def render(self):
A_to_world, world_to_A = self._change_scene()
image_A, depth_A = self.renderer.render(self.scene, flags=self.RGBA)
B_to_world, world_to_B = self._change_scene()
image_B, depth_B = self.renderer.render(self.scene, flags=self.RGBA)
image_A, alpha_A = split_alpha_channel(image_A)
image_B, alpha_B = split_alpha_channel(image_B)
world_to_A = scale_translation(world_to_A, self.scale)
world_to_B = scale_translation(world_to_B, self.scale)
A_to_world = scale_translation(A_to_world, self.scale)
B_to_world = scale_translation(B_to_world, self.scale)
matrices = np.vstack([
world_to_A.flatten(),
world_to_B.flatten(),
A_to_world.flatten(),
B_to_world.flatten()
])
return {
'image_A': image_A,
'alpha_A': alpha_A,
'depth_A': depth_A,
'image_B': image_B,
'alpha_B': alpha_B,
'depth_B': depth_B,
'matrices': matrices
}
def test_scale_translation_random(transform_B, distance=10.0):
transform = scale_translation(transform_B.copy(), distance)
assert np.allclose(transform_B[:3, -1] * distance, transform[:3, -1])