def test_depth_image(self):
# Create renderer
import chumpy as ch
from renderer import DepthRenderer
rn = DepthRenderer()
# Assign attributes to renderer
from util_tests import get_earthmesh
m = get_earthmesh(trans=ch.array([0,0,0]), rotation=ch.zeros(3))
m.v = m.v * .01
m.v[:,2] += 4
w, h = (320, 240)
from camera import ProjectPoints
rn.camera = ProjectPoints(v=m.v, rt=ch.zeros(3), t=ch.zeros(3), f=ch.array([w,w])/2., c=ch.array([w,h])/2., k=ch.zeros(5))
rn.frustum = {'near': 1., 'far': 10., 'width': w, 'height': h}
rn.set(v=m.v, f=m.f, vc=m.vc*0+1, bgcolor=ch.zeros(3))
# import time
# tm = time.time()
# rn.r
# print 'took %es' % (time.time() - tm)
# print np.min(rn.r.ravel())
# print np.max(rn.r.ravel())
self.assertLess(np.abs(np.min(rn.r.ravel()) - 3.98), 1e-5)
self.assertLess(np.abs(np.min(m.v[:,2]) - np.min(rn.r.ravel())), 1e-5)
self.assertLess(np.abs(rn.r[h/2,w/2] - 3.98), 1e-5)
def test_derivatives2(self):
import chumpy as ch
import numpy as np
from .renderer import DepthRenderer
rn = DepthRenderer()
# Assign attributes to renderer
from .util_tests import get_earthmesh
m = get_earthmesh(trans=ch.array([0, 0, 4]), rotation=ch.zeros(3))
w, h = (320, 240)
from .camera import ProjectPoints
rn.camera = ProjectPoints(v=m.v,
rt=ch.zeros(3),
t=ch.zeros(3),
f=ch.array([w, w]) / 2.,
c=ch.array([w, h]) / 2.,
k=ch.zeros(5))
rn.frustum = {'near': 1., 'far': 10., 'width': w, 'height': h}
rn.set(v=m.v, f=m.f, bgcolor=ch.zeros(3))
if visualize:
import matplotlib.pyplot as plt
plt.ion()
plt.figure()
for which in range(3):
r1 = rn.r
adder = np.random.rand(rn.v.r.size).reshape(rn.v.r.shape) * .01
change = rn.v.r * 0 + adder
dr_pred = rn.dr_wrt(rn.v).dot(change.ravel()).reshape(rn.shape)
rn.v = rn.v.r + change
r2 = rn.r
dr_emp = r2 - r1
#print np.mean(np.abs(dr_pred-dr_emp))
self.assertLess(np.mean(np.abs(dr_pred - dr_emp)), .024)
if visualize:
plt.subplot(2, 3, which + 1)
plt.imshow(dr_pred)
plt.clim(-.01, .01)
plt.title('emp')
plt.subplot(2, 3, which + 4)
plt.imshow(dr_emp)
plt.clim(-.01, .01)
plt.title('pred')
plt.draw()
plt.show()
def test_depth_image(self):
# Create renderer
import chumpy as ch
from .renderer import DepthRenderer
rn = DepthRenderer()
# Assign attributes to renderer
from .util_tests import get_earthmesh
m = get_earthmesh(trans=ch.array([0, 0, 0]), rotation=ch.zeros(3))
m.v = m.v * .01
m.v[:, 2] += 4
w, h = (320, 240)
from .camera import ProjectPoints
rn.camera = ProjectPoints(v=m.v,
rt=ch.zeros(3),
t=ch.zeros(3),
f=ch.array([w, w]) / 2.,
c=ch.array([w, h]) / 2.,
k=ch.zeros(5))
rn.frustum = {'near': 1., 'far': 10., 'width': w, 'height': h}
rn.set(v=m.v, f=m.f, vc=m.vc * 0 + 1, bgcolor=ch.zeros(3))
# import time
# tm = time.time()
# rn.r
# print 'took %es' % (time.time() - tm)
# print np.min(rn.r.ravel())
# print np.max(rn.r.ravel())
self.assertLess(np.abs(np.min(rn.r.ravel()) - 3.98), 1e-5)
self.assertLess(np.abs(np.min(m.v[:, 2]) - np.min(rn.r.ravel())), 1e-5)
self.assertLess(np.abs(rn.r[h / 2, w / 2] - 3.98), 1e-5)
def test_derivatives2(self):
import chumpy as ch
import numpy as np
from renderer import DepthRenderer
rn = DepthRenderer()
# Assign attributes to renderer
from util_tests import get_earthmesh
m = get_earthmesh(trans=ch.array([0,0,4]), rotation=ch.zeros(3))
w, h = (320, 240)
from camera import ProjectPoints
rn.camera = ProjectPoints(v=m.v, rt=ch.zeros(3), t=ch.zeros(3), f=ch.array([w,w])/2., c=ch.array([w,h])/2., k=ch.zeros(5))
rn.frustum = {'near': 1., 'far': 10., 'width': w, 'height': h}
rn.set(v=m.v, f=m.f, bgcolor=ch.zeros(3))
if visualize:
import matplotlib.pyplot as plt
plt.ion()
plt.figure()
for which in range(3):
r1 = rn.r
adder = np.random.rand(rn.v.r.size).reshape(rn.v.r.shape)*.01
change = rn.v.r * 0 + adder
dr_pred = rn.dr_wrt(rn.v).dot(change.ravel()).reshape(rn.shape)
rn.v = rn.v.r + change
r2 = rn.r
dr_emp = r2 - r1
#print np.mean(np.abs(dr_pred-dr_emp))
self.assertLess(np.mean(np.abs(dr_pred-dr_emp)), .024)
if visualize:
plt.subplot(2,3,which+1)
plt.imshow(dr_pred)
plt.clim(-.01,.01)
plt.title('emp')
plt.subplot(2,3,which+4)
plt.imshow(dr_emp)
plt.clim(-.01,.01)
plt.title('pred')
plt.draw()
plt.show()
