
    F h                     <   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Zdd	Z-d
 Z.ddd g fdZ/y)    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/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    c	                    |||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        |d   d      |d<   t        |d   d      |d	<   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 ]0  \  }}|j!                         |t        |      j#                  d      <   2 t        t%        ||d   j                  d            d      |d<   |d   d d df   }t'        j(                  t        |d         d   |j	                            d    j+                         t        |d         d   |j	                            d    j+                               d   }t        j                  g dg dg dg      j+                         j-                         }t'        j.                  |      d   |d<   t'        j.                  |d   d d df   j+                               d   |d<   t1        j2                  d|z   |d   |d   z
  j5                         j7                         i|       |d   j9                         j;                         j-                         d   }|d   j9                         j;                         j-                         d   }t        j<                  d      }|j?                  dd      }|jA                  |d d df   |d d df   |d d df   dd !       |jA                  |d d df   |d d df   |d d df   d"d !       |jA                  |d d df   |d d df   |d d df   d#d !       	 t        jB                  d$       t        jD                          t        jF                  d$      }t        jH                  |d%d df         jK                  ddd      |d&<   tM        d't        |             t        jD                          	 |j                         D ]  \  }
}tM        |
|j                          t1        j2                  |j                         D 
ci c]w  \  }
}||
z   t1        jX                  |jK                  ddd      j+                         j9                         jU                  dd      j;                         j-                               y c}}
       tM        d)       |S c c}}
w c c}}
}	w c c}}
w c c}w #  tM        d(       Y xY wc c}}
w )*N   imgr   zref/pointmapT)	normalizezref/pointmapzest/pointmaptab20segs   r   Fzest/segcanon_pointmap)r   r   r   r   )r   r   r   r   )r   r   r   r   	pred_trisobj_transfstransf_tristri_vis_metric_)step)
   r'   )figsizeo   3d)
projection   redr   )coloralphagreenbluezoutput/img/tmp.png.zest/tri_obj1zlogging imagesz#failed saving/logging 3d plot imagezdone logging images)-itemslenshaper   flattenpltr   get_cmapr   rangetorchtensorch_sec	ones_likezipunbindcudasqueezech_fstgeometry
procrustesfloatnumpytransf_to_triswandblogsquaremeandetachcpufigureadd_subplotplot_trisurfsavefigcloseimread
from_numpypermuteprintmaxminimsaveclipzzr	   )lossmodel_outputmodel_inputground_truth
resolutionprefixsuffixr&   
losses_aggr   kv	wandb_outseg_cmapi
seg_colorsseg_imgseg	seg_color
est_transfunit_tripred_trigt_trifigaximg_arrs                             r   wandb_summaryrs   !   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(Z)@4PIn(j)ADQInVV__Wk&&9&>&>q&ABH9>{6?R?W?WXY?Z9[\A%,,x{+BQ/\J\U__[%<=>qAG[077::FxIhqhvhvhxPVWZP[PcPcdePfHgx#F7;z3J3O3OPR3S$T_deIi 	FAaC C$$VK8H,I%J1%Mckkm%\]a%b%h%h%jkqr~  @J  sK  lL  MN  lO  PS  P[  P[  P]  l^  _c  ld  lj  lj  ll  m  no  pJ ||kK+IJPPRXXZH&55jA!DL'66{=7QRSTURU7V7\7\7^_`abK	II ',{*CKP]D^*^)f)f)h)m)m)opw{|K(//1557==?BH'..0446<<>qAF
**X
&C		.BOOHQTNHQTNHQTN%WZO[OOHQTNHQTNHQTNjqy|O}OOF1a4L&A,q!tjpx{O|9()#))+

/0$)$4$4WS!V_$E$M$MaPQRS$T	.!s9~.IIK  1!q!11	IIlul{l{l}~ehefghvaxAIIaA$6$<$<$>$E$E$G$L$LQq$Q$U$U$W$]$]$_``~	
 o .e  -W
 B ]< 9E78 s<   W'W	W-W:W1%W$BW)  A<W<
W)W9)N)0osioshutilrB   rG   
matplotlibr   cv2r   torchvisiontimetorchvision.utilsr   r   torch.nn.functionalnn
functionalFkorniarE   npr9   flow_visflow_vis_torchmatplotlib.pyplotpyplotr6   einopsr   r   modelspiqaimageioPILr	   scipyr
   plotly.expressexpresspxplotly.graph_objectsgraph_objectsgocollectionsr   rA   r;   rs    r   r   <module>r      sv         
    6         $       ! # 	r	:SU]_efrt 8r   