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# 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()
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