
    f                         d dl Z d dlZdxZZd xZZ e j                  ed egd eegg dg      ZdZ	d dl
mZ d dl Z d dlmZ d dl Z d dl
mZ d dlmZ d Zd Zd Zd Zd	 Zd
 ZddZy)    Ng      ?)r   r      )Axes3Dc                    | j                   \  }}t        j                  t        j                  |      t        j                  |            \  }}|j	                         }|j	                         }t        j
                  ||gd      S )Ndim)shapetorchmeshgridarangefloatstack)	depth_maphwyxs        4/home/cameronsmith/repos/minimal-diffusion/sgvis2.pygenerate_gridr      s^    ??DAq>>%,,q/5<<?;DAq		A		A;;1v2&&    c           	      R   t        |       }t        j                  |      }t        j                  |t        j                  |dd df         gd      }t        j
                  ||j                  d            j                  d      }|| j                  d      z  |z  }| dkD  }||   S )N.r   r   r   r   )r   r
   inversecat	ones_likematmul	unsqueezesqueeze)r   KdgridK_invgrid_homogeneouspoints_homogeneous
valid_masks           r   depth_map_to_point_cloudr%      s    #DMM!Eyy$S"1"W(F!GRPe-=-G-G-KLTTUWX ,i.A.A".EEI QJj))r   c                 l    |j                         }| j                  dd      }||j                            S )Nr      )flattenviewbool)pointsmask	mask_flatpoints_flats       r   filter_points_by_maskr/   '   s/    I++b!$Ky~~'((r   c                     	 | j                  d      j                  }| j                  d      j                  }||fS #  t        j                  g d      t        j                  g d      }}Y ||fS xY w)Nr   r   )        r1   r1   )minvaluesmaxr
   tensor)r+   min_valsmax_valss      r   compute_bounding_boxr8   -   sq    `::!:$++::!:$++ X`,,';<U\\J^=_Xs	   8> 0A3c                 F   d}| d d |   } | d   j                         | d   j                         | d   j                         }}}t        j                  t              j                  dd      d d |   }|d   |d   |d   }	}}t	        |||	      D 
cg c])  \  }
}}dt        |
      t        |      t        |      fz  + }}}
}t        j                  t        j                  |||dt        d	|d
            g      }|D ]  }t        |      \  }}|d   |d   |d	   f|d   |d   |d	   f|d   |d   |d	   f|d   |d   |d	   f|d   |d   |d	   f|d   |d   |d	   f|d   |d   |d	   f|d   |d   |d	   fg}g d}|D ]c  \  }}|j                  t        j                  ||   d   ||   d   g||   d   ||   d   g||   d	   ||   d	   gdt        dd                   e |j                  t        ddd              |j                          y c c}}}
w )N   .r   .r   .   r   r   z#%02x%02x%02xmarkersr>   g?)sizecoloropacity)r   r   zmodemarker)data)r   r   )r   r'   )r'   r>   )r>   r   )r:      )rH      )rI      )rJ   r:   )r   r:   )r   rH   )r>   rJ   )r'   rI   linesredr'   )rA   width)r   r   rC   rD   lineXYZ)xaxis_titleyaxis_titlezaxis_title)scene)r(   r
   
from_numpyimgzipintgoFigure	Scatter3ddictr8   	add_traceupdate_layoutshow)r+   mask_points_allstrider   r   rC   colorsrgbrigibi
colors_hexfigmask_pointsr6   r7   
bbox_edges	edges_idxstartends                         r   visualize_point_cloud_with_bboxrq   7   s   F(F(FVn$$&v(>(>(@&.BXBXBZ!qAc"**1Q/&9FVnfVnfVn!qARUVWYZ\]R^__JBB/SWc"gs2w$??_J_
))",,
qAI*c:  C ' 1+>( a[(1+x{3hqk8A;PXYZP[5\a[(1+x{3hqk8A;PXYZP[5\a[(1+x{3hqk8A;PXYZP[5\a[(1+x{3hqk8A;PXYZP[5\	

5	 $ 	JE3MM",,e$Q'C);<e$Q'C);<e$Q'C);<4e1#=	 	 	#!
 	3: HHJM `s   .Hc                 v   |d   |d   |d   f|d   |d   |d   f|d   |d   |d   f|d   |d   |d   f|d   |d   |d   f|d   |d   |d   f|d   |d   |d   f|d   |d   |d   fg}g d}|D ]F  \  }}| j                  ||   d   ||   d   g||   d   ||   d   g||   d   ||   d   gddd       H y )Nr   r   r>   rG   rL   g?)rA   	linewidthalpha)plot)axr6   r7   rm   rn   ro   rp   s          r   add_bounding_boxrw   h   s@    
!hqk8A;/(1+x{HUVK1X	!hqk8A;/(1+x{HUVK1X	!hqk8A;/(1+x{HUVK1X	!hqk8A;/(1+x{HUVK1X	J1I
   

s
q!:c?1#56q!:c?1#56q!:c?1#5612	 	 	

r   c                 P   | d   j                         | d   j                         | d   j                         }}}t        j                  d      }|j                  dd      }	|	j	                  ||||d	
       |#|D ]  }
t        |
      \  }}t        |	||        n't        ||      D ]  \  }}t        |	|dz  |dz          |	j                  dd       |	j                  d       |	j                  d       |	j                  d       |j                  j                          |j                  j                         }|j                  j                         \  }}t!        j"                  |t         j$                        j'                  ||d      }t        j(                          |S )Nr;   r<   r=   )
      )figsizeo   3d)
projectionr   )csd   g      Ni)elevazimrO   rP   rQ   )dtyper'   )numpypltfigureadd_subplotscatterr8   rw   rX   	view_init
set_xlabel
set_ylabel
set_zlabelcanvasdrawtostring_rgbget_width_heightnp
frombufferuint8reshapeclose)r+   rc   ra   r6   r7   r   r   rC   rk   rv   rl   min_valmax_valbufncolsnrowsimages                    r   (visualize_colored_point_cloud_matplotlibr      so    Vn""$fVn&:&:&<fVn>R>R>T!qA **W
%C		.BJJq!Q&AJ&"* 	5K!5k!BHhR84	5  #8H5 	;OGGRgck:	; LLdL% MM#MM#MM#JJOO
**
!
!
#C::..0LE5MM#RXX.66ueQGEIIKLr   )NNN) r
   r   r   f_xf_yc_xc_yr5   r   r   matplotlib.pyplotpyplotr   plotly.graph_objectsgraph_objectsrZ   mpl_toolkits.mplot3dr   r   r%   r/   r8   rq   rw   r   r   point_cloudmasksr,   rl   rW   zz)ms   0r   <module>r      s     C		CELL33-c3-     !   ''*).b
.!F r   