From cbaca8ae0f6b02d9b89d20ff21905d3e882c97f3 Mon Sep 17 00:00:00 2001
From: "lodenthal@uni-bielefeld.de" <lodenthal@uni-bielefeld.de>
Date: Mon, 16 Apr 2018 12:24:14 +0300
Subject: [PATCH] updates blenttest for conventions and renderer
---
navipy/sensors/blendtest1.py | 179 +++++++++++++++--------------------
navipy/sensors/renderer.py | 29 ++++--
2 files changed, 93 insertions(+), 115 deletions(-)
diff --git a/navipy/sensors/blendtest1.py b/navipy/sensors/blendtest1.py
index 51ade5f..877fc94 100644
--- a/navipy/sensors/blendtest1.py
+++ b/navipy/sensors/blendtest1.py
@@ -1,4 +1,5 @@
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
@@ -10,149 +11,117 @@ 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.tuples = [('location', 'x'), ('location', 'y'),
+ ('location', 'z'), ('rxyz', 'alpha_0'),
+ ('rxyz', 'alpha_1'), ('rxyz', 'alpha_2')]
+ self.tuples2 = [('location', 'x'), ('location', 'y'),
+ ('location', 'z'), ('ryzx', 'alpha_0'),
+ ('ryzx', 'alpha_1'), ('ryzx', 'alpha_2')]
self.image2 = np.zeros((4, 180, 360, 4, 1))
- self.posorient2 = pd.Series(index=self.i2)
+ 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['syzx']['alpha_0'] = 0
- self.posorient2.loc['syzx']['alpha_1'] = 0
- self.posorient2.loc['syzx']['alpha_2'] = 0
+ self.posorient2.loc['ryzx']['alpha_0'] = 0
+ self.posorient2.loc['ryzx']['alpha_1'] = 0
+ self.posorient2.loc['ryzx']['alpha_2'] = 0
self.a = 1
self.b = 0.75
self.c = 0.5
- self.posorient = pd.Series(index=self.i)
+ index = pd.MultiIndex.from_tuples(self.tuples,
+ names=['position', 'orientation'])
+ 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['sxyz']['alpha_0'] = self.a
- self.posorient.loc['sxyz']['alpha_1'] = self.b
- self.posorient.loc['sxyz']['alpha_2'] = self.c
+ 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.renderer = BlenderRender()
def test_diff_euler_xyz2yzx(self):
- # print("euler test")
- logfile = 'blender_render.log'
- open(logfile, 'a').close()
+ mat1 = matrix(self.a, self.b, self.c, axes='rxyz')
+ at, bt, ct = from_matrix(mat1, axes='ryzx')
+
+ 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(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')
+ os.open(fp, os.O_WRONLY)
- 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)
+ self.posorient2.loc['ryzx']['alpha_0'] = bt
+ self.posorient2.loc['ryzx']['alpha_1'] = ct
+ self.posorient2.loc['ryzx']['alpha_2'] = at
+ self.image2[0] = self.renderer.scene(self.posorient)
+ self.image2[1] = self.renderer.scene(self.posorient2)
# 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)
+
+ # indices = np.where(np.abs(self.image2[0] -
+ # self.image2[1])
+ # ==np.max(np.abs(self.image2[0]
+ # - self.image2[1])))
+ # print("first image", self.image2[0,indices[0],indices[1],indices[2]],
+ # "second image",self.image2[1,indices[0],indices[1],indices[2]])
+ # print(np.sum(np.abs(self.image2[0,:,:,0]-self.image2[1,:,:,0])))
+ # print("max diff ",np.max(np.abs(self.image2[0,:,:,0]
+ # -self.image2[1,:,:,0])))
+ assert np.all(np.isclose(self.image2[2], self.image2[3], atol=1.2))
def test_euler_xyz_2_quaternion(self):
# print("quaternion test")
- logfile = 'blender_render.log'
- open(logfile, 'a').close()
+ 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(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)
+ os.open(fp, os.O_WRONLY)
- posorient2 = pd.Series(index=i2)
+ index = pd.MultiIndex.from_tuples(i2,
+ 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'] = 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)
+ 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(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)
+ # 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))
diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py
index 6112f79..0907ec8 100644
--- a/navipy/sensors/renderer.py
+++ b/navipy/sensors/renderer.py
@@ -293,7 +293,7 @@ class BlenderRender():
[convention][alpha_1]
[convention][alpha_2]
**where convention can be:
- sxyz, sxzy, syxz, syzx, szyx, szxy
+ rxyz, rxzy, ryxz, ryzx, rzyx, rzxy
*in case of quaternions the index should be
['location']['x']
['location']['y']
@@ -310,31 +310,40 @@ class BlenderRender():
"""
if isinstance(posorient, pd.Series):
# set roation mode
+ found_convention = False
index = posorient.index
convention = index.get_level_values(0)[-1]
- if convention == 'sxyz':
+ if convention == 'rxyz':
self.camera_rotation_mode = 'XYZ'
- elif convention == 'syzx':
+ found_convention = True
+ elif convention == 'ryzx':
self.camera_rotation_mode = 'YZX'
- elif convention == 'sxzy':
+ found_convention = True
+ elif convention == 'rxzy':
self.camera_rotation_mode = 'XZY'
- elif convention == 'syxz':
+ found_convention = True
+ elif convention == 'ryxz':
self.camera_rotation_mode = 'YXZ'
- elif convention == 'szxy':
+ found_convention = True
+ elif convention == 'rzxy':
self.camera_rotation_mode = 'ZXY'
- elif convention == 'szyx':
- self.camera_rotation_mode = 'ZYX'
+ found_convention = True
+ elif convention == 'rzyx':
+ self.camera_rotation_mode = 'ZYX'
+ found_convention = True
self.camera.location = \
posorient.loc[['location'], ['x', 'y', 'z']].values
- if convention != 'quaternion':
+ if found_convention:
self.camera.rotation_euler = \
posorient.loc[[convention],
['alpha_0', 'alpha_1', 'alpha_2']].values
- else:
+ elif convention == 'quaternion':
self.camera_rotation_mode = 'QUATERNION'
self.camera.rotation_quaternion = \
posorient.loc[[convention],
['q_0', 'q_1', 'q_2', 'q_3']].values
+ else:
+ raise Exception('your convention is not supported')
else:
raise TypeError(
'posorient must be of type array, list, or pandas Series')
--
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