
    h&                     F   d dl Z d dlZd dlZd dlZd dlZd dlmZ d dlZd dlmZ d dl	Z	d dl
Z
d dlmZmZ d dlmc mZ d dlZd dlZd dlZd dlZd dlZd dlmZ d dlmZmZ d dlZd dlZd dl m!Z! d dl"m#Z# d dl$m%Z& d dl'm(Z) d dl*m+Z+ d dlZd dl,Z-d dl.Z.dd	Z/d
 Z0ddd g dfdZ1y)    N)cm)tqdm)	make_griddraw_keypoints)	rearrangerepeat)Image)spatial)defaultdictc           	      f    t        | d|"t        | j                  d      dz              S |      S )Nz... (x y) c -> ... c x yg      ?x)r   intsize)srcr   s     0/home/cameronsmith/repos/canon_controll3r/vis.py<lambda>r      s2    9S)Cabajc#((SU,Y[J\F]r pqr     c                     t        | d      S )Nz... c x y -> ... (x y) c)r   r   s    r   r   r       s    9Q9: r    Fc
                    |||fD 
cg c]@  }
|
j                         D ci c]"  \  }}|t        |j                        r|d d n|$ c}}B c}}}
\  }}}i }|j                         D ci c]  \  }}d|v s|| c}}j                         D ]&  \  }}t        |j	                  dd            |d|z   <   ( t
        j                  j                  d|d   j                  d            }t        |d   j                  d            D cg c]   }t        j                   ||            d d " }}t        t        j                  |d               d   }t        |d   j                  d      |      D ]>  \  }}|j!                         j#                         |t        |      j%                  d      <   @ t        t'        ||d   j                  d	            d
      |d<   t        t        j                  |d               d   }t        |d   j	                  dd      j)                  d      d
      |d<   t        |d   d      |d<   t        |d   d      |d<   t        |d   d      |d<   	 	 	 |j                         D ]  \  }}t;        ||j                          |j                         D ci c]w  \  }}||z   tu        j                  |je                  ddd      j!                         j-                         j                  dd      j/                         j1                               y }4}}|	stu        jv                  |4       t;        d       |4S c c}}w c c}}}
w c c}}w c c}w c c}}w )N   imgr   zref/tab20segs   
points_camr   F)	normalizezref/segzref/seg_rawTzref/points_campoints_linkzref/points_linkzest/points_link   zdone logging images)Fitemslenshaper   flattenpltr   get_cmapr   rangetorchtensorch_sec	ones_likezipunbindfloatcudasqueezech_fst	unsqueeze	enumeratedetachcpunumpynpeinsumappendeyeprintgeometryprocrustes_umeyamaconcatenatelinalginvdataTcformat_pybullet_renderfigureadd_subplot	view_initscatterreshapeTplot_frustumlegendsavefigcloseimread
from_numpypermuteest_seg_img
procrustesarrayhstackonesplottransf_to_triswandblogsquaremeanplot_trisurfmaxminimsaveclipsavezzr	   )5lossmodel_outputmodel_inputground_truth
resolutionprefixsuffixstep
losses_aggdont_logr   kv	wandb_outseg_cmapi
seg_colorsseg_imgseg	seg_colorsrc_ir   	est_linksr   r   r    homptsxptsycurr_link_transformx1x2est_view_matrix_est_view_tcest_camgt_camfigaxsjoint_iimg_arrseg_i
est_transfverticeshomogeneous_cubegt_cubeest_cubeedgesedgeunit_tripred_trigt_triwandb_imgdicts5                                                        r   wandb_summaryr   "   sp   o{  }H  IU  oV  -W  -WijZ[ZaZaZc-dSVSTUVa#agg,2AA.M-d  -W)L\I  +002A!eqj!AGGIy!`ijkjsjstuvwjx`y9U[\]U]K^y VV__Wk&&9&>&>q&ABH9>{6?R?W?WXY?Z9[\A%,,x{+BQ/\J\U__[%>?@CG[077::F  AIhqhwhwhyh~h~  iAPVWZP[PcPcdePfHg  A#F7;|3L3Q3QRT3U$VafgIiU__[%>?@CG'F(;(C(CAa(H(R(RST(U`efIm "+;+EPT!UI"+K,GRV"WI "+L,GRV"WI r 	l 	  1!q!11r{  sB  sB  sD  EknklmnVAXekk!))Aq!*<*B*B*D*K*K*M*R*RSTUV*W*[*[*]*c*c*eff  EM  EEIIm,	
 i .e  -W
 B ]J Es/   M'M	M-M$:M$%M*4A<M/M)N)2osioshutilr=   rY   
matplotlibr   cv2r   torchvisiontimetorchvision.utilsr   r   torch.nn.functionalnn
functionalFkorniar7   r8   r)   flow_visflow_vis_torchmatplotlib.pyplotpyplotr&   einopsr   r   piqaimageioPILr	   scipyr
   plotly.expressexpresspxplotly.graph_objectsgraph_objectsgocollectionsr   pybulletprB   r2   r+   r    r   r   <module>r      s         
    6         $      ! #   	r	:SU]_efrt  D Ur   