File size: 4,005 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 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 | import unittest
from tests.core import TestCore
from pyrep.objects.vision_sensor import VisionSensor
from pyrep.const import RenderMode, PerspectiveMode
class TestVisionSensors(TestCore):
def setUp(self):
super().setUp()
[self.pyrep.step() for _ in range(10)]
self.cam = VisionSensor('cam0')
def test_handle_explicitly(self):
cam = VisionSensor.create((640, 480))
# blank image
rgb = cam.capture_rgb()
self.assertEqual(rgb.sum(), 0)
# non-blank image
cam.set_explicit_handling(value=1)
cam.handle_explicitly()
rgb = cam.capture_rgb()
self.assertNotEqual(rgb.sum(), 0)
cam.remove()
def test_capture_rgb(self):
img = self.cam.capture_rgb()
self.assertEqual(img.shape, (16, 16, 3))
# Check that it's not a blank image
self.assertFalse(img.min() == img.max() == 0.0)
def test_capture_depth(self):
img = self.cam.capture_depth()
self.assertEqual(img.shape, (16, 16))
# Check that it's not a blank depth map
self.assertFalse(img.min() == img.max() == 1.0)
def test_capture_pointcloud(self):
img = self.cam.capture_pointcloud()
self.assertEqual(img.shape, (16, 16, 3))
# Check that it's not a blank depth map
self.assertFalse(img.min() == img.max() == 1.0)
def test_create(self):
cam = VisionSensor.create([640, 480],
perspective_mode=True,
view_angle=35.0,
near_clipping_plane=0.25,
far_clipping_plane=5.0,
render_mode=RenderMode.OPENGL3)
self.assertEqual(cam.capture_rgb().shape, (480, 640, 3))
self.assertEqual(cam.get_perspective_mode(), PerspectiveMode.PERSPECTIVE)
self.assertAlmostEqual(cam.get_perspective_angle(), 35.0, 3)
self.assertEqual(cam.get_near_clipping_plane(), 0.25)
self.assertEqual(cam.get_far_clipping_plane(), 5.0)
self.assertEqual(cam.get_render_mode(), RenderMode.OPENGL3)
def test_get_set_resolution(self):
self.cam.set_resolution([320, 240])
self.assertEqual(self.cam.get_resolution(), [320, 240])
self.assertEqual(self.cam.capture_rgb().shape, (240, 320, 3))
def test_get_set_perspective_mode(self):
for perspective_mode in PerspectiveMode:
self.cam.set_perspective_mode(perspective_mode)
self.assertEqual(
self.cam.get_perspective_mode(),
perspective_mode
)
def test_get_set_render_mode(self):
for render_mode in [RenderMode.OPENGL, RenderMode.OPENGL3]:
self.cam.set_render_mode(render_mode)
self.assertEqual(self.cam.get_render_mode(), render_mode)
def test_get_set_perspective_angle(self):
self.cam.set_perspective_angle(45.0)
self.assertAlmostEqual(self.cam.get_perspective_angle(), 45.0, 3)
def test_get_set_orthographic_size(self):
self.cam.set_orthographic_size(1.0)
self.assertEqual(self.cam.get_orthographic_size(), 1.0)
def test_get_set_near_clipping_plane(self):
self.cam.set_near_clipping_plane(0.5)
self.assertEqual(self.cam.get_near_clipping_plane(), 0.5)
def test_get_set_far_clipping_plane(self):
self.cam.set_far_clipping_plane(0.5)
self.assertEqual(self.cam.get_far_clipping_plane(), 0.5)
def test_get_set_windowed_size(self):
self.cam.set_windowed_size((640, 480))
self.assertEqual(self.cam.get_windowed_size(), (640, 480))
def test_get_set_entity_to_render(self):
self.cam.set_entity_to_render(-1)
self.assertEqual(self.cam.get_entity_to_render(), -1)
def test_get_intrinsic_matrix(self):
i = self.cam.get_intrinsic_matrix()
self.assertEqual(i.shape, (3, 3))
if __name__ == '__main__':
unittest.main()
|