
    z#ht-                     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$m%Z& d dl'm(Z) d dl*m+Z+ d dlZd dl,Z-d dl.Z.dd	Z/d
 Z0ddd g dfdZ1y)    N)cm)tqdm)	make_griddraw_keypoints)	rearrangerepeat)Image)spatial)defaultdictc           	      f    t        | d|"t        | j                  d      dz              S |      S )Nz... (x y) c -> ... c x y      ?x)r   intsize)srcr   s     */home/cameronsmith/repos/controll3r/vis.py<lambda>r      s2    9S)Cabajc#((SU,Y[J\F]r pqr     c                     t        | d      S )Nz... c x y -> ... (x y) c)r   r   s    r   r   r       s    9Q9: r    Fc
                    |||fD 
cg c]@  }
|
j                         D ci c]"  \  }}|t        |j                        r|d d n|$ 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 ]0  \  }}|j!                         |t        |      j#                  d      <   2 t        t%        ||d   j                  d	            d
      |d<   t        t        j                  |d               d   }|d   dkD  x|d<   }t        |j                  d      |      D ]0  \  }}|j!                         |t        |      j#                  d      <   2 t        t%        ||d   j                  d	            d
      |d<   t        |d   j	                  dd      j'                  d      d
      |d<   t        |d   j	                  dd      j'                  d      d
      |d<   t        |d   d      |d<   t        |d   d      |d<   t        |d   d      |d<   t        |d   d      |d<   	 t)        ||gd d        D ]  \  }}g }|r|d   n|d   d   j+                         j-                         j	                  dd      j/                         dd  }t        |d   d   j+                         j-                         j/                               }t        |d   d   j+                         j-                         j/                               }d }g g g }}}d}t        |d d  |d   d         D ]  \  }} ||   dd df   }!t1        j2                  d| j+                         j-                         j/                          |||               d d d df   }"|j5                  |!       |j5                  |"       |st7        j8                  t        j:                  |!      d    j=                         t        j:                  |"      d    j=                               }#|j5                  |#d           t        |      dk(  r"t1        j>                  d      }$tA        d       nB|rt        jB                  |D 
cg c]  }
|
d   jD                   c}
      jG                  d      d z   }%|%j                  d   dk(  r"t1        j>                  d      }$tA        d!       ntA        |%j                         d|%|%jI                         z  z
  }&t7        j8                  t        j:                  t1        jJ                  |      d d d df         d    j=                         t        j:                  t1        jJ                  |      d d d df         d    j=                         |&d d d d f   "      d   j/                         d   }'t0        jL                  jO                  |'t0        jL                  jO                  tP        jR                        z        }$nt7        jT                  t1        jJ                  |      d d d df   t1        jJ                  |      d d d df         }'t0        jL                  jO                  |'t0        jL                  jO                  tP        jR                        z        }$t0        jL                  jO                  |$      tP        jR                  z  }(t0        jL                  jO                  |d#   d   j-                         j/                               tP        jR                  z  })tQ        jV                  |d$   d   j-                         j/                         |$d      d   d   |d%d&d'g|   z  <   t        jX                         }*|*j[                  d(d)*      }+|+j]                  d+d,-       d},t        t        |            D ]>  }- |+j^                  |||-   ja                  d.         d d |,   jD                  ||-   d/d0d1 @ t7        jb                  |(d2|+d3d45       t7        jb                  |)d2|+d6d75       t        jd                          	 t        jf                  d8       t        jh                          t        jj                  d8      }.t        j:                  |.dd df         jm                  ddd      |d9d&d'g|   z  <   t        jh                           	 |d%d&d'gd   z     d;z  |d%d&d'gd   z     d;z  z   |d<<   	 |j                         D ]  \  }}tA        ||j                          |j                         D ci c]w  \  }}||z   ty        j                  |jm                  ddd      j=                         j+                         j                  dd      j-                         j/                               y }:}}|	sty        jz                  |:       tA        d=       |:S c c}}w c c}}}
w c c}}w c c}w c c}
w #  tA        d:       Y NxY wc c}}w )>N   imgr   zref/tab20segs   
points_camr   F)	normalizezref/segg?segs_threshzest/segzest/seg_rawzref/seg_rawTzref/points_camzest/points_campoints_linkzref/points_linkzest/points_link   c                 x    t        j                  | t        j                  | j                  d   df      gd      S )Nr   r   )axis)npconcatenateonesshaper   s    r   r   zwandb_summary.<locals>.<lambda>M   s+    BNNArww
A/G+HqQ r   curr_link_transforms.z	ij,nj->ni   z no points, using identity matrix)dimg#B;z%no seg err pts, using identity matrix)weightsview_matrix_joint_statesz%s/cam_rerenderrefesto   3d)
projection   i)elevazimogGz?)cmarkeralphag?redzPred Cam2Base)scaleaxcolorlabelbluezGT Cam2Basezoutput/img/tmp.pngz%s/cam_plotz#failed saving/logging 3d plot imager   zest/render_overlayzdone logging images)Gitemslenr)   r   flattenpltr   get_cmapr   rangetorchtensorch_sec	ones_likezipunbindcudasqueezech_fst	unsqueeze	enumeratedetachcpunumpyr&   einsumappendgeometry
procrustes
from_numpyfloateyeprintconcatTsummaxr'   linalginvdataTcprocrustes_umeyamaformat_pybullet_renderfigureadd_subplot	view_initscatterreshapeplot_frustumlegendsavefigcloseimreadpermutearrayhstackr(   plottransf_to_triswandblogsquaremeanplot_trisurfminimsaveclipsavezzr	   );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est_seg_imgsrc_ir   	est_linksr   r   r"   homptsxptsyseg_errsweighted_procrustescurr_link_transformx1x2tmp2est_view_matrix_	seg_errs_r-   est_view_tcest_camgt_camfigr?   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_imgdicts;                                                              r   wandb_summaryr   "   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 VV__Wk&&9&>&>q&ABH9>{6?R?W?WXY?Z9[\A%,,x{+BQ/\J\U__[%>?@CG[077::FxIhqhvhvhxPVWZP[PcPcdePfHgx#F7;|3L3Q3QRT3U$VafgIiU__[%>?@CG,8,@,CCL[//2:>pI`i`n`n`psH[H[\]H^@_p#F7;|3L3Q3QRT3U$VafgIi'V(<(D(DQq(I(S(STU(VafgIm'F(;(C(CAa(H(R(RST(U`efIm "+;+EPT!UI!*<+EPT!UI"+K,GRV"WI "+L,GRV"WI 
 #K#=a#@A B	IE#I(-#m$3v;BIIKOOQYYZ[\]^ddfghgijDs<03::<@@BHHJKJ s=1!4;;=AACIIKLKQC  ""RhD $+.tAw{CY7Z[\7]+^ 
-''c?3rr6*99[*=*D*D*F*J*J*L*R*R*TVYZefiZjVklmnprqrprmrs BB&#..u/?/?/CD/I/O/O/QRWRbRbceRfgkRlRrRrRtuDOODG,
- 4y!|!# 89&#llH+EqAaDFF+EFJJqJQRWWI q)1,)+(EFioo."#Iimmo$="=&.&9&9%:J:J2>>Z^K_`abdcdbd`dKe:fgk:l:r:r:tuz  vF  vF  GI  GU  GU  VZ  G[  \]  ^`  _`  ^`  \`  Ga  vb  cg  vh  vn  vn  vp  y@  AE  FG  HL  AL  yM  'N  OP  'Q  'W  'W  'Y  Z[  '\+-99==+		VZV]V]H^:^+`("*"="=bnnT>RSTUWVWUWSW>XY[YgYghlYmnoprqrprnrYs"tK')yy}}kBIIMMRVRYRYDZ6Z'\$ iimm$45dgg=GYY]];~#>q#A#E#E#G#M#M#OPQUQXQXXF @D?Z?Z[fgu[vwx[y[}[}[  \F  \F  \H<LQ@PPU@WWX@ZI'ue(<<= **,CCOOCDO$Ir",,\_fi,Jjmnkl T+ x

JtG}'<'<R'@A#A#FHHJW^L_hksvwx !!'bu?[!!&rRf=YJJLA01#))+

#78@E@P@PQXY\]_^_]_Y_Q`@a@i@ijklmno@p	-ue(<<=IIKEB	J 	n %..?ua@P.P$QRT$TU^_prwx}q~  @A  rB  `B  VC  DF  VF  %FI"#  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,	
 [ .e  -W
 B ]h ,FF AE?@N EsB   k'k	k-k$:k$%k*.k/
 A6k44A<lk4l)N)2osioshutilrY   rx   
matplotlibr   cv2r   torchvisiontimetorchvision.utilsr   r   torch.nn.functionalnn
functionalFkorniarV   r&   rI   flow_visflow_vis_torchmatplotlib.pyplotpyplotrF   einopsr   r   piqaimageioPILr	   scipyr
   plotly.expressexpresspxplotly.graph_objectsgraph_objectsgocollectionsr   pybulletpre   rQ   rK   r    r   r   <module>r      s         
    6         $      ! #   	r	:SU]_efrt  D nr   