
    +gG                         d dl Z d dl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Zd dlmZmZ d dlZd dlZd dlmZ ddZd Z d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     0/home/cameronsmith/repos/flowcams/vis_scripts.py<lambda>r      s+    

CklmCmnonsnsnun{n{n}8~     )	rearrangerepeat)spatialc           	      f    t        | d|"t        | j                  d      dz              S |      S )Nz... (x y) c -> ... c x y      ?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        j                  | dd      }t        j                  | dd      }||z
  }|||z  z
  }|||z  z   }t        j                  | |k\  | |k  z  d      }|S )z<Filters outliers from a 3D point cloud using the IQR method.g      ?r   dimg      ?   )torchquantileall)points
iqr_factorq1q3iqrlower_boundupper_boundmasks           r   filter_pointsr*      sw     
!	,B	!	,B
r'C zC''KzC''K 99f++0EFANDKr   c                 +   t        |d   j                  dd      j                  dddd      j                        }|d   j	                  d      |d   j	                  d      z  |d<   |d   j	                  d      }|d   j                  dd  }	d }
d|v r|d	   j                  d
      |d   z  |d<   t        |j                               D ]  \  }}t        |      t         k7  r't        |j                        r|j                  d      }d	|v r|||dz   <   d	|v sPd|vsUt        j                   t        j                  d      |j                         j                         |j!                         j#                         z              j%                  d      dd df   ||dz   <    i }t'        |d   j!                         j                  dd      j                  ddd      j)                  d|	      j+                         |      |d<   d|v rt,        j.                  j0                  j3                  |d   dd df         j                  dd      j                  dddd      dz  dz   }|d   dd
d f   j                  dd      j                  dddd      dz  dz   }t'        |j+                         |d      |d<   t'        |j+                         |d      |d<   d|v rt,        j.                  j0                  j3                  |d   dd df         j                  dd      j                  dddd      dz  dz   }|d   dd
d f   j                  dd      j                  dddd      dz  dz   }t'        |j+                         |d      |d<   t'        |j+                         |d      |d <   d|v rQt'        t5        |d   d!|d   j	                  d      "      j+                         |d   j	                  d            |d#<   d$|v r+t'        t5        |d$   d%      j+                         d      |d&<   d'|v rdt7        |d'         D ]S  \  }}t'        t5        |d(|d   j	                  d      "      j+                         |j	                  d            |d)|z  <   U d*|v rPt7        |d*         D ]?  \  }}t'        t5        |d+      j+                         |j	                  d            |d,|z  <   A d-|v r=t'        t5        |d-   d.      j+                         |d-   j	                  d            |d/<   d0|v rpt'        |d0   d d d df   j9                         j+                         d1      |d2<   t'        |d0   d d dd f   j9                         j+                         d1      |d3<   d4|v rt'        t5        |d4   d5   d6      j+                         |d4   j	                  d            |d7<   t'        t;        j<                  |d   d d df   dz  dz   |d4   j                  dd        t5        |d4   d5   d6      j+                         z  |d4   j	                  d            |d8<   d9|v r%t5        |d9   j                  dd      d:      }|j                  \  }}}}|j?                  ||d      }|jA                  dd;<      }||z
  }t        jB                  ||jE                  dd            ||z  dz
  z  }t        jF                  |      \  }}}t        d|      }t        jB                  |d d d d d |f   jE                  dd      |      }|j?                  ||||      }t'        |j+                         |d9   j	                  d            |d=<   |j                         D ]D  \  }}d>|vrt'        t5        |d?      j+                         |j	                  d            |d@|z  <   F |j                         D ]G  \  }}dA|vrt'        t5        |dBz  dC      j+                         |j	                  d            |d@|z  <   I dD|v r`t'        |dD   j!                         j                  dd      j                  ddd      j)                  d|	      j+                         |      |dE<   dF|v r`t'        |dF   j!                         j                  dd      j                  ddd      j)                  d|	      j+                         |      |dG<   dH|v r`t'        |dH   j!                         j                  dd      j                  ddd      j)                  d|	      j+                         |      |dI<   dJ|v rrt'        |dJ   j!                         j                  dd      j                  ddd      j)                  d|	      j+                         |d   j	                  d            |dK<   dL|v rNt'        |dL   j!                         j                  dd      j+                         jI                         |d      |dM<   dN|v r@t'        |dN   j                  dd      j!                         j+                         d;|O      |dP<   dQ|v r9tK        jL                  t'        |dQ   j                  dd      |            dBz  |dR<   dS|v rDt'        |dS   j                  dd      j                  ddd      j)                  d|	      |      |dT<   dU|v rt        jN                  |dU         jQ                         sjtK        jL                  t'        |dU   j                  dVdW      j                  dd      j                  ddd      j)                  d|	      |            dBz  |dX<   dY|v rtK        jL                  t'        t5        |dY   dZ      j+                         t        |dY                     dBz  |d[<   t'        t5        |dQ   |dY   z
  j9                         jS                  d\      d]      j+                         t        |dY               |d^<   d_|v rBt        jT                  t        |d_   j!                         d         d      }tW        jX                  d`a      }|j[                  dbdcd      } t]        ||d_   dd d d d d ddf   j+                         j!                               D ]K  \  }!}" | j^                  |"j!                         j`                  j#                         de|!j#                         i M | jb                  je                  g        | jf                  je                  g        | jh                  je                  g        | jk                  dfdgh       |jm                          |jn                  jq                          ts        jt                  |jn                  jw                         tr        jx                  i      }#|#j{                  |jn                  j}                         d d d   djz         }#t        j                  |#      j                  ddd      dBz  }$tW        j~                          |$|dk<   t        d      D ]  }%t        d      D ]  }&  dl|v r	 dmD ]  }g }?dn|vr|do   j                  d      n|dn   }@t        t        |@            D ]  }t        t        @d               D ]  }A@||Ad d d ddf   j+                         j!                         }"t        |      rWt/        j                  |"|dl   d d dgf   j                         |dl   z  d d d d d ddf   j!                         |         d   }Bn:|dl   d d dgf   j                         |dl   z  |d d d ddf   j!                         }Bt        j                  |dl   |d d d ddf   j!                         j#                         |"j#                               d d D cg c]  }t        j                  |       c}\  }C}D|C|Dz
  j                         jA                         j                         }Et        dp|E       t        j                  dq|Ei|r       tW        jX                         }|j[                  dbdcd      }  | j^                  |"j!                         j                  d      dsdtdu  | j^                  Bj!                         j                  d      dvdwdu t        |"j                         |Bj                               t        |"j                         |Bj                               }G}F| j                  |F|G       | j                  |F|G       | j                  |F|G       tW        j                          tW        jl                          |jn                  jq                          ts        jt                  |jn                  jw                         tr        jx                  i      }#|#j{                  |jn                  j}                         d d d   djz         }#|?j                  t        j                  |#      j                  ddd      dBz         tW        j~                          t        j                  |?d      |dx|z   <      |do   dd d d ddf   j+                         j!                         }"|dl   dd d d ddf   j+                         j!                         }Bt        j                  |Bj!                         j#                         |"j#                               d d D cg c]  }t        j                  |       c}\  }B}"tW        jX                  d`a      }|j[                  dbdcd      }  | j^                  |"j!                         j`                  j#                         dsdtdu  | j^                  |Bj!                         j`                  j#                         dvdwdu | jb                  je                  g        | jf                  je                  g        | jh                  je                  g        | jk                  dfdgh       |jm                          |jn                  jq                          ts        jt                  |jn                  jw                         tr        jx                  i      }#|#j{                  |jn                  j}                         d d d   djz         }#t        j                  |#      j                  ddd      dBz  }$tW        j~                          |$|dy<   	 t        j                  |j                         D ci c]z  \  }}||z   |z   t        j                  |j                  ddd      jI                         j+                         j                  dd      j!                         j#                               | c}}       y c c}w c c}w c c}}w )zNrgbr   r         r   c                     d| dz   z  S )Nr   g:0yE> r   s    r   r   zwandb_summary.<locals>.<lambda>.   s    Q$Z r   	rig_masksdepthdepth_permaskg333333?)min_rawrawmagma.vis)nrowz
ref/rgb_gt	poses_lie   r      F)r;   	normalizezest/poses_lie_rotzest/poses_lie_trans
lie_perpixzest/poses_lie_rot_perpixzest/poses_lie_trans_perpixzb t o (x y) 1 -> (b t o) 1 x yr   zest/rig_maskslevel_scoreszb t l x y -> (b t l) 1 x yzest/level_scorescomposite_weightszb t o (x y) -> (b t o) 1 x yzest/composite_weights_%imask_spatial_scoreszb t o x y -> (b t o) 1 x yzest/mask_spatial_scores_%i	is_staticzb t 1 x y -> (b t) 1 x yzest/is_statictraj_top_comps)r?   zest/top_comps1zest/top_comps2affinity_sim)r   r   zx1 y1 x y -> (x1 y1) 1 x yzest/affinity_simzest/affinity_sim_rgbaffinity_embzbt c x y -> 1 c (bt x) yT)r   keepdimzest/affinity_emball_maskzt m x y -> (t m) 1 x yzref/%s	masks_vis   zt m 1 x y c -> (t m) c x yzoe_depthviszest/zoe_depthres_depthviszest/res_depthdepthvisz	est/depthdepth_permaskviszest/depth_permasknot_skyzref/not_skycorr_weights)r?   r;   zest/corr_weightsbwd_flowzref/flow_gt_bwd
warp_rgbs_zest/warp_rgbflow_from_posegg?zest/flow_est_poseflow_from_pose_uncompzm bt c x y -> (bt m) c x yzest/flow_est_pose_uncompr   zm bt x y -> (bt m) 1 x yzest/flow_est_pose_uncomp_err	rig_poses)      )figsizeo   3d)
projectioncg     K@i)elevazim)dtype)r.   zest/rig_posesc2w)_aligned intermed_poses_poseszATE:zmetrics/ATE)stepredzEstimated Trajectory)r]   labelblackzGT Trajectoryzest/pose_estzest/pose_est_pretty)\listflattenpermuteshaper   	unsqueezeitemstypelenclipr   
from_numpyr   get_cmapr5   itemr	   r
   squeezer   	unflattendetachkorniageometryconversionsquaternion_to_axis_angler   	enumerateabsFinterpolateviewmeanbmm	transposesvdfloatflow_vis_torchflow_to_colorisnananysumrandr   figureadd_subplotzipplotTxaxisset_ticklabelsyaxiszaxis	view_inittight_layoutcanvasdrawnp
frombuffertostring_rgbuint8reshapeget_width_heightcloserangemaxgatherexpandr*   tensormmframe_iscatternumpy_procrustesinverser   
procrustessquaresqrtprintwandblogunbindset_xlimset_ylimset_zlimlegendappendcatr   zzImage)Hlossmodel_outputmodel_inputground_truth
resolutionprefixsuffixrf   r;   imslinvkv	wandb_outrot_vis	trans_visir   featuresBCHWfeatures_mean
covarianceUSVnum_componentstransformed_features
rig_colorsfigaxcolorour_posimage_from_plotpose_imgcolor_iview_ipts_allrig_selectionptsr)   cmaprig_irV   pose_iposefrustum_pointsfrustum_worldcamera_centerbottom_leftbottom_right	top_righttop_leftfrustum_linesliner,   stride	pt_colorssc	view_name
color_name	pose_imgsre   jgt_pospos_gt_pos_est_atemin_max_sH                                                                           r   wandb_summaryr   (   s   k%(0015==a!AFLLMJu%**1-l5.A.F.Fq.IIJqM	U		 	 	#D	U		!	!"#	&D
Cl"<PWCXCbCbceCfgst  hA  DA<#@ L&&() _!7D=S\QVVV^1a<!ah/a<ENEDTDTUiUWU`U`ahUijkjojojqjvjvjxyzy~y~  zA  zG  zG  zI  kI  VJ  EK  ES  ES  TV  EW  X[  \^  ]^  \^  X^  E_L5,A_
 I&|E':'>'>'@'H'H1'M'U'UVWXYZ['\'f'fgijn'o'v'v'x  C  DIll"++DD\R]E^_bcedece_eEfgoopqrst||}~  @A  BC  DE  F  GI  I  JL  L -c"#g6>>qCKKAaPQRSTUVVWYY	(1'..2BW\(]	%&*3I4D4D4FD[`*a	'(|#++DD\R^E_`cdfefdf`fEghppqrstu}}~  AB  CD  EF  G  HJ  J  KM  M .s23w7??!DLLQqQRSTUVWWXZZ	/89It^c/d	,-1:9;K;K;MSWbg1h	./ l"$-i[8QRr  vA  BG  vH  vM  vM  NP  vQ  /R  /Y  /Y  /[  am  ny  az  a  a  @A  aB  %C	/"%'0<;WXt1v1}1}1  GH  (I	$%l*\*=>? 	cCAa5>yKilwx}l~  mD  mD  EG  mH  @I  @P  @P  @R  YZ  Y_  Y_  `a  Yb  6cI023	c,\*?@A 	ECAa7@1MiAjAqAqAsz{  {A  {A  BC  {D  8EI2145	El"$-i[8QRl.m.t.t.v  ~J  KV  ~W  ~\  ~\  ]^  ~_  %`	/"<'%.|<L/MaPRQRPRd/S/W/W/Y/`/`/bmr%s	"#%.|<L/MaPQPRd/S/W/W/Y/`/`/bmr%s	"#%(1)L<XY\<]^z2{  3C  3C  3E  LX  Yg  Lh  Lm  Lm  no  Lp  )q	$%,5ammKPUDVWXYZWZD[\^D^_aDabno}b~  cE  cE  FH  FI  cJ  7K8A,~B^_bBc  eA  9B  9I  9I  9K7K R^  _m  Rn  Rs  Rs  tu  Rv-w	()% <7??!DE_`^^
1a==Ar* !T:m+YYx););Aq)ABa!eaiP
))J'1a1Qx$yy1a.+@)A)K)KAq)QS[\388NAqQ'01E1L1L1NUabpUqUvUvwxUy'z	$%  " h!Qx(15M)N)U)U)W]^]c]cde]fg	(1*h   " p!a(1S59U)V)])])_efekeklmeno	(1*p %)LYgLhLlLlLnLvLvwxyzL{  MD  MD  EF  GH  IJ  MK  MU  MU  VX  Y]  M^  Me  Me  Mg  mq  Cry'A%)LYgLhLlLlLnLvLvwxyzL{  MD  MD  EF  GH  IJ  MK  MU  MU  VX  Y]  M^  Me  Me  Mg  mq  Cry'A\!)LQ[D\D`D`DbDjDjklmnDoDwDwxyz{|}D~  EI  EI  JL  MQ  ER  EY  EY  E[  ae  ;f9[#9\)'0>P1Q1U1U1W1_1_`abc1d1l1lmnopqr1s1}1}  A  BF  2G  2N  2N  2P  Vb  cn  Vo  Vt  Vt  uv  Vw  (x	%&K)KPYDZD^D^D`DhDhijklDmDtDtDvD|D|D~  EI  TY  ;Z=!9%yQ]^lQmQuQuvwxyQzQ~Q~  RA  RH  RH  RJ  UY  _c  Hdy1C'D[ @\@\]fgrs}g~  hG  hG  HI  JK  hL  RV  ^W  AX  Y\  A\),=">|#	,WcJdJlJlmnopJqJyJyz{|}~  KA  KK  KK  LN  OS  KT  Z^  A_Y~%><'LIY<Z0[0_0_0a)7)E)EiP\]mPnPsPstwxzP{  QD  QD  EF  GH  QI  QQ  QQ  RS  TU  VW  QX  Qb  Qb  ce  fj  Qk  qu  Gv  *w  x{  *{	%&,.0>0L0LYW`am  oF  bG  Hd  Xe  Xl  Xl  XnUXYef}Y~UNA 1B CF1F	,-4=iU_I`am  oF  bG  JG  IL  IL  IN  IR  IR  WX  IR  IY  [u  ?v  ?}  ?}  ?&=>?5A	01 l"::c,{";"?"?"A!"DEaH
JJv&COOCDO,Qr L,Ea!BQBrk,R,Y,Y,[,_,_,ab 	>ME'BGGW[[]__**,=u{{}=	>
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C#//#$/*ORBGGW[[]11!4uCYZBGGVZZ\003gOT!'++-

=c'++-PVPZPZP\>]DKKd+BKKd,CBKKPTVZD[JJL!1!1!3CJJOO4E&(mmCJJ4K4K4MUWU]U]&^O&5&=&=cjj>Y>Y>[\`^`\`>adh>h&iO$$U%5%5o%F%N%NqQRST%UVY%YZIIK7<yy17MInV34-NN		N: W%a"1"Ri0779==?5!!Abqb),33599;7>7I7I&**,J\J\J^_f_l_l_n7oprqr7st!%**1-twJJv&COOCDO,Qr&&(57MN%%''H 	#
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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k (Z( uB Fs   0AW
L2AWUA?AW#
c                     t        j                  d|d   d d d ddf   j                         j                         d      }t        j                  d|i       y )Nz
lidar/betare   r.   r:   )rp   r"   zcamera positions)r   Object3Dr	   r
   r   )r   r   r   r   r   r   point_scenes          r   pose_summaryr   &  sU    ..(2A2b1557==?" K 
II!;/0r   )r   )N)g      ?)rc   rc   r   )rc   )$osrz   r   
matplotlibr   cv2torchvisiontorchvision.utilsr   r   torch.nn.functionalnn
functionalr   ry   r
   r   r   flow_visr   matplotlib.pyplotpyplotr   r   einopsr   r   piqaimageioscipyr   ch_fstch_secr*   r   r   r0   r   r   <module>r     sa    	    
  6        *~ $   	r	:|G|1r   