Spaces:
Running
Running
| # Copyright (c) Meta Platforms, Inc. and affiliates. | |
| # All rights reserved. | |
| # | |
| # This source code is licensed under the BSD-style license found in the | |
| # LICENSE file in the root directory of this source tree. | |
| """Test right hand/left hand system compatibility.""" | |
| import logging | |
| import sys | |
| import unittest | |
| from os import path | |
| import torch | |
| from ..common_testing import TestCaseMixin | |
| # Making sure you can run this, even if pulsar hasn't been installed yet. | |
| sys.path.insert(0, path.join(path.dirname(__file__), "..", "..")) | |
| devices = [torch.device("cuda"), torch.device("cpu")] | |
| class TestHands(TestCaseMixin, unittest.TestCase): | |
| """Test right hand/left hand system compatibility.""" | |
| def test_basic(self): | |
| """Basic forward test.""" | |
| from pytorch3d.renderer.points.pulsar import Renderer | |
| n_points = 10 | |
| width = 1000 | |
| height = 1000 | |
| renderer_left = Renderer(width, height, n_points, right_handed_system=False) | |
| renderer_right = Renderer(width, height, n_points, right_handed_system=True) | |
| # Generate sample data. | |
| torch.manual_seed(1) | |
| vert_pos = torch.rand(n_points, 3, dtype=torch.float32) * 10.0 | |
| vert_pos[:, 2] += 25.0 | |
| vert_pos[:, :2] -= 5.0 | |
| vert_pos_neg = vert_pos.clone() | |
| vert_pos_neg[:, 2] *= -1.0 | |
| vert_col = torch.rand(n_points, 3, dtype=torch.float32) | |
| vert_rad = torch.rand(n_points, dtype=torch.float32) | |
| cam_params = torch.tensor( | |
| [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0, 2.0], dtype=torch.float32 | |
| ) | |
| for device in devices: | |
| vert_pos = vert_pos.to(device) | |
| vert_pos_neg = vert_pos_neg.to(device) | |
| vert_col = vert_col.to(device) | |
| vert_rad = vert_rad.to(device) | |
| cam_params = cam_params.to(device) | |
| renderer_left = renderer_left.to(device) | |
| renderer_right = renderer_right.to(device) | |
| result_left = ( | |
| renderer_left.forward( | |
| vert_pos, | |
| vert_col, | |
| vert_rad, | |
| cam_params, | |
| 1.0e-1, | |
| 45.0, | |
| percent_allowed_difference=0.01, | |
| ) | |
| .cpu() | |
| .detach() | |
| .numpy() | |
| ) | |
| hits_left = ( | |
| renderer_left.forward( | |
| vert_pos, | |
| vert_col, | |
| vert_rad, | |
| cam_params, | |
| 1.0e-1, | |
| 45.0, | |
| percent_allowed_difference=0.01, | |
| mode=1, | |
| ) | |
| .cpu() | |
| .detach() | |
| .numpy() | |
| ) | |
| result_right = ( | |
| renderer_right.forward( | |
| vert_pos_neg, | |
| vert_col, | |
| vert_rad, | |
| cam_params, | |
| 1.0e-1, | |
| 45.0, | |
| percent_allowed_difference=0.01, | |
| ) | |
| .cpu() | |
| .detach() | |
| .numpy() | |
| ) | |
| hits_right = ( | |
| renderer_right.forward( | |
| vert_pos_neg, | |
| vert_col, | |
| vert_rad, | |
| cam_params, | |
| 1.0e-1, | |
| 45.0, | |
| percent_allowed_difference=0.01, | |
| mode=1, | |
| ) | |
| .cpu() | |
| .detach() | |
| .numpy() | |
| ) | |
| self.assertClose(result_left, result_right) | |
| self.assertClose(hits_left, hits_right) | |
| if __name__ == "__main__": | |
| logging.basicConfig(level=logging.INFO) | |
| logging.getLogger("pulsar.renderer").setLevel(logging.WARN) | |
| unittest.main() | |