debug_tensors.py

import torch
import numpy as np
from pathlib import Path
import sys

# Add Genmo to Path
repo_root = str(Path(__file__).resolve().parents[0])
if repo_root not in sys.path:
    sys.path.insert(0, repo_root)

ROOT = "./processed_dataset"
pt_files = sorted(list(Path(ROOT).glob("genmo_features/*.pt")))

def debug_print():
    if len(pt_files) == 0:
        return
    
    file_path = pt_files[0]
    data = torch.load(file_path, map_location="cpu")
    
    print("----- CONFIGURATION DUMP -----")
    print(f"Data Keys: {data.keys()}")
    
    T_w2c = data["T_w2c"]
    tr_w = data["smpl_params_w"]["transl"]
    tr_c = data["smpl_params_c"]["transl"]
    go_w = data["smpl_params_w"]["global_orient"]
    go_c = data["smpl_params_c"]["global_orient"]
    world_offset = data.get("world_offset", None)
    
    print(f"World Offset Applied: {world_offset}")
    
    # Check Kabsch Error manually
    from third_party.GVHMR.hmr4d.utils.smplx_utils import make_smplx
    from scipy.spatial.transform import Rotation as R
    smplx = make_smplx("supermotion").eval().cpu()
    
    print(f"\nT_w2c Shape: {T_w2c.shape}")
    print(f"T_w2c Frame 0:\n{T_w2c[0]}")
    
    # Calculate global SMPL from T_w2c ^ -1 @ incam:
    inv_T = torch.inverse(T_w2c[0])
    
    tr_c_homo = torch.cat([tr_c[0], torch.tensor([1.0])])
    expected_tr_w = (inv_T @ tr_c_homo)[:3]
    
    print(f"tr_w       = {tr_w[0]}")
    print(f"Expecttr_w = {expected_tr_w}")

if __name__ == "__main__":
    debug_print()