
    =g=                     2   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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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Z+d Z,dd
Z-d	d	d g fdZ.d	d	d g d fdZ/y)    N)cm)	make_griddraw_keypoints)	rearrangerepeat)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     7/home/cameronsmith/repos/cheaper_flowmap/vis_scripts.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    c
           
          t        t              }
|D ].  }|j                         D ]  \  }}|
|   j                  |        0 d }|dz  dk(  r*|
j                         D ci c]  \  }}| |||       }}}|}|dk(  rFg  _        d _        j                         D ]:  \  }} j                  j                   j                  j                  |             <  j                  j                  d      5   j                  j                  ddt        d   d         d	z
  d	dd
       _         j                  j                  dd
       _         j                  j                  dd
       _         j                  j                  dd
       _         j                  j#                  dg dd       _         j                  j                  ddddd       _         j                  j)                  dd       _        d d d         j                  j,                  d+ fd       } j                  j,                  d+ fd       } j                   j.                  d+ fd       } j*                  j,                  d+ fd       } j                  j.                  d+ fd       }t1        j0                          _        g  _        nu|dz  dk(  rl|rit7        j                               D ]  \  }\  }}| j                  |   _          j4                  D ]  }|j;                           g  _        t=        |d   j?                  d	            D ]  }t@        jB                  jE                  |d   d|f   jG                         jI                         jK                         jM                               } j4                  j                   jN                  jQ                  d| |jS                         jT                  |jW                         dd !              jN                  jY                  d| d"d	d	d#g d$%      } |		 |dk(  ri  _-        |	j                         D ci c]c  \  }}||jG                         jI                         d&z  j]                  d	d'd      j_                  t`        jb                        jM                         e c}}j                         D ]f  \  }}te        jf                  |      }| jZ                  vr* j                  j                  |       jZ                  |<   S| jZ                  |   _        h d} j2                  t1        j0                         k  r j                   jh                  r: j                  jh                  d	z   t        d   d         z   j                  _4        t1        j0                         d( j&                  jh                  z  z    _        d
}|d)z  dk(  s|rL jk                         jm                         D ]*  }|jn                  jp                  d*z   |jn                  _8        , y y c c}}w # 1 sw Y   IxY wc c}}w ),Nc           
          t        j                  |t        t        t	        |                  d| d|       }d|j
                  j                  _        |j                  t        dddd             |S )Nr   )r   y)r   r   labelstitleT   )lrtb)margin)
pxlinelistrangelenlayoutr   
automarginupdate_layoutdict)klossfigs      r   make_loss_figz#viser_update.<locals>.make_loss_fig&   s^    ggeCI&6!7cPQ@RZ[\&*

#$rR2">@
r   
   r   F)figurePlaybackTimesteprgb   T)minmaxstepinitial_valuedisabledz
Next Frame)r9   z
Prev FramePlayingz	Color Vis)r3   lie_rot	lie_trans)labeloptionsr8   FPS皙?r   )r5   r6   r7   r8   zFPS options)10203060c                 z    j                   j                  dz   t        d   d         z  j                   _        y Nr4   r3   r   gui_timestepvaluer&   _model_inputservers    r   rK   zviser_update.<locals>._?   ;    7=7J7J7P7PST7TX[\ghm\nop\qXr6r&--3r   c                 z    j                   j                  dz
  t        d   d         z  j                   _        y rF   rG   rJ   s    r   rK   zviser_update.<locals>._A   rN   r   c                     j                   j                  j                  _        j                   j                  j                  _        j                   j                  j
                  _        y N)gui_playingrI   rH   r9   gui_next_framegui_prev_framerK   rM   s    r   rK   zviser_update.<locals>._C   sQ    +1+=+=+C+CF(-3-?-?-E-EF!!*-3-?-?-E-EF!!*r   c                 b    t        j                  j                        j                  _        y rQ   )r   gui_framerate_optionsrI   gui_frameraterU   s    r   rK   zviser_update.<locals>._H   s"    7:6;W;W;];]7^&..4r   c                 4   j                   j                  }j                         5  j                         j	                         D ]*  }|j
                  j                  dz   |j
                  _        , 	 d d d        j                          y # 1 sw Y   xY w)N        r[   r[   )rH   rI   atomicget_clientsvaluescamerapositionflush)rK   current_timestepclientrM   s      r   rK   zviser_update.<locals>._J   s{    %2288 z$00299;yFV\VcVcVlVlmyVyV]]=SyzLLNz zs   ABBposesz/colmap/frame_g{Gzt?)wxyzr`   axes_lengthaxes_radiusz/frustumg?)   r   r   )fovaspectscalecolorrh      g      ?i  rZ   )returnN)9r	   r$   itemsappend
loss_plotscam_setgui
add_plotly
add_folder
add_sliderr&   rH   
add_buttonrS   rT   add_checkboxrR   add_dropdowngui_color_choicerX   add_button_grouprW   on_click	on_updatetimetime_until_next_renderframes	enumerater0   remover%   r   tfSE3from_matrixdetachcpuinversenumpyscene	add_framerotationre   translationadd_camera_frustumwandb_plotspermutetotorchuint8r"   imshowrI   r]   r^   r_   r`   )rM   loss_model_outputrL   ground_truth
resolutionprefixsuffixr7   
wandb_imgsr,   r   r+   vr.   	loss_figsr   rK   iframeimg_idT_world_camerafrustumr-   trigger_rerenderrc   s   `  `                      r   viser_updater      s    
T	D 779 	CAaGNN1	 Bwz59ZZ\BcaQ}Qq))B	B
EQw??$ 	FCAa$$VZZ%:%:!%:%DE	FZZ"":. 	q"(**"7"7PST_`eTfghTiPjlmPmtu  FG  RV"7  #XF$*JJ$9$9,QU$9$VF!$*JJ$9$9,QU$9$VF!!'!8!8D!IF&,jj&=&=KYv  GL&=  'MF##)::#8#8%RRVYik#8#lF +1::+F+FWo+pF(	q 
			'	'r 
(r				'	'r 
(r				%	%	F 
&	F 
	%	%	.	.^ 
/^				&	&	 
'	
 '+iik% 7A:$$Y__%67 .%1Q,-!!!$+.5u||~5FMW 5 : :1 => L!#!3!3L4I!F(4S4Z4Z4\4`4`4b4j4j4l4r4r4t!u$$fll&<&<vh>W^l^u^u^w^|^|  HV  Hb  Hb  Hd  ru  CH&<  'J  L ,,99^F8S[;\bcmnvz  BK9  LL !7b6%_i_o_o_qrX[XYZ[Aqxxz~~'+44Qq;>>u{{KQQSSrxxz 	2CAa))A,C***&**BWBW_bBWBcF,>,>q,A.1##A&-	2
 $$TYY[0##&BUBUB[B[^_B_cfgrsxgyz{g|c}A}V%8%8%>&*iik39M9M9S9S3S&S%Dy!|'((*113qFfmmNdNdeqNqV]]5Kq (} C	q 	qV ss   #Y8D	Y A(YYc	                 r   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 }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z  dz   |	      |d<   d|v rt(        j*                  j,                  j/                  |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 r,d}t%        t1        |d   d|d         j'                         |d   j	                  d            |d<   t%        t3        j4                  |d    d   |      j7                  d      t9        |d   ddd f   |d         z  j                  dd      j'                         |d   j	                  d            |d!<   t%        t3        j4                  |d   ddd f   |      j7                  d      t9        |d   ddd f   |d         z  t3        j4                  |d    d   |      j7                  d      z  j                  dd      j'                         |d   j	                  d            |d"<   t%        t1        |d   j                  dd      t3        j4                  |d   j                  dd      |      j                  dd#      j                  ddd      j7                  d      dz  dz   z  d$|d         j'                         |d   j	                  d            |d%<   d&|v r`t%        |d&   j                         j                  dd      j                  ddd      j;                  d#|
      j'                         |	      |d'<   d(|v r`t%        |d(   j                         j                  dd      j                  ddd      j;                  d#|
      j'                         |	      |d)<   d*|v r`t%        |d*   j                         j                  dd      j                  ddd      j;                  d#|
      j'                         |	      |d+<   d |v r@t%        |d    j                  dd      j                         j'                         d,|	-      |d.<   d/|v r9t=        j>                  t%        |d/   j                  dd      |	            d0z  |d1<   d2|v rt        j@                  |d2         jC                         sjt=        j>                  t%        |d2   j                  d3d4      j                  dd      j                  ddd      j;                  d#|
      |	            d0z  |d5<   d6|v r	 d7}g }|d8   j7                  d      }d}tE        t        |d               D ]  }|||d d d dd#f   j'                         j                         }t        |      rWt+        jF                  ||d6   d d dgf   jI                         |d6   z  d d d d d dd#f   j                         |         d   }n:|d6   d d dgf   jI                         |d6   z  |d d d dd#f   j                         }tK        jL                  |d6   |d d d dd#f   j                         j!                         |j!                               d d D cg c]  }t        j                  |       c}\  }}||z
  jO                         jQ                         jS                         }tU        d9|       tW        jX                  d:|i|;       t[        j\                         }|j_                  d<d=>      } |j`                  |j                         jc                  d      d?d@dA  |j`                  |j                         jc                  d      dBdCdA t        |j                         |j                               te        |je                         |je                               }}|jg                  ||       |ji                  ||       |jk                  ||       t[        jl                          t[        jn                          |jp                  js                          tu        jv                  |jp                  jy                         tt        jz                  D      } | j}                  |jp                  j                         d d d#   dEz         } |j                  t        j                  |       j                  ddd      d0z         t[        j                          t        j                  |d      |dF|z   <    	 tW        jX                  |j                         D ci c]z  \  }}||z   |z   tW        j                  |j                  ddd      j                         j'                         j                  dd      j                         j!                               | c}}       |S c c}w c c}}w )GNr3   r   r4   rm      r   c                     d| dz   z  S )Nr4   g:0yE> r   s    r   r   zwandb_summary.<locals>.<lambda>v   s    Q$Z r   333333?r5   depth_rawrawmagma.visr   nrowz
ref/rgb_gt
lie_perpix      Fr   	normalizeest/poses_lie_rot_perpixest/poses_lie_trans_perpix	rig_masks)@   r   zb t o (x y) 1 -> (b t o) 1 x yr   zest/rig_maskscorr_weightszest/rig_masks_corr_weightedzest/rig_masks_corr_weighted_rgbzbt o (x y) c -> (bt o) c x yzest/rig_masks_rgbdepth_inpviszest/depth_inpres_depthviszest/res_depthdepthvisz	est/depthT)r   r   zest/corr_weightsbwd_flowrh   ref/flow_gt_bwdflow_from_posegr@   zest/flow_est_posec2w_alignedrd   ATE:metrics/ATEr7   o   3d
projectionredEstimated Trajectorycr=   blackGT Trajectorydtyper   est/pose_est)Fr$   flattenr   shaper   ro   typer&   clipr   
from_numpyr   get_cmapr5   itemr   r   squeezer   r   korniageometryconversionsquaternion_to_axis_angler   Finterpolate	unsqueezech_fst	unflattenflow_vis_torchflow_to_colorisnananyr%   numpy_procrustesr   r   
procrustessquaremeansqrtprintwandblogpltr0   add_subplotplotunbindr6   set_xlimset_ylimset_zlimlegendtight_layoutcanvasdrawnp
frombuffertostring_rgbr   reshapeget_width_heightrp   closecatimsavefloatImage)!r,   r   rL   r   r   r   r   r7   
losses_aggr   imslinvr+   r   	wandb_outrot_vis	trans_vislow_res	pose_imgsrd   r   jour_posgt_posr   pos_gt_pos_est_ater-   axmin_max_image_from_plots!                                    r   wandb_summaryr  p   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&&() _!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'T'T'VWY'YZ\'\bfgIl|#++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[8QRru|}~u  /A  /H  /H  /J  P\  ]h  Pi  Pn  Pn  op  Pq  %r	/"2;Q]]<XfKghiKjkr=s=}=}~  >A  BH  IU  Va  Ib  cd  ef  eg  cg  Ih  ip  qr  is  Bt  >tFMgaPQlSYSYS[amnyazaa  AB  bC3D	/06?{[`OabcdedfbfOghoApAzAz{|A}  E  FR  S^  F_  `a  bc  bd  `d  Fe  fm  no  fp  q  BqDEMMR^_mRnopRqryDz  EE  EE  FG  EHBHFMgaPQlSYSYS[amnyazaa  AB  bC7D	34 )2)L<U<]<]^_`a<bdedqdqr}  D  sE  sM  sM  NO  PQ  sR  SZ  e[  ec  ec  df  gi  ej  er  er  st  uv  wx  ey  eC  eC  DE  eF  GI  eI  JL  eL  =M0NQXYZQ[3]]c]c]ekw  yD  lE  lJ  lJ  KL  lM)N	%&%)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%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\),="><'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{  *{	%&	W%//2
s58}% 	FA!Aa2+&--/335G6{8#<#<WkRWFXYZ\][^Y^F_FgFgFilwx}l~F~  AB  CD  EG  FG  EG  HJ  AJ  FK  FO  FO  FQ  RS  FT  $U  VW  $XF%e,QsU3;;=E@RRTUVWXZYZXZ[]T]^bbd&=D=O=OP[\aPbcdefgihigijlclPmPqPqPsPyPyP{  }D  }J  }J  }L  >M  NP  OP  >Q   R 0 0 3   RGH!))+002779C&#II}c*5

C#//#$/"GRBGGW[[]))!,u;QRBGGVZZ\((+gOL'++-

5c'++-

6UDKKd#BKKd$;BKKd<SJJL))+CJJOO,= mmCJJ,C,C,ERXXVO-55cjj6Q6Q6STXVXTX6Y\`6`aOU--o>FFq1McQRIIK/4yy1/EInV+,)	F* 	 
IIs|  tC  tC  tE  Flolmnovaxu{{199Q1+=+C+C+E+L+L+N+S+STUVW+X+\+\+^+d+d+fgg  F  G3  R0 Fs   #n.%A?n3
c
                    t        |j                               D ]  \  }
}t        |      t         k7  r't        |j                        r|j                  d      }d|
v r|||
dz   <   d|
v sPd|
vsUt        j                   t        j                  d      |j                         j                         |j                         j                         z              j                  d      dd d	f   ||
d
z   <    i }|d   dz  dz   |d<   |d   j                  ddd      |d<   |d   j                  ddd      |d<   d}d|v rt         j"                  j$                  j'                  |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"                  j$                  j'                  |d   dd df         j)                  dd      j                  dd	dd      dz  dz   }|d   ddd f   j)                  dd      j                  dd	dd      dz  dz   }t+        |j-                         |d      |d<   t+        |j-                         |d      |d<   d |v r=t+        t/        |d    d!      j-                         |d    j1                  d      "      |d#<   d$|v rt3        j4                  t+        |d$   j                  dd	dd      |"            d%z  |d&<   t3        j4                  t+        |	r|d'   d|	dz
  gf   nt        j6                  |d'   ddgf         |"            d%z  |d(<   d)|v r	 d*}g }|d+   j9                  d      }d}t;        t        |d               D ]  }|||d d d d	d,f   j-                         j                         }t        |      rWt#        j<                  ||d)   d d dgf   j?                         |d)   z  d d d d d d	d,f   j                         |         d   }n:|d)   d d dgf   j?                         |d)   z  |d d d d	d,f   j                         }tA        jB                  |d)   |d d d d	d,f   j                         j                         |j                               d d D cg c]  }t        j                  |       c}\  }}||z
  jE                         jG                         jI                         }tK        d-|       tM        jN                  d.|i|/       tQ        jR                         }|jU                  d0d12      } |jV                  |j                         jY                  d      d3d4d5  |jV                  |j                         jY                  d      d6d7d5 t        |j                         |j                               t[        |j[                         |j[                               }}|j]                  ||       |j_                  ||       |ja                  ||       tQ        jb                          tQ        jd                          |jf                  ji                          tk        jl                  |jf                  jo                         tj        jp                  8      }|js                  |jf                  ju                         d d d,   d9z         }|jw                  t        j                  |      j                  ddd      d%z         tQ        jx                          t        jz                  |d      |d:|z   <    	 tM        jN                  |j                         D 
ci c]z  \  }
}||
z   |z   tM        j                  |j                  ddd      j                         j-                         j                  dd      j                         j                               | c}}
       |S c c}w c c}}
w );Nr   r   r   r   r   r   r   .r   r   gt_rgbr   z
img/rgb_gtr3   rm   r   r4   zimg/rgbr   z	img/depth	poses_lier   r   r   Fr   zest/poses_lie_rotzest/poses_lie_transr   r   r   	is_staticzb t 1 x y -> (b t) 1 x yr   zest/is_staticrender_flowrh   zest/render_flow	flow_inp_r   r   r   rd   r   r   r   r   r   r   r   r   r   r   r   r   r   r   r   )Br$   ro   r   r&   r   r   r   r   r   r   r5   r   r   r   r   r   r   r   r   r   r   r   r   r   r   r   r   
zeros_liker   r%   r   r   r   r   r   r   r   r   r   r   r   r0   r   r   r   r6   r   r   r   r   r   r   r   r   r   r  r   r  r  rp   r  r  r  r  zzr  )r,   r   rL   r   r   r   r   r7   r	  view_ir+   r   r  r   r  r  r  rd   r   r  r  r  r   r  r  r  r-   r  r  r  r  s                                  r   wandb_summary_splatr%     s	   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)(3B6r9Il&u-55a!<Ii(4<<QqCIk	
D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"$-i[8QRl.m.t.t.v  ~J  KV  ~W  ~\  ~\  ]^  ~_  %`	/"$&4&B&B9\ZgMhMpMpqrstuvwxMy  @D  DE  'F  GJ  'J	#$&4&B&B96<K$Qqz\2%BRBRS^_jSklmopnqlqSrBsD ''	#$ 	W%//2
s58}% 	FA!Aa2+&--/335G6{8#<#<WkRWFXYZ\][^Y^F_FgFgFilwx}l~F~  AB  CD  EG  FG  EG  HJ  AJ  FK  FO  FO  FQ  RS  FT  $U  VW  $XF%e,QsU3;;=E@RRTUVWXZYZXZ[]T]^bbd&=D=O=OP[\aPbcdefgihigijlclPmPqPqPsPyPyP{  }D  }J  }J  }L  >M  NP  OP  >Q   R 0 0 3   RGH!))+002779C&#II}c*5

C#//#$/"GRBGGW[[]))!,u;QRBGGVZZ\((+gOL'++-

5c'++-

6UDKKd#BKKd$;BKKd<SJJL))+CJJOO,= mmCJJ,C,C,ERXXVO-55cjj6Q6Q6STXVXTX6Y\`6`aOU--o>FFq1McQRIIK/4yy1/EInV+,)	F, 	 
IIs|  tC  tC  tE  Flolmnovaxu{{199Q1+=+C+C+E+L+L+N+S+STUVW+X+\+\+^+d+d+fgg  F  G5  R2 Fs   aA?a
rQ   )r   r   r   N)0osr   r   
matplotlibr   cv2torchvisionr~   torchvision.utilsr   r   torch.nn.functionalnn
functionalr   r   r   r   r   flow_visr   matplotlib.pyplotpyplotr   einopsr   r   modelspiqaimageioscipyr   plotly.expressexpressr"   plotly.graph_objectsgraph_objectsgocollectionsr	   viser.transforms
transformsr   r   ch_secr   r  r%  r   r   r   <module>r?     s    	    
   6         $      ! # 	r	:Mrb TV]_efrt M^ Z\ceklxz  CD Dr   