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omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/utils.py | import random
import numpy as np
from pxr import Gf, Semantics
def add_semantics(prim, semantic_label, semantic_type="class"):
if not prim.HasAPI(Semantics.SemanticsAPI):
sem = Semantics.SemanticsAPI.Apply(prim, "Semantics")
sem.CreateSemanticTypeAttr()
sem.CreateSemanticDataAttr()
sem.GetSemanticTypeAttr().Set(semantic_type)
sem.GetSemanticDataAttr().Set(semantic_label)
def get_random_transform():
camera_tf = np.eye(4)
camera_tf[:3, :3] = Gf.Matrix3d(Gf.Rotation(np.random.rand(3).tolist(), np.random.rand(3).tolist()))
camera_tf[3, :3] = np.random.rand(3).tolist()
return Gf.Matrix4d(camera_tf)
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/pipeline/test_renderproduct_camera.py | import carb
from pxr import Gf, UsdGeom, UsdLux, Sdf
import omni.hydratexture
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
# Test the instance mapping pipeline
class TestRenderProductCamera(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
def render_product_path(self, hydra_texture) -> str:
'''Return a string to the UsdRender.Product used by the texture'''
render_product = hydra_texture.get_render_product_path()
if render_product and (not render_product.startswith('/')):
render_product = '/Render/RenderProduct_' + render_product
return render_product
def register_test_rp_cam_pipeline(self):
sdg_iface = SyntheticData.Get()
if not sdg_iface.is_node_template_registered("TestSimRpCam"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.SIMULATION,
"omni.syntheticdata.SdTestRenderProductCamera",
attributes={"inputs:stage":"simulation"}
),
template_name="TestSimRpCam"
)
if not sdg_iface.is_node_template_registered("TestPostRpCam"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.POST_RENDER,
"omni.syntheticdata.SdTestRenderProductCamera",
[SyntheticData.NodeConnectionTemplate("PostRenderProductCamera")],
attributes={"inputs:stage":"postRender"}
),
template_name="TestPostRpCam"
)
if not sdg_iface.is_node_template_registered("TestOnDemandRpCam"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND,
"omni.syntheticdata.SdTestRenderProductCamera",
[
SyntheticData.NodeConnectionTemplate("PostProcessRenderProductCamera"),
SyntheticData.NodeConnectionTemplate(
"PostProcessDispatch",
attributes_mapping={"outputs:renderResults": "inputs:renderResults"})
],
attributes={"inputs:stage":"onDemand"}
),
template_name="TestOnDemandRpCam"
)
def activate_test_rp_cam_pipeline(self, test_case_index):
sdg_iface = SyntheticData.Get()
attributes = {
"inputs:renderProductCameraPath": self._camera_path,
"inputs:width": self._resolution[0],
"inputs:height": self._resolution[1],
"inputs:traceError": True
}
sdg_iface.activate_node_template("TestSimRpCam", 0, [self.render_product_path(self._hydra_texture_0)], attributes)
sdg_iface.activate_node_template("TestPostRpCam", 0, [self.render_product_path(self._hydra_texture_0)], attributes)
sdg_iface.activate_node_template("TestOnDemandRpCam", 0, [self.render_product_path(self._hydra_texture_0)],attributes)
async def wait_for_num_frames(self, num_frames, max_num_frames=5000):
self._hydra_texture_rendered_counter = 0
wait_frames_left = max_num_frames
while (self._hydra_texture_rendered_counter < num_frames) and (wait_frames_left > 0):
await omni.kit.app.get_app().next_update_async()
wait_frames_left -= 1
async def setUp(self):
self._settings = carb.settings.acquire_settings_interface()
self._hydra_texture_factory = omni.hydratexture.acquire_hydra_texture_factory_interface()
self._usd_context_name = ''
self._usd_context = omni.usd.get_context(self._usd_context_name)
await self._usd_context.new_stage_async()
# camera
self._camera_path = "/TestRPCamera"
UsdGeom.Camera.Define(omni.usd.get_context().get_stage(), self._camera_path)
self._resolution = [980,540]
# renderer
renderer = "rtx"
if renderer not in self._usd_context.get_attached_hydra_engine_names():
omni.usd.add_hydra_engine(renderer, self._usd_context)
# create the hydra textures
self._hydra_texture_0 = self._hydra_texture_factory.create_hydra_texture(
"TEX0",
width=self._resolution[0],
height=self._resolution[1],
usd_context_name=self._usd_context_name,
usd_camera_path=self._camera_path,
hydra_engine_name=renderer,
is_async=self._settings.get("/app/asyncRendering")
)
self._hydra_texture_rendered_counter = 0
def on_hydra_texture_0(event: carb.events.IEvent):
self._hydra_texture_rendered_counter += 1
self._hydra_texture_rendered_counter_sub = self._hydra_texture_0.get_event_stream().create_subscription_to_push_by_type(
omni.hydratexture.EVENT_TYPE_DRAWABLE_CHANGED,
on_hydra_texture_0,
name='async rendering test drawable update',
)
self.register_test_rp_cam_pipeline()
async def tearDown(self):
self._hydra_texture_rendered_counter_sub = None
self._hydra_texture_0 = None
self._usd_context.close_stage()
omni.usd.release_all_hydra_engines(self._usd_context)
self._hydra_texture_factory = None
self._settings = None
wait_iterations = 6
for _ in range(wait_iterations):
await omni.kit.app.get_app().next_update_async()
async def test_case_0(self):
self.activate_test_rp_cam_pipeline(0)
await self.wait_for_num_frames(33)
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/pipeline/test_swh_frame_number.py | import carb
from pxr import Gf, UsdGeom, UsdLux, Sdf
import omni.hydratexture
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
# Test the Fabric frame number synchronization
class TestSWHFrameNumber(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
def render_product_path(self, hydra_texture) -> str:
'''Return a string to the UsdRender.Product used by the texture'''
render_product = hydra_texture.get_render_product_path()
if render_product and (not render_product.startswith('/')):
render_product = '/Render/RenderProduct_' + render_product
return render_product
async def wait_for_num_sims(self, num_sims, max_num_sims=5000):
self._hydra_texture_rendered_counter = 0
wait_sims_left = max_num_sims
while (self._hydra_texture_rendered_counter < num_sims) and (wait_sims_left > 0):
await omni.kit.app.get_app().next_update_async()
wait_sims_left -= 1
async def setUp(self):
self._settings = carb.settings.acquire_settings_interface()
self._hydra_texture_factory = omni.hydratexture.acquire_hydra_texture_factory_interface()
self._usd_context_name = ''
self._usd_context = omni.usd.get_context(self._usd_context_name)
await self._usd_context.new_stage_async()
# Setup the scene
stage = omni.usd.get_context().get_stage()
world_prim = UsdGeom.Xform.Define(stage,"/World")
UsdGeom.Xformable(world_prim).AddTranslateOp().Set((0, 0, 0))
UsdGeom.Xformable(world_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule0_prim = stage.DefinePrim("/World/Capsule0", "Capsule")
UsdGeom.Xformable(capsule0_prim).AddTranslateOp().Set((100, 0, 0))
UsdGeom.Xformable(capsule0_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule0_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule0_prim.GetAttribute("primvars:displayColor").Set([(0.3, 1, 0)])
capsule1_prim = stage.DefinePrim("/World/Capsule1", "Capsule")
UsdGeom.Xformable(capsule1_prim).AddTranslateOp().Set((-100, 0, 0))
UsdGeom.Xformable(capsule1_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule1_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule1_prim.GetAttribute("primvars:displayColor").Set([(0, 1, 0.3)])
spherelight = UsdLux.SphereLight.Define(stage, "/SphereLight")
spherelight.GetIntensityAttr().Set(30000)
spherelight.GetRadiusAttr().Set(30)
camera_1 = stage.DefinePrim("/Camera1", "Camera")
camera_1.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
UsdGeom.Xformable(camera_1).AddTranslateOp().Set((0, 250, 0))
UsdGeom.Xformable(camera_1).AddRotateXYZOp().Set((-90, 0, 0))
# renderer
renderer = "rtx"
if renderer not in self._usd_context.get_attached_hydra_engine_names():
omni.usd.add_hydra_engine(renderer, self._usd_context)
# create the hydra textures
self._hydra_texture_0 = self._hydra_texture_factory.create_hydra_texture(
"TEX0",
1920,
1080,
self._usd_context_name,
hydra_engine_name=renderer,
is_async=self._settings.get("/app/asyncRendering")
)
render_product_path_0 = self.render_product_path(self._hydra_texture_0)
self._hydra_texture_rendered_counter = 0
def on_hydra_texture_0(event: carb.events.IEvent):
self._hydra_texture_rendered_counter += 1
self._hydra_texture_rendered_counter_sub = self._hydra_texture_0.get_event_stream().create_subscription_to_push_by_type(
omni.hydratexture.EVENT_TYPE_DRAWABLE_CHANGED,
on_hydra_texture_0,
name='async rendering test drawable update',
)
self._hydra_texture_1 = self._hydra_texture_factory.create_hydra_texture(
"TEX1",
512,
512,
self._usd_context_name,
str(camera_1.GetPath()),
hydra_engine_name=renderer,
is_async=self._settings.get("/app/asyncRendering")
)
render_product_path_1 = self.render_product_path(self._hydra_texture_1)
# SyntheticData singleton interface
sdg_iface = SyntheticData.Get()
# Register node templates in the SyntheticData register
# (a node template is a template for creating a node specified by its type and its connections)
#
# to illustrate we are using the generic omni.syntheticdata.SdTestStageSynchronization node type which supports every stage of the SyntheticData pipeline. When executed it logs the fabric frame number.
#
# register a node template in the simulation stage
# NB : this node template has no connections
if not sdg_iface.is_node_template_registered("TestSyncSim"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.SIMULATION, # node tempalte stage
"omni.syntheticdata.SdTestStageSynchronization", # node template type
attributes={
"inputs:tag":"0",
"inputs:randomSeed": 13,
"inputs:randomMaxProcessingTimeUs": 33333,
"inputs:traceError": True
}
), # node template default attribute values (when differs from the default value specified in the .ogn)
template_name="TestSyncSim" # node template name
)
# register a node template in the postrender stage
# NB : this template may be activated for several different renderproducts
if not sdg_iface.is_node_template_registered("TestSyncPost"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.POST_RENDER, # node template stage
"omni.syntheticdata.SdTestStageSynchronization", # node template type
# node template connections
[
# connected to a TestSyncSim node (a TestSyncSim node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("TestSyncSim", (), None),
# connected to a LdrColorSD rendervar (the renderVar will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("LdrColorSD"),
# connected to a BoundingBox3DSD rendervar (the renderVar will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("BoundingBox3DSD")
],
attributes={
"inputs:randomSeed": 27,
"inputs:randomMaxProcessingTimeUs": 33333,
"inputs:traceError": True
}
),
template_name="TestSyncPost" # node template name
)
# register a node template in the postprocess stage
# NB : this template may be activated for several different renderproducts
if not sdg_iface.is_node_template_registered("TestSyncOnDemand"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node template stage
"omni.syntheticdata.SdTestStageSynchronization", # node template type
# node template connections
[
# connected to a TestSyncSim node (a TestSyncSim node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("TestSyncSim", (), None),
# connected to a PostProcessDispatch node : the PostProcessDispatch node trigger the execution of its downstream connections for every rendered frame
# (a PostProcessDispatch node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("PostProcessDispatch")
],
attributes={
"inputs:randomSeed": 51,
"inputs:randomMaxProcessingTimeUs": 33333,
"inputs:traceError": True
} # node template default attribute values (when differs from the default value specified in the .ogn)
),
template_name="TestSyncOnDemand" # node template name
)
# register a node template in the postprocess stage
# NB : this template may be activated for any combination of renderproduct pairs
if not sdg_iface.is_node_template_registered("TestSyncCross"):
# register an accumulator which trigger once when all its upstream connections have triggered
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node template stage
"omni.graph.action.RationalTimeSyncGate", # node template type
# node template connections
[
# connected to the PostProcessDispatcher for the synchronization value
SyntheticData.NodeConnectionTemplate(
"PostProcessDispatcher",
(),
{
"outputs:referenceTimeNumerator":"inputs:rationalTimeNumerator",
"outputs:referenceTimeDenominator":"inputs:rationalTimeDenominator"
}
),
# connected to a TestSyncOnDemand node for the first renderproduct (a TestSyncSim node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate(
"TestSyncOnDemand",
(0,),
{"outputs:exec":"inputs:execIn"}
),
# connected to a TestSyncOnDemand node for the second renderproduct (a TestSyncSim node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate(
"TestSyncOnDemand",
(1,),
{"outputs:exec":"inputs:execIn"}
),
]
),
template_name="TestSyncAccum" # node template name
)
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node template stage
"omni.syntheticdata.SdTestStageSynchronization", # node template type
# node template connections
[
# connected to a TestSyncAccum node (a TestSyncAccum node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate(
"TestSyncAccum",
(0,1),
{
"outputs:execOut":"inputs:exec",
"outputs:rationalTimeNumerator":"inputs:swhFrameNumber"
}
),
SyntheticData.NodeConnectionTemplate(
"PostProcessDispatch",
(0,),
{"outputs:renderResults":"inputs:renderResults"}
)
],
attributes={
"inputs:randomSeed": 62,
"inputs:randomMaxProcessingTimeUs": 33333,
"inputs:traceError": True
}
),
template_name="TestSyncCross" # node template name
)
# Activate the node templates for the renderproducts
# this will create the node (and all their missing dependencies) within the associated graphs
#
# activate the TestSyncSim
sdg_iface.activate_node_template("TestSyncSim")
# wait for the next update to make sure the simulation node is activated when activating the post-render and post-process nodes
# activate the TestSyncPost for the renderpoduct renderpoduct_0
# this will also activate the LdrColorSD and BoundingBox3DSD renderVars for the renderpoduct renderpoduct_0
# this will set the tag node attribute to "1"
sdg_iface.activate_node_template("TestSyncPost", 0, [render_product_path_0],{"inputs:tag":"1"})
# activate the TestSyncPost for the renderpoduct renderpoduct_1
# this will also activate the LdrColorSD and BoundingBox3DSD renderVars for the renderpoduct renderpoduct_1
# NB TestSyncSim has already been activated
# this will set the tag node attribute to "2"
sdg_iface.activate_node_template("TestSyncPost", 0, [render_product_path_1],{"inputs:tag":"2"})
# FIXME : wait a couple of simulation updates as a workaround of an issue with the first
# syncGate not being activated
await self.wait_for_num_sims(3)
# activate the TestSyncCross for the renderpoducts [renderproduct_0, renderproduct_1]
# this will also activate :
# - TestSyncAccum for the renderpoducts [renderproduct_0, renderproduct_1]
# - PostProcessDispatch for the renderpoduct renderproduct_0
# - TestSyncOnDemand for the renderproduct renderproduct_0
# - TestSyncOnDemand for the renderproduct renderproduct_1
# - PostProcessDispatch for the renderpoduct renderproduct_1
# this will set the tag node attribute to "5" and processingTime to 30000
sdg_iface.activate_node_template("TestSyncCross", 0, [render_product_path_0,render_product_path_1],{"inputs:tag":"5"})
# Set some specific attributes to nodes that have been automatically activated
# set the tag to the TestSyncOnDemand for renderproduct renderproduct_0
sdg_iface.set_node_attributes("TestSyncOnDemand",{"inputs:tag":"3"},render_product_path_0)
# set the tag to the TestSyncOnDemand for renderproduct renderproduct_1
sdg_iface.set_node_attributes("TestSyncOnDemand",{"inputs:tag":"4"},render_product_path_1)
# setup members
self._num_sims = 555
async def tearDown(self):
self._hydra_texture_rendered_counter_sub = None
self._hydra_texture_0 = None
self._hydra_texture_1 = None
self._usd_context.close_stage()
omni.usd.release_all_hydra_engines(self._usd_context)
self._hydra_texture_factory = None
self._settings = None
wait_iterations = 6
for _ in range(wait_iterations):
await omni.kit.app.get_app().next_update_async()
async def test_pipline(self):
""" Test swh frame synhronization
"""
await self.wait_for_num_sims(self._num_sims)
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/pipeline/test_instance_mapping.py | import carb
from pxr import Gf, UsdGeom, UsdLux, Sdf
import omni.hydratexture
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
# Test the instance mapping pipeline
class TestInstanceMapping(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
def render_product_path(self, hydra_texture) -> str:
'''Return a string to the UsdRender.Product used by the texture'''
render_product = hydra_texture.get_render_product_path()
if render_product and (not render_product.startswith('/')):
render_product = '/Render/RenderProduct_' + render_product
return render_product
def register_test_instance_mapping_pipeline(self):
sdg_iface = SyntheticData.Get()
if not sdg_iface.is_node_template_registered("TestSimSWHFrameNumber"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.SIMULATION,
"omni.syntheticdata.SdUpdateSwFrameNumber"
),
template_name="TestSimSWHFrameNumber"
)
if not sdg_iface.is_node_template_registered("TestSimInstanceMapping"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.SIMULATION,
"omni.syntheticdata.SdTestInstanceMapping",
[
SyntheticData.NodeConnectionTemplate("TestSimSWHFrameNumber", ())
],
{"inputs:stage":"simulation"}
),
template_name="TestSimInstanceMapping"
)
if not sdg_iface.is_node_template_registered("TestOnDemandInstanceMapping"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND,
"omni.syntheticdata.SdTestInstanceMapping",
[
SyntheticData.NodeConnectionTemplate("InstanceMappingPtrWithTransforms"),
SyntheticData.NodeConnectionTemplate("TestSimInstanceMapping", (), attributes_mapping={"outputs:exec": "inputs:exec"})
],
{"inputs:stage":"ondemand"}
),
template_name="TestOnDemandInstanceMapping"
)
def activate_test_instance_mapping_pipeline(self, case_index):
sdg_iface = SyntheticData.Get()
sdg_iface.activate_node_template("TestSimInstanceMapping", attributes={"inputs:testCaseIndex":case_index})
sdg_iface.activate_node_template("TestOnDemandInstanceMapping", 0,
[self.render_product_path(self._hydra_texture_0)],
{"inputs:testCaseIndex":case_index})
sdg_iface.connect_node_template("TestSimInstanceMapping",
"InstanceMappingPre", None,
{"outputs:semanticFilterPredicate":"inputs:semanticFilterPredicate"})
async def wait_for_num_frames(self, num_frames, max_num_frames=5000):
self._hydra_texture_rendered_counter = 0
wait_frames_left = max_num_frames
while (self._hydra_texture_rendered_counter < num_frames) and (wait_frames_left > 0):
await omni.kit.app.get_app().next_update_async()
wait_frames_left -= 1
async def setUp(self):
self._settings = carb.settings.acquire_settings_interface()
self._hydra_texture_factory = omni.hydratexture.acquire_hydra_texture_factory_interface()
self._usd_context_name = ''
self._usd_context = omni.usd.get_context(self._usd_context_name)
await self._usd_context.new_stage_async()
# renderer
renderer = "rtx"
if renderer not in self._usd_context.get_attached_hydra_engine_names():
omni.usd.add_hydra_engine(renderer, self._usd_context)
# create the hydra textures
self._hydra_texture_0 = self._hydra_texture_factory.create_hydra_texture(
"TEX0",
1920,
1080,
self._usd_context_name,
hydra_engine_name=renderer,
is_async=self._settings.get("/app/asyncRendering")
)
self._hydra_texture_rendered_counter = 0
def on_hydra_texture_0(event: carb.events.IEvent):
self._hydra_texture_rendered_counter += 1
self._hydra_texture_rendered_counter_sub = self._hydra_texture_0.get_event_stream().create_subscription_to_push_by_type(
omni.hydratexture.EVENT_TYPE_DRAWABLE_CHANGED,
on_hydra_texture_0,
name='async rendering test drawable update',
)
self.register_test_instance_mapping_pipeline()
async def tearDown(self):
self._hydra_texture_rendered_counter_sub = None
self._hydra_texture_0 = None
self._usd_context.close_stage()
omni.usd.release_all_hydra_engines(self._usd_context)
self._hydra_texture_factory = None
self._settings = None
wait_iterations = 6
for _ in range(wait_iterations):
await omni.kit.app.get_app().next_update_async()
async def test_case_0(self):
self.activate_test_instance_mapping_pipeline(0)
await self.wait_for_num_frames(11)
async def test_case_1(self):
self.activate_test_instance_mapping_pipeline(1)
await self.wait_for_num_frames(11)
async def test_case_2(self):
self.activate_test_instance_mapping_pipeline(2)
await self.wait_for_num_frames(11)
async def test_case_3(self):
self.activate_test_instance_mapping_pipeline(3)
await self.wait_for_num_frames(11)
async def test_case_4(self):
self.activate_test_instance_mapping_pipeline(4)
await self.wait_for_num_frames(11)
async def test_case_5(self):
self.activate_test_instance_mapping_pipeline(5)
await self.wait_for_num_frames(11)
async def test_case_6(self):
self.activate_test_instance_mapping_pipeline(6)
await self.wait_for_num_frames(11)
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/pipeline/test_instance_mapping_update.py | import carb
import os.path
from pxr import Gf, UsdGeom, UsdLux, Sdf
import omni.hydratexture
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
from ..utils import add_semantics
# Test the instance mapping update Fabric flag
class TestInstanceMappingUpdate(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
# Dictionnary containing the pair (file_path , reference_data). If the reference data is None only the existence of the file is validated.
self._golden_references = {}
def _texture_render_product_path(self, hydra_texture) -> str:
'''Return a string to the UsdRender.Product used by the texture'''
render_product = hydra_texture.get_render_product_path()
if render_product and (not render_product.startswith('/')):
render_product = '/Render/RenderProduct_' + render_product
return render_product
def _assert_count_equal(self, counter_template_name, count):
count_output = SyntheticData.Get().get_node_attributes(
counter_template_name,
["outputs:count"],
self._render_product_path
)
assert "outputs:count" in count_output
assert count_output["outputs:count"] == count
def _activate_fabric_time_range(self) -> None:
sdg_iface = SyntheticData.Get()
if not sdg_iface.is_node_template_registered("TestSimFabricTimeRange"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND,
"omni.syntheticdata.SdTestSimFabricTimeRange"
),
template_name="TestSimFabricTimeRange"
)
sdg_iface.activate_node_template(
"TestSimFabricTimeRange",
attributes={"inputs:timeRangeName":"testFabricTimeRangeTrigger"}
)
if not sdg_iface.is_node_template_registered("TestPostRenderFabricTimeRange"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.POST_RENDER,
"omni.syntheticdata.SdFabricTimeRangeExecution",
[
SyntheticData.NodeConnectionTemplate(
SyntheticData.renderer_template_name(),
attributes_mapping=
{
"outputs:rp": "inputs:renderResults",
"outputs:gpu": "inputs:gpu"
}
)
]
),
template_name="TestPostRenderFabricTimeRange"
)
sdg_iface.activate_node_template(
"TestPostRenderFabricTimeRange",
0,
[self._render_product_path],
attributes={"inputs:timeRangeName":"testFabricTimeRangeTrigger"}
)
if not sdg_iface.is_node_template_registered("TestPostProcessFabricTimeRange"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND,
"omni.syntheticdata.SdFabricTimeRangeExecution",
[
SyntheticData.NodeConnectionTemplate("PostProcessDispatch"),
SyntheticData.NodeConnectionTemplate("TestPostRenderFabricTimeRange")
]
),
template_name="TestPostProcessFabricTimeRange"
)
sdg_iface.activate_node_template(
"TestPostProcessFabricTimeRange",
0,
[self._render_product_path],
attributes={"inputs:timeRangeName":"testFabricTimeRangeTrigger"}
)
if not sdg_iface.is_node_template_registered("TestPostProcessFabricTimeRangeCounter"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND,
"omni.graph.action.Counter",
[
SyntheticData.NodeConnectionTemplate(
"TestPostProcessFabricTimeRange",
attributes_mapping={"outputs:exec": "inputs:execIn"}
)
]
),
template_name="TestPostProcessFabricTimeRangeCounter"
)
sdg_iface.activate_node_template(
"TestPostProcessFabricTimeRangeCounter",
0,
[self._render_product_path]
)
def _activate_instance_mapping_update(self) -> None:
sdg_iface = SyntheticData.Get()
if not sdg_iface.is_node_template_registered("TestPostProcessInstanceMappingUpdate"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND,
"omni.syntheticdata.SdTimeChangeExecution",
[
SyntheticData.NodeConnectionTemplate("InstanceMappingPtr"),
SyntheticData.NodeConnectionTemplate("PostProcessDispatch")
]
),
template_name="TestPostProcessInstanceMappingUpdate"
)
if not sdg_iface.is_node_template_registered("TestPostProcessInstanceMappingUpdateCounter"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND,
"omni.graph.action.Counter",
[
SyntheticData.NodeConnectionTemplate(
"TestPostProcessInstanceMappingUpdate",
attributes_mapping={"outputs:exec": "inputs:execIn"}
)
]
),
template_name="TestPostProcessInstanceMappingUpdateCounter"
)
sdg_iface.activate_node_template(
"TestPostProcessInstanceMappingUpdateCounter",
0,
[self._render_product_path]
)
async def _request_fabric_time_range_trigger(self, number_of_frames=1):
sdg_iface = SyntheticData.Get()
sdg_iface.set_node_attributes("TestSimFabricTimeRange",{"inputs:numberOfFrames":number_of_frames})
sdg_iface.request_node_execution("TestSimFabricTimeRange")
await omni.kit.app.get_app().next_update_async()
async def setUp(self):
"""Called at the begining of every tests"""
self._settings = carb.settings.acquire_settings_interface()
self._hydra_texture_factory = omni.hydratexture.acquire_hydra_texture_factory_interface()
self._usd_context_name = ''
self._usd_context = omni.usd.get_context(self._usd_context_name)
await self._usd_context.new_stage_async()
# renderer
renderer = "rtx"
if renderer not in self._usd_context.get_attached_hydra_engine_names():
omni.usd.add_hydra_engine(renderer, self._usd_context)
# create the hydra textures
self._hydra_texture_0 = self._hydra_texture_factory.create_hydra_texture(
"TEX0",
1920,
1080,
self._usd_context_name,
hydra_engine_name=renderer,
is_async=self._settings.get("/app/asyncRendering")
)
self._hydra_texture_rendered_counter = 0
def on_hydra_texture_0(event: carb.events.IEvent):
self._hydra_texture_rendered_counter += 1
self._hydra_texture_rendered_counter_sub = self._hydra_texture_0.get_event_stream().create_subscription_to_push_by_type(
omni.hydratexture.EVENT_TYPE_DRAWABLE_CHANGED,
on_hydra_texture_0,
name='async rendering test drawable update',
)
stage = omni.usd.get_context().get_stage()
world_prim = UsdGeom.Xform.Define(stage,"/World")
UsdGeom.Xformable(world_prim).AddTranslateOp().Set((0, 0, 0))
UsdGeom.Xformable(world_prim).AddRotateXYZOp().Set((0, 0, 0))
self._render_product_path = self._texture_render_product_path(self._hydra_texture_0)
await omni.syntheticdata.sensors.next_render_simulation_async(self._render_product_path)
await omni.syntheticdata.sensors.next_render_simulation_async(self._render_product_path)
async def tearDown(self):
"""Called at the end of every tests"""
self._hydra_texture_rendered_counter_sub = None
self._hydra_texture_0 = None
self._usd_context.close_stage()
omni.usd.release_all_hydra_engines(self._usd_context)
self._hydra_texture_factory = None
self._settings = None
wait_iterations = 6
for _ in range(wait_iterations):
await omni.kit.app.get_app().next_update_async()
async def test_case_0(self):
"""Test case 0 : no time range"""
self._activate_fabric_time_range()
await omni.syntheticdata.sensors.next_render_simulation_async(self._render_product_path, 11)
self._assert_count_equal("TestPostProcessFabricTimeRangeCounter", 0)
async def test_case_1(self):
"""Test case 1 : setup a time range of 5 frames"""
self._activate_fabric_time_range()
await omni.syntheticdata.sensors.next_render_simulation_async(self._render_product_path)
await self._request_fabric_time_range_trigger(5)
await omni.syntheticdata.sensors.next_render_simulation_async(self._render_product_path, 11)
self._assert_count_equal("TestPostProcessFabricTimeRangeCounter", 5)
async def test_case_2(self):
"""Test case 2 : initial instance mapping setup"""
self._activate_instance_mapping_update()
await omni.syntheticdata.sensors.next_render_simulation_async(self._render_product_path, 11)
self._assert_count_equal("TestPostProcessInstanceMappingUpdateCounter", 1)
async def test_case_3(self):
"""Test case 3 : setup an instance mapping with 1, 2, 3, 4 changes"""
stage = omni.usd.get_context().get_stage()
self._activate_instance_mapping_update()
await omni.syntheticdata.sensors.next_render_simulation_async(self._render_product_path, 1)
self._assert_count_equal("TestPostProcessInstanceMappingUpdateCounter", 1)
sphere_prim = stage.DefinePrim("/World/Sphere", "Sphere")
add_semantics(sphere_prim, "sphere")
await omni.syntheticdata.sensors.next_render_simulation_async(self._render_product_path, 3)
self._assert_count_equal("TestPostProcessInstanceMappingUpdateCounter", 2)
sub_sphere_prim = stage.DefinePrim("/World/Sphere/Sphere", "Sphere")
await omni.syntheticdata.sensors.next_render_simulation_async(self._render_product_path, 5)
self._assert_count_equal("TestPostProcessInstanceMappingUpdateCounter", 3)
add_semantics(sub_sphere_prim, "sphere")
await omni.syntheticdata.sensors.next_render_simulation_async(self._render_product_path, 1)
self._assert_count_equal("TestPostProcessInstanceMappingUpdateCounter", 4) |
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_motion_vector.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from PIL import Image
from time import time
from pathlib import Path
import carb
import numpy as np
from numpy.lib.arraysetops import unique
import unittest
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestMotionVector(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
self.output_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "output"
def writeDataToImage(self, data, name):
if not os.path.isdir(self.output_image_path):
os.mkdir(self.output_image_path)
data = ((data + 1.0) / 2) * 255
outputPath = str(self.output_image_path) + "/" + name + ".png"
print("Writing data to " + outputPath)
Image.fromarray(data.astype(np.uint8), "RGBA").save(outputPath)
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.MotionVector)
async def test_empty(self):
""" Test motion vector sensor on empty stage.
"""
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_motion_vector(self.viewport)
allChannelsAreZero = np.allclose(data, 0, atol=0.001)
if not allChannelsAreZero:
self.writeDataToImage(data, "test_empty")
assert allChannelsAreZero
async def test_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_motion_vector(self.viewport)
assert data.dtype == np.float32
async def test_unmoving_cube(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
cube.GetAttribute("primvars:displayColor").Set([(0, 0, 1)])
UsdGeom.Xformable(cube).AddTranslateOp()
cube.GetAttribute("xformOp:translate").Set((350, 365, 350), time=0)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_motion_vector(self.viewport)
# 4th channel will wary based on geo hit, so we ignore checking it here
rgbChannelsAreZero = np.allclose(data[:, [0, 1, 2]], 0, atol=0.001)
if not rgbChannelsAreZero:
self.writeDataToImage(data, "test_unmoving_cube")
assert rgbChannelsAreZero
@unittest.skip("OM-44310")
async def test_partially_disoccluding_cube(self):
# disabling temporarly the test for OMNI-GRAPH support : OM-44310
stage = omni.usd.get_context().get_stage()
stage.SetStartTimeCode(0)
stage.SetEndTimeCode(100)
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(10)
cube.GetAttribute("primvars:displayColor").Set([(0, 0, 1)])
# add translation down to create disocclusion due to fetching from out of screen bounds
UsdGeom.Xformable(cube).AddTranslateOp()
cube.GetAttribute("xformOp:translate").Set((480, 487, 480), time=0)
cube.GetAttribute("xformOp:translate").Set((480, 480, 480), time=0.001)
# add rotation around up vector to create disocclusion due to fetching from an incompatible surface
UsdGeom.Xformable(cube).AddRotateYOp()
cube.GetAttribute("xformOp:rotateY").Set(40, time=0)
cube.GetAttribute("xformOp:rotateY").Set(70, time=0.001)
await omni.kit.app.get_app().next_update_async()
# Render one frame
itl = omni.timeline.get_timeline_interface()
itl.play()
await syn.sensors.next_sensor_data_async(self.viewport, True)
data = syn.sensors.get_motion_vector(self.viewport)
golden_image = np.load(self.golden_image_path / "motion_partially_disoccluding_cube.npz")["array"]
# normalize xy (mvec) to zw channels' value range
# x100 seems like a good number to bring mvecs to ~1
data[:, [0, 1]] *= 100
golden_image[:, [0, 1]] *= 100
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
# OM-41605 - using higher std dev here to make linux run succeed
std_dev_tolerance = 0.12
print("Calculated std.dev: " + str(std_dev), " Std dev tolerance: " + str(std_dev_tolerance))
if std_dev >= std_dev_tolerance:
self.writeDataToImage(golden_image, "test_partially_disoccluding_cube_golden")
self.writeDataToImage(data, "test_partially_disoccluding_cube")
np.savez_compressed(self.output_image_path / "motion_partially_disoccluding_cube.npz", array=data)
assert std_dev < std_dev_tolerance
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_occlusion.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
from time import time
from pathlib import Path
import carb
import numpy as np
import unittest
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestOcclusion(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
# Before running each test
async def setUp(self):
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
self.viewport = get_active_viewport()
# Initialize Sensors
syn.sensors.enable_sensors(
self.viewport,
[
syn._syntheticdata.SensorType.BoundingBox2DLoose,
syn._syntheticdata.SensorType.BoundingBox2DTight,
syn._syntheticdata.SensorType.Occlusion,
],
)
await syn.sensors.next_sensor_data_async(self.viewport,True)
async def test_fields_exist(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_occlusion(self.viewport)
valid_dtype = [("instanceId", "<u4"), ("semanticId", "<u4"), ("occlusionRatio", "<f4")]
assert data.dtype == np.dtype(valid_dtype)
async def test_fields_exist_parsed(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_occlusion(self.viewport, parsed=True)
valid_dtype = [
("uniqueId", "<i4"),
("name", "O"),
("semanticLabel", "O"),
("metadata", "O"),
("instanceIds", "O"),
("semanticId", "<u4"),
("occlusionRatio", "<f4"),
]
assert data.dtype == np.dtype(valid_dtype)
async def test_occlusion(self):
path = os.path.join(FILE_DIR, "../data/scenes/occlusion.usda")
await omni.usd.get_context().open_stage_async(path)
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
occlusion_out = syn.sensors.get_occlusion(self.viewport, parsed=True)
for row in occlusion_out:
gt = float(row["semanticLabel"]) / 100.0
assert math.isclose(gt, row["occlusionRatio"], abs_tol=0.015), f"Expected {gt}, got {row['occlusionRatio']}"
async def test_self_occlusion(self):
path = os.path.join(FILE_DIR, "../data/scenes/torus_sphere.usda")
await omni.usd.get_context().open_stage_async(path)
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
occlusion_out = syn.sensors.get_occlusion(self.viewport)
occlusion_out_ratios = np.sort(occlusion_out["occlusionRatio"])
assert np.allclose(occlusion_out_ratios, [0.0, 0.6709], atol=0.05)
async def test_full_occlusion(self):
path = os.path.join(FILE_DIR, "../data/scenes/cube_full_occlusion.usda")
await omni.usd.get_context().open_stage_async(path)
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
occlusion_out = syn.sensors.get_occlusion(self.viewport)
occlusion_out_ratios = np.sort(occlusion_out["occlusionRatio"])
assert np.allclose(occlusion_out_ratios, [0.0, 1.0], atol=0.05)
async def test_occlusion_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
path = os.path.join(FILE_DIR, "../data/scenes/occlusion.usda")
await omni.usd.get_context().open_stage_async(path)
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
occlusion_out = syn.sensors.get_occlusion(self.viewport, parsed=True)
for row in occlusion_out:
gt = float(row["semanticLabel"]) / 100.0
assert math.isclose(gt, row["occlusionRatio"], abs_tol=0.015), f"Expected {gt}, got {row['occlusionRatio']}"
async def test_occlusion_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be ray traced lighting.
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
path = os.path.join(FILE_DIR, "../data/scenes/occlusion.usda")
await omni.usd.get_context().open_stage_async(path)
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
occlusion_out = syn.sensors.get_occlusion(self.viewport, parsed=True)
for row in occlusion_out:
gt = float(row["semanticLabel"]) / 100.0
assert math.isclose(gt, row["occlusionRatio"], abs_tol=0.015), f"Expected {gt}, got {row['occlusionRatio']}"
async def test_occlusion_ftheta(self):
""" Basic funtionality test of the sensor under ftheta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
path = os.path.join(FILE_DIR, "../data/scenes/occlusion.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((100, 200, 300))
self.viewport.camera_path = camera.GetPath()
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
# Camera type should not affect occlusion.
occlusion_out = syn.sensors.get_occlusion(self.viewport, parsed=True)
data = np.array([row['occlusionRatio'] for row in occlusion_out])
# np.savez_compressed(self.golden_image_path / 'occlusion_ftheta.npz', array=data)
golden = np.load(self.golden_image_path / "occlusion_ftheta.npz")["array"]
assert np.isclose(data, golden, atol=1e-3).all()
async def test_occlusion_spherical(self):
""" Basic funtionality test of the sensor under spherical camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
path = os.path.join(FILE_DIR, "../data/scenes/occlusion.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((100, 200, 300))
self.viewport.camera_path = camera.GetPath()
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
# Camera type should not affect occlusion.
occlusion_out = syn.sensors.get_occlusion(self.viewport, parsed=True)
data = np.array([row['occlusionRatio'] for row in occlusion_out])
# np.savez_compressed(self.golden_image_path / 'occlusion_spherical.npz', array=data)
golden = np.load(self.golden_image_path / "occlusion_spherical.npz")["array"]
assert np.isclose(data, golden, atol=1e-1).all()
@unittest.skip("OM-44310")
async def test_occlusion_quadrant(self):
# disabling temporarly the test for OMNI-GRAPH support : OM-44310
# Test quadrant sensor. It takes loose and tight bounding boxes to
# return the type of occlusion
# Expected occlusion value for time=1, 2, 3...
TESTS = [
"fully-occluded",
"left",
"right",
"bottom",
"top",
"fully-visible", # corner occlusion
"fully-visible", # corner occlusion
"bottom-right",
"bottom-left",
"top-right",
"top-left",
"fully-visible",
]
path = os.path.join(FILE_DIR, "../data/scenes/occlusion_quadrant.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
syn.sensors.enable_sensors(
self.viewport,
[
syn._syntheticdata.SensorType.BoundingBox2DLoose,
syn._syntheticdata.SensorType.BoundingBox2DTight,
syn._syntheticdata.SensorType.Occlusion,
],
)
await syn.sensors.next_sensor_data_async(self.viewport,True)
timeline_iface = omni.timeline.get_timeline_interface()
timeline_iface.set_time_codes_per_second(1)
for time, gt in enumerate(TESTS):
timeline_iface.set_current_time(time)
await omni.kit.app.get_app().next_update_async()
# Investigate these in OM-31155
sensor_out = syn.sensors.get_occlusion_quadrant(self.viewport)
result = sensor_out["occlusion_quadrant"][0]
assert result == gt, f"Got {result}, expected {gt}"
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_renderproduct_camera.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import carb
from pxr import Gf, UsdGeom, Sdf, UsdLux
from omni.kit.viewport.utility import get_active_viewport, create_viewport_window
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
# Test the RenderProductCamera nodes
class TestRenderProductCamera(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
self.numLoops = 7
self.multiViewport = False
# Setup the scene
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
# Setup viewports / renderproduct
# first default viewport with the default perspective camera
viewport_0 = get_active_viewport()
resolution_0 = viewport_0.resolution
camera_0 = UsdGeom.Camera.Define(stage, "/Camera0").GetPrim()
viewport_0.camera_path = camera_0.GetPath()
render_product_path_0 = viewport_0.render_product_path
self.render_product_path_0 = render_product_path_0
# second viewport with a ftheta camera
if self.multiViewport:
resolution_1 = (512, 512)
viewport_window = create_viewport_window(width=resolution_1[0], height=resolution_1[1])
viewport_1 = viewport_window.viewport_api
viewport_1.resolution = resolution_1
camera_1 = UsdGeom.Camera.Define(stage, "/Camera1").GetPrim()
viewport_1.camera_path = camera_1.GetPath()
render_product_path_1 = viewport_1.render_product_path
self.render_product_path_1 = render_product_path_1
# SyntheticData singleton interface
sdg_iface = SyntheticData.Get()
if not sdg_iface.is_node_template_registered("TestSimRpCam"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.SIMULATION,
"omni.syntheticdata.SdTestRenderProductCamera",
attributes={"inputs:stage":"simulation"}
),
template_name="TestSimRpCam"
)
if not sdg_iface.is_node_template_registered("TestPostRpCam"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.POST_RENDER,
"omni.syntheticdata.SdTestRenderProductCamera",
[SyntheticData.NodeConnectionTemplate("PostRenderProductCamera")],
attributes={"inputs:stage":"postRender"}
),
template_name="TestPostRpCam"
)
if not sdg_iface.is_node_template_registered("TestOnDemandRpCam"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND,
"omni.syntheticdata.SdTestRenderProductCamera",
[
SyntheticData.NodeConnectionTemplate("PostProcessRenderProductCamera"),
SyntheticData.NodeConnectionTemplate(
"PostProcessDispatch",
attributes_mapping={"outputs:renderResults": "inputs:renderResults"})
],
attributes={"inputs:stage":"onDemand"}
),
template_name="TestOnDemandRpCam"
)
attributes_0 = {
"inputs:renderProductCameraPath":camera_0.GetPath().pathString,
"inputs:width":resolution_0[0],
"inputs:height":resolution_0[1]
}
sdg_iface.activate_node_template("TestSimRpCam", 0, [render_product_path_0], attributes_0)
sdg_iface.activate_node_template("TestPostRpCam", 0, [render_product_path_0], attributes_0)
sdg_iface.activate_node_template("TestOnDemandRpCam", 0, [render_product_path_0],attributes_0)
if self.multiViewport:
attributes_1 = {
"inputs:renderProductCameraPath":camera_1.GetPath().pathString,
"inputs:width":resolution_1[0],
"inputs:height":resolution_1[1]
}
sdg_iface.activate_node_template("TestSimRpCam", 0, [render_product_path_1], attributes_1)
sdg_iface.activate_node_template("TestPostRpCam", 0, [render_product_path_1], attributes_1)
sdg_iface.activate_node_template("TestOnDemandRpCam", 0, [render_product_path_1],attributes_1)
async def test_renderproduct_camera(self):
""" Test render product camera pipeline
"""
sdg_iface = SyntheticData.Get()
test_outname = "outputs:test"
test_attributes_names = [test_outname]
for _ in range(3):
await omni.kit.app.get_app().next_update_async()
for _ in range(self.numLoops):
await omni.kit.app.get_app().next_update_async()
assert sdg_iface.get_node_attributes("TestSimRpCam", test_attributes_names, self.render_product_path_0)[test_outname]
assert sdg_iface.get_node_attributes("TestPostRpCam", test_attributes_names, self.render_product_path_0)[test_outname]
assert sdg_iface.get_node_attributes("TestOnDemandRpCam", test_attributes_names, self.render_product_path_0)[test_outname]
if self.multiViewport:
assert sdg_iface.get_node_attributes("TestSimRpCam", test_attributes_names, self.render_product_path_1)[test_outname]
assert sdg_iface.get_node_attributes("TestPostRpCam", test_attributes_names, self.render_product_path_1)[test_outname]
assert sdg_iface.get_node_attributes("TestOnDemandRpCam", test_attributes_names, self.render_product_path_1)[test_outname]
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_swh_frame_number.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import carb
from pxr import Gf, UsdGeom, UsdLux, Sdf
import unittest
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport, create_viewport_window
from omni.syntheticdata import SyntheticData, SyntheticDataStage
# Test the Fabric frame number synchronization
class TestSWHFrameNumber(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
# Setup the scene
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
world_prim = UsdGeom.Xform.Define(stage,"/World")
UsdGeom.Xformable(world_prim).AddTranslateOp().Set((0, 0, 0))
UsdGeom.Xformable(world_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule0_prim = stage.DefinePrim("/World/Capsule0", "Capsule")
UsdGeom.Xformable(capsule0_prim).AddTranslateOp().Set((100, 0, 0))
UsdGeom.Xformable(capsule0_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule0_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule0_prim.GetAttribute("primvars:displayColor").Set([(0.3, 1, 0)])
capsule1_prim = stage.DefinePrim("/World/Capsule1", "Capsule")
UsdGeom.Xformable(capsule1_prim).AddTranslateOp().Set((-100, 0, 0))
UsdGeom.Xformable(capsule1_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule1_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule1_prim.GetAttribute("primvars:displayColor").Set([(0, 1, 0.3)])
spherelight = UsdLux.SphereLight.Define(stage, "/SphereLight")
spherelight.GetIntensityAttr().Set(30000)
spherelight.GetRadiusAttr().Set(30)
# first default viewport with the default perspective camera
viewport_0 = get_active_viewport()
render_product_path_0 = viewport_0.render_product_path
# second viewport with a ftheta camera
viewport_1_window = create_viewport_window(width=512, height=512)
viewport_1 = viewport_1_window.viewport_api
camera_1 = stage.DefinePrim("/Camera1", "Camera")
camera_1.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
UsdGeom.Xformable(camera_1).AddTranslateOp().Set((0, 250, 0))
UsdGeom.Xformable(camera_1).AddRotateXYZOp().Set((-90, 0, 0))
viewport_1.camera_path = camera_1.GetPath()
render_product_path_1 = viewport_1.render_product_path
# SyntheticData singleton interface
sdg_iface = SyntheticData.Get()
# Register node templates in the SyntheticData register
# (a node template is a template for creating a node specified by its type and its connections)
#
# to illustrate we are using the generic omni.syntheticdata.SdTestStageSynchronization node type which supports every stage of the SyntheticData pipeline. When executed it logs the fabric frame number.
#
# register a node template in the simulation stage
# NB : this node template has no connections
if not sdg_iface.is_node_template_registered("TestSyncSim"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.SIMULATION, # node tempalte stage
"omni.syntheticdata.SdTestStageSynchronization", # node template type
attributes={"inputs:tag":"0"}), # node template default attribute values (when differs from the default value specified in the .ogn)
template_name="TestSyncSim" # node template name
)
# register a node template in the postrender stage
# NB : this template may be activated for several different renderproducts
if not sdg_iface.is_node_template_registered("TestSyncPost"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.POST_RENDER, # node template stage
"omni.syntheticdata.SdTestStageSynchronization", # node template type
# node template connections
[
# connected to a TestSyncSim node (a TestSyncSim node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("TestSyncSim", (), None),
# connected to a LdrColorSD rendervar (the renderVar will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("LdrColorSD"),
# connected to a BoundingBox3DSD rendervar (the renderVar will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("BoundingBox3DSD")
]),
template_name="TestSyncPost" # node template name
)
# register a node template in the postprocess stage
# NB : this template may be activated for several different renderproducts
if not sdg_iface.is_node_template_registered("TestSyncOnDemand"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node template stage
"omni.syntheticdata.SdTestStageSynchronization", # node template type
# node template connections
[
# connected to a TestSyncSim node (a TestSyncSim node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("TestSyncSim", (), None),
# connected to a PostProcessDispatch node : the PostProcessDispatch node trigger the execution of its downstream connections for every rendered frame
# (a PostProcessDispatch node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("PostProcessDispatch")
]
),
template_name="TestSyncOnDemand" # node template name
)
# register a node template in the postprocess stage
# NB : this template may be activated for any combination of renderproduct pairs
if not sdg_iface.is_node_template_registered("TestSyncCross"):
# register an accumulator which trigger once when all its upstream connections have triggered
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node template stage
"omni.graph.action.RationalTimeSyncGate", # node template type
# node template connections
[
# connected to the PostProcessDispatcher for the synchronization value
SyntheticData.NodeConnectionTemplate(
"PostProcessDispatcher",
(),
{
"outputs:referenceTimeNumerator":"inputs:rationalTimeNumerator",
"outputs:referenceTimeDenominator":"inputs:rationalTimeDenominator"
}
),
# connected to a TestSyncOnDemand node for the first renderproduct (a TestSyncSim node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate(
"TestSyncOnDemand",
(0,),
{"outputs:exec":"inputs:execIn"}
),
# connected to a TestSyncOnDemand node for the second renderproduct (a TestSyncSim node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate(
"TestSyncOnDemand",
(1,),
{"outputs:exec":"inputs:execIn"}
),
]
),
template_name="TestSyncAccum" # node template name
)
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node template stage
"omni.syntheticdata.SdTestStageSynchronization", # node template type
# node template connections
[
# connected to a TestSyncAccum node (a TestSyncAccum node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate(
"TestSyncAccum",
(0,1),
{
"outputs:execOut":"inputs:exec",
"outputs:rationalTimeNumerator":"inputs:swhFrameNumber"
}
),
SyntheticData.NodeConnectionTemplate(
"PostProcessDispatch",
(0,),
{"outputs:renderResults":"inputs:renderResults"}
)
]
),
template_name="TestSyncCross" # node template name
)
# Activate the node templates for the renderproducts
# this will create the node (and all their missing dependencies) within the associated graphs
#
# activate the TestSyncPost for the renderpoduct renderpoduct_0
# this will also activate the TestSyncSim node and the LdrColorSD and BoundingBox3DSD renderVars for the renderpoduct renderpoduct_0
# this will set the tag node attribute to "1"
sdg_iface.activate_node_template("TestSyncPost", 0, [render_product_path_0],{"inputs:tag":"1"})
# activate the TestSyncPost for the renderpoduct renderpoduct_1
# this will also activate the LdrColorSD and BoundingBox3DSD renderVars for the renderpoduct renderpoduct_1
# NB TestSyncSim has already been activated
# this will set the tag node attribute to "2"
sdg_iface.activate_node_template("TestSyncPost", 0, [render_product_path_1],{"inputs:tag":"2"})
# activate the TestSyncCross for the renderpoducts [renderproduct_0, renderproduct_1]
# this will also activate :
# - TestSyncAccum for the renderpoducts [renderproduct_0, renderproduct_1]
# - PostProcessDispatch for the renderpoduct renderproduct_0
# - TestSyncOnDemand for the renderproduct renderproduct_0
# - TestSyncOnDemand for the renderproduct renderproduct_1
# - PostProcessDispatch for the renderpoduct renderproduct_1
# this will set the tag node attribute to "5"
sdg_iface.activate_node_template("TestSyncCross", 0, [render_product_path_0,render_product_path_1],{"inputs:tag":"5"})
# Set some specific attributes to nodes that have been automatically activated
# set the tag to the TestSyncOnDemand for renderproduct renderproduct_0
sdg_iface.set_node_attributes("TestSyncOnDemand",{"inputs:tag":"3"},render_product_path_0)
# set the tag to the TestSyncOnDemand for renderproduct renderproduct_1
sdg_iface.set_node_attributes("TestSyncOnDemand",{"inputs:tag":"4"},render_product_path_1)
# setup members
self.render_product_path_0 = render_product_path_0
self.render_product_path_1 = render_product_path_1
self.numLoops = 33
async def run_loop(self):
sdg_iface = SyntheticData.Get()
render_product_path_0 = self.render_product_path_0
render_product_path_1 = self.render_product_path_1
test_attributes_names = ["outputs:swhFrameNumber","outputs:fabricSWHFrameNumber"]
# ensuring that the setup is taken into account
for _ in range(5):
await omni.kit.app.get_app().next_update_async()
for _ in range(self.numLoops):
await omni.kit.app.get_app().next_update_async()
# test the post-render pipeline synchronization
sync_post_attributes = sdg_iface.get_node_attributes(
"TestSyncPost",test_attributes_names,render_product_path_0)
assert sync_post_attributes and all(attr in sync_post_attributes for attr in test_attributes_names)
assert sync_post_attributes["outputs:swhFrameNumber"] == sync_post_attributes["outputs:fabricSWHFrameNumber"]
# test the on-demand pipeline synchronization
sync_ondemand_attributes = sdg_iface.get_node_attributes(
"TestSyncOnDemand",test_attributes_names,render_product_path_1)
assert sync_ondemand_attributes and all(attr in sync_ondemand_attributes for attr in test_attributes_names)
assert sync_ondemand_attributes["outputs:swhFrameNumber"] == sync_ondemand_attributes["outputs:fabricSWHFrameNumber"]
# test the on-demand cross renderproduct synchronization
sync_cross_ondemand_attributes = sdg_iface.get_node_attributes(
"TestSyncCross",test_attributes_names,render_product_path_0)
assert sync_cross_ondemand_attributes and all(attr in sync_cross_ondemand_attributes for attr in test_attributes_names)
assert sync_cross_ondemand_attributes["outputs:swhFrameNumber"] == sync_cross_ondemand_attributes["outputs:fabricSWHFrameNumber"]
async def test_sync_idle(self):
""" Test swh frame synhronization with :
- asyncRendering Off
- waitIdle On
"""
settings = carb.settings.get_settings()
settings.set_bool("/app/asyncRendering",False)
settings.set_int("/app/settings/fabricDefaultStageFrameHistoryCount",3)
settings.set_bool("/app/hydraEngine/waitIdle",True)
await self.run_loop()
@unittest.skip("DRIVE-3247 : SyntheticData does not support async rendering.")
async def test_sync(self):
""" Test swh frame synhronization with :
- asyncRendering Off
- waitIdle Off
"""
settings = carb.settings.get_settings()
settings.set_bool("/app/asyncRendering",False)
settings.set_int("/app/settings/fabricDefaultStageFrameHistoryCount",3)
settings.set_bool("/app/hydraEngine/waitIdle",False)
await self.run_loop()
@unittest.skip("DRIVE-3247 : SyntheticData does not support async rendering.")
async def test_async(self):
""" Test swh frame synhronization with :
- asyncRendering On
- waitIdle Off
"""
settings = carb.settings.get_settings()
settings.set_bool("/app/asyncRendering",True)
settings.set_int("/app/settings/fabricDefaultStageFrameHistoryCount",3)
settings.set_bool("/app/hydraEngine/waitIdle",False)
await self.run_loop()
async def tearDown(self):
# reset to the default params
settings = carb.settings.get_settings()
settings.set_bool("/app/asyncRendering",False)
settings.set_bool("/app/hydraEngine/waitIdle",True)
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_distance_to_image_plane.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestDistanceToImagePlane(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.DistanceToImagePlane
)
async def test_parsed_empty(self):
""" Test distance-to-image-plane sensor on empty stage.
"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_image_plane(self.viewport)
assert np.all(data > 1000)
async def test_parsed_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_image_plane(self.viewport)
assert data.dtype == np.float32
async def test_distances(self):
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_image_plane(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-5)
async def test_distances_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
# Set the rendering mode to be pathtracing
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_image_plane(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-5)
async def test_distances_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be pathtracing
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_image_plane(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-5)
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_semantic_filter.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import unittest
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from omni.syntheticdata import SyntheticData
from ..utils import add_semantics
import numpy as np
# Test the semantic filter
class TestSemanticFilter(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
# scene
# /World [belong_to:world]
# /Cube [class:cube]
# /Sphere [class:sphere]
# /Sphere [class:sphere]
# /Capsule [class:capsule]
# /Cube [class:cube]
# /Capsule [class:capsule]
# /Nothing [belong_to:nothing]
world_prim = stage.DefinePrim("/World", "Plane")
add_semantics(world_prim, "world", "belong_to")
world_cube_prim = stage.DefinePrim("/World/Cube", "Cube")
add_semantics(world_cube_prim, "cube", "class")
world_cube_sphere_prim = stage.DefinePrim("/World/Cube/Sphere", "Sphere")
add_semantics(world_cube_sphere_prim, "sphere", "class")
world_sphere_prim = stage.DefinePrim("/World/Sphere", "Sphere")
add_semantics(world_sphere_prim, "sphere", "class")
world_capsule_prim = stage.DefinePrim("/World/Capsule", "Capsule")
add_semantics(world_capsule_prim, "capsule", "class")
cube_prim = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube_prim, "cube", "class")
capsule_prim = stage.DefinePrim("/Capsule", "Capsule")
add_semantics(capsule_prim, "capsule", "class")
nothing_prim = stage.DefinePrim("/Nothing", "Plane")
add_semantics(nothing_prim, "nothing", "belong_to")
self.render_product_path = get_active_viewport().render_product_path
SyntheticData.Get().activate_node_template("SemanticLabelTokenSDExportRawArray", 0, [self.render_product_path])
await omni.kit.app.get_app().next_update_async()
def fetch_semantic_label_tokens(self):
output_names = ["outputs:data","outputs:bufferSize"]
outputs = SyntheticData.Get().get_node_attributes("SemanticLabelTokenSDExportRawArray", output_names, self.render_product_path)
assert outputs
return outputs["outputs:data"].view(np.uint64)
async def wait_for_frames(self):
wait_iterations = 6
for _ in range(wait_iterations):
await omni.kit.app.get_app().next_update_async()
async def check_num_valid_labels(self, expected_num_valid_labels):
await self.wait_for_frames()
num_valid_labels = np.count_nonzero(self.fetch_semantic_label_tokens())
assert num_valid_labels == expected_num_valid_labels
async def test_semantic_filter_all(self):
SyntheticData.Get().set_default_semantic_filter("*:*", True)
await self.check_num_valid_labels(8)
async def test_semantic_filter_no_world(self):
SyntheticData.Get().set_default_semantic_filter("!belong_to:world", True)
# /Cube /Capsule /Nothing
await self.check_num_valid_labels(3)
async def test_semantic_filter_all_class_test(self):
SyntheticData.Get().set_default_semantic_filter("class:*", True)
await self.check_num_valid_labels(6)
async def test_semantic_filter_all_class_no_cube_test(self):
SyntheticData.Get().set_default_semantic_filter("class:!cube&*", True)
await self.check_num_valid_labels(3)
async def test_semantic_filter_only_sphere_or_cube_test(self):
SyntheticData.Get().set_default_semantic_filter("class:cube|sphere", True)
await self.check_num_valid_labels(4)
async def test_semantic_filter_sphere_and_cube_test(self):
SyntheticData.Get().set_default_semantic_filter("class:cube&sphere", True)
# /World/Cube/Sphere
await self.check_num_valid_labels(1)
async def test_semantic_filter_world_and_sphere_test(self):
SyntheticData.Get().set_default_semantic_filter("class:sphere,belong_to:world", True)
await self.check_num_valid_labels(2)
async def test_semantic_filter_no_belong_test(self):
SyntheticData.Get().set_default_semantic_filter("belong_to:!*", True)
# /Cube /Capsule
await self.check_num_valid_labels(2)
async def test_semantic_filter_world_or_capsule_test(self):
SyntheticData.Get().set_default_semantic_filter("belong_to:world;class:capsule", True)
await self.check_num_valid_labels(6)
async def test_semantic_filter_belong_to_nohierarchy(self):
SyntheticData.Get().set_default_semantic_filter("belong_to:*", False)
await self.check_num_valid_labels(2)
async def test_semantic_filter_getter(self):
SyntheticData.Get().set_default_semantic_filter("test:getter", False)
await self.wait_for_frames()
assert(SyntheticData.Get().get_default_semantic_filter()=="test:getter")
async def test_instance_mapping_semantic_filter_all_class_no_cube_test(self):
SyntheticData.Get().set_instance_mapping_semantic_filter("class:!cube&*")
await self.check_num_valid_labels(4)
async def test_instance_mapping_semantic_filter_getter(self):
SyntheticData.Get().set_instance_mapping_semantic_filter("test:getter")
await self.wait_for_frames()
assert(SyntheticData.Get().get_instance_mapping_semantic_filter()=="test:getter")
async def tearDown(self):
SyntheticData.Get().set_instance_mapping_semantic_filter("*:*")
SyntheticData.Get().set_default_semantic_filter("*:*")
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_depth_linear.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestDepthLinear(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.DepthLinear)
async def test_parsed_empty(self):
""" Test depth sensor on empty stage.
"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth_linear(self.viewport)
assert np.all(data > 1000)
async def test_parsed_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth_linear(self.viewport)
assert data.dtype == np.float32
async def test_distances(self):
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth_linear(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-5)
async def test_distances_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
# Set the rendering mode to be pathtracing
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth_linear(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-5)
async def test_distances_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be pathtracing
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth_linear(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-5)
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_display_rendervar.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import unittest
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from omni.syntheticdata import SyntheticData
# Test the semantic filter
class TestDisplayRenderVar(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
await omni.usd.get_context().new_stage_async()
self.render_product_path = get_active_viewport().render_product_path
await omni.kit.app.get_app().next_update_async()
async def wait_for_frames(self):
wait_iterations = 6
for _ in range(wait_iterations):
await omni.kit.app.get_app().next_update_async()
async def test_valid_ldrcolor_texture(self):
SyntheticData.Get().activate_node_template("LdrColorDisplay", 0, [self.render_product_path])
await self.wait_for_frames()
display_output_names = ["outputs:rpResourcePtr", "outputs:width", "outputs:height", "outputs:format"]
display_outputs = SyntheticData.Get().get_node_attributes("LdrColorDisplay", display_output_names, self.render_product_path)
assert(display_outputs and all(o in display_outputs for o in display_output_names) and display_outputs["outputs:rpResourcePtr"] != 0 and display_outputs["outputs:format"] == 11)
SyntheticData.Get().deactivate_node_template("LdrColorDisplay", 0, [self.render_product_path])
async def test_valid_bbox3d_texture(self):
SyntheticData.Get().activate_node_template("BoundingBox3DDisplay", 0, [self.render_product_path])
await self.wait_for_frames()
display_output_names = ["outputs:rpResourcePtr", "outputs:width", "outputs:height", "outputs:format"]
display_outputs = SyntheticData.Get().get_node_attributes("BoundingBox3DDisplay", display_output_names, self.render_product_path)
assert(display_outputs and all(o in display_outputs for o in display_output_names) and display_outputs["outputs:rpResourcePtr"] != 0 and display_outputs["outputs:format"] == 11)
SyntheticData.Get().deactivate_node_template("BoundingBox3DDisplay", 0, [self.render_product_path])
async def test_valid_cam3dpos_texture(self):
SyntheticData.Get().activate_node_template("Camera3dPositionDisplay", 0, [self.render_product_path])
await self.wait_for_frames()
display_output_names = ["outputs:rpResourcePtr", "outputs:width", "outputs:height", "outputs:format"]
display_outputs = SyntheticData.Get().get_node_attributes("Camera3dPositionDisplay", display_output_names, self.render_product_path)
assert(display_outputs and all(o in display_outputs for o in display_output_names) and display_outputs["outputs:rpResourcePtr"] != 0 and display_outputs["outputs:format"] == 11)
SyntheticData.Get().deactivate_node_template("Camera3dPositionDisplay", 0, [self.render_product_path])
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_cross_correspondence.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from PIL import Image
from time import time
from pathlib import Path
import carb
import numpy as np
from numpy.lib.arraysetops import unique
import omni.kit.test
from pxr import Gf, UsdGeom
from omni.kit.viewport.utility import get_active_viewport, next_viewport_frame_async, create_viewport_window
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
cameras = ["/World/Cameras/CameraFisheyeLeft", "/World/Cameras/CameraPinhole", "/World/Cameras/CameraFisheyeRight"]
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
# This test has to run last and thus it's prefixed as such to force that:
# - This is because it has to create additional viewports which makes the test
# get stuck if it's not the last one in the OV process session
class ZZHasToRunLast_TestCrossCorrespondence(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
self.output_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "output"
self.StdDevTolerance = 0.1
self.sensorViewport = None
# Before running each test
async def setUp(self):
global cameras
np.random.seed(1234)
# Load the scene
scenePath = os.path.join(FILE_DIR, "../data/scenes/cross_correspondence.usda")
await omni.usd.get_context().open_stage_async(scenePath)
await omni.kit.app.get_app().next_update_async()
# Get the main-viewport as the sensor-viewport
self.sensorViewport = get_active_viewport()
await next_viewport_frame_async(self.sensorViewport)
# Setup viewports
resolution = self.sensorViewport.resolution
viewport_windows = [None] * 2
x_pos, y_pos = 12, 75
for i in range(len(viewport_windows)):
viewport_windows[i] = create_viewport_window(width=resolution[0], height=resolution[1], position_x=x_pos, position_y=y_pos)
viewport_windows[i].width = 500
viewport_windows[i].height = 500
x_pos += 500
# Setup cameras
self.sensorViewport.camera_path = cameras[0]
for i in range(len(viewport_windows)):
viewport_windows[i].viewport_api.camera_path = cameras[i + 1]
async def test_golden_image_rt_cubemap(self):
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "RaytracedLighting")
settings.set_bool("/rtx/fishEye/useCubemap", True)
await omni.kit.app.get_app().next_update_async()
# Use default viewport for sensor target as otherwise sensor enablement doesn't work
# also the test will get stuck
# Initialize Sensor
await syn.sensors.create_or_retrieve_sensor_async(
self.sensorViewport, syn._syntheticdata.SensorType.CrossCorrespondence
)
# Render one frame
await syn.sensors.next_sensor_data_async(self.sensorViewport,True)
data = syn.sensors.get_cross_correspondence(self.sensorViewport)
golden_image = np.load(self.golden_image_path / "cross_correspondence.npz")["array"]
# normalize xy (uv offset) to zw channels' value range
# x100 seems like a good number to bring uv offset to ~1
data[:, [0, 1]] *= 100
golden_image[:, [0, 1]] *= 100
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
if std_dev >= self.StdDevTolerance:
if not os.path.isdir(self.output_image_path):
os.mkdir(self.output_image_path)
np.savez_compressed(self.output_image_path / "cross_correspondence.npz", array=data)
golden_image = ((golden_image + 1.0) / 2) * 255
data = ((data + 1.0) / 2) * 255
Image.fromarray(golden_image.astype(np.uint8), "RGBA").save(
self.output_image_path / "cross_correspondence_golden.png"
)
Image.fromarray(data.astype(np.uint8), "RGBA").save(self.output_image_path / "cross_correspondence.png")
self.assertTrue(std_dev < self.StdDevTolerance)
async def test_golden_image_rt_non_cubemap(self):
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "RaytracedLighting")
settings.set_bool("/rtx/fishEye/useCubemap", False)
await omni.kit.app.get_app().next_update_async()
# Use default viewport for sensor target as otherwise sensor enablement doesn't work
# also the test will get stuck
# Initialize Sensor
await syn.sensors.create_or_retrieve_sensor_async(
self.sensorViewport, syn._syntheticdata.SensorType.CrossCorrespondence
)
# Render one frame
await syn.sensors.next_sensor_data_async(self.sensorViewport,True)
data = syn.sensors.get_cross_correspondence(self.sensorViewport)
golden_image = np.load(self.golden_image_path / "cross_correspondence.npz")["array"]
# normalize xy (uv offset) to zw channels' value range
# x100 seems like a good number to bring uv offset to ~1
data[:, [0, 1]] *= 100
golden_image[:, [0, 1]] *= 100
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
if std_dev >= self.StdDevTolerance:
if not os.path.isdir(self.output_image_path):
os.mkdir(self.output_image_path)
np.savez_compressed(self.output_image_path / "cross_correspondence.npz", array=data)
golden_image = ((golden_image + 1.0) / 2) * 255
data = ((data + 1.0) / 2) * 255
Image.fromarray(golden_image.astype(np.uint8), "RGBA").save(
self.output_image_path / "cross_correspondence_golden.png"
)
Image.fromarray(data.astype(np.uint8), "RGBA").save(self.output_image_path / "cross_correspondence.png")
self.assertTrue(std_dev < self.StdDevTolerance)
async def test_golden_image_pt(self):
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_bool("/rtx/fishEye/useCubemap", False)
await omni.kit.app.get_app().next_update_async()
# Use default viewport for sensor target as otherwise sensor enablement doesn't work
# also the test will get stuck
# Initialize Sensor
await syn.sensors.create_or_retrieve_sensor_async(
self.sensorViewport, syn._syntheticdata.SensorType.CrossCorrespondence
)
# Render one frame
await syn.sensors.next_sensor_data_async(self.sensorViewport,True)
data = syn.sensors.get_cross_correspondence(self.sensorViewport)
golden_image = np.load(self.golden_image_path / "cross_correspondence.npz")["array"]
# normalize xy (uv offset) to zw channels' value range
# x100 seems like a good number to bring uv offset to ~1
data[:, [0, 1]] *= 100
golden_image[:, [0, 1]] *= 100
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
if std_dev >= self.StdDevTolerance:
if not os.path.isdir(self.output_image_path):
os.mkdir(self.output_image_path)
np.savez_compressed(self.output_image_path / "cross_correspondence.npz", array=data)
golden_image = ((golden_image + 1.0) / 2) * 255
data = ((data + 1.0) / 2) * 255
Image.fromarray(golden_image.astype(np.uint8), "RGBA").save(
self.output_image_path / "cross_correspondence_golden.png"
)
Image.fromarray(data.astype(np.uint8), "RGBA").save(self.output_image_path / "cross_correspondence.png")
self.assertTrue(std_dev < self.StdDevTolerance)
async def test_same_position(self):
global cameras
# Make sure our cross correspondence values converage around 0 when the target and reference cameras are
# in the same position
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_bool("/rtx/fishEye/useCubemap", False)
# Use default viewport for sensor target as otherwise sensor enablement doesn't work
# also the test will get stuck
# Move both cameras to the same position
camera_left = omni.usd.get_context().get_stage().GetPrimAtPath(cameras[0])
camera_right = omni.usd.get_context().get_stage().GetPrimAtPath(cameras[2])
UsdGeom.XformCommonAPI(camera_left).SetTranslate(Gf.Vec3d(-10, 4, 0))
UsdGeom.XformCommonAPI(camera_right).SetTranslate(Gf.Vec3d(-10, 4, 0))
await omni.kit.app.get_app().next_update_async()
# Initialize Sensor
await syn.sensors.create_or_retrieve_sensor_async(
self.sensorViewport, syn._syntheticdata.SensorType.CrossCorrespondence
)
# Render one frame
await syn.sensors.next_sensor_data_async(self.sensorViewport,True)
raw_data = syn.sensors.get_cross_correspondence(self.sensorViewport)
# Get histogram parameters
du_scale = float(raw_data.shape[1] - 1)
dv_scale = float(raw_data.shape[0] - 1)
du_img = raw_data[:, :, 0] * du_scale
dv_img = raw_data[:, :, 1] * dv_scale
# Clear all invalid pixels by setting them to 10000.0
invalid_mask = (raw_data[:, :, 2] == -1)
du_img[invalid_mask] = 10000.0
dv_img[invalid_mask] = 10000.0
# Selection mask
du_selected = (du_img >= -1.0) & (du_img < 1.0)
dv_selected = (dv_img >= -1.0) & (dv_img < 1.0)
# Calculate bins
bins = np.arange(-1.0, 1.0 + 0.1, 0.1)
# calculate histograms for cross correspondence values along eacheach axis
hist_du, edges_du = np.histogram(du_img[du_selected], bins=bins)
hist_dv, edges_dv = np.histogram(dv_img[dv_selected], bins=bins)
# ensure the (0.0, 0.0) bins contain the most values
self.assertTrue(np.argmax(hist_du) == 10)
self.assertTrue(np.argmax(hist_dv) == 10)
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/__init__.py | |
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_stage_manipulation.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import carb
import random
from pxr import Gf, UsdGeom, UsdLux, Sdf
import unittest
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
from omni.kit.viewport.utility import get_active_viewport
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
# Test the ogn node repeatability under stage manipulation
class TestStageManipulation(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
path = os.path.join(FILE_DIR, "../data/scenes/scene_instance_test.usda")
await omni.usd.get_context().open_stage_async(path)
#await omni.usd.get_context().new_stage_async()
viewport = get_active_viewport()
self.render_product_path = viewport.render_product_path
# SyntheticData singleton interface
sdg_iface = SyntheticData.Get()
if not sdg_iface.is_node_template_registered("TestStageManipulationScenarii"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.SIMULATION,
"omni.syntheticdata.SdTestStageManipulationScenarii",
attributes={"inputs:worldPrimPath":"/World"}
),
template_name="TestStageManipulationScenarii" # node template name
)
render_vars = [
#"SemanticMapSD",
#"SemanticPrimTokenSD",
#"InstanceMapSD",
#"InstancePrimTokenSD",
#"SemanticLabelTokenSD",
#"SemanticLocalTransformSD",
#"SemanticWorldTransformSD",
"SemanticBoundingBox2DExtentTightSD",
#"SemanticBoundingBox2DInfosTightSD",
"SemanticBoundingBox2DExtentLooseSD",
#"SemanticBoundingBox2DInfosLooseSD",
"SemanticBoundingBox3DExtentSD",
"SemanticBoundingBox3DInfosSD"
]
for rv in render_vars:
template_name = "TestRawArray" + rv
if not sdg_iface.is_node_template_registered(template_name):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND,
"omni.syntheticdata.SdTestPrintRawArray",
[SyntheticData.NodeConnectionTemplate(rv + "ExportRawArray")]
),
template_name=template_name
)
self.num_loops = 37
async def render_var_test(self, render_var, ref_values, num_references_values, element_type, rand_seed=0, mode="printReferences"):
sdg_iface = SyntheticData.Get()
sdg_iface.activate_node_template("TestStageManipulationScenarii")
sdg_iface.activate_node_template("TestRawArray" + render_var, 0, [self.render_product_path],
{"inputs:elementType": element_type, "inputs:referenceValues": ref_values, "inputs:randomSeed": rand_seed, "inputs:mode": mode,
"inputs:referenceNumUniqueRandomValues": num_references_values})
for _ in range(self.num_loops):
await omni.kit.app.get_app().next_update_async()
sdg_iface.deactivate_node_template("TestRawArray" + render_var, 0, [self.render_product_path])
sdg_iface.deactivate_node_template("TestStageManipulationScenarii")
@unittest.skip("Unimplemented")
async def test_semantic_map(self):
await self.render_var_test("SemanticMapSD", [], "uint16", 2)
async def test_semantic_bbox3d_extent(self):
await self.render_var_test("SemanticBoundingBox3DExtentSD",
[
87.556404, 223.83577, -129.42677, -155.79227, -49.999996, 421.41083, 88.13742, -50.000004, 49.999905, 39.782856, -50.000004, -155.52794, -16.202198,
-50.0, 136.29709, -104.94976, -155.52792, 87.556404, -50.000008, 223.83577, 49.99991, -87.8103, -50.0, -50.00001, 276.29846, 50.000004,
421.41083, -50.0, 60.42457, 223.83574, -129.42676, 312.2204, 277.44424, -50.000004, -37.84166, 87.556404, 188.92877, 136.2971, 50.000004
], 13, "float32", 3, mode="testReferences")
# async def test_semantic_bbox3d_infos(self):
# await self.render_var_test("SemanticBoundingBox3DInfosSD",
# [
# -50.000008, 57.119793, 49.9999, -50.000004, -50.000015, -50.000004, 62.03122,
# -50.000008, -50.000004, -50.000004, -50.0, 50.0, -50.0, 57.119793,
# 9.5100141e-01, -4.7552836e-01, 6.1506079e+02, 1.0000000e+00, -1.0000000e+00, 1.3421423e+03, 4.9999901e+01
# ], 11, "int32", 4, mode="printReferences")
async def test_semantic_bbox2d_extent_loose(self):
await self.render_var_test("SemanticBoundingBox2DExtentLooseSD",
[
733, 479, 532, 507, 460, 611, 763, 309, 17, 827, 789,
698, 554, 947, 789, 581, 534, 156, 582, 323, 825, 298,
562, 959, 595, 299, 117, 445, 572, 31, 622, 609, 228
], 11, "int32", 5, mode="testReferences")
async def test_semantic_bbox2d_extent_tight(self):
await self.render_var_test("SemanticBoundingBox2DExtentTightSD",
[
0.0000000e+00, 5.0700000e+02, 1.1600000e+02, 7.4600000e+02, 5.9500000e+02, 2.1474836e+09, 2.1474836e+09, 2.5300000e+02, 3.6100000e+02, 1.7000000e+01, 0.0000000e+00,
2.1474836e+09, 2.1474836e+09, 2.1474836e+09, 2.1474836e+09, 2.1474836e+09, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.1474836e+09, 0.0000000e+00, 2.1474836e+09,
0.0000000e+00, 3.1000000e+01, 5.3900000e+02, 2.3600000e+02, 2.1474836e+09, 5.7200000e+02, 8.9200000e+02, 9.0500000e+02, 5.6200000e+02, 5.1300000e+02, 0.0000000e+00
], 11, "int32", 9, mode="testReferences")
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_bbox3d.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import unittest
import uuid
import math
import shutil
import asyncio
from time import time
import carb.tokens
import carb.settings
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Usd, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from .. import utils
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
TMP = carb.tokens.get_tokens_interface().resolve("${temp}")
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestBBox3D(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.BoundingBox3D)
async def test_parsed_empty(self):
""" Test 3D bounding box on empty stage.
"""
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True)
assert not bool(bbox3d_data)
async def test_fields_exist(self):
""" Test the correctness of the output dtype.
"""
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
utils.add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport, True)
bbox3d_data_raw = syn.sensors.get_bounding_box_3d(self.viewport, parsed=False, return_corners=False)
bbox3d_data_parsed = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True)
raw_dtype = np.dtype(
[
("instanceId", "<u4"),
("semanticId", "<u4"),
("x_min", "<f4"),
("y_min", "<f4"),
("z_min", "<f4"),
("x_max", "<f4"),
("y_max", "<f4"),
("z_max", "<f4"),
("transform", "<f4", (4, 4)),
]
)
parsed_dtype = np.dtype(
[
("uniqueId", "<i4"),
("name", "O"),
("semanticLabel", "O"),
("metadata", "O"),
("instanceIds", "O"),
("semanticId", "<u4"),
("x_min", "<f4"),
("y_min", "<f4"),
("z_min", "<f4"),
("x_max", "<f4"),
("y_max", "<f4"),
("z_max", "<f4"),
("transform", "<f4", (4, 4)),
("corners", "<f4", (8, 3)),
]
)
assert bbox3d_data_raw.dtype == raw_dtype
assert bbox3d_data_parsed.dtype == parsed_dtype
async def test_parsed_nested_Y_pathtracing(self):
""" Test 3D bounding box with nested semantics and transforms, Y-Up, in pathtracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
# Create 2 cubes (size=1) under a parent prim
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, "Y")
parent = stage.DefinePrim("/World/Parent", "Xform")
child1 = stage.DefinePrim("/World/Parent/Child1", "Cube")
child2 = stage.DefinePrim("/World/Parent/Child2", "Cube")
child1.GetAttribute("size").Set(1.0)
child2.GetAttribute("size").Set(1.0)
utils.add_semantics(parent, "parent")
utils.add_semantics(child1, "child1")
utils.add_semantics(child2, "child2")
UsdGeom.Xformable(parent).ClearXformOpOrder()
UsdGeom.Xformable(child1).ClearXformOpOrder()
UsdGeom.Xformable(child2).ClearXformOpOrder()
UsdGeom.Xformable(parent).AddRotateYOp().Set(45)
UsdGeom.Xformable(child1).AddTranslateOp().Set((-0.5, 0.5, 0.0))
UsdGeom.Xformable(child1).AddRotateYOp().Set(45)
UsdGeom.Xformable(child2).AddTranslateOp().Set((0.5, -0.5, 0.0))
await omni.kit.app.get_app().next_update_async()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True)
parent_bbox = [row for row in bbox3d_data if row["name"] == parent.GetPath()][0]
child1_bbox = [row for row in bbox3d_data if row["name"] == child1.GetPath()][0]
child2_bbox = [row for row in bbox3d_data if row["name"] == child2.GetPath()][0]
# Only takes into account child transforms
a = math.cos(math.pi / 4)
parent_bounds = [[-a - 0.5, -1.0, -a], [1.0, 1.0, a]]
child1_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]
child2_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]] # Doesn't take into account transforms
for bbox, bounds in zip([parent_bbox, child1_bbox, child2_bbox], [parent_bounds, child1_bounds, child2_bounds]):
self.assertAlmostEqual(bbox["x_min"], bounds[0][0], places=5)
self.assertAlmostEqual(bbox["y_min"], bounds[0][1], places=5)
self.assertAlmostEqual(bbox["z_min"], bounds[0][2], places=5)
self.assertAlmostEqual(bbox["x_max"], bounds[1][0], places=5)
self.assertAlmostEqual(bbox["y_max"], bounds[1][1], places=5)
self.assertAlmostEqual(bbox["z_max"], bounds[1][2], places=5)
prim = stage.GetPrimAtPath(bbox["name"])
tf = np.array(UsdGeom.Imageable(prim).ComputeLocalToWorldTransform(0.0))
gf_range = Gf.Range3f(*bounds)
gf_corners = np.array([gf_range.GetCorner(i) for i in range(8)])
gf_corners = np.pad(gf_corners, ((0, 0), (0, 1)), constant_values=1.0)
gf_corners = np.dot(gf_corners, tf)[:, :3]
assert np.allclose(bbox["corners"], gf_corners, atol=1e-5)
async def test_parsed_nested_Y_ray_traced_lighting(self):
""" Test 3D bounding box with nested semantics and transforms, Y-Up, in ray traced lighting mode.
"""
# Set the rendering mode to be ray traced lighting.
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
# Create 2 cubes (size=1) under a parent prim
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, "Y")
parent = stage.DefinePrim("/World/Parent", "Xform")
child1 = stage.DefinePrim("/World/Parent/Child1", "Cube")
child2 = stage.DefinePrim("/World/Parent/Child2", "Cube")
child1.GetAttribute("size").Set(1.0)
child2.GetAttribute("size").Set(1.0)
utils.add_semantics(parent, "parent")
utils.add_semantics(child1, "child1")
utils.add_semantics(child2, "child2")
UsdGeom.Xformable(parent).ClearXformOpOrder()
UsdGeom.Xformable(child1).ClearXformOpOrder()
UsdGeom.Xformable(child2).ClearXformOpOrder()
UsdGeom.Xformable(parent).AddRotateYOp().Set(45)
UsdGeom.Xformable(child1).AddTranslateOp().Set((-0.5, 0.5, 0.0))
UsdGeom.Xformable(child1).AddRotateYOp().Set(45)
UsdGeom.Xformable(child2).AddTranslateOp().Set((0.5, -0.5, 0.0))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True)
parent_bbox = [row for row in bbox3d_data if row["name"] == parent.GetPath()][0]
child1_bbox = [row for row in bbox3d_data if row["name"] == child1.GetPath()][0]
child2_bbox = [row for row in bbox3d_data if row["name"] == child2.GetPath()][0]
# Only takes into account child transforms
a = math.cos(math.pi / 4)
parent_bounds = [[-a - 0.5, -1.0, -a], [1.0, 1.0, a]]
child1_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]
child2_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]] # Doesn't take into account transforms
for bbox, bounds in zip([parent_bbox, child1_bbox, child2_bbox], [parent_bounds, child1_bounds, child2_bounds]):
self.assertAlmostEqual(bbox["x_min"], bounds[0][0], places=5)
self.assertAlmostEqual(bbox["y_min"], bounds[0][1], places=5)
self.assertAlmostEqual(bbox["z_min"], bounds[0][2], places=5)
self.assertAlmostEqual(bbox["x_max"], bounds[1][0], places=5)
self.assertAlmostEqual(bbox["y_max"], bounds[1][1], places=5)
self.assertAlmostEqual(bbox["z_max"], bounds[1][2], places=5)
prim = stage.GetPrimAtPath(bbox["name"])
tf = np.array(UsdGeom.Imageable(prim).ComputeLocalToWorldTransform(0.0))
gf_range = Gf.Range3f(*bounds)
gf_corners = np.array([gf_range.GetCorner(i) for i in range(8)])
gf_corners = np.pad(gf_corners, ((0, 0), (0, 1)), constant_values=1.0)
gf_corners = np.dot(gf_corners, tf)[:, :3]
assert np.allclose(bbox["corners"], gf_corners, atol=1e-5)
async def test_parsed_nested_Y(self):
""" Test 3D bounding box with nested semantics and transforms, Y-Up.
"""
# Create 2 cubes (size=1) under a parent prim
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, "Y")
parent = stage.DefinePrim("/World/Parent", "Xform")
child1 = stage.DefinePrim("/World/Parent/Child1", "Cube")
child2 = stage.DefinePrim("/World/Parent/Child2", "Cube")
child1.GetAttribute("size").Set(1.0)
child2.GetAttribute("size").Set(1.0)
utils.add_semantics(parent, "parent")
utils.add_semantics(child1, "child1")
utils.add_semantics(child2, "child2")
UsdGeom.Xformable(parent).ClearXformOpOrder()
UsdGeom.Xformable(child1).ClearXformOpOrder()
UsdGeom.Xformable(child2).ClearXformOpOrder()
UsdGeom.Xformable(parent).AddRotateYOp().Set(45)
UsdGeom.Xformable(child1).AddTranslateOp().Set((-0.5, 0.5, 0.0))
UsdGeom.Xformable(child1).AddRotateYOp().Set(45)
UsdGeom.Xformable(child2).AddTranslateOp().Set((0.5, -0.5, 0.0))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True)
parent_bbox = [row for row in bbox3d_data if row["name"] == parent.GetPath()][0]
child1_bbox = [row for row in bbox3d_data if row["name"] == child1.GetPath()][0]
child2_bbox = [row for row in bbox3d_data if row["name"] == child2.GetPath()][0]
# Only takes into account child transforms
a = math.cos(math.pi / 4)
parent_bounds = [[-a - 0.5, -1.0, -a], [1.0, 1.0, a]]
child1_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]
child2_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]] # Doesn't take into account transforms
for bbox, bounds in zip([parent_bbox, child1_bbox, child2_bbox], [parent_bounds, child1_bounds, child2_bounds]):
self.assertAlmostEqual(bbox["x_min"], bounds[0][0], places=5)
self.assertAlmostEqual(bbox["y_min"], bounds[0][1], places=5)
self.assertAlmostEqual(bbox["z_min"], bounds[0][2], places=5)
self.assertAlmostEqual(bbox["x_max"], bounds[1][0], places=5)
self.assertAlmostEqual(bbox["y_max"], bounds[1][1], places=5)
self.assertAlmostEqual(bbox["z_max"], bounds[1][2], places=5)
prim = stage.GetPrimAtPath(bbox["name"])
tf = np.array(UsdGeom.Imageable(prim).ComputeLocalToWorldTransform(0.0))
gf_range = Gf.Range3f(*bounds)
gf_corners = np.array([gf_range.GetCorner(i) for i in range(8)])
gf_corners = np.pad(gf_corners, ((0, 0), (0, 1)), constant_values=1.0)
gf_corners = np.dot(gf_corners, tf)[:, :3]
assert np.allclose(bbox["corners"], gf_corners, atol=1e-5)
async def test_parsed_nested_Z(self):
""" Test 3D bounding box with nested semantics and transforms, Z-Up.
"""
# Create 2 cubes (size=1) under a parent prim
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, "Z")
parent = stage.DefinePrim("/World/Parent", "Xform")
child1 = stage.DefinePrim("/World/Parent/Child1", "Cube")
child2 = stage.DefinePrim("/World/Parent/Child2", "Cube")
child1.GetAttribute("size").Set(1.0)
child2.GetAttribute("size").Set(1.0)
utils.add_semantics(parent, "parent")
utils.add_semantics(child1, "child1")
utils.add_semantics(child2, "child2")
UsdGeom.Xformable(parent).ClearXformOpOrder()
UsdGeom.Xformable(child1).ClearXformOpOrder()
UsdGeom.Xformable(child2).ClearXformOpOrder()
UsdGeom.Xformable(parent).AddRotateYOp().Set(45)
UsdGeom.Xformable(child1).AddTranslateOp().Set((-0.5, 0.5, 0.0))
UsdGeom.Xformable(child1).AddRotateYOp().Set(45)
UsdGeom.Xformable(child2).AddTranslateOp().Set((0.5, -0.5, 0.0))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True)
parent_bbox = [row for row in bbox3d_data if row["name"] == parent.GetPath()][0]
child1_bbox = [row for row in bbox3d_data if row["name"] == child1.GetPath()][0]
child2_bbox = [row for row in bbox3d_data if row["name"] == child2.GetPath()][0]
# Only takes into account child transforms
a = math.cos(math.pi / 4)
parent_bounds = [[-a - 0.5, -1.0, -a], [1.0, 1.0, a]]
child1_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]
child2_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]] # Doesn't take into account transforms
for bbox, bounds in zip([parent_bbox, child1_bbox, child2_bbox], [parent_bounds, child1_bounds, child2_bounds]):
self.assertAlmostEqual(bbox["x_min"], bounds[0][0], places=5)
self.assertAlmostEqual(bbox["y_min"], bounds[0][1], places=5)
self.assertAlmostEqual(bbox["z_min"], bounds[0][2], places=5)
self.assertAlmostEqual(bbox["x_max"], bounds[1][0], places=5)
self.assertAlmostEqual(bbox["y_max"], bounds[1][1], places=5)
self.assertAlmostEqual(bbox["z_max"], bounds[1][2], places=5)
prim = stage.GetPrimAtPath(bbox["name"])
tf = np.array(UsdGeom.Imageable(prim).ComputeLocalToWorldTransform(0.0))
gf_range = Gf.Range3f(*bounds)
gf_corners = np.array([gf_range.GetCorner(i) for i in range(8)])
gf_corners = np.pad(gf_corners, ((0, 0), (0, 1)), constant_values=1.0)
gf_corners = np.dot(gf_corners, tf)[:, :3]
assert np.allclose(bbox["corners"], gf_corners, atol=1e-5)
@unittest.skip("OM-45008")
async def test_camera_frame_simple_ftheta(self):
""" Test 3D bounding box in a simple scene under ftheta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
# TEST SIMPLE SCENE
cube = stage.DefinePrim("/Cube", "Cube")
cube.GetAttribute("size").Set(2.0)
UsdGeom.Xformable(cube).AddTranslateOp().Set((10.0, 1.0, 2))
utils.add_semantics(cube, "cube")
camera = stage.DefinePrim("/Camera", "Camera")
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
UsdGeom.Xformable(camera).AddTranslateOp().Set((10.0, 0.0, 0.0))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=True
)
# TODO: find the correct value of distorted result.
# The f theta will distort the result.
extents = Gf.Range3d([-1.0, 0, 1], [1.0, 2.0, 3])
corners = np.array([[extents.GetCorner(i) for i in range(8)]])
assert not np.allclose(bbox3d_data[0]["corners"], corners)
@unittest.skip("OM-45008")
async def test_camera_frame_simple_spherical(self):
""" Test 3D bounding box in a simple scene under fisheye spherical camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
# TEST SIMPLE SCENE
cube = stage.DefinePrim("/Cube", "Cube")
cube.GetAttribute("size").Set(2.0)
UsdGeom.Xformable(cube).AddTranslateOp().Set((10.0, 1.0, 2))
utils.add_semantics(cube, "cube")
camera = stage.DefinePrim("/Camera", "Camera")
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
UsdGeom.Xformable(camera).AddTranslateOp().Set((10.0, 0.0, 0.0))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=True
)
# TODO: find the correct value of distorted result.
# The spherical camera will distort the result.
extents = Gf.Range3d([-1.0, 0, 1], [1.0, 2.0, 3])
corners = np.array([[extents.GetCorner(i) for i in range(8)]])
assert not np.allclose(bbox3d_data[0]["corners"], corners)
async def test_camera_frame_simple(self):
""" Test 3D bounding box in a simple scene.
"""
stage = omni.usd.get_context().get_stage()
# TEST SIMPLE SCENE
cube = stage.DefinePrim("/Cube", "Cube")
cube.GetAttribute("size").Set(2.0)
UsdGeom.Xformable(cube).AddTranslateOp().Set((10.0, 0.0, 10.0))
utils.add_semantics(cube, "cube")
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((10.0, 0.0, 0.0))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=True
)
extents = Gf.Range3d([-1.0, -1.0, 9.0], [1.0, 1.0, 11.0])
corners = np.array([[extents.GetCorner(i) for i in range(8)]])
assert np.allclose(bbox3d_data[0]["corners"], corners)
tf = np.eye(4)
tf[3, 2] = 10.0
assert np.allclose(bbox3d_data[0]["transform"], tf)
async def test_camera_frame_reference(self):
""" Test 3D bounding box in a simple scene.
"""
ref_path = os.path.join(TMP, f"ref_stage{uuid.uuid1()}.usd")
ref_stage = Usd.Stage.CreateNew(ref_path)
world = ref_stage.DefinePrim("/World", "Xform")
world_tf = utils.get_random_transform()
UsdGeom.Xformable(world).AddTransformOp().Set(world_tf)
cube = ref_stage.DefinePrim("/World/Cube", "Cube")
cube.GetAttribute("size").Set(2.0)
cube_tf = Gf.Matrix4d().SetTranslateOnly((10.0, 0.0, 10.0))
UsdGeom.Xformable(cube).AddTransformOp().Set(cube_tf)
utils.add_semantics(cube, "cube")
camera = ref_stage.DefinePrim("/World/Camera", "Camera")
camera_tf = cube_tf
UsdGeom.Xformable(camera).AddTransformOp().Set(camera_tf)
ref_stage.Save()
# omni.usd.get_context().new_stage()
# await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
rig = stage.DefinePrim("/Rig", "Xform")
rig_tf = utils.get_random_transform()
UsdGeom.Xformable(rig).AddTransformOp().Set(rig_tf)
ref = stage.DefinePrim("/Rig/Ref")
ref.GetReferences().AddReference(ref_path, "/World")
self.viewport.camera_path = "/Rig/Ref/Camera"
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data_world = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=False
)
bbox3d_data_camera = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=True
)
extents = Gf.Range3d([-1.0, -1.0, -1.0], [1.0, 1.0, 1.0])
corners = np.array([[extents.GetCorner(i) for i in range(8)]])
assert np.allclose(bbox3d_data_camera[0]["corners"], corners)
combined_tf = np.matmul(cube_tf, np.matmul(world_tf, rig_tf))
corners_tf = np.matmul(np.pad(corners.reshape(-1, 3), ((0, 0), (0, 1)), constant_values=1), combined_tf)
corners_tf = corners_tf[:, :3].reshape(-1, 8, 3)
assert np.allclose(bbox3d_data_world[0]["corners"], corners_tf)
# tf = np.eye(4)
# tf[3, 2] = 10.0
assert np.allclose(bbox3d_data_world[0]["transform"], combined_tf)
pt_camera_min = [bbox3d_data_camera[0][f"{a}_min"] for a in ["x", "y", "z"]]
pt_camera_min = np.array([*pt_camera_min, 1.0])
pt_camera_max = [bbox3d_data_camera[0][f"{a}_max"] for a in ["x", "y", "z"]]
pt_camera_max = np.array([*pt_camera_max, 1.0])
assert np.allclose(np.matmul(pt_camera_min, bbox3d_data_camera[0]["transform"])[:3], corners[0, 0])
assert np.allclose(np.matmul(pt_camera_max, bbox3d_data_camera[0]["transform"])[:3], corners[0, 7])
async def test_camera_frame_Y(self):
# TEST NESTED TRANSFORMS, UP AXIS
# Create 2 cubes (size=1) under a parent prim
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, "Y")
parent = stage.DefinePrim("/World/Parent", "Xform")
child1 = stage.DefinePrim("/World/Parent/Child1", "Cube")
child2 = stage.DefinePrim("/World/Parent/Child2", "Cube")
camera = stage.DefinePrim("/World/Camera", "Camera")
child1.GetAttribute("size").Set(1.0)
child2.GetAttribute("size").Set(1.0)
utils.add_semantics(parent, "parent")
utils.add_semantics(child1, "child1")
utils.add_semantics(child2, "child2")
UsdGeom.Xformable(parent).ClearXformOpOrder()
UsdGeom.Xformable(child1).ClearXformOpOrder()
UsdGeom.Xformable(child2).ClearXformOpOrder()
UsdGeom.Xformable(camera).ClearXformOpOrder()
UsdGeom.Xformable(parent).AddRotateYOp().Set(45)
UsdGeom.Xformable(child1).AddTranslateOp().Set((-0.5, 0.5, 0.0))
UsdGeom.Xformable(child1).AddRotateYOp().Set(45)
UsdGeom.Xformable(child2).AddTranslateOp().Set((0.5, -0.5, 0.0))
# Move camera with random transform
camera_tf = utils.get_random_transform()
UsdGeom.Xformable(camera).AddTransformOp().Set(Gf.Matrix4d(camera_tf))
camera_tf_inv = np.linalg.inv(camera_tf)
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=True
)
parent_bbox = [row for row in bbox3d_data if row["name"] == parent.GetPath()][0]
child1_bbox = [row for row in bbox3d_data if row["name"] == child1.GetPath()][0]
child2_bbox = [row for row in bbox3d_data if row["name"] == child2.GetPath()][0]
# Only takes into account child transforms
a = math.cos(math.pi / 4)
parent_bounds = [[-a - 0.5, -1.0, -a], [1.0, 1.0, a]]
child1_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]
child2_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]] # Doesn't take into account transforms
for bbox, bounds in zip([parent_bbox, child1_bbox, child2_bbox], [parent_bounds, child1_bounds, child2_bounds]):
self.assertAlmostEqual(bbox["x_min"], bounds[0][0], places=5)
self.assertAlmostEqual(bbox["y_min"], bounds[0][1], places=5)
self.assertAlmostEqual(bbox["z_min"], bounds[0][2], places=5)
self.assertAlmostEqual(bbox["x_max"], bounds[1][0], places=5)
self.assertAlmostEqual(bbox["y_max"], bounds[1][1], places=5)
self.assertAlmostEqual(bbox["z_max"], bounds[1][2], places=5)
prim = stage.GetPrimAtPath(bbox["name"])
tf = np.array(UsdGeom.Imageable(prim).ComputeLocalToWorldTransform(0.0))
gf_range = Gf.Range3f(*bounds)
gf_corners = np.array([gf_range.GetCorner(i) for i in range(8)])
gf_corners = np.pad(gf_corners, ((0, 0), (0, 1)), constant_values=1.0)
gf_corners = np.dot(gf_corners, tf)
gf_corners = np.dot(gf_corners, camera_tf_inv)[:, :3]
assert np.allclose(bbox["corners"], gf_corners, atol=1e-5)
async def test_camera_frame_Z(self):
# TEST NESTED TRANSFORMS, UP AXIS
# Create 2 cubes (size=1) under a parent prim
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, "Z")
parent = stage.DefinePrim("/World/Parent", "Xform")
child1 = stage.DefinePrim("/World/Parent/Child1", "Cube")
child2 = stage.DefinePrim("/World/Parent/Child2", "Cube")
camera = stage.DefinePrim("/World/Camera", "Camera")
child1.GetAttribute("size").Set(1.0)
child2.GetAttribute("size").Set(1.0)
utils.add_semantics(parent, "parent")
utils.add_semantics(child1, "child1")
utils.add_semantics(child2, "child2")
UsdGeom.Xformable(parent).ClearXformOpOrder()
UsdGeom.Xformable(child1).ClearXformOpOrder()
UsdGeom.Xformable(child2).ClearXformOpOrder()
UsdGeom.Xformable(camera).ClearXformOpOrder()
UsdGeom.Xformable(parent).AddRotateYOp().Set(45)
UsdGeom.Xformable(child1).AddTranslateOp().Set((-0.5, 0.5, 0.0))
UsdGeom.Xformable(child1).AddRotateYOp().Set(45)
UsdGeom.Xformable(child2).AddTranslateOp().Set((0.5, -0.5, 0.0))
# Move camera with random transform
camera_tf = np.eye(4)
camera_tf[:3, :3] = Gf.Matrix3d(Gf.Rotation(np.random.rand(3).tolist(), np.random.rand(3).tolist()))
camera_tf[3, :3] = np.random.rand(1, 3)
UsdGeom.Xformable(camera).AddTransformOp().Set(Gf.Matrix4d(camera_tf))
camera_tf_inv = np.linalg.inv(camera_tf)
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=True
)
parent_bbox = [row for row in bbox3d_data if row["name"] == parent.GetPath()][0]
child1_bbox = [row for row in bbox3d_data if row["name"] == child1.GetPath()][0]
child2_bbox = [row for row in bbox3d_data if row["name"] == child2.GetPath()][0]
# Only takes into account child transforms
a = math.cos(math.pi / 4)
parent_bounds = [[-a - 0.5, -1.0, -a], [1.0, 1.0, a]]
child1_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]
child2_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]] # Doesn't take into account transforms
for bbox, bounds in zip([parent_bbox, child1_bbox, child2_bbox], [parent_bounds, child1_bounds, child2_bounds]):
self.assertAlmostEqual(bbox["x_min"], bounds[0][0], places=5)
self.assertAlmostEqual(bbox["y_min"], bounds[0][1], places=5)
self.assertAlmostEqual(bbox["z_min"], bounds[0][2], places=5)
self.assertAlmostEqual(bbox["x_max"], bounds[1][0], places=5)
self.assertAlmostEqual(bbox["y_max"], bounds[1][1], places=5)
self.assertAlmostEqual(bbox["z_max"], bounds[1][2], places=5)
prim = stage.GetPrimAtPath(bbox["name"])
tf = np.array(UsdGeom.Imageable(prim).ComputeLocalToWorldTransform(0.0))
gf_range = Gf.Range3f(*bounds)
gf_corners = np.array([gf_range.GetCorner(i) for i in range(8)])
gf_corners = np.pad(gf_corners, ((0, 0), (0, 1)), constant_values=1.0)
gf_corners = np.dot(gf_corners, tf)
gf_corners = np.dot(gf_corners, camera_tf_inv)[:, :3]
assert np.allclose(bbox["corners"], gf_corners, atol=1e-5)
@unittest.skip("OM-46398")
async def test_bbox_3d_scene_instance(self):
""" Test sensor on scene instance.
"""
path = os.path.join(FILE_DIR, "../data/scenes/scene_instance_test.usda")
await omni.usd.get_context().open_stage_async(path)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_bounding_box_3d_(self.viewport)
# should be 3 prims in the scene
# TODO: add more complicated test
assert len(data) == 3
async def test_bbox_3d_skinned_mesh(self):
""" Test sensor on skeletal mesh. Also test visibility toggling
"""
path = os.path.join(FILE_DIR, "../data/scenes/can.usda")
await omni.usd.get_context().open_stage_async(path)
can_stage = omni.usd.get_context().get_stage()
can_prim = can_stage.GetPrimAtPath("/Root/group1/pCylinder1")
can_bounds = [[-2.25, -2.00, -0.11], [5.14, 2.00, 9.80]]
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.BoundingBox3D)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True, camera_frame=True)
# should be 1 prims in the scene
assert len(bbox3d_data) == 1
self.assertAlmostEqual(bbox3d_data[0]["x_min"], can_bounds[0][0], places=2)
self.assertAlmostEqual(bbox3d_data[0]["y_min"], can_bounds[0][1], places=2)
self.assertAlmostEqual(bbox3d_data[0]["z_min"], can_bounds[0][2], places=2)
self.assertAlmostEqual(bbox3d_data[0]["x_max"], can_bounds[1][0], places=2)
self.assertAlmostEqual(bbox3d_data[0]["y_max"], can_bounds[1][1], places=2)
self.assertAlmostEqual(bbox3d_data[0]["z_max"], can_bounds[1][2], places=2)
UsdGeom.Imageable(can_prim).MakeInvisible() # hide the can
await omni.kit.app.get_app().next_update_async()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True, camera_frame=True)
# should be 0 prims in the scene once the visibility is toggled
assert len(bbox3d_data) == 0
UsdGeom.Imageable(can_prim).MakeVisible() # make the can visible again
await omni.kit.app.get_app().next_update_async()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True, camera_frame=True)
# should be 1 prims in the scene now that the can is visible again
assert len(bbox3d_data) == 1
# ensure that the 3D bbox extents are the same after visibility has been toggled
self.assertAlmostEqual(bbox3d_data[0]["x_min"], can_bounds[0][0], places=2)
self.assertAlmostEqual(bbox3d_data[0]["y_min"], can_bounds[0][1], places=2)
self.assertAlmostEqual(bbox3d_data[0]["z_min"], can_bounds[0][2], places=2)
self.assertAlmostEqual(bbox3d_data[0]["x_max"], can_bounds[1][0], places=2)
self.assertAlmostEqual(bbox3d_data[0]["y_max"], can_bounds[1][1], places=2)
self.assertAlmostEqual(bbox3d_data[0]["z_max"], can_bounds[1][2], places=2)
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_depth.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestDepth(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.Depth)
async def test_parsed_empty(self):
""" Test depth sensor on empty stage.
"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth(self.viewport)
assert data.sum() == 0
async def test_parsed_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth(self.viewport)
assert data.dtype == np.float32
async def test_distances(self):
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth(self.viewport)
assert np.isclose(data.min(), 0, atol=1e-5)
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.max(), 1 / (n - 1), atol=1e-5)
async def test_distances_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
# Set the rendering mode to be pathtracing
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth(self.viewport)
assert np.isclose(data.min(), 0, atol=1e-5)
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.max(), 1 / (n - 1), atol=1e-5)
async def test_distances_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be pathtracing
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth(self.viewport)
assert np.isclose(data.min(), 0, atol=1e-5)
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.max(), 1 / (n - 1), atol=1e-5)
async def test_ftheta_camera(self):
""" Test the functionality of the sensor under f-theta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
# Add a cube at the centre of the scene
cube_prim = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube_prim, "cube")
cube = UsdGeom.Cube(cube_prim)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth(self.viewport)
await omni.kit.app.get_app().next_update_async()
# Centre of the data should be half of the cube edge's length, adjusted to correct scale.
edge_length = cube.GetSizeAttr().Get()
assert np.isclose(1 / (edge_length - 1), data.max(), atol=1e-3)
assert np.isclose(1 / (np.sqrt(((edge_length) ** 2)*2) - 1), data[data > 0].min(), atol=1e-1)
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_semantic_seg.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
from pathlib import Path
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
import unittest
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestSemanticSeg(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
await syn.sensors.initialize_async(
self.viewport,
[
syn._syntheticdata.SensorType.SemanticSegmentation,
syn._syntheticdata.SensorType.InstanceSegmentation
]
)
async def test_empty(self):
""" Test semantic segmentation on empty stage.
"""
data = syn.sensors.get_semantic_segmentation(self.viewport, parsed=True)
assert data.sum() == 0
async def test_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport, parsed=True)
assert data.dtype == np.uint32
async def test_cube(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport, parsed=True)
# np.savez_compressed(self.golden_image_path / 'semantic_seg_cube.npz', array=data)
golden_image = np.load(self.golden_image_path / "semantic_seg_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 0.1
async def test_cube_sphere(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
sphere_prim = stage.DefinePrim("/Sphere", "Sphere")
UsdGeom.XformCommonAPI(sphere_prim).SetTranslate((300, 0, 0))
add_semantics(sphere_prim, "sphere")
sphere = UsdGeom.Sphere(sphere_prim)
sphere.GetRadiusAttr().Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube.npz', array=data)
assert len(data) != 0
async def test_cube_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport, parsed=True)
golden_image = np.load(self.golden_image_path / "semantic_seg_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 0.1
async def test_cube_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport, parsed=True)
golden_image = np.load(self.golden_image_path / "semantic_seg_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 0.1
async def test_cube_ftheta(self):
""" Basic funtionality test of the sensor under f theta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await omni.kit.app.get_app().next_update_async()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((100, 100, 100))
self.viewport.camera_path = camera.GetPath()
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport, parsed=True)
# np.savez_compressed(self.golden_image_path / 'semantic_seg_cube_ftheta.npz', array=data)
golden_image = np.load(self.golden_image_path / "semantic_seg_cube_ftheta.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 0.1
async def test_cube_spherical(self):
""" Basic funtionality test of the sensor under spherical camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await omni.kit.app.get_app().next_update_async()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be spherical fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((100, 100, 100))
self.viewport.camera_path = camera.GetPath()
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport, parsed=True)
# np.savez_compressed(self.golden_image_path / 'semantic_seg_cube_spherical.npz', array=data)
golden_image = np.load(self.golden_image_path / "semantic_seg_cube_spherical.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 0.1
@unittest.skip("OM-46393")
async def test_geom_subset(self):
""" Test sensor on GeomSubset.
"""
path = os.path.join(FILE_DIR, "../data/scenes/streetlamp_03_golden.usd")
await omni.usd.get_context().open_stage_async(path)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport, parsed=True)
assert len(data) != 0
@unittest.skip("OM-46394")
async def test_sem_seg_scene_instance(self):
""" Test sensor on scene instance.
"""
path = os.path.join(FILE_DIR, "../data/scenes/scene_instance_test.usda")
await omni.usd.get_context().open_stage_async(path)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport, parsed=True)
# TODO add more complicated test
assert len(data) != 0
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_bbox2d_tight.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import unittest
import carb
import numpy as np
import omni.kit.test
from pxr import Gf, UsdGeom
from omni.kit.viewport.utility import get_active_viewport
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestBBox2DTight(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.BoundingBox2DTight
)
async def test_parsed_empty(self):
""" Test 2D bounding box on empty stage.
"""
bbox2d_data = syn.sensors.get_bounding_box_2d_tight(self.viewport)
assert not bool(bbox2d_data)
async def test_fields_exist(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_tight(self.viewport)
valid_dtype = [
("uniqueId", "<i4"),
("name", "O"),
("semanticLabel", "O"),
("metadata", "O"),
("instanceIds", "O"),
("semanticId", "<u4"),
("x_min", "<i4"),
("y_min", "<i4"),
("x_max", "<i4"),
("y_max", "<i4"),
]
assert bbox2d_data.dtype == np.dtype(valid_dtype)
async def test_cube(self):
""" Basic test for the sensor.
"""
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_tight(self.viewport)
assert bbox2d_data[0]
x_min, y_min, x_max, y_max = bbox2d_data[0][6], bbox2d_data[0][7], bbox2d_data[0][8], bbox2d_data[0][9]
assert x_min == 301
assert y_min == 21
assert x_max == 978
assert y_max == 698
@unittest.skip("OM-46398")
async def test_bbox_2d_tight_scene_instance(self):
""" Test sensor on scene instance.
"""
settings = carb.settings.get_settings()
if settings.get("/rtx/hydra/enableSemanticSchema"):
path = os.path.join(FILE_DIR, "../data/scenes/scene_instance_test.usda")
await omni.usd.get_context().open_stage_async(path)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_bounding_box_2d_tight(self.viewport)
# should be 3 prims in the scene.
# TODO: Add more complicated test
assert len(data) == 3
async def test_cube_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_tight(self.viewport)
x_min, y_min, x_max, y_max = bbox2d_data[0][6], bbox2d_data[0][7], bbox2d_data[0][8], bbox2d_data[0][9]
assert x_min == 301
assert y_min == 21
assert x_max == 978
assert y_max == 698
async def test_cube_ray_traced_lighting(self):
""" Basic test for the sensor, but in ray traced lighting mode.
"""
# Set the rendering mode to be ray traced lighting.
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_tight(self.viewport)
x_min, y_min, x_max, y_max = bbox2d_data[0][6], bbox2d_data[0][7], bbox2d_data[0][8], bbox2d_data[0][9]
assert x_min == 301
assert y_min == 21
assert x_max == 978
assert y_max == 698
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_distance_to_camera.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
from time import time
from pathlib import Path
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestDistanceToCamera(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.DistanceToCamera)
async def test_parsed_empty(self):
""" Test distance-to-camera sensor on empty stage.
"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
assert np.all(data > 1000)
async def test_parsed_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
assert data.dtype == np.float32
async def test_distances(self):
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
# TODO get a more precise calculation of eye distance
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-1)
async def test_distances_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
# Set the rendering mode to be pathtracing
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
# TODO get a more precise calculation of eye distance
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-1)
async def test_distances_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be pathtracing
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
# TODO get a more precise calculation of eye distance
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-1)
async def test_ftheta_camera(self):
""" Test the functionality of the sensor under f-theta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
# Add a cube at the centre of the scene
cube_prim = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube_prim, "cube")
cube = UsdGeom.Cube(cube_prim)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
await omni.kit.app.get_app().next_update_async()
# Centre of the data should be half of the cube edge's length, adjusted to correct scale.
edge_length = (cube.GetSizeAttr().Get() - 1) / 100
# The max should be sqrt(((edge_length / 2) ** 2) * 2), which a pinhole camera won't see.
assert np.isclose(np.sqrt(((edge_length / 2) ** 2)*2), data[data != np.inf].max(), atol=1e-3)
async def test_spherical_camera(self):
""" Test the functionality of the sensor under fisheye spherical camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be spherical camera
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
# Set the Camera at the centre of the stage.
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
sphere_prim = stage.DefinePrim("/Sphere", "Sphere")
add_semantics(sphere_prim, "sphere")
sphere = UsdGeom.Sphere(sphere_prim)
sphere.GetRadiusAttr().Set(20)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
# np.savez_compressed(self.golden_image_path / 'distance_to_camera_spherical.npz', array=data)
golden_image = np.load(self.golden_image_path / "distance_to_camera_spherical.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_normals.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
from pathlib import Path
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestNormals(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.Normal)
async def test_parsed_empty(self):
""" Test normals sensor on empty stage.
"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
assert np.allclose(data, 0, 1e-3)
async def test_parsed_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
assert data.dtype == np.float32
async def test_neg_z(self):
""" Test that negative z faces are distinct from background
"""
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddRotateYOp().Set(180)
UsdGeom.Xformable(camera).AddTranslateOp().Set((0.0, 0.0, 20.0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
assert len(np.unique(data)) == 2
async def test_rotated_cube(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
# np.savez_compressed(self.golden_image_path / 'normals_cube.npz', array=data)
golden_image = np.load(self.golden_image_path / "normals_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_rotated_cube_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
# np.savez_compressed(self.golden_image_path / 'normals_cube.npz', array=data)
golden_image = np.load(self.golden_image_path / "normals_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_rotated_cube_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be ray traced lighting.
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
# np.savez_compressed(self.golden_image_path / 'normals_cube.npz', array=data)
golden_image = np.load(self.golden_image_path / "normals_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_rotated_cube_ftheta(self):
""" Basic funtionality test of the sensor in f theta camera.
"""
# Set the mode to path traced for f theta camera.
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await omni.kit.app.get_app().next_update_async()
# Setting up camera.
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((200, 200, 200))
self.viewport.camera_path = camera.GetPath()
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
# np.savez_compressed(self.golden_image_path / 'normals_cube_ftheta.npz', array=data)
golden_image = np.load(self.golden_image_path / "normals_cube_ftheta.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_rotated_cube_spherical(self):
""" Basic funtionality test of the sensor in fisheye spherical camera.
"""
# Set the mode to path traced.
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
# Setting up camera.
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((200, 200, 200))
self.viewport.camera_path = camera.GetPath()
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
# np.savez_compressed(self.golden_image_path / 'normals_cube_spherical.npz', array=data)
golden_image = np.load(self.golden_image_path / "normals_cube_spherical.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_rgb.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
from pathlib import Path
import unittest
from PIL import Image
import carb
import numpy as np
from numpy.lib.arraysetops import unique
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf, UsdLux
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestRGB(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
# Before running each test
async def setUp(self):
np.random.seed(1234)
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.Rgb)
async def test_empty(self):
""" Test RGB sensor on empty stage.
"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_rgb(self.viewport)
std_dev = np.sqrt(np.square(data - np.zeros_like(data)).astype(float).mean())
assert std_dev < 2
async def test_cube(self):
""" Test RGB sensor on stage with cube.
"""
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
cube.GetAttribute("primvars:displayColor").Set([(0, 0, 1)])
await omni.kit.app.get_app().next_update_async()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_rgb(self.viewport)
golden_image = np.asarray(Image.open(str(self.golden_image_path / "rgb_cube.png")))
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_rgb(self.viewport)
assert data.dtype == np.uint8
@unittest.skip("OM-44741")
async def test_cube_polynomial(self):
""" Test RGB sensor on stage with cube.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
cube.GetAttribute("primvars:displayColor").Set([(0, 0, 1)])
await omni.kit.app.get_app().next_update_async()
# TODO: Add a light
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be spherical camera
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 200))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_rgb(self.viewport)
# image = Image.fromarray(data)
# image.save(str(self.golden_image_path / "rgb_cube_ftheta.png"))
golden_image = np.asarray(Image.open(str(self.golden_image_path / "rgb_cube_ftheta.png")))
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
@unittest.skip("OM-44741")
async def test_cube_spherical(self):
""" Test RGB sensor on stage with cube.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
cube.GetAttribute("primvars:displayColor").Set([(0, 0, 1)])
await omni.kit.app.get_app().next_update_async()
# TODO: Add a light
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be spherical camera
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 200))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_rgb(self.viewport)
# image = Image.fromarray(data)
# image.save(str(self.golden_image_path / "rgb_cube_spherical.png"))
golden_image = np.asarray(Image.open(str(self.golden_image_path / "rgb_cube_spherical.png")))
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_rendervar_buff_host_ptr.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import unittest
import numpy as np
import ctypes
import omni.kit.test
from omni.gpu_foundation_factory import TextureFormat
from omni.kit.viewport.utility import get_active_viewport
from pxr import UsdGeom, UsdLux
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
# Test the SyntheticData following nodes :
# - SdPostRenderVarTextureToBuffer : node to convert a texture device rendervar into a buffer device rendervar
# - SdPostRenderVarToHost : node to readback a device rendervar into a host rendervar
# - SdRenderVarPtr : node to expose in the action graph, raw device / host pointers on the renderVars
#
# the tests consists in pulling the ptr data and comparing it with the data ouputed by :
# - SdRenderVarToRawArray
#
class TestRenderVarBuffHostPtr(omni.kit.test.AsyncTestCase):
_tolerance = 1.1
_outputs_ptr = ["outputs:dataPtr","outputs:width","outputs:height","outputs:bufferSize","outputs:format", "outputs:strides"]
_outputs_arr = ["outputs:data","outputs:width","outputs:height","outputs:bufferSize","outputs:format"]
@staticmethod
def _texture_element_size(texture_format):
if texture_format == int(TextureFormat.RGBA16_SFLOAT):
return 8
elif texture_format == int(TextureFormat.RGBA32_SFLOAT):
return 16
elif texture_format == int(TextureFormat.R32_SFLOAT):
return 4
elif texture_format == int(TextureFormat.RGBA8_UNORM):
return 4
elif texture_format == int(TextureFormat.R32_UINT):
return 4
else:
return 0
@staticmethod
def _assert_equal_tex_infos(out_a, out_b):
assert((out_a["outputs:width"] == out_b["outputs:width"]) and
(out_a["outputs:height"] == out_b["outputs:height"]) and
(out_a["outputs:format"] == out_b["outputs:format"]))
@staticmethod
def _assert_equal_buff_infos(out_a, out_b):
assert((out_a["outputs:bufferSize"] == out_b["outputs:bufferSize"]))
@staticmethod
def _assert_equal_data(data_a, data_b):
assert(np.amax(np.square(data_a - data_b)) < TestRenderVarBuffHostPtr._tolerance)
def _get_raw_array(self, render_var):
ptr_outputs = syn.SyntheticData.Get().get_node_attributes(render_var + "ExportRawArray", TestRenderVarBuffHostPtr._outputs_arr, self.render_product)
is_texture = ptr_outputs["outputs:width"] > 0
if is_texture:
elem_size = TestRenderVarBuffHostPtr._texture_element_size(ptr_outputs["outputs:format"])
arr_shape = (ptr_outputs["outputs:height"], ptr_outputs["outputs:width"], elem_size)
ptr_outputs["outputs:data"] = ptr_outputs["outputs:data"].reshape(arr_shape)
return ptr_outputs
def _get_ptr_array(self, render_var, ptr_suffix):
ptr_outputs = syn.SyntheticData.Get().get_node_attributes(render_var + ptr_suffix, TestRenderVarBuffHostPtr._outputs_ptr, self.render_product)
c_ptr = ctypes.cast(ptr_outputs["outputs:dataPtr"],ctypes.POINTER(ctypes.c_ubyte))
is_texture = ptr_outputs["outputs:width"] > 0
if is_texture:
elem_size = TestRenderVarBuffHostPtr._texture_element_size(ptr_outputs["outputs:format"])
arr_shape = (ptr_outputs["outputs:height"], ptr_outputs["outputs:width"], elem_size)
arr_strides = ptr_outputs["outputs:strides"]
buffer_size = arr_strides[1] * arr_shape[1]
arr_strides = (arr_strides[1], arr_strides[0], 1)
data_ptr = np.ctypeslib.as_array(c_ptr,shape=(buffer_size,))
data_ptr = np.lib.stride_tricks.as_strided(data_ptr, shape=arr_shape, strides=arr_strides)
else:
data_ptr = np.ctypeslib.as_array(c_ptr,shape=(ptr_outputs["outputs:bufferSize"],))
ptr_outputs["outputs:dataPtr"] = data_ptr
return ptr_outputs
def _assert_equal_rv_ptr(self, render_var:str, ptr_suffix:str, texture=None):
arr_out = self._get_raw_array(render_var)
ptr_out = self._get_ptr_array(render_var,ptr_suffix)
if not texture is None:
if texture:
TestRenderVarBuffHostPtr._assert_equal_tex_infos(arr_out,ptr_out)
else:
TestRenderVarBuffHostPtr._assert_equal_buff_infos(arr_out,ptr_out)
TestRenderVarBuffHostPtr._assert_equal_data(arr_out["outputs:data"],ptr_out["outputs:dataPtr"])
def _assert_equal_rv_ptr_size(self, render_var:str, ptr_suffix:str, arr_size:int):
ptr_out = self._get_ptr_array(render_var,ptr_suffix)
data_ptr = ptr_out["outputs:dataPtr"]
# helper for setting the value : print the size if None
if arr_size is None:
print(f"EqualRVPtrSize : {render_var} = {data_ptr.size}")
else:
assert(data_ptr.size==arr_size)
def _assert_equal_rv_arr(self, render_var:str, ptr_suffix:str, texture=None):
arr_out_a = self._get_raw_array(render_var)
arr_out_b = self._get_raw_array(render_var+ptr_suffix)
if not texture is None:
if texture:
TestRenderVarBuffHostPtr._assert_equal_tex_infos(arr_out_a,arr_out_b)
else:
TestRenderVarBuffHostPtr._assert_equal_buff_infos(arr_out_a,arr_out_b)
TestRenderVarBuffHostPtr._assert_equal_data(
arr_out_a["outputs:data"].flatten(),arr_out_b["outputs:data"].flatten())
def _assert_executed_rv_ptr(self, render_var:str, ptr_suffix:str):
ptr_outputs = syn.SyntheticData.Get().get_node_attributes(render_var + ptr_suffix, ["outputs:exec"], self.render_product)
assert(ptr_outputs["outputs:exec"]>0)
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
world_prim = UsdGeom.Xform.Define(stage,"/World")
UsdGeom.Xformable(world_prim).AddTranslateOp().Set((0, 0, 0))
UsdGeom.Xformable(world_prim).AddRotateXYZOp().Set((0, 0, 0))
sphere_prim = stage.DefinePrim("/World/Sphere", "Sphere")
add_semantics(sphere_prim, "sphere")
UsdGeom.Xformable(sphere_prim).AddTranslateOp().Set((0, 0, 0))
UsdGeom.Xformable(sphere_prim).AddScaleOp().Set((77, 77, 77))
UsdGeom.Xformable(sphere_prim).AddRotateXYZOp().Set((-90, 0, 0))
sphere_prim.GetAttribute("primvars:displayColor").Set([(1, 0.3, 1)])
capsule0_prim = stage.DefinePrim("/World/Sphere/Capsule0", "Capsule")
add_semantics(capsule0_prim, "capsule0")
UsdGeom.Xformable(capsule0_prim).AddTranslateOp().Set((3, 0, 0))
UsdGeom.Xformable(capsule0_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule0_prim.GetAttribute("primvars:displayColor").Set([(0.3, 1, 0)])
capsule1_prim = stage.DefinePrim("/World/Sphere/Capsule1", "Capsule")
add_semantics(capsule1_prim, "capsule1")
UsdGeom.Xformable(capsule1_prim).AddTranslateOp().Set((-3, 0, 0))
UsdGeom.Xformable(capsule1_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule1_prim.GetAttribute("primvars:displayColor").Set([(0, 1, 0.3)])
capsule2_prim = stage.DefinePrim("/World/Sphere/Capsule2", "Capsule")
add_semantics(capsule2_prim, "capsule2")
UsdGeom.Xformable(capsule2_prim).AddTranslateOp().Set((0, 3, 0))
UsdGeom.Xformable(capsule2_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule2_prim.GetAttribute("primvars:displayColor").Set([(0.7, 0.1, 0.4)])
capsule3_prim = stage.DefinePrim("/World/Sphere/Capsule3", "Capsule")
add_semantics(capsule3_prim, "capsule3")
UsdGeom.Xformable(capsule3_prim).AddTranslateOp().Set((0, -3, 0))
UsdGeom.Xformable(capsule3_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule3_prim.GetAttribute("primvars:displayColor").Set([(0.1, 0.7, 0.4)])
spherelight = UsdLux.SphereLight.Define(stage, "/SphereLight")
spherelight.GetIntensityAttr().Set(30000)
spherelight.GetRadiusAttr().Set(30)
self.viewport = get_active_viewport()
self.render_product = self.viewport.render_product_path
await omni.kit.app.get_app().next_update_async()
async def test_host_arr(self):
render_vars = [
"BoundingBox2DLooseSD",
"SemanticLocalTransformSD"
]
for render_var in render_vars:
syn.SyntheticData.Get().activate_node_template(render_var + "ExportRawArray", 0, [self.render_product])
syn.SyntheticData.Get().activate_node_template(render_var + "hostExportRawArray", 0, [self.render_product])
await syn.sensors.next_render_simulation_async(self.render_product, 1)
for render_var in render_vars:
self._assert_equal_rv_arr(render_var,"host", False)
async def test_host_ptr_size(self):
render_vars = {
"BoundingBox3DSD" : 576,
"BoundingBox2DLooseSD" : 144,
"SemanticLocalTransformSD" : 320,
"Camera3dPositionSD" : 14745600,
"SemanticMapSD" : 10,
"InstanceSegmentationSD" : 3686400,
"SemanticBoundingBox3DCamExtentSD" : 120,
"SemanticBoundingBox3DFilterInfosSD" : 24
}
for render_var in render_vars:
syn.SyntheticData.Get().activate_node_template(render_var + "hostPtr", 0, [self.render_product])
await syn.sensors.next_render_simulation_async(self.render_product, 1)
for render_var, arr_size in render_vars.items():
self._assert_equal_rv_ptr_size(render_var,"hostPtr", arr_size)
async def test_buff_arr(self):
render_vars = [
"Camera3dPositionSD",
"DistanceToImagePlaneSD",
]
for render_var in render_vars:
syn.SyntheticData.Get().activate_node_template(render_var + "ExportRawArray", 0, [self.render_product])
syn.SyntheticData.Get().activate_node_template(render_var + "buffExportRawArray", 0, [self.render_product])
await syn.sensors.next_render_simulation_async(self.render_product, 1)
for render_var in render_vars:
self._assert_equal_rv_arr(render_var, "buff")
async def test_host_ptr(self):
render_vars = [
"BoundingBox2DTightSD",
"BoundingBox3DSD",
"InstanceMapSD"
]
for render_var in render_vars:
syn.SyntheticData.Get().activate_node_template(render_var + "ExportRawArray", 0, [self.render_product])
syn.SyntheticData.Get().activate_node_template(render_var + "hostPtr", 0, [self.render_product])
await syn.sensors.next_render_simulation_async(self.render_product, 1)
for render_var in render_vars:
self._assert_equal_rv_ptr(render_var,"hostPtr",False)
self._assert_executed_rv_ptr(render_var,"hostPtr")
async def test_host_ptr_tex(self):
render_vars = [
"NormalSD",
"DistanceToCameraSD"
]
for render_var in render_vars:
syn.SyntheticData.Get().activate_node_template(render_var + "ExportRawArray", 0, [self.render_product])
syn.SyntheticData.Get().activate_node_template(render_var + "hostPtr", 0, [self.render_product])
await syn.sensors.next_render_simulation_async(self.render_product, 1)
for render_var in render_vars:
self._assert_equal_rv_ptr(render_var,"hostPtr",True)
async def test_buff_host_ptr(self):
render_vars = [
"LdrColorSD",
"InstanceSegmentationSD",
]
for render_var in render_vars:
syn.SyntheticData.Get().activate_node_template(render_var + "ExportRawArray", 0, [self.render_product])
syn.SyntheticData.Get().activate_node_template(render_var + "buffhostPtr", 0, [self.render_product])
await syn.sensors.next_render_simulation_async(self.render_product, 1)
for render_var in render_vars:
self._assert_equal_rv_ptr(render_var, "buffhostPtr",True)
async def test_empty_semantic_host_ptr(self):
await omni.usd.get_context().new_stage_async()
self.viewport = get_active_viewport()
self.render_product = self.viewport.render_product_path
await omni.kit.app.get_app().next_update_async()
render_vars = [
"BoundingBox2DTightSD",
"BoundingBox3DSD",
"InstanceMapSD"
]
for render_var in render_vars:
syn.SyntheticData.Get().activate_node_template(render_var + "hostPtr", 0, [self.render_product])
await syn.sensors.next_render_simulation_async(self.render_product, 1)
for render_var in render_vars:
self._assert_executed_rv_ptr(render_var,"hostPtr")
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_bbox2d_loose.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import unittest
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestBBox2DLoose(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.BoundingBox2DLoose
)
async def test_parsed_empty(self):
""" Test 2D bounding box on empty stage.
"""
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
assert not bool(bbox2d_data)
async def test_bbox_2d_loose_fields_exist(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
valid_dtype = [
("uniqueId", "<i4"),
("name", "O"),
("semanticLabel", "O"),
("metadata", "O"),
("instanceIds", "O"),
("semanticId", "<u4"),
("x_min", "<i4"),
("y_min", "<i4"),
("x_max", "<i4"),
("y_max", "<i4"),
]
assert bbox2d_data.dtype == np.dtype(valid_dtype)
async def test_bbox_2d_loose_cube(self):
""" Basic test for the sensor.
"""
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
assert bbox2d_data['x_min'] == 301
assert bbox2d_data['y_min'] == 21
assert bbox2d_data['x_max'] == 978
assert bbox2d_data['y_max'] == 698
async def test_cube_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
assert bbox2d_data['x_min'] == 301
assert bbox2d_data['y_min'] == 21
assert bbox2d_data['x_max'] == 978
assert bbox2d_data['y_max'] == 698
async def test_cube_ray_traced_lighting(self):
""" Basic test for the sensor, but in ray traced lighting mode.
"""
# Set the rendering mode to be ray traced lighting.
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
assert bbox2d_data['x_min'] == 301
assert bbox2d_data['y_min'] == 21
assert bbox2d_data['x_max'] == 978
assert bbox2d_data['y_max'] == 698
async def test_cube_ftheta(self):
""" Basic funtionality test of the sensor in ftheta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
assert bbox2d_data['x_min'] == 612
assert bbox2d_data['y_min'] == 325
assert bbox2d_data['x_max'] == 671
assert bbox2d_data['y_max'] == 384
async def test_cube_spherical(self):
""" Basic funtionality test of the sensor in fisheye spherical camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
assert bbox2d_data['x_min'] == 617
assert bbox2d_data['y_min'] == 335
assert bbox2d_data['x_max'] == 662
assert bbox2d_data['y_max'] == 384
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_instance_seg.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
from pathlib import Path
import unittest
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestInstanceSeg(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
# Before running each test
async def setUp(self):
settings = carb.settings.get_settings()
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.InstanceSegmentation
)
# TODO
# async def test_parsed_empty(self):
# """ Test instance segmentation on empty stage.
# """
# data = syn.sensors.get_instance_segmentation(self.viewport, parsed=True)
# assert data.sum() == 0
async def test_parsed_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await omni.kit.app.get_app().next_update_async()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport, parsed=True)
assert data.dtype == np.uint32
async def test_cube(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport, return_mapping=False)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube.npz', array=data)
golden_image = np.load(self.golden_image_path / "instance_seg_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_cube_sphere(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
sphere_prim = stage.DefinePrim("/Sphere", "Sphere")
UsdGeom.XformCommonAPI(sphere_prim).SetTranslate((300, 0, 0))
add_semantics(sphere_prim, "sphere")
sphere = UsdGeom.Sphere(sphere_prim)
sphere.GetRadiusAttr().Set(100)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube_sphere.npz', array=data)
golden_image = np.load(self.golden_image_path / "instance_seg_cube_sphere.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_cube_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube_pathtracing.npz', array=data)
golden_image = np.load(self.golden_image_path / "instance_seg_cube_pathtracing.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_cube_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be ray traced lighting.
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube_ray_traced_lighting.npz', array=data)
golden_image = np.load(self.golden_image_path / "instance_seg_cube_ray_traced_lighting.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_cube_ftheta(self):
""" Basic funtionality test of the sensor under ftheta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await omni.kit.app.get_app().next_update_async()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((100, 100, 100))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube_ftheta.npz', array=data)
golden_image = np.load(self.golden_image_path / "instance_seg_cube_ftheta.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_cube_spherical(self):
""" Basic funtionality test of the sensor under fisheye spherical camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await omni.kit.app.get_app().next_update_async()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be spherical fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((100, 100, 100))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube_spherical.npz', array=data)
golden_image = np.load(self.golden_image_path / "instance_seg_cube_spherical.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
@unittest.skip("OM-46393")
async def test_geom_subset(self):
""" Test sensor on GeomSubset.
"""
path = os.path.join(FILE_DIR, "../data/scenes/streetlamp_03_golden.usd")
await omni.usd.get_context().open_stage_async(path)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
assert len(data) != 0
async def test_instance_seg_scene_instance(self):
""" Test sensor on scene instance.
"""
settings = carb.settings.get_settings()
path = os.path.join(FILE_DIR, "../data/scenes/scene_instance_test.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.InstanceSegmentation
)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
assert len(data) != 0
async def test_instance_seg_scene_instance_benchchair(self):
""" Test sensor on scene instanced bench and chair data.
"""
settings = carb.settings.get_settings()
path = os.path.join(FILE_DIR, "../data/scenes/BenchChair_SceneInstance_Mini.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.InstanceSegmentation
)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport,parsed=True)
assert len(data) != 0
# should be 4 semantic objects in the scene.
assert data.max() == 4
async def test_instance_seg_point_instance_benchchair(self):
""" Test sensor on point instanced bench and chair data.
"""
settings = carb.settings.get_settings()
path = os.path.join(FILE_DIR, "../data/scenes/BenchChair_Mini.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.InstanceSegmentation
)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport,parsed=True)
assert len(data) != 0
assert data.max() == 2
async def test_instance_seg_point_instance_shapes(self):
""" Test sensor on point instanced shapes that have semantics on the mesh.
"""
settings = carb.settings.get_settings()
path = os.path.join(FILE_DIR, "../data/scenes/point_instancer_semantic_shapes.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.InstanceSegmentation
)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport,parsed=True)
assert len(data) != 0
assert data.max() == 2
# After running each test
async def tearDown(self):
settings = carb.settings.get_settings()
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/helpers/test_projection.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Sdf, UsdGeom, Vt
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestProjection(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
await omni.usd.get_context().new_stage_async()
# Setup viewport
self.viewport = get_active_viewport()
self.stage = omni.usd.get_context().get_stage()
prim = self.stage.DefinePrim("/World", "Xform")
self.stage.SetDefaultPrim(prim)
cube = self.stage.DefinePrim("/World/Cube", "Cube")
add_semantics(cube, "cube")
usd_camera = UsdGeom.Camera.Define(self.stage, "/World/Camera")
usd_camera.AddTranslateOp()
self.camera = usd_camera.GetPrim()
self.camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set(Vt.Token("pinhole"))
self.camera.CreateAttribute("fthetaWidth", Sdf.ValueTypeNames.Float).Set(960)
self.camera.CreateAttribute("fthetaHeight", Sdf.ValueTypeNames.Float).Set(604)
self.camera.CreateAttribute("fthetaCx", Sdf.ValueTypeNames.Float).Set(460)
self.camera.CreateAttribute("fthetaCy", Sdf.ValueTypeNames.Float).Set(340)
self.camera.CreateAttribute("fthetaMaxFov", Sdf.ValueTypeNames.Float).Set(200.0)
self.camera.CreateAttribute("fthetaPolyA", Sdf.ValueTypeNames.Float).Set(0.0)
self.camera.CreateAttribute("fthetaPolyB", Sdf.ValueTypeNames.Float).Set(0.0059)
self.camera.CreateAttribute("fthetaPolyC", Sdf.ValueTypeNames.Float).Set(0.0)
self.camera.CreateAttribute("fthetaPolyD", Sdf.ValueTypeNames.Float).Set(0.0)
self.camera.CreateAttribute("fthetaPolyE", Sdf.ValueTypeNames.Float).Set(0.0)
self.viewport.camera_path = self.camera.GetPath()
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.BoundingBox3D])
await syn.sensors.next_sensor_data_async(self.viewport, True)
async def test_fisheye_polynomial_max_fov(self):
""" Test that fisheye polynomial projection can safely project outside of max FOV world space points """
self.camera.GetAttribute("cameraProjectionType").Set(Vt.Token("fisheyePolynomial"))
self.camera.GetAttribute("xformOp:translate").Set((0.0, 0.0, 0.0))
self.camera.GetAttribute("fthetaMaxFov").Set(120)
self.camera.GetAttribute("fthetaPolyB").Set(0.0005)
# introduce a max in the polynomial around r = 4082.5 which has theta = 1.360827 rads (~80 deg).
self.camera.GetAttribute("fthetaPolyD").Set(-1E-11)
# A correct fish eye camera projection will have monotonically increasing r as theta increases.
points = []
stationary_angle = 1.360827
theta_spacing = (2.0*math.pi)/ 90.0 # 4 deg spacing
num_adjacent_points = 8 # test monotonical behaviour for 40 degrees on each side of max point
start_angle = stationary_angle - num_adjacent_points * theta_spacing
for i in range(0, 2*num_adjacent_points):
theta = start_angle + i * theta_spacing
# place points in the x-z plane
x = math.sin(theta)
z = -math.cos(theta) # camera looks down z-axis in negative direction
points.append([x, 0, z])
points = np.asarray(points)
projected = syn.helpers.world_to_image(points, self.viewport)
r = np.linalg.norm(projected, axis=1)
monotonic = np.all(r[1:] > r[:-1]) # check each element is greater than the element before it
assert monotonic
async def test_pinhole(self):
""" Test pinhole projection
"""
self.camera.GetAttribute("xformOp:translate").Set((0.0, 0.0, 9.0))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
# Get 3D bbox
bbox3d = syn.sensors.get_bounding_box_3d(self.viewport, return_corners=True, parsed=True)
# Project corners
corners = bbox3d["corners"]
projected = syn.helpers.world_to_image(corners.reshape(-1, 3), self.viewport).reshape(-1, 8, 3)
# GT
# Confirmed visually to be correct
GT = [
[
[0.26139346, 0.9241894, 0.9000009],
[0.73860654, 0.9241894, 0.9000009],
[0.26139346, 0.0758106, 0.9000009],
[0.73860654, 0.0758106, 0.9000009],
[0.20174183, 1.03023675, 0.87500088],
[0.79825817, 1.03023675, 0.87500088],
[0.20174183, -0.03023675, 0.87500088],
[0.79825817, -0.03023675, 0.87500088],
]
]
# Validate
assert np.allclose(GT, projected)
async def test_fisheye_polynomial(self):
""" Test fisheye polynomial projection (F-Theta)
"""
self.camera.GetAttribute("xformOp:translate").Set((0.0, 0.0, 3.0))
self.camera.GetAttribute("cameraProjectionType").Set(Vt.Token("fisheyePolynomial"))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport, True)
# Get 3D bbox
bbox3d = syn.sensors.get_bounding_box_3d(self.viewport, return_corners=True, parsed=True)
# Project corners
corners = bbox3d["corners"]
projected = syn.helpers.world_to_image(corners.reshape(-1, 3), self.viewport).reshape(-1, 8, 3)
# GT
# Confirmed visually to be correct
GT = [
[
[0.43674065, 0.6457944, 0.0],
[0.52159268, 0.6457944, 0.0],
[0.43674065, 0.49494634, 0.0],
[0.52159268, 0.49494634, 0.0],
[0.40232877, 0.70697108, 0.0],
[0.55600456, 0.70697108, 0.0],
[0.40232877, 0.43376967, 0.0],
[0.55600456, 0.43376967, 0.0],
]
]
# Validate
assert np.allclose(GT, projected)
# Run the operation in reverse
view_params = syn.helpers.get_view_params(self.viewport)
proj_i2w = projected[0, :, :2]
proj_i2w[..., 0] *= view_params["width"]
proj_i2w[..., 1] *= view_params["height"]
origin, directions = syn.helpers.image_to_world(proj_i2w, view_params)
gt_corner_directions = corners[0] - origin
gt_corner_directions /= np.linalg.norm(gt_corner_directions, axis=1, keepdims=True)
assert np.allclose(gt_corner_directions, directions)
# FOR VISUAL DEBUGGING
self.camera.GetAttribute("clippingRange").Set((0.1, 1000000))
for i, d in enumerate(directions):
s = self.stage.DefinePrim(f"/World/pt{i}", "Sphere")
UsdGeom.Xformable(s).AddTranslateOp().Set(tuple((d + origin).tolist()))
s.GetAttribute("radius").Set(0.03)
async def test_fisheye_polynomial_edge(self):
""" Test fisheye polynomial projection (F-Theta) at edge of FOV
"""
self.camera.GetAttribute("xformOp:translate").Set((4.0, 0.0, 0.5))
self.camera.GetAttribute("cameraProjectionType").Set(Vt.Token("fisheyePolynomial"))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport, True)
# Get 3D bbox
bbox3d = syn.sensors.get_bounding_box_3d(self.viewport, return_corners=True, parsed=True)
# Project corners
corners = bbox3d["corners"]
projected = syn.helpers.world_to_image(corners.reshape(-1, 3), self.viewport).reshape(-1, 8, 3)
# GT
# Confirmed visually to be correct
GT = [
[
[0.25675408, 0.6494504, 0.0],
[0.2902532, 0.68231909, 0.0],
[0.25675408, 0.49129034, 0.0],
[0.2902532, 0.45842165, 0.0],
[0.19030016, 0.67307846, 0.0],
[0.18980286, 0.74184522, 0.0],
[0.19030016, 0.46766228, 0.0],
[0.18980286, 0.39889552, 0.0],
]
]
# Validate
assert np.allclose(GT, projected)
# Run the operation in reverse
view_params = syn.helpers.get_view_params(self.viewport)
proj_i2w = projected[0, :, :2]
proj_i2w[..., 0] *= view_params["width"]
proj_i2w[..., 1] *= view_params["height"]
origin, directions = syn.helpers.image_to_world(proj_i2w, view_params)
gt_corner_directions = corners[0] - origin
gt_corner_directions /= np.linalg.norm(gt_corner_directions, axis=1, keepdims=True)
assert np.allclose(gt_corner_directions, directions)
# FOR VISUAL DEBUGGING
self.camera.GetAttribute("clippingRange").Set((0.1, 1000000))
for i, d in enumerate(directions):
s = self.stage.DefinePrim(f"/World/pt{i}", "Sphere")
UsdGeom.Xformable(s).AddTranslateOp().Set(tuple((d + origin).tolist()))
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/helpers/test_instance_mapping.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import UsdPhysics
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestHelpersInstanceMappings(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
# Setup viewport
self.viewport = get_active_viewport()
await omni.usd.get_context().new_stage_async()
self.stage = omni.usd.get_context().get_stage()
prim = self.stage.DefinePrim("/World", "Xform")
self.stage.SetDefaultPrim(prim)
async def test_non_semantic_schemas(self):
""" Test mixture of applied schemas including non-semantics.
"""
prim = self.stage.DefinePrim("/World/Cone", "Cone")
# Add semantics schema
add_semantics(prim, "Je ne suis pas un cone.")
# Non-semantics schema
UsdPhysics.RigidBodyAPI.Apply(prim)
await syn.sensors.next_sensor_data_async(self.viewport,True)
# Get instance mappings
instance_mappings = syn.helpers.get_instance_mappings()
# Validate
cone_im = instance_mappings[0]
assert cone_im["uniqueId"] == 1
assert cone_im["name"] == "/World/Cone"
assert cone_im["semanticId"] == 1
assert cone_im["semanticLabel"] == "Je ne suis pas un cone."
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/helpers/__init__.py | |
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/helpers/test_bboxes.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Sdf, UsdGeom, Vt
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestBBoxes(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
await omni.usd.get_context().new_stage_async()
# Setup viewport
self.viewport = get_active_viewport()
await omni.usd.get_context().new_stage_async()
self.stage = omni.usd.get_context().get_stage()
prim = self.stage.DefinePrim("/World", "Xform")
self.stage.SetDefaultPrim(prim)
marked_cube = self.stage.DefinePrim("/World/MarkedCube0", "Cube")
add_semantics(marked_cube, "cube")
marked_cube.GetAttribute("size").Set(100)
UsdGeom.XformCommonAPI(marked_cube).SetTranslate((3, 3, 0))
unmarked_cube = self.stage.DefinePrim("/World/UnmarkedCube", "Cube")
unmarked_cube.GetAttribute("size").Set(100)
UsdGeom.XformCommonAPI(unmarked_cube).SetTranslate((3, 3, -100))
await omni.kit.app.get_app().next_update_async()
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.BoundingBox2DLoose])
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.BoundingBox2DTight])
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.BoundingBox3D])
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
async def test_reduce_bboxes_3d(self):
"""Verify that reduce_bboxes_3d removes a cube without a semantic label"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
# Get 3D bbox
bbox = syn.sensors.get_bounding_box_3d(self.viewport, return_corners=True)
assert np.allclose(bbox["z_min"], [-50, -50])
# Transform of unmarked cube should be included in pre-reduced bbox but not included in reduced bbox
UNMARKED_CUBE_GT = [[[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [3.0, 3.0, -100.0, 1.0]]]
assert np.allclose(bbox["transform"][0], UNMARKED_CUBE_GT) or np.allclose(
bbox["transform"][1], UNMARKED_CUBE_GT
)
instance_mappings = syn.helpers.get_instance_mappings()
bbox_reduced = syn.helpers.reduce_bboxes_3d(bbox, instance_mappings)
assert np.allclose(bbox_reduced["z_min"], [-50])
assert np.allclose(
bbox_reduced["transform"],
[[[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [3.0, 3.0, 0.0, 1.0]]],
)
async def test_reduce_occlusion(self):
"""Verify that reduce_occlusion removes a cube without a semantic label"""
# Add an extra cube
cube = self.stage.DefinePrim("/World/MarkedCube1", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
UsdGeom.XformCommonAPI(cube).SetTranslate((3, -10, 0))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport, True)
# Get occlusion
occlusion = syn.sensors.get_occlusion(self.viewport)
occlusion_ratios = np.sort(occlusion["occlusionRatio"])
assert np.allclose(occlusion_ratios, [0.0327, 0.38059998, 0.8886], atol=0.05)
instance_mappings = syn.helpers.get_instance_mappings()
reduced_occlusion = syn.helpers.reduce_occlusion(occlusion, instance_mappings)
reduced_occlusion_ratios = np.sort(reduced_occlusion["occlusionRatio"])
assert np.allclose(reduced_occlusion_ratios, [0.0327, 0.8886], atol=0.05)
async def test_merge_sensors(self):
"""Verify that merge_sensors merges the data correctly"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport, True)
# Get bounding boxes and merge
bounding_box_2d_tight = syn.sensors.get_bounding_box_2d_tight(self.viewport)
bounding_box_2d_loose = syn.sensors.get_bounding_box_2d_loose(self.viewport)
bounding_box_3d = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True)
merged_data = syn.helpers.merge_sensors(bounding_box_2d_tight, bounding_box_2d_loose, bounding_box_3d)
for suffix, data_source in [
("_bbox2d_tight", bounding_box_2d_tight),
("_bbox2d_loose", bounding_box_2d_loose),
("_bbox3d", bounding_box_3d),
]:
suffix_present = False
for key in merged_data.dtype.fields:
if key.endswith(suffix):
sub_key = key[: -len(suffix)]
assert merged_data[key] == data_source[key]
suffix_present = True
assert suffix_present
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/visualize/test_warp_post_vis.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import carb
from pxr import Gf, UsdGeom, UsdLux, Sdf
import unittest
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
from ..utils import add_semantics
class TestWarpPostVisualization(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
# Setup the scene
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
world_prim = UsdGeom.Xform.Define(stage,"/World")
UsdGeom.Xformable(world_prim).AddTranslateOp().Set((0, 0, 0))
UsdGeom.Xformable(world_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule0_prim = stage.DefinePrim("/World/Capsule0", "Capsule")
add_semantics(capsule0_prim, "capsule_0")
UsdGeom.Xformable(capsule0_prim).AddTranslateOp().Set((100, 0, 0))
UsdGeom.Xformable(capsule0_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule0_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule0_prim.GetAttribute("primvars:displayColor").Set([(0.3, 1, 0)])
capsule1_prim = stage.DefinePrim("/World/Capsule1", "Capsule")
add_semantics(capsule0_prim, "capsule_1")
UsdGeom.Xformable(capsule1_prim).AddTranslateOp().Set((-100, 0, 0))
UsdGeom.Xformable(capsule1_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule1_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule1_prim.GetAttribute("primvars:displayColor").Set([(0, 1, 0.3)])
spherelight = UsdLux.SphereLight.Define(stage, "/SphereLight")
spherelight.GetIntensityAttr().Set(30000)
spherelight.GetRadiusAttr().Set(30)
# Setup viewports / renderproduct
vp_iface = omni.kit.viewport_legacy.get_viewport_interface()
viewport = vp_iface.get_viewport_window()
render_product_path = viewport.get_render_product_path()
# SyntheticData singleton interface
sdg_iface = SyntheticData.Get()
if not sdg_iface.is_node_template_registered("TestWarpPostVisualization"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node tempalte stage
"omni.syntheticdata.SdTestWarpPostVisulation", # node template type
# node template connections
[
SyntheticData.NodeConnectionTemplate("LdrColorSDExportRawArray"),
]),
template_name="TestWarpPostVisualization" # node template name
)
if not sdg_iface.is_node_template_registered("TestWarpPostVisualizationDisplay"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node tempalte stage
"omni.syntheticdata.SdLinearArrayToTexture", # node template type
# node template connections
[
SyntheticData.NodeConnectionTemplate("TestWarpPostVisualization"),
]),
template_name="TestWarpPostVisualizationDisplay" # node template name
)
sdg_iface.activate_node_template("TestWarpPostVisualizationDisplay", 0, [render_product_path])
self.numLoops = 100
async def run_loop(self):
# ensuring that the setup is taken into account
for _ in range(5):
await omni.kit.app.get_app().next_update_async()
for _ in range(self.numLoops):
await omni.kit.app.get_app().next_update_async()
async def test_display(self):
""" Test display
"""
await self.run_loop()
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/visualize/test_post_vis.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import carb
from pxr import Gf, UsdGeom, UsdLux, Sdf
import unittest
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
from ..utils import add_semantics
class TestPostVisualization(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
def activate_post_vis(self,render_product_path, render_var):
sdg_iface = SyntheticData.Get()
render_var_post_display = "Test" + render_var + "PostDisplay"
if not sdg_iface.is_node_template_registered(render_var_post_display):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node tempalte stage
"omni.syntheticdata.SdLinearArrayToTexture", # node template type
# node template connections
[
SyntheticData.NodeConnectionTemplate(render_var),
]),
template_name=render_var_post_display
)
sdg_iface.activate_node_template(render_var_post_display, 0, [render_product_path])
async def setUp(self):
# Setup the scene
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
world_prim = UsdGeom.Xform.Define(stage,"/World")
UsdGeom.Xformable(world_prim).AddTranslateOp().Set((0, 0, 0))
UsdGeom.Xformable(world_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule0_prim = stage.DefinePrim("/World/Capsule0", "Capsule")
add_semantics(capsule0_prim, "capsule_0")
UsdGeom.Xformable(capsule0_prim).AddTranslateOp().Set((100, 0, 0))
UsdGeom.Xformable(capsule0_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule0_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule0_prim.GetAttribute("primvars:displayColor").Set([(0.3, 1, 0)])
capsule1_prim = stage.DefinePrim("/World/Capsule1", "Capsule")
add_semantics(capsule0_prim, "capsule_1")
UsdGeom.Xformable(capsule1_prim).AddTranslateOp().Set((-100, 0, 0))
UsdGeom.Xformable(capsule1_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule1_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule1_prim.GetAttribute("primvars:displayColor").Set([(0, 1, 0.3)])
spherelight = UsdLux.SphereLight.Define(stage, "/SphereLight")
spherelight.GetIntensityAttr().Set(30000)
spherelight.GetRadiusAttr().Set(30)
# Setup viewports / renderproduct
vp_iface = omni.kit.viewport_legacy.get_viewport_interface()
viewport = vp_iface.get_viewport_window()
render_product_path = viewport.get_render_product_path()
self.activate_post_vis("LdrColorSD")
self.numLoops = 100
async def run_loop(self):
# ensuring that the setup is taken into account
for _ in range(5):
await omni.kit.app.get_app().next_update_async()
for _ in range(self.numLoops):
await omni.kit.app.get_app().next_update_async()
async def test_display(self):
""" Test display
"""
await self.run_loop()
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/visualize/test_semantic_seg.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import UsdGeom
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 50
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestSemanticSegVis(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
syn.sensors.enable_sensors(
self.viewport,
[syn._syntheticdata.SensorType.SemanticSegmentation, syn._syntheticdata.SensorType.InstanceSegmentation],
)
async def test_parsed_empty(self):
""" Test semantic segmentation returns zero array with empty scene
"""
await syn.sensors.next_sensor_data_async(self.viewport, True)
data = syn.visualize.get_semantic_segmentation(self.viewport, mode="parsed")
assert np.array_equal(data, np.zeros_like(data).astype(np.uint8))
async def test_number_of_classes(self):
""" Test that number of classes in output matches number of classes in scene
"""
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube1", "Cube")
add_semantics(cube, "cube1")
UsdGeom.Xformable(cube).AddTranslateOp().Set((0, 10, 0))
cube = stage.DefinePrim("/Cube2", "Cube")
add_semantics(cube, "cube2")
UsdGeom.Xformable(cube).AddTranslateOp().Set((0, -10, 0))
await syn.sensors.next_sensor_data_async(self.viewport, True)
data = syn.visualize.get_semantic_segmentation(self.viewport, mode="parsed")
data_non_bkg = data[data.sum(axis=-1) != 0] # Remove background, encoded as (0, 0, 0, 0)
assert len(np.unique(data_non_bkg, axis=0)) == 2
# After running each test
async def tearDown(self):
pass
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/graph/test_graph_manipulation.py | import carb
from pxr import Gf, UsdGeom, UsdLux, Sdf
import omni.hydratexture
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
# Test the instance mapping pipeline
class TestGraphManipulation(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
def render_product_path(self, hydra_texture) -> str:
'''Return a string to the UsdRender.Product used by the texture'''
render_product = hydra_texture.get_render_product_path()
if render_product and (not render_product.startswith('/')):
render_product = '/Render/RenderProduct_' + render_product
return render_product
async def setUp(self):
self._settings = carb.settings.acquire_settings_interface()
self._hydra_texture_factory = omni.hydratexture.acquire_hydra_texture_factory_interface()
self._usd_context_name = ''
self._usd_context = omni.usd.get_context(self._usd_context_name)
await self._usd_context.new_stage_async()
self._stage = omni.usd.get_context().get_stage()
# renderer
renderer = "rtx"
if renderer not in self._usd_context.get_attached_hydra_engine_names():
omni.usd.add_hydra_engine(renderer, self._usd_context)
# create the hydra textures
self._hydra_texture_0 = self._hydra_texture_factory.create_hydra_texture(
"TEX0",
1920,
1080,
self._usd_context_name,
hydra_engine_name=renderer,
is_async=self._settings.get("/app/asyncRendering")
)
self._render_product_path_0 = self.render_product_path(self._hydra_texture_0)
self._hydra_texture_rendered_counter = 0
def on_hydra_texture_0(event: carb.events.IEvent):
self._hydra_texture_rendered_counter += 1
self._hydra_texture_rendered_counter_sub = self._hydra_texture_0.get_event_stream().create_subscription_to_push_by_type(
omni.hydratexture.EVENT_TYPE_DRAWABLE_CHANGED,
on_hydra_texture_0,
name='async rendering test drawable update',
)
async def tearDown(self):
self._hydra_texture_rendered_counter_sub = None
self._hydra_texture_0 = None
self._usd_context.close_stage()
omni.usd.release_all_hydra_engines(self._usd_context)
self._hydra_texture_factory = None
self._settings = None
wait_iterations = 6
for _ in range(wait_iterations):
await omni.kit.app.get_app().next_update_async()
async def test_rendervar_enable(self):
isdg = SyntheticData.Get()
render_var = "BoundingBox3DSD"
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.enable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.disable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
async def test_rendervar_auto_activation(self):
isdg = SyntheticData.Get()
render_var = "BoundingBox3DSD"
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.activate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], {}, self._stage, True)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
isdg.deactivate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], self._stage, True)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
async def test_rendervar_manual_activation(self):
isdg = SyntheticData.Get()
render_var = "BoundingBox3DSD"
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
assert(not isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,False))
isdg.activate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], {}, self._stage, False)
assert(isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,False))
assert(isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,True))
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.enable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
isdg.deactivate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], self._stage, False)
assert(not isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,True))
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.disable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
async def test_rendervar_hybrid_activation(self):
isdg = SyntheticData.Get()
render_var = "BoundingBox3DSD"
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.activate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], {}, self._stage, False)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.enable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.deactivate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], self._stage, True)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
isdg.disable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
async def test_rendervar_initially_activated(self):
isdg = SyntheticData.Get()
render_var = "BoundingBox3DSD"
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.enable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.activate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], {}, self._stage, True)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
isdg.deactivate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], self._stage, True)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.disable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
async def test_rendervar_multiple_activation(self):
isdg = SyntheticData.Get()
render_var = "BoundingBox3DSD"
if not isdg.is_node_template_registered("BoundingBox3DDisplayPostDuplicate"):
isdg.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.POST_RENDER,
"omni.syntheticdata.SdPostRenderVarDisplayTexture",
[
SyntheticData.NodeConnectionTemplate("LdrColorSD"),
SyntheticData.NodeConnectionTemplate("Camera3dPositionSD"),
SyntheticData.NodeConnectionTemplate("PostRenderProductCamera"),
SyntheticData.NodeConnectionTemplate("InstanceMappingPost"),
SyntheticData.NodeConnectionTemplate("BoundingBox3DReduction")
],
{
"inputs:renderVar": "LdrColorSD",
"inputs:renderVarDisplay": "BoundingBox3DSDDisplay",
"inputs:mode": "semanticBoundingBox3dMode",
"inputs:parameters": [0.0, 5.0, 0.027, 0.27]
}
), # node template default attribute values (when differs from the default value specified in the .ogn)
template_name="BoundingBox3DDisplayPostDuplicate" # node template name
)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.activate_node_template("BoundingBox3DDisplayPost",0, [self._render_product_path_0], {}, self._stage, True)
assert(not isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,True))
assert(isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,False))
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.activate_node_template("BoundingBox3DDisplayPostDuplicate",0, [self._render_product_path_0], {}, self._stage, True)
isdg.deactivate_node_template("BoundingBox3DDisplayPost",0, [self._render_product_path_0], self._stage, True)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
assert(not isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,True))
assert(isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,False))
isdg.deactivate_node_template("BoundingBox3DDisplayPostDuplicate",0, [self._render_product_path_0], self._stage, True)
assert(not isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,False))
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/OmniUe4-benchmark.usda | #usda 1.0
(
customLayerData = {
dictionary audioSettings = {
double dopplerLimit = 2
double dopplerScale = 1
token enableDoppler = "off"
double nonSpatialTimeScale = 1
double spatialTimeScale = 1
double speedOfSound = 340
}
dictionary cameraSettings = {
dictionary Front = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (-24.033213095504543, -12999.287136619847, 1.064741362676223)
double3 target = (-28.947327053926287, -12864.479153751896, -24.096511278608087)
}
dictionary Right = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
float "rtx:materialflattener:decalDistanceTolerance" = 1000
token "rtx:materialflattener:upAxis" = "z"
float "rtx:post:lensDistortion:cameraFocalLength" = 18.147562
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.009999999776482582
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Z"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float3 xformOp:rotateZYX = (49.25, 359.75, 0)
float3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX"]
}
def Scope "Looks"
{
def Material "road_base"
{
token outputs:mdl:displacement.connect = </World/Looks/road_base/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/road_base/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/road_base/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../ds2_materials/drivable_surfaces/general/road/road_base.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "road_base"
float inputs:AlbedoMult = 1.75 (
customData = {
float default = 2
}
)
float inputs:Puddle_NoiseBlend = 0.2 (
customData = {
float default = 1
}
)
float inputs:RoughnessMult_Order2 = 0.5 (
customData = {
float default = 1
}
)
float inputs:RoughnessOffset_Order3 = 0 (
customData = {
float default = -0.085716
}
)
float inputs:RoughnessPow_Order1 = 0.5 (
customData = {
float default = 1.5
}
)
float inputs:WorldSpaceUVMult = 50 (
customData = {
float default = 5000
}
)
token outputs:out
}
}
def Material "road_base_omniue4"
{
token outputs:mdl:displacement.connect = </World/Looks/road_base/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/road_base/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/road_base/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../ds2_materials/drivable_surfaces/general/road/road_base_omniue4.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "road_base"
float inputs:AlbedoMult = 1.75 (
customData = {
float default = 2
}
)
float inputs:Puddle_NoiseBlend = 0.2 (
customData = {
float default = 1
}
)
float inputs:RoughnessMult_Order2 = 0.5 (
customData = {
float default = 1
}
)
float inputs:RoughnessOffset_Order3 = 0 (
customData = {
float default = -0.085716
}
)
float inputs:RoughnessPow_Order1 = 0.5 (
customData = {
float default = 1.5
}
)
float inputs:WorldSpaceUVMult = 50 (
customData = {
float default = 5000
}
)
token outputs:out
}
}
def Material "DrivesimPBR_LaneMarking"
{
token outputs:mdl:displacement.connect = </World/Looks/DrivesimPBR_LaneMarking/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/DrivesimPBR_LaneMarking/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/DrivesimPBR_LaneMarking/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../ds2_materials/DrivesimPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "DrivesimPBR"
float inputs:alpha_cutout_cutoff = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Alpha"
displayName = "Alpha Cutout Cutoff"
)
asset inputs:diffuse_texture = @../ds2_materials/drivable_surfaces/general/lanemarkings/lw/lw_basecolor.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Diffuse"
displayName = "Albedo Map"
)
bool inputs:enable_opacity = 0 (
customData = {
bool default = 0
}
displayGroup = "Alpha"
displayName = "Enable Opacity"
)
bool inputs:enable_opacity_cutout = 1 (
customData = {
bool default = 0
}
displayGroup = "Alpha"
displayName = "Enable Alpha Cutout"
)
asset inputs:normalmap_texture = @../ds2_materials/drivable_surfaces/general/lanemarkings/lw/lw_n.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Normal Map"
)
asset inputs:opacity_texture = @../ds2_materials/drivable_surfaces/general/lanemarkings/lw/lw_opacity.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Alpha"
displayName = "Opacity Map"
)
asset inputs:ORM_texture = @../ds2_materials/drivable_surfaces/general/lanemarkings/lw/lw_orm.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "ORM Map"
)
asset inputs:reflectionroughness_texture = @../ds2_materials/drivable_surfaces/general/lanemarkings/lw/lw_r.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Specular"
displayName = "Roughness Map"
)
float inputs:specular_constant = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Specular"
displayName = "Specular amount"
)
float2 inputs:texture_scale = (0.39999998, 115.7) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Texture Scale"
)
token outputs:out
}
}
def Material "DrivesimPBR"
{
token outputs:mdl:displacement.connect = </World/Looks/DrivesimPBR/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/DrivesimPBR/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/DrivesimPBR/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../ds2_materials/DrivesimPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "DrivesimPBR"
float inputs:ao_to_diffuse = 0 (
customData = {
float default = 0
}
displayGroup = "AO"
displayName = "AO to Diffuse"
)
asset inputs:diffuse_texture = @../ds2_materials/drivable_surfaces/general/asphalt/asphalt_base/asphalt_base_basecolor_ms.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Diffuse"
displayName = "Albedo Map"
)
bool inputs:enable_opacity = 0 (
customData = {
bool default = 0
}
displayGroup = "Alpha"
displayName = "Enable Opacity"
)
bool inputs:enable_ORM_texture = 1 (
customData = {
bool default = 1
}
displayGroup = "Reflectivity"
displayName = "Enable ORM Texture"
)
bool inputs:enable_retroreflection = 0 (
customData = {
bool default = 0
}
displayGroup = "Reflectivity"
displayName = "Enable Retroreflection"
)
asset inputs:normalmap_texture = @../ds2_materials/drivable_surfaces/general/asphalt/asphalt_base/asphalt_base_n_ms.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Normal Map"
)
asset inputs:ORM_texture = @../ds2_materials/drivable_surfaces/general/asphalt/asphalt_base/asphalt_base_orm_ms.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "ORM Map"
)
token outputs:out
}
}
def Material "OmniPBR"
{
token outputs:mdl:displacement.connect = </World/Looks/OmniPBR/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/OmniPBR/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/OmniPBR/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
token outputs:out
}
}
def Material "DrivesimPBR_01"
{
token outputs:mdl:displacement.connect = </World/Looks/DrivesimPBR_01/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/DrivesimPBR_01/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/DrivesimPBR_01/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @E:/material-flattening-assets/ds2_materials/DrivesimPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "DrivesimPBR"
token outputs:out
}
}
def Material "DrivesimPBR_2"
{
token outputs:mdl:displacement.connect = </World/Looks/DrivesimPBR_2/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/DrivesimPBR_2/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/DrivesimPBR_2/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../ds2_materials/DrivesimPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "DrivesimPBR"
token outputs:out
}
}
}
def "road_base" (
prepend references = @../ds2_materials/drivable_surfaces/general/road/road_base.usda@
)
{
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-118.774872, -116.608191, -1723.065986)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Xform "road_omniue4" (
prepend references = @maya2_atlas_road_tile_237_01.usd2.usda@
)
{
float3 xformOp:rotateZYX = (-0, 0, -0)
float3 xformOp:scale = (1, 120.700005, 1)
double3 xformOp:translate = (0, -45001, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
over "SceneNode"
{
over "Tile_0_0Node"
{
over "RoadsNode"
{
over "Road_RoadNode"
{
over "Road_Road_Layer0Node" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
)
{
rel material:binding = </World/Looks/road_base> (
bindMaterialAs = "weakerThanDescendants"
)
string semantic:Semantics:params:semanticData = "road"
string semantic:Semantics:params:semanticType = "class"
float3 xformOp:rotateXYZ = (90, -0, 0)
float3 xformOp:scale = (0.9999998, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
}
}
}
}
def Mesh "Plane" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
)
{
int[] faceVertexCounts = [4]
int[] faceVertexIndices = [0, 1, 3, 2]
rel material:binding = </World/Looks/DrivesimPBR_LaneMarking> (
bindMaterialAs = "weakerThanDescendants"
)
normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, 0), (50, -50, 0), (-50, 50, 0), (50, 50, 0)]
bool primvars:isDecal = 1
bool primvars:materialFlattening_isDecal = 1
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
string semantic:Semantics:params:semanticData = "lane"
string semantic:Semantics:params:semanticType = "class"
uniform token subdivisionScheme = "none"
token visibility = "inherited"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (0.005, 50, 1)
double3 xformOp:translate = (-24, -10497, 0.1)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/torus_sphere.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 50000)
double radius = 500
}
dictionary Perspective = {
double3 position = (500, 500, 500)
double3 target = (-0.0000039780385918675165, 0.00000795607684267452, -0.000003978038364493841)
}
dictionary Right = {
double3 position = (-50000, 0, 0)
double radius = 500
}
dictionary Top = {
double3 position = (0, 50000, 0)
double radius = 467.708984375
}
string boundCamera = "/OmniverseKit_Front"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0)
float3 "rtx:dynamicDiffuseGI:probeCounts" = (6, 6, 6)
float3 "rtx:dynamicDiffuseGI:probeGridOrigin" = (-210, -250, -10)
float3 "rtx:dynamicDiffuseGI:volumeSize" = (600, 440, 300)
float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75)
float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9)
float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5)
token "rtx:rendermode" = "PathTracing"
float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1)
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.01
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def Mesh "Torus"
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 33, 34, 1, 1, 34, 35, 2, 2, 35, 36, 3, 3, 36, 37, 4, 4, 37, 38, 5, 5, 38, 39, 6, 6, 39, 40, 7, 7, 40, 41, 8, 8, 41, 42, 9, 9, 42, 43, 10, 10, 43, 44, 11, 11, 44, 45, 12, 12, 45, 46, 13, 13, 46, 47, 14, 14, 47, 48, 15, 15, 48, 49, 16, 16, 49, 50, 17, 17, 50, 51, 18, 18, 51, 52, 19, 19, 52, 53, 20, 20, 53, 54, 21, 21, 54, 55, 22, 22, 55, 56, 23, 23, 56, 57, 24, 24, 57, 58, 25, 25, 58, 59, 26, 26, 59, 60, 27, 27, 60, 61, 28, 28, 61, 62, 29, 29, 62, 63, 30, 30, 63, 64, 31, 31, 64, 65, 32, 32, 65, 33, 0, 33, 66, 67, 34, 34, 67, 68, 35, 35, 68, 69, 36, 36, 69, 70, 37, 37, 70, 71, 38, 38, 71, 72, 39, 39, 72, 73, 40, 40, 73, 74, 41, 41, 74, 75, 42, 42, 75, 76, 43, 43, 76, 77, 44, 44, 77, 78, 45, 45, 78, 79, 46, 46, 79, 80, 47, 47, 80, 81, 48, 48, 81, 82, 49, 49, 82, 83, 50, 50, 83, 84, 51, 51, 84, 85, 52, 52, 85, 86, 53, 53, 86, 87, 54, 54, 87, 88, 55, 55, 88, 89, 56, 56, 89, 90, 57, 57, 90, 91, 58, 58, 91, 92, 59, 59, 92, 93, 60, 60, 93, 94, 61, 61, 94, 95, 62, 62, 95, 96, 63, 63, 96, 97, 64, 64, 97, 98, 65, 65, 98, 66, 33, 66, 99, 100, 67, 67, 100, 101, 68, 68, 101, 102, 69, 69, 102, 103, 70, 70, 103, 104, 71, 71, 104, 105, 72, 72, 105, 106, 73, 73, 106, 107, 74, 74, 107, 108, 75, 75, 108, 109, 76, 76, 109, 110, 77, 77, 110, 111, 78, 78, 111, 112, 79, 79, 112, 113, 80, 80, 113, 114, 81, 81, 114, 115, 82, 82, 115, 116, 83, 83, 116, 117, 84, 84, 117, 118, 85, 85, 118, 119, 86, 86, 119, 120, 87, 87, 120, 121, 88, 88, 121, 122, 89, 89, 122, 123, 90, 90, 123, 124, 91, 91, 124, 125, 92, 92, 125, 126, 93, 93, 126, 127, 94, 94, 127, 128, 95, 95, 128, 129, 96, 96, 129, 130, 97, 97, 130, 131, 98, 98, 131, 99, 66, 99, 132, 133, 100, 100, 133, 134, 101, 101, 134, 135, 102, 102, 135, 136, 103, 103, 136, 137, 104, 104, 137, 138, 105, 105, 138, 139, 106, 106, 139, 140, 107, 107, 140, 141, 108, 108, 141, 142, 109, 109, 142, 143, 110, 110, 143, 144, 111, 111, 144, 145, 112, 112, 145, 146, 113, 113, 146, 147, 114, 114, 147, 148, 115, 115, 148, 149, 116, 116, 149, 150, 117, 117, 150, 151, 118, 118, 151, 152, 119, 119, 152, 153, 120, 120, 153, 154, 121, 121, 154, 155, 122, 122, 155, 156, 123, 123, 156, 157, 124, 124, 157, 158, 125, 125, 158, 159, 126, 126, 159, 160, 127, 127, 160, 161, 128, 128, 161, 162, 129, 129, 162, 163, 130, 130, 163, 164, 131, 131, 164, 132, 99, 132, 165, 166, 133, 133, 166, 167, 134, 134, 167, 168, 135, 135, 168, 169, 136, 136, 169, 170, 137, 137, 170, 171, 138, 138, 171, 172, 139, 139, 172, 173, 140, 140, 173, 174, 141, 141, 174, 175, 142, 142, 175, 176, 143, 143, 176, 177, 144, 144, 177, 178, 145, 145, 178, 179, 146, 146, 179, 180, 147, 147, 180, 181, 148, 148, 181, 182, 149, 149, 182, 183, 150, 150, 183, 184, 151, 151, 184, 185, 152, 152, 185, 186, 153, 153, 186, 187, 154, 154, 187, 188, 155, 155, 188, 189, 156, 156, 189, 190, 157, 157, 190, 191, 158, 158, 191, 192, 159, 159, 192, 193, 160, 160, 193, 194, 161, 161, 194, 195, 162, 162, 195, 196, 163, 163, 196, 197, 164, 164, 197, 165, 132, 165, 198, 199, 166, 166, 199, 200, 167, 167, 200, 201, 168, 168, 201, 202, 169, 169, 202, 203, 170, 170, 203, 204, 171, 171, 204, 205, 172, 172, 205, 206, 173, 173, 206, 207, 174, 174, 207, 208, 175, 175, 208, 209, 176, 176, 209, 210, 177, 177, 210, 211, 178, 178, 211, 212, 179, 179, 212, 213, 180, 180, 213, 214, 181, 181, 214, 215, 182, 182, 215, 216, 183, 183, 216, 217, 184, 184, 217, 218, 185, 185, 218, 219, 186, 186, 219, 220, 187, 187, 220, 221, 188, 188, 221, 222, 189, 189, 222, 223, 190, 190, 223, 224, 191, 191, 224, 225, 192, 192, 225, 226, 193, 193, 226, 227, 194, 194, 227, 228, 195, 195, 228, 229, 196, 196, 229, 230, 197, 197, 230, 198, 165, 198, 231, 232, 199, 199, 232, 233, 200, 200, 233, 234, 201, 201, 234, 235, 202, 202, 235, 236, 203, 203, 236, 237, 204, 204, 237, 238, 205, 205, 238, 239, 206, 206, 239, 240, 207, 207, 240, 241, 208, 208, 241, 242, 209, 209, 242, 243, 210, 210, 243, 244, 211, 211, 244, 245, 212, 212, 245, 246, 213, 213, 246, 247, 214, 214, 247, 248, 215, 215, 248, 249, 216, 216, 249, 250, 217, 217, 250, 251, 218, 218, 251, 252, 219, 219, 252, 253, 220, 220, 253, 254, 221, 221, 254, 255, 222, 222, 255, 256, 223, 223, 256, 257, 224, 224, 257, 258, 225, 225, 258, 259, 226, 226, 259, 260, 227, 227, 260, 261, 228, 228, 261, 262, 229, 229, 262, 263, 230, 230, 263, 231, 198, 231, 264, 265, 232, 232, 265, 266, 233, 233, 266, 267, 234, 234, 267, 268, 235, 235, 268, 269, 236, 236, 269, 270, 237, 237, 270, 271, 238, 238, 271, 272, 239, 239, 272, 273, 240, 240, 273, 274, 241, 241, 274, 275, 242, 242, 275, 276, 243, 243, 276, 277, 244, 244, 277, 278, 245, 245, 278, 279, 246, 246, 279, 280, 247, 247, 280, 281, 248, 248, 281, 282, 249, 249, 282, 283, 250, 250, 283, 284, 251, 251, 284, 285, 252, 252, 285, 286, 253, 253, 286, 287, 254, 254, 287, 288, 255, 255, 288, 289, 256, 256, 289, 290, 257, 257, 290, 291, 258, 258, 291, 292, 259, 259, 292, 293, 260, 260, 293, 294, 261, 261, 294, 295, 262, 262, 295, 296, 263, 263, 296, 264, 231, 264, 297, 298, 265, 265, 298, 299, 266, 266, 299, 300, 267, 267, 300, 301, 268, 268, 301, 302, 269, 269, 302, 303, 270, 270, 303, 304, 271, 271, 304, 305, 272, 272, 305, 306, 273, 273, 306, 307, 274, 274, 307, 308, 275, 275, 308, 309, 276, 276, 309, 310, 277, 277, 310, 311, 278, 278, 311, 312, 279, 279, 312, 313, 280, 280, 313, 314, 281, 281, 314, 315, 282, 282, 315, 316, 283, 283, 316, 317, 284, 284, 317, 318, 285, 285, 318, 319, 286, 286, 319, 320, 287, 287, 320, 321, 288, 288, 321, 322, 289, 289, 322, 323, 290, 290, 323, 324, 291, 291, 324, 325, 292, 292, 325, 326, 293, 293, 326, 327, 294, 294, 327, 328, 295, 295, 328, 329, 296, 296, 329, 297, 264, 297, 330, 331, 298, 298, 331, 332, 299, 299, 332, 333, 300, 300, 333, 334, 301, 301, 334, 335, 302, 302, 335, 336, 303, 303, 336, 337, 304, 304, 337, 338, 305, 305, 338, 339, 306, 306, 339, 340, 307, 307, 340, 341, 308, 308, 341, 342, 309, 309, 342, 343, 310, 310, 343, 344, 311, 311, 344, 345, 312, 312, 345, 346, 313, 313, 346, 347, 314, 314, 347, 348, 315, 315, 348, 349, 316, 316, 349, 350, 317, 317, 350, 351, 318, 318, 351, 352, 319, 319, 352, 353, 320, 320, 353, 354, 321, 321, 354, 355, 322, 322, 355, 356, 323, 323, 356, 357, 324, 324, 357, 358, 325, 325, 358, 359, 326, 326, 359, 360, 327, 327, 360, 361, 328, 328, 361, 362, 329, 329, 362, 330, 297, 330, 363, 364, 331, 331, 364, 365, 332, 332, 365, 366, 333, 333, 366, 367, 334, 334, 367, 368, 335, 335, 368, 369, 336, 336, 369, 370, 337, 337, 370, 371, 338, 338, 371, 372, 339, 339, 372, 373, 340, 340, 373, 374, 341, 341, 374, 375, 342, 342, 375, 376, 343, 343, 376, 377, 344, 344, 377, 378, 345, 345, 378, 379, 346, 346, 379, 380, 347, 347, 380, 381, 348, 348, 381, 382, 349, 349, 382, 383, 350, 350, 383, 384, 351, 351, 384, 385, 352, 352, 385, 386, 353, 353, 386, 387, 354, 354, 387, 388, 355, 355, 388, 389, 356, 356, 389, 390, 357, 357, 390, 391, 358, 358, 391, 392, 359, 359, 392, 393, 360, 360, 393, 394, 361, 361, 394, 395, 362, 362, 395, 363, 330, 363, 396, 397, 364, 364, 397, 398, 365, 365, 398, 399, 366, 366, 399, 400, 367, 367, 400, 401, 368, 368, 401, 402, 369, 369, 402, 403, 370, 370, 403, 404, 371, 371, 404, 405, 372, 372, 405, 406, 373, 373, 406, 407, 374, 374, 407, 408, 375, 375, 408, 409, 376, 376, 409, 410, 377, 377, 410, 411, 378, 378, 411, 412, 379, 379, 412, 413, 380, 380, 413, 414, 381, 381, 414, 415, 382, 382, 415, 416, 383, 383, 416, 417, 384, 384, 417, 418, 385, 385, 418, 419, 386, 386, 419, 420, 387, 387, 420, 421, 388, 388, 421, 422, 389, 389, 422, 423, 390, 390, 423, 424, 391, 391, 424, 425, 392, 392, 425, 426, 393, 393, 426, 427, 394, 394, 427, 428, 395, 395, 428, 396, 363, 396, 429, 430, 397, 397, 430, 431, 398, 398, 431, 432, 399, 399, 432, 433, 400, 400, 433, 434, 401, 401, 434, 435, 402, 402, 435, 436, 403, 403, 436, 437, 404, 404, 437, 438, 405, 405, 438, 439, 406, 406, 439, 440, 407, 407, 440, 441, 408, 408, 441, 442, 409, 409, 442, 443, 410, 410, 443, 444, 411, 411, 444, 445, 412, 412, 445, 446, 413, 413, 446, 447, 414, 414, 447, 448, 415, 415, 448, 449, 416, 416, 449, 450, 417, 417, 450, 451, 418, 418, 451, 452, 419, 419, 452, 453, 420, 420, 453, 454, 421, 421, 454, 455, 422, 422, 455, 456, 423, 423, 456, 457, 424, 424, 457, 458, 425, 425, 458, 459, 426, 426, 459, 460, 427, 427, 460, 461, 428, 428, 461, 429, 396, 429, 462, 463, 430, 430, 463, 464, 431, 431, 464, 465, 432, 432, 465, 466, 433, 433, 466, 467, 434, 434, 467, 468, 435, 435, 468, 469, 436, 436, 469, 470, 437, 437, 470, 471, 438, 438, 471, 472, 439, 439, 472, 473, 440, 440, 473, 474, 441, 441, 474, 475, 442, 442, 475, 476, 443, 443, 476, 477, 444, 444, 477, 478, 445, 445, 478, 479, 446, 446, 479, 480, 447, 447, 480, 481, 448, 448, 481, 482, 449, 449, 482, 483, 450, 450, 483, 484, 451, 451, 484, 485, 452, 452, 485, 486, 453, 453, 486, 487, 454, 454, 487, 488, 455, 455, 488, 489, 456, 456, 489, 490, 457, 457, 490, 491, 458, 458, 491, 492, 459, 459, 492, 493, 460, 460, 493, 494, 461, 461, 494, 462, 429, 462, 495, 496, 463, 463, 496, 497, 464, 464, 497, 498, 465, 465, 498, 499, 466, 466, 499, 500, 467, 467, 500, 501, 468, 468, 501, 502, 469, 469, 502, 503, 470, 470, 503, 504, 471, 471, 504, 505, 472, 472, 505, 506, 473, 473, 506, 507, 474, 474, 507, 508, 475, 475, 508, 509, 476, 476, 509, 510, 477, 477, 510, 511, 478, 478, 511, 512, 479, 479, 512, 513, 480, 480, 513, 514, 481, 481, 514, 515, 482, 482, 515, 516, 483, 483, 516, 517, 484, 484, 517, 518, 485, 485, 518, 519, 486, 486, 519, 520, 487, 487, 520, 521, 488, 488, 521, 522, 489, 489, 522, 523, 490, 490, 523, 524, 491, 491, 524, 525, 492, 492, 525, 526, 493, 493, 526, 527, 494, 494, 527, 495, 462, 495, 528, 529, 496, 496, 529, 530, 497, 497, 530, 531, 498, 498, 531, 532, 499, 499, 532, 533, 500, 500, 533, 534, 501, 501, 534, 535, 502, 502, 535, 536, 503, 503, 536, 537, 504, 504, 537, 538, 505, 505, 538, 539, 506, 506, 539, 540, 507, 507, 540, 541, 508, 508, 541, 542, 509, 509, 542, 543, 510, 510, 543, 544, 511, 511, 544, 545, 512, 512, 545, 546, 513, 513, 546, 547, 514, 514, 547, 548, 515, 515, 548, 549, 516, 516, 549, 550, 517, 517, 550, 551, 518, 518, 551, 552, 519, 519, 552, 553, 520, 520, 553, 554, 521, 521, 554, 555, 522, 522, 555, 556, 523, 523, 556, 557, 524, 524, 557, 558, 525, 525, 558, 559, 526, 526, 559, 560, 527, 527, 560, 528, 495, 528, 561, 562, 529, 529, 562, 563, 530, 530, 563, 564, 531, 531, 564, 565, 532, 532, 565, 566, 533, 533, 566, 567, 534, 534, 567, 568, 535, 535, 568, 569, 536, 536, 569, 570, 537, 537, 570, 571, 538, 538, 571, 572, 539, 539, 572, 573, 540, 540, 573, 574, 541, 541, 574, 575, 542, 542, 575, 576, 543, 543, 576, 577, 544, 544, 577, 578, 545, 545, 578, 579, 546, 546, 579, 580, 547, 547, 580, 581, 548, 548, 581, 582, 549, 549, 582, 583, 550, 550, 583, 584, 551, 551, 584, 585, 552, 552, 585, 586, 553, 553, 586, 587, 554, 554, 587, 588, 555, 555, 588, 589, 556, 556, 589, 590, 557, 557, 590, 591, 558, 558, 591, 592, 559, 559, 592, 593, 560, 560, 593, 561, 528, 561, 594, 595, 562, 562, 595, 596, 563, 563, 596, 597, 564, 564, 597, 598, 565, 565, 598, 599, 566, 566, 599, 600, 567, 567, 600, 601, 568, 568, 601, 602, 569, 569, 602, 603, 570, 570, 603, 604, 571, 571, 604, 605, 572, 572, 605, 606, 573, 573, 606, 607, 574, 574, 607, 608, 575, 575, 608, 609, 576, 576, 609, 610, 577, 577, 610, 611, 578, 578, 611, 612, 579, 579, 612, 613, 580, 580, 613, 614, 581, 581, 614, 615, 582, 582, 615, 616, 583, 583, 616, 617, 584, 584, 617, 618, 585, 585, 618, 619, 586, 586, 619, 620, 587, 587, 620, 621, 588, 588, 621, 622, 589, 589, 622, 623, 590, 590, 623, 624, 591, 591, 624, 625, 592, 592, 625, 626, 593, 593, 626, 594, 561, 594, 627, 628, 595, 595, 628, 629, 596, 596, 629, 630, 597, 597, 630, 631, 598, 598, 631, 632, 599, 599, 632, 633, 600, 600, 633, 634, 601, 601, 634, 635, 602, 602, 635, 636, 603, 603, 636, 637, 604, 604, 637, 638, 605, 605, 638, 639, 606, 606, 639, 640, 607, 607, 640, 641, 608, 608, 641, 642, 609, 609, 642, 643, 610, 610, 643, 644, 611, 611, 644, 645, 612, 612, 645, 646, 613, 613, 646, 647, 614, 614, 647, 648, 615, 615, 648, 649, 616, 616, 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rel material:binding = None (
bindMaterialAs = "weakerThanDescendants"
)
normal3f[] normals = [(1, 0, 0), (0.98078567, 0.1950884, 0), (0.9619405, 0.1950884, 0.1913399), (0.98078567, 0, 0.1950884), (0.98078567, 0, 0.1950884), (0.9619405, 0.1950884, 0.1913399), (0.9061293, 0.1950884, 0.37532687), (0.92388105, 0, 0.3826798), (0.92388105, 0, 0.3826798), (0.9061293, 0.1950884, 0.37532687), (0.8154967, 0.1950884, 0.5448905), (0.8314729, 0, 0.55556536), (0.8314729, 0, 0.55556536), (0.8154967, 0.1950884, 0.5448905), (0.6935256, 0.1950884, 0.69351476), (0.7071123, 0, 0.7071012), (0.7071123, 0, 0.7071012), (0.6935256, 0.1950884, 0.69351476), (0.54490334, 0.1950884, 0.8154881), (0.5555784, 0, 0.8314642), (0.5555784, 0, 0.8314642), (0.54490334, 0.1950884, 0.8154881), (0.3753411, 0.1950884, 0.9061234), (0.3826943, 0, 0.92387503), (0.3826943, 0, 0.92387503), (0.3753411, 0.1950884, 0.9061234), (0.191355, 0.1950884, 0.9619375), (0.19510381, 0, 0.9807826), (0.19510381, 0, 0.9807826), (0.191355, 0.1950884, 0.9619375), (0.000015406145, 0.1950884, 0.98078567), (0.000015707963, 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0.99999), (0.40625593, 1), (0.37500626, 1), (0.37500626, 0.99999), (0.37500626, 0.99999), (0.37500626, 1), (0.34375656, 1), (0.34375656, 0.99999), (0.34375656, 0.99999), (0.34375656, 1), (0.31250688, 1), (0.31250688, 0.99999), (0.31250688, 0.99999), (0.31250688, 1), (0.28125718, 1), (0.28125718, 0.99999), (0.28125718, 0.99999), (0.28125718, 1), (0.2500075, 1), (0.2500075, 0.99999), (0.2500075, 0.99999), (0.2500075, 1), (0.21875781, 1), (0.21875781, 0.99999), (0.21875781, 0.99999), (0.21875781, 1), (0.18750812, 1), (0.18750812, 0.99999), (0.18750812, 0.99999), (0.18750812, 1), (0.15625843, 1), (0.15625843, 0.99999), (0.15625843, 0.99999), (0.15625843, 1), (0.12500875, 1), (0.12500875, 0.99999), (0.12500875, 0.99999), (0.12500875, 1), (0.09375906, 1), (0.09375906, 0.99999), (0.09375906, 0.99999), (0.09375906, 1), (0.06250937, 1), (0.06250937, 0.99999), (0.06250937, 0.99999), (0.06250937, 1), (0.031259686, 1), (0.031259686, 0.99999), (0.031259686, 0.99999), (0.031259686, 1), (0.00001, 1), (0.00001, 0.99999), (0.00001, 0.99999), (0.00001, 1), (1, 1), (1, 0.99999)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "Sphere"
{
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [0, 1, 2, 0, 2, 3, 0, 3, 4, 0, 4, 5, 0, 5, 6, 0, 6, 7, 0, 7, 8, 0, 8, 9, 0, 9, 10, 0, 10, 11, 0, 11, 12, 0, 12, 13, 0, 13, 14, 0, 14, 15, 0, 15, 16, 0, 16, 17, 0, 17, 18, 0, 18, 19, 0, 19, 20, 0, 20, 21, 0, 21, 22, 0, 22, 23, 0, 23, 24, 0, 24, 25, 0, 25, 26, 0, 26, 27, 0, 27, 28, 0, 28, 29, 0, 29, 30, 0, 30, 31, 0, 31, 32, 0, 32, 1, 1, 33, 34, 2, 2, 34, 35, 3, 3, 35, 36, 4, 4, 36, 37, 5, 5, 37, 38, 6, 6, 38, 39, 7, 7, 39, 40, 8, 8, 40, 41, 9, 9, 41, 42, 10, 10, 42, 43, 11, 11, 43, 44, 12, 12, 44, 45, 13, 13, 45, 46, 14, 14, 46, 47, 15, 15, 47, 48, 16, 16, 48, 49, 17, 17, 49, 50, 18, 18, 50, 51, 19, 19, 51, 52, 20, 20, 52, 53, 21, 21, 53, 54, 22, 22, 54, 55, 23, 23, 55, 56, 24, 24, 56, 57, 25, 25, 57, 58, 26, 26, 58, 59, 27, 27, 59, 60, 28, 28, 60, 61, 29, 29, 61, 62, 30, 30, 62, 63, 31, 31, 63, 64, 32, 32, 64, 33, 1, 33, 65, 66, 34, 34, 66, 67, 35, 35, 67, 68, 36, 36, 68, 69, 37, 37, 69, 70, 38, 38, 70, 71, 39, 39, 71, 72, 40, 40, 72, 73, 41, 41, 73, 74, 42, 42, 74, 75, 43, 43, 75, 76, 44, 44, 76, 77, 45, 45, 77, 78, 46, 46, 78, 79, 47, 47, 79, 80, 48, 48, 80, 81, 49, 49, 81, 82, 50, 50, 82, 83, 51, 51, 83, 84, 52, 52, 84, 85, 53, 53, 85, 86, 54, 54, 86, 87, 55, 55, 87, 88, 56, 56, 88, 89, 57, 57, 89, 90, 58, 58, 90, 91, 59, 59, 91, 92, 60, 60, 92, 93, 61, 61, 93, 94, 62, 62, 94, 95, 63, 63, 95, 96, 64, 64, 96, 65, 33, 65, 97, 98, 66, 66, 98, 99, 67, 67, 99, 100, 68, 68, 100, 101, 69, 69, 101, 102, 70, 70, 102, 103, 71, 71, 103, 104, 72, 72, 104, 105, 73, 73, 105, 106, 74, 74, 106, 107, 75, 75, 107, 108, 76, 76, 108, 109, 77, 77, 109, 110, 78, 78, 110, 111, 79, 79, 111, 112, 80, 80, 112, 113, 81, 81, 113, 114, 82, 82, 114, 115, 83, 83, 115, 116, 84, 84, 116, 117, 85, 85, 117, 118, 86, 86, 118, 119, 87, 87, 119, 120, 88, 88, 120, 121, 89, 89, 121, 122, 90, 90, 122, 123, 91, 91, 123, 124, 92, 92, 124, 125, 93, 93, 125, 126, 94, 94, 126, 127, 95, 95, 127, 128, 96, 96, 128, 97, 65, 97, 129, 130, 98, 98, 130, 131, 99, 99, 131, 132, 100, 100, 132, 133, 101, 101, 133, 134, 102, 102, 134, 135, 103, 103, 135, 136, 104, 104, 136, 137, 105, 105, 137, 138, 106, 106, 138, 139, 107, 107, 139, 140, 108, 108, 140, 141, 109, 109, 141, 142, 110, 110, 142, 143, 111, 111, 143, 144, 112, 112, 144, 145, 113, 113, 145, 146, 114, 114, 146, 147, 115, 115, 147, 148, 116, 116, 148, 149, 117, 117, 149, 150, 118, 118, 150, 151, 119, 119, 151, 152, 120, 120, 152, 153, 121, 121, 153, 154, 122, 122, 154, 155, 123, 123, 155, 156, 124, 124, 156, 157, 125, 125, 157, 158, 126, 126, 158, 159, 127, 127, 159, 160, 128, 128, 160, 129, 97, 129, 161, 162, 130, 130, 162, 163, 131, 131, 163, 164, 132, 132, 164, 165, 133, 133, 165, 166, 134, 134, 166, 167, 135, 135, 167, 168, 136, 136, 168, 169, 137, 137, 169, 170, 138, 138, 170, 171, 139, 139, 171, 172, 140, 140, 172, 173, 141, 141, 173, 174, 142, 142, 174, 175, 143, 143, 175, 176, 144, 144, 176, 177, 145, 145, 177, 178, 146, 146, 178, 179, 147, 147, 179, 180, 148, 148, 180, 181, 149, 149, 181, 182, 150, 150, 182, 183, 151, 151, 183, 184, 152, 152, 184, 185, 153, 153, 185, 186, 154, 154, 186, 187, 155, 155, 187, 188, 156, 156, 188, 189, 157, 157, 189, 190, 158, 158, 190, 191, 159, 159, 191, 192, 160, 160, 192, 161, 129, 161, 193, 194, 162, 162, 194, 195, 163, 163, 195, 196, 164, 164, 196, 197, 165, 165, 197, 198, 166, 166, 198, 199, 167, 167, 199, 200, 168, 168, 200, 201, 169, 169, 201, 202, 170, 170, 202, 203, 171, 171, 203, 204, 172, 172, 204, 205, 173, 173, 205, 206, 174, 174, 206, 207, 175, 175, 207, 208, 176, 176, 208, 209, 177, 177, 209, 210, 178, 178, 210, 211, 179, 179, 211, 212, 180, 180, 212, 213, 181, 181, 213, 214, 182, 182, 214, 215, 183, 183, 215, 216, 184, 184, 216, 217, 185, 185, 217, 218, 186, 186, 218, 219, 187, 187, 219, 220, 188, 188, 220, 221, 189, 189, 221, 222, 190, 190, 222, 223, 191, 191, 223, 224, 192, 192, 224, 193, 161, 193, 225, 226, 194, 194, 226, 227, 195, 195, 227, 228, 196, 196, 228, 229, 197, 197, 229, 230, 198, 198, 230, 231, 199, 199, 231, 232, 200, 200, 232, 233, 201, 201, 233, 234, 202, 202, 234, 235, 203, 203, 235, 236, 204, 204, 236, 237, 205, 205, 237, 238, 206, 206, 238, 239, 207, 207, 239, 240, 208, 208, 240, 241, 209, 209, 241, 242, 210, 210, 242, 243, 211, 211, 243, 244, 212, 212, 244, 245, 213, 213, 245, 246, 214, 214, 246, 247, 215, 215, 247, 248, 216, 216, 248, 249, 217, 217, 249, 250, 218, 218, 250, 251, 219, 219, 251, 252, 220, 220, 252, 253, 221, 221, 253, 254, 222, 222, 254, 255, 223, 223, 255, 256, 224, 224, 256, 225, 193, 225, 257, 258, 226, 226, 258, 259, 227, 227, 259, 260, 228, 228, 260, 261, 229, 229, 261, 262, 230, 230, 262, 263, 231, 231, 263, 264, 232, 232, 264, 265, 233, 233, 265, 266, 234, 234, 266, 267, 235, 235, 267, 268, 236, 236, 268, 269, 237, 237, 269, 270, 238, 238, 270, 271, 239, 239, 271, 272, 240, 240, 272, 273, 241, 241, 273, 274, 242, 242, 274, 275, 243, 243, 275, 276, 244, 244, 276, 277, 245, 245, 277, 278, 246, 246, 278, 279, 247, 247, 279, 280, 248, 248, 280, 281, 249, 249, 281, 282, 250, 250, 282, 283, 251, 251, 283, 284, 252, 252, 284, 285, 253, 253, 285, 286, 254, 254, 286, 287, 255, 255, 287, 288, 256, 256, 288, 257, 225, 257, 289, 290, 258, 258, 290, 291, 259, 259, 291, 292, 260, 260, 292, 293, 261, 261, 293, 294, 262, 262, 294, 295, 263, 263, 295, 296, 264, 264, 296, 297, 265, 265, 297, 298, 266, 266, 298, 299, 267, 267, 299, 300, 268, 268, 300, 301, 269, 269, 301, 302, 270, 270, 302, 303, 271, 271, 303, 304, 272, 272, 304, 305, 273, 273, 305, 306, 274, 274, 306, 307, 275, 275, 307, 308, 276, 276, 308, 309, 277, 277, 309, 310, 278, 278, 310, 311, 279, 279, 311, 312, 280, 280, 312, 313, 281, 281, 313, 314, 282, 282, 314, 315, 283, 283, 315, 316, 284, 284, 316, 317, 285, 285, 317, 318, 286, 286, 318, 319, 287, 287, 319, 320, 288, 288, 320, 289, 257, 289, 321, 322, 290, 290, 322, 323, 291, 291, 323, 324, 292, 292, 324, 325, 293, 293, 325, 326, 294, 294, 326, 327, 295, 295, 327, 328, 296, 296, 328, 329, 297, 297, 329, 330, 298, 298, 330, 331, 299, 299, 331, 332, 300, 300, 332, 333, 301, 301, 333, 334, 302, 302, 334, 335, 303, 303, 335, 336, 304, 304, 336, 337, 305, 305, 337, 338, 306, 306, 338, 339, 307, 307, 339, 340, 308, 308, 340, 341, 309, 309, 341, 342, 310, 310, 342, 343, 311, 311, 343, 344, 312, 312, 344, 345, 313, 313, 345, 346, 314, 314, 346, 347, 315, 315, 347, 348, 316, 316, 348, 349, 317, 317, 349, 350, 318, 318, 350, 351, 319, 319, 351, 352, 320, 320, 352, 321, 289, 321, 353, 354, 322, 322, 354, 355, 323, 323, 355, 356, 324, 324, 356, 357, 325, 325, 357, 358, 326, 326, 358, 359, 327, 327, 359, 360, 328, 328, 360, 361, 329, 329, 361, 362, 330, 330, 362, 363, 331, 331, 363, 364, 332, 332, 364, 365, 333, 333, 365, 366, 334, 334, 366, 367, 335, 335, 367, 368, 336, 336, 368, 369, 337, 337, 369, 370, 338, 338, 370, 371, 339, 339, 371, 372, 340, 340, 372, 373, 341, 341, 373, 374, 342, 342, 374, 375, 343, 343, 375, 376, 344, 344, 376, 377, 345, 345, 377, 378, 346, 346, 378, 379, 347, 347, 379, 380, 348, 348, 380, 381, 349, 349, 381, 382, 350, 350, 382, 383, 351, 351, 383, 384, 352, 352, 384, 353, 321, 353, 385, 386, 354, 354, 386, 387, 355, 355, 387, 388, 356, 356, 388, 389, 357, 357, 389, 390, 358, 358, 390, 391, 359, 359, 391, 392, 360, 360, 392, 393, 361, 361, 393, 394, 362, 362, 394, 395, 363, 363, 395, 396, 364, 364, 396, 397, 365, 365, 397, 398, 366, 366, 398, 399, 367, 367, 399, 400, 368, 368, 400, 401, 369, 369, 401, 402, 370, 370, 402, 403, 371, 371, 403, 404, 372, 372, 404, 405, 373, 373, 405, 406, 374, 374, 406, 407, 375, 375, 407, 408, 376, 376, 408, 409, 377, 377, 409, 410, 378, 378, 410, 411, 379, 379, 411, 412, 380, 380, 412, 413, 381, 381, 413, 414, 382, 382, 414, 415, 383, 383, 415, 416, 384, 384, 416, 385, 353, 385, 417, 418, 386, 386, 418, 419, 387, 387, 419, 420, 388, 388, 420, 421, 389, 389, 421, 422, 390, 390, 422, 423, 391, 391, 423, 424, 392, 392, 424, 425, 393, 393, 425, 426, 394, 394, 426, 427, 395, 395, 427, 428, 396, 396, 428, 429, 397, 397, 429, 430, 398, 398, 430, 431, 399, 399, 431, 432, 400, 400, 432, 433, 401, 401, 433, 434, 402, 402, 434, 435, 403, 403, 435, 436, 404, 404, 436, 437, 405, 405, 437, 438, 406, 406, 438, 439, 407, 407, 439, 440, 408, 408, 440, 441, 409, 409, 441, 442, 410, 410, 442, 443, 411, 411, 443, 444, 412, 412, 444, 445, 413, 413, 445, 446, 414, 414, 446, 447, 415, 415, 447, 448, 416, 416, 448, 417, 385, 417, 449, 450, 418, 418, 450, 451, 419, 419, 451, 452, 420, 420, 452, 453, 421, 421, 453, 454, 422, 422, 454, 455, 423, 423, 455, 456, 424, 424, 456, 457, 425, 425, 457, 458, 426, 426, 458, 459, 427, 427, 459, 460, 428, 428, 460, 461, 429, 429, 461, 462, 430, 430, 462, 463, 431, 431, 463, 464, 432, 432, 464, 465, 433, 433, 465, 466, 434, 434, 466, 467, 435, 435, 467, 468, 436, 436, 468, 469, 437, 437, 469, 470, 438, 438, 470, 471, 439, 439, 471, 472, 440, 440, 472, 473, 441, 441, 473, 474, 442, 442, 474, 475, 443, 443, 475, 476, 444, 444, 476, 477, 445, 445, 477, 478, 446, 446, 478, 479, 447, 447, 479, 480, 448, 448, 480, 449, 417, 481, 450, 449, 481, 451, 450, 481, 452, 451, 481, 453, 452, 481, 454, 453, 481, 455, 454, 481, 456, 455, 481, 457, 456, 481, 458, 457, 481, 459, 458, 481, 460, 459, 481, 461, 460, 481, 462, 461, 481, 463, 462, 481, 464, 463, 481, 465, 464, 481, 466, 465, 481, 467, 466, 481, 468, 467, 481, 469, 468, 481, 470, 469, 481, 471, 470, 481, 472, 471, 481, 473, 472, 481, 474, 473, 481, 475, 474, 481, 476, 475, 481, 477, 476, 481, 478, 477, 481, 479, 478, 481, 480, 479, 481, 449, 480]
rel material:binding = None (
bindMaterialAs = "weakerThanDescendants"
)
normal3f[] normals = [(0, -50, 0), (9.754516, -49.039265, 0), (9.567086, -49.039265, 1.9030117), (0, -50, 0), (9.567086, -49.039265, 1.9030117), (9.011998, -49.039265, 3.7328918), (0, -50, 0), (9.011998, -49.039265, 3.7328918), (8.110583, -49.039265, 5.4193187), (0, -50, 0), (8.110583, -49.039265, 5.4193187), (6.8974843, -49.039265, 6.8974843), (0, -50, 0), (6.8974843, -49.039265, 6.8974843), (5.4193187, -49.039265, 8.110583), (0, -50, 0), (5.4193187, -49.039265, 8.110583), (3.7328918, -49.039265, 9.011998), (0, -50, 0), (3.7328918, -49.039265, 9.011998), (1.9030117, -49.039265, 9.567086), (0, -50, 0), (1.9030117, -49.039265, 9.567086), (5.9729185e-16, -49.039265, 9.754516), (0, -50, 0), (5.9729185e-16, -49.039265, 9.754516), (-1.9030117, -49.039265, 9.567086), (0, -50, 0), (-1.9030117, -49.039265, 9.567086), (-3.7328918, -49.039265, 9.011998), (0, -50, 0), (-3.7328918, -49.039265, 9.011998), (-5.4193187, -49.039265, 8.110583), (0, -50, 0), (-5.4193187, -49.039265, 8.110583), (-6.8974843, -49.039265, 6.8974843), (0, -50, 0), (-6.8974843, -49.039265, 6.8974843), (-8.110583, -49.039265, 5.4193187), (0, -50, 0), (-8.110583, -49.039265, 5.4193187), (-9.011998, -49.039265, 3.7328918), (0, -50, 0), (-9.011998, -49.039265, 3.7328918), (-9.567086, -49.039265, 1.9030117), (0, -50, 0), (-9.567086, -49.039265, 1.9030117), (-9.754516, -49.039265, 1.1945837e-15), (0, -50, 0), (-9.754516, -49.039265, 1.1945837e-15), (-9.567086, -49.039265, -1.9030117), (0, -50, 0), (-9.567086, -49.039265, -1.9030117), (-9.011998, -49.039265, -3.7328918), (0, -50, 0), (-9.011998, -49.039265, -3.7328918), (-8.110583, -49.039265, -5.4193187), (0, -50, 0), (-8.110583, -49.039265, -5.4193187), (-6.8974843, -49.039265, -6.8974843), (0, -50, 0), (-6.8974843, -49.039265, -6.8974843), (-5.4193187, -49.039265, -8.110583), (0, -50, 0), (-5.4193187, -49.039265, -8.110583), (-3.7328918, -49.039265, -9.011998), (0, -50, 0), (-3.7328918, -49.039265, -9.011998), (-1.9030117, -49.039265, -9.567086), (0, 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(0.53125, 0.8125), (0.53125, 0.8125), (0.53125, 0.875), (0.5, 0.875), (0.5, 0.8125), (0.5, 0.8125), (0.5, 0.875), (0.46875, 0.875), (0.46875, 0.8125), (0.46875, 0.8125), (0.46875, 0.875), (0.4375, 0.875), (0.4375, 0.8125), (0.4375, 0.8125), (0.4375, 0.875), (0.40625, 0.875), (0.40625, 0.8125), (0.40625, 0.8125), (0.40625, 0.875), (0.375, 0.875), (0.375, 0.8125), (0.375, 0.8125), (0.375, 0.875), (0.34375, 0.875), (0.34375, 0.8125), (0.34375, 0.8125), (0.34375, 0.875), (0.3125, 0.875), (0.3125, 0.8125), (0.3125, 0.8125), (0.3125, 0.875), (0.28125, 0.875), (0.28125, 0.8125), (0.28125, 0.8125), (0.28125, 0.875), (0.25, 0.875), (0.25, 0.8125), (0.25, 0.8125), (0.25, 0.875), (0.21875, 0.875), (0.21875, 0.8125), (0.21875, 0.8125), (0.21875, 0.875), (0.1875, 0.875), (0.1875, 0.8125), (0.1875, 0.8125), (0.1875, 0.875), (0.15625, 0.875), (0.15625, 0.8125), (0.15625, 0.8125), (0.15625, 0.875), (0.125, 0.875), (0.125, 0.8125), (0.125, 0.8125), (0.125, 0.875), (0.09375, 0.875), (0.09375, 0.8125), (0.09375, 0.8125), (0.09375, 0.875), (0.0625, 0.875), (0.0625, 0.8125), (0.0625, 0.8125), (0.0625, 0.875), (0.03125, 0.875), (0.03125, 0.8125), (0.03125, 0.8125), (0.03125, 0.875), (0, 0.875), (0, 0.8125), (1, 0.875), (1, 0.9375), (0.96875, 0.9375), (0.96875, 0.875), (0.96875, 0.875), (0.96875, 0.9375), (0.9375, 0.9375), (0.9375, 0.875), (0.9375, 0.875), (0.9375, 0.9375), (0.90625, 0.9375), (0.90625, 0.875), (0.90625, 0.875), (0.90625, 0.9375), (0.875, 0.9375), (0.875, 0.875), (0.875, 0.875), (0.875, 0.9375), (0.84375, 0.9375), (0.84375, 0.875), (0.84375, 0.875), (0.84375, 0.9375), (0.8125, 0.9375), (0.8125, 0.875), (0.8125, 0.875), (0.8125, 0.9375), (0.78125, 0.9375), (0.78125, 0.875), (0.78125, 0.875), (0.78125, 0.9375), (0.75, 0.9375), (0.75, 0.875), (0.75, 0.875), (0.75, 0.9375), (0.71875, 0.9375), (0.71875, 0.875), (0.71875, 0.875), (0.71875, 0.9375), (0.6875, 0.9375), (0.6875, 0.875), (0.6875, 0.875), (0.6875, 0.9375), (0.65625, 0.9375), (0.65625, 0.875), (0.65625, 0.875), (0.65625, 0.9375), (0.625, 0.9375), (0.625, 0.875), (0.625, 0.875), (0.625, 0.9375), (0.59375, 0.9375), (0.59375, 0.875), (0.59375, 0.875), (0.59375, 0.9375), (0.5625, 0.9375), (0.5625, 0.875), (0.5625, 0.875), (0.5625, 0.9375), (0.53125, 0.9375), (0.53125, 0.875), (0.53125, 0.875), (0.53125, 0.9375), (0.5, 0.9375), (0.5, 0.875), (0.5, 0.875), (0.5, 0.9375), (0.46875, 0.9375), (0.46875, 0.875), (0.46875, 0.875), (0.46875, 0.9375), (0.4375, 0.9375), (0.4375, 0.875), (0.4375, 0.875), (0.4375, 0.9375), (0.40625, 0.9375), (0.40625, 0.875), (0.40625, 0.875), (0.40625, 0.9375), (0.375, 0.9375), (0.375, 0.875), (0.375, 0.875), (0.375, 0.9375), (0.34375, 0.9375), (0.34375, 0.875), (0.34375, 0.875), (0.34375, 0.9375), (0.3125, 0.9375), (0.3125, 0.875), (0.3125, 0.875), (0.3125, 0.9375), (0.28125, 0.9375), (0.28125, 0.875), (0.28125, 0.875), (0.28125, 0.9375), (0.25, 0.9375), (0.25, 0.875), (0.25, 0.875), (0.25, 0.9375), (0.21875, 0.9375), (0.21875, 0.875), (0.21875, 0.875), (0.21875, 0.9375), (0.1875, 0.9375), (0.1875, 0.875), (0.1875, 0.875), (0.1875, 0.9375), (0.15625, 0.9375), (0.15625, 0.875), (0.15625, 0.875), (0.15625, 0.9375), (0.125, 0.9375), (0.125, 0.875), (0.125, 0.875), (0.125, 0.9375), (0.09375, 0.9375), (0.09375, 0.875), (0.09375, 0.875), (0.09375, 0.9375), (0.0625, 0.9375), (0.0625, 0.875), (0.0625, 0.875), (0.0625, 0.9375), (0.03125, 0.9375), (0.03125, 0.875), (0.03125, 0.875), (0.03125, 0.9375), (0, 0.9375), (0, 0.875), (0.5, 1), (0.96875, 0.9375), (1, 0.9375), (0.5, 1), (0.9375, 0.9375), (0.96875, 0.9375), (0.5, 1), (0.90625, 0.9375), (0.9375, 0.9375), (0.5, 1), (0.875, 0.9375), (0.90625, 0.9375), (0.5, 1), (0.84375, 0.9375), (0.875, 0.9375), (0.5, 1), (0.8125, 0.9375), (0.84375, 0.9375), (0.5, 1), (0.78125, 0.9375), (0.8125, 0.9375), (0.5, 1), (0.75, 0.9375), (0.78125, 0.9375), (0.5, 1), (0.71875, 0.9375), (0.75, 0.9375), (0.5, 1), (0.6875, 0.9375), (0.71875, 0.9375), (0.5, 1), (0.65625, 0.9375), (0.6875, 0.9375), (0.5, 1), (0.625, 0.9375), (0.65625, 0.9375), (0.5, 1), (0.59375, 0.9375), (0.625, 0.9375), (0.5, 1), (0.5625, 0.9375), (0.59375, 0.9375), (0.5, 1), (0.53125, 0.9375), (0.5625, 0.9375), (0.5, 1), (0.5, 0.9375), (0.53125, 0.9375), (0.5, 1), (0.46875, 0.9375), (0.5, 0.9375), (0.5, 1), (0.4375, 0.9375), (0.46875, 0.9375), (0.5, 1), (0.40625, 0.9375), (0.4375, 0.9375), (0.5, 1), (0.375, 0.9375), (0.40625, 0.9375), (0.5, 1), (0.34375, 0.9375), (0.375, 0.9375), (0.5, 1), (0.3125, 0.9375), (0.34375, 0.9375), (0.5, 1), (0.28125, 0.9375), (0.3125, 0.9375), (0.5, 1), (0.25, 0.9375), (0.28125, 0.9375), (0.5, 1), (0.21875, 0.9375), (0.25, 0.9375), (0.5, 1), (0.1875, 0.9375), (0.21875, 0.9375), (0.5, 1), (0.15625, 0.9375), (0.1875, 0.9375), (0.5, 1), (0.125, 0.9375), (0.15625, 0.9375), (0.5, 1), (0.09375, 0.9375), (0.125, 0.9375), (0.5, 1), (0.0625, 0.9375), (0.09375, 0.9375), (0.5, 1), (0.03125, 0.9375), (0.0625, 0.9375), (0.5, 1), (0, 0.9375), (0.03125, 0.9375)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (0.9000000134110451, 0.9000000134110451, 0.9000000134110451)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
def Xform "Environment"
{
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
bool enableColorTemperature = 0
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
double3 xformOp:rotateXYZ = (315, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/BenchChair_Mini.usda | #usda 1.0
(
customLayerData = {
dictionary audioSettings = {
double dopplerLimit = 2
double dopplerScale = 1
double nonSpatialTimeScale = 1
double spatialTimeScale = 1
double speedOfSound = 340
}
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 1000)
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (284.0601537893443, 376.0975079160896, 678.3476801943718)
double radius = 4103.913656878516
double3 target = (2.25830078125, 4.174749374389648, 163.00079822540283)
}
dictionary Right = {
double3 position = (-1000, 0, -2.220446049250313e-13)
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double3 position = (-8.659560562354932e-14, 1000, 2.220446049250313e-13)
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
}
}
defaultPrim = "World"
metersPerUnit = 0.009999999776482582
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
kind = "model"
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float3 xformOp:rotateZYX = (315, 0, 0)
float3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX"]
}
def PointInstancer "PI"
{
point3f[] positions = [(0, 0, 0), (2, 0, 100), (4, 0, 200), (6, 0, 300)]
int[] protoIndices = [1, 0, 1, 0]
rel prototypes = [
</World/PI/Prototypes/bench/proto_0>,
</World/PI/Prototypes/sofa/proto_0>,
]
float3[] scales = [(100, 100, 100), (100, 100, 100), (100, 100, 100), (100, 100, 100)]
def Xform "Prototypes"
{
def Xform "chair"
{
}
def Xform "bench"
{
def Xform "proto_0" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./bench_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "bench"
string semantic:Semantics:params:semanticType = "class"
}
}
def Xform "sofa"
{
def Xform "proto_0" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./sofa_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "sofa"
string semantic:Semantics:params:semanticType = "class"
}
}
}
}
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/cube.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (188.15415084862954, 188.15415084863005, 188.15415084862929)
double3 target = (-3.410605131648481e-13, 1.1368683772161603e-13, -4.263256414560601e-13)
}
dictionary Right = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary renderSettings = {
float "rtx:post:lensDistortion:cameraFocalLength" = 18.147562
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.009999999776482582
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float3 xformOp:rotateXYZ = (315, 0, 0)
double3 xformOp:scale = (1, 1, 1)
float3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Cube "Cube"
{
float3[] extent = [(-50, -50, -50), (50, 50, 50)]
color3f[] primvars:displayColor = [(1, 0.5, 0.5)]
double size = 100
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/occlusion.usda | #usda 1.0
(
customLayerData = {
dictionary audioSettings = {
double dopplerLimit = 2
double dopplerScale = 1
double nonSpatialTimeScale = 1
double spatialTimeScale = 1
double speedOfSound = 340
}
dictionary cameraSettings = {
dictionary Front = {
double radius = 3000
double3 target = (98.03826837800693, 7.528925233790124, 0)
}
dictionary Perspective = {
double3 position = (-154.72631975736212, 1150.551337133561, 628.9729272322076)
double3 target = (4.206412995699793e-12, 4.9112713895738125e-11, 6.298250809777528e-11)
}
dictionary Right = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double radius = 500
double3 target = (9.0205620750794e-12, 0, 7.632783294297953e-12)
}
string boundCamera = "/OmniverseKit_Front"
}
dictionary renderSettings = {
float "rtx:post:lensDistortion:cameraFocalLength" = 50
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.009999999776482582
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
kind = "model"
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float3 xformOp:rotateZYX = (315, 0, 0)
float3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX"]
}
def Mesh "Cube" (
kind = "model"
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 4, 5, 1, 4, 0, 2, 6, 5, 4, 6, 7, 1, 5, 7, 3, 0, 1, 3, 2, 3, 7, 6, 2]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (-50, -50, 50), (-50, 50, -50), (-50, 50, 50), (50, -50, -50), (50, -50, 50), (50, 50, -50), (50, 50, 50)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateZYX = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 121.195201)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
}
def Mesh "Cube_100" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
kind = "model"
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 4, 5, 1, 4, 0, 2, 6, 5, 4, 6, 7, 1, 5, 7, 3, 0, 1, 3, 2, 3, 7, 6, 2]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (-50, -50, 50), (-50, 50, -50), (-50, 50, 50), (50, -50, -50), (50, -50, 50), (50, 50, -50), (50, 50, 50)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
string semantic:Semantics:params:semanticData = "100"
string semantic:Semantics:params:semanticType = "class"
uniform token subdivisionScheme = "none"
double3 xformOp:rotateZYX = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 90.130004)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
}
def Mesh "Cube_50" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
kind = "model"
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 4, 5, 1, 4, 0, 2, 6, 5, 4, 6, 7, 1, 5, 7, 3, 0, 1, 3, 2, 3, 7, 6, 2]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (-50, -50, 50), (-50, 50, -50), (-50, 50, 50), (50, -50, -50), (50, -50, 50), (50, 50, -50), (50, 50, 50)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
string semantic:Semantics:params:semanticData = "50"
string semantic:Semantics:params:semanticType = "class"
uniform token subdivisionScheme = "none"
double3 xformOp:rotateZYX = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (75, 0, 29.276982)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
}
def Mesh "Cube_0" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
kind = "model"
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 4, 5, 1, 4, 0, 2, 6, 5, 4, 6, 7, 1, 5, 7, 3, 0, 1, 3, 2, 3, 7, 6, 2]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (-50, -50, 50), (-50, 50, -50), (-50, 50, 50), (50, -50, -50), (50, -50, 50), (50, 50, -50), (50, 50, 50)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
string semantic:Semantics:params:semanticData = "0"
string semantic:Semantics:params:semanticType = "class"
uniform token subdivisionScheme = "none"
double3 xformOp:rotateZYX = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (250, 0, -33.879526)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
}
def Mesh "Cube_25" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
kind = "model"
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 4, 5, 1, 4, 0, 2, 6, 5, 4, 6, 7, 1, 5, 7, 3, 0, 1, 3, 2, 3, 7, 6, 2]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (-50, -50, 50), (-50, 50, -50), (-50, 50, 50), (50, -50, -50), (50, -50, 50), (50, 50, -50), (50, 50, 50)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
string semantic:Semantics:params:semanticData = "25"
string semantic:Semantics:params:semanticType = "class"
uniform token subdivisionScheme = "none"
double3 xformOp:rotateZYX = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (150, 0, 1.671752)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
}
def Mesh "Cube_75" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
kind = "model"
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 4, 5, 1, 4, 0, 2, 6, 5, 4, 6, 7, 1, 5, 7, 3, 0, 1, 3, 2, 3, 7, 6, 2]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (-50, -50, 50), (-50, 50, -50), (-50, 50, 50), (50, -50, -50), (50, -50, 50), (50, 50, -50), (50, 50, 50)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
string semantic:Semantics:params:semanticData = "75"
string semantic:Semantics:params:semanticType = "class"
uniform token subdivisionScheme = "none"
double3 xformOp:rotateZYX = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (25, 0, 66.267482)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
}
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/can.usda | #usda 1.0
(
customLayerData = {
dictionary audioSettings = {
double dopplerLimit = 2
double dopplerScale = 1
double nonSpatialTimeScale = 1
double spatialTimeScale = 1
double speedOfSound = 340
}
dictionary cameraSettings = {
dictionary Front = {
double3 position = (50000.000000000044, -1.1102230246251572e-11, 0)
double radius = 500
}
dictionary Perspective = {
double3 position = (-5.407868234179966, 34.5144053725147, 10.097685807774901)
double radius = 51.15009326204032
double3 target = (-0.8430685043426704, -0.2415856331749211, 3.6802193705546093)
}
dictionary Right = {
double3 position = (0, -50000, -1.1102230246251565e-11)
double radius = 500
}
dictionary Top = {
double3 position = (0, 0, 50000)
double radius = 500
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary omni_layer = {
string authoring_layer = "./skeleton.usd"
dictionary muteness = {
}
}
dictionary renderSettings = {
float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0)
float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75)
float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0)
float3 "rtx:post:colorcorr:contrast" = (1, 1, 1)
float3 "rtx:post:colorcorr:gain" = (1, 1, 1)
float3 "rtx:post:colorcorr:gamma" = (1, 1, 1)
float3 "rtx:post:colorcorr:offset" = (0, 0, 0)
float3 "rtx:post:colorcorr:saturation" = (1, 1, 1)
float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0)
float3 "rtx:post:colorgrad:contrast" = (1, 1, 1)
float3 "rtx:post:colorgrad:gain" = (1, 1, 1)
float3 "rtx:post:colorgrad:gamma" = (1, 1, 1)
float3 "rtx:post:colorgrad:lift" = (0, 0, 0)
float3 "rtx:post:colorgrad:multiply" = (1, 1, 1)
float3 "rtx:post:colorgrad:offset" = (0, 0, 0)
float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1)
float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50)
float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500)
float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10)
float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2)
float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10)
float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75)
float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50)
float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1)
float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9)
float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5)
float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1)
}
}
defaultPrim = "Root"
endTimeCode = 50
metersPerUnit = 0.009999999776482582
startTimeCode = 1
timeCodesPerSecond = 24
upAxis = "Z"
)
def "Root" (
kind = "component"
)
{
def SkelRoot "group1"
{
matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
uniform token[] xformOpOrder = ["xformOp:transform"]
def Mesh "pCylinder1" (
delete apiSchemas = ["SemanticsAPI:Semantics_N2Lf", "SemanticsAPI:Semantics_Yyiz"]
prepend apiSchemas = ["SkelBindingAPI", "ShadowAPI", "SemanticsAPI:Semantics_I2tM"]
)
{
uniform bool doubleSided = 1
float3[] extent = [(-2.0000005, -2.0000002, 0), (2, 2.000001, 10)]
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [0, 1, 21, 20, 1, 2, 22, 21, 2, 3, 23, 22, 3, 4, 24, 23, 4, 5, 25, 24, 5, 6, 26, 25, 6, 7, 27, 26, 7, 8, 28, 27, 8, 9, 29, 28, 9, 10, 30, 29, 10, 11, 31, 30, 11, 12, 32, 31, 12, 13, 33, 32, 13, 14, 34, 33, 14, 15, 35, 34, 15, 16, 36, 35, 16, 17, 37, 36, 17, 18, 38, 37, 18, 19, 39, 38, 19, 0, 20, 39, 20, 21, 41, 40, 21, 22, 42, 41, 22, 23, 43, 42, 23, 24, 44, 43, 24, 25, 45, 44, 25, 26, 46, 45, 26, 27, 47, 46, 27, 28, 48, 47, 28, 29, 49, 48, 29, 30, 50, 49, 30, 31, 51, 50, 31, 32, 52, 51, 32, 33, 53, 52, 33, 34, 54, 53, 34, 35, 55, 54, 35, 36, 56, 55, 36, 37, 57, 56, 37, 38, 58, 57, 38, 39, 59, 58, 39, 20, 40, 59, 40, 41, 61, 60, 41, 42, 62, 61, 42, 43, 63, 62, 43, 44, 64, 63, 44, 45, 65, 64, 45, 46, 66, 65, 46, 47, 67, 66, 47, 48, 68, 67, 48, 49, 69, 68, 49, 50, 70, 69, 50, 51, 71, 70, 51, 52, 72, 71, 52, 53, 73, 72, 53, 54, 74, 73, 54, 55, 75, 74, 55, 56, 76, 75, 56, 57, 77, 76, 57, 58, 78, 77, 58, 59, 79, 78, 59, 40, 60, 79, 60, 61, 81, 80, 61, 62, 82, 81, 62, 63, 83, 82, 63, 64, 84, 83, 64, 65, 85, 84, 65, 66, 86, 85, 66, 67, 87, 86, 67, 68, 88, 87, 68, 69, 89, 88, 69, 70, 90, 89, 70, 71, 91, 90, 71, 72, 92, 91, 72, 73, 93, 92, 73, 74, 94, 93, 74, 75, 95, 94, 75, 76, 96, 95, 76, 77, 97, 96, 77, 78, 98, 97, 78, 79, 99, 98, 79, 60, 80, 99, 80, 81, 101, 100, 81, 82, 102, 101, 82, 83, 103, 102, 83, 84, 104, 103, 84, 85, 105, 104, 85, 86, 106, 105, 86, 87, 107, 106, 87, 88, 108, 107, 88, 89, 109, 108, 89, 90, 110, 109, 90, 91, 111, 110, 91, 92, 112, 111, 92, 93, 113, 112, 93, 94, 114, 113, 94, 95, 115, 114, 95, 96, 116, 115, 96, 97, 117, 116, 97, 98, 118, 117, 98, 99, 119, 118, 99, 80, 100, 119, 100, 101, 121, 120, 101, 102, 122, 121, 102, 103, 123, 122, 103, 104, 124, 123, 104, 105, 125, 124, 105, 106, 126, 125, 106, 107, 127, 126, 107, 108, 128, 127, 108, 109, 129, 128, 109, 110, 130, 129, 110, 111, 131, 130, 111, 112, 132, 131, 112, 113, 133, 132, 113, 114, 134, 133, 114, 115, 135, 134, 115, 116, 136, 135, 116, 117, 137, 136, 117, 118, 138, 137, 118, 119, 139, 138, 119, 100, 120, 139, 120, 121, 141, 140, 121, 122, 142, 141, 122, 123, 143, 142, 123, 124, 144, 143, 124, 125, 145, 144, 125, 126, 146, 145, 126, 127, 147, 146, 127, 128, 148, 147, 128, 129, 149, 148, 129, 130, 150, 149, 130, 131, 151, 150, 131, 132, 152, 151, 132, 133, 153, 152, 133, 134, 154, 153, 134, 135, 155, 154, 135, 136, 156, 155, 136, 137, 157, 156, 137, 138, 158, 157, 138, 139, 159, 158, 139, 120, 140, 159, 140, 141, 161, 160, 141, 142, 162, 161, 142, 143, 163, 162, 143, 144, 164, 163, 144, 145, 165, 164, 145, 146, 166, 165, 146, 147, 167, 166, 147, 148, 168, 167, 148, 149, 169, 168, 149, 150, 170, 169, 150, 151, 171, 170, 151, 152, 172, 171, 152, 153, 173, 172, 153, 154, 174, 173, 154, 155, 175, 174, 155, 156, 176, 175, 156, 157, 177, 176, 157, 158, 178, 177, 158, 159, 179, 178, 159, 140, 160, 179, 160, 161, 181, 180, 161, 162, 182, 181, 162, 163, 183, 182, 163, 164, 184, 183, 164, 165, 185, 184, 165, 166, 186, 185, 166, 167, 187, 186, 167, 168, 188, 187, 168, 169, 189, 188, 169, 170, 190, 189, 170, 171, 191, 190, 171, 172, 192, 191, 172, 173, 193, 192, 173, 174, 194, 193, 174, 175, 195, 194, 175, 176, 196, 195, 176, 177, 197, 196, 177, 178, 198, 197, 178, 179, 199, 198, 179, 160, 180, 199, 180, 181, 201, 200, 181, 182, 202, 201, 182, 183, 203, 202, 183, 184, 204, 203, 184, 185, 205, 204, 185, 186, 206, 205, 186, 187, 207, 206, 187, 188, 208, 207, 188, 189, 209, 208, 189, 190, 210, 209, 190, 191, 211, 210, 191, 192, 212, 211, 192, 193, 213, 212, 193, 194, 214, 213, 194, 195, 215, 214, 195, 196, 216, 215, 196, 197, 217, 216, 197, 198, 218, 217, 198, 199, 219, 218, 199, 180, 200, 219, 200, 201, 221, 220, 201, 202, 222, 221, 202, 203, 223, 222, 203, 204, 224, 223, 204, 205, 225, 224, 205, 206, 226, 225, 206, 207, 227, 226, 207, 208, 228, 227, 208, 209, 229, 228, 209, 210, 230, 229, 210, 211, 231, 230, 211, 212, 232, 231, 212, 213, 233, 232, 213, 214, 234, 233, 214, 215, 235, 234, 215, 216, 236, 235, 216, 217, 237, 236, 217, 218, 238, 237, 218, 219, 239, 238, 219, 200, 220, 239, 220, 221, 241, 240, 221, 222, 242, 241, 222, 223, 243, 242, 223, 224, 244, 243, 224, 225, 245, 244, 225, 226, 246, 245, 226, 227, 247, 246, 227, 228, 248, 247, 228, 229, 249, 248, 229, 230, 250, 249, 230, 231, 251, 250, 231, 232, 252, 251, 232, 233, 253, 252, 233, 234, 254, 253, 234, 235, 255, 254, 235, 236, 256, 255, 236, 237, 257, 256, 237, 238, 258, 257, 238, 239, 259, 258, 239, 220, 240, 259, 1, 0, 260, 2, 1, 260, 3, 2, 260, 4, 3, 260, 5, 4, 260, 6, 5, 260, 7, 6, 260, 8, 7, 260, 9, 8, 260, 10, 9, 260, 11, 10, 260, 12, 11, 260, 13, 12, 260, 14, 13, 260, 15, 14, 260, 16, 15, 260, 17, 16, 260, 18, 17, 260, 19, 18, 260, 0, 19, 260, 240, 241, 261, 241, 242, 261, 242, 243, 261, 243, 244, 261, 244, 245, 261, 245, 246, 261, 246, 247, 261, 247, 248, 261, 248, 249, 261, 249, 250, 261, 250, 251, 261, 251, 252, 261, 252, 253, 261, 253, 254, 261, 254, 255, 261, 255, 256, 261, 256, 257, 261, 257, 258, 261, 258, 259, 261, 259, 240, 261]
rel material:binding = </Root/Looks/OmniSurfaceLite> (
bindMaterialAs = "weakerThanDescendants"
)
normal3f[] normals = [(0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0.9510569, 0.30901602, 0), (0.80901694, 0.5877853, 0), (0.80901694, 0.5877853, 0), (0.9510569, 0.30901602, 0), (0.80901694, 0.5877853, 0), (0.58778507, 0.80901706, 0), (0.58778507, 0.80901706, 0), (0.80901694, 0.5877853, 0), (0.58778507, 0.80901706, 0), (0.30901688, 0.95105666, 0), (0.30901688, 0.95105666, 0), (0.58778507, 0.80901706, 0), (0.30901688, 0.95105666, 0), (-9.209561e-8, 1, 0), (-9.209561e-8, 1, 0), (0.30901688, 0.95105666, 0), (-9.209561e-8, 1, 0), (-0.30901712, 0.9510565, 0), (-0.30901712, 0.9510565, 0), (-9.209561e-8, 1, 0), (-0.30901712, 0.9510565, 0), (-0.5877854, 0.8090168, 0), (-0.5877854, 0.8090168, 0), (-0.30901712, 0.9510565, 0), (-0.5877854, 0.8090168, 0), (-0.8090172, 0.5877851, 0), (-0.8090172, 0.5877851, 0), (-0.5877854, 0.8090168, 0), (-0.8090172, 0.5877851, 0), (-0.95105654, 0.30901688, 0), (-0.95105654, 0.30901688, 0), (-0.8090172, 0.5877851, 0), (-0.95105654, 0.30901688, 0), (-1, -0, 0), (-1, -0, 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point3f[] points = [(0.95105714, 0.30901718, 0), (0.80901754, 0.5877856, 0), (0.5877856, 0.8090175, 0), (0.30901715, 0.951057, 0), (0, 1.0000005, 0), (-0.30901715, 0.95105696, 0), (-0.5877855, 0.8090173, 0), (-0.80901724, 0.5877854, 0), (-0.9510568, 0.30901706, 0), (-1.0000002, -0, 0), (-0.9510568, -0.30901706, 0), (-0.8090172, -0.58778536, 0), (-0.58778536, -0.8090171, 0), (-0.30901706, -0.95105666, 0), (-2.9802322e-8, -1.0000001, 0), (0.30901697, -0.9510566, 0), (0.58778524, -0.80901706, 0), (0.809017, -0.5877853, 0), (0.95105654, -0.309017, 0), (1, -0, 0), (1.9021143, 0.61803436, 0), (1.6180351, 1.1755712, 0), (1.1755712, 1.618035, 0), (0.6180343, 1.902114, 0), (0, 2.000001, 0), (-0.6180343, 1.9021139, 0), (-1.175571, 1.6180346, 0), (-1.6180345, 1.1755708, 0), (-1.9021136, 0.6180341, 0), (-2.0000005, -0, 0), (-1.9021136, -0.6180341, 0), (-1.6180344, -1.1755707, 0), (-1.1755707, -1.6180342, 0), (-0.6180341, -1.9021133, 0), (-5.9604645e-8, -2.0000002, 0), (0.61803395, -1.9021132, 0), 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color3f[] primvars:displayColor = [(0.4, 0.4, 0.4)] (
customData = {
dictionary Maya = {
bool generated = 1
}
}
)
matrix4d primvars:skel:geomBindTransform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
int[] primvars:skel:jointIndices = [0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 0, 1, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 1, 2, 0, 3, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 0, 4, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 1, 3, 4, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 2, 3, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 3, 2, 4, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 4, 3, 2, 1, 0, 0, 1, 2, 0, 0, 4, 3, 0, 0, 0] (
elementSize = 5
interpolation = "vertex"
)
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interpolation = "vertex"
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float2[] primvars:st = [(0.57430136, 0.13210803), (0.5632045, 0.11032924), (0.626409, 0.064408496), (0.64860266, 0.10796607), (0.5459207, 0.0930455), (0.5918415, 0.02984102), (0.52414197, 0.08194867), (0.54828393, 0.0076473355), (0.5, 0.07812497), (0.5, -7.4505806e-8), (0.47585803, 0.08194867), (0.45171607, 0.0076473504), (0.45407927, 0.09304553), (0.4081585, 0.02984105), (0.43679553, 0.11032927), (0.37359107, 0.064408526), (0.4256987, 0.13210803), (0.3513974, 0.1079661), (0.421875, 0.15625), (0.34374997, 0.15625), (0.4256987, 0.18039197), (0.3513974, 0.2045339), (0.43679553, 0.20217073), (0.37359107, 0.24809146), (0.45407927, 0.21945447), (0.40815854, 0.28265893), (0.47585803, 0.2305513), (0.4517161, 0.3048526), (0.5, 0.234375), (0.5, 0.3125), (0.52414197, 0.2305513), (0.5482839, 0.3048526), (0.5459207, 0.21945447), (0.59184146, 0.28265893), (0.56320447, 0.20217073), (0.62640893, 0.24809146), (0.5743013, 0.18039197), (0.6486026, 0.2045339), (0.578125, 0.15625), (0.65625, 0.15625), (0.375, 0.3125), (0.3875, 0.3125), (0.3875, 0.350094), (0.375, 0.350094), (0.39999998, 0.3125), (0.39999998, 0.350094), (0.41249996, 0.3125), (0.41249996, 0.350094), (0.42499995, 0.3125), (0.42499995, 0.350094), (0.43749994, 0.3125), (0.43749994, 0.350094), (0.44999993, 0.3125), (0.44999993, 0.350094), (0.46249992, 0.3125), (0.46249992, 0.350094), (0.4749999, 0.3125), (0.4749999, 0.350094), (0.4874999, 0.3125), (0.4874999, 0.350094), (0.49999988, 0.3125), (0.49999988, 0.350094), (0.51249987, 0.3125), (0.51249987, 0.350094), (0.52499986, 0.3125), (0.52499986, 0.350094), (0.53749985, 0.3125), (0.53749985, 0.350094), (0.54999983, 0.3125), (0.54999983, 0.350094), (0.5624998, 0.3125), (0.5624998, 0.350094), (0.5749998, 0.3125), (0.5749998, 0.350094), (0.5874998, 0.3125), (0.5874998, 0.350094), (0.5999998, 0.3125), (0.5999998, 0.350094), (0.6124998, 0.3125), (0.6124998, 0.350094), (0.62499976, 0.3125), (0.62499976, 0.350094), (0.3875, 0.38768798), (0.375, 0.38768798), (0.39999998, 0.38768798), (0.41249996, 0.38768798), (0.42499995, 0.38768798), (0.43749994, 0.38768798), (0.44999993, 0.38768798), (0.46249992, 0.38768798), (0.4749999, 0.38768798), (0.4874999, 0.38768798), (0.49999988, 0.38768798), (0.51249987, 0.38768798), (0.52499986, 0.38768798), (0.53749985, 0.38768798), (0.54999983, 0.38768798), (0.5624998, 0.38768798), (0.5749998, 0.38768798), (0.5874998, 0.38768798), (0.5999998, 0.38768798), (0.6124998, 0.38768798), (0.62499976, 0.38768798), (0.3875, 0.42528197), (0.375, 0.42528197), (0.39999998, 0.42528197), (0.41249996, 0.42528197), (0.42499995, 0.42528197), (0.43749994, 0.42528197), (0.44999993, 0.42528197), (0.46249992, 0.42528197), (0.4749999, 0.42528197), (0.4874999, 0.42528197), (0.49999988, 0.42528197), (0.51249987, 0.42528197), (0.52499986, 0.42528197), (0.53749985, 0.42528197), (0.54999983, 0.42528197), (0.5624998, 0.42528197), (0.5749998, 0.42528197), (0.5874998, 0.42528197), (0.5999998, 0.42528197), (0.6124998, 0.42528197), (0.62499976, 0.42528197), (0.3875, 0.46287596), (0.375, 0.46287596), (0.39999998, 0.46287596), (0.41249996, 0.46287596), (0.42499995, 0.46287596), (0.43749994, 0.46287596), (0.44999993, 0.46287596), (0.46249992, 0.46287596), (0.4749999, 0.46287596), (0.4874999, 0.46287596), (0.49999988, 0.46287596), (0.51249987, 0.46287596), (0.52499986, 0.46287596), (0.53749985, 0.46287596), (0.54999983, 0.46287596), (0.5624998, 0.46287596), (0.5749998, 0.46287596), (0.5874998, 0.46287596), (0.5999998, 0.46287596), (0.6124998, 0.46287596), (0.62499976, 0.46287596), (0.3875, 0.5004699), (0.375, 0.5004699), (0.39999998, 0.5004699), (0.41249996, 0.5004699), (0.42499995, 0.5004699), (0.43749994, 0.5004699), (0.44999993, 0.5004699), (0.46249992, 0.5004699), (0.4749999, 0.5004699), (0.4874999, 0.5004699), (0.49999988, 0.5004699), (0.51249987, 0.5004699), (0.52499986, 0.5004699), (0.53749985, 0.5004699), (0.54999983, 0.5004699), (0.5624998, 0.5004699), (0.5749998, 0.5004699), (0.5874998, 0.5004699), (0.5999998, 0.5004699), (0.6124998, 0.5004699), (0.62499976, 0.5004699), (0.3875, 0.5380639), (0.375, 0.5380639), (0.39999998, 0.5380639), (0.41249996, 0.5380639), (0.42499995, 0.5380639), (0.43749994, 0.5380639), (0.44999993, 0.5380639), (0.46249992, 0.5380639), (0.4749999, 0.5380639), (0.4874999, 0.5380639), (0.49999988, 0.5380639), (0.51249987, 0.5380639), (0.52499986, 0.5380639), (0.53749985, 0.5380639), (0.54999983, 0.5380639), (0.5624998, 0.5380639), (0.5749998, 0.5380639), (0.5874998, 0.5380639), (0.5999998, 0.5380639), (0.6124998, 0.5380639), (0.62499976, 0.5380639), (0.3875, 0.57565784), (0.375, 0.57565784), (0.39999998, 0.57565784), (0.41249996, 0.57565784), (0.42499995, 0.57565784), (0.43749994, 0.57565784), (0.44999993, 0.57565784), (0.46249992, 0.57565784), (0.4749999, 0.57565784), (0.4874999, 0.57565784), (0.49999988, 0.57565784), (0.51249987, 0.57565784), (0.52499986, 0.57565784), (0.53749985, 0.57565784), (0.54999983, 0.57565784), (0.5624998, 0.57565784), (0.5749998, 0.57565784), (0.5874998, 0.57565784), (0.5999998, 0.57565784), (0.6124998, 0.57565784), (0.62499976, 0.57565784), (0.3875, 0.6132518), (0.375, 0.6132518), (0.39999998, 0.6132518), (0.41249996, 0.6132518), (0.42499995, 0.6132518), (0.43749994, 0.6132518), (0.44999993, 0.6132518), (0.46249992, 0.6132518), (0.4749999, 0.6132518), (0.4874999, 0.6132518), (0.49999988, 0.6132518), (0.51249987, 0.6132518), (0.52499986, 0.6132518), (0.53749985, 0.6132518), (0.54999983, 0.6132518), (0.5624998, 0.6132518), (0.5749998, 0.6132518), (0.5874998, 0.6132518), (0.5999998, 0.6132518), (0.6124998, 0.6132518), (0.62499976, 0.6132518), (0.3875, 0.65084577), (0.375, 0.65084577), (0.39999998, 0.65084577), (0.41249996, 0.65084577), (0.42499995, 0.65084577), (0.43749994, 0.65084577), (0.44999993, 0.65084577), (0.46249992, 0.65084577), (0.4749999, 0.65084577), (0.4874999, 0.65084577), (0.49999988, 0.65084577), (0.51249987, 0.65084577), (0.52499986, 0.65084577), (0.53749985, 0.65084577), (0.54999983, 0.65084577), (0.5624998, 0.65084577), (0.5749998, 0.65084577), (0.5874998, 0.65084577), (0.5999998, 0.65084577), (0.6124998, 0.65084577), (0.62499976, 0.65084577), (0.3875, 0.6884397), (0.375, 0.6884397), (0.39999998, 0.6884397), (0.41249996, 0.6884397), (0.42499995, 0.6884397), (0.43749994, 0.6884397), (0.44999993, 0.6884397), (0.46249992, 0.6884397), (0.4749999, 0.6884397), (0.4874999, 0.6884397), (0.49999988, 0.6884397), (0.51249987, 0.6884397), (0.52499986, 0.6884397), (0.53749985, 0.6884397), (0.54999983, 0.6884397), (0.5624998, 0.6884397), (0.5749998, 0.6884397), (0.5874998, 0.6884397), (0.5999998, 0.6884397), (0.6124998, 0.6884397), (0.62499976, 0.6884397), (0.6486026, 0.89203393), (0.62640893, 0.93559146), (0.56320447, 0.8896707), (0.5743013, 0.86789197), (0.59184146, 0.97015893), (0.5459207, 0.90695447), (0.5482839, 0.9923526), (0.52414197, 0.9180513), (0.5, 1), (0.5, 0.921875), (0.4517161, 0.9923526), (0.47585803, 0.9180513), (0.40815854, 0.97015893), (0.45407927, 0.90695447), (0.37359107, 0.93559146), (0.43679553, 0.8896707), (0.3513974, 0.89203393), (0.4256987, 0.86789197), (0.34374997, 0.84375), (0.421875, 0.84375), (0.3513974, 0.79546607), (0.4256987, 0.81960803), (0.37359107, 0.75190854), (0.43679553, 0.7978293), (0.4081585, 0.71734107), (0.45407927, 0.78054553), (0.45171607, 0.69514734), (0.47585803, 0.76944864), (0.5, 0.68749994), (0.5, 0.765625), (0.54828393, 0.69514734), (0.52414197, 0.76944864), (0.5918415, 0.717341), (0.5459207, 0.7805455), (0.626409, 0.7519085), (0.5632045, 0.7978293), (0.64860266, 0.79546607), (0.57430136, 0.81960803), (0.65625, 0.84375), (0.578125, 0.84375), (0.5, 0.15), (0.5, 0.8375)] (
customData = {
dictionary Maya = {
int UVSetIndex = 0
}
}
interpolation = "faceVarying"
)
int[] primvars:st:indices = [0, 1, 2, 3, 1, 4, 5, 2, 4, 6, 7, 5, 6, 8, 9, 7, 8, 10, 11, 9, 10, 12, 13, 11, 12, 14, 15, 13, 14, 16, 17, 15, 16, 18, 19, 17, 18, 20, 21, 19, 20, 22, 23, 21, 22, 24, 25, 23, 24, 26, 27, 25, 26, 28, 29, 27, 28, 30, 31, 29, 30, 32, 33, 31, 32, 34, 35, 33, 34, 36, 37, 35, 36, 38, 39, 37, 38, 0, 3, 39, 40, 41, 42, 43, 41, 44, 45, 42, 44, 46, 47, 45, 46, 48, 49, 47, 48, 50, 51, 49, 50, 52, 53, 51, 52, 54, 55, 53, 54, 56, 57, 55, 56, 58, 59, 57, 58, 60, 61, 59, 60, 62, 63, 61, 62, 64, 65, 63, 64, 66, 67, 65, 66, 68, 69, 67, 68, 70, 71, 69, 70, 72, 73, 71, 72, 74, 75, 73, 74, 76, 77, 75, 76, 78, 79, 77, 78, 80, 81, 79, 43, 42, 82, 83, 42, 45, 84, 82, 45, 47, 85, 84, 47, 49, 86, 85, 49, 51, 87, 86, 51, 53, 88, 87, 53, 55, 89, 88, 55, 57, 90, 89, 57, 59, 91, 90, 59, 61, 92, 91, 61, 63, 93, 92, 63, 65, 94, 93, 65, 67, 95, 94, 67, 69, 96, 95, 69, 71, 97, 96, 71, 73, 98, 97, 73, 75, 99, 98, 75, 77, 100, 99, 77, 79, 101, 100, 79, 81, 102, 101, 83, 82, 103, 104, 82, 84, 105, 103, 84, 85, 106, 105, 85, 86, 107, 106, 86, 87, 108, 107, 87, 88, 109, 108, 88, 89, 110, 109, 89, 90, 111, 110, 90, 91, 112, 111, 91, 92, 113, 112, 92, 93, 114, 113, 93, 94, 115, 114, 94, 95, 116, 115, 95, 96, 117, 116, 96, 97, 118, 117, 97, 98, 119, 118, 98, 99, 120, 119, 99, 100, 121, 120, 100, 101, 122, 121, 101, 102, 123, 122, 104, 103, 124, 125, 103, 105, 126, 124, 105, 106, 127, 126, 106, 107, 128, 127, 107, 108, 129, 128, 108, 109, 130, 129, 109, 110, 131, 130, 110, 111, 132, 131, 111, 112, 133, 132, 112, 113, 134, 133, 113, 114, 135, 134, 114, 115, 136, 135, 115, 116, 137, 136, 116, 117, 138, 137, 117, 118, 139, 138, 118, 119, 140, 139, 119, 120, 141, 140, 120, 121, 142, 141, 121, 122, 143, 142, 122, 123, 144, 143, 125, 124, 145, 146, 124, 126, 147, 145, 126, 127, 148, 147, 127, 128, 149, 148, 128, 129, 150, 149, 129, 130, 151, 150, 130, 131, 152, 151, 131, 132, 153, 152, 132, 133, 154, 153, 133, 134, 155, 154, 134, 135, 156, 155, 135, 136, 157, 156, 136, 137, 158, 157, 137, 138, 159, 158, 138, 139, 160, 159, 139, 140, 161, 160, 140, 141, 162, 161, 141, 142, 163, 162, 142, 143, 164, 163, 143, 144, 165, 164, 146, 145, 166, 167, 145, 147, 168, 166, 147, 148, 169, 168, 148, 149, 170, 169, 149, 150, 171, 170, 150, 151, 172, 171, 151, 152, 173, 172, 152, 153, 174, 173, 153, 154, 175, 174, 154, 155, 176, 175, 155, 156, 177, 176, 156, 157, 178, 177, 157, 158, 179, 178, 158, 159, 180, 179, 159, 160, 181, 180, 160, 161, 182, 181, 161, 162, 183, 182, 162, 163, 184, 183, 163, 164, 185, 184, 164, 165, 186, 185, 167, 166, 187, 188, 166, 168, 189, 187, 168, 169, 190, 189, 169, 170, 191, 190, 170, 171, 192, 191, 171, 172, 193, 192, 172, 173, 194, 193, 173, 174, 195, 194, 174, 175, 196, 195, 175, 176, 197, 196, 176, 177, 198, 197, 177, 178, 199, 198, 178, 179, 200, 199, 179, 180, 201, 200, 180, 181, 202, 201, 181, 182, 203, 202, 182, 183, 204, 203, 183, 184, 205, 204, 184, 185, 206, 205, 185, 186, 207, 206, 188, 187, 208, 209, 187, 189, 210, 208, 189, 190, 211, 210, 190, 191, 212, 211, 191, 192, 213, 212, 192, 193, 214, 213, 193, 194, 215, 214, 194, 195, 216, 215, 195, 196, 217, 216, 196, 197, 218, 217, 197, 198, 219, 218, 198, 199, 220, 219, 199, 200, 221, 220, 200, 201, 222, 221, 201, 202, 223, 222, 202, 203, 224, 223, 203, 204, 225, 224, 204, 205, 226, 225, 205, 206, 227, 226, 206, 207, 228, 227, 209, 208, 229, 230, 208, 210, 231, 229, 210, 211, 232, 231, 211, 212, 233, 232, 212, 213, 234, 233, 213, 214, 235, 234, 214, 215, 236, 235, 215, 216, 237, 236, 216, 217, 238, 237, 217, 218, 239, 238, 218, 219, 240, 239, 219, 220, 241, 240, 220, 221, 242, 241, 221, 222, 243, 242, 222, 223, 244, 243, 223, 224, 245, 244, 224, 225, 246, 245, 225, 226, 247, 246, 226, 227, 248, 247, 227, 228, 249, 248, 230, 229, 250, 251, 229, 231, 252, 250, 231, 232, 253, 252, 232, 233, 254, 253, 233, 234, 255, 254, 234, 235, 256, 255, 235, 236, 257, 256, 236, 237, 258, 257, 237, 238, 259, 258, 238, 239, 260, 259, 239, 240, 261, 260, 240, 241, 262, 261, 241, 242, 263, 262, 242, 243, 264, 263, 243, 244, 265, 264, 244, 245, 266, 265, 245, 246, 267, 266, 246, 247, 268, 267, 247, 248, 269, 268, 248, 249, 270, 269, 271, 272, 273, 274, 272, 275, 276, 273, 275, 277, 278, 276, 277, 279, 280, 278, 279, 281, 282, 280, 281, 283, 284, 282, 283, 285, 286, 284, 285, 287, 288, 286, 287, 289, 290, 288, 289, 291, 292, 290, 291, 293, 294, 292, 293, 295, 296, 294, 295, 297, 298, 296, 297, 299, 300, 298, 299, 301, 302, 300, 301, 303, 304, 302, 303, 305, 306, 304, 305, 307, 308, 306, 307, 309, 310, 308, 309, 271, 274, 310, 1, 0, 311, 4, 1, 311, 6, 4, 311, 8, 6, 311, 10, 8, 311, 12, 10, 311, 14, 12, 311, 16, 14, 311, 18, 16, 311, 20, 18, 311, 22, 20, 311, 24, 22, 311, 26, 24, 311, 28, 26, 311, 30, 28, 311, 32, 30, 311, 34, 32, 311, 36, 34, 311, 38, 36, 311, 0, 38, 311, 274, 273, 312, 273, 276, 312, 276, 278, 312, 278, 280, 312, 280, 282, 312, 282, 284, 312, 284, 286, 312, 286, 288, 312, 288, 290, 312, 290, 292, 312, 292, 294, 312, 294, 296, 312, 296, 298, 312, 298, 300, 312, 300, 302, 312, 302, 304, 312, 304, 306, 312, 306, 308, 312, 308, 310, 312, 310, 274, 312]
string semantic:Semantics_I2tM:params:semanticData = "foo"
string semantic:Semantics_I2tM:params:semanticType = "class"
bool shadow:enable = 1
uniform token[] skel:joints = ["joint1", "joint1/joint2", "joint1/joint2/joint3", "joint1/joint2/joint3/joint4", "joint1/joint2/joint3/joint4/joint5"]
rel skel:skeleton = </Root/group1/joint1>
uniform token skel:skinningMethod = "DualQuaternion"
uniform token subdivisionScheme = "none"
matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
uniform token[] xformOpOrder = ["xformOp:transform"]
}
def Skeleton "joint1" (
prepend apiSchemas = ["SkelBindingAPI"]
customData = {
dictionary Maya = {
bool generated = 1
}
}
)
{
uniform matrix4d[] bindTransforms = [( (-0.020420315587156734, 0, 0.9997914836161192, 0), (-1.2243914402252638e-16, -1, -2.50076741213904e-18, 0), (0.9997914836161192, -1.2246467991473532e-16, 0.020420315587156734, 0), (0.06181698728549858, 0, -0.02659854433002078, 1) ), ( (-3.434752482434078e-15, -2.5007674121386094e-18, 1, 0), (-1.2243914402252638e-16, -1, -2.50076741213904e-18, 0), (1, -1.224391440225264e-16, 3.434752482434078e-15, 0), (-1.3877787807814457e-17, 8.841297486311764e-34, 3.0000000000000004, 1) ), ( (-3.434752482434078e-15, -2.5007674121386094e-18, 1, 0), (-1.2243914402252638e-16, -1, -2.50076741213904e-18, 0), (1, -1.224391440225264e-16, 3.434752482434078e-15, 0), (0, 1.2722513410043386e-31, 6, 1) ), ( (-3.434752482434078e-15, -2.5007674121386094e-18, 1, 0), (-1.2243914402252638e-16, -1, -2.50076741213904e-18, 0), (1, -1.224391440225264e-16, 3.434752482434078e-15, 0), (9.185754640251975e-34, 1.5649926925511984e-31, 9, 1) ), ( (1, -1.224391440225264e-16, -1.1796119636642288e-16, 0), (1.2243914402252635e-16, 1, -1.1996391250259628e-16, 0), (2.2898349882893854e-16, 1.1996391250259626e-16, 1, 0), (1.2247672853669268e-33, 1.4186220167777685e-31, 10, 1) )]
uniform token[] joints = ["joint1", "joint1/joint2", "joint1/joint2/joint3", "joint1/joint2/joint3/joint4", "joint1/joint2/joint3/joint4/joint5"]
uniform matrix4d[] restTransforms = [( (-0.020420312881469727, 2.6255725111502863e-17, 0.9997914433479309, 0), (-1.486948604152591e-16, -1, 2.322416772350012e-17, 0), (0.9997914433479309, -1.4818960526222192e-16, 0.020420372486114502, 0), (0.0618169866502285, 0, -0.026598544791340828, 1) ), ( (0.999792, 0, 0.02042, 0), (0, 1, 0, 0), (-0.02042, 0, 0.999792, 0), (2.629584, 16.071843, 19.468925, 1) ), ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (3, -2.9290010541165806e-18, 1.0318135235110049e-14, 1) ), ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (3, -7.502302335548734e-18, 1.0304257447302234e-14, 1) ), ( (-1.1920928955078125e-7, -1.893689722608268e-17, 1.0000001192092896, 0), (-1.9212814238183827e-16, -1.000000238418579, -1.893689722608268e-17, 0), (1.0000001192092896, -1.9212814238183827e-16, -1.1920928955078125e-7, 0), (1, -2.5007673762511936e-18, 3.434752482434078e-15, 1) )]
rel skel:animationSource = </Root/group1/joint1/Animation>
def SkelAnimation "Animation"
{
uniform token[] joints = ["joint1", "joint1/joint2", "joint1/joint2/joint3", "joint1/joint2/joint3/joint4", "joint1/joint2/joint3/joint4/joint5"]
quatf[] rotations = [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9999479, 1.9756056e-36, -0.010210691, -8.708908e-37), (1, 0, 0, 0), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -7.4622756e-17, 0.7071068)]
quatf[] rotations.timeSamples = {
1: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.94077206, 3.717885e-35, -0.33903977, 1.0155367e-34), (0.98762035, 0, 0.15686323, 3.120114e-33), (1, 0, 0, 0), (6.123235e-17, 0.7071068, 3.8818763e-18, 0.7071068)],
2: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9997641, 6.236958e-33, -0.021720996, 3.2909726e-35), (0.99999624, 0, 0.0027424013, -3.8518746e-34), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.3297806e-17, 0.7071068)],
3: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9986183, 5.8084842e-33, -0.05255021, -3.3373637e-34), (0.99994415, 1.2349047e-32, 0.010570527, -1.7324539e-33), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.958437e-17, 0.7071068)],
4: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9952759, 8.419972e-36, -0.09708719, 1.0719098e-34), (0.99973816, 6.126507e-33, 0.022884618, -2.4343037e-33), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.3297806e-17, 0.7071068)],
5: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.988742, -1.2090756e-35, -0.14963076, -1.38100015e-33), (0.99923605, 6.168866e-33, 0.039081782, -7.4085352e-34), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -9.607839e-17, 0.7071068)],
6: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9788749, 5.472309e-33, -0.20446007, -6.8019916e-34), (0.9982843, -6.460354e-33, 0.05855423, -2.5918643e-34), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -7.4622756e-17, 0.7071068)],
7: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.96668077, -2.5870152e-18, -0.25598502, 9.769391e-18), (0.9967394, -2.8562294e-33, 0.08068847, 1.3613418e-33), (1, 0, 0, 0), (6.123235e-17, 0.7071068, 3.8818763e-18, 0.7071068)],
8: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.95428663, 5.9712946e-33, -0.29889306, 1.958205e-33), (0.9944864, 0, 0.10486588, 0), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.3297806e-17, 0.7071068)],
9: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.94461256, 8.614725e-36, -0.32818753, 7.714734e-35), (0.991453, 6.0044964e-33, 0.13046467, -1.6081013e-33), (1, 0, 0, 0), (6.123235e-17, 0.7071068, 5.904622e-18, 0.7071068)],
10: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9999479, 1.9756056e-36, -0.010210691, -8.708908e-37), (1, 0, 0, 0), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -7.4622756e-17, 0.7071068)],
11: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9475057, 2.7740445e-33, -0.3197388, 1.0104582e-33), (0.98303014, 6.32211e-33, 0.18344428, -1.2847009e-33), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.3297806e-17, 0.7071068)],
12: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.96377945, 2.030969e-35, -0.26670045, 3.223818e-33), (0.9777874, 0, 0.20959933, 0), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -7.4622756e-17, 0.7071068)],
13: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9823428, 2.5188462e-35, -0.18709004, 1.1281289e-34), (0.9720599, -6.564091e-33, 0.23473288, 3.8275936e-33), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -9.041538e-17, 0.7071068)],
14: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.99605024, -5.8366924e-37, -0.088791266, 1.0322589e-34), (0.96607393, 8.521877e-33, 0.25826564, -1.5549254e-33), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -5.2742998e-17, 0.7071068)],
15: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9998168, 6.591292e-39, 0.019142117, 2.892867e-34), (0.9601061, -2.4566083e-33, 0.27963609, 5.7946145e-33), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -7.4622756e-17, 0.7071068)],
16: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.99192166, 2.9470727e-34, 0.12685224, 1.6248996e-33), (0.9544722, -3.8604024e-33, 0.2983, -5.2504598e-33), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.3297806e-17, 0.7071068)],
17: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9744616, 3.76873e-34, 0.2245543, 1.7342746e-33), (0.9495131, -3.956008e-18, 0.3137275, -1.197307e-17), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -7.4622756e-17, 0.7071068)],
18: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.95286465, 2.7759677e-33, 0.3033958, 5.5855252e-33), (0.9455773, -4.273506e-18, 0.3253975, -1.2418443e-17), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -5.7019346e-17, 0.7071068)],
19: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.93457264, -4.4242698e-33, 0.35577238, -6.938029e-34), (0.9430011, 1.6338732e-33, 0.33278978, 0), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -8.54472e-17, 0.7071068)],
20: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9271051, -3.814175e-35, 0.37480146, 1.1338883e-34), (0.94208485, 2.8210937e-33, 0.33537456, -5.508395e-33), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.3297806e-17, 0.7071068)],
21: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.93118745, -5.4463813e-18, 0.36454076, -1.3912303e-17), (0.94208485, -4.556414e-18, 0.33537456, -1.2799207e-17), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -5.4996595e-17, 0.7071068)],
22: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.94169426, -3.3711516e-35, 0.3364699, 1.1016753e-34), (0.94208485, 0, 0.33537456, 0), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.46769e-17, 0.7071068)],
23: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.95563346, -3.2409287e-33, 0.29455864, 1.6095242e-33), (0.94208485, 1.635462e-33, 0.33537456, 0), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.3297806e-17, 0.7071068)],
24: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.97005093, -6.9114435e-37, 0.24290179, 9.65094e-35), (0.94208485, -4.556414e-18, 0.33537456, -1.2799207e-17), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.3297806e-17, 0.7071068)],
25: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.98256904, -2.9500564e-34, 0.18589815, -1.4612545e-33), (0.94208485, 0, 0.33537456, 0), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.958982e-17, 0.7071068)],
26: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9917404, -1.2776737e-35, 0.12826133, 9.540489e-35), (0.94208485, -1.8695705e-33, 0.33537456, -2.605372e-33), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.3297806e-17, 0.7071068)],
27: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9971905, -7.216408e-36, 0.07490789, 9.706919e-35), (0.94208485, 0, 0.33537456, 0), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.3297806e-17, 0.7071068)],
28: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.99952555, 1.0151991e-18, 0.03080118, -3.1284174e-20), (0.94208485, 1.6482417e-34, 0.33537456, -3.5473118e-34), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -4.3297806e-17, 0.7071068)],
29: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.99999964, 2.7427435e-20, 0.00083214947, -2.2823734e-23), (0.94208485, -4.556414e-18, 0.33537456, -1.2799207e-17), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -5.677449e-17, 0.7071068)],
30: [(6.123234e-17, 0.69984984, -4.3737645e-17, 0.71428996), (0.9999479, 1.9756056e-36, -0.010210691, -8.708908e-37), (0.94208485, -4.556414e-18, 0.33537456, -1.2799207e-17), (1, 0, 0, 0), (6.123235e-17, 0.7071068, -6.772901e-17, 0.7071068)],
}
half3[] scales = [(1, 1, 1), (1, 1, 1), (1, 1, 1), (1, 1, 1), (1, 1, 1)]
float3[] translations = [(0.061816987, 0, -0.026598545), (3.0272298, -9.8607613e-32, 7.910339e-16), (3, -2.929001e-18, 1.0318135e-14), (3, -7.502302e-18, 1.03042574e-14), (1, -2.5007674e-18, 3.4347525e-15)]
}
over "joint1"
{
over "joint2"
{
over "joint3"
{
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
over "joint4"
{
over "joint5"
{
}
}
}
}
}
}
}
def Xform "locator1"
{
}
def Xform "locator2"
{
}
def Scope "Looks"
{
def Material "OmniSurfaceLite"
{
token outputs:mdl:displacement.connect = </Root/Looks/OmniSurfaceLite/Shader.outputs:out>
token outputs:mdl:surface.connect = </Root/Looks/OmniSurfaceLite/Shader.outputs:out>
token outputs:mdl:volume.connect = </Root/Looks/OmniSurfaceLite/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @OmniSurfaceLite.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "OmniSurfaceLite"
color3f inputs:diffuse_reflection_color = (0.7004219, 0.08275025, 0.08275025) (
customData = {
float3 default = (1, 1, 1)
}
displayGroup = "Base"
displayName = "Color"
hidden = false
)
token outputs:out
}
}
}
def Mesh "Plane"
{
int[] faceVertexCounts = [4]
int[] faceVertexIndices = [0, 1, 3, 2]
normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, 0), (50, -50, 0), (-50, 50, 0), (50, 50, 0)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1000, 1000, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def RectLight "RectLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float height = 100
float intensity = 15000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float width = 100
double3 xformOp:rotateXYZ = (53.99999237060547, -0.0000021899320472584805, 61)
double3 xformOp:scale = (1.0000005960464478, 1.000000238418579, 0.9999995827674866)
double3 xformOp:translate = (59.30835, -103.104368, 51.199111)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def RectLight "RectLight_01" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float height = 100
float intensity = 15000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float width = 100
double3 xformOp:rotateXYZ = (-46, -0.0000021899320472584805, 61)
double3 xformOp:scale = (1.0000005960464478, 1.000000238418579, 0.9999995827674866)
double3 xformOp:translate = (-88.599904, 21.100128, 51.199111)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/point_instancer_semantic_shapes.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 50000)
double radius = 500
}
dictionary Perspective = {
double3 position = (25.320213923059804, 25.32022525282619, 25.32021392305995)
double3 target = (-0.000003978038350282986, 0.00000795607681425281, -0.0000039780382046217255)
}
dictionary Right = {
double3 position = (-50000, 0, 0)
double radius = 500
}
dictionary Top = {
double3 position = (0, 50000, 0)
double radius = 500
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.01
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def Xform "prototypes"
{
token visibility = "invisible"
def Xform "Cone"
{
def Cone "Cone" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
)
{
string semantic:Semantics:params:semanticData = "cone_p"
string semantic:Semantics:params:semanticType = "class"
}
}
def Xform "Cube"
{
def Cube "Cube" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
)
{
string semantic:Semantics:params:semanticData = "cube_p"
string semantic:Semantics:params:semanticType = "class"
}
}
}
def PointInstancer "PI"
{
point3f[] positions = [(0, 10, 0), (10, 10, 0), (0, 10, 10), (10, 10, 10)]
int[] protoIndices = [0, 0, 0, 1]
rel prototypes = [
</World/PI/Xform/Cone>,
</World/PI/Xform/Cube>,
]
def Xform "Xform"
{
token visibility = "invisible"
def "Cone" (
prepend references = </World/prototypes/Cone>
)
{
}
def "Cube" (
prepend references = </World/prototypes/Cube>
)
{
}
}
}
}
def Xform "Environment"
{
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
double3 xformOp:rotateXYZ = (315, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/cube_full_occlusion.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 50000)
double radius = 500
}
dictionary Perspective = {
double3 position = (500, 500, 500)
double3 target = (-0.00000397803842133726, 0.000007956076785831101, -0.000003978038307650422)
}
dictionary Right = {
double3 position = (-50000, 0, 0)
double radius = 500
}
dictionary Top = {
double3 position = (0, 50000, 0)
double radius = 500
}
string boundCamera = "/OmniverseKit_Front"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0)
float3 "rtx:dynamicDiffuseGI:probeCounts" = (6, 6, 6)
float3 "rtx:dynamicDiffuseGI:probeGridOrigin" = (-210, -250, -10)
float3 "rtx:dynamicDiffuseGI:volumeSize" = (600, 440, 300)
float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75)
float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9)
float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5)
float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1)
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.01
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def Mesh "Cube"
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 1, 3, 2, 0, 4, 5, 1, 1, 5, 6, 3, 2, 3, 6, 7, 0, 2, 7, 4, 4, 7, 6, 5]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (50, -50, -50), (-50, -50, 50), (50, -50, 50), (-50, 50, -50), (50, 50, -50), (50, 50, 50), (-50, 50, 50)]
float2[] primvars:st = [(1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "Cube_01"
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 1, 3, 2, 0, 4, 5, 1, 1, 5, 6, 3, 2, 3, 6, 7, 0, 2, 7, 4, 4, 7, 6, 5]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (50, -50, -50), (-50, -50, 50), (50, -50, 50), (-50, 50, -50), (50, 50, -50), (50, 50, 50), (-50, 50, 50)]
float2[] primvars:st = [(1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 150)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
def Xform "Environment"
{
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
double3 xformOp:rotateXYZ = (315, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/BenchChair_SceneInstance_Mini.usda | #usda 1.0
(
customLayerData = {
dictionary audioSettings = {
double dopplerLimit = 2
double dopplerScale = 1
token enableDistanceDelay = "off"
token enableDoppler = "off"
double nonSpatialTimeScale = 1
double spatialTimeScale = 1
double speedOfSound = 340
}
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 1000)
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (1980.5111035466489, 475.2360575421583, 2180.5243867717586)
double radius = 2676.7526261935177
double3 target = (435.0872419642733, -1070.1877671536854, 635.100525189383)
}
dictionary Right = {
double3 position = (-1000, 0, -2.220446049250313e-13)
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double3 position = (-8.659560562354932e-14, 1000, 2.220446049250313e-13)
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
}
}
defaultPrim = "World"
metersPerUnit = 0.009999999776482582
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
kind = "model"
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float3 xformOp:rotateZYX = (315, 0, 0)
float3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX"]
}
def Xform "Prototypes"
{
token visibility = "invisible"
def Xform "bench" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./bench_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "bench"
string semantic:Semantics:params:semanticType = "class"
}
def Xform "sofa" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./sofa_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "sofa"
string semantic:Semantics:params:semanticType = "class"
}
}
def "Objects"
{
def Xform "obj_667" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./bench_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "bench"
string semantic:Semantics:params:semanticType = "class"
float3 xformOp:scale = (100, 100, 100)
double3 xformOp:translate = (1334, 0, 1700)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
}
def Xform "obj_716" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./sofa_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "sofa"
string semantic:Semantics:params:semanticType = "class"
float3 xformOp:scale = (100, 100, 100)
double3 xformOp:translate = (1432, 0, 1600)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
}
def Xform "obj_717" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./sofa_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "sofa"
string semantic:Semantics:params:semanticType = "class"
float3 xformOp:scale = (100, 100, 100)
double3 xformOp:translate = (1434, 0, 1700)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
}
def Xform "obj_767" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./bench_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "bench"
string semantic:Semantics:params:semanticType = "class"
float3 xformOp:scale = (100, 100, 100)
double3 xformOp:translate = (1534, 0, 1700)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
}
}
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/cross_correspondence.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 50000)
double radius = 500
}
dictionary Perspective = {
double3 position = (500, 500, 499.99999999999983)
double3 target = (-1.1368683772161603e-13, -2.2737367544323206e-13, 2.8421709430404007e-13)
}
dictionary Right = {
double3 position = (-50000, 0, -1.1102230246251565e-11)
double radius = 500
}
dictionary Top = {
double3 position = (-4.329780281177466e-12, 50000, 1.1102230246251565e-11)
double radius = 500
}
string boundCamera = "/World/Cameras/CameraFisheyeLeft"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
bool "rtx:directLighting:enabled" = 0
int "rtx:ecoMode:maxFramesWithoutChange" = 5
bool "rtx:hydra:enableSemanticSchema" = 1
bool "rtx:reflections:enabled" = 0
bool "rtx:translucency:enabled" = 0
bool "rtx:raytracing:autoToggleDenoiserSettings" = 0
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.01
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def Scope "Cameras"
{
def Camera "CameraFisheyeLeft"
{
token cameraProjectionType = "fisheyePolynomial" (
allowedTokens = ["pinhole", "fisheyeOrthographic", "fisheyeEquidistant", "fisheyeEquisolid", "fisheyePolynomial", "fisheyeSpherical"]
)
string crossCameraReferenceName = "CameraFisheyeRight"
float focalLength = 24
float focusDistance = 400
float horizontalAperture = 20.955
float verticalAperture = 11.764211
double3 xformOp:rotateXYZ = (-10, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-10, 4, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Camera "CameraPinhole"
{
float focalLength = 24
float focusDistance = 400
float horizontalAperture = 20.955
float verticalAperture = 11.770693
double3 xformOp:rotateXYZ = (-9.999999999999982, -0, 0)
double3 xformOp:scale = (1, 0.9999999999999999, 0.9999999999999999)
double3 xformOp:translate = (10, 3.999999999999968, -1.4210854715202004e-14)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Camera "CameraFisheyeRight"
{
token cameraProjectionType = "fisheyePolynomial" (
allowedTokens = ["pinhole", "fisheyeOrthographic", "fisheyeEquidistant", "fisheyeEquisolid", "fisheyePolynomial", "fisheyeSpherical"]
)
string crossCameraReferenceName = "CameraFisheyeLeft"
float focalLength = 24
float focusDistance = 400
float horizontalAperture = 20.955
float verticalAperture = 11.807976
double3 xformOp:rotateXYZ = (-10, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 4, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
def Mesh "Plane"
{
int[] faceVertexCounts = [4]
int[] faceVertexIndices = [0, 2, 3, 1]
rel material:binding = </World/Looks/OmniPBR_green> (
bindMaterialAs = "weakerThanDescendants"
)
normal3f[] normals = [(0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, 0, -50), (50, 0, -50), (-50, 0, 50), (50, 0, 50)]
float2[] primvars:st = [(1, 0), (1, 1), (0, 1), (0, 0)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (11.937299728393555, 1, 11.937299728393555)
double3 xformOp:translate = (0, -1.29846, -588.602)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "Cone"
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [0, 32, 33, 1, 1, 33, 34, 2, 2, 34, 35, 3, 3, 35, 36, 4, 4, 36, 37, 5, 5, 37, 38, 6, 6, 38, 39, 7, 7, 39, 40, 8, 8, 40, 41, 9, 9, 41, 42, 10, 10, 42, 43, 11, 11, 43, 44, 12, 12, 44, 45, 13, 13, 45, 46, 14, 14, 46, 47, 15, 15, 47, 48, 16, 16, 48, 49, 17, 17, 49, 50, 18, 18, 50, 51, 19, 19, 51, 52, 20, 20, 52, 53, 21, 21, 53, 54, 22, 22, 54, 55, 23, 23, 55, 56, 24, 24, 56, 57, 25, 25, 57, 58, 26, 26, 58, 59, 27, 27, 59, 60, 28, 28, 60, 61, 29, 29, 61, 62, 30, 30, 62, 63, 31, 31, 63, 32, 0, 32, 64, 65, 33, 33, 65, 66, 34, 34, 66, 67, 35, 35, 67, 68, 36, 36, 68, 69, 37, 37, 69, 70, 38, 38, 70, 71, 39, 39, 71, 72, 40, 40, 72, 73, 41, 41, 73, 74, 42, 42, 74, 75, 43, 43, 75, 76, 44, 44, 76, 77, 45, 45, 77, 78, 46, 46, 78, 79, 47, 47, 79, 80, 48, 48, 80, 81, 49, 49, 81, 82, 50, 50, 82, 83, 51, 51, 83, 84, 52, 52, 84, 85, 53, 53, 85, 86, 54, 54, 86, 87, 55, 55, 87, 88, 56, 56, 88, 89, 57, 57, 89, 90, 58, 58, 90, 91, 59, 59, 91, 92, 60, 60, 92, 93, 61, 61, 93, 94, 62, 62, 94, 95, 63, 63, 95, 64, 32, 64, 96, 97, 65, 65, 97, 98, 66, 66, 98, 99, 67, 67, 99, 100, 68, 68, 100, 101, 69, 69, 101, 102, 70, 70, 102, 103, 71, 71, 103, 104, 72, 72, 104, 105, 73, 73, 105, 106, 74, 74, 106, 107, 75, 75, 107, 108, 76, 76, 108, 109, 77, 77, 109, 110, 78, 78, 110, 111, 79, 79, 111, 112, 80, 80, 112, 113, 81, 81, 113, 114, 82, 82, 114, 115, 83, 83, 115, 116, 84, 84, 116, 117, 85, 85, 117, 118, 86, 86, 118, 119, 87, 87, 119, 120, 88, 88, 120, 121, 89, 89, 121, 122, 90, 90, 122, 123, 91, 91, 123, 124, 92, 92, 124, 125, 93, 93, 125, 126, 94, 94, 126, 127, 95, 95, 127, 96, 64, 96, 128, 129, 97, 97, 129, 130, 98, 98, 130, 131, 99, 99, 131, 132, 100, 100, 132, 133, 101, 101, 133, 134, 102, 102, 134, 135, 103, 103, 135, 136, 104, 104, 136, 137, 105, 105, 137, 138, 106, 106, 138, 139, 107, 107, 139, 140, 108, 108, 140, 141, 109, 109, 141, 142, 110, 110, 142, 143, 111, 111, 143, 144, 112, 112, 144, 145, 113, 113, 145, 146, 114, 114, 146, 147, 115, 115, 147, 148, 116, 116, 148, 149, 117, 117, 149, 150, 118, 118, 150, 151, 119, 119, 151, 152, 120, 120, 152, 153, 121, 121, 153, 154, 122, 122, 154, 155, 123, 123, 155, 156, 124, 124, 156, 157, 125, 125, 157, 158, 126, 126, 158, 159, 127, 127, 159, 128, 96, 160, 161, 162, 160, 162, 163, 160, 163, 164, 160, 164, 165, 160, 165, 166, 160, 166, 167, 160, 167, 168, 160, 168, 169, 160, 169, 170, 160, 170, 171, 160, 171, 172, 160, 172, 173, 160, 173, 174, 160, 174, 175, 160, 175, 176, 160, 176, 177, 160, 177, 178, 160, 178, 179, 160, 179, 180, 160, 180, 181, 160, 181, 182, 160, 182, 183, 160, 183, 184, 160, 184, 185, 160, 185, 186, 160, 186, 187, 160, 187, 188, 160, 188, 189, 160, 189, 190, 160, 190, 191, 160, 191, 192, 160, 192, 161]
rel material:binding = </World/Looks/OmniPBR_blue> (
bindMaterialAs = "weakerThanDescendants"
)
normal3f[] normals = [(0.8944272, 0.4472136, 0), (0.89442724, 0.44721362, 0), (0.8772411, 0.44721362, 0.17449394), (0.877241, 0.4472136, 0.17449391), (0.877241, 0.4472136, 0.17449391), (0.8772411, 0.44721362, 0.17449394), (0.8263431, 0.4472136, 0.34228215), (0.8263431, 0.44721362, 0.34228215), (0.8263431, 0.44721362, 0.34228215), (0.8263431, 0.4472136, 0.34228215), (0.7436893, 0.4472136, 0.49691668), (0.74368936, 0.44721362, 0.4969167), (0.74368936, 0.44721362, 0.4969167), (0.7436893, 0.4472136, 0.49691668), (0.632456, 0.44721362, 0.63245505), (0.632456, 0.44721365, 0.63245505), (0.632456, 0.44721365, 0.63245505), (0.632456, 0.44721362, 0.63245505), (0.49691784, 0.4472136, 0.7436885), (0.49691784, 0.4472136, 0.7436885), (0.49691784, 0.4472136, 0.7436885), (0.49691784, 0.4472136, 0.7436885), (0.34228343, 0.4472136, 0.8263426), (0.34228346, 0.44721362, 0.8263426), (0.34228346, 0.44721362, 0.8263426), (0.34228343, 0.4472136, 0.8263426), (0.1744953, 0.4472136, 0.8772408), (0.17449528, 0.4472136, 0.8772408), (0.17449528, 0.4472136, 0.8772408), (0.1744953, 0.4472136, 0.8772408), (0.0000014049631, 0.44721362, 0.89442724), (0.0000014049629, 0.4472136, 0.8944272), (0.0000014049629, 0.4472136, 0.8944272), (0.0000014049631, 0.44721362, 0.89442724), (-0.17449255, 0.44721356, 0.8772414), (-0.17449254, 0.44721362, 0.8772414), (-0.17449254, 0.44721362, 0.8772414), (-0.17449255, 0.44721356, 0.8772414), (-0.34228083, 0.4472136, 0.82634366), (-0.34228083, 0.4472136, 0.82634366), (-0.34228083, 0.4472136, 0.82634366), (-0.34228083, 0.4472136, 0.82634366), (-0.4969155, 0.44721362, 0.74369013), (-0.49691552, 0.4472136, 0.74369013), (-0.49691552, 0.4472136, 0.74369013), (-0.4969155, 0.44721362, 0.74369013), (-0.63245404, 0.4472136, 0.632457), (-0.63245404, 0.4472136, 0.632457), (-0.63245404, 0.4472136, 0.632457), (-0.63245404, 0.4472136, 0.632457), (-0.74368775, 0.4472136, 0.496919), (-0.7436878, 0.44721362, 0.49691904), (-0.7436878, 0.44721362, 0.49691904), (-0.74368775, 0.4472136, 0.496919), (-0.82634205, 0.4472136, 0.34228474), (-0.82634205, 0.4472136, 0.34228474), (-0.82634205, 0.4472136, 0.34228474), (-0.82634205, 0.4472136, 0.34228474), (-0.8772405, 0.4472136, 0.17449667), (-0.8772405, 0.4472136, 0.17449667), (-0.8772405, 0.4472136, 0.17449667), (-0.8772405, 0.4472136, 0.17449667), (-0.89442724, 0.44721362, 0.0000028099262), (-0.8944272, 0.4472136, 0.0000028099257), (-0.8944272, 0.4472136, 0.0000028099257), (-0.89442724, 0.44721362, 0.0000028099262), (-0.8772417, 0.44721356, -0.17449118), (-0.8772416, 0.4472136, -0.17449117), (-0.8772416, 0.4472136, -0.17449117), (-0.8772417, 0.44721356, -0.17449118), (-0.8263442, 0.44721362, -0.34227955), (-0.8263442, 0.44721362, -0.34227955), (-0.8263442, 0.44721362, -0.34227955), (-0.8263442, 0.44721362, -0.34227955), (-0.7436909, 0.4472136, -0.49691436), (-0.7436909, 0.4472136, -0.49691436), (-0.7436909, 0.4472136, -0.49691436), (-0.7436909, 0.4472136, -0.49691436), (-0.63245803, 0.44721362, -0.632453), (-0.632458, 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0.24999975), (0.5937504, 0.4999995), (0.5625004, 0.4999995), (0.5625004, 0.24999975), (0.5625004, 0.24999975), (0.5625004, 0.4999995), (0.5312505, 0.4999995), (0.5312505, 0.24999975), (0.5312505, 0.24999975), (0.5312505, 0.4999995), (0.5000005, 0.4999995), (0.5000005, 0.24999975), (0.5000005, 0.24999975), (0.5000005, 0.4999995), (0.46875054, 0.4999995), (0.46875054, 0.24999975), (0.46875054, 0.24999975), (0.46875054, 0.4999995), (0.43750057, 0.4999995), (0.43750057, 0.24999975), (0.43750057, 0.24999975), (0.43750057, 0.4999995), (0.4062506, 0.4999995), (0.4062506, 0.24999975), (0.4062506, 0.24999975), (0.4062506, 0.4999995), (0.37500063, 0.4999995), (0.37500063, 0.24999975), (0.37500063, 0.24999975), (0.37500063, 0.4999995), (0.34375066, 0.4999995), (0.34375066, 0.24999975), (0.34375066, 0.24999975), (0.34375066, 0.4999995), (0.3125007, 0.4999995), (0.3125007, 0.24999975), (0.3125007, 0.24999975), (0.3125007, 0.4999995), (0.28125072, 0.4999995), (0.28125072, 0.24999975), (0.28125072, 0.24999975), (0.28125072, 0.4999995), (0.25000075, 0.4999995), (0.25000075, 0.24999975), (0.25000075, 0.24999975), (0.25000075, 0.4999995), (0.21875077, 0.4999995), (0.21875077, 0.24999975), (0.21875077, 0.24999975), (0.21875077, 0.4999995), (0.18750082, 0.4999995), (0.18750082, 0.24999975), (0.18750082, 0.24999975), (0.18750082, 0.4999995), (0.15625085, 0.4999995), (0.15625085, 0.24999975), (0.15625085, 0.24999975), (0.15625085, 0.4999995), (0.12500088, 0.4999995), (0.12500088, 0.24999975), (0.12500088, 0.24999975), (0.12500088, 0.4999995), (0.09375091, 0.4999995), (0.09375091, 0.24999975), (0.09375091, 0.24999975), (0.09375091, 0.4999995), (0.06250094, 0.4999995), (0.06250094, 0.24999975), (0.06250094, 0.24999975), (0.06250094, 0.4999995), (0.03125097, 0.4999995), (0.03125097, 0.24999975), (0.03125097, 0.24999975), (0.03125097, 0.4999995), (0, 0.4999995), (0, 0.24999975), (1, 0.4999995), (1, 0.7499992), (0.96875006, 0.7499992), (0.96875006, 0.4999995), (0.96875006, 0.4999995), (0.96875006, 0.7499992), (0.93750006, 0.7499992), (0.93750006, 0.4999995), (0.93750006, 0.4999995), (0.93750006, 0.7499992), (0.9062501, 0.7499992), (0.9062501, 0.4999995), (0.9062501, 0.4999995), (0.9062501, 0.7499992), (0.8750001, 0.7499992), (0.8750001, 0.4999995), (0.8750001, 0.4999995), (0.8750001, 0.7499992), (0.8437502, 0.7499992), (0.8437502, 0.4999995), (0.8437502, 0.4999995), (0.8437502, 0.7499992), (0.8125002, 0.7499992), (0.8125002, 0.4999995), (0.8125002, 0.4999995), (0.8125002, 0.7499992), (0.78125024, 0.7499992), (0.78125024, 0.4999995), (0.78125024, 0.4999995), (0.78125024, 0.7499992), (0.75000024, 0.7499992), (0.75000024, 0.4999995), (0.75000024, 0.4999995), (0.75000024, 0.7499992), (0.7187503, 0.7499992), (0.7187503, 0.4999995), (0.7187503, 0.4999995), (0.7187503, 0.7499992), (0.6875003, 0.7499992), (0.6875003, 0.4999995), (0.6875003, 0.4999995), (0.6875003, 0.7499992), (0.65625036, 0.7499992), (0.65625036, 0.4999995), (0.65625036, 0.4999995), (0.65625036, 0.7499992), (0.62500036, 0.7499992), (0.62500036, 0.4999995), (0.62500036, 0.4999995), (0.62500036, 0.7499992), (0.5937504, 0.7499992), (0.5937504, 0.4999995), (0.5937504, 0.4999995), (0.5937504, 0.7499992), (0.5625004, 0.7499992), (0.5625004, 0.4999995), (0.5625004, 0.4999995), (0.5625004, 0.7499992), (0.5312505, 0.7499992), (0.5312505, 0.4999995), (0.5312505, 0.4999995), (0.5312505, 0.7499992), (0.5000005, 0.7499992), (0.5000005, 0.4999995), (0.5000005, 0.4999995), (0.5000005, 0.7499992), (0.46875054, 0.7499992), (0.46875054, 0.4999995), (0.46875054, 0.4999995), (0.46875054, 0.7499992), (0.43750057, 0.7499992), (0.43750057, 0.4999995), (0.43750057, 0.4999995), (0.43750057, 0.7499992), (0.4062506, 0.7499992), (0.4062506, 0.4999995), (0.4062506, 0.4999995), (0.4062506, 0.7499992), (0.37500063, 0.7499992), (0.37500063, 0.4999995), (0.37500063, 0.4999995), (0.37500063, 0.7499992), (0.34375066, 0.7499992), (0.34375066, 0.4999995), (0.34375066, 0.4999995), (0.34375066, 0.7499992), (0.3125007, 0.7499992), (0.3125007, 0.4999995), (0.3125007, 0.4999995), (0.3125007, 0.7499992), (0.28125072, 0.7499992), (0.28125072, 0.4999995), (0.28125072, 0.4999995), (0.28125072, 0.7499992), (0.25000075, 0.7499992), (0.25000075, 0.4999995), (0.25000075, 0.4999995), (0.25000075, 0.7499992), (0.21875077, 0.7499992), (0.21875077, 0.4999995), (0.21875077, 0.4999995), (0.21875077, 0.7499992), (0.18750082, 0.7499992), (0.18750082, 0.4999995), (0.18750082, 0.4999995), (0.18750082, 0.7499992), (0.15625085, 0.7499992), (0.15625085, 0.4999995), (0.15625085, 0.4999995), (0.15625085, 0.7499992), (0.12500088, 0.7499992), (0.12500088, 0.4999995), (0.12500088, 0.4999995), (0.12500088, 0.7499992), (0.09375091, 0.7499992), (0.09375091, 0.4999995), (0.09375091, 0.4999995), (0.09375091, 0.7499992), (0.06250094, 0.7499992), (0.06250094, 0.4999995), (0.06250094, 0.4999995), (0.06250094, 0.7499992), (0.03125097, 0.7499992), (0.03125097, 0.4999995), (0.03125097, 0.4999995), (0.03125097, 0.7499992), (0, 0.7499992), (0, 0.4999995), (1, 0.7499992), (1, 0.999999), (0.96875006, 0.999999), (0.96875006, 0.7499992), (0.96875006, 0.7499992), (0.96875006, 0.999999), (0.93750006, 0.999999), (0.93750006, 0.7499992), (0.93750006, 0.7499992), (0.93750006, 0.999999), (0.9062501, 0.999999), (0.9062501, 0.7499992), (0.9062501, 0.7499992), (0.9062501, 0.999999), (0.8750001, 0.999999), (0.8750001, 0.7499992), (0.8750001, 0.7499992), (0.8750001, 0.999999), (0.8437502, 0.999999), (0.8437502, 0.7499992), (0.8437502, 0.7499992), (0.8437502, 0.999999), (0.8125002, 0.999999), (0.8125002, 0.7499992), (0.8125002, 0.7499992), (0.8125002, 0.999999), (0.78125024, 0.999999), (0.78125024, 0.7499992), (0.78125024, 0.7499992), (0.78125024, 0.999999), (0.75000024, 0.999999), (0.75000024, 0.7499992), (0.75000024, 0.7499992), (0.75000024, 0.999999), (0.7187503, 0.999999), (0.7187503, 0.7499992), (0.7187503, 0.7499992), (0.7187503, 0.999999), (0.6875003, 0.999999), (0.6875003, 0.7499992), (0.6875003, 0.7499992), (0.6875003, 0.999999), (0.65625036, 0.999999), (0.65625036, 0.7499992), (0.65625036, 0.7499992), (0.65625036, 0.999999), (0.62500036, 0.999999), (0.62500036, 0.7499992), (0.62500036, 0.7499992), (0.62500036, 0.999999), (0.5937504, 0.999999), (0.5937504, 0.7499992), (0.5937504, 0.7499992), (0.5937504, 0.999999), (0.5625004, 0.999999), (0.5625004, 0.7499992), (0.5625004, 0.7499992), (0.5625004, 0.999999), (0.5312505, 0.999999), (0.5312505, 0.7499992), (0.5312505, 0.7499992), (0.5312505, 0.999999), (0.5000005, 0.999999), (0.5000005, 0.7499992), (0.5000005, 0.7499992), (0.5000005, 0.999999), (0.46875054, 0.999999), (0.46875054, 0.7499992), (0.46875054, 0.7499992), (0.46875054, 0.999999), (0.43750057, 0.999999), (0.43750057, 0.7499992), (0.43750057, 0.7499992), (0.43750057, 0.999999), (0.4062506, 0.999999), (0.4062506, 0.7499992), (0.4062506, 0.7499992), (0.4062506, 0.999999), (0.37500063, 0.999999), (0.37500063, 0.7499992), (0.37500063, 0.7499992), (0.37500063, 0.999999), (0.34375066, 0.999999), (0.34375066, 0.7499992), (0.34375066, 0.7499992), (0.34375066, 0.999999), (0.3125007, 0.999999), (0.3125007, 0.7499992), (0.3125007, 0.7499992), (0.3125007, 0.999999), (0.28125072, 0.999999), (0.28125072, 0.7499992), (0.28125072, 0.7499992), (0.28125072, 0.999999), (0.25000075, 0.999999), (0.25000075, 0.7499992), (0.25000075, 0.7499992), (0.25000075, 0.999999), (0.21875077, 0.999999), (0.21875077, 0.7499992), (0.21875077, 0.7499992), (0.21875077, 0.999999), (0.18750082, 0.999999), (0.18750082, 0.7499992), (0.18750082, 0.7499992), (0.18750082, 0.999999), (0.15625085, 0.999999), (0.15625085, 0.7499992), (0.15625085, 0.7499992), (0.15625085, 0.999999), (0.12500088, 0.999999), (0.12500088, 0.7499992), (0.12500088, 0.7499992), (0.12500088, 0.999999), (0.09375091, 0.999999), (0.09375091, 0.7499992), (0.09375091, 0.7499992), (0.09375091, 0.999999), (0.06250094, 0.999999), (0.06250094, 0.7499992), (0.06250094, 0.7499992), (0.06250094, 0.999999), (0.03125097, 0.999999), (0.03125097, 0.7499992), (0.03125097, 0.7499992), (0.03125097, 0.999999), (0, 0.999999), (0, 0.7499992), (0.5, 0.5), (1, 0.5), (0.9903927, 0.5975451), (0.5, 0.5), (0.9903927, 0.5975451), (0.9619398, 0.6913415), (0.5, 0.5), (0.9619398, 0.6913415), (0.91573495, 0.7777849), (0.5, 0.5), (0.91573495, 0.7777849), (0.85355365, 0.8535531), (0.5, 0.5), (0.85355365, 0.8535531), (0.77778554, 0.9157345), (0.5, 0.5), (0.77778554, 0.9157345), (0.69134223, 0.9619395), (0.5, 0.5), (0.69134223, 0.9619395), (0.59754586, 0.9903925), (0.5, 0.5), (0.59754586, 0.9903925), (0.5000008, 1), (0.5, 0.5), (0.5000008, 1), (0.40245572, 0.9903928), (0.5, 0.5), (0.40245572, 0.9903928), (0.3086592, 0.96194017), (0.5, 0.5), (0.3086592, 0.96194017), (0.22221579, 0.9157354), (0.5, 0.5), (0.22221579, 0.9157354), (0.14644744, 0.85355425), (0.5, 0.5), (0.14644744, 0.85355425), (0.0842659, 0.7777862), (0.5, 0.5), (0.0842659, 0.7777862), (0.03806076, 0.691343), (0.5, 0.5), (0.03806076, 0.691343), (0.009607648, 0.5975466), (0.5, 0.5), (0.009607648, 0.5975466), (2.4674152e-12, 0.50000155), (0.5, 0.5), (2.4674152e-12, 0.50000155), (0.009607034, 0.40245646), (0.5, 0.5), (0.009607034, 0.40245646), (0.03805956, 0.3086599), (0.5, 0.5), (0.03805956, 0.3086599), (0.08426416, 0.22221643), (0.5, 0.5), (0.08426416, 0.22221643), (0.14644521, 0.146448), (0.5, 0.5), (0.14644521, 0.146448), (0.22221316, 0.08426634), (0.5, 0.5), (0.22221316, 0.08426634), (0.30865628, 0.03806106), (0.5, 0.5), (0.30865628, 0.03806106), (0.40245262, 0.0096078), (0.5, 0.5), (0.40245262, 0.0096078), (0.49999765, 5.5516702e-12), (0.5, 0.5), (0.49999765, 5.5516702e-12), (0.59754276, 0.009606881), (0.5, 0.5), (0.59754276, 0.009606881), (0.6913394, 0.038059257), (0.5, 0.5), (0.6913394, 0.038059257), (0.7777829, 0.08426372), (0.5, 0.5), (0.7777829, 0.08426372), (0.85355145, 0.14644466), (0.5, 0.5), (0.85355145, 0.14644466), (0.9157332, 0.22221252), (0.5, 0.5), (0.9157332, 0.22221252), (0.9619386, 0.30865556), (0.5, 0.5), (0.9619386, 0.30865556), (0.990392, 0.40245184), (0.5, 0.5), (0.990392, 0.40245184), (1, 0.5)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (0.03, 0.2, 0.029999999329447746)
double3 xformOp:translate = (-5.67828, 0, -4.58463)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "Cube"
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 1, 3, 2, 0, 4, 5, 1, 1, 5, 6, 3, 2, 3, 6, 7, 0, 2, 7, 4, 4, 7, 6, 5]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (50, -50, -50), (-50, -50, 50), (50, -50, 50), (-50, 50, -50), (50, 50, -50), (50, 50, 50), (-50, 50, 50)]
float2[] primvars:st = [(1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (0.30000001192092896, 0.029999999329447746, 0.029999999329447746)
double3 xformOp:translate = (-6.36188, 0, -8.10291)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "CubeBackground"
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 1, 3, 2, 0, 4, 5, 1, 1, 5, 6, 3, 2, 3, 6, 7, 0, 2, 7, 4, 4, 7, 6, 5]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (50, -50, -50), (-50, -50, 50), (50, -50, 50), (-50, 50, -50), (50, 50, -50), (50, 50, 50), (-50, 50, 50)]
float2[] primvars:st = [(1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (20, 2, 1)
double3 xformOp:translate = (-6.36188, 0, -320)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/maya2_atlas_road_tile_237_01.usd2.usda | #usda 1.0
(
defaultPrim = "atlas_road_tile_237_01_usd2"
upAxis = "Y"
)
def "atlas_road_tile_237_01_usd2" (
kind = "component"
)
{
def Xform "SceneNode" (
kind = "group"
)
{
def Xform "Tile_0_0Node" (
kind = "group"
)
{
def Xform "RoadsNode" (
kind = "group"
)
{
def Xform "Road_RoadNode" (
kind = "group"
)
{
def Mesh "Road_Road_Layer0Node" (
prepend apiSchemas = ["ShadowAPI"]
kind = "component"
)
{
bool primvars:materialFlattening_isBaseMesh = 1
float3[] extent = [(-35.747242, -0.095022194, -365.21683), (-7.774334, -3.3177234e-14, -265.1001)]
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 3, 4, 3, 4, 3, 3, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [0, 2, 1, 0, 3, 2, 0, 4, 3, 5, 4, 0, 6, 4, 5, 7, 6, 5, 6, 8, 4, 4, 8, 9, 4, 9, 3, 9, 10, 3, 9, 11, 10, 12, 11, 9, 8, 12, 9, 11, 12, 13, 11, 13, 14, 15, 11, 14, 15, 14, 16, 15, 16, 17, 10, 15, 17, 10, 17, 18, 10, 18, 3, 3, 18, 2, 10, 11, 15, 14, 127, 128, 16, 13, 131, 130, 14, 19, 133, 132, 13, 12, 19, 13, 20, 22, 21, 22, 20, 23, 24, 22, 23, 25, 24, 23, 26, 25, 23, 27, 26, 23, 27, 23, 20, 28, 27, 20, 29, 27, 28, 27, 30, 26, 30, 25, 26, 25, 31, 24, 25, 32, 31, 32, 33, 31, 31, 33, 34, 31, 34, 35, 24, 31, 35, 24, 35, 36, 37, 24, 36, 22, 24, 37, 35, 38, 36, 34, 38, 35, 39, 38, 34, 40, 39, 34, 33, 40, 34, 40, 134, 135, 39, 39, 135, 136, 39, 136, 137, 38, 38, 137, 138, 38, 138, 139, 41, 36, 38, 41, 41, 139, 140, 126, 43, 42, 125, 42, 43, 44, 43, 45, 44, 45, 46, 44, 44, 46, 47, 46, 48, 47, 47, 48, 49, 48, 50, 49, 49, 50, 51, 50, 52, 51, 52, 53, 51, 53, 54, 51, 55, 54, 53, 55, 56, 54, 55, 57, 56, 56, 57, 58, 57, 59, 58, 58, 59, 60, 59, 61, 60, 60, 61, 62, 61, 63, 62, 62, 63, 64, 63, 65, 64, 64, 65, 66, 65, 67, 66, 66, 67, 68, 67, 69, 68, 69, 70, 68, 71, 70, 69, 71, 72, 70, 73, 72, 71, 73, 71, 74, 75, 73, 74, 74, 76, 75, 77, 76, 74, 77, 74, 78, 78, 74, 79, 79, 74, 80, 80, 74, 71, 77, 81, 76, 81, 82, 76, 82, 83, 76, 76, 83, 84, 76, 84, 75, 84, 85, 75, 86, 85, 84, 83, 86, 84, 75, 85, 87, 75, 87, 88, 89, 75, 88, 75, 89, 90, 75, 90, 91, 75, 91, 73, 73, 91, 92, 73, 92, 93, 94, 73, 93, 95, 73, 94, 73, 95, 96, 73, 96, 97, 72, 73, 97, 72, 97, 98, 72, 98, 99, 72, 99, 100, 100, 99, 101, 99, 102, 101, 99, 103, 102, 98, 103, 99, 104, 103, 98, 97, 104, 98, 105, 104, 97, 97, 106, 105, 97, 107, 106, 97, 96, 107, 105, 108, 104, 104, 108, 109, 104, 109, 110, 104, 110, 111, 104, 111, 112, 104, 112, 113, 104, 113, 114, 104, 114, 115, 115, 116, 104, 104, 116, 103, 103, 116, 117, 103, 117, 102, 102, 117, 118, 118, 119, 102, 102, 119, 101, 116, 120, 117, 120, 121, 117, 87, 122, 88, 122, 87, 123, 124, 125, 42, 129, 127, 14, 130, 129, 14, 13, 132, 131]
rel material:binding = </atlas_road_tile_237_01_usd2/Looks/lambert>
# normal3f[] normals = [(-3.6485125e-22, -1, -6.1232144e-17), (7.529882e-22, -1, -6.1233e-17), (-6.1415184e-21, -1, -6.1231376e-17), (-3.6485125e-22, -1, -6.1232144e-17), (2.4111807e-22, -1, -6.123268e-17), (7.529882e-22, -1, -6.1233e-17), (-3.6485125e-22, -1, -6.1232144e-17), (-1.2104193e-23, -1, -6.1232594e-17), (2.4111807e-22, -1, -6.123268e-17), (4.05927e-22, -1, -6.1232124e-17), (-1.2104193e-23, -1, -6.1232594e-17), (-3.6485125e-22, -1, -6.1232144e-17), (-6.78704e-24, -1, -6.123258e-17), (-1.2104193e-23, -1, -6.1232594e-17), (4.05927e-22, -1, -6.1232124e-17), (6.6063483e-22, -1, -6.1232045e-17), (-6.78704e-24, -1, -6.123258e-17), (4.05927e-22, -1, -6.1232124e-17), (-6.78704e-24, -1, -6.123258e-17), (2.1114811e-22, -1, -6.123226e-17), (-1.2104193e-23, -1, -6.1232594e-17), (-1.2104193e-23, -1, -6.1232594e-17), (2.1114811e-22, -1, -6.123226e-17), (1.1864844e-22, -1, -6.1232296e-17), (-1.2104193e-23, -1, -6.1232594e-17), (1.1864844e-22, -1, -6.1232296e-17), (2.4111807e-22, -1, -6.123268e-17), (1.1864844e-22, -1, -6.1232296e-17), (-8.300981e-23, -1, -6.1232276e-17), (2.4111807e-22, -1, -6.123268e-17), (1.1864844e-22, -1, -6.1232296e-17), (9.958789e-24, -1, -6.123247e-17), (-8.300981e-23, -1, -6.1232276e-17), (3.651635e-23, -1, -6.123238e-17), (9.958789e-24, -1, -6.123247e-17), (1.1864844e-22, -1, -6.1232296e-17), (2.1114811e-22, -1, -6.123226e-17), (3.651635e-23, -1, -6.123238e-17), (1.1864844e-22, -1, -6.1232296e-17), (9.958789e-24, -1, -6.123247e-17), (3.651635e-23, -1, -6.123238e-17), (5.660923e-23, -1, -6.1232554e-17), (9.958789e-24, -1, -6.123247e-17), (5.660923e-23, -1, -6.1232554e-17), (-1.2073672e-23, -1, -6.123245e-17), (-2.1764144e-23, -1, -6.123258e-17), (9.958789e-24, -1, -6.123247e-17), (-1.2073672e-23, -1, -6.123245e-17), (-2.1764144e-23, -1, -6.123258e-17), (-1.2073672e-23, -1, -6.123245e-17), (-8.427858e-22, -1, -6.1232243e-17), (-2.1764144e-23, -1, -6.123258e-17), (-8.427858e-22, -1, -6.1232243e-17), (-2.2203574e-22, -1, -6.1232396e-17), (-8.300981e-23, -1, -6.1232276e-17), (-2.1764144e-23, -1, -6.123258e-17), (-2.2203574e-22, -1, -6.1232396e-17), (-8.300981e-23, -1, -6.1232276e-17), (-2.2203574e-22, -1, -6.1232396e-17), (-1.2202113e-21, -1, -6.1232296e-17), (-8.300981e-23, -1, -6.1232276e-17), (-1.2202113e-21, -1, -6.1232296e-17), (2.4111807e-22, -1, -6.123268e-17), (2.4111807e-22, -1, -6.123268e-17), (-1.2202113e-21, -1, -6.1232296e-17), (7.529882e-22, -1, -6.1233e-17), (-8.300981e-23, -1, -6.1232276e-17), (9.958789e-24, -1, -6.123247e-17), (-2.1764144e-23, -1, -6.123258e-17), (-1.2073672e-23, -1, -6.123245e-17), (-1.2618686e-21, -1, -6.123295e-17), (-1.8251399e-21, -1, -6.123253e-17), (-8.427858e-22, -1, -6.1232243e-17), (5.660923e-23, -1, -6.1232554e-17), (1.8698818e-22, -1, -6.1232614e-17), (2.3010313e-22, -1, -6.123252e-17), (-1.2073672e-23, -1, -6.123245e-17), (-2.919419e-23, -1, -6.123274e-17), (-6.215274e-23, -1, -6.123288e-17), (-4.924853e-23, -1, -6.1232806e-17), (5.660923e-23, -1, -6.1232554e-17), (3.651635e-23, -1, -6.123238e-17), (-2.919419e-23, -1, -6.123274e-17), (5.660923e-23, -1, -6.1232554e-17), (4.1524664e-22, -1, -6.123251e-17), (-5.2696045e-22, -1, -6.123212e-17), (6.1782586e-22, -1, -6.1232316e-17), (-5.2696045e-22, -1, -6.123212e-17), (4.1524664e-22, -1, -6.123251e-17), (-2.509189e-22, -1, -6.123247e-17), (-9.267729e-23, -1, -6.123226e-17), (-5.2696045e-22, -1, -6.123212e-17), (-2.509189e-22, -1, -6.123247e-17), (-3.6432934e-25, -1, -6.123283e-17), (-9.267729e-23, -1, -6.123226e-17), (-2.509189e-22, -1, -6.123247e-17), (-1.7392807e-22, -1, -6.123247e-17), (-3.6432934e-25, -1, -6.123283e-17), (-2.509189e-22, -1, -6.123247e-17), (3.3923922e-22, -1, -6.1232846e-17), (-1.7392807e-22, -1, -6.123247e-17), (-2.509189e-22, -1, -6.123247e-17), (3.3923922e-22, -1, -6.1232846e-17), (-2.509189e-22, -1, -6.123247e-17), (4.1524664e-22, -1, -6.123251e-17), (-7.027061e-23, -1, -6.123144e-17), (3.3923922e-22, -1, -6.1232846e-17), (4.1524664e-22, -1, -6.123251e-17), (-1.5260621e-21, -1, -6.1233236e-17), (3.3923922e-22, -1, -6.1232846e-17), (-7.027061e-23, -1, -6.123144e-17), (3.3923922e-22, -1, -6.1232846e-17), (-1.1997939e-21, -1, -6.123334e-17), (-1.7392807e-22, -1, -6.123247e-17), (-1.1997939e-21, -1, -6.123334e-17), (-3.6432934e-25, -1, -6.123283e-17), (-1.7392807e-22, -1, -6.123247e-17), (-3.6432934e-25, -1, -6.123283e-17), (-2.6044332e-22, -1, -6.123202e-17), (-9.267729e-23, -1, -6.123226e-17), (-3.6432934e-25, -1, -6.123283e-17), (-1.0744059e-21, -1, -6.123282e-17), (-2.6044332e-22, -1, -6.123202e-17), (-1.0744059e-21, -1, -6.123282e-17), (-1.2274267e-21, -1, -6.123218e-17), (-2.6044332e-22, -1, -6.123202e-17), (-2.6044332e-22, -1, -6.123202e-17), (-1.2274267e-21, -1, -6.123218e-17), (5.567601e-23, -1, -6.123245e-17), (-2.6044332e-22, -1, -6.123202e-17), (5.567601e-23, -1, -6.123245e-17), (-8.533897e-23, -1, -6.123256e-17), (-9.267729e-23, -1, -6.123226e-17), (-2.6044332e-22, -1, -6.123202e-17), (-8.533897e-23, -1, -6.123256e-17), (-9.267729e-23, -1, -6.123226e-17), (-8.533897e-23, -1, -6.123256e-17), (-6.5070306e-22, -1, -6.123245e-17), (0, -1, -6.123225e-17), (-9.267729e-23, -1, -6.123226e-17), (-6.5070306e-22, -1, -6.123245e-17), (-5.2696045e-22, -1, -6.123212e-17), (-9.267729e-23, -1, -6.123226e-17), (0, -1, -6.123225e-17), (-8.533897e-23, -1, -6.123256e-17), (-2.9179283e-22, -1, -6.123202e-17), (-6.5070306e-22, -1, -6.123245e-17), (5.567601e-23, -1, -6.123245e-17), (-2.9179283e-22, -1, -6.123202e-17), (-8.533897e-23, -1, -6.123256e-17), (-5.4073646e-24, -1, -6.1232144e-17), (-2.9179283e-22, -1, -6.123202e-17), (5.567601e-23, -1, -6.123245e-17), (-3.0518842e-22, -1, -6.1232085e-17), (-5.4073646e-24, -1, -6.1232144e-17), (5.567601e-23, -1, -6.123245e-17), (-1.2274267e-21, -1, -6.123218e-17), (-3.0518842e-22, -1, -6.1232085e-17), (5.567601e-23, -1, -6.123245e-17), (-3.0518842e-22, -1, -6.1232085e-17), (-6.3589767e-22, -1, -6.123223e-17), (-5.249384e-22, -1, -6.1232316e-17), (-5.4073646e-24, -1, -6.1232144e-17), (-5.4073646e-24, -1, -6.1232144e-17), (-5.249384e-22, -1, -6.1232316e-17), (1.8075093e-22, -1, -6.123122e-17), (-5.4073646e-24, -1, -6.1232144e-17), (1.8075093e-22, -1, -6.123122e-17), (4.2133902e-22, -1, -6.1231376e-17), (-2.9179283e-22, -1, -6.123202e-17), (-2.9179283e-22, -1, -6.123202e-17), (4.2133902e-22, -1, -6.1231376e-17), (-2.4263678e-23, -1, -6.123272e-17), (-2.9179283e-22, -1, -6.123202e-17), (-2.4263678e-23, -1, -6.123272e-17), (-6.469645e-22, -1, -6.123231e-17), (-7.7175103e-22, -1, -6.123143e-17), (-6.5070306e-22, -1, -6.123245e-17), (-2.9179283e-22, -1, -6.123202e-17), (-7.7175103e-22, -1, -6.123143e-17), (-7.7175103e-22, -1, -6.123143e-17), (-6.469645e-22, -1, -6.123231e-17), (0, -1, -6.123195e-17), (0.00045326314, -0.9999712, 0.007577902), (0.00042736702, -0.9999752, 0.0070428797), (0.00045143615, -0.9999751, 0.007046324), (0.0004548705, -0.9999712, 0.0075880517), (0.00045143615, -0.9999751, 0.007046324), (0.00042736702, -0.9999752, 0.0070428797), (0.00039287584, -0.99998075, 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(0.000015461319, -0.9999999, 0.0005679259), (0.00001982972, -0.99999994, 0.00057249767), (0.0000150695105, -0.99999994, 0.00045836007), (0.00001982972, -0.99999994, 0.00057249767), (0.00002379181, -0.9999999, 0.00047548526), (0.0000150695105, -0.99999994, 0.00045836007), (0.0000150695105, -0.99999994, 0.00045836007), (0.00002379181, -0.9999999, 0.00047548526), (0.0000149502785, -0.99999994, 0.00035524007), (0.00002379181, -0.9999999, 0.00047548526), (0.000019594603, -1, 0.00037781993), (0.0000149502785, -0.99999994, 0.00035524007), (0.0000149502785, -0.99999994, 0.00035524007), (0.000019594603, -1, 0.00037781993), (0.000016491604, -1, 0.0002861417), (0.000019594603, -1, 0.00037781993), (0.00001686244, -1, 0.00028836742), (0.000016491604, -1, 0.0002861417), (0.000016491604, -1, 0.0002861417), (0.00001686244, -1, 0.00028836742), (0.000015013587, -1, 0.00021947335), (0.00001686244, -1, 0.00028836742), (0.00001391493, -1, 0.00021107642), (0.000015013587, -1, 0.00021947335), (0.000015013587, -1, 0.00021947335), (0.00001391493, -1, 0.00021107642), (0.000010226686, -1, 0.00010994751), (0.00001391493, -1, 0.00021107642), (0.000013909594, -1, 0.00012925663), (0.000010226686, -1, 0.00010994751), (0.000013909594, -1, 0.00012925663), (0.0000010018234, -1, 0.00003147856), (0.000010226686, -1, 0.00010994751), (0.000004974253, -1, 0.000032391978), (0.0000010018234, -1, 0.00003147856), (0.000013909594, -1, 0.00012925663), (0.000004974253, -1, 0.000032391978), (-0.0000029387127, -1, 0.000002435062), (0.0000010018234, -1, 0.00003147856), (-0.0000017330298, -1, 0.0000038507283), (-0.0000029387127, -1, 0.000002435062), (0.000004974253, -1, 0.000032391978), (-0.0000017330298, -1, 0.0000038507283), (0.000004974253, -1, 0.000032391978), (9.0721767e-7, -1, 0.0000038868097), (-3.0532189e-22, -1, -6.122932e-17), (-0.0000017330298, -1, 0.0000038507283), (9.0721767e-7, -1, 0.0000038868097), (9.0721767e-7, -1, 0.0000038868097), (-8.736974e-22, -1, -6.123366e-17), (-3.0532189e-22, -1, -6.122932e-17), (-1.2263052e-21, -1, -6.123231e-17), (-8.736974e-22, -1, -6.123366e-17), (9.0721767e-7, -1, 0.0000038868097), (-1.2263052e-21, -1, -6.123231e-17), (9.0721767e-7, -1, 0.0000038868097), (7.8324815e-22, -1, -6.1233176e-17), (7.8324815e-22, -1, -6.1233176e-17), (9.0721767e-7, -1, 0.0000038868097), (-9.417867e-22, -1, -6.123014e-17), (-9.417867e-22, -1, -6.123014e-17), (9.0721767e-7, -1, 0.0000038868097), (0.00007594335, -1, 0.000022449161), (0.00007594335, -1, 0.000022449161), (9.0721767e-7, -1, 0.0000038868097), (0.000004974253, -1, 0.000032391978), (-1.2263052e-21, -1, -6.123231e-17), (2.3896725e-21, -1, -6.123334e-17), (-8.736974e-22, -1, -6.123366e-17), (2.3896725e-21, -1, -6.123334e-17), (7.2088654e-22, -1, -6.123202e-17), (-8.736974e-22, -1, -6.123366e-17), (7.2088654e-22, -1, -6.123202e-17), (9.265542e-22, -1, -6.1230245e-17), (-8.736974e-22, -1, -6.123366e-17), (-8.736974e-22, -1, -6.123366e-17), (9.265542e-22, -1, -6.1230245e-17), (5.03548e-22, -1, -6.1233e-17), (-8.736974e-22, -1, -6.123366e-17), (5.03548e-22, -1, -6.1233e-17), (-3.0532189e-22, -1, -6.122932e-17), (5.03548e-22, -1, -6.1233e-17), (-1.128467e-22, -1, -6.12292e-17), (-3.0532189e-22, -1, -6.122932e-17), (1.9892324e-22, -1, -6.123038e-17), (-1.128467e-22, -1, -6.12292e-17), (5.03548e-22, -1, -6.1233e-17), (9.265542e-22, -1, -6.1230245e-17), (1.9892324e-22, -1, -6.123038e-17), (5.03548e-22, -1, -6.1233e-17), (-3.0532189e-22, -1, -6.122932e-17), (-1.128467e-22, -1, -6.12292e-17), (-3.4962674e-22, -1, -6.1222066e-17), (-3.0532189e-22, -1, -6.122932e-17), (-3.4962674e-22, -1, -6.1222066e-17), (-2.169195e-21, -1, -6.130378e-17), (-9.133292e-22, -1, -6.124258e-17), (-3.0532189e-22, -1, -6.122932e-17), (-2.169195e-21, -1, -6.130378e-17), (-3.0532189e-22, -1, -6.122932e-17), (-9.133292e-22, -1, -6.124258e-17), (1.2418912e-21, -1, -6.1227935e-17), (-3.0532189e-22, -1, -6.122932e-17), (1.2418912e-21, -1, -6.1227935e-17), (4.168579e-22, -1, -6.12341e-17), (-3.0532189e-22, -1, -6.122932e-17), (4.168579e-22, -1, -6.12341e-17), (-0.0000017330298, -1, 0.0000038507283), (-0.0000017330298, -1, 0.0000038507283), (4.168579e-22, -1, -6.12341e-17), (1.1130442e-20, -1, -6.123129e-17), (-0.0000017330298, -1, 0.0000038507283), (1.1130442e-20, -1, -6.123129e-17), (-7.282593e-21, -1, -6.123089e-17), (1.1818559e-20, -1, -6.123561e-17), (-0.0000017330298, -1, 0.0000038507283), (-7.282593e-21, -1, -6.123089e-17), (1.5978871e-21, -1, -6.1226294e-17), (-0.0000017330298, -1, 0.0000038507283), (1.1818559e-20, -1, -6.123561e-17), (-0.0000017330298, -1, 0.0000038507283), (1.5978871e-21, -1, -6.1226294e-17), (-2.9951134e-21, -1, -6.1230834e-17), (-0.0000017330298, -1, 0.0000038507283), (-2.9951134e-21, -1, -6.1230834e-17), (-4.5947116e-22, -1, -6.1236796e-17), (-0.0000029387127, -1, 0.000002435062), (-0.0000017330298, -1, 0.0000038507283), (-4.5947116e-22, -1, -6.1236796e-17), (-0.0000029387127, -1, 0.000002435062), (-4.5947116e-22, -1, -6.1236796e-17), (3.8458118e-22, -1, -6.1231595e-17), (-0.0000029387127, -1, 0.000002435062), (3.8458118e-22, -1, -6.1231595e-17), (9.920974e-23, -1, -6.1231376e-17), (-0.0000029387127, -1, 0.000002435062), (9.920974e-23, -1, -6.1231376e-17), (1.647227e-21, -1, -6.1231324e-17), (1.647227e-21, -1, -6.1231324e-17), (9.920974e-23, -1, -6.1231376e-17), (6.9372415e-21, -1, -6.1231515e-17), (9.920974e-23, -1, -6.1231376e-17), (1.6821686e-22, -1, -6.123207e-17), (6.9372415e-21, -1, -6.1231515e-17), (9.920974e-23, -1, -6.1231376e-17), (-8.241473e-23, -1, -6.1230834e-17), (1.6821686e-22, -1, -6.123207e-17), (3.8458118e-22, -1, -6.1231595e-17), (-8.241473e-23, -1, -6.1230834e-17), (9.920974e-23, -1, -6.1231376e-17), (6.166056e-23, -1, -6.1235916e-17), (-8.241473e-23, -1, -6.1230834e-17), (3.8458118e-22, -1, -6.1231595e-17), (-4.5947116e-22, -1, -6.1236796e-17), (6.166056e-23, -1, -6.1235916e-17), (3.8458118e-22, -1, -6.1231595e-17), (5.732337e-21, -1, -6.1231906e-17), (6.166056e-23, -1, -6.1235916e-17), (-4.5947116e-22, -1, -6.1236796e-17), (-4.5947116e-22, -1, -6.1236796e-17), (1.7086884e-20, -1, -6.122272e-17), (5.732337e-21, -1, -6.1231906e-17), (-4.5947116e-22, -1, -6.1236796e-17), (-2.0554433e-20, -1, -6.123802e-17), (1.7086884e-20, -1, -6.122272e-17), (-4.5947116e-22, -1, -6.1236796e-17), (-2.9951134e-21, -1, -6.1230834e-17), (-2.0554433e-20, -1, -6.123802e-17), (5.732337e-21, -1, -6.1231906e-17), (9.2962814e-21, -1, -6.116485e-17), (6.166056e-23, -1, -6.1235916e-17), (6.166056e-23, -1, -6.1235916e-17), (9.2962814e-21, -1, -6.116485e-17), (3.8106902e-21, -1, -6.131878e-17), (6.166056e-23, -1, -6.1235916e-17), (3.8106902e-21, -1, -6.131878e-17), (9.364407e-21, -1, -6.1209546e-17), (6.166056e-23, -1, -6.1235916e-17), (9.364407e-21, -1, -6.1209546e-17), (0, -1, -6.120703e-17), (6.166056e-23, -1, -6.1235916e-17), (0, -1, -6.120703e-17), (0, -1, -6.1232045e-17), (6.166056e-23, -1, -6.1235916e-17), (0, -1, -6.1232045e-17), (0, -1, -6.122133e-17), (6.166056e-23, -1, -6.1235916e-17), (0, -1, -6.122133e-17), (0, -1, -6.1240694e-17), (6.166056e-23, -1, -6.1235916e-17), (0, -1, -6.1240694e-17), (0, -1, -6.1268136e-17), (0, -1, -6.1268136e-17), (0, -1, -6.122661e-17), (6.166056e-23, -1, -6.1235916e-17), (6.166056e-23, -1, -6.1235916e-17), (0, -1, -6.122661e-17), (-8.241473e-23, -1, -6.1230834e-17), (-8.241473e-23, -1, -6.1230834e-17), (0, -1, -6.122661e-17), (-2.2994144e-22, -1, -6.122786e-17), (-8.241473e-23, -1, -6.1230834e-17), (-2.2994144e-22, -1, -6.122786e-17), (1.6821686e-22, -1, -6.123207e-17), (1.6821686e-22, -1, -6.123207e-17), (-2.2994144e-22, -1, -6.122786e-17), (0, -1, -6.123522e-17), (0, -1, -6.123522e-17), (2.3544923e-21, -1, -6.123149e-17), (1.6821686e-22, -1, -6.123207e-17), (1.6821686e-22, -1, -6.123207e-17), (2.3544923e-21, -1, -6.123149e-17), (6.9372415e-21, -1, -6.1231515e-17), (0, -1, -6.122661e-17), (0, -1, -6.1240654e-17), (-2.2994144e-22, -1, -6.122786e-17), (0, -1, -6.1240654e-17), (0, -1, -6.130486e-17), (-2.2994144e-22, -1, -6.122786e-17), (-3.4962674e-22, -1, -6.1222066e-17), (-8.0590747e-22, -1, -6.13189e-17), (-2.169195e-21, -1, -6.130378e-17), (-8.0590747e-22, -1, -6.13189e-17), (-3.4962674e-22, -1, -6.1222066e-17), (-3.0164833e-21, -1, -6.1218525e-17), (0.00052958913, -0.9999674, 0.008059868), (0.0004548705, -0.9999712, 0.0075880517), (0.00045143615, -0.9999751, 0.007046324), (0, -1, -6.123216e-17), (-1.2618686e-21, -1, -6.123295e-17), (-1.2073672e-23, -1, -6.123245e-17), (2.3010313e-22, -1, -6.123252e-17), (0, -1, -6.123216e-17), (-1.2073672e-23, -1, -6.123245e-17), (5.660923e-23, -1, -6.1232554e-17), (-4.924853e-23, -1, -6.1232806e-17), (1.8698818e-22, -1, -6.1232614e-17)] (
# normal3f[] normals = [(0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (-0.00047480434, 0.9999719, -0.007476213), (-0.0004321736, 0.99997544, -0.0070021525), (-0.0003852808, 0.99998075, -0.0062117353), (-0.00037313532, 0.9999806, -0.00622981), (-0.00032304882, 0.9999852, -0.0054318015), (-0.0002996303, 0.9999878, -0.0049361703), (-0.0001937583, 0.9999919, -0.0040231324), (-0.00021860337, 0.9999954, -0.0030266854), (-0.00019825515, 0.9999967, -0.0025569373), (-0.00021519681, 0.99999803, -0.0019925465), (-0.00011908179, 0.99999875, -0.001616332), (-0.000029429728, 0.99999946, -0.0010719418), (-0.0000037813809, 0.9999998, -0.0007430077), (-0.000003954158, 0.9999998, -0.0007447579), (-0.00001089513, 0.9999998, -0.00068065396), (-0.00001201546, 0.9999999, -0.0006683113), (-0.00001533885, 0.9999998, -0.0005824069), (-0.000018544202, 0.9999999, -0.0005421457), (-0.00001830038, 0.99999994, -0.0004793314), (-0.000020890337, 1, -0.0004512229), (-0.000017114464, 1, -0.00037996643), (-0.000018803828, 1, -0.00036157624), (-0.00001697498, 0.99999994, -0.00029906034), (-0.000016669552, 1, -0.00027724318), (-0.000015188796, 1, -0.00022793126), (-0.000013859618, 1, -0.00020298123), (-0.000010662276, 1, -0.00012408638), (-0.000011758428, 1, -0.00010527236), (-0.0000043463842, 1, -0.000046533358), (-0.0000021026724, 1, -0.000013358976), (0.0000026094754, 1, -0.0000021803778), (0.0000015009123, 1, -0.000003738723), (-0.000007754741, 1, -0.000004201465), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (-0.00003893976, 1, -0.000011510737), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (-0.0005000827, 0.9999675, -0.008021407), (-0.0004878739, 0.99996847, -0.0079104025), (-0.00046015042, 0.9999712, -0.0075504463), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17)] (
normal3f[] normals = [(-3.6485125e-22, 1, -6.1232144e-17), (7.529882e-22, 1, -6.1233e-17), (-6.1415184e-21, 1, -6.1231376e-17), (-3.6485125e-22, 1, -6.1232144e-17), (2.4111807e-22, 1, -6.123268e-17), (7.529882e-22, 1, -6.1233e-17), (-3.6485125e-22, 1, -6.1232144e-17), (-1.2104193e-23, 1, -6.1232594e-17), (2.4111807e-22, 1, -6.123268e-17), (4.05927e-22, 1, -6.1232124e-17), (-1.2104193e-23, 1, -6.1232594e-17), (-3.6485125e-22, 1, -6.1232144e-17), (-6.78704e-24, 1, -6.123258e-17), (-1.2104193e-23, 1, -6.1232594e-17), (4.05927e-22, 1, -6.1232124e-17), (6.6063483e-22, 1, -6.1232045e-17), (-6.78704e-24, 1, -6.123258e-17), (4.05927e-22, 1, -6.1232124e-17), (-6.78704e-24, 1, -6.123258e-17), (2.1114811e-22, 1, -6.123226e-17), (-1.2104193e-23, 1, -6.1232594e-17), (-1.2104193e-23, 1, -6.1232594e-17), (2.1114811e-22, 1, -6.123226e-17), (1.1864844e-22, 1, -6.1232296e-17), (-1.2104193e-23, 1, -6.1232594e-17), (1.1864844e-22, 1, -6.1232296e-17), (2.4111807e-22, 1, -6.123268e-17), (1.1864844e-22, 1, -6.1232296e-17), (-8.300981e-23, 1, -6.1232276e-17), (2.4111807e-22, 1, -6.123268e-17), (1.1864844e-22, 1, -6.1232296e-17), (9.958789e-24, 1, -6.123247e-17), (-8.300981e-23, 1, -6.1232276e-17), (3.651635e-23, 1, -6.123238e-17), (9.958789e-24, 1, -6.123247e-17), (1.1864844e-22, 1, -6.1232296e-17), (2.1114811e-22, 1, -6.123226e-17), (3.651635e-23, 1, -6.123238e-17), (1.1864844e-22, 1, -6.1232296e-17), (9.958789e-24, 1, -6.123247e-17), (3.651635e-23, 1, -6.123238e-17), (5.660923e-23, 1, -6.1232554e-17), (9.958789e-24, 1, -6.123247e-17), (5.660923e-23, 1, -6.1232554e-17), (-1.2073672e-23, 1, -6.123245e-17), (-2.1764144e-23, 1, -6.123258e-17), (9.958789e-24, 1, -6.123247e-17), (-1.2073672e-23, 1, -6.123245e-17), (-2.1764144e-23, 1, -6.123258e-17), (-1.2073672e-23, 1, -6.123245e-17), (-8.427858e-22, 1, -6.1232243e-17), (-2.1764144e-23, 1, -6.123258e-17), (-8.427858e-22, 1, -6.1232243e-17), (-2.2203574e-22, 1, -6.1232396e-17), (-8.300981e-23, 1, -6.1232276e-17), (-2.1764144e-23, 1, -6.123258e-17), (-2.2203574e-22, 1, -6.1232396e-17), (-8.300981e-23, 1, -6.1232276e-17), (-2.2203574e-22, 1, -6.1232396e-17), (-1.2202113e-21, 1, -6.1232296e-17), (-8.300981e-23, 1, -6.1232276e-17), (-1.2202113e-21, 1, -6.1232296e-17), (2.4111807e-22, 1, -6.123268e-17), (2.4111807e-22, 1, -6.123268e-17), (-1.2202113e-21, 1, -6.1232296e-17), (7.529882e-22, 1, -6.1233e-17), (-8.300981e-23, 1, -6.1232276e-17), (9.958789e-24, 1, -6.123247e-17), (-2.1764144e-23, 1, -6.123258e-17), (-1.2073672e-23, 1, -6.123245e-17), (-1.2618686e-21, 1, -6.123295e-17), (-1.8251399e-21, 1, -6.123253e-17), (-8.427858e-22, 1, -6.1232243e-17), (5.660923e-23, 1, -6.1232554e-17), (1.8698818e-22, 1, -6.1232614e-17), (2.3010313e-22, 1, -6.123252e-17), (-1.2073672e-23, 1, -6.123245e-17), (-2.919419e-23, 1, -6.123274e-17), (-6.215274e-23, 1, -6.123288e-17), (-4.924853e-23, 1, -6.1232806e-17), (5.660923e-23, 1, -6.1232554e-17), (3.651635e-23, 1, -6.123238e-17), (-2.919419e-23, 1, -6.123274e-17), (5.660923e-23, 1, -6.1232554e-17), (4.1524664e-22, 1, -6.123251e-17), (-5.2696045e-22, 1, -6.123212e-17), (6.1782586e-22, 1, -6.1232316e-17), (-5.2696045e-22, 1, -6.123212e-17), (4.1524664e-22, 1, -6.123251e-17), (-2.509189e-22, 1, -6.123247e-17), (-9.267729e-23, 1, -6.123226e-17), (-5.2696045e-22, 1, -6.123212e-17), (-2.509189e-22, 1, -6.123247e-17), (-3.6432934e-25, 1, -6.123283e-17), (-9.267729e-23, 1, -6.123226e-17), (-2.509189e-22, 1, -6.123247e-17), (-1.7392807e-22, 1, -6.123247e-17), (-3.6432934e-25, 1, -6.123283e-17), (-2.509189e-22, 1, -6.123247e-17), (3.3923922e-22, 1, -6.1232846e-17), (-1.7392807e-22, 1, -6.123247e-17), (-2.509189e-22, 1, -6.123247e-17), (3.3923922e-22, 1, -6.1232846e-17), (-2.509189e-22, 1, -6.123247e-17), (4.1524664e-22, 1, -6.123251e-17), (-7.027061e-23, 1, -6.123144e-17), (3.3923922e-22, 1, -6.1232846e-17), (4.1524664e-22, 1, -6.123251e-17), (-1.5260621e-21, 1, -6.1233236e-17), (3.3923922e-22, 1, -6.1232846e-17), (-7.027061e-23, 1, -6.123144e-17), (3.3923922e-22, 1, -6.1232846e-17), (-1.1997939e-21, 1, -6.123334e-17), (-1.7392807e-22, 1, -6.123247e-17), (-1.1997939e-21, 1, -6.123334e-17), (-3.6432934e-25, 1, -6.123283e-17), (-1.7392807e-22, 1, -6.123247e-17), (-3.6432934e-25, 1, -6.123283e-17), (-2.6044332e-22, 1, -6.123202e-17), (-9.267729e-23, 1, -6.123226e-17), (-3.6432934e-25, 1, -6.123283e-17), (-1.0744059e-21, 1, -6.123282e-17), (-2.6044332e-22, 1, -6.123202e-17), (-1.0744059e-21, 1, -6.123282e-17), (-1.2274267e-21, 1, -6.123218e-17), (-2.6044332e-22, 1, -6.123202e-17), (-2.6044332e-22, 1, -6.123202e-17), (-1.2274267e-21, 1, -6.123218e-17), (5.567601e-23, 1, -6.123245e-17), (-2.6044332e-22, 1, -6.123202e-17), (5.567601e-23, 1, -6.123245e-17), (-8.533897e-23, 1, -6.123256e-17), (-9.267729e-23, 1, -6.123226e-17), (-2.6044332e-22, 1, -6.123202e-17), (-8.533897e-23, 1, -6.123256e-17), (-9.267729e-23, 1, -6.123226e-17), (-8.533897e-23, 1, -6.123256e-17), (-6.5070306e-22, 1, -6.123245e-17), (0, 1, -6.123225e-17), (-9.267729e-23, 1, -6.123226e-17), (-6.5070306e-22, 1, -6.123245e-17), (-5.2696045e-22, 1, -6.123212e-17), (-9.267729e-23, 1, -6.123226e-17), (0, 1, -6.123225e-17), (-8.533897e-23, 1, -6.123256e-17), (-2.9179283e-22, 1, -6.123202e-17), (-6.5070306e-22, 1, -6.123245e-17), (5.567601e-23, 1, -6.123245e-17), (-2.9179283e-22, 1, -6.123202e-17), (-8.533897e-23, 1, -6.123256e-17), (-5.4073646e-24, 1, -6.1232144e-17), (-2.9179283e-22, 1, -6.123202e-17), (5.567601e-23, 1, -6.123245e-17), (-3.0518842e-22, 1, -6.1232085e-17), (-5.4073646e-24, 1, -6.1232144e-17), (5.567601e-23, 1, -6.123245e-17), (-1.2274267e-21, 1, -6.123218e-17), (-3.0518842e-22, 1, -6.1232085e-17), (5.567601e-23, 1, -6.123245e-17), (-3.0518842e-22, 1, -6.1232085e-17), (-6.3589767e-22, 1, -6.123223e-17), (-5.249384e-22, 1, -6.1232316e-17), (-5.4073646e-24, 1, -6.1232144e-17), (-5.4073646e-24, 1, -6.1232144e-17), (-5.249384e-22, 1, -6.1232316e-17), (1.8075093e-22, 1, -6.123122e-17), (-5.4073646e-24, 1, -6.1232144e-17), (1.8075093e-22, 1, -6.123122e-17), (4.2133902e-22, 1, -6.1231376e-17), (-2.9179283e-22, 1, -6.123202e-17), (-2.9179283e-22, 1, -6.123202e-17), (4.2133902e-22, 1, -6.1231376e-17), (-2.4263678e-23, 1, -6.123272e-17), (-2.9179283e-22, 1, -6.123202e-17), (-2.4263678e-23, 1, -6.123272e-17), (-6.469645e-22, 1, -6.123231e-17), (-7.7175103e-22, 1, -6.123143e-17), (-6.5070306e-22, 1, -6.123245e-17), (-2.9179283e-22, 1, -6.123202e-17), (-7.7175103e-22, 1, -6.123143e-17), (-7.7175103e-22, 1, -6.123143e-17), (-6.469645e-22, 1, -6.123231e-17), (0, 1, -6.123195e-17), (0.00045326314, 0.9999712, 0.007577902), (0.00042736702, 0.9999752, 0.0070428797), (0.00045143615, 0.9999751, 0.007046324), (0.0004548705, 0.9999712, 0.0075880517), (0.00045143615, 0.9999751, 0.007046324), (0.00042736702, 0.9999752, 0.0070428797), (0.00039287584, 0.99998075, 0.0062020435), (0.00042736702, 0.9999752, 0.0070428797), (0.00037355695, 0.99998057, 0.006235507), (0.00039287584, 0.99998075, 0.0062020435), (0.00037355695, 0.99998057, 0.006235507), (0.00030642014, 0.99998564, 0.0053476244), (0.00039287584, 0.99998075, 0.0062020435), (0.00039287584, 0.99998075, 0.0062020435), (0.00030642014, 0.99998564, 0.0053476244), (0.00031123572, 0.99998766, 0.004964043), (0.00030642014, 0.99998564, 0.0053476244), (0.00016780948, 0.9999923, 0.0039284313), (0.00031123572, 0.99998766, 0.004964043), (0.00031123572, 0.99998766, 0.004964043), (0.00016780948, 0.9999923, 0.0039284313), (0.00025444385, 0.99999577, 0.0029239277), (0.00016780948, 0.9999923, 0.0039284313), (0.00016328246, 0.9999963, 0.0027547868), (0.00025444385, 0.99999577, 0.0029239277), (0.00025444385, 0.99999577, 0.0029239277), (0.00016328246, 0.9999963, 0.0027547868), (0.0002604198, 0.9999976, 0.0021712906), (0.00016328246, 0.9999963, 0.0027547868), (0.00012358239, 0.99999875, 0.0016435258), (0.0002604198, 0.9999976, 0.0021712906), (0.00012358239, 0.99999875, 0.0016435258), (2.970595e-05, 0.9999995, 0.001075443), (0.0002604198, 0.9999976, 0.0021712906), (2.970595e-05, 0.9999995, 0.001075443), 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-3.4180385e-14, -306.02344), (-21.73248, -3.416116e-14, -306.3374), (-21.715939, -3.4168462e-14, -306.2182), (-35.747242, -0.095022194, -365.21683), (-26.708584, -0.09023493, -365.21683), (-17.408318, -0.08601941, -365.21683), (-27.78421, -3.668622e-14, -265.1001), (-27.981388, -3.668622e-14, -265.1001), (-27.480068, -3.668622e-14, -265.1001), (-25.278801, -3.668622e-14, -265.1001), (-23.970863, -3.668622e-14, -265.1001), (-21.665123, -3.668622e-14, -265.1001), (-20.461643, -3.668622e-14, -265.1001), (-7.774334, -3.6686217e-14, -265.1001), (-8.378765, -3.6686217e-14, -265.1001), (-8.940754, -3.6686217e-14, -265.1001), (-10.732922, -3.6686217e-14, -265.1001), (-12.474358, -3.668622e-14, -265.1001), (-14.459068, -3.6686217e-14, -265.1001), (-16.007904, -3.6686217e-14, -265.1001)]
color3f[] primvars:displayColor = [(0.68561757, 0.4460292, 0.59804285)]
int[] primvars:displayColor:indices = [0]
# texCoord2f[] primvars:st1 = [(0.6368808, 0.0104429815), (0.6391797, 0.15725206), (0.62856543, 0.011046336), (0.6474941, 0.15664831), (0.70569867, 0.15242323), (0.64979297, 0.30345735), (0.6950844, 0.0062175067), (0.71631193, 0.29862854), (0.65810835, 0.302854), (0.7639023, 0.14819776), (0.7745166, 0.29440346), (0.66040725, 0.4496631), (0.753289, 0.0019920322), (0.78512985, 0.4406088), (0.72692627, 0.44483426), (0.6687216, 0.44905975), (0.6710216, 0.5958688), (0.73754054, 0.59104), (0.67933595, 0.59526545), (0.7957441, 0.5868145), (0.6807306, 0.6843276), (0.6774429, 0.6843276), (0.8028234, 0.6843276), (0.7827572, 0.6843276), (0.74431247, 0.6843276), (0.72250456, 0.6843276), (0.6858017, 0.6843276), (0.44715416, 0.014347675), (0.4109047, 0.1776328), (0.3893515, 0.022371978), (0.4687084, 0.16960849), (0.5463994, 0.079697065), (0.4902616, 0.3248701), (0.5265111, 0.1615842), (0.50495785, 0.0063233725), (0.43245792, 0.33289438), (0.56605667, 0.23522174), (0.55635315, 0.1574423), (0.5361596, 0.0019920322), (0.45401224, 0.48815525), (0.5480643, 0.3168458), (0.51181483, 0.48013094), (0.5755495, 0.31303066), (0.53336805, 0.63539296), (0.5940497, 0.46871576), (0.5696175, 0.47210783), (0.4755655, 0.64341724), (0.59117174, 0.6273686), (0.543441, 0.70795476), (0.5103489, 0.70795476), (0.61215305, 0.62445617), (0.60235864, 0.70795476), (0.57247686, 0.70795476), (0.48452446, 0.70795476), (0.61172897, 0.70795476), (0.6218069, 0.70795476), (0.3073766, 0.00199243), (0.30839017, 0.0185234), (0.0031898804, 0.025620382), (0.15230854, 0.00199243), (0.0073471, 0.081819154), (0.0016024421, 0.00199243), (0.31069514, 0.05939871), (0.31279972, 0.10028516), (0.011883853, 0.13798927), (0.31470275, 0.14118196), (0.016800191, 0.19412835), (0.31870118, 0.23189454), (0.029113993, 0.3294661), (0.32087287, 0.2811615), (0.32203302, 0.30659392), (0.02913643, 0.32971045), (0.32204217, 0.3067822), (0.029148618, 0.3298414), (0.3248286, 0.3619804), (0.03696736, 0.41577572), (0.3279813, 0.41715953), (0.044785105, 0.50170887), (0.33150044, 0.47231638), (0.048148528, 0.53963226), (0.33538383, 0.52744853), (0.051338926, 0.57756996), (0.3385824, 0.57080054), (0.05435531, 0.615522), (0.34138814, 0.60708225), (0.057198655, 0.6534872), (0.3444472, 0.64334285), (0.06367408, 0.74268067), (0.34776077, 0.67958236), (0.07119059, 0.8462317), (0.22934063, 0.94095045), (0.20343173, 0.9407276), (0.2871432, 0.9329261), (0.21954958, 0.9712913), (0.14522713, 0.944953), (0.35132766, 0.715796), (0.29172885, 0.9659566), (0.22229318, 0.9712455), (0.21800274, 0.9715528), (0.20584565, 0.9739869), (0.087023534, 0.9491781), (0.3563112, 0.7625325), (0.2318695, 0.976068), (0.34494588, 0.92490184), (0.22499415, 0.9717279), (0.21649456, 0.9719802), (0.2150413, 0.97256845), (0.14764205, 0.97821236), (0.07870815, 0.9497819), (0.3617181, 0.80922204), (0.2334662, 0.9782999), (0.22987384, 0.97418433), (0.36754832, 0.85586107), (0.34953147, 0.95793235), (0.22755355, 0.9727201), (0.21365932, 0.9733111), (0.2067473, 0.98495954), (0.089437455, 0.98243785), (0.08112306, 0.9830412), (0.234605, 0.98079735), (0.37379986, 0.9024448), (0.3807872, 0.953593), (0.35115975, 0.96965796), (0.21209107, 0.9744163), (0.20693456, 0.9832314), (0.14872791, 0.99317926), (0.23524204, 0.9834655), (0.3763135, 0.920547), (0.38236153, 0.9653266), (0.2933561, 0.97768223), (0.2108078, 0.97559), (0.20732841, 0.981538), (0.20676863, 0.98669755), (0.090524316, 0.9974047), (0.08220893, 0.9980081), (0.20967516, 0.9769078), (0.20792271, 0.9799038), (0.20693251, 0.98895377), (0.23527765, 0.983719), (0.20870835, 0.97835284), (0.23555346, 0.98570657)] (
# customData = {
# dictionary Maya = {
# int UVSetIndex = 0
# }
# }
# interpolation = "faceVarying"
# )
texCoord2f[] primvars:st = [(31.03888, -558.7149), (30.540161, -558.7511), (31.176758, -567.51984), (31.675415, -567.48364), (35.16626, -567.2302), (34.529663, -558.4615), (38.657043, -566.9768), (38.020508, -558.20807), (39.29364, -575.74554), (35.802795, -575.99896), (32.31201, -576.2524), (36.439392, -584.7677), (39.930176, -584.5143), (37.07599, -593.53644), (33.585144, -593.78986), (32.948547, -585.0211), (33.086487, -593.82605), (32.44989, -585.0573), (31.813293, -576.2886), (40.566772, -593.283), (43.203796, -557.53204), (39.73706, -558.0133), (41.029724, -567.32513), (44.49652, -566.8439), (45.789185, -576.15576), (50.335022, -570.77905), (47.963257, -566.3626), (49.156067, -561.4514), (46.670593, -557.0508), (48.54193, -556.791), (49.75305, -566.1142), (49.25592, -575.6745), (50.904358, -575.4457), (52.013916, -584.78296), (50.548584, -584.9864), (47.08185, -585.4676), (43.615112, -585.94885), (42.322388, -576.637), (48.37451, -594.7795), (51.84131, -594.2982), (53.09967, -594.12354), (44.907776, -595.26074), (25.800964, -500.43176), (44.10547, -500.0061), (26.050293, -503.8023), (44.243713, -502.45764), (44.369934, -504.9098), (26.322388, -507.17114), (44.48407, -507.3626), (26.617249, -510.5381), (44.723877, -512.80316), (27.355774, -518.655), (44.854126, -515.75793), (44.923706, -517.28326), (27.357117, -518.6697), (44.924255, -517.29456), (27.35785, -518.67755), (45.09137, -520.6051), (27.826782, -523.8315), (45.280457, -523.9145), (28.295654, -528.98535), (45.491516, -527.22253), (28.497375, -531.2598), (45.724426, -530.5291), (28.68872, -533.53516), (45.91626, -533.12915), (28.869629, -535.81134), (46.084534, -535.3052), (29.040161, -538.0883), (46.268005, -537.4799), (29.428528, -543.43774), (46.466736, -539.6534), (29.879333, -549.64825), (39.36444, -555.32904), (42.831177, -554.8478), (43.1062, -556.8288), (46.297913, -554.3665), (47.653503, -550.22577), (47.303833, -547.4286), (46.979553, -544.62836), (46.680664, -541.8253), (48.028442, -553.01965), (48.1792, -554.10535), (48.44751, -556.0873), (46.572937, -556.34753), (46.670593, -557.0508), (48.54193, -556.791), (43.203796, -557.53204), (39.718384, -557.8789), (39.680176, -557.7189), (39.611877, -557.5691), (39.516113, -557.43524), (39.396423, -557.32227), (39.257263, -557.23444), (39.10376, -557.1749), (38.941772, -557.146), (38.77722, -557.14874), (37.810547, -555.3157), (34.319702, -555.5691), (30.828918, -555.8225), (30.3302, -555.8587), (30.475037, -557.85345), (30.973694, -557.81726), (34.46454, -557.56384), (37.955322, -557.3104), (38.506836, -557.22534), (38.593994, -557.19006), (38.68445, -557.1644), (38.42395, -557.2699), (38.329895, -557.3362), (38.25293, -557.40656), (38.184998, -557.4856), (38.127014, -557.57227), (38.079895, -557.6653), (38.04425, -557.7633), (38.02063, -557.86487), (38.0094, -557.9685), (34.529663, -558.4615), (31.03888, -558.7149), (30.540161, -558.7511), (38.01068, -558.07275), (38.020508, -558.20807), (39.72052, -557.8941), (39.73706, -558.0133), (25.705757, -499.01468), (34.744415, -499.01468), (44.04468, -499.01468), (33.66879, -599.1314), (33.47161, -599.1314), (33.97293, -599.1314), (36.1742, -599.1314), (37.482136, -599.1314), (39.787876, -599.1314), (40.991356, -599.1314), (53.678665, -599.1314), (53.074234, -599.1314), (52.512245, -599.1314), (50.720078, -599.1314), (48.97864, -599.1314), (46.99393, -599.1314), (45.445095, -599.1314)] (
customData = {
dictionary Maya = {
int UVSetIndex = 1
}
}
interpolation = "faceVarying"
)
int[] primvars:st:indices = [0, 2, 1, 0, 3, 2, 0, 4, 3, 5, 4, 0, 6, 4, 5, 7, 6, 5, 6, 8, 4, 4, 8, 9, 4, 9, 3, 9, 10, 3, 9, 11, 10, 12, 11, 9, 8, 12, 9, 11, 12, 13, 11, 13, 14, 15, 11, 14, 15, 14, 16, 15, 16, 17, 10, 15, 17, 10, 17, 18, 10, 18, 3, 3, 18, 2, 10, 11, 15, 14, 127, 128, 16, 13, 131, 130, 14, 19, 133, 132, 13, 12, 19, 13, 20, 22, 21, 22, 20, 23, 24, 22, 23, 25, 24, 23, 26, 25, 23, 27, 26, 23, 27, 23, 20, 28, 27, 20, 29, 27, 28, 27, 30, 26, 30, 25, 26, 25, 31, 24, 25, 32, 31, 32, 33, 31, 31, 33, 34, 31, 34, 35, 24, 31, 35, 24, 35, 36, 37, 24, 36, 22, 24, 37, 35, 38, 36, 34, 38, 35, 39, 38, 34, 40, 39, 34, 33, 40, 34, 40, 134, 135, 39, 39, 135, 136, 39, 136, 137, 38, 38, 137, 138, 38, 138, 139, 41, 36, 38, 41, 41, 139, 140, 126, 43, 42, 125, 42, 43, 44, 43, 45, 44, 45, 46, 44, 44, 46, 47, 46, 48, 47, 47, 48, 49, 48, 50, 49, 49, 50, 51, 50, 52, 51, 52, 53, 51, 53, 54, 51, 55, 54, 53, 55, 56, 54, 55, 57, 56, 56, 57, 58, 57, 59, 58, 58, 59, 60, 59, 61, 60, 60, 61, 62, 61, 63, 62, 62, 63, 64, 63, 65, 64, 64, 65, 66, 65, 67, 66, 66, 67, 68, 67, 69, 68, 69, 70, 68, 71, 70, 69, 71, 72, 70, 73, 72, 71, 73, 71, 74, 75, 73, 74, 74, 76, 75, 77, 76, 74, 77, 74, 78, 78, 74, 79, 79, 74, 80, 80, 74, 71, 77, 81, 76, 81, 82, 76, 82, 83, 76, 76, 83, 84, 76, 84, 75, 84, 85, 75, 86, 85, 84, 83, 86, 84, 75, 85, 87, 75, 87, 88, 89, 75, 88, 75, 89, 90, 75, 90, 91, 75, 91, 73, 73, 91, 92, 73, 92, 93, 94, 73, 93, 95, 73, 94, 73, 95, 96, 73, 96, 97, 72, 73, 97, 72, 97, 98, 72, 98, 99, 72, 99, 100, 100, 99, 101, 99, 102, 101, 99, 103, 102, 98, 103, 99, 104, 103, 98, 97, 104, 98, 105, 104, 97, 97, 106, 105, 97, 107, 106, 97, 96, 107, 105, 108, 104, 104, 108, 109, 104, 109, 110, 104, 110, 111, 104, 111, 112, 104, 112, 113, 104, 113, 114, 104, 114, 115, 115, 116, 104, 104, 116, 103, 103, 116, 117, 103, 117, 102, 102, 117, 118, 118, 119, 102, 102, 119, 101, 116, 120, 117, 120, 121, 117, 87, 122, 88, 122, 87, 123, 124, 125, 42, 129, 127, 14, 130, 129, 14, 13, 132, 131]
# int[] primvars:st1:indices = [0, 1, 2, 0, 3, 1, 0, 4, 3, 6, 4, 0, 9, 4, 6, 12, 9, 6, 9, 10, 4, 4, 10, 7, 4, 7, 3, 7, 8, 3, 7, 14, 8, 13, 14, 7, 10, 13, 7, 14, 13, 17, 14, 17, 18, 15, 14, 18, 15, 18, 16, 15, 16, 11, 8, 15, 11, 8, 11, 5, 8, 5, 3, 3, 5, 1, 8, 14, 15, 18, 20, 21, 16, 17, 24, 25, 18, 19, 22, 23, 17, 13, 19, 17, 27, 28, 29, 28, 27, 30, 32, 28, 30, 36, 32, 30, 33, 36, 30, 31, 33, 30, 31, 30, 27, 34, 31, 27, 38, 31, 34, 31, 37, 33, 37, 36, 33, 36, 40, 32, 36, 42, 40, 42, 44, 40, 40, 44, 45, 40, 45, 41, 32, 40, 41, 32, 41, 39, 35, 32, 39, 28, 32, 35, 41, 43, 39, 45, 43, 41, 47, 43, 45, 50, 47, 45, 44, 50, 45, 50, 55, 54, 47, 47, 54, 51, 47, 51, 52, 43, 43, 52, 48, 43, 48, 49, 46, 39, 43, 46, 46, 49, 53, 56, 57, 58, 59, 58, 57, 60, 57, 62, 60, 62, 63, 60, 60, 63, 64, 63, 65, 64, 64, 65, 66, 65, 67, 66, 66, 67, 68, 67, 69, 68, 69, 70, 68, 70, 71, 68, 72, 71, 70, 72, 73, 71, 72, 74, 73, 73, 74, 75, 74, 76, 75, 75, 76, 77, 76, 78, 77, 77, 78, 79, 78, 80, 79, 79, 80, 81, 80, 82, 81, 81, 82, 83, 82, 84, 83, 83, 84, 85, 84, 86, 85, 86, 87, 85, 88, 87, 86, 88, 89, 87, 90, 89, 88, 90, 88, 92, 96, 90, 92, 92, 103, 96, 112, 103, 92, 112, 92, 109, 109, 92, 101, 101, 92, 95, 95, 92, 88, 112, 120, 103, 120, 127, 103, 127, 121, 103, 103, 121, 113, 103, 113, 96, 113, 122, 96, 128, 122, 113, 121, 128, 113, 96, 122, 129, 96, 129, 126, 119, 96, 126, 96, 119, 110, 96, 110, 102, 96, 102, 90, 90, 102, 111, 90, 111, 114, 104, 90, 114, 97, 90, 104, 90, 97, 93, 90, 93, 91, 89, 90, 91, 89, 91, 94, 89, 94, 100, 89, 100, 108, 108, 100, 118, 100, 117, 118, 100, 107, 117, 94, 107, 100, 99, 107, 94, 91, 99, 94, 106, 99, 91, 91, 105, 106, 91, 98, 105, 91, 93, 98, 106, 115, 99, 99, 115, 123, 99, 123, 130, 99, 130, 135, 99, 135, 139, 99, 139, 136, 99, 136, 131, 99, 131, 124, 124, 116, 99, 99, 116, 107, 107, 116, 125, 107, 125, 117, 117, 125, 133, 133, 134, 117, 117, 134, 118, 116, 132, 125, 132, 137, 125, 129, 138, 126, 138, 129, 140, 61, 59, 58, 26, 20, 18, 25, 26, 18, 17, 23, 24]
bool shadow:enable = 1
uniform token subdivisionScheme = "none"
}
}
}
}
}
def Scope "Looks"
{
def Material "lambert"
{
token outputs:mdl:surface.connect = </atlas_road_tile_237_01_usd2/Looks/lambert/Shader.outputs:out>
token outputs:surface.connect = </atlas_road_tile_237_01_usd2/Looks/lambert/lambertPreviewSurface.outputs:surface>
def Shader "lambertPreviewSurface"
{
uniform token info:id = "UsdPreviewSurface"
float inputs:clearcoat = 0
float inputs:clearcoatRoughness = 0
color3f inputs:diffuseColor.connect = </atlas_road_tile_237_01_usd2/Looks/lambert/diffuseColorTex.outputs:rgb>
float inputs:displacement = 0
color3f inputs:emissiveColor = (0, 0, 0)
float inputs:ior = 1.5
float inputs:metallic.connect = </atlas_road_tile_237_01_usd2/Looks/lambert/metallicTex.outputs:r>
normal3f inputs:normal = (0, 0, 1)
float inputs:occlusion = 1
float inputs:opacity = 1
float inputs:opacityThreshold = 0
float inputs:roughness.connect = </atlas_road_tile_237_01_usd2/Looks/lambert/roughnessTex.outputs:r>
color3f inputs:specularColor = (0, 0, 0)
int inputs:useSpecularWorkflow = 0
token outputs:surface
}
def Shader "diffuseColorTex"
{
uniform token info:id = "UsdUVTexture"
float4 inputs:fallback = (0, 0, 0, 1)
asset inputs:file = @lambertPreviewSurface/diffuseColorTex.png@
color3f outputs:rgb
}
def Shader "metallicTex"
{
uniform token info:id = "UsdUVTexture"
float4 inputs:fallback = (0, 0, 0, 1)
asset inputs:file = @lambertPreviewSurface/metallicTex.png@
float outputs:r
}
def Shader "roughnessTex"
{
uniform token info:id = "UsdUVTexture"
float4 inputs:fallback = (0, 0, 0, 1)
asset inputs:file = @lambertPreviewSurface/roughnessTex.png@
float outputs:r
}
def Shader "Shader" (
kind = "Material"
)
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
color3f inputs:diffuse_color_constant = (0.68561757, 0.4460292, 0.59804285)
token outputs:out
}
}
}
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/occlusion_quadrant.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double radius = 270.1800438313185
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (-17.686258971514064, 52.51496952187055, 502.9662731226373)
double3 target = (-36.99007381299464, 11.4077862535474, -0.02879534425244401)
}
dictionary Right = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Front"
}
dictionary renderSettings = {
float "rtx:post:lensDistortion:cameraFocalLength" = 50
token "rtx:rendermode" = "PathTracing"
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.009999999776482582
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float3 xformOp:rotateXYZ = (22, 0, 0)
double3 xformOp:scale = (1, 1, 1)
float3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Xform "Object" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
)
{
bool semantic:Semantics:params:decorator
string semantic:Semantics:params:semanticData = "object"
string semantic:Semantics:params:semanticType = "class"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
def Mesh "Cube"
{
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [1, 2, 3, 3, 2, 4, 3, 4, 5, 5, 4, 6, 5, 6, 7, 7, 6, 8, 7, 8, 1, 1, 8, 2, 2, 8, 4, 4, 8, 6, 7, 1, 5, 5, 1, 3]
point3f[] points = [(0, 0, 0), (-0.5, -0.5, 0.5), (0.5, -0.5, 0.5), (-0.5, 0.5, 0.5), (0.5, 0.5, 0.5), (-0.5, 0.5, -0.5), (0.5, 0.5, -0.5), (-0.5, -0.5, -0.5), (0.5, -0.5, -0.5)]
token visibility = "inherited"
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (100, 100, 100)
double3 xformOp:translate = (-55, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "Cube_01"
{
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [1, 2, 3, 3, 2, 4, 3, 4, 5, 5, 4, 6, 5, 6, 7, 7, 6, 8, 7, 8, 1, 1, 8, 2, 2, 8, 4, 4, 8, 6, 7, 1, 5, 5, 1, 3]
point3f[] points = [(0, 0, 0), (-0.5, -0.5, 0.5), (0.5, -0.5, 0.5), (-0.5, 0.5, 0.5), (0.5, 0.5, 0.5), (-0.5, 0.5, -0.5), (0.5, 0.5, -0.5), (-0.5, -0.5, -0.5), (0.5, -0.5, -0.5)]
token visibility = "inherited"
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (100, 100, 100)
double3 xformOp:translate = (55, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
def Xform "Occluder"
{
token visibility = "inherited"
token visibility.timeSamples = {
0: "inherited",
11: "invisible",
}
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 200)
double3 xformOp:translate.timeSamples = {
0: (0, 0, 0),
1: (-100, 0, 0),
2: (100, 0, 0),
3: (0, -100, 0),
4: (0, 100, 0),
5: (-100, -100, 0),
6: (100, -100, 0),
7: (100, 0, 0),
8: (-100, 0, 0),
9: (100, 0, 0),
10: (-100, 0, 0),
}
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
def Mesh "Cube_02"
{
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [1, 2, 3, 3, 2, 4, 3, 4, 5, 5, 4, 6, 5, 6, 7, 7, 6, 8, 7, 8, 1, 1, 8, 2, 2, 8, 4, 4, 8, 6, 7, 1, 5, 5, 1, 3]
point3f[] points = [(0, 0, 0), (-0.5, -0.5, 0.5), (0.5, -0.5, 0.5), (-0.5, 0.5, 0.5), (0.5, 0.5, 0.5), (-0.5, 0.5, -0.5), (0.5, 0.5, -0.5), (-0.5, -0.5, -0.5), (0.5, -0.5, -0.5)]
token visibility = "inherited"
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (211.93092, 200, 100)
double3 xformOp:translate = (0, 0, 100)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
def Xform "Occluder_2"
{
token visibility = "inherited"
token visibility.timeSamples = {
0: "invisible",
7: "inherited",
11: "invisible",
}
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 200)
double3 xformOp:translate.timeSamples = {
0: (0, 0, 0),
7: (0, -100, 0),
8: (0, -100, 0),
9: (0, 100, 0),
}
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
def Mesh "Cube_03"
{
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [1, 2, 3, 3, 2, 4, 3, 4, 5, 5, 4, 6, 5, 6, 7, 7, 6, 8, 7, 8, 1, 1, 8, 2, 2, 8, 4, 4, 8, 6, 7, 1, 5, 5, 1, 3]
point3f[] points = [(0, 0, 0), (-0.5, -0.5, 0.5), (0.5, -0.5, 0.5), (-0.5, 0.5, 0.5), (0.5, 0.5, 0.5), (-0.5, 0.5, -0.5), (0.5, 0.5, -0.5), (-0.5, -0.5, -0.5), (0.5, -0.5, -0.5)]
token visibility = "inherited"
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (217.9884, 200, 100)
double3 xformOp:translate = (0, 0, 100)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/scene_instance_test.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 50000)
double radius = 500
}
dictionary Perspective = {
double3 position = (485.64670945959244, 499.31261288765523, 515.0406776527499)
double3 target = (-14.353290540407405, -0.6873871123448527, 15.040677652750043)
}
dictionary Right = {
double3 position = (-50000, 0, -1.1102230246251565e-11)
double radius = 500
}
dictionary Top = {
double3 position = (-4.329780281177466e-12, 50000, 1.1102230246251565e-11)
double radius = 500
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.01
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def Mesh "Cone" (
prepend apiSchemas = ["SemanticsAPI:Semantics_JAfl"]
instanceable = true
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [0, 32, 33, 1, 1, 33, 34, 2, 2, 34, 35, 3, 3, 35, 36, 4, 4, 36, 37, 5, 5, 37, 38, 6, 6, 38, 39, 7, 7, 39, 40, 8, 8, 40, 41, 9, 9, 41, 42, 10, 10, 42, 43, 11, 11, 43, 44, 12, 12, 44, 45, 13, 13, 45, 46, 14, 14, 46, 47, 15, 15, 47, 48, 16, 16, 48, 49, 17, 17, 49, 50, 18, 18, 50, 51, 19, 19, 51, 52, 20, 20, 52, 53, 21, 21, 53, 54, 22, 22, 54, 55, 23, 23, 55, 56, 24, 24, 56, 57, 25, 25, 57, 58, 26, 26, 58, 59, 27, 27, 59, 60, 28, 28, 60, 61, 29, 29, 61, 62, 30, 30, 62, 63, 31, 31, 63, 32, 0, 32, 64, 65, 33, 33, 65, 66, 34, 34, 66, 67, 35, 35, 67, 68, 36, 36, 68, 69, 37, 37, 69, 70, 38, 38, 70, 71, 39, 39, 71, 72, 40, 40, 72, 73, 41, 41, 73, 74, 42, 42, 74, 75, 43, 43, 75, 76, 44, 44, 76, 77, 45, 45, 77, 78, 46, 46, 78, 79, 47, 47, 79, 80, 48, 48, 80, 81, 49, 49, 81, 82, 50, 50, 82, 83, 51, 51, 83, 84, 52, 52, 84, 85, 53, 53, 85, 86, 54, 54, 86, 87, 55, 55, 87, 88, 56, 56, 88, 89, 57, 57, 89, 90, 58, 58, 90, 91, 59, 59, 91, 92, 60, 60, 92, 93, 61, 61, 93, 94, 62, 62, 94, 95, 63, 63, 95, 64, 32, 64, 96, 97, 65, 65, 97, 98, 66, 66, 98, 99, 67, 67, 99, 100, 68, 68, 100, 101, 69, 69, 101, 102, 70, 70, 102, 103, 71, 71, 103, 104, 72, 72, 104, 105, 73, 73, 105, 106, 74, 74, 106, 107, 75, 75, 107, 108, 76, 76, 108, 109, 77, 77, 109, 110, 78, 78, 110, 111, 79, 79, 111, 112, 80, 80, 112, 113, 81, 81, 113, 114, 82, 82, 114, 115, 83, 83, 115, 116, 84, 84, 116, 117, 85, 85, 117, 118, 86, 86, 118, 119, 87, 87, 119, 120, 88, 88, 120, 121, 89, 89, 121, 122, 90, 90, 122, 123, 91, 91, 123, 124, 92, 92, 124, 125, 93, 93, 125, 126, 94, 94, 126, 127, 95, 95, 127, 96, 64, 96, 128, 129, 97, 97, 129, 130, 98, 98, 130, 131, 99, 99, 131, 132, 100, 100, 132, 133, 101, 101, 133, 134, 102, 102, 134, 135, 103, 103, 135, 136, 104, 104, 136, 137, 105, 105, 137, 138, 106, 106, 138, 139, 107, 107, 139, 140, 108, 108, 140, 141, 109, 109, 141, 142, 110, 110, 142, 143, 111, 111, 143, 144, 112, 112, 144, 145, 113, 113, 145, 146, 114, 114, 146, 147, 115, 115, 147, 148, 116, 116, 148, 149, 117, 117, 149, 150, 118, 118, 150, 151, 119, 119, 151, 152, 120, 120, 152, 153, 121, 121, 153, 154, 122, 122, 154, 155, 123, 123, 155, 156, 124, 124, 156, 157, 125, 125, 157, 158, 126, 126, 158, 159, 127, 127, 159, 128, 96, 160, 161, 162, 160, 162, 163, 160, 163, 164, 160, 164, 165, 160, 165, 166, 160, 166, 167, 160, 167, 168, 160, 168, 169, 160, 169, 170, 160, 170, 171, 160, 171, 172, 160, 172, 173, 160, 173, 174, 160, 174, 175, 160, 175, 176, 160, 176, 177, 160, 177, 178, 160, 178, 179, 160, 179, 180, 160, 180, 181, 160, 181, 182, 160, 182, 183, 160, 183, 184, 160, 184, 185, 160, 185, 186, 160, 186, 187, 160, 187, 188, 160, 188, 189, 160, 189, 190, 160, 190, 191, 160, 191, 192, 160, 192, 161]
normal3f[] normals = [(0.8944272, 0.4472136, 0), (0.89442724, 0.44721362, 0), (0.8772411, 0.44721362, 0.17449394), (0.877241, 0.4472136, 0.17449391), (0.877241, 0.4472136, 0.17449391), (0.8772411, 0.44721362, 0.17449394), (0.8263431, 0.4472136, 0.34228215), (0.8263431, 0.44721362, 0.34228215), (0.8263431, 0.44721362, 0.34228215), (0.8263431, 0.4472136, 0.34228215), (0.7436893, 0.4472136, 0.49691668), (0.74368936, 0.44721362, 0.4969167), (0.74368936, 0.44721362, 0.4969167), (0.7436893, 0.4472136, 0.49691668), (0.632456, 0.44721362, 0.63245505), (0.632456, 0.44721365, 0.63245505), (0.632456, 0.44721365, 0.63245505), (0.632456, 0.44721362, 0.63245505), (0.49691784, 0.4472136, 0.7436885), (0.49691784, 0.4472136, 0.7436885), (0.49691784, 0.4472136, 0.7436885), (0.49691784, 0.4472136, 0.7436885), (0.34228343, 0.4472136, 0.8263426), (0.34228346, 0.44721362, 0.8263426), (0.34228346, 0.44721362, 0.8263426), (0.34228343, 0.4472136, 0.8263426), (0.1744953, 0.4472136, 0.8772408), (0.17449528, 0.4472136, 0.8772408), (0.17449528, 0.4472136, 0.8772408), (0.1744953, 0.4472136, 0.8772408), (0.0000014049631, 0.44721362, 0.89442724), (0.0000014049629, 0.4472136, 0.8944272), (0.0000014049629, 0.4472136, 0.8944272), (0.0000014049631, 0.44721362, 0.89442724), (-0.17449255, 0.44721356, 0.8772414), (-0.17449254, 0.44721362, 0.8772414), (-0.17449254, 0.44721362, 0.8772414), (-0.17449255, 0.44721356, 0.8772414), (-0.34228083, 0.4472136, 0.82634366), (-0.34228083, 0.4472136, 0.82634366), (-0.34228083, 0.4472136, 0.82634366), (-0.34228083, 0.4472136, 0.82634366), (-0.4969155, 0.44721362, 0.74369013), (-0.49691552, 0.4472136, 0.74369013), (-0.49691552, 0.4472136, 0.74369013), (-0.4969155, 0.44721362, 0.74369013), (-0.63245404, 0.4472136, 0.632457), (-0.63245404, 0.4472136, 0.632457), (-0.63245404, 0.4472136, 0.632457), (-0.63245404, 0.4472136, 0.632457), (-0.74368775, 0.4472136, 0.496919), (-0.7436878, 0.44721362, 0.49691904), (-0.7436878, 0.44721362, 0.49691904), (-0.74368775, 0.4472136, 0.496919), (-0.82634205, 0.4472136, 0.34228474), (-0.82634205, 0.4472136, 0.34228474), (-0.82634205, 0.4472136, 0.34228474), (-0.82634205, 0.4472136, 0.34228474), (-0.8772405, 0.4472136, 0.17449667), (-0.8772405, 0.4472136, 0.17449667), (-0.8772405, 0.4472136, 0.17449667), (-0.8772405, 0.4472136, 0.17449667), (-0.89442724, 0.44721362, 0.0000028099262), (-0.8944272, 0.4472136, 0.0000028099257), (-0.8944272, 0.4472136, 0.0000028099257), (-0.89442724, 0.44721362, 0.0000028099262), (-0.8772417, 0.44721356, -0.17449118), (-0.8772416, 0.4472136, -0.17449117), (-0.8772416, 0.4472136, -0.17449117), (-0.8772417, 0.44721356, -0.17449118), (-0.8263442, 0.44721362, -0.34227955), (-0.8263442, 0.44721362, -0.34227955), (-0.8263442, 0.44721362, -0.34227955), (-0.8263442, 0.44721362, -0.34227955), (-0.7436909, 0.4472136, -0.49691436), (-0.7436909, 0.4472136, -0.49691436), (-0.7436909, 0.4472136, -0.49691436), (-0.7436909, 0.4472136, -0.49691436), (-0.63245803, 0.44721362, -0.632453), (-0.632458, 0.4472136, -0.632453), (-0.632458, 0.4472136, -0.632453), (-0.63245803, 0.44721362, -0.632453), (-0.4969202, 0.4472136, -0.743687), (-0.4969202, 0.44721362, -0.743687), (-0.4969202, 0.44721362, -0.743687), (-0.4969202, 0.4472136, -0.743687), (-0.34228605, 0.4472136, -0.8263415), (-0.34228605, 0.44721362, -0.8263415), (-0.34228605, 0.44721362, -0.8263415), (-0.34228605, 0.4472136, -0.8263415), (-0.17449805, 0.4472136, -0.8772402), (-0.17449804, 0.44721362, -0.87724024), (-0.17449804, 0.44721362, -0.87724024), (-0.17449805, 0.4472136, -0.8772402), (-0.000004214889, 0.44721362, -0.89442724), (-0.0000042148886, 0.4472136, -0.8944272), (-0.0000042148886, 0.4472136, -0.8944272), (-0.000004214889, 0.44721362, -0.89442724), (0.1744898, 0.44721362, -0.8772419), (0.1744898, 0.44721362, -0.8772419), (0.1744898, 0.44721362, -0.8772419), (0.1744898, 0.44721362, -0.8772419), (0.34227827, 0.44721356, -0.8263447), (0.34227827, 0.4472136, -0.8263448), (0.34227827, 0.4472136, -0.8263448), (0.34227827, 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(0.96875006, 0.7499992), (0.93750006, 0.7499992), (0.93750006, 0.4999995), (0.93750006, 0.4999995), (0.93750006, 0.7499992), (0.9062501, 0.7499992), (0.9062501, 0.4999995), (0.9062501, 0.4999995), (0.9062501, 0.7499992), (0.8750001, 0.7499992), (0.8750001, 0.4999995), (0.8750001, 0.4999995), (0.8750001, 0.7499992), (0.8437502, 0.7499992), (0.8437502, 0.4999995), (0.8437502, 0.4999995), (0.8437502, 0.7499992), (0.8125002, 0.7499992), (0.8125002, 0.4999995), (0.8125002, 0.4999995), (0.8125002, 0.7499992), (0.78125024, 0.7499992), (0.78125024, 0.4999995), (0.78125024, 0.4999995), (0.78125024, 0.7499992), (0.75000024, 0.7499992), (0.75000024, 0.4999995), (0.75000024, 0.4999995), (0.75000024, 0.7499992), (0.7187503, 0.7499992), (0.7187503, 0.4999995), (0.7187503, 0.4999995), (0.7187503, 0.7499992), (0.6875003, 0.7499992), (0.6875003, 0.4999995), (0.6875003, 0.4999995), (0.6875003, 0.7499992), (0.65625036, 0.7499992), (0.65625036, 0.4999995), (0.65625036, 0.4999995), (0.65625036, 0.7499992), (0.62500036, 0.7499992), (0.62500036, 0.4999995), (0.62500036, 0.4999995), (0.62500036, 0.7499992), (0.5937504, 0.7499992), (0.5937504, 0.4999995), (0.5937504, 0.4999995), (0.5937504, 0.7499992), (0.5625004, 0.7499992), (0.5625004, 0.4999995), (0.5625004, 0.4999995), (0.5625004, 0.7499992), (0.5312505, 0.7499992), (0.5312505, 0.4999995), (0.5312505, 0.4999995), (0.5312505, 0.7499992), (0.5000005, 0.7499992), (0.5000005, 0.4999995), (0.5000005, 0.4999995), (0.5000005, 0.7499992), (0.46875054, 0.7499992), (0.46875054, 0.4999995), (0.46875054, 0.4999995), (0.46875054, 0.7499992), (0.43750057, 0.7499992), (0.43750057, 0.4999995), (0.43750057, 0.4999995), (0.43750057, 0.7499992), (0.4062506, 0.7499992), (0.4062506, 0.4999995), (0.4062506, 0.4999995), (0.4062506, 0.7499992), (0.37500063, 0.7499992), (0.37500063, 0.4999995), (0.37500063, 0.4999995), (0.37500063, 0.7499992), (0.34375066, 0.7499992), (0.34375066, 0.4999995), (0.34375066, 0.4999995), (0.34375066, 0.7499992), (0.3125007, 0.7499992), (0.3125007, 0.4999995), (0.3125007, 0.4999995), (0.3125007, 0.7499992), (0.28125072, 0.7499992), (0.28125072, 0.4999995), (0.28125072, 0.4999995), (0.28125072, 0.7499992), (0.25000075, 0.7499992), (0.25000075, 0.4999995), (0.25000075, 0.4999995), (0.25000075, 0.7499992), (0.21875077, 0.7499992), (0.21875077, 0.4999995), (0.21875077, 0.4999995), (0.21875077, 0.7499992), (0.18750082, 0.7499992), (0.18750082, 0.4999995), (0.18750082, 0.4999995), (0.18750082, 0.7499992), (0.15625085, 0.7499992), (0.15625085, 0.4999995), (0.15625085, 0.4999995), (0.15625085, 0.7499992), (0.12500088, 0.7499992), (0.12500088, 0.4999995), (0.12500088, 0.4999995), (0.12500088, 0.7499992), (0.09375091, 0.7499992), (0.09375091, 0.4999995), (0.09375091, 0.4999995), (0.09375091, 0.7499992), (0.06250094, 0.7499992), (0.06250094, 0.4999995), (0.06250094, 0.4999995), (0.06250094, 0.7499992), (0.03125097, 0.7499992), (0.03125097, 0.4999995), (0.03125097, 0.4999995), (0.03125097, 0.7499992), (0, 0.7499992), (0, 0.4999995), (1, 0.7499992), (1, 0.999999), (0.96875006, 0.999999), (0.96875006, 0.7499992), (0.96875006, 0.7499992), (0.96875006, 0.999999), (0.93750006, 0.999999), (0.93750006, 0.7499992), (0.93750006, 0.7499992), (0.93750006, 0.999999), (0.9062501, 0.999999), (0.9062501, 0.7499992), (0.9062501, 0.7499992), (0.9062501, 0.999999), (0.8750001, 0.999999), (0.8750001, 0.7499992), (0.8750001, 0.7499992), (0.8750001, 0.999999), (0.8437502, 0.999999), (0.8437502, 0.7499992), (0.8437502, 0.7499992), (0.8437502, 0.999999), (0.8125002, 0.999999), (0.8125002, 0.7499992), (0.8125002, 0.7499992), (0.8125002, 0.999999), (0.78125024, 0.999999), (0.78125024, 0.7499992), (0.78125024, 0.7499992), (0.78125024, 0.999999), (0.75000024, 0.999999), (0.75000024, 0.7499992), (0.75000024, 0.7499992), (0.75000024, 0.999999), (0.7187503, 0.999999), (0.7187503, 0.7499992), (0.7187503, 0.7499992), (0.7187503, 0.999999), (0.6875003, 0.999999), (0.6875003, 0.7499992), (0.6875003, 0.7499992), (0.6875003, 0.999999), (0.65625036, 0.999999), (0.65625036, 0.7499992), (0.65625036, 0.7499992), (0.65625036, 0.999999), (0.62500036, 0.999999), (0.62500036, 0.7499992), (0.62500036, 0.7499992), (0.62500036, 0.999999), (0.5937504, 0.999999), (0.5937504, 0.7499992), (0.5937504, 0.7499992), (0.5937504, 0.999999), (0.5625004, 0.999999), (0.5625004, 0.7499992), (0.5625004, 0.7499992), (0.5625004, 0.999999), (0.5312505, 0.999999), (0.5312505, 0.7499992), (0.5312505, 0.7499992), (0.5312505, 0.999999), (0.5000005, 0.999999), (0.5000005, 0.7499992), (0.5000005, 0.7499992), (0.5000005, 0.999999), (0.46875054, 0.999999), (0.46875054, 0.7499992), (0.46875054, 0.7499992), (0.46875054, 0.999999), (0.43750057, 0.999999), (0.43750057, 0.7499992), (0.43750057, 0.7499992), (0.43750057, 0.999999), (0.4062506, 0.999999), (0.4062506, 0.7499992), (0.4062506, 0.7499992), (0.4062506, 0.999999), (0.37500063, 0.999999), (0.37500063, 0.7499992), (0.37500063, 0.7499992), (0.37500063, 0.999999), (0.34375066, 0.999999), (0.34375066, 0.7499992), (0.34375066, 0.7499992), (0.34375066, 0.999999), (0.3125007, 0.999999), (0.3125007, 0.7499992), (0.3125007, 0.7499992), (0.3125007, 0.999999), (0.28125072, 0.999999), (0.28125072, 0.7499992), (0.28125072, 0.7499992), (0.28125072, 0.999999), (0.25000075, 0.999999), (0.25000075, 0.7499992), (0.25000075, 0.7499992), (0.25000075, 0.999999), (0.21875077, 0.999999), (0.21875077, 0.7499992), (0.21875077, 0.7499992), (0.21875077, 0.999999), (0.18750082, 0.999999), (0.18750082, 0.7499992), (0.18750082, 0.7499992), (0.18750082, 0.999999), (0.15625085, 0.999999), (0.15625085, 0.7499992), (0.15625085, 0.7499992), (0.15625085, 0.999999), (0.12500088, 0.999999), (0.12500088, 0.7499992), (0.12500088, 0.7499992), (0.12500088, 0.999999), (0.09375091, 0.999999), (0.09375091, 0.7499992), (0.09375091, 0.7499992), (0.09375091, 0.999999), (0.06250094, 0.999999), (0.06250094, 0.7499992), (0.06250094, 0.7499992), (0.06250094, 0.999999), (0.03125097, 0.999999), (0.03125097, 0.7499992), (0.03125097, 0.7499992), (0.03125097, 0.999999), (0, 0.999999), (0, 0.7499992), (0.5, 0.5), (1, 0.5), (0.9903927, 0.5975451), (0.5, 0.5), (0.9903927, 0.5975451), (0.9619398, 0.6913415), (0.5, 0.5), (0.9619398, 0.6913415), (0.91573495, 0.7777849), (0.5, 0.5), (0.91573495, 0.7777849), (0.85355365, 0.8535531), (0.5, 0.5), (0.85355365, 0.8535531), (0.77778554, 0.9157345), (0.5, 0.5), (0.77778554, 0.9157345), (0.69134223, 0.9619395), (0.5, 0.5), (0.69134223, 0.9619395), (0.59754586, 0.9903925), (0.5, 0.5), (0.59754586, 0.9903925), (0.5000008, 1), (0.5, 0.5), (0.5000008, 1), (0.40245572, 0.9903928), (0.5, 0.5), (0.40245572, 0.9903928), (0.3086592, 0.96194017), (0.5, 0.5), (0.3086592, 0.96194017), (0.22221579, 0.9157354), (0.5, 0.5), (0.22221579, 0.9157354), (0.14644744, 0.85355425), (0.5, 0.5), (0.14644744, 0.85355425), (0.0842659, 0.7777862), (0.5, 0.5), (0.0842659, 0.7777862), (0.03806076, 0.691343), (0.5, 0.5), (0.03806076, 0.691343), (0.009607648, 0.5975466), (0.5, 0.5), (0.009607648, 0.5975466), (2.4674152e-12, 0.50000155), (0.5, 0.5), (2.4674152e-12, 0.50000155), (0.009607034, 0.40245646), (0.5, 0.5), (0.009607034, 0.40245646), (0.03805956, 0.3086599), (0.5, 0.5), (0.03805956, 0.3086599), (0.08426416, 0.22221643), (0.5, 0.5), (0.08426416, 0.22221643), (0.14644521, 0.146448), (0.5, 0.5), (0.14644521, 0.146448), (0.22221316, 0.08426634), (0.5, 0.5), (0.22221316, 0.08426634), (0.30865628, 0.03806106), (0.5, 0.5), (0.30865628, 0.03806106), (0.40245262, 0.0096078), (0.5, 0.5), (0.40245262, 0.0096078), (0.49999765, 5.5516702e-12), (0.5, 0.5), (0.49999765, 5.5516702e-12), (0.59754276, 0.009606881), (0.5, 0.5), (0.59754276, 0.009606881), (0.6913394, 0.038059257), (0.5, 0.5), (0.6913394, 0.038059257), (0.7777829, 0.08426372), (0.5, 0.5), (0.7777829, 0.08426372), (0.85355145, 0.14644466), (0.5, 0.5), (0.85355145, 0.14644466), (0.9157332, 0.22221252), (0.5, 0.5), (0.9157332, 0.22221252), (0.9619386, 0.30865556), (0.5, 0.5), (0.9619386, 0.30865556), (0.990392, 0.40245184), (0.5, 0.5), (0.990392, 0.40245184), (1, 0.5)] (
interpolation = "faceVarying"
)
string semantic:Semantics_JAfl:params:semanticData = "something"
string semantic:Semantics_JAfl:params:semanticType = "class"
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def "brachiosaurus_01" (
prepend apiSchemas = ["SemanticsAPI:Semantics_zxNh"]
instanceable = true
prepend references = @@@./sofa_golden.usd@@@
)
{
string semantic:Semantics_zxNh:params:semanticData = "something"
string semantic:Semantics_zxNh:params:semanticType = "class"
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (240, 240, 240)
double3 xformOp:translate = (-110.995, 0, 181.582)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def "cone" (
instanceable = false
prepend references = @@@./cone.usd@@@
)
{
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (155.889, 0, -153.261)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
def DomeLight "DomeLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float intensity = 1000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
token texture:format = "latlong"
double3 xformOp:rotateXYZ = (270, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
|
omniverse-code/kit/exts/omni.syntheticdata/omni/syntheticdata/tests/data/golden/view_np_image.py | import os
import sys
import matplotlib.pyplot as plt
import numpy as np
image = np.load(sys.argv[1])["array"]
print(image.shape)
# np.savez_compressed(f"{os.path.splitext(sys.argv[1])[0]}.npz", array=image)
# image = (image - image.min()) / image.ptp()
plt.imshow(image)
plt.show()
|
omniverse-code/kit/exts/omni.syntheticdata/docs/index.rst | omni.syntheticdata
//////////////////////////#
Introduction
************
This extension provides both C++ and python bindings that allow users to extract ground truth data from scenes loaded
and rendered in Omniverse Kit and use it for DL/RL training purposes. Data can be accessed either in host memory or
directly on device memory to provide high performance training. The scene data is provided by generating USD data
that can be rendered through the Kit renderer.
Core Concepts
*************
Sensor
======
Ground truth data is accessed through various sensors that are associated with a view in the renderer. The sensors
generally provide access to synthetic data and are either represented as images or buffers of attribute data. Attribute
data elements are usually associated with a particular instance in a scene, which is usually represented by a mesh
specified in the USD data. Sensors are objects that are managed by the user either through the API or the UI.
Synthetic Image Data
====================
Synthetic image data is represented by sensors as a 2D image. Examples of synthetic image data include RGB data,
depth data, and segmentation data. The data can be in any valid image format supported by the renderer.
Synthetic Attribute Data
========================
Synthetic attribute data is represented by sensors as raw structured data that can be accessed as an array.
The data structures used to store array elements depend on the type of sensor. Examples of synthetic attribute data
include bounding boxes. See the data structures defined below to see how various attribute data arrays define their
data.
Instance
========
An instance is a single segmentation unit in a scene that is usually represented as a mesh. An instance is usually
represented in sensor data as a unique unsigned integer ID. The renderer currently limits scenes to having 2^24
unique instances.
Semantic Class
==============
A semantic class is a classification given to a scene instance that can be used for training purposes. It is provided
as a unique string and is usually represented in sensor data as a unique unsigned integer ID. Semantic class strings
can be anything that will be used to identify scene instances, such as "car", "tree", "large", "broken", etc. The
renderer currently limits scenes to having 2^16 unique semantic classes. Semantic class data is specified inside the
USD scene data through the Semantic API schema.
Segmentation
============
Segmentation data is usually represented by sensors as synthetic image data and is used to segment image data
within a view. Examples include instance segmentation which will represent each pixel in the image data with an
instance ID and semantic segmentation which will represent each pixel in the image data with a semantic ID.
Accessing Data on Device Memory
===============================
Device Memory is usually GPU memory. Synthetic data can be accessed directly on device memory with python by using
PyTorch tensors.
Accessing Data on Host Memory
=============================
Device Memory is usually system memory. Synthetic data can be accessed directly on host memory with python through
numpy arrays.
Data Structures
***************
Below are the various data structures specified by the C++ API and accessed through python using pybind.
SensorType
==========
.. code::
enum class SensorType : uint32_t
{
// These sensors represent image data
eRgb = 0, ///< RGB data
eCamera3dPosition, ///< camera space 3d position
eDistanceToImagePlane, ///< distance to image plane in meters
eDistanceToCamera, ///< distance to camera in meters
eDepth, ///< depth data (***DEPRECATED***)
eDepthLinear, ///< linear depth data (in meters) (***DEPRECATED***)
eInstanceSegmentation, ///< instance segmentation data
eSemanticSegmentation, ///< semantic segmentation data (***DEPRECATED***)
eNormal, ///< normal vector data
eMotionVector, ///< motion vector data
eCrossCorrespondence, ///< cross correspondence data
// These sensors represent instance attribute data
eBoundingBox2DTight, ///< tight 2D bounding box data, only contains non-occluded pixels
eBoundingBox2DLoose, ///< loose 2D bounding box data, also contains occluded pixels
eBoundingBox3D, ///< 3D view space bounding box data
eOcclusion, ///< occlusion data
eTruncation, ///< truncation data
// These track valid sensor types
eSensorTypeCount, ///< the total number of valid sensor outputs
eSensorTypeInvalid = 0x7FFFFFFF ///< invalid sensor marker
};
SensorResourceType
==================
.. code::
enum class SensorResourceType
{
eTexture, ///< image data sensors
eBuffer ///< attribute data sensors
};
SensorInfo
==========
.. code::
struct SensorInfo
{
SensorType type; ///< sensor type
SensorResourceType resType; ///< sensor resource type
union
{
struct
{
uint32_t width; ///< sensor width of texture sensors
uint32_t height; ///< sensor height of texture sensors
uint32_t bpp; ///< bytes per pixel stored for texture sensors
uint32_t rowSize; ///< texture row stride in bytes
} tex;
struct
{
size_t size; ///< size in bytes of buffer sensors
} buff;
}; ///< sensor parameters
};
BoundingBox2DValues
===================
.. code::
struct BoundingBox2DValues
{
uint32_t instanceId; ///< instance ID
uint32_t semanticId; ///< semantic ID *** DEPRECATED ***
int32_t x_min; ///< left extent
int32_t y_min; ///< top extent
int32_t x_max; ///< right extent
int32_t y_max; ///< bottom extent
};
BoundingBox3DValues
===================
.. code::
struct BoundingBox3DValues
{
uint32_t instanceId; ///< instance ID
uint32_t semanticId; ///< semantic ID *** DEPRECATED ***
float x_min; ///< left extent
float y_min; ///< top extent
float z_min; ///< front extent
float x_max; ///< right extent
float y_max; ///< bottom extent
float z_max; ///< back extent
};
OcclusionValues
===============
.. code::
struct OcclusionValues
{
uint32_t instanceId; ///< instance ID
uint32_t semanticId; ///< semantic ID *** DEPRECATED ***
float occlusionRatio; ///< ratio of instance that is occluded
};
TruncationValues
================
.. code::
struct TruncationValues
{
uint32_t instanceId; ///< instance ID
uint32_t semanticId; ///< semantic ID *** DEPRECATED ***
float truncationRatio; ///< ratio of instance that is truncated
};
Python API Docs
****************
Pybind API
==========
.. code::
// Creates a sensor of specified type if none exist otherwise return the existing sensor.
//
// Args:
//
// arg0 (type): The sensor type to return
create_sensor(sensors::SensorType type)
.. code::
// Destroys the specified sensor.
//
// Args:
//
// arg0 (type): The sensor type to destroy
destroy_sensor(sensors::SensorType type)
.. code::
// Returns the width of the specified image sensor.
//
// Args:
//
// arg0 (type): The sensor to retrieve the width for
get_sensor_width(carb::sensors::SensorType type)
.. code::
// Returns the height of the specified image sensor.
//
// Args:
//
// arg0 (type): The sensor to retrieve the height for
get_sensor_height(carb::sensors::SensorType type)
.. code::
// Returns the bytes per pixel of the specified image sensor.
//
// Args:
//
// arg0 (type): The sensor to retrieve the bytes per pixel for
get_sensor_bpp(carb::sensors::SensorType type)
.. code::
// Returns the row size in bytes of the specified image sensor.
//
// Args:
//
// arg0 (type): The sensor to retrieve the row size for
get_sensor_row_size(carb::sensors::SensorType type)
.. code::
// Returns the size in bytes of the specified attribute sensor.
//
// Args:
//
// arg0 (type): The sensor to retrieve the size for
get_sensor_size(carb::sensors::SensorType type)
.. code::
// Returns a pointer to the sensor's data on device memory
//
// Args:
//
// arg0 (type): The sensor to retrieve the data for
get_sensor_device_data(carb::sensors::SensorType type)
.. code::
// Returns a pointer to the sensor's data on host memory
//
// Args:
//
// arg0 (type): The sensor to retrieve the host data for
get_sensor_host_data(carb::sensors::SensorType type)
.. code::
// Returns floating point tensor data of the image sensor on device memory
//
// Args:
//
// arg0 (type): The image sensor to retrieve the tensor data for
//
// arg1 (width): The width of the image sensor
//
// arg2 (height): The height of the image sensor
//
// arg3 (rowSize): The row size in bytes of the image sensor
get_sensor_device_float_2d_tensor(carb::sensors::SensorType type, size_t width, size_t height, size_t rowSize)
.. code::
// Returns 32-bit integer tensor data of the image sensor on device memory
//
// Args:
//
// arg0 (type): The image sensor to retrieve the tensor data for
//
// arg1 (width): The width of the image sensor
//
// arg2 (height): The height of the image sensor
//
// arg3 (rowSize): The row size in bytes of the image sensor
get_sensor_device_int32_2d_tensor(carb::sensors::SensorType type, size_t width, size_t height, size_t rowSize)
.. code::
// Returns 8-bit integer vector tensor data of the image sensor on device memory
//
// Args:
//
// arg0 (type): The image sensor to retrieve the tensor data for
//
// arg1 (width): The width of the image sensor
//
// arg2 (height): The height of the image sensor
//
// arg3 (rowSize): The row size in bytes of the image sensor
get_sensor_device_uint8_3d_tensor(carb::sensors::SensorType type, size_t width, size_t height, size_t rowSize)
.. code::
// Returns 32-bit integer numpy array data of the image sensor on host memory
//
// Args:
//
// arg0 (type): The image sensor to retrieve the numpy data for
//
// arg1 (width): The width of the image sensor
//
// arg2 (height): The height of the image sensor
//
// arg3 (rowSize): The row size in bytes of the image sensor
get_sensor_host_uint32_texture_array(carb::sensors::SensorType type, size_t width, size_t height, size_t rowSize)
.. code::
// Returns floating point numpy array data of the image sensor on host memory
//
// Args:
//
// arg0 (type): The image sensor to retrieve the numpy data for
//
// arg1 (width): The width of the image sensor
//
// arg2 (height): The height of the image sensor
//
// arg3 (rowSize): The row size in bytes of the image sensor
get_sensor_host_float_texture_array(carb::sensors::SensorType type, size_t width, size_t height, size_t rowSize)
.. code::
// Returns floating point numpy array data of the attribute sensor on host memory
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_float_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns 32-bit unsigned integer numpy array data of the attribute sensor on host memory
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_uint32_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns 32-bit signed integer numpy array data of the attribute sensor on host memory
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_int32_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns a numpy array of BoundingBox2DValues data for the attribute sensor on host memory
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_bounding_box_2d_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns a numpy array of BoundingBox3DValues data for the attribute sensor on host memory
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_bounding_box_3d_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns a numpy array of OcclusionValues data for the attribute sensor on host memory
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_occlusion_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns a numpy array of TruncationValues data for the attribute sensor on host memory (TODO)
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_truncation_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns the instance ID of the specified mesh as represented by sensor data
//
// Args:
//
// arg0 (uri): The representation of the mesh in the USD scene
get_instance_segmentation_id(const char* uri)
.. code::
// DEPRECATED (v0.3.0) Returns the semantic ID of the specified name and type as represented by sensor data
//
// Args:
//
// arg0 (type): The semantic type name
//
// arg1 (data): The semantic data name
get_semantic_segmentation_id_from_data(const char* type, const char* data)
.. code::
// DEPRECATED (v0.3.0) Returns the semantic class name of the semantic ID represented by sensor data
//
// Args:
//
// arg0 (semanticId): The semantic ID
get_semantic_segmentation_data_from_id(uint16_t semanticId)
.. code::
// DEPRECATED (v0.3.0) Specify which semantic classes to retrieve bounding boxes for
//
// Args:
//
// arg0 (semanticId): The semantic ID to retrieve bounding boxes for
set_bounding_box_semantic_segmentation_id(uint16_t semanticId)
.. code::
// DEPRECATED (v0.3.0) Specify which semantic classes to retrieve bounding boxes for
//
// Args:
//
// arg0 (data): The semantic data class name to retrieve bounding boxes for
set_bounding_box_semantic_segmentation_data(std::string data)
|
omniverse-code/kit/exts/omni.usd.schema.audio/pxr/AudioSchema/__init__.py | #!/usr/bin/env python3
#
# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import omni.log
omni.log.warn("pxr.AudioSchema is deprecated - please use pxr.OmniAudioSchema instead")
from pxr.OmniAudioSchema import *
|
omniverse-code/kit/exts/omni.usd.schema.audio/pxr/OmniAudioSchema/__init__.py | #
#====
# Copyright (c) 2019-2021, NVIDIA CORPORATION
#======
#
#
# Copyright 2016 Pixar
#
# Licensed under the Apache License, Version 2.0 (the "Apache License")
# with the following modification; you may not use this file except in
# compliance with the Apache License and the following modification to it:
# Section 6. Trademarks. is deleted and replaced with:
#
# 6. Trademarks. This License does not grant permission to use the trade
# names, trademarks, service marks, or product names of the Licensor
# and its affiliates, except as required to comply with Section 4(c) of
# the License and to reproduce the content of the NOTICE file.
#
# You may obtain a copy of the Apache License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the Apache License with the above modification is
# distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
# KIND, either express or implied. See the Apache License for the specific
# language governing permissions and limitations under the Apache License.
#
import os
import sys
py38 = (3,8)
current_version = sys.version_info
if os.name == 'nt' and current_version >= py38:
from pathlib import Path
os.add_dll_directory(Path.joinpath(Path(os.path.dirname(__file__)), Path('..\\..\\')).__str__())
from . import _omniAudioSchema
from pxr import Tf
Tf.PrepareModule(_omniAudioSchema, locals())
del Tf
try:
import __DOC
__DOC.Execute(locals())
del __DOC
except Exception:
try:
import __tmpDoc
__tmpDoc.Execute(locals())
del __tmpDoc
except:
pass
|
omniverse-code/kit/exts/omni.usd.schema.audio/pxr/OmniAudioSchema/_omniAudioSchema.pyi | from __future__ import annotations
import pxr.OmniAudioSchema._omniAudioSchema
import typing
import Boost.Python
import pxr.OmniAudioSchema
import pxr.Usd
import pxr.UsdGeom
__all__ = [
"Listener",
"OmniListener",
"OmniSound",
"Sound",
"Tokens"
]
class Listener(OmniListener, pxr.UsdGeom.Xformable, pxr.UsdGeom.Imageable, pxr.Usd.Typed, pxr.Usd.SchemaBase, Boost.Python.instance):
@staticmethod
def Define(*args, **kwargs) -> None: ...
@staticmethod
def Get(*args, **kwargs) -> None: ...
@staticmethod
def GetSchemaAttributeNames(*args, **kwargs) -> None: ...
@staticmethod
def _GetStaticTfType(*args, **kwargs) -> None: ...
__instance_size__ = 40
pass
class OmniListener(pxr.UsdGeom.Xformable, pxr.UsdGeom.Imageable, pxr.Usd.Typed, pxr.Usd.SchemaBase, Boost.Python.instance):
@staticmethod
def CreateConeAnglesAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateConeLowPassFilterAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateConeVolumesAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateOrientationFromViewAttr(*args, **kwargs) -> None: ...
@staticmethod
def Define(*args, **kwargs) -> None: ...
@staticmethod
def Get(*args, **kwargs) -> None: ...
@staticmethod
def GetConeAnglesAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetConeLowPassFilterAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetConeVolumesAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetOrientationFromViewAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetSchemaAttributeNames(*args, **kwargs) -> None: ...
@staticmethod
def _GetStaticTfType(*args, **kwargs) -> None: ...
__instance_size__ = 40
pass
class Sound(OmniSound, pxr.UsdGeom.Xformable, pxr.UsdGeom.Imageable, pxr.Usd.Typed, pxr.Usd.SchemaBase, Boost.Python.instance):
@staticmethod
def Define(*args, **kwargs) -> None: ...
@staticmethod
def Get(*args, **kwargs) -> None: ...
@staticmethod
def GetSchemaAttributeNames(*args, **kwargs) -> None: ...
@staticmethod
def _GetStaticTfType(*args, **kwargs) -> None: ...
__instance_size__ = 40
pass
class OmniSound(pxr.UsdGeom.Xformable, pxr.UsdGeom.Imageable, pxr.Usd.Typed, pxr.Usd.SchemaBase, Boost.Python.instance):
@staticmethod
def CreateAttenuationRangeAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateAttenuationTypeAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateAuralModeAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateConeAnglesAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateConeLowPassFilterAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateConeVolumesAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateEnableDistanceDelayAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateEnableDopplerAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateEnableInterauralDelayAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateEndTimeAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateFilePathAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateGainAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateLoopCountAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateMediaOffsetEndAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateMediaOffsetStartAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreatePriorityAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateStartTimeAttr(*args, **kwargs) -> None: ...
@staticmethod
def CreateTimeScaleAttr(*args, **kwargs) -> None: ...
@staticmethod
def Define(*args, **kwargs) -> None: ...
@staticmethod
def Get(*args, **kwargs) -> None: ...
@staticmethod
def GetAttenuationRangeAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetAttenuationTypeAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetAuralModeAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetConeAnglesAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetConeLowPassFilterAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetConeVolumesAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetEnableDistanceDelayAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetEnableDopplerAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetEnableInterauralDelayAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetEndTimeAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetFilePathAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetGainAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetLoopCountAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetMediaOffsetEndAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetMediaOffsetStartAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetPriorityAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetSchemaAttributeNames(*args, **kwargs) -> None: ...
@staticmethod
def GetStartTimeAttr(*args, **kwargs) -> None: ...
@staticmethod
def GetTimeScaleAttr(*args, **kwargs) -> None: ...
@staticmethod
def _GetStaticTfType(*args, **kwargs) -> None: ...
__instance_size__ = 40
pass
class Tokens(Boost.Python.instance):
attenuationRange = 'attenuationRange'
attenuationType = 'attenuationType'
auralMode = 'auralMode'
coneAngles = 'coneAngles'
coneLowPassFilter = 'coneLowPassFilter'
coneVolumes = 'coneVolumes'
default_ = 'default'
enableDistanceDelay = 'enableDistanceDelay'
enableDoppler = 'enableDoppler'
enableInterauralDelay = 'enableInterauralDelay'
endTime = 'endTime'
filePath = 'filePath'
gain = 'gain'
inverse = 'inverse'
linear = 'linear'
linearSquare = 'linearSquare'
loopCount = 'loopCount'
mediaOffsetEnd = 'mediaOffsetEnd'
mediaOffsetStart = 'mediaOffsetStart'
nonSpatial = 'nonSpatial'
off = 'off'
on = 'on'
orientationFromView = 'orientationFromView'
priority = 'priority'
spatial = 'spatial'
startTime = 'startTime'
timeScale = 'timeScale'
pass
__MFB_FULL_PACKAGE_NAME = 'omniAudioSchema'
|
omniverse-code/kit/exts/omni.usd.schema.audio/plugins/OmniAudioSchema/resources/generatedSchema.usda | #usda 1.0
(
"WARNING: THIS FILE IS GENERATED BY usdGenSchema. DO NOT EDIT."
)
class OmniSound "OmniSound" (
doc = """\r
The Sound primitive defines the parameters for spatial or non-spatial\r
audio playback from an audio asset.\r
\r
The spatial effects are calculated based on the position given by the\r
UsdGeomXformable base class, as well as some of the additional\r
properties add by this schema.\r
These prims should be attached to the object that's emitting the audio,\r
if applicable, so that the sound will not have to duplicate the\r
animation of that object.\r
The startTime and endTime attributes respect layer offsets and time\r
scaling specified by layers.\r
The time scale specified by layers does not affect audio playback\r
speed; if an alteration to the playback speed is desired, there is a\r
timeScale parameter that can be adjusted.\r
Setting a negative time scale on the layer will not result in the audio\r
being played in reverse.\r
"""
)
{
double2 attenuationRange = (0, 10000) (
displayName = "Attenuation Range"
doc = """\r
The range at which distance attenuation will occur.\r
This is only enabled when auralMode is 'spatial'.\r
When the listener's distance from the sound is less than attenuationRange.x,\r
the sound will be played at full volume.\r
When the listener's distance from the sound is between attenuationRange.x\r
and attenuationRange.y, the sound will ramp down to 0.0 volume as the\r
distance grows.\r
When the listener's distance from the sound is past attenuationRange.y,\r
the sound will be silent.\r
attenuationRange.y must be greater than attenuationRange.x.\r
"""
)
uniform token attenuationType = "inverse" (
allowedTokens = ["inverse", "linear", "linearSquare"]
displayName = "Attenuation Type"
doc = """\r
The curve that the distance attenuation will follow.\r
This is only used when auralMode is 'spatial'.\r
These are the curves that the tokens calculate:\r
- inverse: (attenuationRange.y * K) / (1.0 + distance - attenuationRange.x)\r
- linear: (distance - attenuationRange.x) / (attenuationRange.y - attenuationRange.x)\r
- linearSquare: (distance - attenuationRange.x) / (attenuationRange.y - attenuationRange.x)^2\r
\r
The inverse rolloff curve is implemented as a polynomial approximation of\r
the equation above to ensure that volume is attenuated to 0.0 when distance\r
reaches attenuationRange.y.\r
The constant K in the inverse calculation exists to specify that\r
attenuationRange.y is not the 0.5 volume point on the curve.\r
"""
)
uniform token auralMode = "spatial" (
allowedTokens = ["spatial", "nonSpatial"]
displayName = "Aural Mode"
doc = """\r
This chooses whether the sound has spatial effects, such as distance\r
attenuation, directionality, Doppler effects, etc.\r
This must be one of the following values:\r
- nonSpatial: The sound will play with no additional effects\r
inherited from its position and velocity in 3D space.\r
The intended usage of this is for non-spatial effects, such as music,\r
narration and some types of ambient sound.\r
Multi-channel audio will be played directly through to the audio\r
device, if possible; otherwise it will be downmixed as determined\r
appropriate by the application.\r
- spatial: The sound will play with some effects due to its position\r
and velocity in 3D space.\r
Mono sounds are recommended for spatial audio as multiple channels\r
will be effectively playing from the same point in 3D space.\r
"""
)
double2 coneAngles = (180, 180) (
displayName = "Cone Angles"
doc = """\r
The angles used for the directional cone of a spatial sound's audio.\r
This is used to simulate sound sources that are directional, so the\r
listener will hear the sound normally when standing in front of the sound\r
source, but the listener will hear a quieter and muffled version of the\r
sound when standing behind or at a wide angle from the sound source.\r
\r
This is only enabled when auralMode is 'spatial'.\r
A cone defines the angle from the forward vector where the sound's\r
volume begins to attenuate.\r
The cone has two angles: the inner angle (coneAngles.x) and the outer\r
angle (coneAngles.y). The inner angle must be less than or equal to the\r
outer angle.\r
An omnidirectional emitter should have these set to (180.0, 180.0).\r
When the listener is within the inner angle of this cone, the sound's\r
volume will be at coneVolumes.x and the sound's low pass filter effect\r
will be at coneLowPassFilter.x.\r
Between the inner angle and the outer angle of the cone, the volume will\r
ramp down to coneVolumes.y and the sound's low pass filter effect will\r
be ramp down to coneLowPassFilter.y.\r
When the listener is past the outer angle of the cone, the volume will\r
be at coneVolumes.y and the sound's low pass filter effect will be\r
at coneLowPassFilter.y.\r
The cone angles are specified as degrees from the forward vector of the\r
sound; these are clamped to the range of [0, 180].\r
"""
)
double2 coneLowPassFilter = (0, 0) (
displayName = "Cone Lowpass Filter"
doc = """\r
The low pass filter effect that is applied onto the cone.\r
This is a unitless range from 0.0 (disabled) to 1.0 (maximum filtering).\r
An increase in low pass filtering will result in the sound being more\r
muffled sounding, which can simulate the effect of hearing the sound\r
mostly through reverberation.\r
coneLowPassFilter.x is the low pass filter value for the inner cone.\r
coneLowPassFilter.y is the low pass filter value for the outer cone.\r
"""
)
double2 coneVolumes = (1, 0) (
displayName = "Cone Volumes"
doc = """\r
The volume in the outer region of the cone.\r
This is a volume modifier for cone calculations.\r
This multiplies by the gain.\r
coneVolumes.x is the volume for the inner cone.\r
coneVolumes.y is the volume for the outer cone.\r
"""
)
uniform token enableDistanceDelay = "default" (
allowedTokens = ["default", "on", "off"]
displayName = "Enable Distance Delay"
doc = '''\r
Choose whether a distance delay effect is applied to this sound.\r
The distance delay will cause the start time of the sound to be delayed\r
relative to the distance between the sound and the listener.\r
The delay is calculated based on the current speed of sound; for\r
example, if the listener and sound are separated by 340 meters and the\r
speed of sound is 340m/s, the delay will be 1 second.\r
Enabling this will increase the CPU cost of audio processing.\r
This value is ignored if auralMode is set to "nonSpatial"\r
This must be one of the following values:\r
- default: The state of this is inherited from the active Listener in\r
the scene.\r
- on: The distance delay effect is applied.\r
- off: The distance delay effect is not applied.\r
'''
)
uniform token enableDoppler = "default" (
allowedTokens = ["default", "on", "off"]
displayName = "Enable Doppler Effects"
doc = '''\r
choose whether the Doppler effect is applied to this sound.\r
The Doppler effect alters the pitch of a sound based on its relative\r
velocity to the listener. When the listener and a sound are moving\r
toward each other, the sound will be played at a greater speed, and when\r
they are moving away from each other, the sound will be played at a\r
lower speed.\r
Enabling the Doppler effect will increase the CPU cost of audio processing.\r
This value is ignored if auralMode is set to "nonSpatial"\r
This must be one of the following values:\r
- default: The state of this is inherited from the active Listener in\r
the scene.\r
- on: The Doppler effect is applied.\r
- off: The Doppler effect is not applied.\r
'''
)
uniform token enableInterauralDelay = "default" (
allowedTokens = ["default", "on", "off"]
displayName = "Enable Interaural Delay"
doc = """\r
Choose whether an interaural delay effect is applied to this sound.\r
This causes the sound to arrive slightly later on one ear than the other,\r
based on the sound's angle relative to the listener's front.\r
This simulates the real world effect of the delay between the right and\r
left ear when audio arrives at an angle to the head, which should improve\r
the quality of the directional audio effect.\r
Omniverse Kit only will apply this effect on mono spatial sounds when\r
the speaker configuration is stereo.\r
Note that this effect may cause slight audio distortion when an emitter's\r
relative angle to the listener changes; this is only obvious when playing\r
pure sine waves while the emitter's relative angle to the listener changes\r
rapidly.\r
Enabling this will increase the CPU cost of audio processing.\r
This value is ignored if auralMode is set to \"nonSpatial\"\r
This must be one of the following values:\r
- default: The state of this is inherited from the active Listener in\r
the scene.\r
- on: The interaural delay effect is applied.\r
- off: The interaural delay effect is not applied.\r
"""
)
uniform timecode endTime = 0 (
displayName = "End Time Index"
doc = """\r
The time in the animation timeline when this sound will end.\r
If this value is less than or equal to startTime, then the sound will\r
play until it naturally ends (or the animation timeline ends).\r
timeScale has no effect on the end time, since it's relative to the timeline.\r
This can be converted to seconds by dividing by the timeCodesPerSecond\r
value of the stage that this is within.\r
Layer offsets will be applied because this is a timecode.\r
"""
)
uniform asset filePath = @@ (
displayName = "File Path"
doc = """\r
The file path to the sound that will be played.\r
Omniverse Kit supports the following formats:\r
- Vorbis (.ogg/.oga)\r
- Opus (.ogg/.oga)\r
- FLAC (.flac or .ogg/.oga)\r
- MP3 (.mp3)\r
It is recommended to use Vorbis or Opus instead of MP3 where possible.\r
- WAVE (.wav/.wave)\r
Supported WAVE formats:\r
- 8 bit unsigned PCM\r
- 16, 24, 32 bit signed PCM\r
- 32 bit float PCM\r
Omniverse Kit supports up to 64 channels in sound assets.\r
"""
)
double gain = 1 (
displayName = "Gain"
doc = """\r
The volume of the sound.\r
This is a unitless linear volume scale where 0.0 is silence and 1.0 is full volume.\r
Setting gain above 1.0 will amplify the signal but potentially result in some distortion\r
during playback.\r
Negative volumes will invert the signal.\r
"""
)
uniform int loopCount = 0 (
displayName = "Loop Count"
doc = """\r
The number of additional loops of this sound that will be played.\r
If this is 0, the sound will play once; If this is 1, the sound will play twice; etc.\r
Negative values will cause the sound to loop infinitely.\r
"""
)
uniform double mediaOffsetEnd = 0 (
displayName = "Media Offset End"
doc = """\r
The time offset in the sound asset that the sound will finish playing at.\r
This is a time value measured in seconds.\r
The time value is relative to the start of the asset.\r
For example, a sound with mediaOffset 2 and mediaOffsetEnd 12 will play\r
for 10 seconds.\r
This value is ignored if it is less than or equal to mediaOffset.\r
"""
)
uniform double mediaOffsetStart = 0 (
displayName = "Media Offset Start"
doc = """\r
The time offset to start playing the sound asset at.\r
This is a time value measured in seconds.\r
For example, setting this to 0.2 will skip the first 0.2 seconds of the\r
sound asset being played.\r
Setting this to a value less than 0 or greater than the length of the\r
sound asset will cause the sound to not be played.\r
Omniverse Kit will automatically apply a 20ms fade-in effect on the\r
sound if this value is not set to 0, so that a pop will not occur if the\r
offset does not correspond to a zero-crossing in the sound asset.\r
"""
)
uniform int priority = 0 (
displayName = "Relative Playback Priority"
doc = """\r
The priority of the sound.\r
In Omniverse Kit, there is a limit on the number of sounds that can be\r
played simultaneously.\r
In a very busy scene which exceeds this number of sounds, some sounds\r
will stop being played to the audio device (this is referred to as the\r
sound being virtual).\r
Priority can be used to specify that some sounds are not very important\r
so they should be made virtual first and that some sounds are important\r
so they should be made virtual last.\r
A larger value corresponds to a higher priority and a lesser value\r
corresponds to a lower priority; negative values are allowed.\r
Priority values have no meaning by themselves; their only usage is to\r
specify their priority relative to other sounds. For example, 2 sounds\r
with 0 priority and 1 sound with 1 priority will function the same as 2\r
sounds with -100 priority and 1 sound with 100 priority.\r
"""
)
rel proxyPrim (
doc = '''The proxyPrim relationship allows us to link a
prim whose purpose is "render" to its (single target)
purpose="proxy" prim. This is entirely optional, but can be
useful in several scenarios:
- In a pipeline that does pruning (for complexity management)
by deactivating prims composed from asset references, when we
deactivate a purpose="render" prim, we will be able to discover
and additionally deactivate its associated purpose="proxy" prim,
so that preview renders reflect the pruning accurately.
- DCC importers may be able to make more aggressive optimizations
for interactive processing and display if they can discover the proxy
for a given render prim.
- With a little more work, a Hydra-based application will be able
to map a picked proxy prim back to its render geometry for selection.
\\note It is only valid to author the proxyPrim relationship on
prims whose purpose is "render".'''
)
uniform token purpose = "default" (
allowedTokens = ["default", "render", "proxy", "guide"]
doc = """Purpose is a classification of geometry into categories that
can each be independently included or excluded from traversals of prims
on a stage, such as rendering or bounding-box computation traversals.
See for more detail about how
purpose is computed and used."""
)
uniform timecode startTime = 0 (
displayName = "Start Time Index"
doc = """\r
The time in the animation timeline when this sound will be played.\r
If this is negative, the sound will never be played (this functionality\r
may be useful for sounds intended to be triggered from scripts).\r
This can be converted to seconds by dividing by the timeCodesPerSecond\r
value of the stage that this is within.\r
Layer offsets will be applied because this is a timecode.\r
"""
)
double timeScale = 1 (
displayName = "Time Scale"
doc = """\r
The rate at which the sound is played relative to realtime.\r
For example, setting this to 0.5 will play the sound at half speed and\r
setting this to 2.0 will play the sound at double speed.\r
Altering the playback speed of a sound will affect the pitch of the sound.\r
This does not affect the timing of the distance delay effect.\r
The limits of this setting under Omniverse Kit are [1/1024, 1024].\r
Omniverse Kit does not perform any form of antialiasing filter when\r
applying this effect, so increasing this setting excessively will cause\r
aliasing in the resulting audio.\r
"""
)
token visibility = "inherited" (
allowedTokens = ["inherited", "invisible"]
doc = '''Visibility is meant to be the simplest form of "pruning"
visibility that is supported by most DCC apps. Visibility is
animatable, allowing a sub-tree of geometry to be present for some
segment of a shot, and absent from others; unlike the action of
deactivating geometry prims, invisible geometry is still
available for inspection, for positioning, for defining volumes, etc.'''
)
uniform token[] xformOpOrder (
doc = """Encodes the sequence of transformation operations in the
order in which they should be pushed onto a transform stack while
visiting a UsdStage's prims in a graph traversal that will effect
the desired positioning for this prim and its descendant prims.
You should rarely, if ever, need to manipulate this attribute directly.
It is managed by the AddXformOp(), SetResetXformStack(), and
SetXformOpOrder(), and consulted by GetOrderedXformOps() and
GetLocalTransformation()."""
)
}
class Sound "Sound" (
doc = "Deprecated. Use OmniSound instead."
)
{
double2 attenuationRange = (0, 10000) (
displayName = "Attenuation Range"
doc = """\r
The range at which distance attenuation will occur.\r
This is only enabled when auralMode is 'spatial'.\r
When the listener's distance from the sound is less than attenuationRange.x,\r
the sound will be played at full volume.\r
When the listener's distance from the sound is between attenuationRange.x\r
and attenuationRange.y, the sound will ramp down to 0.0 volume as the\r
distance grows.\r
When the listener's distance from the sound is past attenuationRange.y,\r
the sound will be silent.\r
attenuationRange.y must be greater than attenuationRange.x.\r
"""
)
uniform token attenuationType = "inverse" (
allowedTokens = ["inverse", "linear", "linearSquare"]
displayName = "Attenuation Type"
doc = """\r
The curve that the distance attenuation will follow.\r
This is only used when auralMode is 'spatial'.\r
These are the curves that the tokens calculate:\r
- inverse: (attenuationRange.y * K) / (1.0 + distance - attenuationRange.x)\r
- linear: (distance - attenuationRange.x) / (attenuationRange.y - attenuationRange.x)\r
- linearSquare: (distance - attenuationRange.x) / (attenuationRange.y - attenuationRange.x)^2\r
\r
The inverse rolloff curve is implemented as a polynomial approximation of\r
the equation above to ensure that volume is attenuated to 0.0 when distance\r
reaches attenuationRange.y.\r
The constant K in the inverse calculation exists to specify that\r
attenuationRange.y is not the 0.5 volume point on the curve.\r
"""
)
uniform token auralMode = "spatial" (
allowedTokens = ["spatial", "nonSpatial"]
displayName = "Aural Mode"
doc = """\r
This chooses whether the sound has spatial effects, such as distance\r
attenuation, directionality, Doppler effects, etc.\r
This must be one of the following values:\r
- nonSpatial: The sound will play with no additional effects\r
inherited from its position and velocity in 3D space.\r
The intended usage of this is for non-spatial effects, such as music,\r
narration and some types of ambient sound.\r
Multi-channel audio will be played directly through to the audio\r
device, if possible; otherwise it will be downmixed as determined\r
appropriate by the application.\r
- spatial: The sound will play with some effects due to its position\r
and velocity in 3D space.\r
Mono sounds are recommended for spatial audio as multiple channels\r
will be effectively playing from the same point in 3D space.\r
"""
)
double2 coneAngles = (180, 180) (
displayName = "Cone Angles"
doc = """\r
The angles used for the directional cone of a spatial sound's audio.\r
This is used to simulate sound sources that are directional, so the\r
listener will hear the sound normally when standing in front of the sound\r
source, but the listener will hear a quieter and muffled version of the\r
sound when standing behind or at a wide angle from the sound source.\r
\r
This is only enabled when auralMode is 'spatial'.\r
A cone defines the angle from the forward vector where the sound's\r
volume begins to attenuate.\r
The cone has two angles: the inner angle (coneAngles.x) and the outer\r
angle (coneAngles.y). The inner angle must be less than or equal to the\r
outer angle.\r
An omnidirectional emitter should have these set to (180.0, 180.0).\r
When the listener is within the inner angle of this cone, the sound's\r
volume will be at coneVolumes.x and the sound's low pass filter effect\r
will be at coneLowPassFilter.x.\r
Between the inner angle and the outer angle of the cone, the volume will\r
ramp down to coneVolumes.y and the sound's low pass filter effect will\r
be ramp down to coneLowPassFilter.y.\r
When the listener is past the outer angle of the cone, the volume will\r
be at coneVolumes.y and the sound's low pass filter effect will be\r
at coneLowPassFilter.y.\r
The cone angles are specified as degrees from the forward vector of the\r
sound; these are clamped to the range of [0, 180].\r
"""
)
double2 coneLowPassFilter = (0, 0) (
displayName = "Cone Lowpass Filter"
doc = """\r
The low pass filter effect that is applied onto the cone.\r
This is a unitless range from 0.0 (disabled) to 1.0 (maximum filtering).\r
An increase in low pass filtering will result in the sound being more\r
muffled sounding, which can simulate the effect of hearing the sound\r
mostly through reverberation.\r
coneLowPassFilter.x is the low pass filter value for the inner cone.\r
coneLowPassFilter.y is the low pass filter value for the outer cone.\r
"""
)
double2 coneVolumes = (1, 0) (
displayName = "Cone Volumes"
doc = """\r
The volume in the outer region of the cone.\r
This is a volume modifier for cone calculations.\r
This multiplies by the gain.\r
coneVolumes.x is the volume for the inner cone.\r
coneVolumes.y is the volume for the outer cone.\r
"""
)
uniform token enableDistanceDelay = "default" (
allowedTokens = ["default", "on", "off"]
displayName = "Enable Distance Delay"
doc = '''\r
Choose whether a distance delay effect is applied to this sound.\r
The distance delay will cause the start time of the sound to be delayed\r
relative to the distance between the sound and the listener.\r
The delay is calculated based on the current speed of sound; for\r
example, if the listener and sound are separated by 340 meters and the\r
speed of sound is 340m/s, the delay will be 1 second.\r
Enabling this will increase the CPU cost of audio processing.\r
This value is ignored if auralMode is set to "nonSpatial"\r
This must be one of the following values:\r
- default: The state of this is inherited from the active Listener in\r
the scene.\r
- on: The distance delay effect is applied.\r
- off: The distance delay effect is not applied.\r
'''
)
uniform token enableDoppler = "default" (
allowedTokens = ["default", "on", "off"]
displayName = "Enable Doppler Effects"
doc = '''\r
choose whether the Doppler effect is applied to this sound.\r
The Doppler effect alters the pitch of a sound based on its relative\r
velocity to the listener. When the listener and a sound are moving\r
toward each other, the sound will be played at a greater speed, and when\r
they are moving away from each other, the sound will be played at a\r
lower speed.\r
Enabling the Doppler effect will increase the CPU cost of audio processing.\r
This value is ignored if auralMode is set to "nonSpatial"\r
This must be one of the following values:\r
- default: The state of this is inherited from the active Listener in\r
the scene.\r
- on: The Doppler effect is applied.\r
- off: The Doppler effect is not applied.\r
'''
)
uniform token enableInterauralDelay = "default" (
allowedTokens = ["default", "on", "off"]
displayName = "Enable Interaural Delay"
doc = """\r
Choose whether an interaural delay effect is applied to this sound.\r
This causes the sound to arrive slightly later on one ear than the other,\r
based on the sound's angle relative to the listener's front.\r
This simulates the real world effect of the delay between the right and\r
left ear when audio arrives at an angle to the head, which should improve\r
the quality of the directional audio effect.\r
Omniverse Kit only will apply this effect on mono spatial sounds when\r
the speaker configuration is stereo.\r
Note that this effect may cause slight audio distortion when an emitter's\r
relative angle to the listener changes; this is only obvious when playing\r
pure sine waves while the emitter's relative angle to the listener changes\r
rapidly.\r
Enabling this will increase the CPU cost of audio processing.\r
This value is ignored if auralMode is set to \"nonSpatial\"\r
This must be one of the following values:\r
- default: The state of this is inherited from the active Listener in\r
the scene.\r
- on: The interaural delay effect is applied.\r
- off: The interaural delay effect is not applied.\r
"""
)
uniform timecode endTime = 0 (
displayName = "End Time Index"
doc = """\r
The time in the animation timeline when this sound will end.\r
If this value is less than or equal to startTime, then the sound will\r
play until it naturally ends (or the animation timeline ends).\r
timeScale has no effect on the end time, since it's relative to the timeline.\r
This can be converted to seconds by dividing by the timeCodesPerSecond\r
value of the stage that this is within.\r
Layer offsets will be applied because this is a timecode.\r
"""
)
uniform asset filePath = @@ (
displayName = "File Path"
doc = """\r
The file path to the sound that will be played.\r
Omniverse Kit supports the following formats:\r
- Vorbis (.ogg/.oga)\r
- Opus (.ogg/.oga)\r
- FLAC (.flac or .ogg/.oga)\r
- MP3 (.mp3)\r
It is recommended to use Vorbis or Opus instead of MP3 where possible.\r
- WAVE (.wav/.wave)\r
Supported WAVE formats:\r
- 8 bit unsigned PCM\r
- 16, 24, 32 bit signed PCM\r
- 32 bit float PCM\r
Omniverse Kit supports up to 64 channels in sound assets.\r
"""
)
double gain = 1 (
displayName = "Gain"
doc = """\r
The volume of the sound.\r
This is a unitless linear volume scale where 0.0 is silence and 1.0 is full volume.\r
Setting gain above 1.0 will amplify the signal but potentially result in some distortion\r
during playback.\r
Negative volumes will invert the signal.\r
"""
)
uniform int loopCount = 0 (
displayName = "Loop Count"
doc = """\r
The number of additional loops of this sound that will be played.\r
If this is 0, the sound will play once; If this is 1, the sound will play twice; etc.\r
Negative values will cause the sound to loop infinitely.\r
"""
)
uniform double mediaOffsetEnd = 0 (
displayName = "Media Offset End"
doc = """\r
The time offset in the sound asset that the sound will finish playing at.\r
This is a time value measured in seconds.\r
The time value is relative to the start of the asset.\r
For example, a sound with mediaOffset 2 and mediaOffsetEnd 12 will play\r
for 10 seconds.\r
This value is ignored if it is less than or equal to mediaOffset.\r
"""
)
uniform double mediaOffsetStart = 0 (
displayName = "Media Offset Start"
doc = """\r
The time offset to start playing the sound asset at.\r
This is a time value measured in seconds.\r
For example, setting this to 0.2 will skip the first 0.2 seconds of the\r
sound asset being played.\r
Setting this to a value less than 0 or greater than the length of the\r
sound asset will cause the sound to not be played.\r
Omniverse Kit will automatically apply a 20ms fade-in effect on the\r
sound if this value is not set to 0, so that a pop will not occur if the\r
offset does not correspond to a zero-crossing in the sound asset.\r
"""
)
uniform int priority = 0 (
displayName = "Relative Playback Priority"
doc = """\r
The priority of the sound.\r
In Omniverse Kit, there is a limit on the number of sounds that can be\r
played simultaneously.\r
In a very busy scene which exceeds this number of sounds, some sounds\r
will stop being played to the audio device (this is referred to as the\r
sound being virtual).\r
Priority can be used to specify that some sounds are not very important\r
so they should be made virtual first and that some sounds are important\r
so they should be made virtual last.\r
A larger value corresponds to a higher priority and a lesser value\r
corresponds to a lower priority; negative values are allowed.\r
Priority values have no meaning by themselves; their only usage is to\r
specify their priority relative to other sounds. For example, 2 sounds\r
with 0 priority and 1 sound with 1 priority will function the same as 2\r
sounds with -100 priority and 1 sound with 100 priority.\r
"""
)
rel proxyPrim (
doc = '''The proxyPrim relationship allows us to link a
prim whose purpose is "render" to its (single target)
purpose="proxy" prim. This is entirely optional, but can be
useful in several scenarios:
- In a pipeline that does pruning (for complexity management)
by deactivating prims composed from asset references, when we
deactivate a purpose="render" prim, we will be able to discover
and additionally deactivate its associated purpose="proxy" prim,
so that preview renders reflect the pruning accurately.
- DCC importers may be able to make more aggressive optimizations
for interactive processing and display if they can discover the proxy
for a given render prim.
- With a little more work, a Hydra-based application will be able
to map a picked proxy prim back to its render geometry for selection.
\\note It is only valid to author the proxyPrim relationship on
prims whose purpose is "render".'''
)
uniform token purpose = "default" (
allowedTokens = ["default", "render", "proxy", "guide"]
doc = """Purpose is a classification of geometry into categories that
can each be independently included or excluded from traversals of prims
on a stage, such as rendering or bounding-box computation traversals.
See for more detail about how
purpose is computed and used."""
)
uniform timecode startTime = 0 (
displayName = "Start Time Index"
doc = """\r
The time in the animation timeline when this sound will be played.\r
If this is negative, the sound will never be played (this functionality\r
may be useful for sounds intended to be triggered from scripts).\r
This can be converted to seconds by dividing by the timeCodesPerSecond\r
value of the stage that this is within.\r
Layer offsets will be applied because this is a timecode.\r
"""
)
double timeScale = 1 (
displayName = "Time Scale"
doc = """\r
The rate at which the sound is played relative to realtime.\r
For example, setting this to 0.5 will play the sound at half speed and\r
setting this to 2.0 will play the sound at double speed.\r
Altering the playback speed of a sound will affect the pitch of the sound.\r
This does not affect the timing of the distance delay effect.\r
The limits of this setting under Omniverse Kit are [1/1024, 1024].\r
Omniverse Kit does not perform any form of antialiasing filter when\r
applying this effect, so increasing this setting excessively will cause\r
aliasing in the resulting audio.\r
"""
)
token visibility = "inherited" (
allowedTokens = ["inherited", "invisible"]
doc = '''Visibility is meant to be the simplest form of "pruning"
visibility that is supported by most DCC apps. Visibility is
animatable, allowing a sub-tree of geometry to be present for some
segment of a shot, and absent from others; unlike the action of
deactivating geometry prims, invisible geometry is still
available for inspection, for positioning, for defining volumes, etc.'''
)
uniform token[] xformOpOrder (
doc = """Encodes the sequence of transformation operations in the
order in which they should be pushed onto a transform stack while
visiting a UsdStage's prims in a graph traversal that will effect
the desired positioning for this prim and its descendant prims.
You should rarely, if ever, need to manipulate this attribute directly.
It is managed by the AddXformOp(), SetResetXformStack(), and
SetXformOpOrder(), and consulted by GetOrderedXformOps() and
GetLocalTransformation()."""
)
}
class OmniListener "OmniListener" (
doc = """\r
The Listener primitive defines the parameters for audio played to the\r
audio device by the application viewing the USD scene.\r
The most important role for the Listener is to have a position in 3D\r
space so that the spatial effects can be applied correctly.\r
This is separate from the camera because in some cases the camera does\r
not play this role suitably. An example of a case where a listener\r
detached from the camera is ideal would be a third person game;\r
attaching the listener to the camera would cause undesirable effects\r
like applying a doppler shift when the camera zooms in and attenuation\r
of sounds that are near the character being played.\r
"""
)
{
double2 coneAngles = (180, 180) (
displayName = "Cone Angles"
doc = """\r
The angles used for the directional cone of a listener's hearing.\r
A cone defines the angle from the forward vector where the listener's\r
volume begins to attenuate.\r
The cone has two angles: the inner angle (coneAngles.x) and the outer\r
angle (coneAngles.y). The inner angle must be less than or equal to the\r
outer angle.\r
An omnidirectional listener should have these set to (180.0, 180.0).\r
When the listener is within the inner angle of this cone, the\r
listener's volume will be at coneVolumes.x and the listener's low pass\r
filter effect will be at coneLowPassFilter.x.\r
Between the inner angle and the outer angle of the cone, the volume will\r
ramp down to coneVolume.y and the listener's low pass filter effect will\r
be ramp down to coneLowPassFilter.y.\r
When the listener is past the outer angle of the cone, the volume will\r
be at coneVolume.y and the listener's low pass filter effect will be\r
at coneLowPassFilter.y.\r
The cone angles are specified as degrees from the forward vector of the\r
listener; these are clamped to the range of [0, 180].\r
"""
)
double2 coneLowPassFilter = (0, 0) (
displayName = "Cone Lowpass Filter"
doc = """\r
The low pass filter effect that is applied onto the cone.\r
This is a unitless range from 0.0 (disabled) to 1.0 (maximum filtering).\r
An increase in low pass filtering will result in the audio being more\r
muffled sounding, which can simulate the effect of hearing sounds\r
mostly through reverberation.\r
"""
)
double2 coneVolumes = (1, 0) (
displayName = "Cone Volumes"
doc = """\r
The volume in the regions of the cone.\r
coneVolumes.x is the volume for the inner cone.\r
coneVolumes.y is the volume for the outer cone.\r
"""
)
uniform bool orientationFromView = 1 (
displayName = "Enable Orientation From View"
doc = """\r
This specifies whether the Listener's orientation should be taken from\r
the current camera, rather than the xform of this Listener.\r
It may be desirable to have the spatial audio listener's position\r
separate from the camera (ie: on a third person character or object),\r
but have the orientation still come from the camera; having the\r
orientation also attached to the world object may be disorienting to\r
the user/viewer.\r
An extreme example where this would be needed is a third person game\r
where the player character is a marble that rolls around.\r
"""
)
rel proxyPrim (
doc = '''The proxyPrim relationship allows us to link a
prim whose purpose is "render" to its (single target)
purpose="proxy" prim. This is entirely optional, but can be
useful in several scenarios:
- In a pipeline that does pruning (for complexity management)
by deactivating prims composed from asset references, when we
deactivate a purpose="render" prim, we will be able to discover
and additionally deactivate its associated purpose="proxy" prim,
so that preview renders reflect the pruning accurately.
- DCC importers may be able to make more aggressive optimizations
for interactive processing and display if they can discover the proxy
for a given render prim.
- With a little more work, a Hydra-based application will be able
to map a picked proxy prim back to its render geometry for selection.
\\note It is only valid to author the proxyPrim relationship on
prims whose purpose is "render".'''
)
uniform token purpose = "default" (
allowedTokens = ["default", "render", "proxy", "guide"]
doc = """Purpose is a classification of geometry into categories that
can each be independently included or excluded from traversals of prims
on a stage, such as rendering or bounding-box computation traversals.
See for more detail about how
purpose is computed and used."""
)
token visibility = "inherited" (
allowedTokens = ["inherited", "invisible"]
doc = '''Visibility is meant to be the simplest form of "pruning"
visibility that is supported by most DCC apps. Visibility is
animatable, allowing a sub-tree of geometry to be present for some
segment of a shot, and absent from others; unlike the action of
deactivating geometry prims, invisible geometry is still
available for inspection, for positioning, for defining volumes, etc.'''
)
uniform token[] xformOpOrder (
doc = """Encodes the sequence of transformation operations in the
order in which they should be pushed onto a transform stack while
visiting a UsdStage's prims in a graph traversal that will effect
the desired positioning for this prim and its descendant prims.
You should rarely, if ever, need to manipulate this attribute directly.
It is managed by the AddXformOp(), SetResetXformStack(), and
SetXformOpOrder(), and consulted by GetOrderedXformOps() and
GetLocalTransformation()."""
)
}
class Listener "Listener" (
doc = "Deprecated. Use OmniListener instead."
)
{
double2 coneAngles = (180, 180) (
displayName = "Cone Angles"
doc = """\r
The angles used for the directional cone of a listener's hearing.\r
A cone defines the angle from the forward vector where the listener's\r
volume begins to attenuate.\r
The cone has two angles: the inner angle (coneAngles.x) and the outer\r
angle (coneAngles.y). The inner angle must be less than or equal to the\r
outer angle.\r
An omnidirectional listener should have these set to (180.0, 180.0).\r
When the listener is within the inner angle of this cone, the\r
listener's volume will be at coneVolumes.x and the listener's low pass\r
filter effect will be at coneLowPassFilter.x.\r
Between the inner angle and the outer angle of the cone, the volume will\r
ramp down to coneVolume.y and the listener's low pass filter effect will\r
be ramp down to coneLowPassFilter.y.\r
When the listener is past the outer angle of the cone, the volume will\r
be at coneVolume.y and the listener's low pass filter effect will be\r
at coneLowPassFilter.y.\r
The cone angles are specified as degrees from the forward vector of the\r
listener; these are clamped to the range of [0, 180].\r
"""
)
double2 coneLowPassFilter = (0, 0) (
displayName = "Cone Lowpass Filter"
doc = """\r
The low pass filter effect that is applied onto the cone.\r
This is a unitless range from 0.0 (disabled) to 1.0 (maximum filtering).\r
An increase in low pass filtering will result in the audio being more\r
muffled sounding, which can simulate the effect of hearing sounds\r
mostly through reverberation.\r
"""
)
double2 coneVolumes = (1, 0) (
displayName = "Cone Volumes"
doc = """\r
The volume in the regions of the cone.\r
coneVolumes.x is the volume for the inner cone.\r
coneVolumes.y is the volume for the outer cone.\r
"""
)
uniform bool orientationFromView = 1 (
displayName = "Enable Orientation From View"
doc = """\r
This specifies whether the Listener's orientation should be taken from\r
the current camera, rather than the xform of this Listener.\r
It may be desirable to have the spatial audio listener's position\r
separate from the camera (ie: on a third person character or object),\r
but have the orientation still come from the camera; having the\r
orientation also attached to the world object may be disorienting to\r
the user/viewer.\r
An extreme example where this would be needed is a third person game\r
where the player character is a marble that rolls around.\r
"""
)
rel proxyPrim (
doc = '''The proxyPrim relationship allows us to link a
prim whose purpose is "render" to its (single target)
purpose="proxy" prim. This is entirely optional, but can be
useful in several scenarios:
- In a pipeline that does pruning (for complexity management)
by deactivating prims composed from asset references, when we
deactivate a purpose="render" prim, we will be able to discover
and additionally deactivate its associated purpose="proxy" prim,
so that preview renders reflect the pruning accurately.
- DCC importers may be able to make more aggressive optimizations
for interactive processing and display if they can discover the proxy
for a given render prim.
- With a little more work, a Hydra-based application will be able
to map a picked proxy prim back to its render geometry for selection.
\\note It is only valid to author the proxyPrim relationship on
prims whose purpose is "render".'''
)
uniform token purpose = "default" (
allowedTokens = ["default", "render", "proxy", "guide"]
doc = """Purpose is a classification of geometry into categories that
can each be independently included or excluded from traversals of prims
on a stage, such as rendering or bounding-box computation traversals.
See for more detail about how
purpose is computed and used."""
)
token visibility = "inherited" (
allowedTokens = ["inherited", "invisible"]
doc = '''Visibility is meant to be the simplest form of "pruning"
visibility that is supported by most DCC apps. Visibility is
animatable, allowing a sub-tree of geometry to be present for some
segment of a shot, and absent from others; unlike the action of
deactivating geometry prims, invisible geometry is still
available for inspection, for positioning, for defining volumes, etc.'''
)
uniform token[] xformOpOrder (
doc = """Encodes the sequence of transformation operations in the
order in which they should be pushed onto a transform stack while
visiting a UsdStage's prims in a graph traversal that will effect
the desired positioning for this prim and its descendant prims.
You should rarely, if ever, need to manipulate this attribute directly.
It is managed by the AddXformOp(), SetResetXformStack(), and
SetXformOpOrder(), and consulted by GetOrderedXformOps() and
GetLocalTransformation()."""
)
}
|
omniverse-code/kit/exts/omni.usd.schema.audio/plugins/OmniAudioSchema/resources/OmniAudioSchema/schema.usda | #usda 1.0
(
subLayers = [
@usdGeom/schema.usda@
]
)
over "GLOBAL" (
customData = {
string libraryName = "omniAudioSchema"
string libraryPath = "./"
string libraryPrefix = "OmniAudioSchema"
}
)
{
}
# The descriptor for a sound asset that can play in the animation timeline
class OmniSound "OmniSound"
(
inherits = </Xformable>
doc = """
The Sound primitive defines the parameters for spatial or non-spatial
audio playback from an audio asset.
The spatial effects are calculated based on the position given by the
UsdGeomXformable base class, as well as some of the additional
properties add by this schema.
These prims should be attached to the object that's emitting the audio,
if applicable, so that the sound will not have to duplicate the
animation of that object.
The startTime and endTime attributes respect layer offsets and time
scaling specified by layers.
The time scale specified by layers does not affect audio playback
speed; if an alteration to the playback speed is desired, there is a
timeScale parameter that can be adjusted.
Setting a negative time scale on the layer will not result in the audio
being played in reverse.
"""
)
{
uniform asset filePath = @@ (
displayName = "File Path"
doc = """
The file path to the sound that will be played.
Omniverse Kit supports the following formats:
- Vorbis (.ogg/.oga)
- Opus (.ogg/.oga)
- FLAC (.flac or .ogg/.oga)
- MP3 (.mp3)
It is recommended to use Vorbis or Opus instead of MP3 where possible.
- WAVE (.wav/.wave)
Supported WAVE formats:
- 8 bit unsigned PCM
- 16, 24, 32 bit signed PCM
- 32 bit float PCM
Omniverse Kit supports up to 64 channels in sound assets.
""")
uniform token auralMode = "spatial" (allowedTokens = ["spatial", "nonSpatial"]
displayName = "Aural Mode"
doc = """
This chooses whether the sound has spatial effects, such as distance
attenuation, directionality, Doppler effects, etc.
This must be one of the following values:
- nonSpatial: The sound will play with no additional effects
inherited from its position and velocity in 3D space.
The intended usage of this is for non-spatial effects, such as music,
narration and some types of ambient sound.
Multi-channel audio will be played directly through to the audio
device, if possible; otherwise it will be downmixed as determined
appropriate by the application.
- spatial: The sound will play with some effects due to its position
and velocity in 3D space.
Mono sounds are recommended for spatial audio as multiple channels
will be effectively playing from the same point in 3D space.
""")
uniform token enableDoppler = "default" (allowedTokens = ["default", "on", "off"]
displayName = "Enable Doppler Effects"
doc = """
choose whether the Doppler effect is applied to this sound.
The Doppler effect alters the pitch of a sound based on its relative
velocity to the listener. When the listener and a sound are moving
toward each other, the sound will be played at a greater speed, and when
they are moving away from each other, the sound will be played at a
lower speed.
Enabling the Doppler effect will increase the CPU cost of audio processing.
This value is ignored if auralMode is set to "nonSpatial"
This must be one of the following values:
- default: The state of this is inherited from the active Listener in
the scene.
- on: The Doppler effect is applied.
- off: The Doppler effect is not applied.
""")
uniform token enableDistanceDelay = "default" (allowedTokens = ["default", "on", "off"]
displayName = "Enable Distance Delay"
doc = """
Choose whether a distance delay effect is applied to this sound.
The distance delay will cause the start time of the sound to be delayed
relative to the distance between the sound and the listener.
The delay is calculated based on the current speed of sound; for
example, if the listener and sound are separated by 340 meters and the
speed of sound is 340m/s, the delay will be 1 second.
Enabling this will increase the CPU cost of audio processing.
This value is ignored if auralMode is set to "nonSpatial"
This must be one of the following values:
- default: The state of this is inherited from the active Listener in
the scene.
- on: The distance delay effect is applied.
- off: The distance delay effect is not applied.
""")
uniform token enableInterauralDelay = "default" (allowedTokens = ["default", "on", "off"]
displayName = "Enable Interaural Delay"
doc = """
Choose whether an interaural delay effect is applied to this sound.
This causes the sound to arrive slightly later on one ear than the other,
based on the sound's angle relative to the listener's front.
This simulates the real world effect of the delay between the right and
left ear when audio arrives at an angle to the head, which should improve
the quality of the directional audio effect.
Omniverse Kit only will apply this effect on mono spatial sounds when
the speaker configuration is stereo.
Note that this effect may cause slight audio distortion when an emitter's
relative angle to the listener changes; this is only obvious when playing
pure sine waves while the emitter's relative angle to the listener changes
rapidly.
Enabling this will increase the CPU cost of audio processing.
This value is ignored if auralMode is set to "nonSpatial"
This must be one of the following values:
- default: The state of this is inherited from the active Listener in
the scene.
- on: The interaural delay effect is applied.
- off: The interaural delay effect is not applied.
""")
uniform int loopCount = 0 (
displayName = "Loop Count"
doc = """
The number of additional loops of this sound that will be played.
If this is 0, the sound will play once; If this is 1, the sound will play twice; etc.
Negative values will cause the sound to loop infinitely.
""")
uniform double mediaOffsetStart = 0.0 (
displayName = "Media Offset Start"
doc = """
The time offset to start playing the sound asset at.
This is a time value measured in seconds.
For example, setting this to 0.2 will skip the first 0.2 seconds of the
sound asset being played.
Setting this to a value less than 0 or greater than the length of the
sound asset will cause the sound to not be played.
Omniverse Kit will automatically apply a 20ms fade-in effect on the
sound if this value is not set to 0, so that a pop will not occur if the
offset does not correspond to a zero-crossing in the sound asset.
""")
uniform double mediaOffsetEnd = 0.0 (
displayName = "Media Offset End"
doc = """
The time offset in the sound asset that the sound will finish playing at.
This is a time value measured in seconds.
The time value is relative to the start of the asset.
For example, a sound with mediaOffset 2 and mediaOffsetEnd 12 will play
for 10 seconds.
This value is ignored if it is less than or equal to mediaOffset.
""")
uniform timecode startTime = 0.0 (
displayName = "Start Time Index"
doc = """
The time in the animation timeline when this sound will be played.
If this is negative, the sound will never be played (this functionality
may be useful for sounds intended to be triggered from scripts).
This can be converted to seconds by dividing by the timeCodesPerSecond
value of the stage that this is within.
Layer offsets will be applied because this is a timecode.
""")
uniform timecode endTime = 0.0 (
displayName = "End Time Index"
doc = """
The time in the animation timeline when this sound will end.
If this value is less than or equal to startTime, then the sound will
play until it naturally ends (or the animation timeline ends).
timeScale has no effect on the end time, since it's relative to the timeline.
This can be converted to seconds by dividing by the timeCodesPerSecond
value of the stage that this is within.
Layer offsets will be applied because this is a timecode.
""")
uniform int priority = 0 (
displayName = "Relative Playback Priority"
doc = """
The priority of the sound.
In Omniverse Kit, there is a limit on the number of sounds that can be
played simultaneously.
In a very busy scene which exceeds this number of sounds, some sounds
will stop being played to the audio device (this is referred to as the
sound being virtual).
Priority can be used to specify that some sounds are not very important
so they should be made virtual first and that some sounds are important
so they should be made virtual last.
A larger value corresponds to a higher priority and a lesser value
corresponds to a lower priority; negative values are allowed.
Priority values have no meaning by themselves; their only usage is to
specify their priority relative to other sounds. For example, 2 sounds
with 0 priority and 1 sound with 1 priority will function the same as 2
sounds with -100 priority and 1 sound with 100 priority.
""")
uniform token attenuationType = "inverse" (allowedTokens = ["inverse", "linear", "linearSquare"]
displayName = "Attenuation Type"
doc = """
The curve that the distance attenuation will follow.
This is only used when auralMode is 'spatial'.
These are the curves that the tokens calculate:
- inverse: (attenuationRange.y * K) / (1.0 + distance - attenuationRange.x)
- linear: (distance - attenuationRange.x) / (attenuationRange.y - attenuationRange.x)
- linearSquare: (distance - attenuationRange.x) / (attenuationRange.y - attenuationRange.x)^2
The inverse rolloff curve is implemented as a polynomial approximation of
the equation above to ensure that volume is attenuated to 0.0 when distance
reaches attenuationRange.y.
The constant K in the inverse calculation exists to specify that
attenuationRange.y is not the 0.5 volume point on the curve.
""")
double2 attenuationRange = (0.0, 10000.0) (
displayName = "Attenuation Range"
doc = """
The range at which distance attenuation will occur.
This is only enabled when auralMode is 'spatial'.
When the listener's distance from the sound is less than attenuationRange.x,
the sound will be played at full volume.
When the listener's distance from the sound is between attenuationRange.x
and attenuationRange.y, the sound will ramp down to 0.0 volume as the
distance grows.
When the listener's distance from the sound is past attenuationRange.y,
the sound will be silent.
attenuationRange.y must be greater than attenuationRange.x.
""")
double gain = 1.0 (
displayName = "Gain"
doc = """
The volume of the sound.
This is a unitless linear volume scale where 0.0 is silence and 1.0 is full volume.
Setting gain above 1.0 will amplify the signal but potentially result in some distortion
during playback.
Negative volumes will invert the signal.
""")
double timeScale = 1.0 (
displayName = "Time Scale"
doc = """
The rate at which the sound is played relative to realtime.
For example, setting this to 0.5 will play the sound at half speed and
setting this to 2.0 will play the sound at double speed.
Altering the playback speed of a sound will affect the pitch of the sound.
This does not affect the timing of the distance delay effect.
The limits of this setting under Omniverse Kit are [1/1024, 1024].
Omniverse Kit does not perform any form of antialiasing filter when
applying this effect, so increasing this setting excessively will cause
aliasing in the resulting audio.
""")
double2 coneAngles = (180.0, 180.0) (
displayName = "Cone Angles"
doc = """
The angles used for the directional cone of a spatial sound's audio.
This is used to simulate sound sources that are directional, so the
listener will hear the sound normally when standing in front of the sound
source, but the listener will hear a quieter and muffled version of the
sound when standing behind or at a wide angle from the sound source.
This is only enabled when auralMode is 'spatial'.
A cone defines the angle from the forward vector where the sound's
volume begins to attenuate.
The cone has two angles: the inner angle (coneAngles.x) and the outer
angle (coneAngles.y). The inner angle must be less than or equal to the
outer angle.
An omnidirectional emitter should have these set to (180.0, 180.0).
When the listener is within the inner angle of this cone, the sound's
volume will be at coneVolumes.x and the sound's low pass filter effect
will be at coneLowPassFilter.x.
Between the inner angle and the outer angle of the cone, the volume will
ramp down to coneVolumes.y and the sound's low pass filter effect will
be ramp down to coneLowPassFilter.y.
When the listener is past the outer angle of the cone, the volume will
be at coneVolumes.y and the sound's low pass filter effect will be
at coneLowPassFilter.y.
The cone angles are specified as degrees from the forward vector of the
sound; these are clamped to the range of [0, 180].
""")
double2 coneVolumes = (1.0, 0.0) (
displayName = "Cone Volumes"
doc = """
The volume in the outer region of the cone.
This is a volume modifier for cone calculations.
This multiplies by the gain.
coneVolumes.x is the volume for the inner cone.
coneVolumes.y is the volume for the outer cone.
""")
double2 coneLowPassFilter = (0.0, 0.0) (
displayName = "Cone Lowpass Filter"
doc = """
The low pass filter effect that is applied onto the cone.
This is a unitless range from 0.0 (disabled) to 1.0 (maximum filtering).
An increase in low pass filtering will result in the sound being more
muffled sounding, which can simulate the effect of hearing the sound
mostly through reverberation.
coneLowPassFilter.x is the low pass filter value for the inner cone.
coneLowPassFilter.y is the low pass filter value for the outer cone.
""")
}
class Sound "Sound"
(
inherits = </OmniSound>
doc = """Deprecated. Use OmniSound instead."""
)
{
}
class OmniListener "OmniListener"
(
inherits = </Xformable>
doc = """
The Listener primitive defines the parameters for audio played to the
audio device by the application viewing the USD scene.
The most important role for the Listener is to have a position in 3D
space so that the spatial effects can be applied correctly.
This is separate from the camera because in some cases the camera does
not play this role suitably. An example of a case where a listener
detached from the camera is ideal would be a third person game;
attaching the listener to the camera would cause undesirable effects
like applying a doppler shift when the camera zooms in and attenuation
of sounds that are near the character being played.
"""
)
{
uniform bool orientationFromView = true (
displayName = "Enable Orientation From View"
doc = """
This specifies whether the Listener's orientation should be taken from
the current camera, rather than the xform of this Listener.
It may be desirable to have the spatial audio listener's position
separate from the camera (ie: on a third person character or object),
but have the orientation still come from the camera; having the
orientation also attached to the world object may be disorienting to
the user/viewer.
An extreme example where this would be needed is a third person game
where the player character is a marble that rolls around.
""")
double2 coneAngles = (180.0, 180.0) (
displayName = "Cone Angles"
doc = """
The angles used for the directional cone of a listener's hearing.
A cone defines the angle from the forward vector where the listener's
volume begins to attenuate.
The cone has two angles: the inner angle (coneAngles.x) and the outer
angle (coneAngles.y). The inner angle must be less than or equal to the
outer angle.
An omnidirectional listener should have these set to (180.0, 180.0).
When the listener is within the inner angle of this cone, the
listener's volume will be at coneVolumes.x and the listener's low pass
filter effect will be at coneLowPassFilter.x.
Between the inner angle and the outer angle of the cone, the volume will
ramp down to coneVolume.y and the listener's low pass filter effect will
be ramp down to coneLowPassFilter.y.
When the listener is past the outer angle of the cone, the volume will
be at coneVolume.y and the listener's low pass filter effect will be
at coneLowPassFilter.y.
The cone angles are specified as degrees from the forward vector of the
listener; these are clamped to the range of [0, 180].
""")
double2 coneVolumes = (1.0, 0.0) (
displayName = "Cone Volumes"
doc = """
The volume in the regions of the cone.
coneVolumes.x is the volume for the inner cone.
coneVolumes.y is the volume for the outer cone.
""")
double2 coneLowPassFilter = (0.0, 0.0) (
displayName = "Cone Lowpass Filter"
doc = """
The low pass filter effect that is applied onto the cone.
This is a unitless range from 0.0 (disabled) to 1.0 (maximum filtering).
An increase in low pass filtering will result in the audio being more
muffled sounding, which can simulate the effect of hearing sounds
mostly through reverberation.
""")
}
class Listener "Listener"
(
inherits = </OmniListener>
doc = """Deprecated. Use OmniListener instead."""
)
{
}
|
omniverse-code/kit/exts/omni.rtx.ujitsoprocessors/omni/rtx/ujitsoprocessors/_ujitsoprocessors.pyi | """pybind11 omni.rtx.ujitsoprocessors bindings"""
from __future__ import annotations
import omni.rtx.ujitsoprocessors._ujitsoprocessors
import typing
__all__ = [
"IUJITSOProcessors",
"acquire_ujitsoprocessors_interface",
"release_ujitsoprocessors_interface"
]
class IUJITSOProcessors():
def runHTTPJobs(self, arg0: str, arg1: str) -> str: ...
pass
def acquire_ujitsoprocessors_interface(plugin_name: str = None, library_path: str = None) -> IUJITSOProcessors:
pass
def release_ujitsoprocessors_interface(arg0: IUJITSOProcessors) -> None:
pass
|
omniverse-code/kit/exts/omni.rtx.ujitsoprocessors/omni/rtx/ujitsoprocessors/__init__.py | from ._ujitsoprocessors import *
|
omniverse-code/kit/exts/omni.rtx.ujitsoprocessors/omni/rtx/ujitsoprocessors/tests/__init__.py | from .test_ujitsoprocessors import *
|
omniverse-code/kit/exts/omni.rtx.ujitsoprocessors/omni/rtx/ujitsoprocessors/tests/test_ujitsoprocessors.py | ## Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
##
## NVIDIA CORPORATION and its licensors retain all intellectual property
## and proprietary rights in and to this software, related documentation
## and any modifications thereto. Any use, reproduction, disclosure or
## distribution of this software and related documentation without an express
## license agreement from NVIDIA CORPORATION is strictly prohibited.
##
import omni.kit.app
from omni.kit.test import AsyncTestCase
import pathlib
import omni.rtx.ujitsoprocessors
try:
import omni.kit.test
TestClass = omni.kit.test.AsyncTestCase
TEST_DIR = str(pathlib.Path(__file__).parent.parent.parent.parent.parent.parent.parent)
except ImportError:
from . import TestRtScenegraph
TestClass = TestRtScenegraph
TEST_DIR = "."
class TestConverter(AsyncTestCase):
async def setUp(self):
self._iface = omni.rtx.ujitsoprocessors.acquire_ujitsoprocessors_interface()
async def tearDown(self):
pass
async def test_001_startstop(self):
print(self._iface.runHTTPJobs("", ""));
|
omniverse-code/kit/exts/omni.kit.window.privacy/omni/kit/window/privacy/__init__.py | from .privacy_window import *
|
omniverse-code/kit/exts/omni.kit.window.privacy/omni/kit/window/privacy/privacy_window.py | import toml
import os
import asyncio
import weakref
import carb
import carb.settings
import carb.tokens
import omni.client
import omni.kit.app
import omni.kit.ui
import omni.ext
from omni import ui
WINDOW_NAME = "About"
class PrivacyWindow:
def __init__(self, privacy_file=None):
if not privacy_file:
privacy_file = carb.tokens.get_tokens_interface().resolve("${omni_config}/privacy.toml")
privacy_data = toml.load(privacy_file) if os.path.exists(privacy_file) else {}
# NVIDIA Employee?
privacy_dict = privacy_data.get("privacy", {})
userId = privacy_dict.get("userId", None)
if not userId or not userId.endswith("@nvidia.com"):
return
# Already set?
extraDiagnosticDataOptIn = privacy_dict.get("extraDiagnosticDataOptIn", None)
if extraDiagnosticDataOptIn:
return
self._window = ui.Window(
"Privacy",
flags=ui.WINDOW_FLAGS_NO_TITLE_BAR | ui.WINDOW_FLAGS_NO_RESIZE | ui.WINDOW_FLAGS_NO_MOVE,
auto_resize=True,
)
def on_ok_clicked():
allow_for_public_build = self._cb.model.as_bool
carb.log_info(f"writing privacy file: '{privacy_file}'. allow_for_public_build: {allow_for_public_build}")
privacy_data.setdefault("privacy", {})["extraDiagnosticDataOptIn"] = (
"externalBuilds" if allow_for_public_build else "internalBuilds"
)
with open(privacy_file, "w") as f:
toml.dump(privacy_data, f)
self._window.visible = False
text = """
By accessing or using Omniverse Beta, you agree to share usage and performance data as well as diagnostic data, including crash data. This will help us to optimize our features, prioritize development, and make positive changes for future development.
As an NVIDIA employee, your email address will be associated with any collected diagnostic data from internal builds to help us improve Omniverse. Below, you can optionally choose to associate your email address with any collected diagnostic data from publicly available builds. Please contact us at [email protected] for any questions.
"""
with self._window.frame:
with ui.ZStack(width=0, height=0):
with ui.VStack(style={"margin": 5}, height=0):
ui.Label(text, width=600, style={"font_size": 18}, word_wrap=True)
ui.Separator()
with ui.HStack(height=0):
self._cb = ui.CheckBox(width=0, height=0)
self._cb.model.set_value(True)
ui.Label(
"Associate my @nvidia.com email address with diagnostic data from publicly available builds.'",
value=True,
style={"font_size": 16},
)
with ui.HStack(height=0):
ui.Spacer()
ui.Button("OK", width=100, clicked_fn=lambda: on_ok_clicked())
ui.Spacer()
self._window.visible = True
self.on_ok_clicked = on_ok_clicked
async def _create_window(ext_weak):
# Wait for few frames to get everything in working state first
for _ in range(5):
await omni.kit.app.get_app().next_update_async()
if ext_weak():
ext_weak()._window = PrivacyWindow()
class Extension(omni.ext.IExt):
def on_startup(self, ext_id):
asyncio.ensure_future(_create_window(weakref.ref(self)))
def on_shutdown(self):
self._window = None
|
omniverse-code/kit/exts/omni.kit.window.privacy/omni/kit/window/privacy/tests/__init__.py | from .test_window_privacy import *
|
omniverse-code/kit/exts/omni.kit.window.privacy/omni/kit/window/privacy/tests/test_window_privacy.py | import tempfile
import toml
import omni.kit.test
import omni.kit.window.privacy
class TestPrivacyWindow(omni.kit.test.AsyncTestCase):
async def test_privacy(self):
with tempfile.TemporaryDirectory() as tmp_dir:
privacy_file = f"{tmp_dir}/privacy.toml"
def write_data(data):
with open(privacy_file, "w") as f:
toml.dump(data, f)
# NVIDIA User, first time
write_data({"privacy": {"userId": "[email protected]"}})
w = omni.kit.window.privacy.PrivacyWindow(privacy_file)
self.assertIsNotNone(w._window)
w.on_ok_clicked()
data = toml.load(privacy_file)
self.assertEqual(data["privacy"]["extraDiagnosticDataOptIn"], "externalBuilds")
# NVIDIA User, second time
w = omni.kit.window.privacy.PrivacyWindow(privacy_file)
self.assertFalse(hasattr(w, "_window"))
# NVIDIA User, first time, checkbox off
write_data({"privacy": {"userId": "[email protected]"}})
w = omni.kit.window.privacy.PrivacyWindow(privacy_file)
self.assertIsNotNone(w._window)
w._cb.model.set_value(False)
w.on_ok_clicked()
data = toml.load(privacy_file)
self.assertEqual(data["privacy"]["extraDiagnosticDataOptIn"], "internalBuilds")
# Non NVIDIA User
write_data({"privacy": {"userId": "[email protected]"}})
w = omni.kit.window.privacy.PrivacyWindow(privacy_file)
self.assertFalse(hasattr(w, "_window"))
|
omniverse-code/kit/exts/omni.kit.window.privacy/docs/index.rst | omni.kit.window.privacy
###########################
.. toctree::
:maxdepth: 1
CHANGELOG
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/ext_utils.py | from __future__ import annotations
from collections import defaultdict
from contextlib import suppress
from types import ModuleType
from typing import Dict, Tuple
import fnmatch
import sys
import unittest
import carb
import omni.kit.app
from .unittests import get_tests_to_remove_from_modules
# Type for collecting module information corresponding to extensions
ModuleMap_t = Dict[str, Tuple[str, bool]]
# ==============================================================================================================
def get_module_to_extension_map() -> ModuleMap_t:
"""Returns a dictionary mapping the names of Python modules in an extension to (OwningExtension, EnabledState)
e.g. for this extension it would contain {"omni.kit.test": (["omni.kit.test", True])}
It will be expanded to include the implicit test modules added by the test management.
"""
module_map = {}
manager = omni.kit.app.get_app().get_extension_manager()
for extension in manager.fetch_extension_summaries():
ext_id = None
enabled = False
with suppress(KeyError):
if extension["enabled_version"]["enabled"]:
ext_id = extension["enabled_version"]["id"]
enabled = True
if ext_id is None:
try:
ext_id = extension["latest_version"]["id"]
except KeyError:
# Silently skip any extensions that do not have enough information to identify them
continue
ext_dict = manager.get_extension_dict(ext_id)
# Look for the defined Python modules, skipping processing of any extensions that have no Python modules
try:
module_list = ext_dict["python"]["module"]
except (KeyError, TypeError):
continue
# Walk through the list of all modules independently as there is no guarantee they are related.
for module in module_list:
# Some modules do not have names, only paths - just ignore them
with suppress(KeyError):
module_map[module["name"]] = (ext_id, enabled)
# Add the two test modules that are explicitly added by the testing system
if not module["name"].endswith(".tests"):
module_map[module["name"] + ".tests"] = (ext_id, enabled)
module_map[module["name"] + ".ogn.tests"] = (ext_id, enabled)
return module_map
# ==============================================================================================================
def extension_from_test_name(test_name: str, module_map: ModuleMap_t) -> tuple[str, bool, str, bool] | None:
"""Given a test name, return None if the extension couldn't be inferred from the name, otherwise a tuple
containing the name of the owning extension, a boolean indicating if it is currently enabled, a string
indicating in which Python module the test was found, and a boolean indicating if that module is currently
imported, or None if it was not.
Args:
test_name: Full name of the test to look up
module_map: Module to extension mapping. Passed in for sharing as it's expensive to compute.
The algorithm walks backwards from the full name to find the maximum-length Python import module known to be
part of an extension that is part of the test name. It does this because the exact import paths can be nested or
not nested. e.g. omni.kit.window.tests is not part of omni.kit.window
Extracting the extension from the test name is a little tricky but all of the information is available. Here is
how it attempts to decompose a sample test name
.. code-block:: text
omni.graph.nodes.tests.tests_for_samples.TestsForSamples.test_for_sample
+--------------+ +---+ +---------------+ +-------------+ +-------------+
Import path | | | |
Testing subdirectory | |
| | |
Test File Test Class Test Name
Each extension has a list of import paths of Python modules it explicitly defines, and in addition it will add
implicit imports for .tests and .ogn.tests submodules that are not explicitly listed in the extension dictionary.
With this structure the user could have done any of these imports:
.. code-block:: python
import omni.graph.nodes
import omni.graph.nodes.tests
import omni.graph.nodes.test_for_samples
Each nested one may or may not have been exposed by the parent so it is important to do a greedy match.
This is how the process of decoding works for this test:
.. code-block:: text
Split the test name on "."
["omni", "graph", "nodes", "tests", "tests_for_samples", "TestsForSamples", "test_for_sample"]
Starting at the entire list, recursively remove one element until a match in the module dictionary is found
Fail: "omni.graph.nodes.tests.tests_for_samples.TestsForSamples.test_for_sample"
Fail: "omni.graph.nodes.tests.tests_for_samples.TestsForSamples"
Fail: "omni.graph.nodes.tests.tests_for_samples"
Succeed: "omni.graph.nodes.tests"
If no success, of if sys.modules does not contain the found module:
Return the extension id, enabled state, and None for the module
Else:
Check the module recursively for exposed attributes with the rest of the names. In this example:
file_object = getattr(module, "tests_for_samples")
class_object = getattr(file_object, "TestsForSamples")
test_object = getattr(class_object, "test_for_sample")
If test_object is valid:
Return the extension id, enabled state, and the found module
Else:
Return the extension id, enabled state, and None for the module
"""
class_elements = test_name.split(".")
for el in range(len(class_elements), 0, -1):
check_module = ".".join(class_elements[:el])
# If the extension owned the module then process it, otherwise continue up to the parent element
try:
(ext_id, is_enabled) = module_map[check_module]
except KeyError:
continue
# The module was found in an extension definition but not imported into the Python namespace yet
try:
module = sys.modules[check_module]
except KeyError:
return (ext_id, is_enabled, check_module, False)
# This checks to make sure that the actual test is registered in the module that was found.
# e.g. if the full name is omni.graph.nodes.tests.TestStuff.test_stuff then we would expect to find
# a module named "omni.graph.nodes.tests" that contains "TestStuff", and the object "TestStuff" will
# in turn contain "test_stuff".
sub_module = module
for elem in class_elements[el:]:
sub_module = getattr(sub_module, elem, None)
if sub_module is None:
break
return (ext_id, is_enabled, module, sub_module is not None)
return None
# ==============================================================================================================
def test_only_extension_dependencies(ext_id: str) -> set[str]:
"""Returns a set of extensions with test-only dependencies on the given one.
Not currently used as dynamically enabling random extensions is not stable enough to use here yet.
"""
test_only_extensions = set() # Set of extensions that are enabled only in testing mode
manager = omni.kit.app.get_app().get_extension_manager()
ext_dict = manager.get_extension_dict(ext_id)
# Find the test-only dependencies that may also not be enabled yet
if ext_dict and "test" in ext_dict:
for test_info in ext_dict["test"]:
try:
new_extensions = test_info["dependencies"]
except (KeyError, TypeError):
new_extensions = []
for new_extension in new_extensions:
with suppress(KeyError):
test_only_extensions.add(new_extension)
return test_only_extensions
# ==============================================================================================================
def decompose_test_list(
test_list: list[str]
) -> tuple[list[unittest.TestCase], set[str], set[str], defaultdict[str, set[str]]]:
"""Read in the given log file and return the list of tests that were run, in the order in which they were run.
TODO: Move this outside the core omni.kit.test area as it requires external knowledge
If any modules containing the tests in the log are not currently available then they are reported for the user
to intervene and most likely enable the owning extensions.
Args:
test_list: List of tests to decompose and find modules and extensions for
Returns:
Tuple of (tests, not_found, extensions, modules) gleaned from the log file
tests: List of unittest.TestCase for all tests named in the log file, in the order they appeared
not_found: Name of tests whose location could not be determined, or that did not exist
extensions: Name of extensions containing modules that look like they contain tests from "not_found"
modules: Map of extension to list of modules where the extension is enabled but the module potentially
containing the tests from "not_found" has not been imported.
"""
module_map = get_module_to_extension_map()
not_found = set() # The set of full names of tests whose module was not found
# Map of enabled extensions to modules in them that contain tests in the log but which are not imported
modules_not_imported = defaultdict(set)
test_names = []
modules_found = set() # Modules matching the tests
extensions_to_enable = set()
# Walk the test list and parse out all of the test run information
for test_name in test_list:
test_info = extension_from_test_name(test_name, module_map)
if test_info is None:
not_found.add(test_name)
else:
(ext_id, ext_enabled, module, module_imported) = test_info
if ext_enabled:
if module is None:
not_found.add(test_name)
elif not module_imported:
modules_not_imported[ext_id].add(module)
else:
test_names.append(test_name)
modules_found.add(module)
else:
extensions_to_enable.add(ext_id)
# Carefully find all of the desired test cases, preserving the order in which they were encountered since that is
# a key feature of reading tests from a log
test_mapping: dict[str, unittest.TestCase] = {} # Mapping of test name onto discovered test case for running
for module in modules_found:
# Find all of the individual tests in the TestCase classes and add those that match any of the disabled patterns
# Uses get_tests_to_remove_from_modules because it considers possible tests and ogn.tests submodules
test_cases = get_tests_to_remove_from_modules([module])
for test_case in test_cases:
if test_case.id() in test_names:
test_mapping[test_case.id()] = test_case
tests: list[unittest.TestCase] = []
for test_name in test_names:
if test_name in test_mapping:
tests.append(test_mapping[test_name])
return (tests, not_found, extensions_to_enable, modules_not_imported)
# ==============================================================================================================
def find_disabled_tests() -> list[unittest.TestCase]:
"""Scan the existing tests and the extension.toml to find all tests that are currently disabled"""
manager = omni.kit.app.get_app().get_extension_manager()
# Find the per-extension list of (python_modules, disabled_patterns).
def __get_disabled_patterns() -> list[tuple[list[ModuleType], list[str]]]:
disabled_patterns = []
summaries = manager.fetch_extension_summaries()
for extension in summaries:
try:
if not extension["enabled_version"]["enabled"]:
continue
except KeyError:
carb.log_info(f"Could not find enabled state of extension {extension}")
continue
ext_id = extension["enabled_version"]["id"]
ext_dict = manager.get_extension_dict(ext_id)
# Look for the defined Python modules
modules = []
with suppress(KeyError, TypeError):
modules += [sys.modules[module_info["name"]] for module_info in ext_dict["python"]["module"]]
# Look for unreliable tests
regex_list = []
with suppress(KeyError, TypeError):
test_info = ext_dict["test"]
for test_details in test_info or []:
with suppress(KeyError):
regex_list += test_details["pythonTests"]["unreliable"]
if regex_list:
disabled_patterns.append((modules, regex_list))
return disabled_patterns
# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
def _match(to_match: str, pattern: str) -> bool:
"""Match that supports wildcards and '!' to invert it"""
should_match = True
if pattern.startswith("!"):
pattern = pattern[1:]
should_match = False
return should_match == fnmatch.fnmatch(to_match, pattern)
tests = []
for modules, regex_list in __get_disabled_patterns():
# Find all of the individual tests in the TestCase classes and add those that match any of the disabled patterns
# Uses get_tests_to_remove_from_modules because it considers possible tests and ogn.tests submodules
test_cases = get_tests_to_remove_from_modules(modules)
for test_case in test_cases:
for regex in regex_list:
if _match(test_case.id(), regex):
tests.append(test_case)
break
return tests
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/ext_test_generator.py | # WARNING: This file/interface is likely to be removed after transition from Legacy Viewport is complete.
# Seee merge_requests/17255
__all__ = ["get_tests_to_run"]
# Rewrite a Legacy Viewport test to launch with Viewport backend only
def _get_viewport_next_test_config(test):
# Check for flag to run test only on legacy Viewport
if test.config.get("viewport_legacy_only", False):
return None
# Get the test dependencies
test_dependencies = test.config.get("dependencies", tuple())
# Check if legacy Viewport is in the test dependency list
if "omni.kit.window.viewport" not in test_dependencies:
return None
# Deep copy the config dependencies
test_dependencies = list(test_dependencies)
# Re-write any 'omni.kit.window.viewport' dependency as 'omni.kit.viewport.window'
for i in range(len(test_dependencies)):
cur_dep = test_dependencies[i]
if cur_dep == "omni.kit.window.viewport":
test_dependencies[i] = "omni.kit.viewport.window"
# Shallow copy of the config
test_config = test.config.copy()
# set the config name
test_config["name"] = "viewport_next"
# Replace the dependencies
test_config["dependencies"] = test_dependencies
# Add any additional args by deep copying the arg list
test_args = list(test.config.get("args", tuple()))
test_args.append("--/exts/omni.kit.viewport.window/startup/windowName=Viewport")
# Replace the args
test_config["args"] = test_args
# TODO: Error if legacy Viewport somehow still inserting itself into the test run
# Return the new config
return test_config
def get_tests_to_run(test, ExtTest, run_context, is_parallel_run: bool, valid: bool):
"""For a test gather all unique test-runs that should be invoked"""
# First run the additional tests, followed by the original / base-case
# No need to run additional tests of the original is not valid
if valid:
# Currently the only usage of this method is to have legacy Viewport test run against new Viewport
additional_tests = {
'viewport_next': _get_viewport_next_test_config
}
for test_name, get_config in additional_tests.items():
new_config = get_config(test)
if new_config:
yield ExtTest(
ext_id=test.ext_id,
ext_info=test.ext_info,
test_config=new_config,
test_id=f"{test.test_id}-{test_name}",
is_parallel_run=is_parallel_run,
run_context=run_context,
test_app=test.test_app,
valid=valid
)
# Run the original / base-case
yield test
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/teamcity.py | import os
import sys
import time
import pathlib
from functools import lru_cache
_quote = {"'": "|'", "|": "||", "\n": "|n", "\r": "|r", "[": "|[", "]": "|]"}
def escape_value(value):
return "".join(_quote.get(x, x) for x in value)
@lru_cache()
def is_running_in_teamcity():
return bool(os.getenv("TEAMCITY_VERSION"))
@lru_cache()
def get_teamcity_build_url() -> str:
teamcity_url = os.getenv("TEAMCITY_BUILD_URL")
if teamcity_url and not teamcity_url.startswith("http"):
teamcity_url = "https://" + teamcity_url
return teamcity_url or ""
# TeamCity Service messages documentation
# https://www.jetbrains.com/help/teamcity/service-messages.html
def teamcity_publish_artifact(artifact_path: str, stream=sys.stdout):
if not is_running_in_teamcity():
return
tc_message = f"##teamcity[publishArtifacts '{escape_value(artifact_path)}']\n"
stream.write(tc_message)
stream.flush()
def teamcity_log_fail(teamCityName, msg, stream=sys.stdout):
if not is_running_in_teamcity():
return
tc_message = f"##teamcity[testFailed name='{teamCityName}' message='{teamCityName} failed. Reason {msg}. Check artifacts for logs']\n"
stream.write(tc_message)
stream.flush()
def teamcity_test_retry_support(enabled: bool, stream=sys.stdout):
"""
With this option enabled, the successful run of a test will mute its previous failure,
which means that TeamCity will mute a test if it fails and then succeeds within the same build.
Such tests will not affect the build status.
"""
if not is_running_in_teamcity():
return
retry_support = str(bool(enabled)).lower()
tc_message = f"##teamcity[testRetrySupport enabled='{retry_support}']\n"
stream.write(tc_message)
stream.flush()
def teamcity_show_image(label: str, image_path: str, stream=sys.stdout):
if not is_running_in_teamcity():
return
tc_message = f"##teamcity[testMetadata type='image' name='{label}' value='{image_path}']\n"
stream.write(tc_message)
stream.flush()
def teamcity_publish_image_artifact(src_path: str, dest_path: str, inline_image_label: str = None, stream=sys.stdout):
if not is_running_in_teamcity():
return
tc_message = f"##teamcity[publishArtifacts '{src_path} => {dest_path}']\n"
stream.write(tc_message)
if inline_image_label:
result_path = str(pathlib.PurePath(dest_path).joinpath(os.path.basename(src_path)).as_posix())
teamcity_show_image(inline_image_label, result_path)
stream.flush()
def teamcity_message(message_name, stream=sys.stdout, **properties):
if not is_running_in_teamcity():
return
current_time = time.time()
(current_time_int, current_time_fraction) = divmod(current_time, 1)
current_time_struct = time.localtime(current_time_int)
timestamp = time.strftime("%Y-%m-%dT%H:%M:%S.", current_time_struct) + "%03d" % (int(current_time_fraction * 1000))
message = "##teamcity[%s timestamp='%s'" % (message_name, timestamp)
for k in sorted(properties.keys()):
value = properties[k]
if value is None:
continue
message += f" {k}='{escape_value(str(value))}'"
message += "]\n"
# Python may buffer it for a long time, flushing helps to see real-time result
stream.write(message)
stream.flush()
# Based on metadata message for TC:
# https://www.jetbrains.com/help/teamcity/reporting-test-metadata.html#Reporting+Additional+Test+Data
def teamcity_metadata_message(metadata_value, stream=sys.stdout, metadata_name="", metadata_testname=""):
teamcity_message(
"testMetadata",
stream=stream,
testName=metadata_testname,
name=metadata_name,
value=metadata_value,
)
def teamcity_status(text, status: str = "success", stream=sys.stdout):
teamcity_message("buildStatus", stream=stream, text=text, status=status)
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/repo_test_context.py | import json
import logging
import os
logger = logging.getLogger(__name__)
class RepoTestContext: # pragma: no cover
def __init__(self):
self.context = None
repo_test_context_file = os.environ.get("REPO_TEST_CONTEXT", None)
if repo_test_context_file and os.path.exists(repo_test_context_file):
print("Found repo test context file:", repo_test_context_file)
with open(repo_test_context_file) as f:
self.context = json.load(f)
logger.info("repo test context:", self.context)
def get(self):
return self.context
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/nvdf.py | import itertools
import json
import logging
import os
import re
import sys
import time
import urllib.error
import urllib.request
from collections import defaultdict
from functools import lru_cache
from pathlib import Path
from typing import Dict, List, Tuple
import carb.settings
import omni.kit.app
from .gitlab import get_gitlab_build_url, is_running_in_gitlab
from .teamcity import get_teamcity_build_url, is_running_in_teamcity
from .utils import call_git, get_global_test_output_path, is_running_on_ci
logger = logging.getLogger(__name__)
@lru_cache()
def get_nvdf_report_filepath() -> str:
return os.path.join(get_global_test_output_path(), "nvdf_data.json")
def _partition(pred, iterable):
"""Use a predicate to partition entries into false entries and true entries"""
t1, t2 = itertools.tee(iterable)
return itertools.filterfalse(pred, t1), filter(pred, t2)
def _get_json_data(report_data: List[Dict[str, str]], app_info: dict, ci_info: dict) -> Dict:
"""Transform report_data into json data
Input:
{"event": "start", "test_id": "omni.kit.viewport", "ext_name": "omni.kit.viewport", "start_time": 1664831914.002093}
{"event": "stop", "test_id": "omni.kit.viewport", "ext_name": "omni.kit.viewport", "success": true, "skipped": false, "stop_time": 1664831927.1145973, "duration": 13.113}
...
Output:
{
"omni.kit.viewport+omni.kit.viewport": {
"app": { ... },
"teamcity": { ... },
"test": {
"b_success": false,
"d_duration": 1.185,
"s_ext_name": "omni.kit.viewport",
"s_name": "omni.kit.viewport",
"s_type": "exttest",
"ts_start_time": 1664893802530,
"ts_stop_time": 1664893803715
"result": { ... },
},
},
}
"""
def _aggregate_json_data(data: dict, config=""):
test_id = data["test_id"] + config
# increment retries count - that info is not available in the report_data, start count at 0 (-1 + 1 = 0)
# by keeping all passed results we can know if all retries failed and set consecutive_failure to true
if data["event"] == "start":
retries = test_retries.get(test_id, -1) + 1
test_retries[test_id] = retries
data["retries"] = retries
else:
retries = test_retries.get(test_id, 0)
if data["event"] == "stop":
test_results[test_id].append(data.get("passed", False))
test_id += f"{CONCAT_CHAR}{retries}"
test_data = json_data.get(test_id, {}).get("test", {})
test_data.update(data)
# special case for time, convert it to nvdf ts_ format right away
if "start_time" in test_data:
test_data["ts_start_time"] = int(test_data.pop("start_time") * 1000)
if "stop_time" in test_data:
test_data["ts_stop_time"] = int(test_data.pop("stop_time") * 1000)
# event is discarded
if "event" in test_data:
test_data.pop("event")
# init passed to false if needed, it can be missing if a test crashes (no stop event)
if "passed" not in test_data:
test_data["passed"] = False
json_data.update({test_id: {"app": app_info, "ci": ci_info, "test": test_data}})
CONCAT_CHAR = "|"
MIN_CONSECUTIVE_FAILURES = 3 # this value is in sync with repo.toml testExtMaxTestRunCount=3
test_retries: Dict[str, int] = {}
test_results = defaultdict(list)
exttest, unittest = _partition(lambda data: data["test_type"] == "unittest", report_data)
# add exttests - group by name + retry count
json_data: Dict[str, str] = {}
for data in exttest:
_aggregate_json_data(data)
# second loop to only keep exttest with results
for key, data in list(json_data.items()):
if not data.get("test", {}).get("result"):
del json_data[key]
# add all unittests - group by name + config + retry count
for data in unittest:
config = data["ext_test_id"].rsplit(CONCAT_CHAR, maxsplit=1)
config = f"{CONCAT_CHAR}{config[1]}" if len(config) > 1 else ""
_aggregate_json_data(data, config)
# second loop to tag all consecutive failures (when all results are false and equal or above the retry count)
for key, data in json_data.items():
results = test_results.get(key.rsplit(CONCAT_CHAR, maxsplit=1)[0])
all_failures = results and not any(results) and len(results) >= MIN_CONSECUTIVE_FAILURES - 1
if all_failures:
data["test"]["consecutive_failure"] = all_failures
return json_data
def _can_post_to_nvdf() -> bool:
if omni.kit.app.get_app().is_app_external():
logger.info("nvdf is disabled for external build")
return False
if not is_running_on_ci():
logger.info("nvdf posting only enabled on CI")
return False
return True
def post_to_nvdf(report_data: List[Dict[str, str]]):
if not report_data or not _can_post_to_nvdf():
return
try:
app_info = get_app_info()
ci_info = _get_ci_info()
json_data = _get_json_data(report_data, app_info, ci_info)
with open(get_nvdf_report_filepath(), "w") as f:
json.dump(json_data, f, skipkeys=True, sort_keys=True, indent=4)
# convert json_data to nvdf form and add to list
json_array = []
for data in json_data.values():
data["ts_created"] = int(time.time() * 1000)
json_array.append(to_nvdf_form(data))
# post all results in one request
project = "omniverse-kit-tests-results-v2"
json_str = json.dumps(json_array, skipkeys=True)
_post_json(project, json_str)
# print(json_str) # uncomment to debug
except Exception as e:
logger.warning(f"Exception occurred: {e}")
def post_coverage_to_nvdf(coverage_data: Dict[str, Dict]):
if not coverage_data or not _can_post_to_nvdf():
return
try:
app_info = get_app_info()
ci_info = _get_ci_info()
# convert json_data to nvdf form and add to list
json_array = []
for data in coverage_data.values():
data["ts_created"] = int(time.time() * 1000)
data["app"] = app_info
data["ci"] = ci_info
json_array.append(to_nvdf_form(data))
# post all results in one request
project = "omniverse-kit-tests-coverage-v2"
json_str = json.dumps(json_array, skipkeys=True)
_post_json(project, json_str)
# print(json_str) # uncomment to debug
except Exception as e:
logger.warning(f"Exception occurred: {e}")
def _post_json(project: str, json_str: str):
url = f"https://gpuwa.nvidia.com/dataflow/{project}/posting"
try:
resp = None
req = urllib.request.Request(url)
req.add_header("Content-Type", "application/json; charset=utf-8")
json_data_bytes = json_str.encode("utf-8") # needs to be bytes
# use a short 10 seconds timeout to avoid taking too much time in case of problems
resp = urllib.request.urlopen(req, json_data_bytes, timeout=10)
except (urllib.error.URLError, json.JSONDecodeError) as e:
logger.warning(f"Error sending request to nvdf, response: {resp}, exception: {e}")
def query_nvdf(query: str) -> dict:
project = "df-omniverse-kit-tests-results-v2*"
url = f"https://gpuwa.nvidia.com:443/elasticsearch/{project}/_search"
try:
resp = None
req = urllib.request.Request(url)
req.add_header("Content-Type", "application/json; charset=utf-8")
json_data = json.dumps(query).encode("utf-8")
# use a short 10 seconds timeout to avoid taking too much time in case of problems
with urllib.request.urlopen(req, data=json_data, timeout=10) as resp:
return json.loads(resp.read())
except (urllib.error.URLError, json.JSONDecodeError) as e:
logger.warning(f"Request error to nvdf, response: {resp}, exception: {e}")
return {}
@lru_cache()
def _detect_kit_branch_and_mr(full_kit_version: str) -> Tuple[str, int]:
match = re.search(r"^([^\+]+)\+([^\.]+)", full_kit_version)
if match is None:
logger.warning(f"Cannot detect kit SDK branch from: {full_kit_version}")
branch = "Unknown"
else:
if match[2] == "release":
branch = f"release/{match[1]}"
else:
branch = match[2]
# merge requests will be named mr1234 with 1234 being the merge request number
if branch.startswith("mr") and branch[2:].isdigit():
mr = int(branch[2:])
branch = "" # if we have an mr we don't have the branch name
else:
mr = 0
return branch, mr
@lru_cache()
def _find_repository_info() -> str:
"""Get repo remote origin url, fallback on yaml if not found"""
res = call_git(["config", "--get", "remote.origin.url"])
remote_url = res.stdout.strip("\n") if res and res.returncode == 0 else ""
if remote_url:
return remote_url
# Attempt to find the repository from yaml file
kit_root = Path(sys.argv[0]).parent
if kit_root.stem.lower() != "kit":
info_yaml = kit_root.joinpath("INFO.yaml")
if not info_yaml.exists():
info_yaml = kit_root.joinpath("PACKAGE-INFO.yaml")
if info_yaml.exists():
repo_re = re.compile(r"^Repository\s*:\s*(.+)$", re.MULTILINE)
content = info_yaml.read_text()
matches = repo_re.findall(content)
if len(matches) == 1:
return matches[0].strip()
return ""
@lru_cache()
def get_app_info() -> Dict:
"""This should be part of omni.kit.app.
Example response:
{
"app_name": "omni.app.full.kit",
"app_version": "1.0.1",
"kit_version_full": "103.1+release.10030.f5f9dcab.tc",
"kit_version": "103.1",
"kit_build_number": 10030,
"branch": "master"
"config": "release",
"platform": "windows-x86_64",
"python_version": "cp37"
}
"""
app = omni.kit.app.get_app()
ver = app.get_build_version() # eg 103.1+release.10030.f5f9dcab.tc
branch, mr = _detect_kit_branch_and_mr(ver)
settings = carb.settings.get_settings()
info = {
"app_name": settings.get("/app/name"),
"app_name_full": settings.get("/app/window/title") or settings.get("/app/name"),
"app_version": settings.get("/app/version"),
"branch": branch,
"merge_request": mr,
"git_hash": ver.rsplit(".", 2)[1],
"git_remote_url": _find_repository_info(),
"kit_version_full": ver,
"kit_version": ver.split("+", 1)[0],
"kit_build_number": int(ver.rsplit(".", 3)[1]),
}
info.update(app.get_platform_info())
return info
@lru_cache()
def _get_ci_info() -> Dict:
info = {
"ci_name": "local",
}
if is_running_in_teamcity():
info.update(
{
"ci_name": "teamcity",
"build_id": os.getenv("TEAMCITY_BUILD_ID") or "",
"build_config_name": os.getenv("TEAMCITY_BUILDCONF_NAME") or "",
"build_url": get_teamcity_build_url(),
"project_name": os.getenv("TEAMCITY_PROJECT_NAME") or "",
}
)
elif is_running_in_gitlab():
info.update(
{
"ci_name": "gitlab",
"build_id": os.getenv("CI_PIPELINE_ID") or "",
"build_config_name": os.getenv("CI_JOB_NAME") or "",
"build_url": get_gitlab_build_url(),
"project_name": os.getenv("CI_PROJECT_NAME") or "",
}
)
# todo : support github
return info
def to_nvdf_form(data: dict) -> Dict:
"""Convert dict to NVDF-compliant form.
https://confluence.nvidia.com/display/nvdataflow/NVDataFlow#NVDataFlow-PostingPayload
"""
reserved = {"ts_created", "_id"}
prefixes = {str: "s_", float: "d_", int: "l_", bool: "b_", list: "obj_", tuple: "obj_"}
key_illegal_pattern = "[!@#$%^&*.]+"
def _convert(d):
result = {}
try:
for key, value in d.items():
key = re.sub(key_illegal_pattern, "_", key)
if key in reserved:
result[key] = value
elif key.startswith("ts_"):
result[key] = value
elif isinstance(value, dict):
# note that nvdf docs state this should prefix with 'obj_', but without works also.
# We choose not to as it matches up with existing fields from kit benchmarking
result[key] = _convert(value)
elif hasattr(value, "__dict__"):
# support for Classes
result[key] = _convert(value.__dict__)
elif isinstance(value, (list, tuple)):
_type = type(value[0]) if value else str
result[prefixes[_type] + key] = value
elif isinstance(value, (str, float, int, bool)):
result[prefixes[type(value)] + key] = value
else:
raise ValueError(f"Type {type(value)} not supported in nvdf (data: {data})")
return result
except Exception as e:
raise Exception(f"Exception for {key} {value} -> {e}")
return _convert(data)
def remove_nvdf_form(data: dict):
prefixes = ["s_", "d_", "l_", "b_"]
def _convert(d):
result = {}
try:
for key, value in d.items():
if isinstance(value, dict):
# note that nvdf docs state this should prefix with 'obj_', but without works also.
# We choose not to as it matches up with existing fields from kit benchmarking
result[key] = _convert(value)
elif hasattr(value, "__dict__"):
# support for Classes
result[key] = _convert(value.__dict__)
elif isinstance(value, (list, tuple, str, float, int, bool)):
if key[:2] in prefixes:
key = key[2:]
result[key] = value
else:
raise ValueError(f"Type {type(value)} not supported in nvdf (data: {data})")
return result
except Exception as e:
raise Exception(f"Exception for {key} {value} -> {e}")
return _convert(data)
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/__init__.py | import asyncio
import omni.kit.app
import omni.ext
from .async_unittest import AsyncTestCase
from .async_unittest import AsyncTestCaseFailOnLogError
from .async_unittest import AsyncTestSuite
from .utils import get_setting, get_global_test_output_path, get_test_output_path
from .ext_utils import decompose_test_list
from .ext_utils import extension_from_test_name
from .ext_utils import find_disabled_tests
from .ext_utils import get_module_to_extension_map
from .ext_utils import test_only_extension_dependencies
from . import unittests
from .unittests import get_tests_from_modules
from .unittests import get_tests_to_remove_from_modules
from .unittests import run_tests
from .unittests import get_tests
from .unittests import remove_from_dynamic_test_cache
from .exttests import run_ext_tests, shutdown_ext_tests
from .exttests import ExtTest, ExtTestResult
from .test_reporters import TestRunStatus
from .test_reporters import add_test_status_report_cb
from .test_reporters import remove_test_status_report_cb
from .test_coverage import PyCoverageCollector
from .test_populators import DEFAULT_POPULATOR_NAME, TestPopulator, TestPopulateAll, TestPopulateDisabled
from .reporter import generate_report
try:
from omni.kit.omni_test_registry import omni_test_registry
except ImportError:
# omni_test_registry is copied at build time into the omni.kit.test extension directory in _build
pass
async def _auto_run_tests(run_tests_and_exit: bool):
# Skip 2 updates to make sure all extensions loaded and initialized
await omni.kit.app.get_app().next_update_async()
await omni.kit.app.get_app().next_update_async()
# Run Extension tests?
# This part runs on the parent Kit Process that triggers all extension tests
test_exts = list(get_setting("/exts/omni.kit.test/testExts", default=[]))
if len(test_exts) > 0:
# Quit on finish:
def on_finish(result: bool):
# generate coverage report at the end?
if get_setting("/exts/omni.kit.test/testExtGenerateCoverageReport", default=False):
generate_report()
returncode = 0 if result else 21
omni.kit.app.get_app().post_quit(returncode)
exclude_exts = list(get_setting("/exts/omni.kit.test/excludeExts", default=[]))
run_ext_tests(test_exts, on_finish_fn=on_finish, exclude_exts=exclude_exts)
return
# Print tests?
# This part runs on the child Kit Process to print the number of extension tests
if len(test_exts) == 0 and get_setting("/exts/omni.kit.test/printTestsAndQuit", default=False):
unittests.print_tests()
omni.kit.app.get_app().post_quit(0)
return
# Run python tests?
# This part runs on the child Kit Process that performs the extension tests
if run_tests_and_exit:
tests_filter = get_setting("/exts/omni.kit.test/runTestsFilter", default="")
from unittest.result import TestResult
# Quit on finish:
def on_finish(result: TestResult):
returncode = 0 if result.wasSuccessful() else 13
cpp_test_res = get_setting("/exts/omni.kit.test/~cppTestResult", default=None)
if cpp_test_res is not None:
returncode += cpp_test_res
if not get_setting("/exts/omni.kit.test/doNotQuit", default=False):
omni.kit.app.get_app().post_quit(returncode)
unittests.run_tests(unittests.get_tests(tests_filter), on_finish)
class _TestAutoRunner(omni.ext.IExt):
"""Automatically run tests based on setting"""
def __init__(self):
super().__init__()
self._py_coverage = PyCoverageCollector()
def on_startup(self):
# Report generate mode?
if get_setting("/exts/omni.kit.test/testExtGenerateReport", default=False):
generate_report()
omni.kit.app.get_app().post_quit(0)
return
# Otherwise: regular test run
run_tests_and_exit = get_setting("/exts/omni.kit.test/runTestsAndQuit", default=False)
ui_mode = get_setting("/exts/omni.kit.test/testExtUIMode", default=False)
# If launching a Python test then start test coverage subsystem (might do nothing depending on the settings)
if run_tests_and_exit or ui_mode:
self._py_coverage.startup()
def on_app_ready(e):
asyncio.ensure_future(_auto_run_tests(run_tests_and_exit))
self._app_ready_sub = (
omni.kit.app.get_app()
.get_startup_event_stream()
.create_subscription_to_pop_by_type(
omni.kit.app.EVENT_APP_READY, on_app_ready, name="omni.kit.test start tests"
)
)
def on_shutdown(self):
# Stop coverage and generate report if it's started.
self._py_coverage.shutdown()
shutdown_ext_tests()
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/sampling.py | import datetime
import logging
import random
from statistics import mean
from .nvdf import get_app_info, query_nvdf
from .utils import clamp, get_setting, is_running_on_ci
logger = logging.getLogger(__name__)
class SamplingFactor:
LOWER_BOUND = 0.0
UPPER_BOUND = 1.0
MID_POINT = 0.5
class Sampling:
"""Basic Tests Sampling support"""
AGG_TEST_IDS = "test_ids"
AGG_LAST_PASSED = "last_passed"
LAST_PASSED_COUNT = 3
TEST_IDS_COUNT = 1000
DAYS = 4
def __init__(self, app_info: dict):
self.tests_sample = []
self.tests_run_count = []
self.query_result = False
self.app_info = app_info
def run_query(self, extension_name: str, unittests: list, running_on_ci: bool):
# when running locally skip the nvdf query
if running_on_ci:
try:
self.query_result = self._query_nvdf(extension_name, unittests)
except Exception as e:
logger.warning(f"Exception while doing nvdf query: {e}")
else:
self.query_result = True
# populate test list if empty, can happen both locally and on CI
if self.query_result and not self.tests_sample:
self.tests_sample = unittests
self.tests_run_count = [SamplingFactor.MID_POINT] * len(self.tests_sample)
def get_tests_to_skip(self, sampling_factor: float) -> list:
if not self.query_result:
return []
weights = self._calculate_weights()
samples_count = len(self.tests_sample)
# Grab (1.0 - sampling factor) to get the list of tests to skip
sampling_factor = SamplingFactor.UPPER_BOUND - sampling_factor
sampling_count = clamp(int(sampling_factor * float(samples_count)), 0, samples_count)
# use sampling seed if available
seed = int(get_setting("/exts/omni.kit.test/testExtSamplingSeed", default=-1))
if seed >= 0:
random.seed(seed)
sampled_tests = self._random_choices_no_replace(
population=self.tests_sample,
weights=weights,
k=sampling_count,
)
return sampled_tests
def _query_nvdf(self, extension_name: str, unittests: list) -> bool: # pragma: no cover
query = self._es_query(extension_name, days=self.DAYS, hours=0)
r = query_nvdf(query)
for aggs in r.get("aggregations", {}).get(self.AGG_TEST_IDS, {}).get("buckets", {}):
key = aggs.get("key")
if key not in unittests:
continue
hits = aggs.get(self.AGG_LAST_PASSED, {}).get("hits", {}).get("hits", [])
if not hits:
continue
all_failed = False
for hit in hits:
passed = hit["_source"]["test"]["b_passed"]
all_failed = all_failed or not passed
# consecutive failed tests cannot be skipped
if all_failed:
continue
self.tests_sample.append(key)
self.tests_run_count.append(aggs.get("doc_count", 0))
return True
def _random_choices_no_replace(self, population, weights, k) -> list:
"""Similar to numpy.random.Generator.choice() with replace=False"""
weights = list(weights)
positions = range(len(population))
indices = []
while True:
needed = k - len(indices)
if not needed:
break
for i in random.choices(positions, weights, k=needed):
if weights[i]:
weights[i] = SamplingFactor.LOWER_BOUND
indices.append(i)
return [population[i] for i in indices]
def _calculate_weights(self) -> list:
"""Simple weight adjusting to make sure all tests run an equal amount of times"""
samples_min = min(self.tests_run_count)
samples_max = max(self.tests_run_count)
samples_width = samples_max - samples_min
samples_mean = mean(self.tests_run_count)
def _calculate_weight(test_count: int):
if samples_width == 0:
return SamplingFactor.MID_POINT
weight = SamplingFactor.MID_POINT + (samples_mean - float(test_count)) / float(samples_width)
# clamp is not set to [0.0, 1.0] to have better random distribution
return clamp(
weight,
SamplingFactor.LOWER_BOUND + 0.05,
SamplingFactor.UPPER_BOUND - 0.05,
)
return [_calculate_weight(c) for c in self.tests_run_count]
def _es_query(self, extension_name: str, days: int, hours: int) -> dict:
target_date = datetime.datetime.utcnow() - datetime.timedelta(days=days, hours=hours)
kit_version = self.app_info["kit_version"]
platform = self.app_info["platform"]
branch = self.app_info["branch"]
merge_request = self.app_info["merge_request"]
query = {
"aggs": {
self.AGG_TEST_IDS: {
"terms": {"field": "test.s_test_id", "order": {"_count": "desc"}, "size": self.TEST_IDS_COUNT},
"aggs": {
self.AGG_LAST_PASSED: {
"top_hits": {
"_source": "test.b_passed",
"size": self.LAST_PASSED_COUNT,
"sort": [{"ts_created": {"order": "desc"}}],
}
}
},
}
},
"size": 0,
"query": {
"bool": {
"filter": [
{"match_all": {}},
{"term": {"test.s_ext_test_id": extension_name}},
{"term": {"app.s_kit_version": kit_version}},
{"term": {"app.s_platform": platform}},
{"term": {"app.s_branch": branch}},
{"term": {"app.l_merge_request": merge_request}},
{
"range": {
"ts_created": {
"gte": target_date.isoformat() + "Z",
"format": "strict_date_optional_time",
}
}
},
],
}
},
}
return query
def get_tests_sampling_to_skip(extension_name: str, sampling_factor: float, unittests: list) -> list: # pragma: no cover
"""Return a list of tests that can be skipped for a given extension based on a sampling factor
When using tests sampling we have to run:
1) all new tests (not found on nvdf)
2) all failed tests (ie: only consecutive failures, flaky tests are not considered)
3) sampling tests (sampling factor * number of tests)
By applying (1 - sampling factor) we get a list of tests to skip, which are garanteed not to contain any test
from point 1 or 2.
"""
ts = Sampling(get_app_info())
ts.run_query(extension_name, unittests, is_running_on_ci())
return ts.get_tests_to_skip(sampling_factor)
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/test_populators.py | """Support for the population of a test list from various configurable sources"""
from __future__ import annotations
import abc
import unittest
from .ext_utils import find_disabled_tests
from .unittests import get_tests
__all__ = [
"DEFAULT_POPULATOR_NAME",
"TestPopulator",
"TestPopulateAll",
"TestPopulateDisabled",
]
# The name of the default populator, implemented with TestPopulateAll
DEFAULT_POPULATOR_NAME = "All Tests"
# ==============================================================================================================
class TestPopulator(abc.ABC):
"""Base class for the objects used to populate the initial list of tests, before filtering."""
def __init__(self, name: str, description: str):
"""Set up the populator with the important information it needs for getting tests from some location
Args:
name: Name of the populator, which can be used for a menu
description: Verbose description of the populator, which can be used for the tooltip of the menu item
"""
self.name: str = name
self.description: str = description
self.tests: list[unittest.TestCase] = [] # Remembers the tests it retrieves for later use
# --------------------------------------------------------------------------------------------------------------
def destroy(self):
"""Opportunity to clean up any allocated resources"""
pass
# --------------------------------------------------------------------------------------------------------------
@abc.abstractmethod
def get_tests(self, call_when_done: callable):
"""Populate the internal list of raw tests and then call the provided function when it has been done.
The callable takes one optional boolean 'canceled' that is only True if the test retrieval was not done.
"""
# ==============================================================================================================
class TestPopulateAll(TestPopulator):
"""Implementation of the TestPopulator that returns a list of all tests known to Kit"""
def __init__(self):
super().__init__(
DEFAULT_POPULATOR_NAME,
"Use all of the tests in currently enabled extensions that pass the filters",
)
def get_tests(self, call_when_done: callable):
self.tests = get_tests()
call_when_done()
# ==============================================================================================================
class TestPopulateDisabled(TestPopulator):
"""Implementation of the TestPopulator that returns a list of all tests disabled by their extension.toml file"""
def __init__(self):
super().__init__(
"Disabled Tests",
"Use all tests from enabled extensions whose extension.toml flags them as disabled",
)
def get_tests(self, call_when_done: callable):
self.tests = find_disabled_tests()
call_when_done()
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/crash_process.py | def _error(stream, msg):
stream.write(f"[error] [{__file__}] {msg}\n")
def _crash_process_win(pid):
# fmt: off
import ctypes
POINTER = ctypes.POINTER
LPVOID = ctypes.c_void_p
PVOID = LPVOID
HANDLE = LPVOID
PHANDLE = POINTER(HANDLE)
ULONG = ctypes.c_ulong
SIZE_T = ctypes.c_size_t
LONG = ctypes.c_long
NTSTATUS = LONG
DWORD = ctypes.c_uint32
ACCESS_MASK = DWORD
INVALID_HANDLE_VALUE = ctypes.c_void_p(-1).value
BOOL = ctypes.c_int
byref = ctypes.byref
long = int
WAIT_TIMEOUT = 0x102
WAIT_FAILED = 0xFFFFFFFF
WAIT_OBJECT_0 = 0
STANDARD_RIGHTS_ALL = long(0x001F0000)
SPECIFIC_RIGHTS_ALL = long(0x0000FFFF)
SYNCHRONIZE = long(0x00100000)
STANDARD_RIGHTS_REQUIRED = long(0x000F0000)
PROCESS_ALL_ACCESS = (STANDARD_RIGHTS_REQUIRED | SYNCHRONIZE | 0xFFFF)
THREAD_CREATE_FLAGS_SKIP_THREAD_ATTACH = long(0x00000002)
def NT_SUCCESS(x): return x >= 0
windll = ctypes.windll
# HANDLE WINAPI OpenProcess(
# IN DWORD dwDesiredAccess,
# IN BOOL bInheritHandle,
# IN DWORD dwProcessId
# );
_OpenProcess = windll.kernel32.OpenProcess
_OpenProcess.argtypes = [DWORD, BOOL, DWORD]
_OpenProcess.restype = HANDLE
# NTSTATUS NtCreateThreadEx(
# OUT PHANDLE hThread,
# IN ACCESS_MASK DesiredAccess,
# IN PVOID ObjectAttributes,
# IN HANDLE ProcessHandle,
# IN PVOID lpStartAddress,
# IN PVOID lpParameter,
# IN ULONG Flags,
# IN SIZE_T StackZeroBits,
# IN SIZE_T SizeOfStackCommit,
# IN SIZE_T SizeOfStackReserve,
# OUT PVOID lpBytesBuffer
# );
_NtCreateThreadEx = windll.ntdll.NtCreateThreadEx
_NtCreateThreadEx.argtypes = [PHANDLE, ACCESS_MASK, PVOID, HANDLE, PVOID, PVOID, ULONG, SIZE_T, SIZE_T, SIZE_T, PVOID]
_NtCreateThreadEx.restype = NTSTATUS
# DWORD WINAPI WaitForSingleObject(
# HANDLE hHandle,
# DWORD dwMilliseconds
# );
_WaitForSingleObject = windll.kernel32.WaitForSingleObject
_WaitForSingleObject.argtypes = [HANDLE, DWORD]
_WaitForSingleObject.restype = DWORD
hProcess = _OpenProcess(
PROCESS_ALL_ACCESS,
0, # bInheritHandle
pid
)
if not hProcess:
raise ctypes.WinError()
# this injects a new thread into the process running the test code. this thread starts executing at address 0,
# causing a crash.
#
# alternatives considered:
#
# DebugBreakProcess(): in order for DebugBreakProcess() to send the breakpoint, a debugger must be attached. this
# can be accomplished with DebugActiveProcess()/WaitForDebugEvent()/ContinueDebugEvent(). unfortunately, when a
# debugger is attached, UnhandledExceptionFilter() is ignored. UnhandledExceptionFilter() is where the test process
# runs the crash dump code.
#
# CreateRemoteThread(): this approach does not work if the target process is stuck waiting for the loader lock.
#
# the solution below uses NtCreateThreadEx to create the faulting thread in the test process. unlike
# CreateRemoteThread(), NtCreateThreadEx accepts the THREAD_CREATE_FLAGS_SKIP_THREAD_ATTACH flag which skips
# THREAD_ATTACH in DllMain thereby avoiding the loader lock.
hThread = HANDLE(INVALID_HANDLE_VALUE)
status = _NtCreateThreadEx(
byref(hThread),
(STANDARD_RIGHTS_ALL | SPECIFIC_RIGHTS_ALL),
0, # ObjectAttributes
hProcess,
0, # lpStartAddress (calls into null causing a crash)
0, # lpParameter
THREAD_CREATE_FLAGS_SKIP_THREAD_ATTACH,
0, # StackZeroBits
0, # StackZeroBits (must be 0 to crash)
0, # SizeOfStackReserve
0, # lpBytesBuffer
)
if not NT_SUCCESS(status):
raise OSError(None, "NtCreateThreadEx failed", None, status)
waitTimeMs = 30 * 1000
status = _WaitForSingleObject(hProcess, waitTimeMs)
if status == WAIT_TIMEOUT:
raise TimeoutError("timed out while waiting for target process to exit")
elif status == WAIT_FAILED:
raise ctypes.WinError()
elif status != WAIT_OBJECT_0:
raise OSError(None, "failed to wait for target process to exit", None, status)
# fmt: on
def crash_process(process, stream):
"""
Triggers a crash dump in the test process, terminating the process.
Returns True if the test process was terminated, False if the process is still running.
"""
import os
assert process
pid = process.pid
if os.name == "nt":
try:
_crash_process_win(pid)
except Exception as e:
_error(stream, f"Failed crashing timed out process: {pid}. Error: {e}")
else:
import signal
try:
process.send_signal(signal.SIGABRT)
process.wait(timeout=30) # seconds
except Exception as e:
_error(stream, f"Failed crashing timed out process: {pid}. Error: {e}")
return not process.is_running()
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/utils.py | import glob
import hashlib
import os
import shutil
import sys
from datetime import datetime
from functools import lru_cache
from pathlib import Path
from typing import List, Tuple
import carb
import carb.settings
import carb.tokens
import omni.ext
from .gitlab import is_running_in_gitlab
from .teamcity import is_running_in_teamcity
_settings_iface = None
def get_setting(path, default=None):
global _settings_iface
if not _settings_iface:
_settings_iface = carb.settings.get_settings()
setting = _settings_iface.get(path)
return setting if setting is not None else default
def get_local_timestamp():
return (
# ':' is not path-friendly on windows
datetime.now()
.isoformat(timespec="seconds")
.replace(":", "-")
)
@lru_cache()
def _split_argv() -> Tuple[List[str], List[str]]:
"""Return list of argv before `--` and after (processed and unprocessed)"""
try:
index = sys.argv.index("--")
return list(sys.argv[:index]), list(sys.argv[index + 1 :])
except ValueError:
return list(sys.argv), []
def get_argv() -> List[str]:
return _split_argv()[0]
def get_unprocessed_argv() -> List[str]:
return _split_argv()[1]
def resolve_path(path, root) -> str:
path = carb.tokens.get_tokens_interface().resolve(path)
if not os.path.isabs(path):
path = os.path.join(root, path)
return os.path.normpath(path)
@lru_cache()
def _get_passed_test_output_path():
return get_setting("/exts/omni.kit.test/testOutputPath", default=None)
@lru_cache()
def get_global_test_output_path():
"""Get global extension test output path. It is shared for all extensions."""
# If inside test process, we have testoutput for actual extension, just go on folder up:
output_path = _get_passed_test_output_path()
if output_path:
return os.path.abspath(os.path.join(output_path, ".."))
# If inside ext test runner process, use setting:
output_path = carb.tokens.get_tokens_interface().resolve(
get_setting("/exts/omni.kit.test/testExtOutputPath", default="")
)
output_path = os.path.abspath(output_path)
return output_path
@lru_cache()
def get_test_output_path():
"""Get local extension test output path. It is unique for each extension test process."""
output_path = _get_passed_test_output_path()
# If not passed we probably not inside test process, default to global
if not output_path:
return get_global_test_output_path()
output_path = os.path.abspath(carb.tokens.get_tokens_interface().resolve(output_path))
return output_path
@lru_cache()
def get_ext_test_id() -> str:
return str(get_setting("/exts/omni.kit.test/extTestId", default=""))
def cleanup_folder(path):
try:
for p in glob.glob(f"{path}/*"):
if os.path.isdir(p):
if omni.ext.is_link(p):
omni.ext.destroy_link(p)
else:
shutil.rmtree(p)
else:
os.remove(p)
except Exception as exc: # pylint: disable=broad-except
carb.log_warn(f"Unable to clean up files: {path}: {exc}")
def ext_id_to_fullname(ext_id: str) -> str:
return omni.ext.get_extension_name(ext_id)
def clamp(value, min_value, max_value):
return max(min(value, max_value), min_value)
@lru_cache()
def is_running_on_ci():
return is_running_in_teamcity() or is_running_in_gitlab()
def call_git(args, cwd=None):
import subprocess
cmd = ["git"] + args
carb.log_verbose("run process: {}".format(cmd))
try:
res = subprocess.run(cmd, cwd=cwd, capture_output=True, text=True)
if res.returncode != 0:
carb.log_warn(f"Error running process: {cmd}. Result: {res}. Stderr: {res.stderr}")
return res
except FileNotFoundError:
carb.log_warn("Failed calling git")
except PermissionError:
carb.log_warn("No permission to execute git")
def _hash_file_impl(path, hash, as_text):
mode = "r" if as_text else "rb"
encoding = "utf-8" if as_text else None
with open(path, mode, encoding=encoding) as f:
while True:
data = f.readline().encode("utf-8") if as_text else f.read(65536)
if not data:
break
hash.update(data)
def hash_file(path, hash):
# Try as text first, to avoid CRLF/LF mismatch on both platforms
try:
return _hash_file_impl(path, hash, as_text=True)
except UnicodeDecodeError:
return _hash_file_impl(path, hash, as_text=False)
def sha1_path(path, hash_length=16) -> str:
exclude_files = ["extension.gen.toml"]
hash = hashlib.sha1()
if os.path.isfile(path):
hash_file(path, hash)
else:
for p in glob.glob(f"{path}/**", recursive=True):
if not os.path.isfile(p) or os.path.basename(p) in exclude_files:
continue
hash_file(p, hash)
return hash.hexdigest()[:hash_length]
def sha1_list(strings: List[str], hash_length=16) -> str:
hash = hashlib.sha1()
for s in strings:
hash.update(s.encode("utf-8"))
return hash.hexdigest()[:hash_length]
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/test_reporters.py | from enum import Enum
from typing import Callable, Any
class TestRunStatus(Enum):
UNKNOWN = 0
RUNNING = 1
PASSED = 2
FAILED = 3
_callbacks = []
def add_test_status_report_cb(callback: Callable[[str, TestRunStatus, Any], None]):
"""Add callback to be called when tests start, fail, pass."""
global _callbacks
_callbacks.append(callback)
def remove_test_status_report_cb(callback: Callable[[str, TestRunStatus, Any], None]):
"""Remove callback to be called when tests start, fail, pass."""
global _callbacks
_callbacks.remove(callback)
def _test_status_report(test_id: str, status: TestRunStatus, **kwargs):
for cb in _callbacks:
cb(test_id, status, **kwargs)
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/async_unittest.py | """Async version of python unittest module.
AsyncTestCase, AsyncTestSuite and AsyncTextTestRunner classes were copied from python unittest source and async/await
keywords were added.
There are two ways of registering tests, which must all be in the 'tests' submodule of your python module.
1. 'from X import *" from every file containing tests
2. Add the line 'scan_for_test_modules = True' in your __init__.py file to pick up tests in every file starting
with 'test_'
"""
import asyncio
import time
import unittest
import warnings
from unittest.case import _Outcome
import carb
import omni.kit.app
from .reporter import TestReporter
from .test_reporters import TestRunStatus
from .utils import get_ext_test_id, is_running_on_ci
KEY_FAILING_TESTS = "Failing tests"
STARTED_UNITTEST = "started "
async def await_or_call(func):
"""
Awaits on function if it is a coroutine, calls it otherwise.
"""
if asyncio.iscoroutinefunction(func):
await func()
else:
func()
class LogErrorChecker:
"""Automatically subscribes to logging events and monitors if error were produced during the test."""
def __init__(self):
# Setup this test case to fail if any error is produced
self._error_count = 0
def on_log_event(e):
if e.payload["level"] >= carb.logging.LEVEL_ERROR:
self._error_count = self._error_count + 1
self._log_stream = omni.kit.app.get_app().get_log_event_stream()
self._log_sub = self._log_stream.create_subscription_to_pop(on_log_event, name="test log event")
def shutdown(self):
self._log_stream = None
self._log_sub = None
def get_error_count(self):
self._log_stream.pump()
return self._error_count
class AsyncTestCase(unittest.TestCase):
"""Base class for all async test cases.
Derive from it to make your tests auto discoverable. Test methods must start with `test_` prefix.
Test cases allow for generation and/or adaptation of tests at runtime. See testing_exts_python.md for more details.
"""
# If true test will check for Carbonite logging messages and fail if any error level or higher was produced during the test.
fail_on_log_error = False
async def run(self, result=None):
# Log error checker
self._log_error_checker = None
if self.fail_on_log_error:
carb.log_warn(
"[DEPRECATION WARNING] `AsyncTestCaseFailOnLogError` is deprecated. Replace with `AsyncTestCase`. Errors are captured from stdout by an external test runner process now."
)
# Make sure log buffer pumped:
await omni.kit.app.get_app().next_update_async()
self._log_error_checker = LogErrorChecker()
orig_result = result
if result is None:
result = self.defaultTestResult()
startTestRun = getattr(result, "startTestRun", None)
if startTestRun is not None:
startTestRun()
result.startTest(self)
testMethod = getattr(self, self._testMethodName)
if getattr(self.__class__, "__unittest_skip__", False) or getattr(testMethod, "__unittest_skip__", False):
# If the class or method was skipped.
try:
skip_why = getattr(self.__class__, "__unittest_skip_why__", "") or getattr(
testMethod, "__unittest_skip_why__", ""
)
self._addSkip(result, self, skip_why)
finally:
result.stopTest(self)
return
expecting_failure_method = getattr(testMethod, "__unittest_expecting_failure__", False)
expecting_failure_class = getattr(self, "__unittest_expecting_failure__", False)
expecting_failure = expecting_failure_class or expecting_failure_method
outcome = _Outcome(result)
try:
self._outcome = outcome
with outcome.testPartExecutor(self):
await await_or_call(self.setUp)
if outcome.success:
outcome.expecting_failure = expecting_failure
with outcome.testPartExecutor(self, isTest=True):
await await_or_call(testMethod)
outcome.expecting_failure = False
with outcome.testPartExecutor(self):
await await_or_call(self.tearDown)
# Log error checks
if self._log_error_checker:
await omni.kit.app.get_app().next_update_async()
error_count = self._log_error_checker.get_error_count()
if error_count > 0:
self.fail(f"Test failure because of {error_count} error message(s) logged during it.")
self.doCleanups()
for test, reason in outcome.skipped:
self._addSkip(result, test, reason)
self._feedErrorsToResult(result, outcome.errors)
if outcome.success:
if expecting_failure:
if outcome.expectedFailure:
self._addExpectedFailure(result, outcome.expectedFailure)
else:
self._addUnexpectedSuccess(result)
else:
result.addSuccess(self)
return result
finally:
if self._log_error_checker:
self._log_error_checker.shutdown()
result.stopTest(self)
if orig_result is None:
stopTestRun = getattr(result, "stopTestRun", None)
if stopTestRun is not None:
stopTestRun()
# explicitly break reference cycles:
# outcome.errors -> frame -> outcome -> outcome.errors
# outcome.expectedFailure -> frame -> outcome -> outcome.expectedFailure
outcome.errors.clear()
outcome.expectedFailure = None
# clear the outcome, no more needed
self._outcome = None
class AsyncTestCaseFailOnLogError(AsyncTestCase):
"""Test Case which automatically subscribes to logging events and fails if any error were produced during the test.
This class is for backward compatibility, you can also just change value of `fail_on_log_error`.
"""
# Enable failure on error
fail_on_log_error = True
class OmniTestResult(unittest.TextTestResult):
def __init__(self, stream, descriptions, verbosity):
# If we are running under CI we will use default unittest reporter with higher verbosity.
if not is_running_on_ci():
verbosity = 2
super(OmniTestResult, self).__init__(stream, descriptions, verbosity)
self.reporter = TestReporter(stream)
self.on_status_report_fn = None
def _report_status(self, *args, **kwargs):
if self.on_status_report_fn:
self.on_status_report_fn(*args, **kwargs)
@staticmethod
def get_tc_test_id(test):
if isinstance(test, str):
return test
# Use dash as a clear visual separator of 3 parts:
test_id = "%s - %s - %s" % (test.__class__.__module__, test.__class__.__qualname__, test._testMethodName)
# Dots have special meaning in TC, replace with /
test_id = test_id.replace(".", "/")
ext_test_id = get_ext_test_id()
if ext_test_id:
# In the context of extension test it has own test id. Convert to TC form by getting rid of dots.
ext_test_id = ext_test_id.replace(".", "+")
test_id = f"{ext_test_id}.{test_id}"
return test_id
def addSuccess(self, test):
super(OmniTestResult, self).addSuccess(test)
def addError(self, test, err, *k):
super(OmniTestResult, self).addError(test, err)
fail_message = self._get_error_message(test, "Error", self.errors)
self.report_fail(test, "Error", err, fail_message)
def addFailure(self, test, err, *k):
super(OmniTestResult, self).addFailure(test, err)
fail_message = self._get_error_message(test, "Fail", self.failures)
self.report_fail(test, "Failure", err, fail_message)
def report_fail(self, test, fail_type: str, err, fail_message: str):
tc_test_id = self.get_tc_test_id(test)
test_id = test.id()
# pass the failing test info back to the ext testing framework in parent proc
self.stream.write(f"##omni.kit.test[append, {KEY_FAILING_TESTS}, {test_id}]\n")
self.reporter.unittest_fail(test_id, tc_test_id, fail_type, fail_message)
self._report_status(test_id, TestRunStatus.FAILED, fail_message=fail_message)
def _get_error_message(self, test, fail_type: str, errors: list) -> str:
# In python/Lib/unittest/result.py the failures are reported with _exc_info_to_string() that is private.
# To get the same result we grab the latest errors/failures from `self.errors[-1]` or `self.failures[-1]`
# In python/Lib/unittest/runner.py from the `printErrorList` function we also copied the logic here.
exc_info = errors[-1][1] if errors[-1] else ""
error_msg = []
error_msg.append(self.separator1)
error_msg.append(f"{fail_type.upper()}: {self.getDescription(test)}")
error_msg.append(self.separator2)
error_msg.append(exc_info)
return "\n".join(error_msg)
def startTest(self, test):
super(OmniTestResult, self).startTest(test)
tc_test_id = self.get_tc_test_id(test)
test_id = test.id()
self.stream.write("\n")
# python tests can start but never finish (crash, time out, etc)
# track it from the parent proc with a pragma message (see _extract_metadata_pragma in exttests.py)
self.stream.write(f"##omni.kit.test[set, {test_id}, {STARTED_UNITTEST}{tc_test_id}]\n")
self.reporter.unittest_start(test_id, tc_test_id, captureStandardOutput="true")
self._report_status(test_id, TestRunStatus.RUNNING)
def stopTest(self, test):
super(OmniTestResult, self).stopTest(test)
tc_test_id = self.get_tc_test_id(test)
test_id = test.id()
# test finished, delete it from the metadata
self.stream.write(f"##omni.kit.test[del, {test_id}]\n")
# test._outcome is None when test is skipped using decorator.
# When skipped using self.skipTest() it contains list of skipped test cases
skipped = test._outcome is None or bool(test._outcome.skipped)
# self.skipped last index contains the current skipped test, name is at index 0, reason at index 1
skip_reason = self.skipped[-1][1] if skipped and self.skipped else ""
# skipped tests are marked as "passed" not to confuse reporting down the line
passed = test._outcome.success if test._outcome and not skipped else True
self.reporter.unittest_stop(test_id, tc_test_id, passed=passed, skipped=skipped, skip_reason=skip_reason)
if passed:
self._report_status(test_id, TestRunStatus.PASSED)
class TeamcityTestResult(OmniTestResult):
def __init__(self, stream, descriptions, verbosity):
carb.log_warn("[DEPRECATION WARNING] `TeamcityTestResult` is deprecated. Replace with `OmniTestResult`.")
super(TeamcityTestResult, self).__init__(stream, descriptions, verbosity)
class AsyncTextTestRunner(unittest.TextTestRunner):
"""A test runner class that displays results in textual form.
It prints out the names of tests as they are run, errors as they
occur, and a summary of the results at the end of the test run.
"""
async def run(self, test, on_status_report_fn=None):
"Run the given test case or test suite."
result = self._makeResult()
unittest.signals.registerResult(result)
result.failfast = self.failfast
result.buffer = self.buffer
result.tb_locals = self.tb_locals
result.on_status_report_fn = on_status_report_fn
with warnings.catch_warnings():
if self.warnings:
# if self.warnings is set, use it to filter all the warnings
warnings.simplefilter(self.warnings)
# if the filter is 'default' or 'always', special-case the
# warnings from the deprecated unittest methods to show them
# no more than once per module, because they can be fairly
# noisy. The -Wd and -Wa flags can be used to bypass this
# only when self.warnings is None.
if self.warnings in ["default", "always"]:
warnings.filterwarnings(
"module", category=DeprecationWarning, message=r"Please use assert\w+ instead."
)
startTime = time.time()
startTestRun = getattr(result, "startTestRun", None)
if startTestRun is not None:
startTestRun()
try:
await test(result)
finally:
stopTestRun = getattr(result, "stopTestRun", None)
if stopTestRun is not None:
stopTestRun()
stopTime = time.time()
timeTaken = stopTime - startTime
result.printErrors()
if hasattr(result, "separator2"):
self.stream.writeln(result.separator2)
run = result.testsRun
self.stream.writeln("Ran %d test%s in %.3fs" % (run, run != 1 and "s" or "", timeTaken))
self.stream.writeln()
expectedFails = unexpectedSuccesses = skipped = 0
try:
results = map(len, (result.expectedFailures, result.unexpectedSuccesses, result.skipped))
except AttributeError:
pass
else:
expectedFails, unexpectedSuccesses, skipped = results
infos = []
if not result.wasSuccessful():
self.stream.write("FAILED")
failed, errored = len(result.failures), len(result.errors)
if failed:
infos.append("failures=%d" % failed)
if errored:
infos.append("errors=%d" % errored)
else:
self.stream.write("OK")
if skipped:
infos.append("skipped=%d" % skipped)
if expectedFails:
infos.append("expected failures=%d" % expectedFails)
if unexpectedSuccesses:
infos.append("unexpected successes=%d" % unexpectedSuccesses)
if infos:
self.stream.writeln(" (%s)" % (", ".join(infos),))
else:
self.stream.write("\n")
return result
def _isnotsuite(test):
"A crude way to tell apart testcases and suites with duck-typing"
try:
iter(test)
except TypeError:
return True
return False
class AsyncTestSuite(unittest.TestSuite):
"""A test suite is a composite test consisting of a number of TestCases.
For use, create an instance of TestSuite, then add test case instances.
When all tests have been added, the suite can be passed to a test
runner, such as TextTestRunner. It will run the individual test cases
in the order in which they were added, aggregating the results. When
subclassing, do not forget to call the base class constructor.
"""
async def run(self, result, debug=False):
topLevel = False
if getattr(result, "_testRunEntered", False) is False:
result._testRunEntered = topLevel = True
for index, test in enumerate(self):
if result.shouldStop:
break
if _isnotsuite(test):
self._tearDownPreviousClass(test, result)
self._handleModuleFixture(test, result)
self._handleClassSetUp(test, result)
result._previousTestClass = test.__class__
if getattr(test.__class__, "_classSetupFailed", False) or getattr(result, "_moduleSetUpFailed", False):
continue
if not debug:
await test(result)
else:
await test.debug()
if self._cleanup:
self._removeTestAtIndex(index)
if topLevel:
self._tearDownPreviousClass(None, result)
self._handleModuleTearDown(result)
result._testRunEntered = False
return result
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/reporter.py | import fnmatch
import glob
import json
import os
import platform
import shutil
import sys
import time
import xml.etree.ElementTree as ET
from collections import defaultdict
from dataclasses import dataclass
from datetime import datetime
from enum import Enum
from functools import lru_cache
from pathlib import Path
from typing import Dict, List, Optional
import carb
import carb.settings
import carb.tokens
import psutil
from .nvdf import post_coverage_to_nvdf, post_to_nvdf
from .teamcity import teamcity_message, teamcity_publish_artifact, teamcity_status
from .test_coverage import generate_coverage_report
from .utils import (
ext_id_to_fullname,
get_ext_test_id,
get_global_test_output_path,
get_setting,
get_test_output_path,
is_running_on_ci,
)
CURRENT_PATH = Path(__file__).parent
HTML_PATH = CURRENT_PATH.parent.parent.parent.joinpath("html")
REPORT_FILENAME = "report.jsonl"
RESULTS_FILENAME = "results.xml"
@lru_cache()
def get_report_filepath():
return os.path.join(get_test_output_path(), REPORT_FILENAME)
@lru_cache()
def get_results_filepath():
return os.path.join(get_test_output_path(), RESULTS_FILENAME)
def _load_report_data(report_path):
data = []
with open(report_path, "r") as f:
for line in f:
data.append(json.loads(line))
return data
def _get_tc_test_id(test_id):
return test_id.replace(".", "+")
class TestReporter:
"""Combines TC reports to stdout and JSON lines report to a file"""
def __init__(self, stream=sys.stdout):
self._stream = stream
self._timers = {}
self._report_filepath = get_report_filepath()
self.unreliable_tests = get_setting("/exts/omni.kit.test/unreliableTests", default=[])
self.parallel_run = get_setting("/exts/omni.kit.test/parallelRun", default=False)
def _get_duration(self, test_id: str) -> float:
try:
duration = round(time.time() - self._timers.pop(test_id), 3)
except KeyError:
duration = 0.0
return duration
def _is_unreliable(self, test_id):
return any(fnmatch.fnmatch(test_id, p) for p in self.unreliable_tests)
def set_output_path(self, output_path: str):
self._report_filepath = os.path.join(output_path, REPORT_FILENAME)
def _write_report(self, data: dict):
if self._report_filepath:
with open(self._report_filepath, "a") as f:
f.write(json.dumps(data))
f.write("\n")
def unittest_start(self, test_id, tc_test_id, captureStandardOutput="false"):
teamcity_message(
"testStarted", stream=self._stream, name=tc_test_id, captureStandardOutput=captureStandardOutput
)
self._timers[test_id] = time.time()
self._write_report(
{
"event": "start",
"test_type": "unittest",
"test_id": test_id,
"ext_test_id": get_ext_test_id(),
"unreliable": self._is_unreliable(test_id),
"parallel_run": self.parallel_run,
"start_time": time.time(),
}
)
def unittest_stop(self, test_id, tc_test_id, passed=False, skipped=False, skip_reason=""):
if skipped:
teamcity_message("testIgnored", stream=self._stream, name=tc_test_id, message=skip_reason)
teamcity_message("testFinished", stream=self._stream, name=tc_test_id)
self._write_report(
{
"event": "stop",
"test_type": "unittest",
"test_id": test_id,
"ext_test_id": get_ext_test_id(),
"passed": passed,
"skipped": skipped,
"skip_reason": skip_reason,
"stop_time": time.time(),
"duration": self._get_duration(test_id),
}
)
def unittest_fail(self, test_id, tc_test_id, fail_type: str, fail_message: str):
teamcity_message("testFailed", stream=self._stream, name=tc_test_id, fail_type=fail_type, message=fail_message)
self._write_report(
{
"event": "fail",
"test_type": "unittest",
"test_id": test_id,
"ext_test_id": get_ext_test_id(),
"fail_type": fail_type,
"message": fail_message,
}
)
def exttest_start(self, test_id, tc_test_id, ext_id, ext_name, captureStandardOutput="false", report=True):
teamcity_message(
"testStarted", stream=self._stream, name=tc_test_id, captureStandardOutput=captureStandardOutput
)
if report:
self._timers[test_id] = time.time()
self._write_report(
{
"event": "start",
"test_type": "exttest",
"test_id": test_id,
"ext_id": ext_id,
"ext_name": ext_name,
"start_time": time.time(),
}
)
def exttest_stop(self, test_id, tc_test_id, passed=False, skipped=False, report=True):
if skipped:
teamcity_message("testIgnored", stream=self._stream, name=tc_test_id, message="skipped")
teamcity_message("testFinished", stream=self._stream, name=tc_test_id)
if report:
self._write_report(
{
"event": "stop",
"test_type": "exttest",
"test_id": test_id,
"passed": passed,
"skipped": skipped,
"stop_time": time.time(),
"duration": self._get_duration(test_id),
}
)
def exttest_fail(self, test_id, tc_test_id, fail_type: str, fail_message: str):
teamcity_message("testFailed", stream=self._stream, name=tc_test_id, fail_type=fail_type, message=fail_message)
self._write_report(
{
"event": "fail",
"test_type": "exttest",
"test_id": test_id,
"fail_type": fail_type,
"message": fail_message,
}
)
def report_result(self, test):
"""Write tests results data we want to later show on the html report and in elastic"""
res = defaultdict(dict)
res["config"] = test.config
res["retries"] = test.retries
res["timeout"] = test.timeout if test.timeout else 0
ext_info = test.ext_info
ext_dict = ext_info.get_dict()
res["state"]["enabled"] = ext_dict.get("state", {}).get("enabled", False)
res["package"]["version"] = ext_dict.get("package", {}).get("version", "")
res.update(vars(test.result))
change = {}
if test.change_analyzer_result:
change["skip"] = test.change_analyzer_result.should_skip_test
change["startup_sequence_hash"] = test.change_analyzer_result.startup_sequence_hash
change["tested_ext_hash"] = test.change_analyzer_result.tested_ext_hash
change["kernel_version"] = test.change_analyzer_result.kernel_version
self._write_report(
{
"event": "result",
"test_type": "exttest",
"test_id": test.test_id,
"ext_id": test.ext_id,
"ext_name": test.ext_name,
"test_bucket": test.bucket_name,
"unreliable": test.config.get("unreliable", False),
"parallel_run": get_setting("/exts/omni.kit.test/parallelRun", default=False),
"change_analyzer": change,
"result": res,
}
)
# TODO: this function should be rewritten to avoid any guessing
def _get_extension_name(path: str, ext_id_to_name: dict):
# if ext_id is in the path return that extension name
for k, v in ext_id_to_name.items():
if k in path:
return v
p = Path(path)
for i, e in enumerate(p.parts):
if e == "exts" or e == "extscore":
if p.parts[i + 1][0:1].isdigit():
return ext_id_to_fullname(p.parts[i + 2])
else:
return p.parts[i + 1]
elif e == "extscache" or e == "extsPhysics":
# exts from cache will be named like this: omni.ramp-103.0.10+103.1.wx64.r.cp37
# exts from physics will be named like this: omni.physx-1.5.0-5.1
return ext_id_to_fullname(p.parts[i + 1])
elif e == "extensions":
# on linux we'll have paths from source/extensions/<ext_name>
return p.parts[i + 1]
carb.log_warn(f"Could not get extension name for {path}")
return "_unsorted"
class ExtCoverage:
def __init__(self):
self.ext_id: str = ""
self.ext_name: str = ""
self.covered_lines = []
self.num_statements = []
self.test_result = {}
def mean_cov(self):
statements = self.sum_statements()
if statements == 0:
return 0
return (self.sum_covered_lines() / statements) * 100.0
def sum_covered_lines(self):
return sum(self.covered_lines)
def sum_statements(self):
return sum(self.num_statements)
# Note that the combined coverage data will 'merge' (or 'lose') the test config because the coverage is reported
# at the filename level. For example an extension with 2 configs, omni.kit.renderer.core [default, compatibility]
# will produce 2 .pycov files, but in the combined report (json) it will be merged per source file, so no way to know
# what was the coverage for default vs compatibility, we'll get to coverage for all of omni.kit.renderer.core tests
def _build_ext_coverage(coverage_data: dict, ext_id_to_name: dict) -> Dict[str, ExtCoverage]:
exts = defaultdict(ExtCoverage)
for file, info in coverage_data["files"].items():
ext_name = _get_extension_name(file, ext_id_to_name)
exts[ext_name].ext_name = ext_name
exts[ext_name].covered_lines.append(info["summary"]["covered_lines"])
exts[ext_name].num_statements.append(info["summary"]["num_statements"])
return exts
def _report_unreliable_tests(report_data):
# Dummy tests to group all "unreliable" tests and report (convenience for TC UI)
unreliable_failed = [r for r in report_data if r["event"] == "result" and r["result"]["unreliable_fail"] == 1]
reporter = TestReporter()
total = len(unreliable_failed)
if total > 0:
dummy_test_id = "UNRELIABLE_TESTS"
summary = ""
for r in unreliable_failed:
test_result = r["result"]
summary += " [{0:5.1f}s] {1} (Count: {2})\n".format(
test_result["duration"], r["test_id"], test_result["test_count"]
)
reporter.unittest_start(dummy_test_id, dummy_test_id)
message = f"There are {total} tests that fail, but marked as unreliable:\n{summary}"
reporter.unittest_fail(dummy_test_id, dummy_test_id, "Error", message)
print(message)
reporter.unittest_stop(dummy_test_id, dummy_test_id)
def _build_test_data_html(report_data):
# consider retries: start, fail, start, (nothing) -> success
# for each fail look back and add extra data that this test will pass or fail.
# it is convenient for the next code to know ahead of time if test will pass.
started_tests = {}
for e in report_data:
if e["event"] == "start":
started_tests[e["test_id"]] = e
elif e["event"] == "fail":
started_tests[e["test_id"]]["will_pass"] = False
results = {item["test_id"]: item["result"] for item in report_data if item["event"] == "result"}
RESULT_EMOJI = {True: "✅", False: "❌"}
COLOR_CLASS = {True: "add-green-color", False: "add-red-color"}
unreliable = False
html_data = '<ul class="test_list">\n'
depth = 0
for e in report_data:
if e["event"] == "start":
# reset depth if needed (missing stop event)
if e["test_type"] == "exttest" and depth > 0:
depth -= 1
while depth > 0:
html_data += "</ul>\n"
depth -= 1
depth += 1
if depth > 1:
html_data += "<ul>\n"
test_id = e["test_id"]
passed = e.get("will_pass", True)
extra = ""
attr = ""
# Root test ([[test]] entry)
# Reset unreliable marker
if depth == 1:
unreliable = False
# Get more stats about the whole [[test]] run
if test_id in results:
test_result = results[test_id]
extra += " [{0:5.1f}s]".format(test_result["duration"])
unreliable = bool(test_result["unreliable"])
passed = test_result["passed"]
style_class = COLOR_CLASS[passed]
if unreliable:
extra += " <b>[unreliable]</b>"
style_class = "add-yellow-color unreliable"
html_data += '<li class="{0}" {4}>{3} {1} {2}</li>\n'.format(
style_class, extra, test_id, RESULT_EMOJI[passed], attr
)
if e["event"] == "stop":
depth -= 1
if depth > 0:
html_data += "</ul>\n"
html_data += "</ul>\n"
return html_data
def _post_build_status(report_data: list):
exts = {item["ext_id"] for item in report_data if item["event"] == "result"}
# there could be retry events, so only count unique tests:
tests_started = {item["test_id"] for item in report_data if item["event"] == "start"}
tests_passed = {item["test_id"] for item in report_data if item["event"] == "stop" and item["passed"]}
total_count = len(tests_started)
fail_count = total_count - len(tests_passed)
if fail_count:
status = "failure"
text = f"{fail_count} tests failed out of {total_count}"
else:
status = "success"
text = f"All {total_count} tests passed"
text += " (extensions tested: {}).".format(len(exts))
teamcity_status(text=text, status=status)
def _calculate_durations(report_data: list):
"""
Calculate startup time of each extension and time taken by each individual test
We count the time between the extension start_time to the start_time of the first test
"""
ext_startup_time = {}
ext_startup_time_found = {}
ext_tests_time = {}
for d in report_data:
test_id = d["test_id"]
test_type = d["test_type"]
ext_test_id = d.get("ext_test_id", None)
if d["event"] == "start":
if test_type == "exttest":
if not ext_startup_time_found.get(test_id):
start_time = d["start_time"]
ext_startup_time[test_id] = start_time
else:
if not ext_startup_time_found.get(ext_test_id):
t = ext_startup_time.get(ext_test_id, 0.0)
ext_startup_time[ext_test_id] = round(d["start_time"] - t, 2)
ext_startup_time_found[ext_test_id] = True
elif d["event"] == "stop":
if test_type == "unittest":
t = ext_tests_time.get(ext_test_id, 0.0)
t += d.get("duration", 0.0)
ext_tests_time[ext_test_id] = t
elif d["event"] == "result":
test_result = d.get("result", None)
if test_result:
# it's possible an extension has no tests, so we set startup_duration = duration
if ext_startup_time_found.get(test_id, False) is True:
t = ext_startup_time.get(test_id, 0.0)
test_result["startup_duration"] = t
else:
test_result["startup_duration"] = test_result.get("duration", 0.0)
# update duration of all tests
test_result["tests_duration"] = ext_tests_time.get(test_id, 0.0)
# ratios
test_result["startup_ratio"] = 0.0
test_result["tests_ratio"] = 0.0
if test_result["tests_duration"] != 0.0:
test_result["startup_ratio"] = (test_result["startup_duration"] / test_result["duration"]) * 100.0
test_result["tests_ratio"] = (test_result["tests_duration"] / test_result["duration"]) * 100.0
def generate_report():
"""After running tests this function will generate html report / post to nvdf / publish artifacts"""
# at this point all kit processes should be finished
if is_running_on_ci():
_kill_kit_processes()
try:
print("\nGenerating a Test Report...")
_generate_report_internal()
except Exception as e:
import traceback
print(f"Exception while running generate_report(): {e}, callstack: {traceback.format_exc()}")
def _kill_kit_processes():
"""Kill all Kit processes except self"""
kit_process_name = carb.tokens.get_tokens_interface().resolve("${exe-filename}")
for proc in psutil.process_iter():
if proc.pid == os.getpid():
continue
try:
if proc.name() == kit_process_name:
carb.log_warn(
"Killing a Kit process that is still running:\n"
f" PID: {proc.pid}\n"
f" Command line: {proc.cmdline()}"
)
proc.terminate()
except psutil.AccessDenied as e:
carb.log_warn(f"Access denied: {e}")
except psutil.ZombieProcess as e:
carb.log_warn(f"Encountered a zombie process: {e}")
except psutil.NoSuchProcess as e:
carb.log_warn(f"Process no longer exists: {e}")
except (psutil.Error, Exception) as e:
carb.log_warn(f"An error occurred: {str(e)}")
def _generate_report_internal():
# Get Test report and publish it
report_data = []
# combine report from various test runs (each process has own file, for parallel run)
for report_file in glob.glob(get_global_test_output_path() + "/*/" + REPORT_FILENAME):
report_data.extend(_load_report_data(report_file))
if not report_data:
return
# generate combined file
combined_report_path = get_global_test_output_path() + "/report_combined.jsonl"
with open(combined_report_path, "w") as f:
f.write(json.dumps(report_data))
teamcity_publish_artifact(combined_report_path)
# TC Build status
_post_build_status(report_data)
# Dummy test report
_report_unreliable_tests(report_data)
# Prepare output path
output_path = get_global_test_output_path()
os.makedirs(output_path, exist_ok=True)
# calculate durations (startup, total, etc)
_calculate_durations(report_data)
# post to elasticsearch
post_to_nvdf(report_data)
# write junit xml
_write_junit_results(report_data)
# get coverage results and generate html report
merged_results, coverage_results = _load_coverage_results(report_data)
html = _generate_html_report(report_data, merged_results)
# post coverage results
post_coverage_to_nvdf(_get_coverage_for_nvdf(merged_results, coverage_results))
# write and publish html report
_write_html_report(html, output_path)
# publish all test output to TC in the end:
teamcity_publish_artifact(f"{output_path}/**/*")
def _load_coverage_results(report_data, read_coverage=True) -> tuple[dict, dict]:
# build a map of extension id to extension name
ext_id_to_name = {}
for item in report_data:
if item["event"] == "result":
ext_id_to_name[item["ext_id"]] = item["ext_name"]
# Get data coverage per extension (configs are merged)
coverage_results = defaultdict(ExtCoverage)
if read_coverage:
coverage_result = generate_coverage_report()
if coverage_result and coverage_result.json_path:
coverage_data = json.load(open(coverage_result.json_path))
coverage_results = _build_ext_coverage(coverage_data, ext_id_to_name)
# combine test results and coverage data, key is the test_id (separates extensions per config)
merged_results = defaultdict(ExtCoverage)
for item in report_data:
if item["event"] == "result":
test_id = item["test_id"]
ext_id = item["ext_id"]
ext_name = item["ext_name"]
merged_results[test_id].ext_id = ext_id
merged_results[test_id].ext_name = ext_name
merged_results[test_id].test_result = item["result"]
cov = coverage_results.get(ext_name)
if cov:
merged_results[test_id].covered_lines = cov.covered_lines
merged_results[test_id].num_statements = cov.num_statements
return merged_results, coverage_results
def _get_coverage_for_nvdf(merged_results: dict, coverage_results: dict) -> dict:
json_data = {}
for ext_name, _ in coverage_results.items():
# grab the matching result
result: ExtCoverage = merged_results.get(ext_name)
if not result:
# in rare cases the default name of a test config can be different, search of the extension name instead
res: ExtCoverage
for res in merged_results.values():
if res.ext_name == ext_name:
result = res
break
test_result = result.test_result if result else None
if not test_result:
continue
test_data = {
"ext_id": result.ext_id,
"ext_name": ext_name,
}
test_data.update(test_result)
json_data.update({ext_name: {"test": test_data}})
return json_data
def _generate_html_report(report_data, merged_results):
html = ""
with open(os.path.join(HTML_PATH, "template.html"), "r") as f:
html = f.read()
class Color(Enum):
RED = 0
GREEN = 1
YELLOW = 2
def get_color(var, threshold: tuple, inverse=False, warning_only=False) -> Color:
if var == "":
return None
if inverse is True:
if float(var) >= threshold[0]:
return Color.RED
elif float(var) >= threshold[1]:
return Color.YELLOW
elif not warning_only:
return Color.GREEN
else:
if float(var) <= threshold[0]:
return Color.RED
elif float(var) <= threshold[1]:
return Color.YELLOW
elif not warning_only:
return Color.GREEN
def get_td(var, color: Color = None):
if color is Color.RED:
return f"<td ov-red>{var}</td>\n"
elif color is Color.GREEN:
return f"<td ov-green>{var}</td>\n"
elif color is Color.YELLOW:
return f"<td ov-yellow>{var}</td>\n"
else:
return f"<td>{var}</td>\n"
coverage_enabled = get_setting("/exts/omni.kit.test/pyCoverageEnabled", default=False)
coverage_threshold = get_setting("/exts/omni.kit.test/pyCoverageThreshold", default=75)
# disable coverage button when not needed
if not coverage_enabled:
html = html.replace(
"""<button class="tablinks" onclick="openTab(event, 'Coverage')">Coverage</button>""",
"""<button disabled class="tablinks" onclick="openTab(event, 'Coverage')">Coverage</button>""",
)
# Build test run data
html = html.replace("%%test_data%%", _build_test_data_html(report_data))
# Build extension table
html_data = ""
for test_id, info in sorted(merged_results.items()):
r = info.test_result
waiver = True if r.get("config", {}).get("waiver") else False
passed = r.get("passed", False)
test_count = r.get("test_count", 0)
duration = round(r.get("duration", 0.0), 1)
startup_duration = round(r.get("startup_duration", 0.0), 1)
startup_ratio = round(r.get("startup_ratio", 0.0), 1)
tests_duration = round(r.get("tests_duration", 0.0), 1)
tests_ratio = round(r.get("tests_ratio", 0.0), 1)
timeout = round(r.get("timeout", 0), 0)
timeout_ratio = 0
if timeout != 0:
timeout_ratio = round((duration / timeout) * 100.0, 0)
# an extension can override pyCoverageEnabled / pyCoverageThreshold
ext_coverage_enabled = bool(r.get("config", {}).get("pyCoverageEnabled", coverage_enabled))
ext_coverage_threshold = int(r.get("config", {}).get("pyCoverageThreshold", coverage_threshold))
ext_coverage_threshold_low = int(ext_coverage_threshold * (2 / 3))
# coverage data
num_statements = info.sum_statements()
num_covered_lines = info.sum_covered_lines()
cov_percent = round(info.mean_cov(), 2)
# add those calculated values to our results
py_coverage = {
"lines_total": num_statements,
"lines_tested": num_covered_lines,
"cov_percent": float(cov_percent),
"cov_threshold": ext_coverage_threshold,
"enabled": bool(coverage_enabled and ext_coverage_enabled),
}
info.test_result["pyCoverage"] = py_coverage
html_data += "<tr>\n"
html_data += get_td(test_id)
html_data += get_td(r.get("package", {}).get("version", ""))
html_data += get_td(waiver, Color.GREEN if waiver is True else None)
html_data += get_td(passed, Color.GREEN if bool(passed) is True else Color.RED)
html_data += get_td(test_count, Color.GREEN if waiver is True else get_color(test_count, (0, 5)))
# color code tests duration: >=60 seconds is red and >=30 seconds is yellow
html_data += get_td(str(duration), get_color(duration, (60, 30), inverse=True, warning_only=True))
html_data += get_td(str(startup_duration))
html_data += get_td(str(startup_ratio))
html_data += get_td(str(tests_duration))
html_data += get_td(str(tests_ratio))
html_data += get_td(str(timeout))
html_data += get_td(str(timeout_ratio), get_color(timeout_ratio, (90, 75), inverse=True, warning_only=True))
html_data += get_td(bool(coverage_enabled and ext_coverage_enabled))
if coverage_enabled and ext_coverage_enabled:
html_data += get_td(ext_coverage_threshold)
html_data += get_td(num_statements)
html_data += get_td(num_covered_lines)
html_data += get_td(
cov_percent,
Color.GREEN
if waiver is True
else get_color(cov_percent, (ext_coverage_threshold_low, ext_coverage_threshold)),
)
print(f" > Coverage for {test_id} is {cov_percent}%")
else:
for _ in range(4):
html_data += get_td("-")
html_data += "</tr>\n"
html = html.replace("%%table_data%%", html_data)
return html
def _write_html_report(html, output_path):
REPORT_NAME = "index.html"
REPORT_FOLDER_NAME = "test_report"
report_dir = os.path.join(output_path, REPORT_FOLDER_NAME)
os.makedirs(report_dir, exist_ok=True)
with open(os.path.join(report_dir, REPORT_NAME), "w") as f:
f.write(html)
print(f" > Full report available here {f.name}")
if not is_running_on_ci():
import webbrowser
webbrowser.open(f.name)
# copy javascript/css files
shutil.copyfile(os.path.join(HTML_PATH, "script.js"), os.path.join(report_dir, "script.js"))
shutil.copyfile(os.path.join(HTML_PATH, "style.css"), os.path.join(report_dir, "style.css"))
shutil.make_archive(os.path.join(output_path, REPORT_FOLDER_NAME), "zip", report_dir)
teamcity_publish_artifact(os.path.join(output_path, "*.zip"))
@dataclass
class Stats:
passed: int = 0
failure: int = 0
error: int = 0
skipped: int = 0
def get_total(self):
return self.passed + self.failure + self.error + self.skipped
def _write_junit_results(report_data: list):
"""Write a JUnit XML from our report data"""
testcases = []
testsuites = ET.Element("testsuites")
start_time = datetime.now()
last_failure = {"message": "", "fail_type": ""}
stats = Stats()
for data in report_data:
test_id = data["test_id"]
test_type = data["test_type"]
ext_test_id = data.get("ext_test_id", test_id)
if data["event"] == "start":
if test_type == "exttest":
start_time = datetime.fromtimestamp(data["start_time"])
elif data["event"] == "fail":
last_failure = data
elif data["event"] == "stop":
# create a testcase for each stop event (for both exttest and unittest)
testcase = ET.Element("testcase", name=test_id, classname=ext_test_id, time=f"{data['duration']:.3f}")
if data.get("skipped"):
stats.skipped += 1
node = ET.SubElement(testcase, "skipped")
node.text = data.get("skip_reason", "")
elif data.get("passed"):
stats.passed += 1
else:
# extension tests failures are of type Error
if test_type == "exttest":
stats.error += 1
node = ET.SubElement(testcase, "error")
elif last_failure["fail_type"] == "Failure":
stats.failure += 1
node = ET.SubElement(testcase, "failure")
else:
stats.error += 1
node = ET.SubElement(testcase, "error")
node.text = last_failure["message"]
testcases.append(testcase)
# extension test stop - gather all testcases and add test suite
if test_type == "exttest":
testsuite = ET.Element(
"testsuite",
name=test_id,
failures=str(stats.failure),
errors=str(stats.error),
skipped=str(stats.skipped),
tests=str(stats.get_total()),
time=f"{data['duration']:.3f}",
timestamp=start_time.isoformat(),
hostname=platform.node(),
)
testsuite.extend(testcases)
testsuites.append(testsuite)
# reset things between test suites
testcases = []
last_failure = {"message": "", "fail_type": ""}
stats = Stats()
# write our file
ET.indent(testsuites)
with open(get_results_filepath(), "w", encoding="utf-8") as f:
f.write(ET.tostring(testsuites, encoding="unicode", xml_declaration=True))
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/test_coverage.py | import os
import shutil
from datetime import datetime
from functools import lru_cache
from pathlib import Path
import carb.settings
import coverage
import omni.kit.app
from .teamcity import teamcity_publish_artifact
from .utils import get_global_test_output_path, get_setting
# For Coverage.py to be able to combine data it's required that combined reports have the same prefix in the filenames.
# From https://coverage.readthedocs.io/en/coverage-6.1.2/api_coverage.htm:
# "All coverage data files whose name starts with data_file (from the coverage() constructor) will be read,
# and combined together into the current measurements."
COV_OUTPUT_DATAFILE_PREFIX = "py_cov"
COV_OUTPUT_DATAFILE_EXTENSION = ".pycov"
CURRENT_PATH = Path(__file__).parent
HTML_LOCAL_PATH = CURRENT_PATH.parent.parent.parent.joinpath("html", "coverage")
class PyCoverageCollectorSettings:
def __init__(self):
self.enabled = False
self.output_dir = None
self.filter: list = None
self.omit: list = None
self.include_modules = False
self.include_dependencies = False
self.include_test_dependencies = False
@lru_cache()
def _get_coverage_output_dir():
return os.path.join(get_global_test_output_path(), "pycov")
def read_coverage_collector_settings() -> PyCoverageCollectorSettings:
result = PyCoverageCollectorSettings()
result.enabled = get_setting("/exts/omni.kit.test/pyCoverageEnabled", True)
result.output_dir = _get_coverage_output_dir()
result.filter = get_setting("/exts/omni.kit.test/pyCoverageFilter", None)
result.omit = get_setting("/exts/omni.kit.test/pyCoverageOmit", None)
result.include_modules = get_setting("/exts/omni.kit.test/pyCoverageIncludeModules", False)
result.include_dependencies = get_setting("/exts/omni.kit.test/pyCoverageIncludeDependencies", False)
result.include_test_dependencies = get_setting("/exts/omni.kit.test/pyCoverageIncludeTestDependencies", False)
return result
class PyCoverageCollector:
"""Initializes code coverage collections and saves collected data at Python interpreter exit"""
class PyCoverageSettings:
def __init__(self):
self.filter = None
self.omit = None
self.output_data_path_prefix = None
self.output_datafile_suffix = None
def __init__(self):
self._coverage = None
def _read_collector_settings(self) -> PyCoverageSettings:
"""
Reads coverage settings and returns non None PyCoverageSettings if Python coverage is required
"""
app_name = get_setting("/app/name")
collector_settings = read_coverage_collector_settings()
if not collector_settings.enabled:
print(f"'{app_name}' has disabled Python coverage in settings")
return None
if collector_settings.output_dir is None:
print(f"Output directory for Python coverage isn't set. Skipping Python coverage for '{app_name}'.")
return None
result = self.PyCoverageSettings()
result.filter = collector_settings.filter
result.omit = collector_settings.omit
filename_timestamp = app_name + f"_{datetime.now():%Y-%m-%d_%H-%M-%S-%f}"
# PyCoverage combines report files that have the same prefix so adding the same prefix to created reports
result.output_data_path_prefix = os.path.normpath(
os.path.join(collector_settings.output_dir, COV_OUTPUT_DATAFILE_PREFIX)
)
result.output_datafile_suffix = filename_timestamp + COV_OUTPUT_DATAFILE_EXTENSION
return result
def startup(self):
# Reading settings to check if it's needed to start Python coverage
# It's needed to be done as soon as possible to properly collect data
self._settings = self._read_collector_settings()
if self._settings is not None:
self._coverage = coverage.Coverage(
source=self._settings.filter,
omit=self._settings.omit,
data_file=self._settings.output_data_path_prefix,
data_suffix=self._settings.output_datafile_suffix,
)
self._coverage.config.disable_warnings = [
"module-not-measured",
"module-not-imported",
"no-data-collected",
"couldnt-parse",
]
self._coverage.start()
# Register for app shutdown to finalize the coverage.
# For fast shutdown, shutdown function of ext will not be called.
# The following subscription will give a chance to collect coverage report.
if carb.settings.get_settings().get("/app/fastShutdown"):
self._shutdown_subs = (
omni.kit.app.get_app()
.get_shutdown_event_stream()
.create_subscription_to_pop_by_type(
omni.kit.app.POST_QUIT_EVENT_TYPE, self.shutdown, name="omni.kit.test::coverage", order=1000
)
)
else:
self._shutdown_subs = None
def shutdown(self, _=None):
if self._coverage is not None:
self._coverage.stop()
try:
# Note: trying to save report in non-internal format in the "atexit" handler will result in error
self._coverage.save()
except coverage.misc.CoverageException as err:
print(f"Couldn't save Coverage report in internal format: {err}")
self._coverage = None
self._settings = None
self._shutdown_subs = None
class PyCoverageReporterSettings:
def __init__(self):
self.source_dir = None
self.output_to_std = False
self.output_to_json = False
self.output_to_html = False
self.combine_previous_data = False
def read_coverage_reporter_settings() -> PyCoverageReporterSettings:
coverage_enabled = get_setting("/exts/omni.kit.test/pyCoverageEnabled", True)
if not coverage_enabled:
return None
pyCoverageFormats = [s.lower() for s in get_setting("/exts/omni.kit.test/pyCoverageFormats", ["json"])]
output_to_std = "stdout" in pyCoverageFormats
output_to_json = "json" in pyCoverageFormats
output_to_html = "html" in pyCoverageFormats
# Check if no Python coverage report required
if not output_to_std and not output_to_json:
return None
source_dir = _get_coverage_output_dir()
if not os.path.exists(source_dir):
return None
result = PyCoverageReporterSettings()
result.source_dir = source_dir
result.output_to_std = output_to_std
result.output_to_json = output_to_json
result.output_to_html = output_to_html
result.combine_previous_data = get_setting("/exts/omni.kit.test/pyCoverageCombinedReport", False)
return result
def _report_single_coverage_result(
cov: coverage,
src_path: str,
std_output: bool = True,
json_output_file: str = None,
title: str = None,
html_output_path: str = None,
):
"""
Creates single report and returns path for created json file (or None if it wasn't created)
"""
try:
# Note: parameter 'keep' sets if read files will be removed afterwards
# setting it to true as they might be used to regenerate overall coverage report
cov.combine(data_paths=[src_path], keep=True)
# Note: ignore errors is needed to ignore some of the errors when coverage fails to process
# .../PythonExtension.cpp::shutdown() or some other file
if std_output:
print()
print("=" * 60)
title = title if title is not None else "Python coverage report"
print(title)
print()
cov.report(ignore_errors=True)
print("=" * 60)
if json_output_file is not None:
cov.json_report(outfile=json_output_file, ignore_errors=True)
if html_output_path is not None:
cov.html_report(directory=html_output_path, ignore_errors=True)
except coverage.misc.CoverageException as err:
print(f"Couldn't create coverage report for '{src_path}': {err}")
def _modify_html_report(output_path: str):
# modify coverage html file to have a larger and clearer filter for extensions
html = ""
with open(os.path.join(output_path, "index.html"), 'r') as file:
html = file.read()
with open(os.path.join(HTML_LOCAL_PATH, "modify.html"), 'r') as file:
# find_replace [0] is the line to find, [1] the line to replace and [2] the line to add
find_replace = file.read().splitlines()
html = html.replace(find_replace[0], find_replace[1] + '\n' + find_replace[2])
with open(os.path.join(output_path, "index.html"), 'w') as file:
file.write(html)
# overwrite coverage css/js files
shutil.copyfile(os.path.join(HTML_LOCAL_PATH, "new_style.css"), os.path.join(output_path, "style.css"))
shutil.copyfile(os.path.join(HTML_LOCAL_PATH, "new_script.js"), os.path.join(output_path, "coverage_html.js"))
class PyCoverageReporterResult:
def __init__(self):
self.html_path = None
self.json_path = None
def report_coverage_results(reporter_settings: PyCoverageReporterSettings = None) -> PyCoverageReporterResult:
"""
Processes previously collected coverage data according to settings in the 'reporter_settings'
"""
result = PyCoverageReporterResult()
if reporter_settings is None:
return result
if (
not reporter_settings.output_to_std
and not reporter_settings.output_to_json
and not reporter_settings.output_to_html
):
print("No output report options selected for the coverage results. No result report generated.")
return result
# use global configuration file
config_file = str(CURRENT_PATH.joinpath(".coveragerc"))
# A helper file required by coverage for combining already existing reports
cov_internal_file = os.path.join(reporter_settings.source_dir, COV_OUTPUT_DATAFILE_PREFIX)
cov = coverage.Coverage(source=None, data_file=cov_internal_file, config_file=config_file)
cov.config.disable_warnings = ["module-not-measured", "module-not-imported", "no-data-collected", "couldnt-parse"]
if reporter_settings.combine_previous_data:
result.json_path = (
os.path.join(reporter_settings.source_dir, "combined_py_coverage" + COV_OUTPUT_DATAFILE_EXTENSION + ".json")
if reporter_settings.output_to_json
else None
)
result.html_path = (
os.path.join(reporter_settings.source_dir, "combined_py_coverage_html")
if reporter_settings.output_to_html
else None
)
_report_single_coverage_result(
cov,
reporter_settings.source_dir,
reporter_settings.output_to_std,
result.json_path,
html_output_path=result.html_path,
)
if result.html_path and os.path.exists(result.html_path):
# slightly modify the html report for our needs
_modify_html_report(result.html_path)
# add folder to zip file, while be used on TeamCity
shutil.make_archive(os.path.join(reporter_settings.source_dir, "coverage"), "zip", result.html_path)
if not os.path.exists(result.json_path):
result.json_path = None
else:
internal_reports = [
file for file in os.listdir(reporter_settings.source_dir) if file.endswith(COV_OUTPUT_DATAFILE_EXTENSION)
]
for cur_file in internal_reports:
cov.erase()
processed_filename = (
cur_file[len(COV_OUTPUT_DATAFILE_PREFIX) + 1 :]
if cur_file.startswith(COV_OUTPUT_DATAFILE_PREFIX)
else cur_file
)
json_path = None
if reporter_settings.output_to_json:
json_path = os.path.join(reporter_settings.source_dir, processed_filename + ".json")
title = None
if reporter_settings.output_to_std:
title, _ = os.path.splitext(processed_filename)
title = f"Python coverage report for '{title}'"
_report_single_coverage_result(
cov,
os.path.join(reporter_settings.source_dir, cur_file),
reporter_settings.output_to_std,
json_path,
title,
)
# Cleanup of intermediate data
cov.erase()
return result
def generate_coverage_report() -> PyCoverageReporterResult:
# processing coverage data
result = PyCoverageReporterResult()
coverage_collector_settings = read_coverage_collector_settings()
# automatically enable coverage if we detect a pycov directory present when generating a report
if os.path.exists(coverage_collector_settings.output_dir):
carb.settings.get_settings().set("/exts/omni.kit.test/pyCoverageEnabled", True)
coverage_collector_settings.enabled = True
if coverage_collector_settings.enabled:
coverage_reporter_settings = read_coverage_reporter_settings()
result = report_coverage_results(coverage_reporter_settings)
teamcity_publish_artifact(os.path.join(coverage_collector_settings.output_dir, "*.zip"))
return result
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/flaky.py | import datetime
import logging
import os
from collections import defaultdict
import carb
from .utils import get_test_output_path
from .nvdf import get_app_info, query_nvdf
logger = logging.getLogger(__name__)
FLAKY_TESTS_QUERY_DAYS = 30
class FlakyTestAnalyzer:
"""Basic Flaky Tests Analyzer"""
AGG_TEST_IDS = "ids"
AGG_LAST_EXT_CONFIG = "config"
BUCKET_PASSED = "passed"
BUCKET_FAILED = "failed"
tests_failed = set()
ext_failed = defaultdict(list)
def __init__(
self, ext_test_id: str = "*", query_days=FLAKY_TESTS_QUERY_DAYS, exclude_consecutive_failure: bool = True
):
self.ext_test_id = ext_test_id
self.query_days = query_days
self.exclude_consecutive_failure = exclude_consecutive_failure
self.app_info = get_app_info()
self.query_result = self._query_nvdf()
def should_skip_test(self) -> bool:
if not self.query_result:
carb.log_info(f"{self.ext_test_id} query error - skipping test")
return True
if len(self.tests_failed) == 0:
carb.log_info(f"{self.ext_test_id} has no failed tests in last {self.query_days} days - skipping test")
return True
return False
def get_flaky_tests(self, ext_id: str) -> list:
return self.ext_failed.get(ext_id, [])
def generate_playlist(self) -> str:
test_output_path = get_test_output_path()
os.makedirs(test_output_path, exist_ok=True)
filename = "flakytest_" + self.ext_test_id.replace(".", "_").replace(":", "-")
filepath = os.path.join(test_output_path, f"{filename}_playlist.log")
if self._write_playlist(filepath):
return filepath
def _write_playlist(self, filepath: str) -> bool:
try:
with open(filepath, "w") as f:
f.write("\n".join(self.tests_failed))
return True
except IOError as e:
carb.log_warn(f"Error writing to {filepath} -> {e}")
return False
def _query_nvdf(self) -> bool:
query = self._es_query(days=self.query_days, hours=0)
r = query_nvdf(query)
for aggs in r.get("aggregations", {}).get(self.AGG_TEST_IDS, {}).get("buckets", {}):
test_id = aggs.get("key")
test_config = aggs.get("config", {}).get("hits", {}).get("hits")
if not test_config or not test_config[0]:
continue
test_config = test_config[0]
ext_test_id = test_config.get("fields", {}).get("test.s_ext_test_id")
if not ext_test_id or not ext_test_id[0]:
continue
ext_test_id = ext_test_id[0]
passed = aggs.get(self.BUCKET_PASSED, {}).get("doc_count", 0)
failed = aggs.get(self.BUCKET_FAILED, {}).get("doc_count", 0)
ratio = 0
if passed != 0 and failed != 0:
ratio = failed / (passed + failed)
carb.log_info(
f"{test_id} passed: {passed} failed: {failed} ({ratio * 100:.2f}% fail rate) in last {self.query_days} days"
)
if failed == 0:
continue
self.ext_failed[ext_test_id].append(
{"test_id": test_id, "passed": passed, "failed": failed, "ratio": ratio}
)
self.tests_failed.add(test_id)
return True
def _es_query(self, days: int, hours: int) -> dict:
target_date = datetime.datetime.utcnow() - datetime.timedelta(days=days, hours=hours)
kit_version = self.app_info["kit_version"]
carb.log_info(f"NVDF query for {self.ext_test_id} on Kit {kit_version}, last {days} days")
query = {
"aggs": {
self.AGG_TEST_IDS: {
"terms": {"field": "test.s_test_id", "order": {self.BUCKET_FAILED: "desc"}, "size": 1000},
"aggs": {
self.AGG_LAST_EXT_CONFIG: {
"top_hits": {
"fields": [{"field": "test.s_ext_test_id"}],
"_source": False,
"size": 1,
"sort": [{"ts_created": {"order": "desc"}}],
}
},
self.BUCKET_PASSED: {
"filter": {
"bool": {
"filter": [{"term": {"test.b_passed": True}}],
}
}
},
self.BUCKET_FAILED: {
"filter": {
"bool": {
"filter": [{"term": {"test.b_passed": False}}],
}
}
},
},
}
},
"size": 0,
"query": {
"bool": {
# filter out consecutive failure
# not (test.b_consecutive_failure : * and test.b_consecutive_failure : true)
"must_not": {
"bool": {
"filter": [
{
"bool": {
"should": [{"exists": {"field": "test.b_consecutive_failure"}}],
"minimum_should_match": 1,
}
},
{
"bool": {
"should": [
{"term": {"test.b_consecutive_failure": self.exclude_consecutive_failure}}
],
"minimum_should_match": 1,
}
},
]
}
},
"filter": [
{"term": {"test.s_ext_test_id": self.ext_test_id}},
{"term": {"test.s_test_type": "unittest"}},
{"term": {"test.b_skipped": False}},
{"term": {"test.b_unreliable": False}},
{"term": {"test.b_parallel_run": False}}, # Exclude parallel_run results
{"term": {"app.s_kit_version": kit_version}},
{"term": {"app.l_merge_request": 0}}, # Should we enable flaky tests from MR? For now excluded.
{
"range": {
"ts_created": {
"gte": target_date.isoformat() + "Z",
"format": "strict_date_optional_time",
}
}
},
],
}
},
}
return query
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/unittests.py | import asyncio
import fnmatch
import os
import random
import sys
import traceback
import unittest
from contextlib import suppress
from glob import glob
from importlib import import_module
from itertools import islice
from os.path import basename, dirname, isfile, join, splitext
from types import ModuleType
from typing import Callable, List
import carb
import carb.tokens
import omni.kit.app
from .async_unittest import AsyncTestSuite, AsyncTextTestRunner, OmniTestResult
from .exttests import RunExtTests
from .reporter import TestReporter
from .sampling import SamplingFactor, get_tests_sampling_to_skip
from .teamcity import teamcity_message
from .test_reporters import _test_status_report
from .utils import get_ext_test_id, get_setting, get_test_output_path
def _import_if_exist(module: str):
try:
return import_module(module)
except ModuleNotFoundError as e:
# doesn't exist if that is what we trying to import or namespace
if e.name == module or module.startswith(e.name + "."):
return None
carb.log_error(
f"Failed to import python module with tests: {module}. Error: {e}. Traceback:\n{traceback.format_exc()}"
)
except Exception as e:
carb.log_error(
f"Failed to import python module with tests: {module}. Error: {e}. Traceback:\n{traceback.format_exc()}"
)
def _get_enabled_extension_modules(filter_fn: Callable[[str], bool] = None):
manager = omni.kit.app.get_app().get_extension_manager()
# For each extension get each python module it declares
module_names = manager.get_enabled_extension_module_names()
sys_modules = set()
for name in module_names:
if name in sys.modules:
if filter_fn and not filter_fn(name):
continue
sys_modules.add(sys.modules[name])
# Automatically look for and import '[some_module].tests' and '[some_module].ogn.tests' so that extensions
# don't have to put tests into config files and import them all the time.
for test_submodule in [f"{name}.tests", f"{name}.ogn.tests"]:
if filter_fn and not filter_fn(test_submodule):
continue
if test_submodule in sys.modules:
sys_modules.add(sys.modules[test_submodule])
else:
test_module = _import_if_exist(test_submodule)
if test_module:
sys_modules.add(test_module)
return sys_modules
# ----------------------------------------------------------------------
SCANNED_TEST_MODULES = {} # Dictionary of moduleName: [dynamicTestModules]
_EXTENSION_DISABLED_HOOK = None # Hook for monitoring extension state changes, to keep the auto-populated list synced
_LOG = bool(os.getenv("TESTS_DEBUG")) # Environment variable to enable debugging of the test registration
# ----------------------------------------------------------------------
def remove_from_dynamic_test_cache(module_root):
"""Get the list of tests dynamically added to the given module directory (via "scan_for_test_modules")"""
global SCANNED_TEST_MODULES
for module_suffix in ["", ".tests", ".ogn.tests"]:
module_name = module_root + module_suffix
tests_to_remove = SCANNED_TEST_MODULES.get(module_name, [])
if tests_to_remove:
if _LOG:
print(f"Removing {len(tests_to_remove)} tests from {module_name}")
del SCANNED_TEST_MODULES[module_name]
# ----------------------------------------------------------------------
def _on_ext_disabled(ext_id, *_):
"""Callback executed when an extension has been disabled - scan for tests to remove"""
config = omni.kit.app.get_app().get_extension_manager().get_extension_dict(ext_id)
for node in ("module", "modules"):
with suppress(KeyError):
for module in config["python"][node]:
remove_from_dynamic_test_cache(module["name"])
# ----------------------------------------------------------------------
def dynamic_test_modules(module_root: str, module_file: str) -> List[ModuleType]:
"""Import all of the test modules and return a list of the imports so that automatic test recognition works
The normal test recognition mechanism relies on knowing all of the file names at build time. This function is
used to support automatic recognition of all test files in a certain directory at run time.
Args:
module_root: Name of the module for which tests are being imported, usually just __name__ of the caller
module_file: File from which the import is happening, usually just __file__ of the caller
Usage:
In the directory containing your tests add this line to the __init__.py file (creating the file if necessary):
scan_for_test_modules = True
It will pick up any Python files names testXXX.py or TestXXX.py and scan them for tests when the extension
is loaded.
Important:
The __init__.py file must be imported with the extension. If you have a .tests module or .ogn.tests module
underneath your main module this will happen automatically for you.
Returns:
List of modules that were added, each pointing to a file in which tests are contained
"""
global _EXTENSION_DISABLED_HOOK
global SCANNED_TEST_MODULES
if module_root in SCANNED_TEST_MODULES:
return SCANNED_TEST_MODULES[module_root]
modules_imported = []
for module_name in [basename(f) for f in glob(join(dirname(module_file), "*.py")) if isfile(f)]:
if module_name != "__init__" and module_name.lower().startswith("test"):
imported_module = f"{module_root}.{splitext(module_name)[0]}"
modules_imported.append(import_module(imported_module))
SCANNED_TEST_MODULES[module_root] = modules_imported
# This is a singleton initialization. If ever any test modules are scanned then from then on monitor for an
# extension being disabled so that the cached list can be cleared for rebuilding on the next run.
if _EXTENSION_DISABLED_HOOK is None:
hooks = omni.kit.app.get_app().get_extension_manager().get_hooks()
_EXTENSION_DISABLED_HOOK = hooks.create_extension_state_change_hook(
_on_ext_disabled,
omni.ext.ExtensionStateChangeType.BEFORE_EXTENSION_DISABLE,
ext_dict_path="python",
hook_name="python.unit_tests",
)
return modules_imported
# ==============================================================================================================
def get_tests_to_remove_from_modules(modules, log=_LOG):
"""Return the list of tests to be removed when a module is unloaded.
This includes all tests registered or dynamically discovered from the list of modules and their .tests or
.ogn.tests submodules. Keeping this separate from get_tests_from_modules() allows the import of all three related
modules, while preventing duplication of their tests when all extension module tests are requested.
Args:
modules: List of modules to
"""
all_modules = modules
all_modules += [module.tests for module in modules if hasattr(module, "tests")]
all_modules += [module.ogn.tests for module in modules if hasattr(module, "ogn") and hasattr(module.ogn, "tests")]
return get_tests_from_modules(all_modules, log)
# ==============================================================================================================
def get_tests_from_modules(modules, log=_LOG):
"""Return the list of tests registered or dynamically discovered from the list of modules"""
loader = unittest.TestLoader()
loader.suiteClass = AsyncTestSuite
tests = []
for module in modules:
if log:
carb.log_warn(f"Getting tests from module {module.__name__}")
suite = loader.loadTestsFromModule(module)
test_count = suite.countTestCases()
if test_count > 0:
if log:
carb.log_warn(f"Found {test_count} tests in {module.__name__}")
for t in suite:
tests += t._tests
if "scan_for_test_modules" in module.__dict__:
if log:
carb.log_warn(f"Scanning for test modules in {module.__name__} loaded from {module.__file__}")
for extra_module in dynamic_test_modules(module.__name__, module.__file__):
if log:
carb.log_warn(f" Processing additional module {extra_module}")
extra_suite = loader.loadTestsFromModule(extra_module)
extra_count = extra_suite.countTestCases()
if extra_count > 0:
if log:
carb.log_warn(f"Found {extra_count} additional tests added through {extra_module.__name__}")
for extra_test in extra_suite:
tests += extra_test._tests
# Some tests can be generated at runtime out of discovered ones. For example, we can leverage that to duplicate
# tests for different configurations.
for t in islice(tests, 0, len(tests)):
generate_extra = getattr(t, "generate_extra_tests", None)
if callable(generate_extra):
generated = generate_extra()
if generated:
tests += generated
return tests
def get_tests_from_enabled_extensions():
include_tests = get_setting("/exts/omni.kit.test/includeTests", default=[])
exclude_tests = get_setting("/exts/omni.kit.test/excludeTests", default=[])
def include_test(test_id: str) -> bool:
return any(fnmatch.fnmatch(test_id, p) for p in include_tests) and not any(
fnmatch.fnmatch(test_id, p) for p in exclude_tests
)
# Filter modules before importing. That allows having test-only modules and dependencies, they will fail to import
# in non-test environment. Tricky part is filtering itself. For includeTests = "omni.foo.test_abc_def_*" we want to
# match `omni.foo` module, but not `omni.foo_test_abc` test id. Thus module filtering is more permissive and
# checks "starts with" too.
def include_module(module: str) -> bool:
def match_module(module, pattern):
return fnmatch.fnmatch(module, pattern) or pattern.startswith(module)
return any(match_module(module, p) for p in include_tests)
modules = _get_enabled_extension_modules(filter_fn=include_module)
return (t for t in get_tests_from_modules(modules) if include_test(t.id()))
def _get_tests_from_file(filepath: str) -> list:
test_list = []
try:
with open(filepath) as f:
test_list = f.read().splitlines()
except IOError as e:
carb.log_warn(f"Error opening file {filepath} -> {e}")
return test_list
def _get_tests_override(tests: list) -> list:
"""Apply some override/modifiers to get the proper list of tests in that order:
1. Add/Remove unreliable tests depending on testExtRunUnreliableTests value
2. Get list of failed tests if present (if enabled, used with retry-on-failure)
3. Get list of tests from a file (if enabled, generated when running tests)
4. Get list of tests from sampling (if enabled)
5. Shuffle (random order) is applied last
"""
def is_unreliable_test(test_id: str) -> bool:
return any(fnmatch.fnmatch(test_id, p) for p in unreliable_tests)
unreliable_tests = get_setting("/exts/omni.kit.test/unreliableTests", default=[])
run_unreliable_tests = get_setting("/exts/omni.kit.test/testExtRunUnreliableTests", default=0)
if run_unreliable_tests == RunExtTests.RELIABLE_ONLY:
tests = [t for t in tests if not is_unreliable_test(t.id())]
elif run_unreliable_tests == RunExtTests.UNRELIABLE_ONLY:
tests = [t for t in tests if is_unreliable_test(t.id())]
failed_tests = get_setting("/exts/omni.kit.test/retryFailedTests", default=[])
tests_filepath = get_setting("/exts/omni.kit.test/runTestsFromFile", default="")
sampling_factor = float(get_setting("/exts/omni.kit.test/samplingFactor", default=SamplingFactor.UPPER_BOUND))
shuffle_tests = bool(get_setting("/exts/omni.kit.test/testExtRandomOrder", default=False))
if failed_tests:
tests = [t for t in tests if t.id() in failed_tests]
elif tests_filepath:
tests_from_file = _get_tests_from_file(tests_filepath)
tests = [t for t in tests if t.id() in tests_from_file]
tests.sort(key=lambda x: tests_from_file.index(x.id()))
elif tests and sampling_factor != SamplingFactor.UPPER_BOUND:
sampling = get_tests_sampling_to_skip(get_ext_test_id(), sampling_factor, [t.id() for t in tests])
skipped_tests = [t for t in tests if t.id() in sampling]
print(
"----------------------------------------\n"
f"Tests Sampling Factor set to {int(sampling_factor * 100)}% "
f"(each test should run every ~{int(1.0 / sampling_factor)} runs)\n"
)
teamcity_message("message", text=f"Tests Sampling Factor set to {int(sampling_factor * 100)}%")
# Add unittest.skip function (decorator) to all skipped tests if not skipped already.
# It will provide an explicit reason why the test was skipped.
for t in skipped_tests:
test_method = getattr(t, t._testMethodName)
if not getattr(test_method, "__unittest_skip__", False):
setattr(t, t._testMethodName, unittest.skip("Skipped by Sampling")(test_method))
if shuffle_tests:
seed = int(get_setting("/exts/omni.kit.test/testExtSamplingSeed", default=-1))
if seed >= 0:
random.seed(seed)
random.shuffle(tests)
return tests
def get_tests(tests_filter="") -> List:
"""Default function to get all current tests.
It gets tests from all enabled extensions, but also included include and exclude settings to filter them
Args:
tests_filter(str): Additional filter string to apply on list of tests.
Returns:
List of tests.
"""
if "*" not in tests_filter:
tests_filter = f"*{tests_filter}*"
# Find all tests in loaded extensions and filter with patterns using settings above:
tests = [t for t in get_tests_from_enabled_extensions() if fnmatch.fnmatch(t.id(), tests_filter)]
tests = _get_tests_override(tests)
return tests
def _setup_output_path(test_output_path: str):
tokens = carb.tokens.get_tokens_interface()
os.makedirs(test_output_path, exist_ok=True)
tokens.set_value("test_output", test_output_path)
def _write_tests_playlist(test_output_path: str, tests: list):
n = 1
filepath = test_output_path
app_name = get_setting("/app/name", "exttest")
while os.path.exists(filepath):
filepath = os.path.join(test_output_path, f"{app_name}_playlist_{n}.log")
n += 1
try:
with open(filepath, "w") as f:
for t in tests:
f.write(f"{t.id()}\n")
except IOError as e:
carb.log_warn(f"Error writing to {filepath} -> {e}")
def run_tests_in_modules(modules, on_finish_fn=None):
run_tests(get_tests_from_modules(modules, True), on_finish_fn)
def run_tests(tests=None, on_finish_fn=None, on_status_report_fn=None):
if tests is None:
tests = get_tests()
test_output_path = get_test_output_path()
_setup_output_path(test_output_path)
_write_tests_playlist(test_output_path, tests)
loader = unittest.TestLoader()
loader.suiteClass = AsyncTestSuite
suite = AsyncTestSuite()
suite.addTests(tests)
def on_status_report(*args, **kwargs):
if on_status_report_fn:
on_status_report_fn(*args, **kwargs)
_test_status_report(*args, **kwargs)
# Use our own TC reporter:
AsyncTextTestRunner.resultclass = OmniTestResult
runner = AsyncTextTestRunner(verbosity=2, stream=sys.stdout)
async def run():
result = await runner.run(suite, on_status_report)
if on_finish_fn:
on_finish_fn(result)
print("========================================")
print("========================================")
print(f"Running Tests (count: {len(tests)}):")
print("========================================")
asyncio.ensure_future(run())
def print_tests():
tests = get_tests()
print("========================================")
print(f"Printing All Tests (count: {len(tests)}):")
print("========================================")
reporter = TestReporter()
for t in tests:
reporter.unittest_start(t.id(), t.id())
print(t.id())
reporter.unittest_stop(t.id(), t.id())
print("========================================")
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/exttests.py | from __future__ import annotations
import asyncio
import fnmatch
import io
import multiprocessing
import os
import pprint
import random
import re
import subprocess
import sys
import time
from collections import defaultdict
from enum import IntEnum
from typing import Dict, List, Set, Tuple
import carb.dictionary
import carb.settings
import carb.tokens
import omni.kit.app
import psutil
from .async_unittest import KEY_FAILING_TESTS, STARTED_UNITTEST
from .code_change_analyzer import CodeChangeAnalyzer
from .crash_process import crash_process
from .flaky import FLAKY_TESTS_QUERY_DAYS, FlakyTestAnalyzer
from .repo_test_context import RepoTestContext
from .reporter import TestReporter
from .sampling import SamplingFactor
from .teamcity import is_running_in_teamcity, teamcity_message, teamcity_test_retry_support
from .test_coverage import read_coverage_collector_settings
from .test_reporters import TestRunStatus, _test_status_report
from .utils import (
clamp,
cleanup_folder,
ext_id_to_fullname,
get_argv,
get_global_test_output_path,
get_local_timestamp,
get_setting,
get_unprocessed_argv,
is_running_on_ci,
resolve_path,
)
BEGIN_SEPARATOR = "\n{0} [EXTENSION TEST START: {{0}}] {0}\n".format("|" * 30)
END_SEPARATOR = "\n{0} [EXTENSION TEST {{0}}: {{1}}] {0}\n".format("|" * 30)
DEFAULT_TEST_NAME = "default"
def _error(stream, msg):
stream.write(f"[error] [{__file__}] {msg}\n")
_debug_log = bool(os.getenv("OMNI_KIT_TEST_DEBUG", default=False))
_asyncio_process_was_terminated = False
def _debug(stream, msg):
if _debug_log:
stream.write(f"[info] [{__file__}] {msg}\n")
def matched_patterns(s: str, patterns: List[str]) -> List[str]:
return [p for p in patterns if fnmatch.fnmatch(s, p)]
def match(s: str, patterns: List[str]) -> bool:
return len(matched_patterns(s, patterns)) > 0
def escape_for_fnmatch(s: str) -> str:
return s.replace("[", "[[]")
def unescape_fnmatch(s: str) -> str:
return s.replace("[[]", "[")
class FailPatterns:
def __init__(self, include=[], exclude=[]):
self.include = [escape_for_fnmatch(s.lower()) for s in include]
self.exclude = [escape_for_fnmatch(s.lower()) for s in exclude]
def merge(self, patterns: FailPatterns):
self.include += patterns.include
self.exclude += patterns.exclude
def match_line(self, line: str) -> Tuple[str, str, bool]:
line_lower = line.lower()
include_matched = match(line_lower, self.include)
exclude_matched = match(line_lower, self.exclude)
if include_matched and not exclude_matched:
patterns = matched_patterns(line_lower, self.include)
patterns = [unescape_fnmatch(p) for p in patterns]
return ", ".join(patterns), line.strip(), exclude_matched
return "", "", exclude_matched
def __str__(self):
return pprint.pformat(vars(self))
class RunExtTests(IntEnum):
RELIABLE_ONLY = 0
UNRELIABLE_ONLY = 1
BOTH = 2
class RetryStrategy:
NO_RETRY = "no-retry"
RETRY_ON_FAILURE = "retry-on-failure"
ITERATIONS = "iterations"
RERUN_UNTIL_FAILURE = "rerun-until-failure"
# CI strategy, default to no-retry when testing locally
RETRY_ON_FAILURE_CI_ONLY = "retry-on-failure-ci-only"
class SamplingContext:
ANY = "any"
LOCAL = "local"
CI = "ci"
class TestRunContext:
def __init__(self):
# Setup output path for test data
self.output_path = get_global_test_output_path()
os.makedirs(self.output_path, exist_ok=True)
print("Test output path: {}".format(self.output_path))
self.coverage_mode = get_setting("/exts/omni.kit.test/testExtGenerateCoverageReport", default=False) or (
"--coverage" in get_argv()
)
# clean output folder?
clean_output = get_setting("/exts/omni.kit.test/testExtCleanOutputPath", default=False)
if clean_output:
cleanup_folder(self.output_path)
self.shared_patterns = FailPatterns(
get_setting("/exts/omni.kit.test/stdoutFailPatterns/include", default=[]),
get_setting("/exts/omni.kit.test/stdoutFailPatterns/exclude", default=[]),
)
self.trim_stdout_on_success = bool(get_setting("/exts/omni.kit.test/testExtTrimStdoutOnSuccess", default=False))
self.trim_excluded_messages = bool(
get_setting("/exts/omni.kit.test/stdoutFailPatterns/trimExcludedMessages", default=False)
)
self.retry_strategy = get_setting("/exts/omni.kit.test/testExtRetryStrategy", default=RetryStrategy.NO_RETRY)
self.max_test_run = int(get_setting("/exts/omni.kit.test/testExtMaxTestRunCount", default=1))
if self.retry_strategy == RetryStrategy.RETRY_ON_FAILURE_CI_ONLY:
if is_running_on_ci():
self.retry_strategy = RetryStrategy.RETRY_ON_FAILURE
self.max_test_run = 3
else:
self.retry_strategy = RetryStrategy.NO_RETRY
self.max_test_run = 1
self.run_unreliable_tests = RunExtTests(get_setting("/exts/omni.kit.test/testExtRunUnreliableTests", default=0))
self.run_flaky_tests = get_setting("/exts/omni.kit.test/testExtRunFlakyTests", default=False)
self.start_ts = get_local_timestamp()
self.repo_test_context = RepoTestContext()
self.change_analyzer = None
if get_setting("/exts/omni.kit.test/testExtCodeChangeAnalyzerEnabled", default=False) and is_running_on_ci():
self.change_analyzer = CodeChangeAnalyzer(self.repo_test_context)
def _prepare_ext_for_testing(ext_name, stream=sys.stdout):
manager = omni.kit.app.get_app().get_extension_manager()
ext_id = None
ext_info_local = manager.get_extension_dict(ext_name)
if ext_info_local:
return ext_info_local
ext_info_remote = manager.get_registry_extension_dict(ext_name)
if ext_info_remote:
ext_id = ext_info_remote["package/id"]
else:
versions = manager.fetch_extension_versions(ext_name)
if len(versions) > 0:
ext_id = versions[0]["id"]
else:
_error(stream, f"Can't find extension: {ext_name} to run extension test on.")
return None
ext_info_local = manager.get_extension_dict(ext_id)
is_local = ext_info_local is not None
if not is_local:
if not manager.pull_extension(ext_id):
_error(stream, f"Failed to pull extension: {ext_id} to run extension test on.")
return None
ext_info_local = manager.get_extension_dict(ext_id)
if not ext_info_local:
_error(stream, f"Failed to get extension dict: {ext_id} while preparing extension for testing.")
return ext_info_local
def _prepare_app_for_testing(stream) -> Tuple[str, str]:
"""Returns path to app (kit file) and short name of an app."""
test_app = get_setting("/exts/omni.kit.test/testExtApp", default=None)
test_app = carb.tokens.get_tokens_interface().resolve(test_app)
# Test app can be either path to kit file or extension id (to optionally download and use extension as an app)
if test_app.endswith(".kit") or "/" in test_app:
return (test_app, "")
app_ext_info = _prepare_ext_for_testing(test_app, stream)
if app_ext_info:
return (app_ext_info["path"], test_app)
return (None, test_app)
class ExtTestResult:
def __init__(self):
self.duration = 0.0
self.test_count = 0
self.unreliable = 0
self.unreliable_fail = 0
self.fail = 0
self.passed = True
class TestApp:
def __init__(self, stream):
self.path, self.name = _prepare_app_for_testing(stream)
self.is_empty = not self.name
class ExtTest:
def __init__(
self,
ext_id: str,
ext_info: carb.dictionary.Item,
test_config: Dict,
test_id: str,
is_parallel_run: bool,
run_context: TestRunContext,
test_app: TestApp,
valid=True,
):
self.context = run_context
self.ext_id = ext_id
self.ext_name = ext_id_to_fullname(ext_id)
self.test_id = test_id
self.app_name = ""
# TC treats dots are separators to filter tests in UI, replace them.
self.tc_test_id = test_id.replace(".", "+") + ".[PROCESS CHECK]"
self.bucket_name = get_setting("/exts/omni.kit.test/testExtTestBucket", default="")
self.unreliable = False
self.skip = False
self.allow_sampling = True
self.args: List[str] = []
self.patterns = FailPatterns()
self.timeout = -1
self.result = ExtTestResult()
self.retries = 0
self.buffer_stdout = bool(is_parallel_run) or bool(self.context.trim_stdout_on_success)
self.stdout = io.StringIO() if self.buffer_stdout else sys.stdout
self.log_file = ""
self.parallelizable = True
self.reporter = TestReporter(self.stdout)
self.test_app = test_app
self.config = test_config
self.ext_info = ext_info
self.output_path = ""
self.valid = bool(valid and self.ext_info)
self.change_analyzer_result = None
self.failed_tests = []
if self.valid:
self._fill_ext_test()
def _fill_ext_test(self):
self.args = [get_argv()[0]]
self.app_name = "exttest_" + self.test_id.replace(".", "_").replace(":", "-")
ui_mode = get_setting("/exts/omni.kit.test/testExtUIMode", default=False) or ("--dev" in get_argv())
print_mode = get_setting("/exts/omni.kit.test/printTestsAndQuit", default=False)
use_kit_file_as_app = get_setting("/exts/omni.kit.test/testExtUseKitFileAsApp", default=True)
coverage_mode = self.context.coverage_mode
self.ext_id = self.ext_info["package/id"]
self.ext_name = self.ext_info["package/name"]
is_kit_file = self.ext_info.get("isKitFile", False)
# If extension is kit file just run startup test without using a test app
ext_path = self.ext_info.get("path", "")
if is_kit_file and use_kit_file_as_app:
self.args += [ext_path]
else:
self.args += [self.test_app.path, "--enable", self.ext_id]
# test output dir
self.output_path = f"{self.context.output_path}/{self.app_name}"
if not os.path.exists(self.output_path):
os.makedirs(self.output_path)
self.reporter.set_output_path(self.output_path)
# current ts (not precise as test run can be delayed relative to this moment)
ts = get_local_timestamp()
self.log_file = f"{self.output_path}/{self.app_name}_{ts}_0.log"
self.args += [
"--/log/flushStandardStreamOutput=1",
"--/app/name=" + self.app_name,
f"--/log/file='{self.log_file}'",
f"--/exts/omni.kit.test/testOutputPath='{self.output_path}'",
f"--/exts/omni.kit.test/extTestId='{self.test_id}'",
f"--/crashreporter/dumpDir='{self.output_path}'",
"--/crashreporter/preserveDump=1",
"--/crashreporter/gatherUserStory=0", # don't pop up the GUI on crash
"--/rtx-transient/dlssg/enabled=false", # OM-97205: Disable DLSS-G for now globally, so L40 tests will all pass. DLSS-G tests will have to enable it
]
# also set extTestId on the parent process - needed when calling unittest_* functions from exttests.py
carb.settings.get_settings().set_string("/exts/omni.kit.test/extTestId", self.test_id)
# Pass all exts folders
ext_folders = list(get_setting("/app/exts/folders", default=[]))
ext_folders += list(get_setting("/persistent/app/exts/userFolders", default=[]))
for folder in ext_folders:
self.args += ["--ext-folder", folder]
# Profiler trace enabled ?
default_profiling = get_setting("/exts/omni.kit.test/testExtEnableProfiler", default=False)
profiling = self.config.get("profiling", default_profiling)
if profiling:
self.args += [
"--/plugins/carb.profiler-cpu.plugin/saveProfile=1",
"--/plugins/carb.profiler-cpu.plugin/compressProfile=1",
"--/app/profileFromStart=1",
f"--/plugins/carb.profiler-cpu.plugin/filePath='{self.output_path}/ct_{self.app_name}_{ts}.gz'",
]
# Timeout for the process
default_timeout = int(get_setting("/exts/omni.kit.test/testExtDefaultTimeout", default=300))
max_timeout = int(get_setting("/exts/omni.kit.test/testExtMaxTimeout", default=0))
self.timeout = self.config.get("timeout", default_timeout)
# Clamp timeout if needed
if max_timeout > 0 and self.timeout > max_timeout:
self.timeout = max_timeout
# [[test]] can be marked as unreliable - meaning it will not run any of its tests unless unreliable tests are run
self.unreliable = self.config.get("unreliable", self.config.get("flaky", False))
# python tests to include
include_tests = list(self.config.get("pythonTests", {}).get("include", []))
exclude_tests = list(self.config.get("pythonTests", {}).get("exclude", []))
unreliable_tests = list(self.config.get("pythonTests", {}).get("unreliable", []))
# When running unreliable tests:
# 1. if the [[test]] is set as unreliable run all python tests (override the `unreliable_tests` list)
# 2. if running unreliable tests - set unreliable to true and disable sampling
if self.unreliable:
unreliable_tests = ["*"]
self.allow_sampling = False
elif unreliable_tests and self.context.run_unreliable_tests != RunExtTests.RELIABLE_ONLY:
self.unreliable = True
self.allow_sampling = False
# Check if we run flaky tests - if we do grab the test list as a playlist
if self.context.run_flaky_tests:
self.allow_sampling = False
query_days = int(get_setting("/exts/omni.kit.test/flakyTestsQueryDays", default=FLAKY_TESTS_QUERY_DAYS))
flaky_test_analyzer = FlakyTestAnalyzer(self.test_id, query_days)
if flaky_test_analyzer.should_skip_test():
self.skip = True
elif self.config.get("samplingFactor") == SamplingFactor.UPPER_BOUND:
pass # if an extension has disabled tests sampling we run all tests
else:
file = flaky_test_analyzer.generate_playlist()
if file:
self.args += [f"--/exts/omni.kit.test/runTestsFromFile='{file}'"]
def get_python_modules(ext_info: carb.dictionary.Item):
python_dict = ext_info.get("python", {})
if isinstance(python_dict, dict):
python_modules = python_dict.get("module", []) + python_dict.get("modules", [])
for m in python_modules:
module = m.get("name")
if module:
yield module
# By default if extension has python modules use them to fill in tests mask. Can be overridden with explicit tests list.
# Do that only for pure extensions tests, so that for tests inside an app extensions can opt in add more tests slowly.
python_modules_names = []
python_modules_names.extend(get_python_modules(self.ext_info))
if len(include_tests) == 0 and self.test_app.is_empty:
include_tests.extend(["{}.*".format(e) for e in python_modules_names])
# Cpp test libraries
test_libraries = self.config.get("cppTests", {}).get("libraries", [])
test_libraries = [resolve_path(library, ext_path) for library in test_libraries]
# If extension has tests -> run python (or cpp) tests, otherwise just do startup test
if len(include_tests) > 0 or len(test_libraries) > 0:
# We need kit.test as a test runner then
self.args += ["--enable", "omni.kit.test"]
if ui_mode:
self.args += [
"--enable",
"omni.kit.window.tests",
"--enable",
"omni.kit.window.extensions",
"--enable",
"omni.kit.renderer.core",
"--/exts/omni.kit.window.tests/openWindow=1",
"--/exts/omni.kit.test/testExtUIMode=1",
]
self.timeout = None # No timeout in that case
elif print_mode:
self.args += ["--/exts/omni.kit.test/printTestsAndQuit=true"]
else:
self.args += ["--/exts/omni.kit.test/runTestsAndQuit=true"]
for i, test_mask in enumerate(include_tests):
self.args += [f"--/exts/omni.kit.test/includeTests/{i}='{test_mask}'"]
for i, test_mask in enumerate(exclude_tests):
self.args += [f"--/exts/omni.kit.test/excludeTests/{i}='{test_mask}'"]
for i, test_mask in enumerate(unreliable_tests):
self.args += [f"--/exts/omni.kit.test/unreliableTests/{i}='{test_mask}'"]
for i, test_library in enumerate(test_libraries):
self.args += [f"--/exts/omni.kit.test/testLibraries/{i}='{test_library}'"]
else:
self.args += ["--/app/quitAfter=10", "--/crashreporter/gatherUserStory=0"]
# Reduce output on TC to make log shorter. Mostly that removes long extension startup/shutdown lists. We have
# that information in log files attached to artifacts anyway.
if is_running_on_ci():
self.args += ["--/app/enableStdoutOutput=0"]
# Test filtering (support shorter version)
argv = get_argv()
filter_value = _parse_arg_shortcut(argv, "-f")
if filter_value:
self.args += [f"--/exts/omni.kit.test/runTestsFilter='{filter_value}'"]
# Pass some args down the line:
self.args += _propagate_args(argv, "--portable")
self.args += _propagate_args(argv, "--portable-root", True)
self.args += _propagate_args(argv, "--allow-root")
self.args += _propagate_args(argv, "-d")
self.args += _propagate_args(argv, "-v")
self.args += _propagate_args(argv, "-vv")
self.args += _propagate_args(argv, "--wait-debugger")
self.args += _propagate_args(argv, "--/exts/omni.kit.test/runTestsFilter", starts_with=True)
self.args += _propagate_args(argv, "--/exts/omni.kit.test/runTestsFromFile", starts_with=True)
self.args += _propagate_args(argv, "--/exts/omni.kit.test/testExtRunUnreliableTests", starts_with=True)
self.args += _propagate_args(argv, "--/exts/omni.kit.test/doNotQuit", starts_with=True)
self.args += _propagate_args(argv, "--/exts/omni.kit.test/parallelRun", starts_with=True)
self.args += _propagate_args(argv, "--/telemetry/mode", starts_with=True)
self.args += _propagate_args(argv, "--/crashreporter/data/testName", starts_with=True)
def is_arg_prefix_present(args, prefix: str):
for arg in args:
if arg.startswith(prefix):
return True
return False
# make sure to set the telemetry mode to 'test' if it hasn't explicitly been overridden
# to something else. This prevents structured log events generated from tests from
# unintentionally polluting the telemetry analysis data.
if not is_arg_prefix_present(self.args, "--/telemetry/mode"):
self.args += ["--/telemetry/mode=test"]
# make sure to pass on the test name that was given in the settings if it was not
# explicitly given on the command line.
if not is_arg_prefix_present(self.args, "--/crashreporter/data/testName"):
test_name_setting = get_setting("/crashreporter/data/testName")
if test_name_setting != None:
self.args += [f"--/crashreporter/data/testName=\"{test_name_setting}\""]
# Read default coverage settings
default_coverage_settings = read_coverage_collector_settings()
# Sets if python test coverage enabled or disabled
py_coverage_enabled = self.config.get("pyCoverageEnabled", default_coverage_settings.enabled or coverage_mode)
# This must be set explicitly for the child test process:
# if the main process gets this setting from the command line and it's different from
# values in the configuration files then we must pass it to the child process but
# there is no way to know whether or not the value were from the command line so
# always set it explicitly for the child process
self.args += [f"--/exts/omni.kit.test/pyCoverageEnabled={py_coverage_enabled}"]
if py_coverage_enabled:
self.allow_sampling = False
py_coverage_filter = default_coverage_settings.filter or []
py_coverage_deps_omit = []
# If custom filter is specified, only use that list
custom_filter = self.config.get("pyCoverageFilter", None)
if custom_filter:
py_coverage_filter = custom_filter
else:
# Append all python modules
if self.config.get("pyCoverageIncludeModules", default_coverage_settings.include_modules):
for m in python_modules_names:
py_coverage_filter.append(m)
# Append all python modules from the dependencies
dependencies = [
{
"setting": "pyCoverageIncludeDependencies",
"default": default_coverage_settings.include_dependencies,
"config": self.ext_info,
},
{
"setting": "pyCoverageIncludeTestDependencies",
"default": default_coverage_settings.include_test_dependencies,
"config": self.config,
},
]
for d in dependencies:
if not self.config.get(d["setting"], d["default"]):
continue
deps = d["config"].get("dependencies", [])
manager = omni.kit.app.get_app().get_extension_manager()
for ext_d in manager.get_extensions():
if ext_d["name"] not in deps:
continue
ext_info = manager.get_extension_dict(ext_d["id"])
py_coverage_filter.extend(get_python_modules(ext_info))
# also look for omit in dependencies
test_info = ext_info.get("test", None)
if isinstance(test_info, list) or isinstance(test_info, tuple):
for t in test_info:
for cov_omit in t.get("pyCoverageOmit", []):
cov_omit = cov_omit.replace("\\", "/")
if not os.path.isabs(cov_omit) and not cov_omit.startswith("*/"):
cov_omit = "*/" + cov_omit
py_coverage_deps_omit.append(cov_omit)
if len(py_coverage_filter) > 0:
for i, cov_filter in enumerate(py_coverage_filter):
self.args += [f"--/exts/omni.kit.test/pyCoverageFilter/{i}='{cov_filter}'"]
# omit files/path for coverage
default_py_coverage_omit = default_coverage_settings.omit or []
py_coverage_omit = list(self.config.get("pyCoverageOmit", default_py_coverage_omit))
py_coverage_omit.extend(py_coverage_deps_omit)
if len(py_coverage_omit) > 0:
for i, cov_omit in enumerate(py_coverage_omit):
cov_omit = cov_omit.replace("\\", "/")
if not os.path.isabs(cov_omit) and not cov_omit.startswith("*/"):
cov_omit = "*/" + cov_omit
self.args += [f"--/exts/omni.kit.test/pyCoverageOmit/{i}='{cov_omit}'"]
# in coverage mode we generate a report at the end, need to set the settings on the parent process
if coverage_mode:
carb.settings.get_settings().set("/exts/omni.kit.test/pyCoverageEnabled", py_coverage_enabled)
carb.settings.get_settings().set("/exts/omni.kit.test/testExtGenerateCoverageReport", True)
# Extra extensions to run
exts_to_enable = [self.ext_id]
for ext in self.config.get("dependencies", []):
self.args += ["--enable", ext]
exts_to_enable.append(ext)
# Check if skipped by code change analyzer based on extensions it is about to enable
if self.context.change_analyzer:
self.change_analyzer_result = self.context.change_analyzer.analyze(
self.test_id, self.ext_name, exts_to_enable
)
if self.change_analyzer_result.should_skip_test:
self.skip = True
if not self.context.change_analyzer.allow_sampling():
self.allow_sampling = False
# Tests Sampling per extension
default_sampling = float(
get_setting("/exts/omni.kit.test/testExtSamplingFactor", default=SamplingFactor.UPPER_BOUND)
)
sampling_factor = clamp(
self.config.get("samplingFactor", default_sampling), SamplingFactor.LOWER_BOUND, SamplingFactor.UPPER_BOUND
)
if sampling_factor == SamplingFactor.UPPER_BOUND:
self.allow_sampling = False
if self.allow_sampling and self._use_tests_sampling():
self.args += [f"--/exts/omni.kit.test/samplingFactor={sampling_factor}"]
# tests random order
random_order = get_setting("/exts/omni.kit.test/testExtRandomOrder", default=False)
if random_order:
self.args += ["--/exts/omni.kit.test/testExtRandomOrder=1"]
# Test Sampling Seed
seed = int(get_setting("/exts/omni.kit.test/testExtSamplingSeed", default=-1))
if seed >= 0:
self.args += [f"--/exts/omni.kit.test/testExtSamplingSeed={seed}"]
# Extra args
self.args += list(get_setting("/exts/omni.kit.test/testExtArgs", default=[]))
# Extra args
self.args += self.config.get("args", [])
# if in ui mode we need to remove --no-window
if ui_mode:
self.args = [a for a in self.args if a != "--no-window"]
# Build fail patterns
self.patterns = FailPatterns(
self.config.get("stdoutFailPatterns", {}).get("include", []),
self.config.get("stdoutFailPatterns", {}).get("exclude", []),
)
self.patterns.merge(self.context.shared_patterns)
# Pass all unprocessed argv down the line at the very end. They can also have another `--` potentially.
unprocessed_argv = get_unprocessed_argv()
if unprocessed_argv:
self.args += unprocessed_argv
# Other settings
self.parallelizable = self.config.get("parallelizable", True)
def _pre_test_run(self, test_run: int, retry_strategy: RetryStrategy):
"""Update arguments that must change between each test run"""
if test_run > 0:
for index, arg in enumerate(self.args):
# make sure to use a different log file if we run tests multiple times
if arg.startswith("--/log/file="):
ts = get_local_timestamp()
self.log_file = f"{self.output_path}/{self.app_name}_{ts}_{test_run}.log"
self.args[index] = f"--/log/file='{self.log_file}'"
# make sure to use a different random seed if present, only valid on some retry strategies
if retry_strategy == RetryStrategy.ITERATIONS or retry_strategy == RetryStrategy.RERUN_UNTIL_FAILURE:
if arg.startswith("--/exts/omni.kit.test/testExtSamplingSeed="):
random_seed = random.randint(0, 2**16)
self.args[index] = f"--/exts/omni.kit.test/testExtSamplingSeed={random_seed}"
def _use_tests_sampling(self) -> bool:
external_build = get_setting("/privacy/externalBuild")
if external_build:
return False
use_sampling = get_setting("/exts/omni.kit.test/useSampling", default=True)
if not use_sampling:
return False
use_sampling = bool(os.getenv("OMNI_KIT_TEST_USE_SAMPLING", default=True))
if not use_sampling:
return False
sampling_context = get_setting("/exts/omni.kit.test/testExtSamplingContext")
if sampling_context == SamplingContext.CI and is_running_on_ci():
return True
elif sampling_context == SamplingContext.LOCAL and not is_running_on_ci():
return True
return sampling_context == SamplingContext.ANY
def get_cmd(self) -> str:
return " ".join(self.args)
def on_start(self):
self.result = ExtTestResult()
self.reporter.exttest_start(self.test_id, self.tc_test_id, self.ext_id, self.ext_name)
self.stdout.write(BEGIN_SEPARATOR.format(self.test_id))
def on_finish(self, test_result):
self.stdout.write(END_SEPARATOR.format("PASSED" if test_result else "FAILED", self.test_id))
self.reporter.exttest_stop(self.test_id, self.tc_test_id, passed=test_result)
def on_fail(self, fail_message):
# TC service messages can't match failure with a test start message when there are other tests in between.
# As a work around in that case stop test and start again (send those messages). That makes it has 2 block
# entries in the log, but gets reported as failed correctly.
if is_running_in_teamcity():
self.reporter.exttest_stop(self.test_id, self.tc_test_id, report=False)
self.reporter.exttest_start(self.test_id, self.tc_test_id, self.ext_id, self.ext_name, report=False)
self.reporter.exttest_fail(self.test_id, self.tc_test_id, "Error", fail_message)
self.stdout.write(f"{fail_message}\n")
def _kill_process_recursive(pid, stream):
def _output(msg: str):
teamcity_message("message", text=msg)
stream.write(msg)
def _terminate(proc: psutil.Process):
try:
proc.terminate()
except psutil.AccessDenied as e:
_error(stream, f"Access denied: {e}")
except psutil.ZombieProcess as e:
_error(stream, f"Encountered a zombie process: {e}")
except psutil.NoSuchProcess as e:
_error(stream, f"Process no longer exists: {e}")
except (psutil.Error, Exception) as e:
_error(stream, f"An error occurred: {str(e)}")
try:
process = psutil.Process(pid)
# kill all children of test process (if any)
for proc in process.children(recursive=True):
if crash_process(proc, stream):
_output(f"\nTest Process Timed out, crashing child test process to collect callstack, PID: {proc.pid}\n\n")
else:
_output(
f"\nAttempt to crash child test process to collect callstack failed. Killing child test process, PID: {proc.pid}\n\n"
)
_terminate(proc)
# kill the test process itself
if crash_process(process, stream):
_output(f"\nTest Process Timed out, crashing test process to collect callstack, PID: {process.pid}\n\n")
else:
_output(
f"\nAttempt to crash test process to collect callstack failed. Killing test process, PID: {process.pid}\n\n"
)
_terminate(process)
except psutil.NoSuchProcess as e:
_error(stream, f"Process no longer exists: {e}")
global _asyncio_process_was_terminated
_asyncio_process_was_terminated = True
PRAGMA_REGEX = re.compile(r"^##omni\.kit\.test\[(.*)\]")
def _extract_metadata_pragma(line, metadata):
"""
Test subprocs can print specially formatted pragmas, that get picked up here as extra fields
that get printed into the status report. Pragmas must be at the start of the line, and should
be the only thing on that line.
Format:
##omni.kit.test[op, key, value]
op = operation type, either "set", "append" or "del" (str)
key = name of the key (str)
value = string value (str)
Examples:
# set a value
##omni.kit.test[set, foo, this is a message and spaces are allowed]
# append a value to a list
##omni.kit.test[append, bah, test-13]
"""
match = PRAGMA_REGEX.match(line)
if not match:
return False
body = match.groups()[0]
args = body.split(",")
args = [x.strip() for x in args]
if not args:
return False
op = args[0]
args = args[1:]
if op in ("set", "append"):
if len(args) != 2:
return False
key, value = args
if op == "set":
metadata[key] = value
elif op == "append":
metadata.setdefault(key, []).append(value)
elif op == "del":
if len(args) != 1:
return False
key = args[0]
del metadata[key]
else:
return False # unsupported pragma op
return True
async def _run_test_process(test: ExtTest) -> Tuple[int, List[str], Dict]:
"""Run test process and read stdout (use PIPE)."""
returncode = 0
fail_messages = []
fail_patterns = defaultdict(list)
test_run_metadata = {}
proc = None
try:
test.stdout.write(f">>> running process: {test.get_cmd()}\n")
_debug(test.stdout, f"fail patterns: {test.patterns}")
async def run_proc():
nonlocal proc
proc = await asyncio.create_subprocess_exec(
*test.args,
stdout=subprocess.PIPE,
stderr=subprocess.STDOUT,
bufsize=0,
)
async for line in proc.stdout:
suppress_line = False
line = line.decode(errors="replace").replace("\r\n", "\n").replace("\r", "\n")
# Check for failure on certain stdout message (like log errors)
nonlocal fail_messages
pattern_str, messages, exclude_matched = test.patterns.match_line(line)
if pattern_str and messages:
fail_patterns[pattern_str].append(messages)
# Check for special pragmas printed by the child proc that tell us to add custom
# fields to the formatted status report
try:
if _extract_metadata_pragma(line, test_run_metadata):
suppress_line = True
except: # noqa
pass
# grab the number of tests
m = re.match(r"(?:Running|Printing All) Tests \(count: (\d+)\)", line, re.M)
if m:
try:
test.result.test_count = int(m.group(1))
except: # noqa
pass
# replace with some generic message to avoid confusion when people search for [error] etc.
if exclude_matched and test.context.trim_excluded_messages:
line = "[...line contained error that was excluded by omni.kit.test...]\n"
if not suppress_line:
test.stdout.write("|| " + line)
await proc.wait()
nonlocal returncode
returncode = proc.returncode
proc = None
await asyncio.wait_for(run_proc(), timeout=test.timeout)
except subprocess.CalledProcessError as e:
returncode = e.returncode
fail_messages.append(f"subprocess.CalledProcessError was raised: {e.output}")
except asyncio.TimeoutError:
returncode = 15
fail_messages.append(
f"Process timed out (timeout: {test.timeout} seconds), terminating. Check artifacts for .dmp files."
)
if proc:
_kill_process_recursive(proc.pid, test.stdout)
except NotImplementedError as e:
fail_messages.append(
f"The asyncio loop does not implement subprocess. This is known to happen when using SelectorEventLoop on Windows, exception {e}"
)
# loop all pattern matches and put them on top of the fail messages
pattern_messages = []
for pattern, messages in fail_patterns.items():
pattern_messages.append(f"Matched {len(messages)} fail pattern '{pattern}' in stdout: ")
for msg in messages:
pattern_messages.append(f" '{msg}'")
fail_messages = pattern_messages + fail_messages
# return code failure check.
if returncode == 13:
# 13 - is code we return when python test fails
failing_tests_cnt = max(len(test_run_metadata.get(KEY_FAILING_TESTS, [])), 1)
fail_messages.append(f"{failing_tests_cnt} test(s) failed.")
elif returncode == 15:
# 15 - is code we return when a test process timeout, fail_message already added
pass
elif returncode != 0:
# other return codes usually mean crash
fail_messages.append("Process might have crashed or timed out.")
# Check if any unittests were started but never completed (crashed/timed out/etc.)
# When a test crash the 'stop' message is missing making test results harder to read, add them manually.
for key, value in test_run_metadata.items():
if type(value) == str and value.startswith(STARTED_UNITTEST):
test_id = key
tc_test_id = value.replace(STARTED_UNITTEST, "", 1)
test.reporter.unittest_fail(
test_id,
tc_test_id,
"Error",
f"Test started but never finished, test: {tc_test_id}. Test likely crashed or timed out.",
)
test.reporter.unittest_stop(test_id, tc_test_id)
return (returncode, fail_messages, test_run_metadata)
def _propagate_args(argv, arg_name, has_value=False, starts_with=False):
args = []
for i, arg in enumerate(argv):
if arg == arg_name or (starts_with and arg.startswith(arg_name)):
args += [arg]
if has_value:
args += [argv[i + 1]]
return args
def _parse_arg_shortcut(argv, arg_name):
for i, arg in enumerate(argv):
if arg == arg_name:
return argv[i + 1]
return None
def _get_test_configs_for_ext(ext_info, name_filter=None) -> List[Dict]:
test_config = ext_info.get("test", None)
configs = []
if not test_config:
# no [[test]] entry
configs.append({})
elif isinstance(test_config, dict):
# [test] entry
configs.append(test_config)
elif isinstance(test_config, list) or isinstance(test_config, tuple):
# [[test]] entry
if len(test_config) == 0:
configs.append({})
else:
configs.extend(test_config)
# Filter those matching the name filter
configs = [t for t in configs if not name_filter or match(t.get("name", DEFAULT_TEST_NAME), [name_filter])]
# Filter out disabled
configs = [t for t in configs if t.get("enabled", True)]
return configs
def is_matching_list(ext_id, ext_name, ext_list):
return any(fnmatch.fnmatch(ext_id, p) or fnmatch.fnmatch(ext_name, p) for p in ext_list)
def _build_exts_set(exts: List[str], exclude: List[str], use_registry: bool, match_version_as_string: bool) -> Set[str]:
manager = omni.kit.app.get_app().get_extension_manager()
all_exts = manager.get_extensions()
if use_registry:
manager.sync_registry()
all_exts += manager.get_registry_extensions()
def is_match_ext(ext_id, ext_name, ext_def):
return (fnmatch.fnmatch(ext_id, ext_def) or fnmatch.fnmatch(ext_name, ext_def)) and not is_matching_list(
ext_id, ext_name, exclude
)
exts_to_test = set()
for ext_def in exts:
# Empty string is same as "all"
if ext_def == "":
ext_def = "*"
# If wildcard is used, match all
if "*" in ext_def:
exts_to_test.update([e["id"] for e in all_exts if is_match_ext(e["id"], e["name"], ext_def)])
else:
# Otherwise use extension manager to get matching version and pick highest one (they are sorted)
ext_ids = [v["id"] for v in manager.fetch_extension_versions(ext_def)]
if match_version_as_string:
ext_ids = [v for v in ext_ids if v.startswith(ext_def)]
# Take highest version, but if we are not using registry skip remote local one:
for ext_id in ext_ids:
if use_registry or manager.get_extension_dict(ext_id) is not None:
exts_to_test.add(ext_id)
break
return sorted(exts_to_test)
def _format_cmdline(cmdline: str) -> str:
"""Format commandline printed from CI so that we can run it locally"""
cmdline = cmdline.replace("\\", "/").replace("//", "/")
if is_running_on_ci():
exe_path = cmdline.split(" ")[0]
index = exe_path.find("/_build/")
if index != -1:
path_to_remove = exe_path[:index]
cmdline = (
cmdline.replace(path_to_remove, ".")
.replace(path_to_remove.lower(), ".")
.replace(path_to_remove.replace("/", "\\"), ".")
)
return cmdline
def _get_test_cmdline(ext_name: str, failed_tests: list = []) -> list:
"""Return an example cmdline to run extension tests or a single unittest"""
cmdline = []
try:
shell_ext = carb.tokens.get_tokens_interface().resolve("${shell_ext}")
kit_exe = carb.tokens.get_tokens_interface().resolve("${kit}")
path_to_kit = _format_cmdline(os.path.relpath(kit_exe, os.getcwd()))
if not path_to_kit.startswith("./"):
path_to_kit = f"./{path_to_kit}"
test_file = f"{path_to_kit}/tests-{ext_name}{shell_ext}"
if failed_tests:
test_name = failed_tests[0].rsplit(".")[-1]
cmdline.append(f" Cmdline to run a single unittest: {test_file} -f *{test_name}")
cmdline.append(f" Cmdline to run the extension tests: {test_file}")
except: # noqa
pass
return cmdline
async def gather_with_concurrency(n, *tasks):
semaphore = asyncio.Semaphore(n)
async def sem_task(task):
async with semaphore:
return await task
return await asyncio.gather(*(sem_task(task) for task in tasks))
async def run_serial_and_parallel_tasks(parallel_tasks, serial_tasks, max_parallel_tasks: int):
for r in serial_tasks:
yield await r
for r in await gather_with_concurrency(max_parallel_tasks, *parallel_tasks):
yield r
async def _run_ext_test(run_context: TestRunContext, test: ExtTest, on_status_report_fn):
def _print_info(mode: str, result_str: str = None):
if result_str is None:
result_str = "succeeded" if test.result.passed else "failed"
print(f"{test.test_id} test {result_str} ({mode} {test_run + 1} out of {run_context.max_test_run})")
teamcity_test_retry_support(run_context.retry_strategy == RetryStrategy.RETRY_ON_FAILURE)
# Allow retrying tests multiple times:
for test_run in range(run_context.max_test_run):
is_last_try = (test_run == run_context.max_test_run - 1) or (
run_context.retry_strategy == RetryStrategy.NO_RETRY
)
retry_failed_tests = run_context.retry_strategy == RetryStrategy.RETRY_ON_FAILURE
test._pre_test_run(test_run, run_context.retry_strategy)
test = await _run_ext_test_once(test, on_status_report_fn, is_last_try, retry_failed_tests)
# depending on the retry strategy we might continue or exit the loop
if run_context.retry_strategy == RetryStrategy.NO_RETRY:
# max_test_run is ignored in no-retry strategy
break
elif run_context.retry_strategy == RetryStrategy.RETRY_ON_FAILURE:
# retry on failure - stop at first success otherwise continue
result_str = "succeeded"
if not test.result.passed:
result_str = "failed" if is_last_try else "failed, retrying..."
_print_info("attempt", result_str)
if test.result.passed:
break
else:
test.retries += 1
elif run_context.retry_strategy == RetryStrategy.ITERATIONS:
# iterations - continue until the end
_print_info("iteration")
elif run_context.retry_strategy == RetryStrategy.RERUN_UNTIL_FAILURE:
# rerun until failure - stop at first failure otherwise continue
_print_info("rerun")
if not test.result.passed:
break
else:
_error(sys.stderr, f"Invalid retry strategy '{run_context.retry_strategy}'")
return test
async def _run_ext_test_once(test: ExtTest, on_status_report_fn, is_last_try: bool, retry_failed_tests: bool):
ext = test.ext_id
if on_status_report_fn:
on_status_report_fn(test.test_id, TestRunStatus.RUNNING)
# Starting test
test.on_start()
err_messages = []
metadata = {}
cmd = ""
returncode = 0
if test.valid:
cmd = test.get_cmd()
# Run process
start_time = time.time()
returncode, err_messages, metadata = await _run_test_process(test)
test.result.duration = round(time.time() - start_time, 2)
else:
err_messages.append(f"Failed to run process for extension testing (ext: {ext}).")
if test.unreliable:
test.result.unreliable = 1
# Grab failed tests
test.failed_tests = list(metadata.pop(KEY_FAILING_TESTS, []))
for key, value in list(metadata.items()):
if type(value) == str and value.startswith(STARTED_UNITTEST):
test_id = key
test.failed_tests.append(test_id + " (started but never finished)")
del metadata[key]
if retry_failed_tests:
# remove failed tests from previous run if any
test.args = [item for item in test.args if not item.startswith("--/exts/omni.kit.test/retryFailedTests")]
# Only retry failed tests if all conditions are met:
# - retry-on-failure strategy selected
# - metadata with failing tests is present
# - extension tests reported failures but no crash (return code 13)
# - at least on retry left to do (ie: not last retry)
if test.failed_tests and returncode == 13 and not is_last_try:
# add new failed tests as args for the next run
for i, test_id in enumerate(test.failed_tests):
test.args.append(f"--/exts/omni.kit.test/retryFailedTests/{i}='{test_id}'")
# Report failure and mark overall run as failure
test.result.passed = True
if len(err_messages) > 0:
spaces_8 = " " * 8
spaces_12 = " " * 12
messages_str = f"\n{spaces_8}".join([""] + err_messages)
fail_message_lines = [
"",
"[fail] Extension Test failed. Details:",
f" Cmdline: {_format_cmdline(cmd)}",
]
fail_message_lines += _get_test_cmdline(test.ext_name, test.failed_tests)
fail_message_lines += [
f" Return code: {returncode} ({returncode & (2**31-1):#010x})",
f" Failure reason(s): {messages_str}",
]
details_message_lines = [" Details:"]
if metadata:
details_message_lines.append(f"{spaces_8}Metadata:")
for key, value in sorted(metadata.items()):
details_message_lines.append(f"{spaces_12}{key}: {value}")
if test.failed_tests:
messages_str = f"\n{spaces_12}".join([""] + test.failed_tests)
details_message_lines.append(f"{spaces_8}{KEY_FAILING_TESTS}: {messages_str}")
if not omni.kit.app.get_app().is_app_external():
url = f"http://omnitests.nvidia.com/?query={test.test_id}"
details_message_lines.append(f"{spaces_8}Test history:")
details_message_lines.append(f"{spaces_12}{url}")
fail_message = "\n".join(fail_message_lines + details_message_lines)
test.result.passed = False
if test.unreliable:
test.result.unreliable_fail = 1
test.stdout.write("[fail] Extension test failed, but marked as unreliable.\n")
else:
test.result.fail = 1
test.stdout.write("[fail] Extension test failed.\n")
if is_last_try:
test.on_fail(fail_message)
if on_status_report_fn:
on_status_report_fn(test.test_id, TestRunStatus.FAILED, fail_message=fail_message, ext_test=test)
else:
test.stdout.write("[ ok ] Extension test passed.\n")
test.on_finish(test.result.passed)
if test.result.passed and on_status_report_fn:
on_status_report_fn(test.test_id, TestRunStatus.PASSED, ext_test=test)
# dump stdout, acts as stdout sync point for parallel run
if test.stdout != sys.stdout:
if test.context.trim_stdout_on_success and test.result.passed:
for line in test.stdout.getvalue().splitlines():
# We still want to print all service messages to correctly output number of tests on TC and all that.
if "##teamcity[" in line:
sys.stdout.write(line)
sys.stdout.write("\n")
sys.stdout.write(
f"[omni.kit.test] Stdout was trimmed. Look for the Kit log file '{test.log_file}' in TC artifacts for the full output.\n"
)
else:
sys.stdout.write(test.stdout.getvalue())
sys.stdout.flush()
# reset test.stdout (io.StringIO)
test.stdout.truncate(0)
test.stdout.seek(0)
return test
def _build_test_id(test_type: str, ext: str, app: str = "", test_name: str = "") -> str:
s = ""
if test_type:
s += f"{test_type}:"
s += ext_id_to_fullname(ext)
if test_name and test_name != DEFAULT_TEST_NAME:
s += f"-{test_name}"
if app:
s += f"_app:{app}"
return s
async def _run_ext_tests(exts, on_status_report_fn, exclude_exts, only_list=False) -> bool:
run_context = TestRunContext()
use_registry = get_setting("/exts/omni.kit.test/testExtUseRegistry", default=False)
match_version_as_string = get_setting("/exts/omni.kit.test/testExtMatchVersionAsString", default=False)
test_type = get_setting("/exts/omni.kit.test/testExtTestType", default="exttest")
# Test Name filtering (support shorter version)
test_name_filter = _parse_arg_shortcut(get_argv(), "-n")
if not test_name_filter:
test_name_filter = get_setting("/exts/omni.kit.test/testExtTestNameFilter", default="")
max_parallel_procs = int(get_setting("/exts/omni.kit.test/testExtMaxParallelProcesses", default=-1))
if max_parallel_procs <= 0:
max_parallel_procs = multiprocessing.cpu_count()
exts_to_test = _build_exts_set(exts, exclude_exts, use_registry, match_version_as_string)
# Prepare an app:
test_app = TestApp(sys.stdout)
def fail_all(fail_message):
reporter = TestReporter(sys.stdout)
for ext in exts:
message = fail_message.format(ext)
test_id = _build_test_id(test_type, ext, test_app.name)
tc_test_id = test_id.replace(".", "+") + ".[PROCESS CHECK]"
_error(sys.stderr, message)
# add start / fail / stop messages for TC + our own reporter
reporter.exttest_start(test_id, tc_test_id, ext, ext)
reporter.exttest_fail(test_id, tc_test_id, fail_type="Error", fail_message=message)
reporter.exttest_stop(test_id, tc_test_id, passed=False)
if on_status_report_fn:
on_status_report_fn(test_id, TestRunStatus.FAILED, fail_message=message)
# If no extensions found report query entries as failures
if len(exts_to_test) == 0:
fail_all("Can't find any extension matching: '{0}'.")
# If no app found report query entries as failures
if not test_app.path:
fail_all(f"Can't find app: {test_app.name}")
exts_to_test = []
# Prepare test run tasks, put into separate serial and parallel queues
parallel_tasks = []
serial_tasks = []
is_parallel_run = max_parallel_procs > 1 and len(exts_to_test) > 1
exts_issues = []
total = 0
for ext in exts_to_test:
ext_info = _prepare_ext_for_testing(ext)
if ext_info:
test_configs = _get_test_configs_for_ext(ext_info, test_name_filter)
unique_test_names = set()
for test_config in test_configs:
valid = True
test_name = test_config.get("name", DEFAULT_TEST_NAME)
if test_name in unique_test_names:
_error(
sys.stderr,
f"Extension {ext} has multiple [[test]] entry with the same 'name' attribute. It should be unique, default is '{DEFAULT_TEST_NAME}'",
)
valid = False
else:
unique_test_names.add(test_name)
total += 1
# Build test id.
test_id = _build_test_id(test_type, ext, test_app.name, test_name)
if only_list:
print(f"test_id: '{test_id}'")
continue
test = ExtTest(
ext,
ext_info,
test_config,
test_id,
is_parallel_run,
run_context=run_context,
test_app=test_app,
valid=valid,
)
# fmt: off
# both means we run all tests (reliable and unreliable)
# otherwise we either run reliable tests only or unreliable tests only, so we skip accordingly
if run_context.run_unreliable_tests != RunExtTests.BOTH and int(run_context.run_unreliable_tests) != int(test.unreliable):
test_unreliable = "unreliable" if test.unreliable else "reliable"
run_unreliable = "unreliable" if run_context.run_unreliable_tests == RunExtTests.UNRELIABLE_ONLY else "reliable"
print(f"[INFO] {test_id} skipped because it's marked as {test_unreliable} and we currently run all {run_unreliable} tests")
total -= 1
continue
# fmt: on
# Test skipped itself? (it should have explained it already by now)
if test.skip:
total -= 1
continue
# A single test may be invoked in more than one way, gather them all
from .ext_test_generator import get_tests_to_run
for test_instance in get_tests_to_run(test, ExtTest, run_context, is_parallel_run, valid):
task = _run_ext_test(run_context, test_instance, on_status_report_fn)
if test_instance.parallelizable:
parallel_tasks.append(task)
else:
serial_tasks.append(task)
else:
exts_issues.append(ext)
intro = f"Running {total} Extension Test Process(es)."
if run_context.run_unreliable_tests == RunExtTests.UNRELIABLE_ONLY:
intro = "[Unreliable Tests Run] " + intro
print(intro)
# Actual test run:
finished_tests: List[ExtTest] = []
fail_count = 0
unreliable_fail_count = 0
unreliable_total = 0
async for test in run_serial_and_parallel_tasks(parallel_tasks, serial_tasks, max_parallel_procs):
unreliable_total += test.result.unreliable
unreliable_fail_count += test.result.unreliable_fail
fail_count += test.result.fail
finished_tests.append(test)
if only_list:
print(f"Found {total} tests processes to run.")
return True
return_result = True
def generate_summary():
for test in finished_tests:
if test.result.passed:
if test.retries > 0:
res_str = "[retry ok]"
else:
res_str = "[ ok ]"
else:
res_str = "[ fail ]"
if test.result.unreliable:
res_str += " [unreliable]"
res_str += f" [{test.result.duration:5.1f}s]"
res_str += f" {test.test_id}"
res_str += f" (Count: {test.result.test_count})"
yield f"{res_str}"
for ext in exts_issues:
res_str = f"[ fail ] {ext} (extension registry issue)"
yield f"{res_str}"
def get_failed_tests():
all_failed_tests = [t for test in finished_tests for t in test.failed_tests]
if all_failed_tests:
yield f"\nFailing tests (Count: {len(all_failed_tests)}) :"
for test_name in all_failed_tests:
yield f" - {test_name}"
# Print summary
test_results_file = os.path.join(run_context.output_path, "ext_test_results.txt")
with open(test_results_file, "a") as f:
def report(line):
print(line)
f.write(line + "\n")
report("\n")
report("=" * 60)
report(f"Extension Tests Run Summary (Date: {run_context.start_ts})")
report("=" * 60)
report(" app: {}".format(test_app.name if not test_app.is_empty else "[empty]"))
report(f" retry strategy: {run_context.retry_strategy}," f" max test run: {run_context.max_test_run}")
report("=" * 60)
for line in generate_summary():
report(line)
for line in get_failed_tests():
report(line)
report("=" * 60)
report("=" * 60)
if unreliable_total > 0:
report(
f"UNRELIABLE TESTS REPORT: {unreliable_fail_count} unreliable tests processes failed out of {unreliable_total}."
)
# Exit with non-zero code on failure
if fail_count > 0 or len(exts_issues) > 0:
if fail_count > 0:
report(f"[ERROR] {fail_count} tests processes failed out of {total}.")
if len(exts_issues) > 0:
report(f"[ERROR] {len(exts_issues)} extension registry issue.")
return_result = False
else:
report(f"[OK] All {total} tests processes returned 0.")
# Report all results
for test in finished_tests:
test.reporter.report_result(test)
return return_result
def run_ext_tests(test_exts, on_finish_fn=None, on_status_report_fn=None, exclude_exts=[]):
def on_status_report(*args, **kwargs):
if on_status_report_fn:
on_status_report_fn(*args, **kwargs)
_test_status_report(*args, **kwargs)
async def run():
result = await _run_ext_tests(test_exts, on_status_report, exclude_exts)
if on_finish_fn:
on_finish_fn(result)
return asyncio.ensure_future(run())
def shutdown_ext_tests():
# When running extension tests and killing the process after timeout, asyncio hangs somewhere in python shutdown.
# Explicitly closing event loop here helps with that.
if _asyncio_process_was_terminated:
def exception_handler(_, exc):
print(f"Asyncio exception on shutdown: {exc}")
asyncio.get_event_loop().set_exception_handler(exception_handler)
asyncio.get_event_loop().close()
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/code_change_analyzer.py | import json
import os
import omni.kit.app
import logging
from typing import List
from .repo_test_context import RepoTestContext
from .utils import sha1_path, sha1_list, get_global_test_output_path
logger = logging.getLogger(__name__)
KNOWN_EXT_SOURCE_PATH = ["kit/source/extensions/", "source/extensions/"]
# We know for sure that this hash changes all the time and used in many many tests, don't want it to mess with our logic for now
STARTUP_SEQUENCE_EXCLUDE = ["omni.rtx.shadercache.d3d12", "omni.rtx.shadercache.vulkan"]
def _get_extension_hash(path):
path = os.path.normpath(path)
hash_cache_file = f"{get_global_test_output_path()}/exts_hash.json"
ext_hashes = {}
# cache hash calculation in a file to speed up things (it's slow)
try:
with open(hash_cache_file, "r") as f:
ext_hashes = json.load(f)
except FileNotFoundError:
pass
except Exception as e:
logger.warn(f"Failed to load extension hashes from {hash_cache_file}, error: {e}")
ext_hash = ext_hashes.get(path, None)
if ext_hash:
return ext_hash
ext_hash = sha1_path(path)
# read from file again in case it changed while calculating hash (parallel run) to update
try:
with open(hash_cache_file, "r") as f:
ext_hashes = json.load(f)
except FileNotFoundError:
pass
except Exception as e:
logger.warn(f"Failed to load extension hashes from {hash_cache_file}, error: {e}")
ext_hashes[path] = ext_hash
with open(hash_cache_file, "w") as f:
json.dump(ext_hashes, f)
return ext_hash
def _get_extension_name_for_file(file):
for path in KNOWN_EXT_SOURCE_PATH:
if file.startswith(path):
ext = file[len(path) :].split("/")[0]
return ext
return None
def _print(str, *argv):
print(f"[omni.kit.test.code_change_analyzer] {str}", *argv)
class ChangeAnalyzerResult:
def __init__(self):
self.should_skip_test = False
self.startup_sequence = []
self.startup_sequence_hash = ""
self.tested_ext_hash = ""
self.kernel_version = ""
class CodeChangeAnalyzer:
"""repo_test can provide (if in MR and on TC) with a list of changed files using env var.
Check if changed ONLY extensions. If any change is not in `source/extensions` -> run all tests
If changed ONLY extensions than for each test solve list of ALL enabled extensions and check against that list.
"""
def __init__(self, repo_test_context: RepoTestContext):
self._allow_sampling = True
self._allow_skipping = False
self._changed_extensions = self._gather_changed_extensions(repo_test_context)
def _gather_changed_extensions(self, repo_test_context: RepoTestContext):
data = repo_test_context.get()
if data:
changed_files = data.get("changed_files", [])
if changed_files:
self._allow_skipping = True
changed_extensions = set()
for file in changed_files:
ext = _get_extension_name_for_file(file)
if ext:
logger.info(f"Changed path: {file} is an extension: {ext}")
changed_extensions.add(ext)
elif self._allow_skipping:
_print("All tests will run. At least one changed file is not in an extension:", file)
self._allow_skipping = False
self._allow_sampling = False
if self._allow_skipping:
ext_list_str = "\n".join(("\t - " + e for e in changed_extensions))
_print(f"Only tests that use those extensions will run. Changed extensions:\n{ext_list_str}")
return changed_extensions
logger.info("No changed files provided")
return set()
def get_changed_extensions(self) -> List[str]:
return list(self._changed_extensions)
def allow_sampling(self) -> bool:
return self._allow_sampling
def _build_startup_sequence(self, result: ChangeAnalyzerResult, ext_name: str, exts: List):
result.kernel_version = omni.kit.app.get_app().get_kernel_version()
result.startup_sequence = [("kernel", result.kernel_version)]
for ext in exts:
if ext["name"] in STARTUP_SEQUENCE_EXCLUDE:
continue
path = ext.get("path", None)
if path:
hash = _get_extension_hash(path)
result.startup_sequence.append((ext["name"], hash))
if ext["name"] == ext_name:
result.tested_ext_hash = hash
# Hash whole startup sequence
result.startup_sequence_hash = sha1_list([hash for ext, hash in result.startup_sequence])
def analyze(self, test_id: str, ext_name: str, exts_to_enable: List[str]) -> ChangeAnalyzerResult:
result = ChangeAnalyzerResult()
result.should_skip_test = False
# Ask manager for extension startup sequence
manager = omni.kit.app.get_app().get_extension_manager()
solve_result, exts, err = manager.solve_extensions(
exts_to_enable, add_enabled=False, return_only_disabled=False
)
if not solve_result:
logger.warn(f"Failed to solve dependencies for extension(s): {exts_to_enable}, error: {err}")
return result
# Build hashes for a startup sequence
self._build_startup_sequence(result, ext_name, exts)
if not self._allow_skipping:
return result
if not self._changed_extensions:
return result
for ext in exts:
if ext["name"] in self._changed_extensions:
_print(f"{test_id} test will run because it uses the changed extension:", ext["name"])
self._allow_sampling = False
return result
_print(
f"{test_id} skipped by code change analyzer. Extensions enabled in this tests were not changed in this MR."
)
result.should_skip_test = True
return result
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/gitlab.py | import os
from functools import lru_cache
# GitLab CI/CD variables :
# https://docs.gitlab.com/ee/ci/variables/predefined_variables.html
@lru_cache()
def is_running_in_gitlab():
return bool(os.getenv("GITLAB_CI"))
@lru_cache()
def get_gitlab_build_url() -> str:
return os.getenv("CI_PIPELINE_URL") or ""
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/tests/test_reporter.py | from pathlib import Path
import omni.kit.test
from ..reporter import _calculate_durations, _load_report_data, _load_coverage_results, _generate_html_report
CURRENT_PATH = Path(__file__).parent
DATA_TESTS_PATH = CURRENT_PATH.parent.parent.parent.parent.joinpath("data/tests")
class TestReporter(omni.kit.test.AsyncTestCase):
async def test_success_report_data(self):
"""
omni_kit_test_success_report.jsonl contains the report.jsonl of a successful run testing omni.kit.test
"""
path = DATA_TESTS_PATH.joinpath("omni_kit_test_success_report.jsonl")
report_data = _load_report_data(path)
self.assertEqual(len(report_data), 11)
result = report_data[10]
test_result = result.get("result", None)
self.assertNotEqual(test_result, None)
# make sure durations are good
_calculate_durations(report_data)
startup_duration = test_result["startup_duration"]
tests_duration = test_result["tests_duration"]
self.assertAlmostEqual(startup_duration, 1.040, places=3)
self.assertAlmostEqual(tests_duration, 0.007, places=3)
# make sure our ratio are good
duration = test_result["duration"]
startup_ratio = test_result["startup_ratio"]
tests_ratio = test_result["tests_ratio"]
self.assertAlmostEqual(startup_ratio, 100 * (startup_duration / duration), places=3)
self.assertAlmostEqual(tests_ratio, 100 * (tests_duration / duration), places=3)
async def test_fail_report_data(self):
"""
omni_kit_test_fail_report.jsonl contains the report.jsonl of a failed run of testing omni.kit.test
with a few failed tests and also a test that crash
"""
path = DATA_TESTS_PATH.joinpath("omni_kit_test_fail_report.jsonl")
report_data = _load_report_data(path)
self.assertEqual(len(report_data), 18)
result = report_data[17]
test_result = result.get("result", None)
self.assertNotEqual(test_result, None)
# make sure durations are good
_calculate_durations(report_data)
startup_duration = test_result["startup_duration"]
tests_duration = test_result["tests_duration"]
self.assertAlmostEqual(startup_duration, 0.950, places=3)
self.assertAlmostEqual(tests_duration, 0.006, places=3)
# make sure our ratio are good
duration = test_result["duration"]
startup_ratio = test_result["startup_ratio"]
tests_ratio = test_result["tests_ratio"]
self.assertAlmostEqual(startup_ratio, 100 * (startup_duration / duration), places=3)
self.assertAlmostEqual(tests_ratio, 100 * (tests_duration / duration), places=3)
async def test_html_report(self):
path = DATA_TESTS_PATH.joinpath("omni_kit_test_success_report.jsonl")
report_data = _load_report_data(path)
_calculate_durations(report_data)
merged_results, _ = _load_coverage_results(report_data, read_coverage=False)
html = _generate_html_report(report_data, merged_results)
# total duration is 1.32 seconds, in the hmtl report we keep 1 decimal so it will be shown as 1.3
self.assertTrue(html.find("<td>1.3</td>") != -1)
# startup duration will be 78.8 %
self.assertTrue(html.find("<td>78.8</td>") != -1)
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/tests/test_kit_test.py | import unittest
import carb
import omni.kit.app
import omni.kit.test
# uncomment for dev work
# import unittest
class TestKitTest(omni.kit.test.AsyncTestCase):
async def test_test_settings(self):
# See [[test]] section
carb.log_error("This message will not fail the test because it is excluded in [[test]]")
self.assertEqual(carb.settings.get_settings().get("/extra_arg_passed/param"), 123)
async def test_test_other_settings(self):
self.assertEqual(carb.settings.get_settings().get("/extra_arg_passed/param"), 456)
async def test_that_is_excluded(self):
self.fail("Should not be called")
async def test_get_test(self):
if any("test_that_is_unreliable" in t.id() for t in omni.kit.test.get_tests()):
self.skipTest("Skipping if test_that_is_unreliable ran")
self.assertSetEqual(
{t.id() for t in omni.kit.test.get_tests()},
set(
[
"omni.kit.test.tests.test_kit_test.TestKitTest.test_are_async",
"omni.kit.test.tests.test_kit_test.TestKitTest.test_can_be_skipped_1",
"omni.kit.test.tests.test_kit_test.TestKitTest.test_can_be_skipped_2",
"omni.kit.test.tests.test_kit_test.TestKitTest.test_can_be_sync",
"omni.kit.test.tests.test_kit_test.TestKitTest.test_get_test",
"omni.kit.test.tests.test_kit_test.TestKitTest.test_test_settings",
"omni.kit.test.tests.test_kit_test.TestKitTest.test_with_metadata",
"omni.kit.test.tests.test_kit_test.TestKitTest.test_with_subtest",
"omni.kit.test.tests.test_lookups.TestLookups.test_lookups",
"omni.kit.test.tests.test_nvdf.TestNVDF.test_convert_advanced_types",
"omni.kit.test.tests.test_nvdf.TestNVDF.test_convert_basic_types",
"omni.kit.test.tests.test_nvdf.TestNVDF.test_convert_reserved_types",
"omni.kit.test.tests.test_reporter.TestReporter.test_fail_report_data",
"omni.kit.test.tests.test_reporter.TestReporter.test_html_report",
"omni.kit.test.tests.test_reporter.TestReporter.test_success_report_data",
"omni.kit.test.tests.test_sampling.TestSampling.test_sampling_factor_one",
"omni.kit.test.tests.test_sampling.TestSampling.test_sampling_factor_point_five",
"omni.kit.test.tests.test_sampling.TestSampling.test_sampling_factor_zero",
"omni.kit.test.tests.test_sampling.TestSampling.test_with_fake_nvdf_query",
]
),
)
self.assertListEqual(
[t.id() for t in omni.kit.test.get_tests(tests_filter="test_settings")],
[
"omni.kit.test.tests.test_kit_test.TestKitTest.test_test_settings",
],
)
async def test_are_async(self):
app = omni.kit.app.get_app()
update = app.get_update_number()
await app.next_update_async()
self.assertEqual(app.get_update_number(), update + 1)
def test_can_be_sync(self):
self.assertTrue(True)
@unittest.skip("Skip test with @unittest.skip")
async def test_can_be_skipped_1(self):
self.assertTrue(False)
async def test_can_be_skipped_2(self):
self.skipTest("Skip test with self.skipTest")
self.assertTrue(False)
# subTest will get fixes in python 3.11, see https://bugs.python.org/issue25894
async def test_with_subtest(self):
with self.subTest(msg="subtest example"):
self.assertTrue(True)
async def test_with_metadata(self):
"""This is an example to use metadata"""
print("##omni.kit.test[set, my_key, This line will be printed if the test fails]")
self.assertTrue(True)
async def test_that_is_unreliable(self):
"""This test will not run unless we run unreliable tests"""
self.assertTrue(True) # we don't make it fail when running unreliable tests
# Development tests - uncomment when doing dev work to test all ways a test can succeed / fail
# async def test_success(self):
# self.assertTrue(True)
# async def test_fail_1(self):
# self.assertTrue(False)
# async def test_fail_2(self):
# raise Exception("fuff")
# self.assertTrue(False)
# will crash with stack overflow
# async def test_fail_3(self):
# __import__("sys").setrecursionlimit(100000000)
# def crash():
# crash()
# crash()
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/tests/test_nvdf.py | import omni.kit.test
from ..nvdf import remove_nvdf_form, to_nvdf_form
class TestNVDF(omni.kit.test.AsyncTestCase):
async def test_convert_basic_types(self):
d = {
"some_boolean": True,
"some_int": -123,
"some_float": 0.001,
"array_of_string": ["a", "b"],
}
nv = to_nvdf_form(d)
self.assertDictEqual(
nv, {"b_some_boolean": True, "l_some_int": -123, "d_some_float": 0.001, "s_array_of_string": ["a", "b"]}
)
r = remove_nvdf_form(nv)
self.assertDictEqual(d, r)
async def test_convert_advanced_types(self):
class myClass:
def __init__(self, int_value: int, float_value: float) -> None:
self.cl_int: int = int_value
self.cl_float: float = float_value
m = myClass(12, 0.1)
d = {
"some_list": [3, 4],
"some_tuple": (1, 2),
"some_class": m,
}
nv = to_nvdf_form(d)
self.assertDictEqual(
nv, {"l_some_list": [3, 4], "l_some_tuple": (1, 2), "some_class": {"l_cl_int": 12, "d_cl_float": 0.1}}
)
d["some_class"] = m.__dict__
r = remove_nvdf_form(nv)
self.assertDictEqual(d, r)
async def test_convert_reserved_types(self):
d = {
"ts_anything": 2992929,
"ts_created": 56555,
"_id": 69988,
}
nv = to_nvdf_form(d)
self.assertDictEqual(
nv, {"ts_anything": 2992929, "ts_created": 56555, "_id": 69988}
)
r = remove_nvdf_form(nv)
self.assertDictEqual(d, r)
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/tests/__init__.py | from .test_kit_test import *
from .test_lookups import *
from .test_nvdf import *
from .test_reporter import *
from .test_sampling import *
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/tests/test_lookups.py | """Test the functionality used by the test runner."""
import omni.kit.app
import omni.kit.test
class TestLookups(omni.kit.test.AsyncTestCase):
async def test_lookups(self):
"""Oddly self-referencing test that uses the test runner test lookup utility to confirm that the utility
finds this test.
"""
manager = omni.kit.app.get_app().get_extension_manager()
my_extension_id = manager.get_enabled_extension_id("omni.kit.test")
module_map = omni.kit.test.get_module_to_extension_map()
self.assertTrue("omni.kit.test" in module_map)
extension_info = module_map["omni.kit.test"]
self.assertEqual((my_extension_id, True), extension_info)
this_test_info = omni.kit.test.extension_from_test_name("omni.kit.test.TestLookups.test_lookups", module_map)
self.assertIsNotNone(this_test_info)
this_test_info_no_module = tuple(e for i, e in enumerate(this_test_info) if i != 2)
self.assertEqual((my_extension_id, True, False), this_test_info_no_module)
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/test/tests/test_sampling.py | import urllib.error
from contextlib import suppress
import omni.kit.test
from ..nvdf import get_app_info
from ..sampling import Sampling
class TestSampling(omni.kit.test.AsyncTestCase):
def setUp(self):
self.sampling = Sampling(get_app_info())
self.unittests = ["test_one", "test_two", "test_three", "test_four"]
async def test_sampling_factor_zero(self):
self.sampling.run_query("omni.foo", self.unittests, running_on_ci=False)
samples = self.sampling.get_tests_to_skip(0.0)
# will return the same list but with a different order
self.assertEqual(len(samples), len(self.unittests))
async def test_sampling_factor_one(self):
self.sampling.run_query("omni.foo", self.unittests, running_on_ci=False)
samples = self.sampling.get_tests_to_skip(1.0)
self.assertListEqual(samples, [])
async def test_sampling_factor_point_five(self):
self.sampling.run_query("omni.foo", self.unittests, running_on_ci=False)
samples = self.sampling.get_tests_to_skip(0.5)
self.assertEqual(len(samples), len(self.unittests) / 2)
async def test_with_fake_nvdf_query(self):
with suppress(urllib.error.URLError):
self.sampling.run_query("omni.foo", self.unittests, running_on_ci=True)
samples = self.sampling.get_tests_to_skip(0.5)
if self.sampling.query_result is True:
self.assertEqual(len(samples), len(self.unittests) / 2)
else:
self.assertListEqual(samples, [])
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/omni_test_registry/__init__.py | __copyright__ = " Copyright (c) 2022-2022, NVIDIA CORPORATION. All rights reserved."
__license__ = """
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.
"""
from .omni_test_registry import omni_test_registry
|
omniverse-code/kit/exts/omni.kit.test/omni/kit/omni_test_registry/omni_test_registry.py | def omni_test_registry(*args, **kwargs):
"""
The decorator for Python tests.
NOTE: currently passing in the test uuid as a kwarg 'guid'
"""
def decorator(func):
func.guid = kwargs.get("guid", None)
return func
return decorator
|
omniverse-code/kit/exts/omni.kit.test/docs/omni_test_registry.rst | :orphan:
.. _omni.kit.omni_test_registry:
omni.kit.omni_test_registry
###########################
This extension pulls in the `repo_test GUID decorator <https://gitlab-master.nvidia.com/omniverse/repo/repo_test/-/tree/main/omni/repo/test/guid>` via the `omniverse_test packman package <http://packman.ov.nvidia.com/packages/omniverse_test>` that enables the tagging of tests with GUID metadata. This GUID is then used for tracking tests through renames and relocations.
It is imported in all Python unittest test modules that use omni.kit.test, and the decorator is applied to test methods/functions with a GUID:
.. code:: python
import omni.kit.test
def test_itelemetry_generic_events():
"""Test name + GUID pulled from omni.kit.telemetry for example.
"""
pass
**Issues?**
Please reach out to @rafal karp or @chris morrell on Slack, or visit the #ct-omni-repoman Slack channel.
|
omniverse-code/kit/exts/omni.kit.test/docs/index.rst | omni.kit.test
###########################
Python asyncio-centric testing system.
To create a test derive from :class:`omni.kit.test.AsyncTestCase` and add a method that starts with ``test_``, like in :mod:`unittest`. Method can be either async or regular one.
.. code:: python
import omni.kit.test
class MyTest(omni.kit.test.AsyncTestCase):
async def setUp(self):
pass
async def tearDown(self):
pass
# Actual test, notice it is "async" function, so "await" can be used if needed
async def test_hello(self):
self.assertEqual(10, 10)
Test class must be defined in "tests" submodule of your public extension module. For example if your ``extension.toml`` defines:
.. code:: toml
[[python.module]]
name = "omni.foo"
``omni.foo.tests.MyTest`` should be a path to your test. Test system will automatically discover and import ``omni.foo.tests`` module. Using ``tests`` submodule of your extension module is a recommended way to organize tests. That keeps tests together with extension, but not too coupled with the actual module they test, so that they can import module with absolute path (e.g. ``import omni.foo``) and test it the way user will see them.
Refer to ``omni.example.hello`` extension as a simplest example of extension with a python test.
Settings
**********
For the settings refer to ``extension.toml`` file:
.. literalinclude:: ../config/extension.toml
:language: toml
They can be used to filter, automatically run tests and quit.
API Reference
***************
.. automodule:: omni.kit.test
:platform: Windows-x86_64, Linux-x86_64
:members:
:undoc-members:
:imported-members:
:exclude-members: contextlib, suppress
|
omniverse-code/kit/exts/omni.kit.test_suite.menu/PACKAGE-LICENSES/omni.kit.test_suite.menu-LICENSE.md | Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited. |
omniverse-code/kit/exts/omni.kit.test_suite.menu/config/extension.toml | [package]
# Semantic Versioning is used: https://semver.org/
version = "1.0.1"
category = "Internal"
# Lists people or organizations that are considered the "authors" of the package.
authors = ["NVIDIA"]
# The title and description fields are primarily for displaying extension info in UI
title = "omni.kit.test_suite.menu"
description="omni.kit.test_suite.menu"
readme = "docs/README.md"
# URL of the extension source repository.
repository = ""
# Keywords for the extension
keywords = ["kit", "ui", "test"]
# Location of change log file in target (final) folder of extension, relative to the root.
# More info on writing changelog: https://keepachangelog.com/en/1.0.0/
changelog = "docs/CHANGELOG.md"
# Icon is shown in Extensions window, it is recommended to be square, of size 256x256.
icon = "data/icon.png"
[[python.module]]
name = "omni.kit.test_suite.menu"
[[test]]
args = [
"--/renderer/enabled=pxr",
"--/renderer/active=pxr",
"--/renderer/multiGpu/enabled=false",
"--/renderer/multiGpu/autoEnable=false", # Disable mGPU with PXR due to OM-51026, OM-53611
"--/renderer/multiGpu/maxGpuCount=1",
"--/app/asyncRendering=false",
"--/app/file/ignoreUnsavedOnExit=true",
"--/app/window/dpiScaleOverride=1.0",
"--/app/window/scaleToMonitor=false",
"--/persistent/app/omniverse/filepicker/options_menu/show_details=false",
]
dependencies = [
"omni.hydra.pxr",
"omni.kit.mainwindow",
"omni.usd",
"omni.kit.renderer.capture",
"omni.kit.ui_test",
"omni.kit.test_suite.helpers",
"omni.kit.window.stage",
"omni.kit.property.bundle",
"omni.kit.window.status_bar",
"omni.hydra.pxr",
"omni.kit.window.viewport",
"omni.kit.window.content_browser"
]
stdoutFailPatterns.exclude = [
"*HydraRenderer failed to render this frame*", # Can drop a frame or two rendering with OpenGL interop
"*Cannot use omni.hydra.pxr without OpenGL interop*" # Linux TC configs with multi-GPU might not have OpenGL available
]
|
omniverse-code/kit/exts/omni.kit.test_suite.menu/omni/kit/test_suite/menu/__init__.py | from .scripts import *
|
omniverse-code/kit/exts/omni.kit.test_suite.menu/omni/kit/test_suite/menu/scripts/__init__.py | |
omniverse-code/kit/exts/omni.kit.test_suite.menu/omni/kit/test_suite/menu/tests/__init__.py | from .context_menu_bind_material_listview import *
|
omniverse-code/kit/exts/omni.kit.test_suite.menu/omni/kit/test_suite/menu/tests/context_menu_bind_material_listview.py | ## Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
##
## NVIDIA CORPORATION and its licensors retain all intellectual property
## and proprietary rights in and to this software, related documentation
## and any modifications thereto. Any use, reproduction, disclosure or
## distribution of this software and related documentation without an express
## license agreement from NVIDIA CORPORATION is strictly prohibited.
##
import omni.kit.test
import os
import omni.kit.app
import omni.usd
import omni.kit.commands
from omni.kit.test.async_unittest import AsyncTestCase
from omni.kit import ui_test
from pxr import Sdf, Usd, UsdShade
from omni.kit.material.library.test_helper import MaterialLibraryTestHelper
from omni.kit.test_suite.helpers import (
open_stage,
get_test_data_path,
select_prims,
delete_prim_path_children,
arrange_windows
)
from omni.kit.material.library.test_helper import MaterialLibraryTestHelper
from omni.kit.window.content_browser.test_helper import ContentBrowserTestHelper
class ContextMenuBindMaterialListview(AsyncTestCase):
# Before running each test
async def setUp(self):
await arrange_windows("Stage", 300.0)
await open_stage(get_test_data_path(__name__, "bound_shapes.usda"))
async def test_l1_context_menu_bind_material_listview(self):
await ui_test.find("Stage").focus()
await ui_test.find("Content").focus()
# grid_view_enabled = True doesn't work with item_offset
to_select = ["/World/Cube", "/World/Sphere", "/World/Cylinder"]
stage = omni.usd.get_context().get_stage()
material_test_helper = MaterialLibraryTestHelper()
content_browser_helper = ContentBrowserTestHelper()
await content_browser_helper.toggle_grid_view_async(False)
mdl_list = await omni.kit.material.library.get_mdl_list_async()
for mtl_name, mdl_path, submenu in mdl_list:
# delete any materials in looks
await delete_prim_path_children("/World/Looks")
# get content browser file
await content_browser_helper.navigate_to_async(mdl_path)
await ui_test.human_delay(10)
item = await content_browser_helper.get_treeview_item_async(os.path.basename(mdl_path))
self.assertFalse(item == None)
# get content browser treeview
content_treeview = ui_test.find("Content//Frame/**/TreeView[*].identifier=='content_browser_treeview'")
# select prims
await select_prims(to_select)
# right click content browser
await content_treeview.right_click(item.center)
# click on context menu item
await ui_test.select_context_menu("Bind material to selected prim(s)")
# use create material dialog
await material_test_helper.handle_create_material_dialog(mdl_path, mtl_name)
# verify item(s)
for prim_path in to_select:
prim = stage.GetPrimAtPath(prim_path)
bound_material, _ = UsdShade.MaterialBindingAPI(prim).ComputeBoundMaterial()
self.assertTrue(bound_material.GetPrim().IsValid() == True)
self.assertTrue(bound_material.GetPrim().GetPrimPath().pathString == f"/World/Looks/{mtl_name}")
|
omniverse-code/kit/exts/omni.kit.test_suite.menu/docs/CHANGELOG.md | # Changelog
The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
## [1.0.1] - 2022-07-25
### Changes
- Refactored unittests to make use of content_browser test helpers
## [1.0.0] - 2022-02-09
### Changes
- Created
|
omniverse-code/kit/exts/omni.kit.test_suite.menu/docs/README.md | # omni.kit.test_suite.menu
## omni.kit.test_suite.menu
Test Suite
|
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