
    PJf                         d dl Z d dlZd dlm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mZ d
dZd dlmZmZ d dlZd dlZddZd ZddZdd	Zy)    N)cm)	make_griddraw_keypointsc                 l    t        j                  d|z  | j                         j                               S )Nz&/nobackup/users/camsmith/img/tmp%s.png)pltimsavecpunumpy)xys     9/home/cameronsmith/repos/diffusion_example/vis_scripts.py<lambda>r      s+    

CklmCmnonsnsnun{n{n}8~     )	rearrangerepeatc           	      f    t        | d|"t        | j                  d      dz              S |      S )Nz... (x y) c -> ... c x yg      ?r   )r   intsize)srcr   s     r   r   r      s2    9S)Cabajc#((SU,Y[J\F]r pqr r   c                     t        | d      S )Nz... c x y -> ... (x y) c)r   r   s    r   r   r      s    9Q9: r   c                    t        |d   j                  dddd      j                        }|d   j                  d      |d   j                  d      z  |d<   d}|d   j                  dd  }	d }
||fD ]  }t        |j	                               D ]~  \  }}d	|v rt        |j                        r|j                  d
      }d|v r|||dz   <   d|v sDd|vsI|j                  }t        |      dk(  r|j                  dd      }t        ||j                         t        j                  t        t        |            D cg c]  }t        j                   t        j                  d      ||   j                         j!                         ||   j#                         j%                         z              j'                  d      dd df   j                  ddd       c}      }t        |      dk(  r|j)                  d|d d       }|||dz   <     i }t+        |d   j#                         j-                               |d<   t+        |d   j#                         j-                               |d<   t+        |d   j#                         j-                               |d<   t+        |d   j#                         j-                               |d<   d|v rQt+        |d   j                  dd      j#                         j-                         |d   j                  d            |d<   	 t9        j:                  |j	                         D ci c]z  \  }}||z   |z   t9        j<                  |j                  ddd      j5                         j-                         j                  dd      j#                         j%                               | c}}       y c c}w c c}}w )Nrgbr               r   c                     d| dz   z  S )Nr   g:0yE> r   s    r   r   zwandb_summary.<locals>.<lambda>   s    Q$Z r   latentsg{Gz?)mindepth_rawraw   magma.visetazref/etaeta_estzest/eta_est
noised_imgzest/noised_imgzref/start_imgsampled_gen)nrowzest/sampled_gen)listpermuteshaper   itemslenclipflattenprinttorchstackrange
from_numpyr   get_cmapr"   itemr	   r
   squeeze	unflattenr   detachmaxr   r   floatzzwandblogImage)lossmodel_outputmodel_inputground_truth
resolutionprefixsuffixstepr-   imslinvdkvorgi	wandb_outs                    r   wandb_summaryrU      s   k%(001Qq9??@Ju%**1-l5.A.F.Fq.IIJqM	
D	U		!	!"#	&D
C ;' 	? 	CAaA~h177|qvv#vQ!|1Qqx[!|QWWs8Q;1Qqa KK"3q6]!, "'!1!12F"++g2FqtxxzGXYZ[\Y]YaYaYcYiYiYkGk2l!m!u!uvx!yz}  A  @A  A  {A  "B  "J  "J  KL  MN  OP  "Q !, -s8Q;Qs2Aw!7q!E'
	 I"<#6#:#:#<#C#C#EFIi&|I'>'B'B'D'K'K'MNIm ),|*D*H*H*J*Q*Q*S TI(U);)?)?)A)H)H)JKIo$9\ZgMhMpMpqrstMuMyMyM{  NC  NC  NE  KW  Xe  Kf  Kk  Kk  lm  Kn  Doi0A&B 
IIs|  tC  tC  tE  Flolmnovaxu{{199Q1+=+C+C+E+L+L+N+S+STUVW+X+\+\+^+d+d+fgg  F  G+!,* Fs   ?BO
A?O
c                     t        j                  d|d   d d d ddf   j                         j                         d      }t        j                  d|i       y )Nz
lidar/betaposesr   )typepointszcamera positions)rB   Object3Dr	   r
   rC   )rE   rF   rG   rH   rI   rJ   point_scenes          r   pose_summaryr]   9   sU    ..(2A2b1557==?" K 
II!;/0r   )r   )N) r^   r   )r^   )osrB   
matplotlibr   torchvision.utilsr   r   torch.nn.functionalnn
functionalFr
   npr6   matplotlib.pyplotpyplotr   r   einopsr   r   piqaimageioch_fstch_secrU   r]   r    r   r   <module>rn      sD    	   6     *~ $  	r	:'GR1r   