{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "0c5517fb",
   "metadata": {},
   "source": [
    "## import Blender.txt\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "id": "fd9f6425",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "100_13\n",
      "[[ 9.98290e-01  1.27898e-02 -5.70343e-02  8.50504e-01]\n",
      " [-2.31538e-02  9.82475e-01 -1.84952e-01 -8.78984e+00]\n",
      " [ 5.36693e-02  1.85956e-01  9.81091e-01 -6.32466e+01]\n",
      " [ 0.00000e+00  0.00000e+00  0.00000e+00  1.00000e+00]]\n",
      "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./gt_filtered.ply\u001b[0;m\n",
      "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./noisy_result/noisy_filtered_100_13.ply\u001b[0;m\n",
      "\u001b[1;33m[Open3D WARNING] Read PLY failed: unable to read file: ./noisy_result/noisy_filtered_100_13.ply\u001b[0;m\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "RPly: Unexpected end of file\n",
      "RPly: Error reading 'view_px' of 'camera' number 0\n",
      "RPly: Unexpected end of file\n",
      "RPly: Error reading 'view_px' of 'camera' number 0\n",
      "RPly: Unexpected end of file\n",
      "RPly: Error reading 'view_px' of 'camera' number 0\n"
     ]
    }
   ],
   "source": [
    "import json\n",
    "import numpy as np\n",
    "import open3d as o3d\n",
    "\n",
    "\n",
    "def get_T(file_path):\n",
    "    with open(file_path, 'r') as f:\n",
    "        T_matrix = np.loadtxt(file_path)\n",
    "        print(T_matrix)\n",
    "        return T_matrix\n",
    "    \n",
    "filenames = []\n",
    "with open(\"filename.txt\", \"r\") as f:\n",
    "    for line in f:\n",
    "        filenames.append(line.strip())\n",
    "\n",
    "\n",
    "filename = filenames[0]\n",
    "print(filename)\n",
    "\n",
    "with open(f\"./gt/noisy_filtered_{filename}.json\", 'r') as f:\n",
    "    loaded_data = json.load(f)\n",
    "\n",
    "noisy_data = loaded_data[f'noisy_filtered_{filename}']\n",
    "T_matrix = noisy_data['matrix_world']\n",
    "\n",
    "    \n",
    "infer_path = f\"./result3/result_{filename}.txt\"\n",
    "infer_T = get_T(infer_path)\n",
    "\n",
    "\n",
    "\n",
    "##Translated\n",
    "\n",
    "gt_path = \"./gt_filtered.ply\"\n",
    "noisy_path = f\"./noisy_result/noisy_filtered_{filename}.ply\"\n",
    "\n",
    "\n",
    "gt_pcd = o3d.io.read_point_cloud(gt_path)\n",
    "gt_pcd.paint_uniform_color([0,0,1])\n",
    "noisy_pcd = o3d.io.read_point_cloud(noisy_path)\n",
    "noisy_pcd.paint_uniform_color([1,0,0])\n",
    "infer_pcd = o3d.io.read_point_cloud(noisy_path)\n",
    "infer_pcd.paint_uniform_color([0,1,0])\n",
    "\n",
    "## move and check gt and noisy\n",
    "\n",
    "\n",
    "\n",
    "# infer_pcd.transform(infer_T)\n",
    "noisy_pcd.transform(T_matrix)\n",
    "\n",
    "\n",
    "o3d.visualization.draw_geometries([gt_pcd, noisy_pcd, infer_pcd])\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "fbf13a76",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "0509ac65",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "markdown",
   "id": "eccad9e9",
   "metadata": {},
   "source": [
    "## write GT\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "e0a339ca",
   "metadata": {},
   "outputs": [],
   "source": []
  }
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