Fixed fov degrees/radians confusion. Added first rendertests. More te…

…sts and proper image comparison needed
wtzmx · Nov 7, 2017 · 3512796 · 3512796
1 parent 6547d3b
commit 3512796
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Showing 9 changed files with 34 additions and 29 deletions.
diff --git a/include/MatterSim.hpp b/include/MatterSim.hpp
@@ -88,9 +88,9 @@ namespace mattersim {
         void setCameraResolution(int width, int height);
 
         /**
-         * Sets camera vertical field-of-view in degrees. Default is 45 degrees.
+         * Sets camera vertical field-of-view in radians. Default is 0.8, approx 46 degrees.
          */
-        void setCameraFOV(double vfov);
+        void setCameraVFOV(double vfov);
 
         /**
          * Enable or disable rendering. Useful for testing. Default is true (enabled).

diff --git a/sim_imgs/.gitkeep b/sim_imgs/.gitkeep
diff --git a/src/lib/MatterSim.cpp b/src/lib/MatterSim.cpp
@@ -67,7 +67,7 @@ void setupCubeMap(GLuint& texture, cv::Mat &xpos, cv::Mat &xneg, cv::Mat &ypos,
 Simulator::Simulator() :state{new SimState()},
                         width(320),
                         height(240),
-                        vfov(45.0),
+                        vfov(0.8),
                         minElevation(-0.94),
                         maxElevation(0.94),
                         navGraphPath("./connectivity"),
@@ -90,7 +90,7 @@ void Simulator::setCameraResolution(int width, int height) {
     this->height = height;
 }
 
-void Simulator::setCameraFOV(double vfov) {
+void Simulator::setCameraVFOV(double vfov) {
     this->vfov = vfov;
 }
 
@@ -273,7 +273,7 @@ void Simulator::populateNavigable() {
     cv::Point3f curPos = state->location->point;
     double adjustedheading = M_PI / 2 - state->heading;
     glm::vec3 camera_dir(cos(adjustedheading), sin(adjustedheading), 0.f);
-    double cos_half_hfov = cos(vfov * width / height * M_PI / 180.f / 2.f);
+    double cos_half_hfov = cos(vfov * width / height / 2.f);
     for (unsigned int i = 0; i < locations.size(); ++i) {
         if (i == idx) {
             // Current location is pushed first

diff --git a/src/lib_python/MatterSimPython.cpp b/src/lib_python/MatterSimPython.cpp
@@ -80,8 +80,8 @@ namespace mattersim {
         void setCameraResolution(int width, int height) {
             sim.setCameraResolution(width, height);
         }
-        void setCameraFOV(double vfov) {
-            sim.setCameraFOV(vfov);
+        void setCameraVFOV(double vfov) {
+            sim.setCameraVFOV(vfov);
         }
         void init() {
             sim.init();
@@ -130,7 +130,7 @@ PYBIND11_MODULE(MatterSim, m) {
         .def("setDatasetPath", &SimulatorPython::setDatasetPath)
         .def("setNavGraphPath", &SimulatorPython::setNavGraphPath)
         .def("setCameraResolution", &SimulatorPython::setCameraResolution)
-        .def("setCameraFOV", &SimulatorPython::setCameraFOV)
+        .def("setCameraFOV", &SimulatorPython::setCameraVFOV)
         .def("init", &SimulatorPython::init)
         .def("setSeed", &SimulatorPython::setSeed)
         .def("setElevationLimits", &SimulatorPython::setElevationLimits)

diff --git a/src/test/main.cpp b/src/test/main.cpp
@@ -39,7 +39,7 @@ TEST_CASE( "Simulator can start new episodes and do simple motion", "[Simulator]
     std::vector<std::string> viewpointIds {"cc34e9176bfe47ebb23c58c165203134", "5b9b2794954e4694a45fc424a8643081"};
     Simulator sim;
     sim.setCameraResolution(200,100); // width,height
-    sim.setCameraFOV(45); // 45deg vfov, 90deg hfov
+    sim.setCameraVFOV(radians(45)); // 45deg vfov, 90deg hfov
     sim.setRenderingEnabled(false);
     CHECK(sim.setElevationLimits(radians(-40),radians(50)));
     REQUIRE_NOTHROW(sim.init());
@@ -75,7 +75,7 @@ TEST_CASE( "Simulator state->navigableLocations is correct", "[Simulator]" ) {
     }
     Simulator sim;
     sim.setCameraResolution(20,20); // don't really care about the image
-    sim.setCameraFOV(90); // 90deg vfov, 90deg hfov
+    sim.setCameraVFOV(radians(90)); // 90deg vfov, 90deg hfov
     double half_hfov = M_PI/4;
     sim.setRenderingEnabled(false);
     sim.setSeed(1);
@@ -201,8 +201,8 @@ TEST_CASE( "Simulator state->navigableLocations is correct", "[Simulator]" ) {
 TEST_CASE( "Simulator state->rgb is correct", "[Simulator, Rendering]" ) {
 
     Simulator sim;
-    sim.setCameraResolution(200,100); // width,height
-    sim.setCameraFOV(45); // 45deg vfov, 90deg hfov
+    sim.setCameraResolution(640,480); // width,height
+    sim.setCameraVFOV(radians(60)); // 60deg vfov, 80deg hfov
     CHECK(sim.setElevationLimits(radians(-40),radians(50)));
     REQUIRE_NOTHROW(sim.init());
     Json::Value root;
@@ -219,10 +219,15 @@ TEST_CASE( "Simulator state->rgb is correct", "[Simulator, Rendering]" ) {
         auto heading = testcase["heading"].asFloat();
         auto elevation = testcase["elevation"].asFloat();
 
-        REQUIRE_NOTHROW(sim.newEpisode(scanId, viewpointId, radians(heading), radians(elevation)));
+        REQUIRE_NOTHROW(sim.newEpisode(scanId, viewpointId, heading, elevation));
 
         SimStatePtr state = sim.getState();
-        auto reference_image = cv::imread(imgfile);
+        cv::imwrite("sim_imgs/"+imgfile, state->rgb);
+
+        //cv::imshow("displaywin", state->rgb);
+        //int key = cv::waitKey(1000);
+
+        auto reference_image = cv::imread("webgl_imgs/"+imgfile);
         double err = cv::norm(reference_image, state->rgb, CV_L2);
         err /= reference_image.rows * reference_image.cols;
         CHECK(err < 0.1);

diff --git a/src/test/rendertest_spec.json b/src/test/rendertest_spec.json
@@ -1,15 +1,15 @@
-[{"reference_image":"foo.jpg",
-  "scanId":"2t7WUuJeko7",
-  "viewpointId":"cc34e9176bfe47ebb23c58c165203134",
-  "heading":1.5,
-  "elevation":0},
- {"reference_image":"foo.jpg",
-  "scanId":"2t7WUuJeko7",
-  "viewpointId":"cc34e9176bfe47ebb23c58c165203134",
-  "heading":1.53,
-  "elevation":0},
- {"reference_image":"foo.jpg",
-  "scanId":"2t7WUuJeko7",
-  "viewpointId":"cc34e9176bfe47ebb23c58c165203134",
-  "heading":1.5,
-  "elevation":-0.08}]
+[{"reference_image":"17DRP5sb8fy_10c252c90fa24ef3b698c6f54d984c5c.png",
+  "scanId":"17DRP5sb8fy",
+  "viewpointId":"10c252c90fa24ef3b698c6f54d984c5c",
+  "heading":3.5062574734165004,
+  "elevation":0.019270390413879606},
+ {"reference_image":"17DRP5sb8fy_85c23efeaecd4d43a7dcd5b90137179e.png",
+  "scanId":"17DRP5sb8fy",
+  "viewpointId":"85c23efeaecd4d43a7dcd5b90137179e",
+  "heading":2.551961945320492,
+  "elevation":0.008557380839564054},
+ {"reference_image":"17DRP5sb8fy_da5fa65c13e643719a20cbb818c9a85d.png",
+  "scanId":"17DRP5sb8fy",
+  "viewpointId":"da5fa65c13e643719a20cbb818c9a85d",
+  "heading":4.67491975988158,
+  "elevation":0.008536541120190906}]
diff --git a/webgl_imgs/17DRP5sb8fy_10c252c90fa24ef3b698c6f54d984c5c.png b/webgl_imgs/17DRP5sb8fy_10c252c90fa24ef3b698c6f54d984c5c.png
diff --git a/webgl_imgs/17DRP5sb8fy_85c23efeaecd4d43a7dcd5b90137179e.png b/webgl_imgs/17DRP5sb8fy_85c23efeaecd4d43a7dcd5b90137179e.png
diff --git a/webgl_imgs/17DRP5sb8fy_da5fa65c13e643719a20cbb818c9a85d.png b/webgl_imgs/17DRP5sb8fy_da5fa65c13e643719a20cbb818c9a85d.png