def test_unimplemented_rendering(self):
"""The RenderEngine API throws exceptions for derived implementations
that don't override DoRender*Image (or Render*Image for the deprecated
API). This test confirms that behavior propagates down to Python."""
class MinimalEngine(mut.render.RenderEngine):
"""Minimal implementation of the RenderEngine virtual API"""
def UpdateViewpoint(self, X_WC):
pass
def DoRegisterVisual(self, id, shape, properties, X_WG):
pass
def DoUpdateVisualPose(self, id, X_WG):
pass
def DoRemoveGeometry(self, id):
pass
def DoClone(self):
pass
class ColorOnlyEngine(MinimalEngine):
"""Rendering Depth and Label images should throw"""
def DoRenderColorImage(self, camera, image_out):
pass
class DepthOnlyEngine(MinimalEngine):
"""Rendering Color and Label images should throw"""
def DoRenderDepthImage(self, camera, image_out):
pass
class LabelOnlyEngine(MinimalEngine):
"""Rendering Color and Depth images should throw"""
def DoRenderLabelImage(self, camera, image_out):
pass
identity = RigidTransform_[float]()
intrinsics = CameraInfo(10, 10, pi / 4)
core = mut.render.RenderCameraCore("n/a", intrinsics,
mut.render.ClippingRange(0.1, 10),
identity)
color_cam = mut.render.ColorRenderCamera(core, False)
depth_cam = mut.render.DepthRenderCamera(
core, mut.render.DepthRange(0.1, 9))
color_image = ImageRgba8U(intrinsics.width(), intrinsics.height())
depth_image = ImageDepth32F(intrinsics.width(), intrinsics.height())
label_image = ImageLabel16I(intrinsics.width(), intrinsics.height())
color_only = ColorOnlyEngine()
color_only.RenderColorImage(color_cam, color_image)
with self.assertRaisesRegex(RuntimeError, ".+pure virtual function.+"):
color_only.RenderDepthImage(depth_cam, depth_image)
with self.assertRaisesRegex(RuntimeError, ".+pure virtual function.+"):
color_only.RenderLabelImage(color_cam, label_image)
depth_only = DepthOnlyEngine()
with self.assertRaisesRegex(RuntimeError, ".+pure virtual function.+"):
depth_only.RenderColorImage(color_cam, color_image)
depth_only.RenderDepthImage(depth_cam, depth_image)
with self.assertRaisesRegex(RuntimeError, ".+pure virtual function.+"):
depth_only.RenderLabelImage(color_cam, label_image)
label_only = LabelOnlyEngine()
with self.assertRaisesRegex(RuntimeError, ".+pure virtual function.+"):
label_only.RenderColorImage(color_cam, color_image)
with self.assertRaisesRegex(RuntimeError, ".+pure virtual function.+"):
label_only.RenderDepthImage(depth_cam, depth_image)
label_only.RenderLabelImage(color_cam, label_image)
def test_unimplemented_rendering(self):
# Test that a derived RenderEngine has implementations of
# DoRender*Image that throw something suggestive of "not implemented"
# and that they are overridable.
class MinimalEngine(mut.render.RenderEngine):
def UpdateViewpoint(self, X_WC):
pass
def DoRegisterVisual(self, id, shae, properties, X_WG):
pass
def DoUpdateVisualPose(self, id, X_WG):
pass
def DoRemoveGeometry(self, id):
pass
def DoClone(self):
pass
class ColorOnlyEngine(MinimalEngine):
def DoRenderColorImage(self, camera, image_out):
pass
class DepthOnlyEngine(MinimalEngine):
def DoRenderDepthImage(self, camera, image_out):
pass
class LabelOnlyEngine(MinimalEngine):
def DoRenderLabelImage(self, camera, image_out):
pass
identity = RigidTransform_[float]()
intrinsics = CameraInfo(10, 10, np.pi / 4)
core = mut.render.RenderCameraCore("n/a", intrinsics,
mut.render.ClippingRange(0.1, 10),
identity)
color_cam = mut.render.ColorRenderCamera(core, False)
depth_cam = mut.render.DepthRenderCamera(core,
mut.render.DepthRange(0.1, 9))
color_image = ImageRgba8U(intrinsics.width(), intrinsics.height())
depth_image = ImageDepth32F(intrinsics.width(), intrinsics.height())
label_image = ImageLabel16I(intrinsics.width(), intrinsics.height())
color_only = ColorOnlyEngine()
color_only.RenderColorImage(color_cam, color_image)
with self.assertRaisesRegex(RuntimeError, ".+pure virtual function.+"):
color_only.RenderDepthImage(depth_cam, depth_image)
with self.assertRaisesRegex(RuntimeError, ".+pure virtual function.+"):
color_only.RenderLabelImage(color_cam, label_image)
depth_only = DepthOnlyEngine()
with self.assertRaisesRegex(RuntimeError, ".+pure virtual function.+"):
depth_only.RenderColorImage(color_cam, color_image)
depth_only.RenderDepthImage(depth_cam, depth_image)
with self.assertRaisesRegex(RuntimeError, ".+pure virtual function.+"):
depth_only.RenderLabelImage(color_cam, label_image)
label_only = LabelOnlyEngine()
with self.assertRaisesRegex(RuntimeError, ".+pure virtual function.+"):
label_only.RenderColorImage(color_cam, color_image)
with self.assertRaisesRegex(RuntimeError, ".+pure virtual function.+"):
label_only.RenderDepthImage(depth_cam, depth_image)
label_only.RenderLabelImage(color_cam, label_image)
