:j rddlmZddlZddlmZmZddlmZddlmZ d dedede d eee eeefffd Z y) )UnionN)Tensorlinalg)_check_same_shape)rank_zero_warn point_cloud1 point_cloud2 return_allreturnct|||jdk7rtd|jd||jddz }||jddz }|t j |ddgdz}|t j |ddgdz} t j tj|jdd|jddd \}}}tj||}|j#dd}|dddftj||jddz}||z j%j#ddg} |r| ||fS| S#t$rv}td |d ttjd tj|jd tj |jdfcYd}~Sd}~wwxYw)aZRuns procrustrus analysis on a batch of data points. Works similar ``scipy.spatial.procrustes`` but for batches of data points. Args: point_cloud1: The first set of data points point_cloud2: The second set of data points return_all: If True, returns the scale and rotation matrices along with the disparity zExpected both datasets to be 3D tensors of shape (N, M, D), where N is the batch size, M is the number of data points and D is the dimensionality of the data points, but got z dimensions.T)dimkeepdimF) full_matricesz>SVD calculation in procrustes_disparity failed with exception z4. Returning 0 disparity and identity scale/rotation.grN)r)r)rndim ValueErrormeanrnormsvdtorchmatmul transpose Exceptionr UserWarningtensoronesshapeeyesumsquare) rr r uwvexrotationscale disparitys }/home/mcse/projects/srt_converter/srt-converter-venv/lib/python3.12/site-packages/torchmetrics/functional/shape/procrustes.pyprocrustes_disparityr+slL1A TT`TeTeSffr t   ,"3"34"3"HHL,"3"34"3"HHLFKK 1a&$GGLFKK 1a&$GGL f** LL//15| D N NqRS Tdi 1a||Aq!H EE!TE "ED>ELLx?Q?QRSUV?W$XXL ,446::1v:FI%))  fLRDQ   ||C %**\-?-?-B"CUYY|OaOabcOdEeee fs AE22 G1;A+G,&G1,G1)F) typingrrrrtorchmetrics.utilities.checksrtorchmetrics.utilities.printsrbooltupler+r*r3sX ;8DI++(.+<@+ 65/0 01+r2