diff --git a/navipy/resources/twocylinders_world.blend b/navipy/resources/twocylinders_world.blend
new file mode 100644
index 0000000000000000000000000000000000000000..1536511213bcddda2be43592dd2c2da781ba281f
Binary files /dev/null and b/navipy/resources/twocylinders_world.blend differ
diff --git a/navipy/sensors/blendtest_renderer.py b/navipy/sensors/blendtest_renderer.py
new file mode 100644
index 0000000000000000000000000000000000000000..6189b00566a73d98a6259de2e91e2e0dc12a49ef
--- /dev/null
+++ b/navipy/sensors/blendtest_renderer.py
@@ -0,0 +1,67 @@
+"""
+ Unittesting under blender
+"""
+import unittest
+import numpy as np
+from navipy.sensors.renderer import BlenderRender
+
+
+class TestBlenderRender(unittest.TestCase):
+ @classmethod
+ def setUpClass(self):
+ self.cyberbee = BlenderRender()
+
+ def test_class_assigments_error(self):
+ """ Test that error are correctly raised
+ List of tested function:
+ * camera_rotation_mode
+ * cycle_samples
+ * camera_fov
+ * 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
+ with self.assertRaises(TypeError):
+ # Should be a tuple list or np.ndarray
+ self.cyberbee.camera_fov = 'bla'
+ with self.assertRaises(TypeError):
+ # Should be a float or int, so not a complex
+ self.cyberbee.camera_gaussian_width = 4 + 4j
+ with self.assertRaises(TypeError):
+ # Should be a tuple, list or nd.array
+ self.cyberbee.camera_resolution = 'bla'
+
+ def test_class_assigments(self):
+ """ Test set/get match
+
+ * camera_rotation_mode
+ * cycle_samples
+ * camera_fov
+ * camera_gaussian_width
+ * camera_resolution
+ """
+ # camera cycle_samples
+ 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
+ np.testing.assert_allclose(val, self.cyberbee.camera_fov)
+ # camera gaussian
+ val = 1.5
+ self.cyberbee.gaussian_width = val
+ self.assertEqual(val, self.cyberbee.gaussian_width)
+ # camera resolution
+ val = np.array([360, 180])
+ self.cyberbee.camera_resolution = val
+ np.testing.assert_allclose(val, self.cyberbee.camera_resolution)
diff --git a/navipy/sensors/blendunittest.py b/navipy/sensors/blendunittest.py
new file mode 100644
index 0000000000000000000000000000000000000000..889dc2e5b8fba33d7f42c6107322ebe14692928b
--- /dev/null
+++ b/navipy/sensors/blendunittest.py
@@ -0,0 +1,89 @@
+"""
+
+"""
+import unittest
+import sys
+import argparse
+import pkg_resources
+import tempfile
+import os
+import inspect
+
+
+def parser_blendnavipy():
+ # Create command line options
+ parser = argparse.ArgumentParser()
+ arghelp = 'Path to the environment (.blend) in which your agent lives'
+ defaultworld = pkg_resources.resource_filename(
+ 'navipy', 'resources/twocylinders_world.blend')
+ parser.add_argument('--blender-world',
+ type=str,
+ default=defaultworld,
+ help=arghelp)
+ arghelp = 'Path to start searching for blendtest*.py'
+ parser.add_argument('--start-dir',
+ type=str,
+ default='navipy',
+ help=arghelp)
+ arghelp = 'Command to run blender\n'
+ arghelp += 'If not provided, the script will try to find the command'
+ arghelp += " by using: shutil.which('blender')"
+ parser.add_argument('--blender-command',
+ type=str,
+ default=None,
+ help=arghelp)
+
+ arghelp = 'To display some stuff \n'
+ arghelp += ' * -v print command \n'
+ arghelp += ' * -vv print also script'
+ parser.add_argument('-v', '--verbose',
+ action='count',
+ default=0,
+ help=arghelp)
+ return parser
+
+
+def run(start_dir):
+ suite = unittest.defaultTestLoader.discover(start_dir=start_dir,
+ pattern='blendtest*.py')
+ success = unittest.TextTestRunner().run(suite).wasSuccessful()
+ print(success)
+ if not success:
+ raise Exception('Tests Failed')
+
+
+def main():
+ # encoding for temporary file
+ encoding = 'utf-8'
+
+ # Fetch arguments
+ args = parser_blendnavipy().parse_args()
+
+ # Create tempfile with testing code and then call blendnavipy
+ header = '# Generated by {}\n'.format(sys.argv[0])
+ with tempfile.NamedTemporaryFile() as tfile:
+ # Start of file
+ tfile.write(header.encode(encoding))
+ tfile.write('import unittest \n'.encode(encoding))
+ for line in inspect.getsourcelines(run)[0]:
+ tfile.write(line.encode(encoding))
+ tfile.write('\n\n'.encode(encoding))
+ tfile.write('try:\n'.encode(encoding))
+ tfile.write(' run("{}")\n'.format(args.start_dir).encode(encoding))
+ tfile.write(' sys.exit(0)\n'.encode(encoding))
+ tfile.write('except Exception:\n'.encode(encoding))
+ tfile.write(' sys.exit(1)\n'.encode(encoding))
+ tfile.seek(0)
+
+ command = 'blendnavipy --blender-world {} --python-script {}'
+ command = command.format(args.blender_world, tfile.name)
+ if args.blender_command is not None:
+ command += ' --blender-command {}'.format(args.blender_command)
+ for _ in range(args.verbose):
+ command += ' -v'
+ os.system(command)
+
+
+if __name__ == "__main__":
+ # execute only if run as a script
+ main()
diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py
index 4005523e4962ffea36aa1f1454a727d28f5c5ac7..2c998493cfbdd0dec00c574f83cd80bf9b2daa84 100644
--- a/navipy/sensors/renderer.py
+++ b/navipy/sensors/renderer.py
@@ -136,23 +136,23 @@ class BlenderRender():
"""get fov of camera
:returns: the field of view of the camera as \
-[min,max],[longitude,latitude] in degrees
- :rtype: dict
+ [[minimum latitude, maximum latitude],
+ [minimum longitude, maximum longitude]]
+ (in deg)
+ :rtype: np.array
..todo Change assert to if -> raise TypeError/KeyError
"""
- if self.camera.data.type != 'PANO':
+ if not self.camera.data.type == 'PANO':
raise TypeError('Camera is not panoramic')
- if self.camera.cycles.panorama_type == 'EQUIRECTANGULAR':
+ if not self.camera.data.cycles.panorama_type == 'EQUIRECTANGULAR':
raise TypeError('The panoramic camera is not equirectangular')
- fov = dict()
- fov['latitude_min'] = np.rad2ged(self.camera.data.cycles.latitude_min)
- fov['latitude_max'] = np.rad2ged(self.camera.data.cycles.latitude_max)
- fov['longitude_min'] = np.rad2ged(
- self.camera.data.cycles.longitude_min)
- fov['longitude_max'] = np.rad2ged(
- self.camera.data.cycles.longitude_max)
+ fov = np.zeros((2, 2))
+ fov[0, 0] = np.rad2deg(self.camera.data.cycles.latitude_min)
+ fov[0, 1] = np.rad2deg(self.camera.data.cycles.latitude_max)
+ fov[1, 0] = np.rad2deg(self.camera.data.cycles.longitude_min)
+ fov[1, 1] = np.rad2deg(self.camera.data.cycles.longitude_max)
return fov
@camera_fov.setter
diff --git a/setup.py b/setup.py
index 5026698f58cd8a62dc40cd12daa2bf2fa0452aa1..004da086a0e223055398ba1503f6f4443e9d6220 100644
--- a/setup.py
+++ b/setup.py
@@ -41,10 +41,11 @@ setup_dict = {'name': 'navipy',
'networkx',
'sphinx-argparse'],
'package_data': {'navipy': ['resources/database.db',
- 'resources/forest_world.blend']},
+ 'resources/*.blend']},
'include_package_data': True,
'entry_points': {
'console_scripts': [
- 'blendnavipy=navipy.sensors.blendnavipy:main']}, }
+ 'blendnavipy=navipy.sensors.blendnavipy:main',
+ 'blendunittest=navipy.sensors.blendunittest:main']}, }
setup(**setup_dict)