From 6bec4455d1d5eb5da599ff0b12293d84fce1170e Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 18 Oct 2023 13:49:21 +0200
Subject: [PATCH] fix some imports

---
 happypose/pose_estimators/cosypose/cosypose/datasets/bop.py    | 2 +-
 .../pose_estimators/cosypose/cosypose/datasets/pose_dataset.py | 2 +-
 .../cosypose/cosypose/rendering/bullet_scene_renderer.py       | 2 +-
 .../cosypose/cosypose/scripts/run_cosypose_eval.py             | 2 +-
 happypose/pose_estimators/cosypose/cosypose/simulator/body.py  | 3 ++-
 .../pose_estimators/cosypose/cosypose/simulator/camera.py      | 2 +-
 6 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py
index fce75a77..e94fcff8 100644
--- a/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py
+++ b/happypose/pose_estimators/cosypose/cosypose/datasets/bop.py
@@ -9,8 +9,8 @@
 from PIL import Image
 
 from happypose.pose_estimators.cosypose.cosypose.config import BOP_TOOLKIT_DIR, MEMORY
-from happypose.pose_estimators.cosypose.cosypose.lib3d import Transform
 from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger
+from happypose.toolbox.lib3d.transform import Transform
 
 sys.path.append(str(BOP_TOOLKIT_DIR))
 from bop_toolkit_lib import inout  # noqa
diff --git a/happypose/pose_estimators/cosypose/cosypose/datasets/pose_dataset.py b/happypose/pose_estimators/cosypose/cosypose/datasets/pose_dataset.py
index 110fc7ae..2ceb6722 100644
--- a/happypose/pose_estimators/cosypose/cosypose/datasets/pose_dataset.py
+++ b/happypose/pose_estimators/cosypose/cosypose/datasets/pose_dataset.py
@@ -5,7 +5,7 @@
 import torch
 
 from happypose.pose_estimators.cosypose.cosypose.config import LOCAL_DATA_DIR
-from happypose.pose_estimators.cosypose.cosypose.lib3d import invert_T
+from happypose.pose_estimators.cosypose.cosypose.lib3d.transform_ops import invert_T
 
 from .augmentations import (
     CropResizeToAspectAugmentation,
diff --git a/happypose/pose_estimators/cosypose/cosypose/rendering/bullet_scene_renderer.py b/happypose/pose_estimators/cosypose/cosypose/rendering/bullet_scene_renderer.py
index 4084180e..8e7c46c4 100644
--- a/happypose/pose_estimators/cosypose/cosypose/rendering/bullet_scene_renderer.py
+++ b/happypose/pose_estimators/cosypose/cosypose/rendering/bullet_scene_renderer.py
@@ -4,10 +4,10 @@
 from happypose.pose_estimators.cosypose.cosypose.datasets.datasets_cfg import (
     make_urdf_dataset,
 )
-from happypose.pose_estimators.cosypose.cosypose.lib3d import Transform
 from happypose.pose_estimators.cosypose.cosypose.simulator.base_scene import BaseScene
 from happypose.pose_estimators.cosypose.cosypose.simulator.caching import BodyCache
 from happypose.pose_estimators.cosypose.cosypose.simulator.camera import Camera
+from happypose.toolbox.lib3d.transform import Transform
 
 
 class BulletSceneRenderer(BaseScene):
diff --git a/happypose/pose_estimators/cosypose/cosypose/scripts/run_cosypose_eval.py b/happypose/pose_estimators/cosypose/cosypose/scripts/run_cosypose_eval.py
index 45451794..848bf112 100644
--- a/happypose/pose_estimators/cosypose/cosypose/scripts/run_cosypose_eval.py
+++ b/happypose/pose_estimators/cosypose/cosypose/scripts/run_cosypose_eval.py
@@ -50,7 +50,6 @@
 from happypose.pose_estimators.cosypose.cosypose.integrated.pose_predictor import (
     CoarseRefinePosePredictor,
 )
-from happypose.pose_estimators.cosypose.cosypose.lib3d import Transform
 from happypose.pose_estimators.cosypose.cosypose.lib3d.rigid_mesh_database import (
     MeshDataBase,
 )
@@ -68,6 +67,7 @@
     init_distributed_mode,
 )
 from happypose.pose_estimators.cosypose.cosypose.utils.logging import get_logger
+from happypose.toolbox.lib3d.transform import Transform
 
 logger = get_logger(__name__)
 
diff --git a/happypose/pose_estimators/cosypose/cosypose/simulator/body.py b/happypose/pose_estimators/cosypose/cosypose/simulator/body.py
index 266eea58..2fb9d29e 100644
--- a/happypose/pose_estimators/cosypose/cosypose/simulator/body.py
+++ b/happypose/pose_estimators/cosypose/cosypose/simulator/body.py
@@ -2,7 +2,8 @@
 
 import pybullet as pb
 
-from happypose.pose_estimators.cosypose.cosypose.lib3d import Transform, parse_pose_args
+from happypose.pose_estimators.cosypose.cosypose.lib3d.transform import parse_pose_args
+from happypose.toolbox.lib3d.transform import Transform
 
 from .client import BulletClient
 
diff --git a/happypose/pose_estimators/cosypose/cosypose/simulator/camera.py b/happypose/pose_estimators/cosypose/cosypose/simulator/camera.py
index dbcd4c05..7cd2b287 100644
--- a/happypose/pose_estimators/cosypose/cosypose/simulator/camera.py
+++ b/happypose/pose_estimators/cosypose/cosypose/simulator/camera.py
@@ -2,8 +2,8 @@
 import pybullet as pb
 import transforms3d
 
-from happypose.pose_estimators.cosypose.cosypose.lib3d import Transform
 from happypose.pose_estimators.cosypose.cosypose.lib3d.rotations import euler2quat
+from happypose.toolbox.lib3d.transform import Transform
 
 
 def proj_from_K(K, h, w, near, far):