+Oj*dZddlZddlZddlZddlmZddlZejdddlm Z ddl Z ddl Z ejdeeejejddddlZddlZddlZddlZddlZddlmZddlmZmZm Z m!Z!m"Z"m#Z#m$Z$dd d d d d Z%dZ&e dz Z'e dz dz Z(dZ)dZ*dZ+dZ,dZ-dZ.e/dkre.ej0ddpgddSdS)aThe gallery behind the synthesis: for every object, cloud and configuration, the parts (render) and the final rings (slices) that went into tracking, against GT and the points. Object by object (every configuration on every cloud type, then the next object): ../report/gallery//.html, images in ../report/img/gallery/, the per-cloud ../report/gallery//index.html and ../report/gallery/index.html, updated as each object is done. Configurations (ablation.py's): package, pointtest, A, hybrid-gated, hybrid-gated+pointtest (CONFIGS below). Slices: the rings the encoder tracked (captured at parts_system), at the layers LAYERS and the layer where the package has the most rings; GT is the exact section of the mesh the cloud came from (clean or noisy). env -u PYTHONPATH PYTHONWARNINGS=ignore .venv/bin/python ~/code/data/meshes/fcp_2710_tests/scripts/gallery.py clean_10000 noise0p6_10000 ... N)PathAggz/home/joao/code/fcp_devel/api)centres)CSSOBJREPORTROOTUPrenderstatsc0tj|d|S)Ncudadeviceup)fcpencodePrs =/home/joao/code/data/meshes/fcp_2710_tests/scripts/gallery.pyr"sSZ&R@@@c.tj||SN)r)pointfitencode_pointtestrs rrr#sx8rBBBrc.tj||Sr)rfencode_ringfitrs rrr$sr(r222rc0tj||dS)NT)rgatehy encode_hybridrs rrr%s""21$"G"G"Grc2tj||ddS)N pointtestT)rcutsr!r"rs rrr&sB,tj||ddgS)N)npvstack)Rs rclosedr6-s 9a2A2Z  rc~i}tt|jD]}|t |j|gt j|j |t|ddzt|j |f|S)zJPer layer, (metric rings, hole flags) of the Slices S the encoder tracked.N) rangelenh setdefaultintappendr3asarrayringsringfloatboolhole)Sscoutrs r tracked_ringsrI1s C 3qs88__oo s13q6{{B''.. 17<<??E0R0RUWXZYZXZU[0[]abcbhijbk]l]l/mnnnn Jrc89:;<=>?|dd\}}tjt|d}|dkr|n&tjtdz |d|dz d}t jtjtdz |d|dz j}tj |d >t j| d d }tj }tj|d > ;tj |z } tjd} tj;d } | t%;|| nt'dt'df\} } |d|d}t);| t*|z |d|dkrdn|dt-;jdt1d;jDd| d dt3;| | | |i}t4D]p\}}tj }||>}tj |z }tjd}tj|d }|t%|||nt'dt'df\}}|d|d|d}t)||t*|z |d|ddd|dt-|jdt1d|jDdt-;jd|d |jjt&=t3|||||tA|== ||<r|d!d"<fd)?i}|D]<:tUt j+89:;?fd*|D}g} t j,| j-|kd+D]}!t j| j./|!t&}";j0t j1|"t j2t-|"||f}#| 3|#9jj%z 9jj&zdddd,fti| j5|!f|| f|:<>dgtmt4z}$toj8t-|t-|$d-t-|$zd-t-|zfd.d/0\}%}&ts|&|D]\}':=fd1tj:|9j8:D}(t j;|ddd,f8:=d,zz |k})|(rt j<|(n3|)=r ||)dd,fnt j>d2}*|*?d+|*!d+},}+d3|,|+z !zd,|zz}-ts|'|$D]\}.}|.@||)d+f||)dfd,d4d+d5|(D]0}/|.A|/ddd+f|/dddfd6d7d,81|dkr|:dn!||d" :g}0|0D]/\}1}2|.jAt|1jC|2rd9nd:d;|2rdd?0|.D|+d+|-z |,d+|-z|.E|+d|-z |,d|-z|.Fd@|.GdAB|dkrdC|:d+n|dD:}3|.H|3:|krdEndFdt1dG|0DdHt1dI|0DdJdKL|%I|d|dM}4|%Jt*|4z tojK|%dFLdN|D}5dFLdO|D}6dP|dQ|dRtdS|dddTtjO|d|dddU|5dV|4dW|6dX}7t|z |dYz Q|7dZ|Dt-;jfS)[N_r2mesh)forcecleanmeshesz.ply pointclouds)rrr2iP)seedrrrE)rnanz _mesh.pngu · mesh route (z mesh): z parts (c3*K|]\}}}|dkVdSrN.0srKs r zone..Hs,55WQ11q5555555rz holes), mean/diag .4f)dmeanp95secr0z.png ·  z: c3*K|]\}}}|dkVdSrTrUrVs rrYzone..Ss,44Aqq1u444444rz holes), mesh z , mean/diag )r[r\r]r^r0r@rFr(r@c.t|SN)r:)kpks rrzone..Xs#be**r)keyr,r[rFspacingc|tjdd|ggdtjtzS)Ngr)to_worldr3arrayr?rB)posezrs rrzone..as=$--3Q-(A(ABB1E SUW\H]H]]rc |g|]8}tj|jz 9SrU)absrk)rWrlcd0rdmesh_dzws r zone..dsFTTTAC6; 2 2RR15F5F FGGTTTrrr8g@KF)figsizedpisqueezec*g|]}|ddzS)Nr8rU)rWLrFs rrszone..ns% D D DQa"RaR&j D D Dr)r2r8g{Gz?z#a8a8a8)rXrolwzorderrdg?)rorzr{z#2e86abz#d1495bg?z---)rorzlsr{equal) labelsizeumesh route · its layer u · layer z (package: most rings)c3"K|] \}}| V dSrcrUrWrKr;s rrYzone..~s(88$!QA888888rz solid, c3 K|] \}}|V dSrcrUrs rrYzone..~s&EZEZDAqaEZEZEZEZEZEZrz holes)fontsizez _slices.pngc3K|]k\}}d|dt|djdtd|djDd|ddd|ddd|ddd Vld S) z r[c3*K|]\}}}|dkVdSrTrU)rWxrKs rrYz one...s1KnKnV]VWYZ\]APQEKnKnKnKnKnKnrr\z.5fr]r^z.1fz N)r:partssumrWcfgrHs rrYzone..s}}flfiklbcbbC# ,=,=bbKnKnabcfagamKnKnKnHnHnbbF)abb23E(abbIJ5abbb}}}}}}rc3:K|]\}}d|d|ddVdS)z

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← gallery · u= · synthesis

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"mesh": the mesh route on the mesh the cloud came from (clean or noisy), the reference for parts and rings. Errors against the clean mesh (mean and p95 of the symmetric nearest-point distance over the diagonal).

a
configurationpartsholesmean/diagp95/diagencode s

Slices: the rings each configuration tracked

First column: the mesh route's rings (at the mesh layer nearest in height). Black: GT (exact section of the source mesh at the cloud's layer). Grey: the points within a spacing of the plane. Red: solid rings, blue dashed: holes. Metric canonical frame of the cloud (x right, y up).

Parts

z z.htmlcfi|].\}}|dk |t|dj|df/S)rLr[r\)r:rrs r zone..s; [ [ [FCSTZ]]C#afl##QvY/]]]r)Rrsplittrimeshloadrr r3r?verticesr getsampletime perf_counterrrspCAPdecoder rBr IMGr:rrdictCONFIGSitemsreplacerkscaleastyperImaxsortedsetLAYERScenterrotation provenancerlayersr=argminnonzeror;r@rAric_fullr>rCrDlistpltsubplotszip gt_sectionrnr4anyzerosminscatterplotr6Tset_xlimset_ylim set_aspect tick_params set_title tight_layoutsavefigclosejoinrhtmlescapeGAL write_text)@namecloudtagngsrcrreftmsecmesh_Smmmmeanmp95mimgresrfr[r^rEmr\r]r0worstrXrXcm mesh_ringskmrsrHRcWcolsfigaxsrowgtnearallxylohimgaxryr@r5r;labsimgrowsimgspagerorprdrqrerFrrrs@ @@@@@@@@roner9sa \\#q ! !FC SYf---Ag~~!!7<xTBUBUCBUBUBU0U]c#d#d#dC 7<} 4$7L7L7L7L7L LMMVWWA i B *QXXf1X-- . .C A ZFr 2 2 2F     "D VC[F F6 * * *B,.N%R(((uuUZ||@\KE4 % %d % % %D 62sTzd$V$Vsg~~GG[^$V$Vhklrlxhyhy$V$V55 55555$V$VJO U$V$VWWW 4&u$DdKKK LC--// f fQ     AaHH!!A% F3K Jq ( ( (() E!S!$$$E%LL%PU,,;W c)))))))q!S3Y4!n!nU]]3-D-D!n!n#!n!nQTUVU\Q]Q]!n!n44AG44444!n!nDG DUDU!n!ncgm!n!n o o o V\  ' '!$CScWXZ\I]I]bdeeeC Y B13 ;C,,,, - - - -E CKK5') * *F Y B Y B RW^ rw//A bmI&''A A   B ^ ^ ^ ^BJ !! TTTTTTTTQSTTTUU V V FHN++A. ` `AFL--a00%88B $$RU2rws2ww2/G/G+G%HIIA IIRW^+rw/??BQBGfkZ[nI]I]^ _ _ _ _R 1 8d7mm #D|CKKTS3t99_cTWX^T_T_N_<`fhrwxxxHCc6""ppQ D D D D"-RWad"C"C D D Dva1g!r!u ,--2!#Z " *Y!D"1"H++RXIYIY1uyy||B R"WMMOO #a!e +3~~ p pGB JJqqz1T1W:iAaJ P P P C C!!!Q$111a4CCBBBB(+v JqM!$$3s8G;L;P;PQRTV;W;WE p p1Q(E I#Z[RdRVRVadmnooooo KK1 BqEBJ / / /RURZAQS1T1T1TVXVcVcdkVlVlVl NNQN ' ' 'CF&==?Z]1-=???Y\VkVkhiVkVkC LLCcQ%ZZ!9!9Rcc88%88888ccBEEZEZTYEZEZEZBZBZcccmn  p p p p p ' 'd ' ' 'DKKd IcNNN 77}}pspypyp{p{}}} } }D 77vvjmjsjsjujuvvv v vD KO  SX  il  DIMMRUWZD[D[   [  "MM#s33   x|  "     D 5[d>>>!--d333 [ [ciikk [ [ []`agam]n]n nnrc >dd|D}t|z dz d|dtd|ddd dd t Dd |d dS) Nrc3K|]@\}\}d|d|d|ddfdtDzdzVAdS)zz rc3\K|]&}d|dd|dddV'dS)zrr_r2rZrNrU)rWrorHs rrYz(write_index...sJUUCAaDGCC1aCCCCUUUUUUrN)rr)rWrmprHs @rrYzwrite_index..sCCdqdhjqklnpQtPPDPPrPPPWWUUUUWUUUUUVX_`CCCCCCr index.htmlz Gallery: r���u���</style></head><body> <p><a href="../index.html">← gallery</a> · <a href="../../synthesis.html">synthesis</a></p><h1>Gallery: rK���r`���u���</h1> <p class="mut">parts · mean/diag per configuration; mesh: the mesh route's parts. Each object's page has its slices and part renders. Objects appear as they are done.</p> <table><tr><th>object</th><th>mesh</th>c��������������3���"���K���|�] }d�|�dV�� dS�)<th></th>NrU���rW���ro���s��� r���rY���zwrite_index.<locals>.<genexpr>���s*������/Q/QAq/Q/Q/Q/Q/Q/Qr���r���</table></body></html>)r���r���r���r���r���r���r���)r���doner���s��� r��� write_indexr�����s��� 77�C�Cuyuu��vB��vBC�C�C� C� CD5[<++�-wTY-w�-wjm-w�-wlqlylyz}��@C��mD��mD-w�-w �)+/Q/Q/Q/Q/Q(Q(Q -w�-w �Y] -w�-w�-w�x�x�x�x�xr���c����������� ������R����d����������������������fd|D�����������������������}t����������dz ����������������������dt�����������dd���������������������t���������������������dd���������������������d ��D������������������������d d���������������������d ��D������������������������d |�d �����������d�S�)Nr���c��������������3���p���K���|�]/d��dd���������������������fdD�����������������������z���dz���V��0dS�)r���r���r���c����������� ���3���X���K���|�]$}d�|�d�d|���������������������dd�����������dV��%dS�)z <td><a href='/r���rK���r`���z </a></td>Nr���)rW���ro���r���s��� r���rY���z&write_top.<locals>.<genexpr>.<genexpr>���sk��������5F��5Fyz5tQ5t5t5t5tVWV_V_`cehViVi5t5t5t��5F��5F��5F��5F��5F��5Fr���r���N)r���)rW���r���cloudss��� @r���rY���zwrite_top.<locals>.<genexpr>���s�������1�1"&�+t***RWW��5F��5F��5F��5F��E��5F��5F��5F��.F��.F��F�1�1�1�1�1�1r���r���z<!doctype html><html lang="en"><head><meta charset="utf-8"> <meta name="viewport" content="width=device-width,initial-scale=1"><title>Gallery

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Gallery: every method on the same object

Each page: one object on one cloud type with all configurations (rz): a table, the slices (all methods side by side, layer by layer) and the part renders. Objects appear as they are done. By cloud type: r_c3PK|]!}d|d|dddV"dS)z rKr`zNrrs rrYzwrite_top..sD S Sq B B B3)<)< B B B S S S S S Srz .

c3JK|]}d|dddVdS)rrKr`rNrrs rrYzwrite_top..s<"U"U#D!))C*=*=#D#D#D"U"U"U"U"U"Urrr)rrrrr)r nameslinkss` r write_toprs GG1111*/111 1 1E<##%|ad%|%|RVQZQZ[bQcQc%|%|  S SF S S SSS %|%| 77"U"Uf"U"U"UUU %|%| ]b %|%|%|}}}}}rctddD]!}t|z dd"dDtD]j}D]C}t ||||<t ||t ||dDtfdtDkdS)zqObject by object: every configuration on every cloud type, then the next object (pages written as they are done).T)parentsexist_okci|]}|iSrUrUrs rrzmain..s " " "aAr " " "r)flushc4g|]}|dv|S)rU)rWrr rs rrszmain..s,CCCQ$vbz2B-B-B1-B-B-BrN)rmkdirrrrrprintr)r rrrs` @rmainrsIIdTI***99 uD48888 " "6 " " "DEE + +E #D% 0 0DK  tE{ + + + $T * * * * *&CCCCCcCCCDDDD EEr__main__r2) clean_10000 clean_2048noise0p6_10000 noise1_10000)1__doc__rsysrpathlibr matplotlibusematplotlib.pyplotpyplotrnumpyr3rpathinsertstr__file__parentsplitsrrhybridr#rringfitr fcp._slicer parts_reportrrrr r r r rrrrr6rIrrrr__name__argvrUrrr2s:    u33ttH~~,--...2333 BBBBBBBBBBBBBBBBBBA@BB 2 2GGcc     y uny !!!\o\o\o~xxx } } } E E E zD!"" XXXXYYYYYr
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