
    f                         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     :/home/cameronsmith/repos/inference_as_optim/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 }d|v rQt+        |d   j                  dd      j#                         j-                         |d   j                  d            |d<   d|v rQt+        |d   j                  dd      j#                         j-                         |d   j                  d            |d<   t+        |d   j#                         j-                         |      |d<   d|v rQt+        |d   j                  dd      j#                         j-                         |d   j                  d            |d<   d|v rYt+        |d   j                  dd      d d d f   j#                         j-                         |d   j                  d      d      |d<   d|v r6t+        |d   d d d f   j#                         j-                         |      |d<   d|v r?t+        |d   j/                  d      j#                         j-                         |d      |d <   	 t;        j<                  |j	                         D ci c]z  \  }}||z   |z   t;        j>                  |j                  ddd      j7                         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masks)nrowz	est/maskszest/rgbz
ref/rgb_gtdepthvisz	est/depthT)r*   	normalizezest/depth_rawz	ref/depth
depth_maskFzref/depth_mask) listpermuteshaper   itemslenclipflattenprinttorchstackrange
from_numpyr   get_cmapr"   itemr	   r
   squeeze	unflattenr   detach	unsqueeze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_summaryrV      sH   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,ygAVA^A^_`abAcAgAgAiApApAr  yE  FM  yN  yS  yS  TU  yV  8W	+ 69\%=P=X=XYZ[\=]=a=a=c=j=j=lr~  @E  sF  sK  sK  LM  sN  4Oi	2&|E':'>'>'@'G'G'ItTIl\!)LQ[D\DdDdefghDiDmDmDoDvDvDx  K  LS  T  Y  Y  Z[  \  ;]9[#9,9\RYEZEbEbcdefEghijnhnEoEsEsEuE|E|E~  EQ  RY  EZ  E_  E_  `a  Eb  mq  <r	/ :+yWAUVWX\V\A]AaAaAcAjAjAlrv7w	+ 6{";WcKdKnKnopKqKuKuKwK~K~  LA  GK  V[  B\Y/?%@ 
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S	A?S
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)rC   Object3Dr	   r
   rD   )rF   rG   rH   rI   rJ   rK   point_scenes          r   pose_summaryr^   ;   sU    ..(2A2b1557==?" K 
II!;/0r   )r   )N) r_   r   )r_   )osrC   
matplotlibr   torchvision.utilsr   r   torch.nn.functionalnn
functionalFr
   npr6   matplotlib.pyplotpyplotr   r   einopsr   r   piqaimageioch_fstch_secrV   r^   r    r   r   <module>ro      sD    	   6     *~ $  	r	:)GV1r   