""" Test Mesh Projection Verifies that Franka mesh projection works correctly with camera calibration. Optionally visualizes the projected points on images. """ import sys import numpy as np from pathlib import Path import argparse # Add parent directory to path sys.path.append(str(Path(__file__).parent.parent)) from utils.load_camera_calibration import CameraCalibrationLoader from utils.franka_mesh_projection import FrankaMeshProjector def test_forward_kinematics(): """Test forward kinematics computation.""" print("=" * 60) print("Test 1: Forward Kinematics") print("=" * 60) try: projector = FrankaMeshProjector(use_gui=False) # Test joint configurations joint_configs = { 'home': np.array([0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785]), 'extended': np.array([0.0, 0.0, 0.0, -1.571, 0.0, 1.571, 0.785]), 'folded': np.array([0.0, -1.571, 0.0, -2.356, 0.0, 0.785, 0.0]), } for name, joint_pos in joint_configs.items(): pos, orn = projector.forward_kinematics(joint_pos) print(f"\n {name} configuration:") print(f" EE position: [{pos[0]:.3f}, {pos[1]:.3f}, {pos[2]:.3f}]") print(f" EE orientation (quat): [{orn[0]:.3f}, {orn[1]:.3f}, {orn[2]:.3f}, {orn[3]:.3f}]") print("\n✓ Forward kinematics working!") return True except Exception as e: print(f"✗ Forward kinematics failed: {e}") import traceback traceback.print_exc() return False def test_mesh_extraction(): """Test gripper mesh vertex extraction.""" print("\n" + "=" * 60) print("Test 2: Gripper Mesh Vertex Extraction") print("=" * 60) try: projector = FrankaMeshProjector(use_gui=False) joint_pos = np.array([0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785]) mesh_vertices = projector.get_gripper_mesh_vertices(joint_pos) print(f"✓ Extracted {len(mesh_vertices)} mesh vertices") print(f" Vertex positions (first 7):") for i, vertex in enumerate(mesh_vertices[:7]): print(f" {i}: [{vertex[0]:.4f}, {vertex[1]:.4f}, {vertex[2]:.4f}]") # Verify we have exactly 7 vertices assert len(mesh_vertices) == 7, f"Expected 7 vertices, got {len(mesh_vertices)}" return True except Exception as e: print(f"✗ Mesh extraction failed: {e}") import traceback traceback.print_exc() return False def test_grid_generation(): """Test 5x5 grid point generation.""" print("\n" + "=" * 60) print("Test 3: Grid Point Generation") print("=" * 60) try: projector = FrankaMeshProjector(use_gui=False) grid_points = projector.generate_grid_points(img_h=448, img_w=448, grid_size=5) print(f"✓ Generated {len(grid_points)} grid points") print(f" Grid points (corners):") print(f" Top-left: [{grid_points[0, 0]:.1f}, {grid_points[0, 1]:.1f}]") print(f" Top-right: [{grid_points[4, 0]:.1f}, {grid_points[4, 1]:.1f}]") print(f" Bottom-left: [{grid_points[20, 0]:.1f}, {grid_points[20, 1]:.1f}]") print(f" Bottom-right: [{grid_points[24, 0]:.1f}, {grid_points[24, 1]:.1f}]") print(f" Center: [{grid_points[12, 0]:.1f}, {grid_points[12, 1]:.1f}]") # Verify we have exactly 25 points assert len(grid_points) == 25, f"Expected 25 grid points, got {len(grid_points)}" # Verify points are in image bounds assert np.all(grid_points >= 0) and np.all(grid_points <= 448), "Grid points outside image bounds" return True except Exception as e: print(f"✗ Grid generation failed: {e}") import traceback traceback.print_exc() return False def test_32_point_projection(): """Test full 32-point projection (25 grid + 7 mesh).""" print("\n" + "=" * 60) print("Test 4: 32-Point Projection") print("=" * 60) try: # Load camera calibration uuid = "AUTOLab+0d4edc83+2023-10-21-19h-02m-35s" calib_loader = CameraCalibrationLoader() dual_params = calib_loader.get_dual_view_params(uuid) # Initialize projector projector = FrankaMeshProjector(use_gui=False) # Test joint configuration joint_pos = np.array([0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785]) # Project for both views for view_name, (K, E) in dual_params.items(): points_32, visibility_32 = projector.project_32_points( joint_pos, K, E, img_h=448, img_w=448 ) print(f"\n {view_name}:") print(f" Total points: {len(points_32)}") print(f" Grid points (25): {points_32[:25].shape}") print(f" Mesh points (7): {points_32[25:].shape}") print(f" Visible: {visibility_32.sum()}/{len(visibility_32)}") print(f" Point range: X=[{points_32[:, 0].min():.1f}, {points_32[:, 0].max():.1f}], " f"Y=[{points_32[:, 1].min():.1f}, {points_32[:, 1].max():.1f}]") # Verify shape assert points_32.shape == (32, 2), f"Expected (32, 2), got {points_32.shape}" assert visibility_32.shape == (32,), f"Expected (32,), got {visibility_32.shape}" # Grid should always be visible assert np.all(visibility_32[:25]), "Grid points should all be visible" print("\n✓ 32-point projection working!") return True except Exception as e: print(f"✗ 32-point projection failed: {e}") import traceback traceback.print_exc() return False def test_with_visualization(output_dir: str = "/tmp/droid_projection_test"): """Test projection with visualization (requires matplotlib).""" print("\n" + "=" * 60) print("Test 5: Projection Visualization") print("=" * 60) try: import matplotlib.pyplot as plt import matplotlib.patches as patches # Setup uuid = "AUTOLab+0d4edc83+2023-10-21-19h-02m-35s" calib_loader = CameraCalibrationLoader() dual_params = calib_loader.get_dual_view_params(uuid) projector = FrankaMeshProjector(use_gui=False) # Create output directory output_path = Path(output_dir) output_path.mkdir(parents=True, exist_ok=True) # Test multiple joint configurations joint_configs = { 'home': np.array([0.0, -0.785, 0.0, -2.356, 0.0, 1.571, 0.785]), 'extended': np.array([0.0, 0.0, 0.0, -1.571, 0.0, 1.571, 0.785]), } for config_name, joint_pos in joint_configs.items(): fig, axes = plt.subplots(1, 2, figsize=(12, 6)) fig.suptitle(f"32-Point Projection - {config_name} configuration", fontsize=14) for ax_idx, (view_name, (K, E)) in enumerate(dual_params.items()): # Project points points_32, vis_32 = projector.project_32_points( joint_pos, K, E, img_h=448, img_w=448 ) # Create blank image ax = axes[ax_idx] ax.set_xlim(0, 448) ax.set_ylim(448, 0) # Flip Y axis for image coordinates ax.set_aspect('equal') ax.set_title(f"{view_name}") ax.set_xlabel("X (pixels)") ax.set_ylabel("Y (pixels)") # Draw grid points (blue) grid_points = points_32[:25] ax.scatter(grid_points[:, 0], grid_points[:, 1], c='blue', s=50, alpha=0.6, label='Grid (25)') # Draw mesh points (red) mesh_points = points_32[25:] mesh_vis = vis_32[25:] ax.scatter(mesh_points[mesh_vis, 0], mesh_points[mesh_vis, 1], c='red', s=100, marker='x', linewidths=2, label='Mesh (7)') # Draw invisible mesh points (gray) if not np.all(mesh_vis): ax.scatter(mesh_points[~mesh_vis, 0], mesh_points[~mesh_vis, 1], c='gray', s=50, marker='o', alpha=0.3, label='Invisible') ax.legend() ax.grid(True, alpha=0.3) # Save figure output_file = output_path / f"projection_{config_name}.png" plt.tight_layout() plt.savefig(output_file, dpi=150) plt.close() print(f" ✓ Saved visualization: {output_file}") print(f"\n✓ Visualizations saved to {output_path}") return True except ImportError: print(" ⚠ Matplotlib not available, skipping visualization test") return True except Exception as e: print(f"✗ Visualization failed: {e}") import traceback traceback.print_exc() return False def main(): """Run all tests.""" parser = argparse.ArgumentParser(description="Test Franka mesh projection") parser.add_argument('--visualize', action='store_true', help='Generate visualization plots') parser.add_argument('--output-dir', type=str, default='/tmp/droid_projection_test', help='Output directory for visualizations') args = parser.parse_args() print("\n" + "=" * 60) print("DROID Mesh Projection Test Suite") print("=" * 60 + "\n") tests = [ test_forward_kinematics, test_mesh_extraction, test_grid_generation, test_32_point_projection, ] if args.visualize: tests.append(lambda: test_with_visualization(args.output_dir)) results = [] for test_func in tests: try: result = test_func() results.append(result) except Exception as e: print(f"✗ Test crashed: {e}") import traceback traceback.print_exc() results.append(False) # Summary print("\n" + "=" * 60) print("Test Summary") print("=" * 60) passed = sum(results) total = len(results) print(f"Passed: {passed}/{total}") if passed == total: print("✓ All tests passed!") return 0 else: print(f"✗ {total - passed} test(s) failed") return 1 if __name__ == "__main__": sys.exit(main())