
    g                     @   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 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-m.Z/ dd	Z0d
 Z1ddd g fdZ2y)    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 y      ?x)r   intsize)srcr   s     +/home/cameronsmith/repos/canon_robot/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    c	                 d   |||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                  d      }|j                  dd	      }t        d
|d   fd|d   fg      D ]3  \  }\  }
}|d   j                         }|j                  |d d df   |d d df   |d d df   g d|   |
       t        |j                         t        j                  |
       |j                  t        t        |d         d      t        t        |d         d      g       |j!                  t        t        |d         d      t        t        |d         d      g       |j#                  t        t        |d         d      t        t        |d         d      g       6 |j%                  d       |j'                  d       |j)                  d       t        j*                          t        j,                          	 t        j.                  d       t        j0                          t        j2                  d      }t5        j6                  |dd df         j9                  ddd      |d<   t        d t        |             t        j0                          	 |j                         D ]  \  }
}t        |
|j                          tG        jH                  |j                         D 
ci c]w  \  }
}||
z   tG        jJ                  |j9                  ddd      j=                         j?                         jC                  dd      j                         jA                               y c}}
       t        d"       |S c c}}
w c c}}
}	w c c}}
w #  t        d!       Y xY wc c}}
w )#N   imgr   zref/d   )dpio   3d)
projectionGT_Gripper_Trajgripper_traj	Pred_Traj	pred_traj   )redbluegreen)clabel).r   r   g?).r   gٿg?).r%   g      ?XYZzoutput/img/tmp.png.   zref/gripper_trajzlogging imagesz#failed saving/logging 3d plot imagezdone logging images)&itemslenshaper   flattenpltfigureadd_subplot	enumeratecpuplotprinttitleset_xlimminmaxset_ylimset_zlim
set_xlabel
set_ylabel
set_zlabellegendtight_layoutsavefigcloseimreadtorch
from_numpypermuteimsavefloatdetachnumpyclipzzwandblogr	   )lossmodel_outputmodel_inputground_truth
resolutionprefixsuffixstep
losses_aggr   kv	wandb_outfigaxir"   img_arrs                     r   wandb_summaryrc   !   s   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 **
C3??34?#Hb'*;K<W)XZefrs~f  ZA  )B  C \
1\!!_((*
QT"LA$6QT8JNdefNgnopl  !		!
S\%01"5s3|E?R;STW7XYZ
S\%01#6s3|E?R;STV7WXY
S\%01"5s3|E?R;STW7XYZ\ MM#r}}S)"--*<JJL!!#9()#))+

/0(-(8(8RaR(I(Q(QRSTUVW(X	$%s9~.IIK  1!q!11	IIlul{l{l}~ehefghvaxAIIaA$6$<$<$>$E$E$G$L$LQq$Q$U$U$W$]$]$_``~	
 M .e  -W
 B& 9E78 s6   P'P	P-P:PBP 5A<P,
PP))N)3osioshutilgeometryrQ   
matplotlibr   cv2r   torchvisiontimetorchvision.utilsr   r   torch.nn.functionalnn
functionalFkorniarN   nprH   flow_visflow_vis_torchmatplotlib.pyplotpyplotr3   einopsr   r   modelspiqaimageioPILr	   scipyr
   plotly.expressexpresspxplotly.graph_objectsgraph_objectsgocollectionsr   viser.transforms
transformstfch_fstch_secrc    r   r   <module>r      sv         
    6         $       ! # 	r	:SU]_efrt 'r   