def test_render_cube_no_lighting(self):
# test object
part1 = CuboidPrimitive([0.0, 0.0, 0.0], [1.0, 1.0, 1.0])
s = Shape(forward_model=None, parts=[part1])
r = self.fwm_no_lighting.render(s)
correct = np.load('test_images/cube_no_lighting.npy')
self.assertAlmostEqual(np.sum(np.abs(r - correct)), 0.0)
# test changing viewpoint
for i, pos in enumerate(self.camera_pos):
s.viewpoint = [pos]
r = self.fwm_no_lighting.render(s)
self.assertAlmostEqual(np.sum(np.abs(r - correct[i])), 0.0)
def test_render_cube_no_lighting(self):
# test object
part1 = CuboidPrimitive([0.0, 0.0, 0.0], [1.0, 1.0, 1.0])
s = Shape(forward_model=None, parts=[part1])
r = self.fwm_no_lighting.render(s)
correct = np.load('test_images/cube_no_lighting.npy')
self.assertAlmostEqual(np.sum(np.abs(r - correct)), 0.0)
# test changing viewpoint
for i, pos in enumerate(self.camera_pos):
s.viewpoint = [pos]
r = self.fwm_no_lighting.render(s)
self.assertAlmostEqual(np.sum(np.abs(r - correct[i])), 0.0)
def test_render_cube_custom_lighting(self):
# test object
part1 = CuboidPrimitive([0.0, 0.0, 0.0], [1.0, 1.0, 1.0])
s = Shape(forward_model=None, parts=[part1])
r = self.fwm_custom_lighting.render(s)
correct = np.load('test_images/cube_custom_lighting.npy')
self.assertAlmostEqual(np.sum(np.abs(r - correct)), 0.0)
# maximum intensity value for custom lighting should be around 174-175. This value is used in our likelihood
# calculations; therefore, it is important to make sure that it does not change.
self.assertTrue(175.0 > np.max(r) > 174.0)
# test changing viewpoint
for i, pos in enumerate(self.camera_pos):
s.viewpoint = [pos]
r = self.fwm_custom_lighting.render(s)
self.assertAlmostEqual(np.sum(np.abs(r - correct[i])), 0.0)
def test_render_cube_custom_lighting(self):
# test object
part1 = CuboidPrimitive([0.0, 0.0, 0.0], [1.0, 1.0, 1.0])
s = Shape(forward_model=None, parts=[part1])
r = self.fwm_custom_lighting.render(s)
correct = np.load('test_images/cube_custom_lighting.npy')
self.assertAlmostEqual(np.sum(np.abs(r - correct)), 0.0)
# maximum intensity value for custom lighting should be around 174-175. This value is used in our likelihood
# calculations; therefore, it is important to make sure that it does not change.
self.assertTrue(175.0 > np.max(r) > 174.0)
# test changing viewpoint
for i, pos in enumerate(self.camera_pos):
s.viewpoint = [pos]
r = self.fwm_custom_lighting.render(s)
self.assertAlmostEqual(np.sum(np.abs(r - correct[i])), 0.0)