def _get_dice_to_camera_transform(camera_node : pyrender.Node, dice_node : pyrender.Node, scene: pyrender.Scene): """Gets the transformation matrix from dice node to camera node coordinates.""" dice_scene_pose = scene.get_pose(dice_node) camera_scene_pose = scene.get_pose(camera_node) scene_to_camera_pose = pose_inverse(camera_scene_pose) dice_to_camera_transform = scene_to_camera_pose @ dice_scene_pose return dice_to_camera_transform
def get_scene_space_up_face_index(dice_node : pyrender.Node, scene: pyrender.Scene): """Gets the face-up index of a given dice node. Indices start at 1, for face with 1 dot up""" face_normals = DiceConfig.get_local_face_normals() dice_pose = scene.get_pose(dice_node) scene_face_normals = transform_points_3d(face_normals, dice_pose, True) scene_face_normals_y = scene_face_normals[1,:] index = np.argmax(scene_face_normals_y) index_starting_at_1 = index + 1 return index_starting_at_1
def get_y_rotation_angle_relative_to_camera(dice_node : pyrender.Node, scene: pyrender.Scene, dice_top_face_index : int): """Gets the rotation of a dice node around its vertical aspect with respect to the camera, given the top face index. Note that for each upward-pointing face is defined another face as the forward-pointing face given by zero y-rotation.""" dice_to_camera_transform = _get_dice_to_camera_transform(scene.main_camera_node, dice_node, scene) dice_pose = scene.get_pose(dice_node) local_forward_axis = DiceConfig.get_local_face_forward(dice_top_face_index)[:, np.newaxis] dice_scene_forward = transform_points_3d(local_forward_axis, dice_pose, True) dice_scene_forward[1] = 0 dice_scene_forward /= np.linalg.norm(dice_scene_forward) dice_to_camera_translation = dice_to_camera_transform[0:3,3] direction_camera_from_dice = -dice_to_camera_translation[:, np.newaxis] direction_camera_from_dice[1] = 0 direction_camera_from_dice /= np.linalg.norm(direction_camera_from_dice) #Note x axis takes place of 'y' in arctan while z axis takes place of 'x' since y-axis rotations rotates x into -z (equivalently, z into x) angle_forward = np.arctan2(dice_scene_forward[0], dice_scene_forward[2]) angle_direction = np.arctan2(direction_camera_from_dice[0], direction_camera_from_dice[2]) angle_difference = angle_forward - angle_direction angle_difference_wrapped = (angle_difference + np.pi) % (2.0 * np.pi) - np.pi return angle_difference_wrapped
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)