 'alpha_2')] = ang[2]
- # We render the two images to be compared
- self.image2[p_i+1] = self.renderer.scene(self.posorient2)
- np.save('/home/bolirev/Desktop/test.npy', self.image2)
- np.testing.assert_allclose(
- self.image2[0], self.image2[1], atol=1.2, rtol=1e-2)
+ at, bt, ct = from_matrix(self.matorient, axes=convention)
+ posorient2.loc[convention] = [at, bt, ct]
+ image2 = self.renderer.scene(posorient2)
+ np.testing.assert_allclose(image2, self.image_ref)
def test_euler_xyz_2_quaternion(self):
- # print("quaternion test")
- i2 = [('location', 'x'), ('location', 'y'),
- ('location', 'z'), ('quaternion', 'q_0'),
- ('quaternion', 'q_1'), ('quaternion', 'q_2'),
- ('quaternion', 'q_3')]
- mat1 = matrix(self.a, self.b, self.c, axes='rxyz')
- at, bt, ct, dt = quat_matrix(mat1)
-
- default_tmp_dir = tempfile._get_default_tempdir()
- fp = default_tmp_dir + "/" + next(tempfile._get_candidate_names())
- open(fp, 'a').close()
- old = os.dup(1)
- sys.stdout.flush()
- os.close(1)
- os.open(fp, os.O_WRONLY)
-
- index = pd.MultiIndex.from_tuples(i2,
- names=['position',
- 'orientation'])
+ convention = 'quaternion'
+ index = pd.MultiIndex.from_tuples(
+ [('location', 'x'), ('location', 'y'),
+ ('location', 'z'), (convention, 'q_0'),
+ (convention, 'q_1'), (convention, 'q_2'), (convention, 'q_3')],
+ names=['position', 'orientation'])
posorient2 = pd.Series(index=index)
- posorient2.loc['location']['x'] = 0
- posorient2.loc['location']['y'] = 0
- posorient2.loc['location']['z'] = 0
- posorient2.loc['quaternion']['q_0'] = bt
- posorient2.loc['quaternion']['q_1'] = ct
- posorient2.loc['quaternion']['q_2'] = dt
- posorient2.loc['quaternion']['q_3'] = at
- self.image2[3] = self.renderer.scene(posorient2)
- self.image2[2] = self.renderer.scene(self.posorient)
-
- # disable output redirection
- os.close(1)
- os.dup(old)
- os.close(old)
-
- # print("max diff ",np.max(np.abs(self.image2[2]-self.image2[3])))
- # print("alternative");
- # indices = np.where(np.abs(self.image2[2] -
- # self.image2[3])
- # ==np.max(np.abs(self.image2[2]
- # - self.image2[3])))
- # print("first image", self.image2[2,indices[0],indices[1],indices[2]],
- # "second image",self.image2[3,indices[0],indices[1],indices[2]])
- # print(np.sum(np.abs(self.image2[2,:,:,0]-self.image2[3,:,:,0])))
- # print("max diff ",np.max(np.abs(self.image2[2]-self.image2[3])))
- # assert np.all(np.isclose(self.image2[2],self.image2[3], atol = 1.2))
+ posorient2.loc['location'][:] = self.posorient.loc['location'][:]
+ # An orientation matrix need to be calculated from
+ # the euler angle of the convention of 'reference'
+ # so that it can be decompase in another convention
+ at, bt, ct, dt = quat_matrix(self.matorient)
+ posorient2.loc[convention] = [at, bt, ct, dt]
+ image2 = self.renderer.scene(posorient2)
+ np.testing.assert_allclose(image2, self.image_ref, atol=1.2)
diff --git a/navipy/sensors/blendtest_renderer.py b/navipy/sensors/blendtest_renderer.py
index 6189b00..fd8af4f 100644
--- a/navipy/sensors/blendtest_renderer.py
+++ b/navipy/sensors/blendtest_renderer.py
@@ -20,9 +20,6 @@ class TestBlenderRender(unittest.TestCase):
* camera_gaussian_width
* camera_resolution
"""
- with self.assertRaises(TypeError):
- # Should a string
- self.cyberbee.camera_rotation_mode = 0
with self.assertRaises(TypeError):
# Should be an integer
self.cyberbee.cycle_samples = 0.1
@@ -49,10 +46,6 @@ class TestBlenderRender(unittest.TestCase):
val = 100
self.cyberbee.cycle_samples = val
self.assertEqual(val, self.cyberbee.cycle_samples)
- # camera rotation mode
- val = 'XYZ'
- self.cyberbee.camera_rotation_mode = val
- self.assertEqual(val, self.cyberbee.camera_rotation_mode)
# camera fov
val = np.array([[-90, 90], [-180, 180]])
self.cyberbee.camera_fov = val
--
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