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Commit 907dd41f authored by Olivier Bertrand's avatar Olivier Bertrand
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Update Blender render/test 

Clean test function of blender, so to remove unnessesray lines
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navipy/sensors/blendtest1.py
+ 41
− 91
View file @ 907dd41f
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)
navipy/sensors/blendtest_renderer.py
+ 0
− 7
View file @ 907dd41f
......@@ -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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