code: def test_simple_sphere_pulsar(self):
      for device in [torch.device("cpu"), torch.device("cuda")]:
          sphere_mesh = ico_sphere(1, device)
          verts_padded = sphere_mesh.verts_padded()
          # Shift vertices to check coordinate frames are correct.
          verts_padded[..., 1] += 0.2
          verts_padded[..., 0] += 0.2
          pointclouds = Pointclouds(
              points=verts_padded,
              features=torch.ones_like(verts_padded),
          )
          for azimuth in [0.0, 90.0]:
              R, T = look_at_view_transform(2.7, 0.0, azimuth)
              for camera_name, cameras in [
                  (
                      "fovperspective",
                      FoVPerspectiveCameras(device=device, R=R, T=T),
                  ),
                  (
                      "fovorthographic",
                      FoVOrthographicCameras(device=device, R=R, T=T),
                  ),
                  (
                      "perspective",
                      PerspectiveCameras(device=device, R=R, T=T),
                  ),
                  (
                      "orthographic",
                      OrthographicCameras(device=device, R=R, T=T),
                  ),
              ]:
                  raster_settings = PointsRasterizationSettings(
                      image_size=256, radius=5e-2, points_per_pixel=1
                  )
                  rasterizer = PointsRasterizer(
                      cameras=cameras, raster_settings=raster_settings
                  )
                  renderer = PulsarPointsRenderer(
                      rasterizer=rasterizer
                  ).to(device)
                  # Load reference image
                  filename = (
                      "pulsar_simple_pointcloud_sphere_"
                      f"azimuth{azimuth}_{camera_name}.png"
                  )
                  image_ref = load_rgb_image(
                      "test_%s" % filename, DATA_DIR
                  )
                  images = renderer(
                      pointclouds,
                      gamma=(1e-3,),
                      znear=(1.0,),
                      zfar=(100.0,),
                  )
                  rgb = images[0, ..., :3].squeeze().cpu()
                  if DEBUG:
                      filename = "DEBUG_%s" % filename
                      Image.fromarray(
                          (rgb.numpy() * 255).astype(np.uint8)
                      ).save(DATA_DIR / filename)
                  self.assertClose(rgb, image_ref, rtol=7e-3, atol=5e-3)
  
imports: import unittest
  import warnings
  from os import path
  import numpy
  import torch
  from PIL import Image
  from pytorch3d.renderer.cameras import FoVOrthographicCameras, FoVPerspectiveCameras, look_at_view_transform, OrthographicCameras, PerspectiveCameras
  from pytorch3d.renderer.compositing import alpha_composite, norm_weighted_sum
  from pytorch3d.renderer.fisheyecameras import FishEyeCameras
  from pytorch3d.renderer.points import AlphaCompositor, NormWeightedCompositor, PointsRasterizationSettings, PointsRasterizer, PointsRenderer, PulsarPointsRenderer
  from pytorch3d.structures.pointclouds import Pointclouds
  from pytorch3d.utils.ico_sphere import ico_sphere
  from .common_testing import get_pytorch3d_dir, get_tests_dir, load_rgb_image, TestCaseMixin
label_desc: Use image node_id 3 for calling the TestRenderPoints obj's underlying member method code with example usage: obj.test_simple_sphere_pulsar() without return types