OpenMotionLab/MotionGPT

1import numpy as np2import pytest3from trimesh import transformations4 5from pyrender import (DirectionalLight, PerspectiveCamera, Mesh, Node)6 7 8def test_nodes():9 10    x = Node()11    assert x.name is None12    assert x.camera is None13    assert x.children == []14    assert x.skin is None15    assert np.allclose(x.matrix, np.eye(4))16    assert x.mesh is None17    assert np.allclose(x.rotation, [0,0,0,1])18    assert np.allclose(x.scale, np.ones(3))19    assert np.allclose(x.translation, np.zeros(3))20    assert x.weights is None21    assert x.light is None22 23    x.name = 'node'24 25    # Test node light/camera/mesh tests26    c = PerspectiveCamera(yfov=2.0)27    m = Mesh([])28    d = DirectionalLight()29    x.camera = c30    assert x.camera == c31    with pytest.raises(TypeError):32        x.camera = m33        x.camera = d34    x.camera = None35    x.mesh = m36    assert x.mesh == m37    with pytest.raises(TypeError):38        x.mesh = c39        x.mesh = d40    x.light = d41    assert x.light == d42    with pytest.raises(TypeError):43        x.light = m44        x.light = c45 46    # Test transformations getters/setters/etc...47    # Set up test values48    x = np.array([1.0, 0.0, 0.0])49    y = np.array([0.0, 1.0, 0.0])50    t = np.array([1.0, 2.0, 3.0])51    s = np.array([0.5, 2.0, 1.0])52 53    Mx = transformations.rotation_matrix(np.pi / 2.0, x)54    qx = np.roll(transformations.quaternion_about_axis(np.pi / 2.0, x), -1)55    Mxt = Mx.copy()56    Mxt[:3,3] = t57    S = np.eye(4)58    S[:3,:3] = np.diag(s)59    Mxts = Mxt.dot(S)60 61    My = transformations.rotation_matrix(np.pi / 2.0, y)62    qy = np.roll(transformations.quaternion_about_axis(np.pi / 2.0, y), -1)63    Myt = My.copy()64    Myt[:3,3] = t65 66    x = Node(matrix=Mx)67    assert np.allclose(x.matrix, Mx)68    assert np.allclose(x.rotation, qx)69    assert np.allclose(x.translation, np.zeros(3))70    assert np.allclose(x.scale, np.ones(3))71 72    x.matrix = My73    assert np.allclose(x.matrix, My)74    assert np.allclose(x.rotation, qy)75    assert np.allclose(x.translation, np.zeros(3))76    assert np.allclose(x.scale, np.ones(3))77    x.translation = t78    assert np.allclose(x.matrix, Myt)79    assert np.allclose(x.rotation, qy)80    x.rotation = qx81    assert np.allclose(x.matrix, Mxt)82    x.scale = s83    assert np.allclose(x.matrix, Mxts)84 85    x = Node(matrix=Mxt)86    assert np.allclose(x.matrix, Mxt)87    assert np.allclose(x.rotation, qx)88    assert np.allclose(x.translation, t)89    assert np.allclose(x.scale, np.ones(3))90 91    x = Node(matrix=Mxts)92    assert np.allclose(x.matrix, Mxts)93    assert np.allclose(x.rotation, qx)94    assert np.allclose(x.translation, t)95    assert np.allclose(x.scale, s)96 97    # Individual element getters98    x.scale[0] = 099    assert np.allclose(x.scale[0], 0)100 101    x.translation[0] = 0102    assert np.allclose(x.translation[0], 0)103 104    x.matrix = np.eye(4)105    x.matrix[0,0] = 500106    assert x.matrix[0,0] == 1.0107 108    # Failures109    with pytest.raises(ValueError):110        x.matrix = 5 * np.eye(4)111    with pytest.raises(ValueError):112        x.matrix = np.eye(5)113    with pytest.raises(ValueError):114        x.matrix = np.eye(4).dot([5,1,1,1])115    with pytest.raises(ValueError):116        x.rotation = np.array([1,2])117    with pytest.raises(ValueError):118        x.rotation = np.array([1,2,3])119    with pytest.raises(ValueError):120        x.rotation = np.array([1,2,3,4])121    with pytest.raises(ValueError):122        x.translation = np.array([1,2,3,4])123    with pytest.raises(ValueError):124        x.scale = np.array([1,2,3,4])125