U ` @sdZddlZddlZddlZddlZddlZddlZddlZddlZddl Z ddl m Z ddl m m ZddlmZddlZddlmZddlmZddlmZdZGdddZd d Zd d Zd dZddZdddZddZ ddZ!dS)zL General utility functions Author: Shengyu Huang Last modified: 30.11.2020 N)Rotation)NearestNeighbors) minkowskigHz>c@s$eZdZddZddZddZdS)LoggercCs||_t|jdd|_dS)Nz/loga)pathopenfw)selfrr '/workspace/OverlapPredator/lib/utils.py__init__szLogger.__init__cCs|j||jdSN)r writeflush)r textr r r rs z Logger.writecCs|jdSr)r close)r r r r rsz Logger.closeN)__name__ __module__ __qualname__r rrr r r r rsrc Cs&t|d}t||W5QRXdS)z, save a dictionary to a pickle file wbN)rpickledump)objrfr r r save_obj s rc Cs,t|d}t|W5QRSQRXdS)z. read a dictionary from a pickle file rbN)rrload)rrr r r load_obj's rc CsVt|d}t|}W5QRXt}|D]"\}}|D]\}}|||<q>q.|S)z Loads config file: Args: path (str): path to the config file Returns: config (dict): dictionary of the configuration parameters, merge sub_dicts r)ryamlZ safe_loaddictitems)rrcfgconfigkeyvaluekvr r r load_config.s  r)cCs:t|tj|tj|t|dtjj_ dS)z4 fix random seed for deterministic training TN) torch manual_seedcudamanual_seed_allnprandomseedbackendscudnn deterministic)r0r r r setup_seedDs     r4Fc Cs|j\}}}|j\}}}dt||ddd}|r@|d7}nP|tj|ddddddddf7}|tj|ddddddddf7}tj|ddd }|S) z Calculate Euclid distance between each two points. Args: src: source points, [B, N, C] dst: target points, [B, M, C] Returns: dist: per-point square distance, [B, N, M] r)dimNg-q=)minmax)shaper*matmulpermutesumclamp)srcdstZ normalisedBN_Mdistr r r square_distanceNs   ((rHcCsP|D]B\}}|jdk rtt|jr2dStt|jrdSqdS)z; Confirm all the gradients are non-nan and non-inf NFT)named_parametersgradr*anyisnanisinf)modelnameparamr r r validate_gradientds rQcCsddtd|DS)z- Sort strings by numbers in the name cSs g|]}|rt|n|qSr )isdigitint).0sr r r usznatural_key..z(\d+))resplit)string_r r r natural_keyqsrZ)F)"__doc__osrWsysjsonr r/argparser*rtorch.nnnnZtorch.nn.functional functionalF torch.optimoptimnumpyr.Zscipy.spatial.transformrZsklearn.neighborsrZscipy.spatial.distancerZ_EPSrrrr)r4rHrQrZr r r r s"H