
    q+h                     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$m%Z& d dl'm(Z) d dl*m+Z+ d dlZd dl,Z-d dl.Z.dd	Z/d
 Z0ddd g dfdZ1y)    N)cm)tqdm)	make_griddraw_keypoints)	rearrangerepeat)Image)spatial)defaultdictc           	      f    t        | d|"t        | j                  d      dz              S |      S )Nz... (x y) c -> ... c x y      ?x)r   intsize)srcr   s     %/home/cameronsmith/repos/kpt3r/vis.py<lambda>r      s2    9S)Cabajc#((SU,Y[J\F]r pqr     c                     t        | d      S )Nz... c x y -> ... (x y) c)r   r   s    r   r   r       s    9Q9: r    Fc
                    |||fD 
cg c]@  }
|
j                         D ci c]"  \  }}|t        |j                        r|d d n|$ c}}B c}}}
\  }}}i }|j                         D ci c]  \  }}d|v s|| c}}j                         D ](  \  }}t        |j	                  dd      d      |d|z   <   * t        |d   j	                  dd      d      |d<   t        |d   j	                  dd      d      |d	<   	 t        ||gd d        D ]\  \  }}t        |d
         d   j                         }t        |d         d   j                         }|d   d   j                         j	                         }|d d d f   d|dz   j                  d      dz  z  z  }t        j                  t        |j                  d      d         D 
cg c]  \  }}
||z   ||
f    c}
}      }t        j                  |d   j                         |d    j                         |j                  d      d   |j                         z  d d d d f   j                               d   }t        j                   |j#                         j%                         z  }t        j                   |d   j#                         j%                         z  }t        j&                  |d   d   j#                         j%                         |d   |d   d   j)                         |j#                         j%                         d   d      d   d   dz  dz   |dddg|   z  <   t+        j,                         }|j/                  dd      }|j1                  dd        d} |j2                  |j#                         j%                         j4                  d!d"d#d$  |j2                  ||   d d |   j4                  j#                         j%                         t        |d         d   |   j#                         j%                         dz  dz   d!d%d& t        j6                  t8        j:                  j=                  |d         t        j                   z  d'|d(d)*       t        j6                  t8        j:                  j=                  |d         t        j                   z  d'|d+d,*       t+        j>                          	 t+        j@                  d-       t+        jB                          t+        jD                  d-      }t        jF                  |d.d d/f         jI                  ddd      |d0ddg|   z  <   t+        jB                          _ |dddgd   z     dz  |dddgd   z     dz  z   |d2<   	 |j                         D ].  \  }}tK        ||j                         |jM                                0 |j                         D ]  \  }}tK        ||j                         t+        jN                  d3|z  |j                         jI                  ddd      d.d d/f   j                         j#                         j%                         jQ                  dd              tK        d4       t        jR                  ||fd5       tT         |j                         D ]  \  }}tK        ||j                          |j                         D ci c]~  \  }}||z   tW        jX                  |jI                  ddd      d.d d/f   j                         j                         jQ                  dd      j#                         j%                                }}}|	stW        jZ                  |       tK        d6       |S c c}}w c c}}}
w c c}}w c c}
}w #  tK        d1       Y axY wc c}}w )7N   imgr   T)	normalizezref/
joint_sdfszref/joint_sdfszest/joint_sdfs
points_cam)r   r   fgg-C6?)dim   link_positions)weightscam2world_cvjoint_statesrob_id)r%   urdfr   z%s/cam_rerenderrefesto   3d)
projection   i)elevazimogGz?zPoint Cloud)markeralphalabelg333333?)cr2   r3   g?redzPred Cam2Base)scaleaxcolorr4   bluezGT Cam2Basezoutput/img/tmp.png.   z%s/cam_plotz#failed saving/logging 3d plot imagezest/render_overlayzoutput/img/%s.pngzsaving locallyzoutput/inpout.ptzdone logging images).itemslenshaper   flatten	enumeratech_secdetachnormtorchstackmaxgeometryefficient_procrustesfloatdataTccpunumpyformat_pybullet_renderitempltfigureadd_subplot	view_initscatterTplot_frustumnplinalginvlegendsavefigcloseimread
from_numpypermuteprintminimsaveclipsavezzwandbr	   log)lossmodel_outputmodel_inputground_truth
resolutionprefixsuffixstep
losses_aggdont_logr   kv	wandb_outsrc_ir   r   r   r   r$   ikeypoint_estimatesest_poseest_view_matrix_gt_view_matrix_figr8   simg_arr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  I!`ijkjsjstuvwjx  DH  aI9U[\]U]K^  I "+;+E+M+MaPQ+R]a!bI!*<+E+M+MaPQ+R]a!bI
 #K#=a#@A  	IE#k,78=DDFJc,/03::<J4 %,,.668BajAz$&<&<&<&Da&G$GHG  %{{V_`g`k`kpq`k`rst`uVv+wsqQRZ*-Dac,J+wx44[AQ5R5X5X5Z\nos\t\z\z\|  HO  HS  HS  XY  HS  HZ  [\  H]  ^e  ^i  ^i  ^k  Hk  mq  rs  tx  mx  Gy  G  G  GA  B  CD  EH "WWX\\^%9%9%;; GGK$?$C$C$E$K$K$MMO @D?Z?Z[fgu[vwx[y[}[}[  \F  \F  \H  JZ  [\  J]  ^i  jr  ^s  tu  ^v  ^{  ^{  ^}  KS  KW  KW  KY  K_  K_  Ka  bc  Kd  jk  @l  mr  @s  tu  @v  wy  @y  z|  @|I'ue(<<= **,CCOOCDO$Ir",,\_fi,JjmnklBJJ*..0668::3cYfgBJJ
2ss+--11399;vkRWFX?YZ[?\]_?`?d?d?f?l?l?noq?qrt?t  ~A  IL  M!!"))--0@0C"DTWW"LSUY[bgn}~!!"))--0B"CDGG"KRTXZagn{|JJLA01#))+

#78@E@P@PQXY\]_^_]_Y_Q`@a@i@ijklmno@p	-ue(<<=IIKA 	D )22CU5MRSDT2T(UVX(XYbctv{  }B  vC  DE  vF  dF  ZG  HJ  ZJ  )J	&'??$>CAaeAaeegaeeg&>>??$ 	qCAa!AGGJJ*1,QWWY->->q1-Ec"1"f-M-T-T-V-Z-Z-\-b-b-d-i-ijklm-no	q 	

K-.@A
 1!q!11 {D  {J  {J  {L  MsvstuvVAXekk!))Aq!*<S!V*D*J*J*L*S*S*U*Z*Z[\]^*_*c*c*e*k*k*mnn  MM  MEIIm,	
 I .e  -W
 B, ,x. AE?@ Ms<   ^'^	^-^!:^!^'&A6^-*B_ ^-^=)N)2osioshutilrG   rf   
matplotlibr   cv2r   torchvisiontimetorchvision.utilsr   r   torch.nn.functionalnn
functionalFkorniarM   rW   rD   flow_visflow_vis_torchmatplotlib.pyplotpyplotrP   einopsr   r   piqaimageioPILr	   scipyr
   plotly.expressexpresspxplotly.graph_objectsgraph_objectsgocollectionsr   pybulletprJ   ch_fstrA   r    r   r   <module>r      s         
    6         $      ! #   	r	:SU]_efrt  D Er   