def test_render(self):
api = objrender.RenderAPI(w=SIDE, h=SIDE, device=0)
cfg = load_config('config.json')
houseID, house = find_first_good_house(cfg)
env = Environment(api, house, cfg)
location = house.getRandomLocation(ROOM_TYPE)
env.reset(*location)
# Check RGB
env.set_render_mode(RenderMode.RGB)
rgb = env.render_cube_map()
self.assertEqual(rgb.shape, (SIDE, SIDE * 6, 3))
# Check SEMANTIC
env.set_render_mode(RenderMode.RGB)
semantic = env.render_cube_map()
self.assertEqual(semantic.shape, (SIDE, SIDE * 6, 3))
# Check INSTANCE
env.set_render_mode(RenderMode.INSTANCE)
instance = env.render_cube_map()
self.assertEqual(instance.shape, (SIDE, SIDE * 6, 3))
# Check DEPTH
env.set_render_mode(RenderMode.DEPTH)
depth = env.render_cube_map()
self.assertEqual(depth.dtype, np.uint8)
self.assertEqual(depth.shape, (SIDE, SIDE * 6, 2))
depth_value = depth[0, 0, 0] * 20.0 / 255.0
# Check INVDEPTH
env.set_render_mode(RenderMode.INVDEPTH)
invdepth = env.render_cube_map()
self.assertEqual(invdepth.dtype, np.uint8)
self.assertEqual(invdepth.shape, (SIDE, SIDE * 6, 3))
# Convert to 16 bit and then to depth
id16 = 256 * invdepth[:, :, 0] + invdepth[:, :, 1]
depth2 = depth_of_inverse_depth(id16)
self.assertEqual(depth2.dtype, np.float)
self.assertEqual(depth2.shape, (SIDE, SIDE * 6))
# Check that depth value is within 5% of depth from RenderMode.DEPTH
self.assertAlmostEqual(
depth2[0, 0], depth_value, delta=depth_value * 0.05)
location = house.getRandomLocation(ROOM_TYPE)
env.reset(*location)
if __name__ == '__main__':
api = create_api()
cfg = load_config('config.json')
houseID, house = get_rand_house(cfg)
env = Environment(api, house, cfg)
cam = api.getCamera()
mode_idx = 0
for t in tqdm.trange(1000):
reset_random(env, house)
mat = cv2.cvtColor(env.render_cube_map(), cv2.COLOR_BGR2RGB)
cv2.imshow("aaa", mat)
key = cv2.waitKey(0)
while key in [ord('h'), ord('l'), ord('s'), ord('n'), ord('i')]:
if key == ord('h'):
cam.yaw -= 5
cam.updateDirection()
elif key == ord('l'):
cam.yaw += 5
cam.updateDirection()
elif key == ord('s'):
cv2.imwrite("{}_mode{}.png".format(houseID, mode_idx), mat)
elif key == ord('i'):
mode_idx = (mode_idx + 1) % len(MODES)
env.set_render_mode(MODES[mode_idx])