def test_test_occlusion(self):
# test of ray tracing occlusion test
scene = bpy.context.scene
layer = scene.view_layers['View Layer']
# test visibile object
self.assertFalse(geometry.test_occlusion(scene, layer, self._cam, self._obj1, self._w, self._h, False),
'Visible object appears occluded')
self.assertFalse(geometry.test_occlusion(scene, layer, self._cam, self._obj1, self._w, self._h, True),
'Visible object appears occluded')
# test non visible object
self.assertTrue(geometry.test_occlusion(scene, layer, self._cam, self._obj_non_visible, self._w, self._h),
'Non visible object appears visible')
def test_visibility(self, camera_name: str, locations: np.array):
"""Test whether given camera sees all target objects
and store visibility level/label for each target object
Args:
camera(str): selected camera name
locations(list): list of locations to check. If None, check current camera location
"""
# grep camera object from name
camera = bpy.context.scene.objects[camera_name]
# make sure to work with multi-dim array
if locations.shape == (3, ):
locations = np.reshape(locations, (1, 3))
# loop over locations
for i_loc, location in enumerate(locations):
camera.location = location
any_not_visible_or_occluded = False
for obj in self.objs:
not_visible_or_occluded = abr_geom.test_occlusion(
bpy.context.scene,
bpy.context.scene.view_layers['View Layer'],
camera,
obj['bpy'],
bpy.context.scene.render.resolution_x,
bpy.context.scene.render.resolution_y,
require_all=False,
origin_offset=0.01)
# store object visibility info
obj['visible'] = not not_visible_or_occluded
if not_visible_or_occluded:
self.logger.warn(f"object {obj} not visible or occluded")
# keep trace if any obj was not visible or occluded
any_not_visible_or_occluded = any_not_visible_or_occluded or not_visible_or_occluded
# if any_not_visibile_or_occluded --> at least one object is not visible from one location: return False
if any_not_visible_or_occluded:
return False
# --> all objects are visible (from all locations): return True
return True