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Commit cbaca8ae authored by Luise Odenthal's avatar Luise Odenthal
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updates blenttest for conventions and renderer

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navipy/sensors/blendtest1.py
+ 74
− 105
View file @ cbaca8ae
from navipy.sensors.renderer import BlenderRender from navipy.sensors.renderer import BlenderRender
import tempfile
from navipy.maths.euler import matrix, from_matrix from navipy.maths.euler import matrix, from_matrix
from navipy.maths.quaternion import from_matrix as quat_matrix from navipy.maths.quaternion import from_matrix as quat_matrix
import pandas as pd import pandas as pd
...@@ -10,149 +11,117 @@ import unittest ...@@ -10,149 +11,117 @@ import unittest
class TestCase(unittest.TestCase): class TestCase(unittest.TestCase):
def setUp(self): def setUp(self):
self.i = [np.array(['location', 'location', 'location', self.tuples = [('location', 'x'), ('location', 'y'),
'sxyz', 'sxyz', 'sxyz']), ('location', 'z'), ('rxyz', 'alpha_0'),
np.array(['x', 'y', 'z', ('rxyz', 'alpha_1'), ('rxyz', 'alpha_2')]
'alpha_0', 'alpha_1', 'alpha_2'])] self.tuples2 = [('location', 'x'), ('location', 'y'),
self.i2 = [np.array(['location', 'location', 'location', ('location', 'z'), ('ryzx', 'alpha_0'),
'syzx', 'syzx', 'syzx']), ('ryzx', 'alpha_1'), ('ryzx', 'alpha_2')]
np.array(['x', 'y', 'z', 'alpha_0',
'alpha_1', 'alpha_2'])]
self.image2 = np.zeros((4, 180, 360, 4, 1)) 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']['x'] = 0
self.posorient2.loc['location']['y'] = 0 self.posorient2.loc['location']['y'] = 0
self.posorient2.loc['location']['z'] = 0 self.posorient2.loc['location']['z'] = 0
self.posorient2.loc['syzx']['alpha_0'] = 0 self.posorient2.loc['ryzx']['alpha_0'] = 0
self.posorient2.loc['syzx']['alpha_1'] = 0 self.posorient2.loc['ryzx']['alpha_1'] = 0
self.posorient2.loc['syzx']['alpha_2'] = 0 self.posorient2.loc['ryzx']['alpha_2'] = 0
self.a = 1 self.a = 1
self.b = 0.75 self.b = 0.75
self.c = 0.5 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']['x'] = 0
self.posorient.loc['location']['y'] = 0 self.posorient.loc['location']['y'] = 0
self.posorient.loc['location']['z'] = 0 self.posorient.loc['location']['z'] = 0
self.posorient.loc['sxyz']['alpha_0'] = self.a self.posorient.loc['rxyz']['alpha_0'] = self.a
self.posorient.loc['sxyz']['alpha_1'] = self.b self.posorient.loc['rxyz']['alpha_1'] = self.b
self.posorient.loc['sxyz']['alpha_2'] = self.c self.posorient.loc['rxyz']['alpha_2'] = self.c
self.renderer = BlenderRender()
def test_diff_euler_xyz2yzx(self): def test_diff_euler_xyz2yzx(self):
# print("euler test") mat1 = matrix(self.a, self.b, self.c, axes='rxyz')
logfile = 'blender_render.log' at, bt, ct = from_matrix(mat1, axes='ryzx')
open(logfile, 'a').close()
default_tmp_dir = tempfile._get_default_tempdir()
fp = default_tmp_dir + "/" + next(tempfile._get_candidate_names())
open(fp, 'a').close()
old = os.dup(1) old = os.dup(1)
sys.stdout.flush() sys.stdout.flush()
os.close(1) os.close(1)
os.open(logfile, os.O_WRONLY) os.open(fp, 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['ryzx']['alpha_0'] = bt
self.posorient2.loc['syzx']['alpha_1'] = bt self.posorient2.loc['ryzx']['alpha_1'] = ct
self.posorient2.loc['syzx']['alpha_2'] = ct self.posorient2.loc['ryzx']['alpha_2'] = at
# renderer.camera_rotation_mode = 'YZX' self.image2[0] = self.renderer.scene(self.posorient)
# print("poorient ### ",self.posorient2.loc[['syzx'], self.image2[1] = self.renderer.scene(self.posorient2)
# ['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 # disable output redirection
os.close(1) os.close(1)
os.dup(old) os.dup(old)
os.close(old) os.close(old)
# print("first image")
# print(self.image[0,:,0,0] - self.image[1,:,0,0]) # indices = np.where(np.abs(self.image2[0] -
# print("second image") # self.image2[1])
# print(self.image[1,:,0,0]) # ==np.max(np.abs(self.image2[0]
# conv2= renderer.camera_rotation_mode # - self.image2[1])))
# print("angels xyz",a1,a2,a3,"angles yzx",at,bt,ct) # print("first image", self.image2[0,indices[0],indices[1],indices[2]],
# print("sh be yzx",conv,"sh be xyz",conv2) # "second image",self.image2[1,indices[0],indices[1],indices[2]])
# print(np.sum(np.abs(image2[0,:,:,0]-image2[1,:,:,0]))) # print(np.sum(np.abs(self.image2[0,:,:,0]-self.image2[1,:,:,0])))
# print("max diff ",np.max(np.abs(self.image2[0]-self.image2[1]))) # print("max diff ",np.max(np.abs(self.image2[0,:,:,0]
# assert np.testing,assert_allclose(self.image[0], # -self.image2[1,:,:,0])))
# self.image[1], atol = 0.007) assert np.all(np.isclose(self.image2[2], self.image2[3], atol=1.2))
def test_euler_xyz_2_quaternion(self): def test_euler_xyz_2_quaternion(self):
# print("quaternion test") # print("quaternion test")
logfile = 'blender_render.log' i2 = [('location', 'x'), ('location', 'y'),
open(logfile, 'a').close() ('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) old = os.dup(1)
sys.stdout.flush() sys.stdout.flush()
os.close(1) os.close(1)
os.open(logfile, os.O_WRONLY) os.open(fp, 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) index = pd.MultiIndex.from_tuples(i2,
names=['position',
'orientation'])
posorient2 = pd.Series(index=index)
posorient2.loc['location']['x'] = 0 posorient2.loc['location']['x'] = 0
posorient2.loc['location']['y'] = 0 posorient2.loc['location']['y'] = 0
posorient2.loc['location']['z'] = 0 posorient2.loc['location']['z'] = 0
posorient2.loc['quaternion']['q_0'] = at posorient2.loc['quaternion']['q_0'] = bt
posorient2.loc['quaternion']['q_1'] = bt posorient2.loc['quaternion']['q_1'] = ct
posorient2.loc['quaternion']['q_2'] = ct posorient2.loc['quaternion']['q_2'] = dt
posorient2.loc['quaternion']['q_3'] = dt posorient2.loc['quaternion']['q_3'] = at
# renderer.camera_rotation_mode = 'YZX' self.image2[3] = self.renderer.scene(posorient2)
# print("poorient ### ",posorient2.loc[['quternion'], self.image2[2] = self.renderer.scene(self.posorient)
# ['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 # disable output redirection
os.close(1) os.close(1)
os.dup(old) os.dup(old)
os.close(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("max diff ",np.max(np.abs(self.image2[2]-self.image2[3])))
# print("alternative"); # print("alternative");
# indices = np.where(np.abs(self.image2[0,:,:,0] - # indices = np.where(np.abs(self.image2[2] -
# self.image2[1,:,:,0]) # self.image2[3])
# ==np.max(np.abs(self.image2[0,:,:,0] # ==np.max(np.abs(self.image2[2]
# - self.image2[1,:,:,0]))) # - self.image2[3])))
# print("indices", indices) # print("first image", self.image2[2,indices[0],indices[1],indices[2]],
# print("first image") # "second image",self.image2[3,indices[0],indices[1],indices[2]])
# print(self.image[0,0,:,0]) # print(np.sum(np.abs(self.image2[2,:,:,0]-self.image2[3,:,:,0])))
# print("second image") # print("max diff ",np.max(np.abs(self.image2[2]-self.image2[3])))
# print(self.image[1,0,:,0]) # assert np.all(np.isclose(self.image2[2],self.image2[3], atol = 1.2))
# 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)
navipy/sensors/renderer.py
+ 19
− 10
View file @ cbaca8ae
...@@ -293,7 +293,7 @@ class BlenderRender(): ...@@ -293,7 +293,7 @@ class BlenderRender():
[convention][alpha_1] [convention][alpha_1]
[convention][alpha_2] [convention][alpha_2]
**where convention can be: **where convention can be:
sxyz, sxzy, syxz, syzx, szyx, szxy rxyz, rxzy, ryxz, ryzx, rzyx, rzxy
*in case of quaternions the index should be *in case of quaternions the index should be
['location']['x'] ['location']['x']
['location']['y'] ['location']['y']
...@@ -310,31 +310,40 @@ class BlenderRender(): ...@@ -310,31 +310,40 @@ class BlenderRender():
""" """
if isinstance(posorient, pd.Series): if isinstance(posorient, pd.Series):
# set roation mode # set roation mode
found_convention = False
index = posorient.index index = posorient.index
convention = index.get_level_values(0)[-1] convention = index.get_level_values(0)[-1]
if convention == 'sxyz': if convention == 'rxyz':
self.camera_rotation_mode = 'XYZ' self.camera_rotation_mode = 'XYZ'
elif convention == 'syzx': found_convention = True
elif convention == 'ryzx':
self.camera_rotation_mode = 'YZX' self.camera_rotation_mode = 'YZX'
elif convention == 'sxzy': found_convention = True
elif convention == 'rxzy':
self.camera_rotation_mode = 'XZY' self.camera_rotation_mode = 'XZY'
elif convention == 'syxz': found_convention = True
elif convention == 'ryxz':
self.camera_rotation_mode = 'YXZ' self.camera_rotation_mode = 'YXZ'
elif convention == 'szxy': found_convention = True
elif convention == 'rzxy':
self.camera_rotation_mode = 'ZXY' self.camera_rotation_mode = 'ZXY'
elif convention == 'szyx': found_convention = True
self.camera_rotation_mode = 'ZYX' elif convention == 'rzyx':
self.camera_rotation_mode = 'ZYX'
found_convention = True
self.camera.location = \ self.camera.location = \
posorient.loc[['location'], ['x', 'y', 'z']].values posorient.loc[['location'], ['x', 'y', 'z']].values
if convention != 'quaternion': if found_convention:
self.camera.rotation_euler = \ self.camera.rotation_euler = \
posorient.loc[[convention], posorient.loc[[convention],
['alpha_0', 'alpha_1', 'alpha_2']].values ['alpha_0', 'alpha_1', 'alpha_2']].values
else: elif convention == 'quaternion':
self.camera_rotation_mode = 'QUATERNION' self.camera_rotation_mode = 'QUATERNION'
self.camera.rotation_quaternion = \ self.camera.rotation_quaternion = \
posorient.loc[[convention], posorient.loc[[convention],
['q_0', 'q_1', 'q_2', 'q_3']].values ['q_0', 'q_1', 'q_2', 'q_3']].values
else:
raise Exception('your convention is not supported')
else: else:
raise TypeError( raise TypeError(
'posorient must be of type array, list, or pandas Series') 'posorient must be of type array, list, or pandas Series')
......
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