File size: 2,488 Bytes
cf8614b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 | import unittest
from tests.core import TestCore
from pyrep.const import RenderMode
from pyrep.sensors.spherical_vision_sensor import SphericalVisionSensor
class TestSphericalVisionSensors(TestCore):
def setUp(self):
super().setUp()
[self.pyrep.step() for _ in range(10)]
self.spherical_vision_sensor = SphericalVisionSensor('sphericalVisionRGBAndDepth')
def test_handle_explicitly(self):
# non-blank image
self.spherical_vision_sensor.handle_explicitly()
rgb = self.spherical_vision_sensor.capture_rgb()
self.assertNotEqual(rgb.sum(), 0)
def test_capture_rgb(self):
img = self.spherical_vision_sensor.capture_rgb()
self.assertEqual(img.shape, (256, 512, 3))
# Check that it's not a blank image
self.assertFalse(img.min() == img.max() == 0.0)
def test_capture_depth(self):
img = self.spherical_vision_sensor.capture_depth()
self.assertEqual(img.shape, (256, 512))
# Check that it's not a blank depth map
self.assertFalse(img.min() == img.max() == 1.0)
def test_get_set_resolution(self):
self.spherical_vision_sensor.set_resolution([480, 240])
self.assertEqual(self.spherical_vision_sensor.get_resolution(), [480, 240])
self.assertEqual(self.spherical_vision_sensor.capture_rgb().shape, (240, 480, 3))
def test_get_set_render_mode(self):
for render_mode in [RenderMode.OPENGL, RenderMode.OPENGL3]:
self.spherical_vision_sensor.set_render_mode(render_mode)
self.assertEqual(self.spherical_vision_sensor.get_render_mode(), render_mode)
def test_get_set_near_clipping_plane(self):
self.spherical_vision_sensor.set_near_clipping_plane(0.1)
self.assertAlmostEqual(self.spherical_vision_sensor.get_near_clipping_plane(), 0.1)
def test_get_set_far_clipping_plane(self):
self.spherical_vision_sensor.set_far_clipping_plane(0.1)
self.assertAlmostEqual(self.spherical_vision_sensor.get_far_clipping_plane(), 0.1)
def test_get_set_windowed_size(self):
self.spherical_vision_sensor.set_windowed_size((640, 480))
self.assertEqual(self.spherical_vision_sensor.get_windowed_size(), (640, 480))
def test_get_set_entity_to_render(self):
self.spherical_vision_sensor.set_entity_to_render(-1)
self.assertEqual(self.spherical_vision_sensor.get_entity_to_render(), -1)
if __name__ == '__main__':
unittest.main()
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