def testRenderFlags(self):
height, width = 480, 640
cam = engine.Camera(self._physics, height, width, camera_id=0)
cam.scene.flags[enums.mjtRndFlag.mjRND_WIREFRAME] = 1 # Enable wireframe
enabled = cam.render().copy()
cam.scene.flags[enums.mjtRndFlag.mjRND_WIREFRAME] = 0 # Disable wireframe
disabled = cam.render().copy()
self.assertFalse(
np.all(disabled == enabled),
msg='Images are identical regardless of whether wireframe is enabled.')
def testCameraSelection(self, coordinates, expected_selection):
height, width = 480, 640
camera = engine.Camera(self._physics, height, width, camera_id=0)
# Test for b/63380170: Enabling visualization of body frames adds
# "non-model" geoms to the scene. This means that the indices of geoms
# within `camera._scene.geoms` don't match the rows of `model.geom_bodyid`.
camera.option.frame = enums.mjtFrame.mjFRAME_BODY
selected = camera.select(coordinates)
self.assertEqual(expected_selection, selected[:2])
def testCameraMatrix(self, camera_id, height, width):
"""Tests the camera_matrix() method.
Creates a model with two cameras and two small geoms. We render the scene
with one of the cameras and check that the geom locations, projected into
pixel space, are correct, using segmenation rendering.
xyz2pixels() shows how the transformation is used. For a description
of the camera matrix see https://en.wikipedia.org/wiki/Camera_matrix.
Args:
camera_id: One of the two cameras. Can be either integer or String.
height: The height of the image (pixels).
width: The width of the image (pixels).
"""
def xyz2pixels(x, y, z, camera_matrix):
"""Transforms from world coordinates to pixel coordinates."""
xs, ys, s = camera_matrix.dot(np.array([x, y, z, 1.0]))
return xs / s, ys / s
two_geoms_and_two_cameras = """
<mujoco>
<visual>
<global fovy="55"/>
</visual>
<worldbody>
<light name="top" pos="0 0 1"/>
<geom name="red" pos=".2 0 0" size=".005" rgba="1 0 0 1"/>
<geom name="green" pos=".2 .2 .1" size=".005" rgba="0 1 0 1"/>
<camera name="cam0" pos="1 .5 1" zaxis="1 .5 1" fovy="20"/>
<camera name="cam1" pos=".1 .1 1" xyaxes="1 1 0 -1 0 0"/>
</worldbody>
</mujoco>
"""
physics = engine.Physics.from_xml_string(two_geoms_and_two_cameras)
camera = engine.Camera(physics,
width=width,
height=height,
camera_id=camera_id)
camera_matrix = camera.matrix # Get camera matrix.
pixels = camera.render(
segmentation=True) # Render a segmentation frame.
for geom_id in [0, 1]:
# Compute the location of the geom in pixel space using the camera matrix.
x, y = xyz2pixels(*physics.data.geom_xpos[geom_id], camera_matrix)
row = int(round(y))
column = int(round(x))
# Compare segmentation values of nearest pixel to corresponding geom.
[obj_id, obj_type] = pixels[row, column, :]
self.assertEqual(obj_type, enums.mjtObj.mjOBJ_GEOM)
self.assertEqual(obj_id, geom_id)
def testCameraIndexing(self, camera_id):
height, width = 480, 640
_ = engine.Camera(
self._physics, height, width, camera_id=camera_id)
def testRenderFlagOverridesAreNotPersistent(self):
camera = engine.Camera(self._physics)
first_rgb = camera.render().copy()
camera.render(segmentation=True)
second_rgb = camera.render().copy()
np.testing.assert_array_equal(first_rgb, second_rgb)
