def test_directional_light():
d = DirectionalLight()
assert d.name is None
assert np.all(d.color == 1.0)
assert d.intensity == 1.0
d.name = 'direc'
with pytest.raises(ValueError):
d.color = None
with pytest.raises(TypeError):
d.intensity = None
d = DirectionalLight(color=[0.0, 0.0, 0.0])
assert np.all(d.color == 0.0)
d._generate_shadow_texture()
st = d.shadow_texture
assert isinstance(st, Texture)
assert st.width == st.height == SHADOW_TEX_SZ
sc = d._get_shadow_camera(scene_scale=5.0)
assert isinstance(sc, OrthographicCamera)
assert sc.xmag == sc.ymag == 5.0
assert sc.znear == 0.01 * 5.0
assert sc.zfar == 10 * 5.0
def _create_raymond_lights(self):
thetas = np.pi * np.array([1.0 / 6.0, 1.0 / 6.0, 1.0 / 6.0])
phis = np.pi * np.array([0.0, 2.0 / 3.0, 4.0 / 3.0])
nodes = []
for phi, theta in zip(phis, thetas):
xp = np.sin(theta) * np.cos(phi)
yp = np.sin(theta) * np.sin(phi)
zp = np.cos(theta)
z = np.array([xp, yp, zp])
z = z / np.linalg.norm(z)
x = np.array([-z[1], z[0], 0.0])
if np.linalg.norm(x) == 0:
x = np.array([1.0, 0.0, 0.0])
x = x / np.linalg.norm(x)
y = np.cross(z, x)
matrix = np.eye(4)
matrix[:3, :3] = np.c_[x, y, z]
nodes.append(
Node(
light=DirectionalLight(color=np.ones(3), intensity=1.0),
matrix=matrix,
)
)
return nodes
def build_scene(num_cubes, color_candidates):
# Generate positions of each cube
cube_position_array, barycenter = generate_block_positions(num_cubes)
assert len(cube_position_array) == num_cubes
# Place cubes
scene = Scene(bg_color=np.array([0.0, 0.0, 0.0]),
ambient_light=np.array([0.3, 0.3, 0.3, 1.0]))
cube_nodes = []
for position in cube_position_array:
mesh = trimesh.creation.box(extents=cube_size * np.ones(3))
mesh = Mesh.from_trimesh(mesh, smooth=False)
node = Node(mesh=mesh,
translation=np.array(([
position[0] - barycenter[0],
position[1] - barycenter[1],
position[2] - barycenter[2],
])))
scene.add_node(node)
cube_nodes.append(node)
update_cube_color_and_position(cube_nodes, color_candidates)
# Place a light
light = DirectionalLight(color=np.ones(3), intensity=15.0)
quaternion_yaw = pyrender.quaternion.from_yaw(math.pi / 4)
quaternion_pitch = pyrender.quaternion.from_pitch(-math.pi / 5)
quaternion = pyrender.quaternion.multiply(quaternion_pitch, quaternion_yaw)
quaternion = quaternion / np.linalg.norm(quaternion)
node = Node(light=light,
rotation=quaternion,
translation=np.array([1, 1, 1]))
scene.add_node(node)
return scene, cube_nodes
def _build_scene(self, path, size, light, y_fov):
self.scene = Scene(bg_color=[0, 0, 0, 0])
self.light = self.scene.add(DirectionalLight([1.0, 1.0, 1.0], light))
self.camera = self.scene.add(
PerspectiveCamera(y_fov, aspectRatio=np.divide(*size)))
self.mesh = self.scene.add(
Mesh.from_trimesh(trimesh.load(path), smooth=True))
self.world_origin = self.mesh.mesh.centroid
def _reset_scene(self, scale_factor=1.0):
"""Resets the scene.
Parameters
----------
scale_factor : float
optional scale factor to apply to the image dimensions
"""
# delete scene
if self._scene is not None:
self._scene.clear()
del self._scene
# create scene
scene = Scene()
# setup camera
camera = IntrinsicsCamera(
self.camera.intrinsics.fx,
self.camera.intrinsics.fy,
self.camera.intrinsics.cx,
self.camera.intrinsics.cy,
)
pose_m = self.camera.pose.matrix.copy()
pose_m[:, 1:3] *= -1.0
scene.add(camera, pose=pose_m, name=self.camera.frame)
scene.main_camera_node = next(
iter(scene.get_nodes(name=self.camera.frame))
)
material = MetallicRoughnessMaterial(
baseColorFactor=np.array([1, 1, 1, 1.0]),
metallicFactor=0.2,
roughnessFactor=0.8,
)
# add workspace objects
for obj_key in self.state.workspace_keys:
obj_state = self.state[obj_key]
obj_mesh = Mesh.from_trimesh(obj_state.mesh, material=material)
T_obj_world = obj_state.pose.matrix
scene.add(obj_mesh, pose=T_obj_world, name=obj_key)
# add scene objects
for obj_key in self.state.obj_keys:
obj_state = self.state[obj_key]
obj_mesh = Mesh.from_trimesh(obj_state.mesh, material=material)
T_obj_world = obj_state.pose.matrix
scene.add(obj_mesh, pose=T_obj_world, name=obj_key)
# add light (for color rendering)
light = DirectionalLight(color=np.ones(3), intensity=1.0)
scene.add(light, pose=np.eye(4))
ray_light_nodes = self._create_raymond_lights()
[scene.add_node(rln) for rln in ray_light_nodes]
self._scene = scene
def build_scene(floor_textures, wall_textures, fix_light_position=False):
scene = Scene(bg_color=np.array([153 / 255, 226 / 255, 249 / 255]),
ambient_light=np.array([0.5, 0.5, 0.5, 1.0]))
floor_trimesh = trimesh.load("{}/floor.obj".format(object_directory))
mesh = Mesh.from_trimesh(floor_trimesh, smooth=False)
node = Node(mesh=mesh,
rotation=pyrender.quaternion.from_pitch(-math.pi / 2),
translation=np.array([0, 0, 0]))
texture_path = random.choice(floor_textures)
set_random_texture(node, texture_path)
scene.add_node(node)
texture_path = random.choice(wall_textures)
wall_trimesh = trimesh.load("{}/wall.obj".format(object_directory))
mesh = Mesh.from_trimesh(wall_trimesh, smooth=False)
node = Node(mesh=mesh, translation=np.array([0, 1.15, -3.5]))
set_random_texture(node, texture_path)
scene.add_node(node)
mesh = Mesh.from_trimesh(wall_trimesh, smooth=False)
node = Node(mesh=mesh,
rotation=pyrender.quaternion.from_yaw(math.pi),
translation=np.array([0, 1.15, 3.5]))
set_random_texture(node, texture_path)
scene.add_node(node)
mesh = Mesh.from_trimesh(wall_trimesh, smooth=False)
node = Node(mesh=mesh,
rotation=pyrender.quaternion.from_yaw(-math.pi / 2),
translation=np.array([3.5, 1.15, 0]))
set_random_texture(node, texture_path)
scene.add_node(node)
mesh = Mesh.from_trimesh(wall_trimesh, smooth=False)
node = Node(mesh=mesh,
rotation=pyrender.quaternion.from_yaw(math.pi / 2),
translation=np.array([-3.5, 1.15, 0]))
set_random_texture(node, texture_path)
scene.add_node(node)
light = DirectionalLight(color=np.ones(3), intensity=10)
if fix_light_position == True:
translation = np.array([1, 1, 1])
else:
xz = np.random.uniform(-1, 1, size=2)
translation = np.array([xz[0], 1, xz[1]])
yaw, pitch = compute_yaw_and_pitch(translation)
node = Node(light=light,
rotation=genearte_camera_quaternion(yaw, pitch),
translation=translation)
scene.add_node(node)
return scene
def build_scene(max_num_cubes, color_candidates, probabilities):
num_cubes = np.random.choice(np.arange(1, max_num_cubes + 1),
size=1,
p=probabilities)[0]
# Generate positions of each cube
cube_position_array, barycenter = generate_block_positions(num_cubes)
assert len(cube_position_array) == num_cubes
# Place cubes
scene = Scene(bg_color=np.array([0.0, 0.0, 0.0]),
ambient_light=np.array([0.3, 0.3, 0.3, 1.0]))
cube_nodes = []
for position in cube_position_array:
mesh = trimesh.creation.box(extents=cube_size * np.ones(3))
mesh = Mesh.from_trimesh(mesh, smooth=False)
node = Node(mesh=mesh,
translation=np.array(([
position[0] - barycenter[0],
position[1] - barycenter[1],
position[2] - barycenter[2],
])))
scene.add_node(node)
cube_nodes.append(node)
# Generate positions of each cube
cube_position_array, barycenter = generate_block_positions(num_cubes)
for position, node in zip(cube_position_array, cube_nodes):
color = np.array(random.choice(color_candidates))
vertex_colors = np.broadcast_to(
color, node.mesh.primitives[0].positions.shape)
node.mesh.primitives[0].color_0 = vertex_colors
node.translation = np.array(([
position[0] - barycenter[0],
position[1] - barycenter[1],
position[2] - barycenter[2],
]))
# Place a light
light = DirectionalLight(color=np.ones(3), intensity=15.0)
quaternion_yaw = pyrender.quaternion.from_yaw(math.pi / 4)
quaternion_pitch = pyrender.quaternion.from_pitch(-math.pi / 5)
quaternion = pyrender.quaternion.multiply(quaternion_pitch, quaternion_yaw)
quaternion = quaternion / np.linalg.norm(quaternion)
node = Node(light=light,
rotation=quaternion,
translation=np.array([1, 1, 1]))
scene.add_node(node)
return scene, cube_nodes
def __init__(self):
"""
"""
self.scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02, 1.0]))
self.scene.add(PointLight(color=[0.5, 0.2, 0.3], intensity=2.0))
self.scene.add(
SpotLight(color=[0.1, 0.6, 0.3],
intensity=2.0,
innerConeAngle=0.05,
outerConeAngle=0.5))
self.scene.add(
DirectionalLight(color=[0.33, 0.33, 0.33], intensity=2.0))
self.root_node = None
def render_sensor(
point_set,
render_sensor_path="/Users/macbookpro15/Documents/mujoco_hand_exps/data/sensor_render"
):
"""
pointset: it is collectiono of sensor points for all timesteps
"""
# first take one of the point, subtract the center from it which
# I know is the 0-th position out of the 220 points
# form the mesh from this
if not os.path.exists(render_sensor_path):
os.makedirs(render_sensor_path)
time_steps = len(point_set)
for t in range(time_steps):
sensor = trimesh.load_mesh(
f'../data/mesh_dir/mesh_{t}_out/mc_mesh_out.ply')
sensor_mesh = Mesh.from_trimesh(sensor)
# Light for the scene
direc_l = DirectionalLight(color=np.ones(3), intensity=1.0)
spot_l = SpotLight(color=np.ones(3),
intensity=10.0,
innerConeAngle=np.pi / 16,
outerConeAngle=np.pi / 6)
point_l = PointLight(color=np.ones(3), intensity=10.0)
# add camera to the scene
cam = PerspectiveCamera(yfov=(np.pi / 3.0))
cam_pose = np.array([[0.0, -np.sqrt(2) / 2,
np.sqrt(2) / 2, 0.5], [1.0, 0.0, 0.0, 0.0],
[0.0, np.sqrt(2) / 2,
np.sqrt(2) / 2, 0.4], [0.0, 0.0, 0.0, 1.0]])
# create the scene
scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02, 1.0]))
point_mesh_node = scene.add(sensor_mesh)
direc_l_node = scene.add(direc_l, pose=cam_pose)
spot_l_node = scene.add(spot_l, pose=cam_pose)
cam_node = scene.add(cam, pose=cam_pose)
print('rendering the scene offline')
r = OffscreenRenderer(viewport_width=640, viewport_height=480)
color, depth = r.render(scene)
r.delete()
plt.figure()
plt.imshow(color)
plt.savefig(f'{render_sensor_path}/img_{t}.jpg')
def __init__(self,
filepath,
viewport_size=(128, 128),
y_fov=3.14159 / 4.,
distance=0.30,
top_only=False,
light=5.0,
theta_steps=10,
phi_steps=10):
self.scene = Scene(bg_color=[0, 0, 0])
self.camera = self.scene.add(
PerspectiveCamera(y_fov, aspectRatio=np.divide(*viewport_size)))
self.mesh = self.scene.add(
Mesh.from_trimesh(trimesh.load(filepath), smooth=True))
self.world_origin = self.mesh.mesh.centroid
self.light = self.scene.add(DirectionalLight([1.0, 1.0, 1.0], light))
self.distance = distance
# 0.1 values are to avoid gimbal lock
theta_max = np.pi / 2.0 if top_only else np.pi
self.thetas = np.linspace(0.1, theta_max - 0.1, theta_steps)
self.phis = np.linspace(0.1, 2 * np.pi - 0.1, phi_steps)
self.renderer = OffscreenRenderer(*viewport_size)
self.RGBA = RenderFlags.RGBA
# Different options for the walls
wall_types = ['hydroponic_farm', 'other']
wall_type = wall_types[0]
# Side "walls" mesh
wall_trimesh = trimesh.load('./models/scene/' + wall_type + '_wall.obj')
wall_mesh = Mesh.from_trimesh(wall_trimesh)
#==============================================================================
# Light creation
#==============================================================================
# Lights for the inf_base and walls
side_intensity = 3.0
inf_base_dir_l = DirectionalLight(color=np.ones(3), intensity=10.0)
spot_l_sides = PointLight(color=np.ones(3), intensity=side_intensity)
# Light for the flower
point_l = PointLight(color=np.ones(3), intensity=1.0)
#==============================================================================
# Poses
#==============================================================================
# Side wall poses
side_closeness = 1
side_height = 0
side_E_pose = spatial_transform_Matrix(roll=np.pi / 2,
yaw=np.pi / 2,
print('diag_size: {}, to_centroid_dist: {}'.format(diag_size,
to_centroid_dist))
# exit(-1)
baseline = to_centroid_dist * baseline_depth_ratio
cam_pose_right = move_to_right(cam_pose, baseline)
back_dist = to_centroid_dist * back_dist_depth_ratio
cam_pose_back = move_to_back(cam_pose, back_dist)
#==============================================================================
# Light creation
#==============================================================================
direc_l = DirectionalLight(color=np.ones(3), intensity=25) # parallel light
# direc_l_node = scene.add(direc_l, pose=cam_pose)
cp = np.eye(4)
s2 = 1.0 / np.sqrt(3.0)
cp[:3, :3] = np.array([[0.0, -s2, np.sqrt(1 - s2 * s2)], [1.0, 0.0, 0.0],
[0.0, np.sqrt(1 - s2 * s2), s2]])
direc_l_node = scene.add(direc_l, pose=cp)
#==============================================================================
# Using the viewer with the default view angle
#==============================================================================
# v = Viewer(scene, viewport_size=(640*2, 480*2), shadows=True)
#==============================================================================
def main(mesh_path):
# rendering conf
ambient_light = 0.8
directional_light = 1.0
img_res = 512
cam_f = 500
cam_c = img_res / 2.0
scene = Scene(ambient_light=np.array(
[ambient_light, ambient_light, ambient_light, 1.0]))
mesh_v, mesh_vc, mesh_f = load_ply_data(mesh_path)
mesh_ = trimesh.Trimesh(vertices=mesh_v,
faces=mesh_f,
vertex_colors=mesh_vc)
points_mesh = Mesh.from_trimesh(mesh_, smooth=True, material=None)
mesh_node = scene.add(points_mesh)
cam = IntrinsicsCamera(fx=cam_f, fy=cam_f, cx=cam_c, cy=cam_c)
cam_pose = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 2.0], [0.0, 0.0, 0.0, 1.0]])
direc_l = DirectionalLight(color=np.ones(3), intensity=directional_light)
light_node_1 = scene.add(direc_l,
pose=np.matmul(rotationy(30), rotationx(45)))
direc_l = DirectionalLight(color=np.ones(3), intensity=directional_light)
light_node_2 = scene.add(direc_l,
pose=np.matmul(rotationy(-30), rotationx(45)))
direc_l = DirectionalLight(color=np.ones(3), intensity=directional_light)
light_node_3 = scene.add(direc_l,
pose=np.matmul(rotationy(-180), rotationx(45)))
direc_l = DirectionalLight(color=np.ones(3),
intensity=(directional_light - 0.5))
light_node_4 = scene.add(direc_l,
pose=np.matmul(rotationy(0), rotationx(-10)))
################
# rendering
cam_node = scene.add(cam, pose=cam_pose)
render_flags = {
'flip_wireframe': False,
'all_wireframe': False,
'all_solid': False,
'shadows': True,
'vertex_normals': False,
'face_normals': False,
'cull_faces': True,
'point_size': 1.0,
}
viewer_flags = {
'mouse_pressed': False,
'rotate': False,
'rotate_rate': np.pi / 6.0,
'rotate_axis': np.array([0.0, 1.0, 0.0]),
'view_center': np.array([0.0, 0.0, 0.0]),
'record': False,
'use_raymond_lighting': False,
'use_direct_lighting': False,
'lighting_intensity': 3.0,
'use_perspective_cam': True,
'window_title': 'DIT',
'refresh_rate': 25.0,
'fullscreen': False,
'show_world_axis': False,
'show_mesh_axes': False,
'caption': None,
'save_one_frame': False,
}
v = Viewer(scene,
viewport_size=(512, 512),
render_flags=render_flags,
viewer_flags=viewer_flags,
run_in_thread=False)
v.close()
def _build_light(self, light, pose):
directional_light = DirectionalLight([1.0, 1.0, 1.0], np.mean(light))
directional_light = self.scene.add(directional_light, pose=pose)
return directional_light
boxf_face_colors = np.random.uniform(size=boxf_trimesh.faces.shape)
boxf_trimesh.visual.face_colors = boxf_face_colors
boxf_mesh = Mesh.from_trimesh(boxf_trimesh, smooth=False)
# ------------------------------------------------------------------------------
# Creating meshes from point clouds
# ------------------------------------------------------------------------------
points = trimesh.creation.icosphere(radius=0.05).vertices
point_colors = np.random.uniform(size=points.shape)
points_mesh = Mesh.from_points(points, colors=point_colors)
# ==============================================================================
# Light creation
# ==============================================================================
direc_l = DirectionalLight(color=np.ones(3), intensity=1.0)
spot_l = SpotLight(color=np.ones(3),
intensity=10.0,
innerConeAngle=np.pi / 16,
outerConeAngle=np.pi / 6)
point_l = PointLight(color=np.ones(3), intensity=10.0)
# ==============================================================================
# Camera creation
# ==============================================================================
cam = PerspectiveCamera(yfov=(np.pi / 3.0))
cam_pose = np.array([[0.0, -np.sqrt(2) / 2,
np.sqrt(2) / 2, 0.5], [1.0, 0.0, 0.0, 0.0],
[0.0, np.sqrt(2) / 2,
np.sqrt(2) / 2, 0.4], [0.0, 0.0, 0.0, 1.0]])
def test_offscreen_renderer(tmpdir):
# Fuze trimesh
fuze_trimesh = trimesh.load('examples/models/fuze.obj')
fuze_mesh = Mesh.from_trimesh(fuze_trimesh)
# Drill trimesh
drill_trimesh = trimesh.load('examples/models/drill.obj')
drill_mesh = Mesh.from_trimesh(drill_trimesh)
drill_pose = np.eye(4)
drill_pose[0, 3] = 0.1
drill_pose[2, 3] = -np.min(drill_trimesh.vertices[:, 2])
# Wood trimesh
wood_trimesh = trimesh.load('examples/models/wood.obj')
wood_mesh = Mesh.from_trimesh(wood_trimesh)
# Water bottle trimesh
bottle_gltf = trimesh.load('examples/models/WaterBottle.glb')
bottle_trimesh = bottle_gltf.geometry[list(bottle_gltf.geometry.keys())[0]]
bottle_mesh = Mesh.from_trimesh(bottle_trimesh)
bottle_pose = np.array([
[1.0, 0.0, 0.0, 0.1],
[0.0, 0.0, -1.0, -0.16],
[0.0, 1.0, 0.0, 0.13],
[0.0, 0.0, 0.0, 1.0],
])
boxv_trimesh = trimesh.creation.box(extents=0.1 * np.ones(3))
boxv_vertex_colors = np.random.uniform(size=(boxv_trimesh.vertices.shape))
boxv_trimesh.visual.vertex_colors = boxv_vertex_colors
boxv_mesh = Mesh.from_trimesh(boxv_trimesh, smooth=False)
boxf_trimesh = trimesh.creation.box(extents=0.1 * np.ones(3))
boxf_face_colors = np.random.uniform(size=boxf_trimesh.faces.shape)
boxf_trimesh.visual.face_colors = boxf_face_colors
# Instanced
poses = np.tile(np.eye(4), (2, 1, 1))
poses[0, :3, 3] = np.array([-0.1, -0.10, 0.05])
poses[1, :3, 3] = np.array([-0.15, -0.10, 0.05])
boxf_mesh = Mesh.from_trimesh(boxf_trimesh, poses=poses, smooth=False)
points = trimesh.creation.icosphere(radius=0.05).vertices
point_colors = np.random.uniform(size=points.shape)
points_mesh = Mesh.from_points(points, colors=point_colors)
direc_l = DirectionalLight(color=np.ones(3), intensity=1.0)
spot_l = SpotLight(color=np.ones(3),
intensity=10.0,
innerConeAngle=np.pi / 16,
outerConeAngle=np.pi / 6)
cam = PerspectiveCamera(yfov=(np.pi / 3.0))
cam_pose = np.array([[0.0, -np.sqrt(2) / 2,
np.sqrt(2) / 2, 0.5], [1.0, 0.0, 0.0, 0.0],
[0.0, np.sqrt(2) / 2,
np.sqrt(2) / 2, 0.4], [0.0, 0.0, 0.0, 1.0]])
scene = Scene(ambient_light=np.array([0.02, 0.02, 0.02]))
fuze_node = Node(mesh=fuze_mesh,
translation=np.array(
[0.1, 0.15, -np.min(fuze_trimesh.vertices[:, 2])]))
scene.add_node(fuze_node)
boxv_node = Node(mesh=boxv_mesh, translation=np.array([-0.1, 0.10, 0.05]))
scene.add_node(boxv_node)
boxf_node = Node(mesh=boxf_mesh)
scene.add_node(boxf_node)
_ = scene.add(drill_mesh, pose=drill_pose)
_ = scene.add(bottle_mesh, pose=bottle_pose)
_ = scene.add(wood_mesh)
_ = scene.add(direc_l, pose=cam_pose)
_ = scene.add(spot_l, pose=cam_pose)
_ = scene.add(points_mesh)
_ = scene.add(cam, pose=cam_pose)
r = OffscreenRenderer(viewport_width=640, viewport_height=480)
color, depth = r.render(scene)
assert color.shape == (480, 640, 3)
assert depth.shape == (480, 640)
assert np.max(depth.data) > 0.05
assert np.count_nonzero(depth.data) > (0.2 * depth.size)
r.delete()
def test_scenes():
# Basics
s = Scene()
assert np.allclose(s.bg_color, np.ones(4))
assert np.allclose(s.ambient_light, np.zeros(3))
assert len(s.nodes) == 0
assert s.name is None
s.name = 'asdf'
s.bg_color = None
s.ambient_light = None
assert np.allclose(s.bg_color, np.ones(4))
assert np.allclose(s.ambient_light, np.zeros(3))
assert s.nodes == set()
assert s.cameras == set()
assert s.lights == set()
assert s.point_lights == set()
assert s.spot_lights == set()
assert s.directional_lights == set()
assert s.meshes == set()
assert s.camera_nodes == set()
assert s.light_nodes == set()
assert s.point_light_nodes == set()
assert s.spot_light_nodes == set()
assert s.directional_light_nodes == set()
assert s.mesh_nodes == set()
assert s.main_camera_node is None
assert np.all(s.bounds == 0)
assert np.all(s.centroid == 0)
assert np.all(s.extents == 0)
assert np.all(s.scale == 0)
# From trimesh scene
tms = trimesh.load('tests/data/WaterBottle.glb')
s = Scene.from_trimesh_scene(tms)
assert len(s.meshes) == 1
assert len(s.mesh_nodes) == 1
# Test bg color formatting
s = Scene(bg_color=[0, 1.0, 0])
assert np.allclose(s.bg_color, np.array([0.0, 1.0, 0.0, 1.0]))
# Test constructor for nodes
n1 = Node()
n2 = Node()
n3 = Node()
nodes = [n1, n2, n3]
s = Scene(nodes=nodes)
n1.children.append(n2)
s = Scene(nodes=nodes)
n3.children.append(n2)
with pytest.raises(ValueError):
s = Scene(nodes=nodes)
n3.children = []
n2.children.append(n3)
n3.children.append(n2)
with pytest.raises(ValueError):
s = Scene(nodes=nodes)
# Test node accessors
n1 = Node()
n2 = Node()
n3 = Node()
nodes = [n1, n2]
s = Scene(nodes=nodes)
assert s.has_node(n1)
assert s.has_node(n2)
assert not s.has_node(n3)
# Test node poses
for n in nodes:
assert np.allclose(s.get_pose(n), np.eye(4))
with pytest.raises(ValueError):
s.get_pose(n3)
with pytest.raises(ValueError):
s.set_pose(n3, np.eye(4))
tf = np.eye(4)
tf[:3, 3] = np.ones(3)
s.set_pose(n1, tf)
assert np.allclose(s.get_pose(n1), tf)
assert np.allclose(s.get_pose(n2), np.eye(4))
nodes = [n1, n2, n3]
tf2 = np.eye(4)
tf2[:3, :3] = np.diag([-1, -1, 1])
n1.children.append(n2)
n1.matrix = tf
n2.matrix = tf2
s = Scene(nodes=nodes)
assert np.allclose(s.get_pose(n1), tf)
assert np.allclose(s.get_pose(n2), tf.dot(tf2))
assert np.allclose(s.get_pose(n3), np.eye(4))
n1 = Node()
n2 = Node()
n3 = Node()
n1.children.append(n2)
s = Scene()
s.add_node(n1)
with pytest.raises(ValueError):
s.add_node(n2)
s.set_pose(n1, tf)
assert np.allclose(s.get_pose(n1), tf)
assert np.allclose(s.get_pose(n2), tf)
s.set_pose(n2, tf2)
assert np.allclose(s.get_pose(n2), tf.dot(tf2))
# Test node removal
n1 = Node()
n2 = Node()
n3 = Node()
n1.children.append(n2)
n2.children.append(n3)
s = Scene(nodes=[n1, n2, n3])
s.remove_node(n2)
assert len(s.nodes) == 1
assert n1 in s.nodes
assert len(n1.children) == 0
assert len(n2.children) == 1
s.add_node(n2, parent_node=n1)
assert len(n1.children) == 1
n1.matrix = tf
n3.matrix = tf2
assert np.allclose(s.get_pose(n3), tf.dot(tf2))
# Now test ADD function
s = Scene()
m = Mesh([], name='m')
cp = PerspectiveCamera(yfov=2.0)
co = OrthographicCamera(xmag=1.0, ymag=1.0)
dl = DirectionalLight()
pl = PointLight()
sl = SpotLight()
n1 = s.add(m, name='mn')
assert n1.mesh == m
assert len(s.nodes) == 1
assert len(s.mesh_nodes) == 1
assert n1 in s.mesh_nodes
assert len(s.meshes) == 1
assert m in s.meshes
assert len(s.get_nodes(node=n2)) == 0
n2 = s.add(m, pose=tf)
assert len(s.nodes) == len(s.mesh_nodes) == 2
assert len(s.meshes) == 1
assert len(s.get_nodes(node=n1)) == 1
assert len(s.get_nodes(node=n1, name='mn')) == 1
assert len(s.get_nodes(name='mn')) == 1
assert len(s.get_nodes(obj=m)) == 2
assert len(s.get_nodes(obj=m, obj_name='m')) == 2
assert len(s.get_nodes(obj=co)) == 0
nsl = s.add(sl, name='sln')
npl = s.add(pl, parent_name='sln')
assert nsl.children[0] == npl
ndl = s.add(dl, parent_node=npl)
assert npl.children[0] == ndl
nco = s.add(co)
ncp = s.add(cp)
assert len(s.light_nodes) == len(s.lights) == 3
assert len(s.point_light_nodes) == len(s.point_lights) == 1
assert npl in s.point_light_nodes
assert len(s.spot_light_nodes) == len(s.spot_lights) == 1
assert nsl in s.spot_light_nodes
assert len(s.directional_light_nodes) == len(s.directional_lights) == 1
assert ndl in s.directional_light_nodes
assert len(s.cameras) == len(s.camera_nodes) == 2
assert s.main_camera_node == nco
s.main_camera_node = ncp
s.remove_node(ncp)
assert len(s.cameras) == len(s.camera_nodes) == 1
assert s.main_camera_node == nco
s.remove_node(n2)
assert len(s.meshes) == 1
s.remove_node(n1)
assert len(s.meshes) == 0
s.remove_node(nsl)
assert len(s.lights) == 0
s.remove_node(nco)
assert s.main_camera_node is None
s.add_node(n1)
s.clear()
assert len(s.nodes) == 0
# Trigger final errors
with pytest.raises(ValueError):
s.main_camera_node = None
with pytest.raises(ValueError):
s.main_camera_node = ncp
with pytest.raises(ValueError):
s.add(m, parent_node=n1)
with pytest.raises(ValueError):
s.add(m, name='asdf')
s.add(m, name='asdf')
s.add(m, parent_name='asdf')
with pytest.raises(ValueError):
s.add(m, parent_name='asfd')
with pytest.raises(TypeError):
s.add(None)
s.clear()
# Test bounds
m1 = Mesh.from_trimesh(trimesh.creation.box())
m2 = Mesh.from_trimesh(trimesh.creation.box())
m3 = Mesh.from_trimesh(trimesh.creation.box())
n1 = Node(mesh=m1)
n2 = Node(mesh=m2, translation=[1.0, 0.0, 0.0])
n3 = Node(mesh=m3, translation=[0.5, 0.0, 1.0])
s.add_node(n1)
s.add_node(n2)
s.add_node(n3)
assert np.allclose(s.bounds, [[-0.5, -0.5, -0.5], [1.5, 0.5, 1.5]])
s.clear()
s.add_node(n1)
s.add_node(n2, parent_node=n1)
s.add_node(n3, parent_node=n2)
assert np.allclose(s.bounds, [[-0.5, -0.5, -0.5], [2.0, 0.5, 1.5]])
tf = np.eye(4)
tf[:3, 3] = np.ones(3)
s.set_pose(n3, tf)
assert np.allclose(s.bounds, [[-0.5, -0.5, -0.5], [2.5, 1.5, 1.5]])
s.remove_node(n2)
assert np.allclose(s.bounds, [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]])
s.clear()
assert np.allclose(s.bounds, 0.0)
def test_nodes():
x = Node()
assert x.name is None
assert x.camera is None
assert x.children == []
assert x.skin is None
assert np.allclose(x.matrix, np.eye(4))
assert x.mesh is None
assert np.allclose(x.rotation, [0, 0, 0, 1])
assert np.allclose(x.scale, np.ones(3))
assert np.allclose(x.translation, np.zeros(3))
assert x.weights is None
assert x.light is None
x.name = 'node'
# Test node light/camera/mesh tests
c = PerspectiveCamera(yfov=2.0)
m = Mesh([])
d = DirectionalLight()
x.camera = c
assert x.camera == c
with pytest.raises(TypeError):
x.camera = m
x.camera = d
x.camera = None
x.mesh = m
assert x.mesh == m
with pytest.raises(TypeError):
x.mesh = c
x.mesh = d
x.light = d
assert x.light == d
with pytest.raises(TypeError):
x.light = m
x.light = c
# Test transformations getters/setters/etc...
# Set up test values
x = np.array([1.0, 0.0, 0.0])
y = np.array([0.0, 1.0, 0.0])
t = np.array([1.0, 2.0, 3.0])
s = np.array([0.5, 2.0, 1.0])
Mx = transformations.rotation_matrix(np.pi / 2.0, x)
qx = np.roll(transformations.quaternion_about_axis(np.pi / 2.0, x), -1)
Mxt = Mx.copy()
Mxt[:3, 3] = t
S = np.eye(4)
S[:3, :3] = np.diag(s)
Mxts = Mxt.dot(S)
My = transformations.rotation_matrix(np.pi / 2.0, y)
qy = np.roll(transformations.quaternion_about_axis(np.pi / 2.0, y), -1)
Myt = My.copy()
Myt[:3, 3] = t
x = Node(matrix=Mx)
assert np.allclose(x.matrix, Mx)
assert np.allclose(x.rotation, qx)
assert np.allclose(x.translation, np.zeros(3))
assert np.allclose(x.scale, np.ones(3))
x.matrix = My
assert np.allclose(x.matrix, My)
assert np.allclose(x.rotation, qy)
assert np.allclose(x.translation, np.zeros(3))
assert np.allclose(x.scale, np.ones(3))
x.translation = t
assert np.allclose(x.matrix, Myt)
assert np.allclose(x.rotation, qy)
x.rotation = qx
assert np.allclose(x.matrix, Mxt)
x.scale = s
assert np.allclose(x.matrix, Mxts)
x = Node(matrix=Mxt)
assert np.allclose(x.matrix, Mxt)
assert np.allclose(x.rotation, qx)
assert np.allclose(x.translation, t)
assert np.allclose(x.scale, np.ones(3))
x = Node(matrix=Mxts)
assert np.allclose(x.matrix, Mxts)
assert np.allclose(x.rotation, qx)
assert np.allclose(x.translation, t)
assert np.allclose(x.scale, s)
# Individual element getters
x.scale[0] = 0
assert np.allclose(x.scale[0], 0)
x.translation[0] = 0
assert np.allclose(x.translation[0], 0)
x.matrix = np.eye(4)
x.matrix[0, 0] = 500
assert x.matrix[0, 0] == 1.0
# Failures
with pytest.raises(ValueError):
x.matrix = 5 * np.eye(4)
with pytest.raises(ValueError):
x.matrix = np.eye(5)
with pytest.raises(ValueError):
x.matrix = np.eye(4).dot([5, 1, 1, 1])
with pytest.raises(ValueError):
x.rotation = np.array([1, 2])
with pytest.raises(ValueError):
x.rotation = np.array([1, 2, 3])
with pytest.raises(ValueError):
x.rotation = np.array([1, 2, 3, 4])
with pytest.raises(ValueError):
x.translation = np.array([1, 2, 3, 4])
with pytest.raises(ValueError):
x.scale = np.array([1, 2, 3, 4])