
    @h(                        d dl mZ d dlZd dlZd dlZd dlZd dlm	c m
Z d dlZd dlZd dlZd dlZd dlmZ d dlmZ d dlmZ d dlmZ d dlmZ d dl mZ d dlmZ d dlmZ d dlZd dlmZ d dlZd dlZd dl Z d dlZd dl!mZ d dl"m#Z#  G d	 d
ejH                  jJ                  jL                        Z'd dl(Z)d dl*Z*d dl+m+Z+  ejX                  g dg dg dg dg      j[                  dd      Z.d\  Z/Z0dZ1e/e0z  Z2d\  Z3Z4 e)jj                  e1e/e0z  e3e4      Z6 ejX                  g dg dg dg dg      j[                  dd      Z.d Z7d Z8e9dk(  r e:d       d dl;Z; e)jx                  e)jz                        Z> e)j~                  d d d        e)j                   e;j                                 e)j                  dg d e)j                  g d      d        e7d       yy)    N)glob)defaultdict)	set_trace)combinations)choice)
transforms)Imagec                   $    e Zd ZdZddZd Zd Zy)PyBulletFolderzODataset for a class of objects, where each datapoint is a SceneInstanceDataset.c                 *    t        |dz         | _        y )Nz/*.png)r   scene_paths)selfpathvals      1/home/cameronsmith/repos/rotation_testing/data.py__init__zPyBulletFolder.__init__%   s    d8m,    c                      y)Ni  )r   s    r   __len__zPyBulletFolder.__len__(   s    ir   c                 Z   t        j                  | j                        }t        j                  t        j                  |            dd df   j                  ddd      }t        j                  t        j                  |j                  dd                  j                         }||d}|S )	N.      r      z_img.pngz	_segs.npy)transfimg)randomr   r   torch
from_numpypltimreadpermutenploadreplacefloat)r   idxr   r   r   datass         r   __getitem__zPyBulletFolder.__getitem__)   s    ]]4++,SZZ-.s2A2v6>>q1EZ(L MNTTV30r   N).F)__name__
__module____qualname____doc__r   r   r)   r   r   r   r   r   "   s    Y- (r   r   )tqdm)r   r   r   r   )r   r   r   )r   r   r0   r   )r   r   r   r      )   r2   <   )皙?g      @c           
         t        g dg d      D ]:  \  }}t        t        |             D ]  }t        j                  j                  dd      }t        j                  j                  ddt        j                  z        |z  }t        j                  j                  ddt        j                  z        |z  }t        j                  t        j                  j                  dd      t        j                  j                  dd      t        j                  j                  dd      g      dz  }|t        j                  |      z  t        j                  |      z  |t        j                  |      z  t        j                  |      z  |t        j                  |      z  g}t        j                  |      |z   }t        j                  g d	      |z   }	t        j                  |j                         |	j                         g d
      }
t        j                  j                  t              t        j                  |
      j!                  ddd      z  }t        j"                  t$        t&        |
t(        t        j*                        }t        j                   |d   t&        t$        df      d d d d d df   j-                  t        j.                        dz  }d|z   }t1        j2                  t4        j6                  j9                  |d|z        |       t        j:                  t4        j6                  j9                  |d|z        |        = y )N)r4         ?r   )01051r   r1   r   r0   r   r6   r   r   r   )r   r   r   Forderwidthheight
viewMatrixprojectionMatrixflagsr        o@z/data/cameron/duck_testing/z%05d_img.pngz	%05d_segs)zipr/   ranger#   r   uniformpiarraycossinpcomputeViewMatrixtolistlinalginvTcreshapegetCameraImager?   r@   proj_matrix_)ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEXastypefloat32r    imsaveosr   joinsave)
num_scenesrotation_coveragerotation_strscene_iradiusazimuth_camelevation_camrandom_translationcam_poslook_at_posview_matrix_cam2world_cv	image_arr
target_rgbdataset_dirs                  r   get_pybullet_renderrk   ;   s   *-i*H Q&,E*-. 	QGYY&&q+FII--a2559:KKKII--a2559:KKM!#BII,=,=b!,DbiiFWFWXZ\]F^`b`i`i`q`qrtvw`x*z!{  A  "A!669LLfWYW]W]^kWlNloqouou  wB  pC  OC  EK  NP  NT  NT  Ub  Nc  Ec  eGhhw'*<<G((7+.@@K..w~~/?ASASAUW`aL99==,rxx/E/M/MaQRZ]/M/^^L((uVP\9EALwLwyIIaL65!2DEaBQBhOVVWYWaWabejjJ5lBKJJrww||K1GHTGGBGGLLk'.AB<P%	QQr   c                    t         | z  }|j                  d      j                         }t        j                  t
        t        |t        t        j                        }t        j                  |d   t        t
        df      d d d d d df   j                  t        j                        dz  }t        j                  |      S )Nr;   r<   r>   r   r1   r   rD   )rQ   flattenrN   rL   rS   r?   r@   rT   rU   r#   rR   rV   rW   r   r   )rg   world2cam_openglrf   rh   ri   s        r   
render_camro   Q   s    L(#++#+6==?L  uV1=ADoDoqIIaL65!*<=aBQBhGNNrzzZ]bbJJ''r   __main__zDoing renderingg#zduck_vhacd.urdfr:   
   )basePositionbaseOrientationglobalScalingi'  )Dmatplotlib.pyplotpyplotr    cv2rY   
statisticsmultiprocessingmptorch.nn.functionalnn
functionalr;   r   r   imageionumpyr#   r   collectionsr   pdbr   	itertoolsr   r   
imageio.v3v3iiotorchvisionr   sysgzipjsontorchvision.transformsPILr	   utilsdataDatasetr   pybulletrL   geometryr/   rI   rR   rQ   r?   r@   fovaspectnearfarcomputeProjectionMatrixFOVrT   rk   ro   r+   printpybullet_dataconnectDIRECTphysicsClient
setGravitysetAdditionalSearchPathgetDataPathloadURDFgetQuaternionFromEulerr   r   r   <module>r      s     
 	          #   "    " 
  	    + U[[%%--    RXX 02BOTU]]^_`abv		c+q++CvtSIRXX 02BOTU]]^_`abQ,	( z	
AIIahh'MQ4(@A7m779:AJJ wH`H`H`ahHixz{ r   