
    cosg(0                     @   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 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-m.Z/ dd	Z0d
 Z1ddd g fdZ2y)    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/point_track_sfm/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    c	                 "  6 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 }|dz  dk(  rt%        |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,|
}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 r/t%        t1        |d2   d3      |d2   j	                  d            |d4<   d5|v rt        j@                  |d5         jC                         sjt=        j>                  t%        |d5   j                  d6d7      j                  dd      j                  ddd      j;                  d#|
      |	            d0z  |d8<   d9|v r	 d:6tE        |d;   j	                  d      6dz  z        }|d9   |d;   z
  |d<   j7                  d#      z  jG                         }t%        t1        |d=66>      |      dz  }|dg   jI                  dd#d#      |d?<   |dg   jI                  dd#d#      |d@<   66f}tJ        jL                  d|d   d|d   f   jO                  tP              jS                  ddd      }t        j                  tK        jT                  |d#A      jW                               jY                         }|t        jZ                  |d   dz
  |d   dz
  g      z  }6fdB}t=        j>                  t%         ||d9   |d<   j7                  d#      z        |j                  ddd      d    j]                         z
   ||d<   j7                  d#            z  |            d0z  |dC<   t=        j>                  t%         ||d;   |d<   j7                  d#      z        |j                  ddd      d    j]                         z
   ||d<   j7                  d#            z  |            d0z  |dD<   t%         ||dE   dF         |      |dG<   dH|v rZ	 t1        |dH   dI6666J      jI                  d#dd#d#      }t%        |t        j^                  t        |            d dK    |d      |dL<   dM|v rdND ]  }|dM|z      }|j	                  d      dk  r[t        j`                  |t        jb                  |d d d d dgf         jI                  d#d#d|j	                  d      z
  d#d#      fd      }t1        |j                  dd      dO      }|j                  \  }}}}|je                  ||d#      }|jg                  dd,P      }||z
  }t        jh                  ||jS                  dd            ||z  dz
  z  } t        jj                  |       \  }!}"}#t        d|      }$t        jh                  |!d d d d d |$f   jS                  dd      |      }%|%je                  ||$||      }%t%        |%j'                         |dM   j	                  d            |dQ|z   <    dR|v rt        j`                  t(        j*                  j,                  jm                  |dR   dd dd df   dST      |dR   dd dd#f   fd#      }&t(        j*                  j,                  j/                  |&dd df         dz  dz   }|&ddd f   dz  dz   }t%        t1        |j'                         dUd66V      |&j	                  d      d      |dW<   t%        t1        |j'                         dUd66V      |&j	                  d      d      |dX<   dY|v r	 dZ}g }'|d[   d    }(d})to        t        |(d               D ]  }*tq        |*       |(|)|*d d d dd#f   j'                         j                         }+t+        jr                  |+|dY   d d dgf   ju                         |dY   z  d d d d d dd#f   j                         |)         d   },tw        jx                  |dY   |)d d d dd#f   j                         j!                         |+j!                               d d D -cg c]  }-t        j                  |-       c}-\  }.}/|.|/z
  j{                         jg                         j}                         }0tq        d\|) d]|0       t        j                  d^|0i|_       t        j                         }1|1j                  d`dab      }2 |2j                  |+j                         j                  d      dcddde  |2j                  |,j                         j                  d      dfdgde t        |+j                         |,j                               t        |+j                         |,j                               }4}3|2j                  |3|4       |2j                  |3|4       |2j                  |3|4       t        j                          t        j                          |1j                  j                          tK        j                  |1j                  j                         tJ        j                  h      }5|5j                  |1j                  j                         d d d#   diz         }5|'j                  t        j                  |5      j                  ddd      d0z         t        j                          t        j`                  |'d      |dj|z   <    	 tq        dk       t        j                  |j                         D ci c]w  \  }}||z   t        j                  |j                  ddd      jQ                         j'                         j                  dd      j                         j!                               y c}}       tq        dl       |S c c}-w c c}}w )mNrgbr            r   c                     d| dz   z  S )Nr   g:0yE> r   s    r   r   zwandb_summary.<locals>.<lambda>'   s    Q$Z r   g333333?)mindepth_rawrawmagma.vis2   r   )nrowz
ref/rgb_gt
lie_perpix      F)r(   	normalizezest/poses_lie_rot_perpixzest/poses_lie_trans_perpix	rig_masksz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_flow   zref/flow_gt_bwdrig_flow_masksz1 t o x y -> (t o) 1 x yzref/rig_flow_masksflow_from_posegg?zest/flow_est_posepoint_track_reproj@   pred_trackspred_visibilityb t (x y s) c -> (b t s) c x yyr   zmetrics/track_err_xzmetrics/track_err_y)axisc                 "    t        | d      S )Nr<   r=   r   )r   sls    r   r   zwandb_summary.<locals>.<lambda>b   s    i*JRRTU r   zest/track_flow_estzref/track_flow_gtrig_pertrack)N.Nzest/rig_sampsaff_simz3b (x1 y1 s1) (x2 y2 s2) -> (b x1 y1 s1 s2) 1 x2 y2 )y2x2y1x1d   zest/aff_simaffinity_emb)r   _unnormzbt c x y -> 1 c (bt x) y)dimkeepdimzest/affinity_emb	poses_allgh㈵>)epsz(b x y s) t c -> (b s t) c x y )br>   r   zest/poses_lie_rotzest/poses_lie_transc2w_alignedpose_clusterszATE :zmetrics/ATE)stepo   3d)
projectionredzEstimated Trajectory)clabelblackzGT Trajectory)dtype)r   zest/pose_estzlogging imageszdone logging images)Xlistflattenpermuteshaper   itemstypelencliptorch
from_numpyr   get_cmapr!   itemcpunumpysqueezer   detachkorniageometryconversionsquaternion_to_axis_angler   Finterpolate	unsqueezech_fst	unflattenflow_vis_torchflow_to_colorisnananyr   absexpandnpmgridastypefloat	transposeflipcopylongtensorcudarandpermcat
zeros_likeviewmeanbmmsvdrotation_matrix_to_quaternionrangeprintnumpy_procrustesinverser
   
procrustessquaresqrtwandblogpltfigureadd_subplotplotunbindmaxset_xlimset_ylimset_zlimlegendtight_layoutcanvasdraw
frombuffertostring_rgbuint8reshapeget_width_heightappendcloseimsavezzr	   )7lossmodel_outputmodel_inputground_truth
resolutionprefixsuffixrT   
losses_aggr(   imslinvkv	wandb_outrot_vis	trans_vislow_resnrow_point_track_errerr_imguv	track_unpaff_gridsuffaff_embfeaturesBCHWfeatures_mean
covarianceUSVnum_componentstransformed_features	poses_lie	pose_imgsposesijour_posgt_posr   pos_gt_pos_est_atefigaxmin_max_image_from_plotrA   s7                                                         @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&&() _!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Bwz!*<+>+B+B+D+L+LQq+Q+X+X+Z[]+]^`+`fj!k	,<'OO//HHVbIcdghjijhjdjIklttuvwxy  B  B  CD  EF  GH  IJ  K  LN  N  OQ  QG$\23rs7;CCAaHPPQRSTUVWXYZ[[\^^I3<W^^=MSWbg3hI015>y?O?O?QW[fk5lI23,&G(1)L<UVv  zA  BC  zD  3E  3L  3L  3N  T`  al  Tm  Tr  Tr  st  Tu  )vIo&6?|\jOklmOnovAw  BB  BB  CD  BE  FL  MY  Ze  Mf  gh  ij  ik  gk  Ml  mt  uv  mw  Fx  BxJQ'RSTU,W]W]W_eqr}e~  fD  fD  EF  fG7HI34:CQ]]S^_dSefghihjfjSklsEtE~E~  @A  FB  CI  JV  Wb  Jc  de  fg  fh  dh  Ji  jq  rs  jt  Cu  FuHIVbcqVrstVuv}H~  II  II  JK  ILFLJQ'RSTU,W]W]W_eqr}e~  fD  fD  EF  fG;HI78 -6i[@Y@a@abcde@fhihuhu  wB  CH  wI  wQ  wQ  RS  TU  wV  W^  i_  ig  ig  hj  km  in  iv  iv  wx  yz  {|  i}  iG  iG  HI  iJ  KM  iM  NP  iP  AQ4RU\]^U_7aagagaio{  }H  pI  pN  pN  OP  pQ-RI)*\)iP\]kPlPpPpPrPzPz{|}~P  QH  QH  IJ  KL  MN  QO  QY  QY  Z\  ]a  Qb  Qi  Qi  Qk  qu  Gv9_+E\)iP\]kPlPpPpPrPzPz{|}~P  QH  QH  IJ  KL  MN  QO  QY  QY  Z\  ]a  Qb  Qi  Qi  Qk  qu  Gv9_+E%iU_H`HdHdHfHnHnopqrHsH{H{|}~  AB  IC  IM  IM  NP  QU  IV  I]  I]  I_  ei  ?jy'=\)9UabpUqUyUyz{|}U~  VC  VC  VE  VL  VL  VN  Y]  cg  Lh95G+H$ND`D`ajkv  xB  lC  lK  lK  LM  NO  lP  VZ  b[  E\  ]`  E`i0A&B{*-6yM]A^_y7z  AL  M]  A^  Ac  Ac  de  Af  .gI*+
 |+EKKM]@^4_4c4c4e-;-I-I)T`aqTrTwTwx{|~T  UH  UH  IJ  KL  UM  UU  UU  VW  XY  Z[  U\  Uf  Uf  gi  jn  Uo  uy  Kz  .{  |  .I)* |++m,11"5r1u<=)*>?+mB\\`kl}`~  aI  aI  JL  aM  M  S  S  UIo6VY[^`aglmnoo+2A3<+>+>qB+G	'(+2A3<+>+>qB+G	'( BXXa'!*na'!*n45<<UCMMaQRTUVbggbr2779:??A%,,
1gajl;<<U	*8*F*FyR[\hi}\~  @K  L]  @^  @h  @h  ik  @l  ]l  SmLNJJWXYZ[\L]^bLcLhLhLjSklu  wB  CT  wU  w_  w_  `b  wc  mdRd joHp +q ru+u	&')7)E)EiQZ[fgt[u  wB  CT  wU  w_  w_  `b  wc  \c  RdLNJJWXYZ[\L]^bLcLhLhLjRklu  wB  CT  wU  w_  w_  `b  wc  mdQd joGp *q ru*u	%& &/yn9UVc9d/ekp%q	/"$ i!89nrtxz  A  EG  H  O  O  PR  ST  UW  XZ  [H'0(5>>#h-;XY]Z];^2_fkv{'|Im$\)& H&~d':;<<?1$		75CSCST[\]^_ab`c\cTdCeClClmoprstu|  vB  vB  CD  vE  tE  FH  IK  DL  ;M  NO  1Pg"7??1Q#78RS%^^
1a#==Ar2 (!T B#m3"YYx1C1CAq1IJaRSeVWiX
))J/1a"1Qx',yy1a.3H1I1S1STUWX1Y[c'd$';'@'@NTUWX'Y$4=>R>Y>Y>[bno}b~  cD  cD  EF  cG  5H	,T12#H$ ,&		6??#>#>#\#\]iju]vwz{}|}{}  A  @A  A  xA  ^B  GK#\  $L  MY  Ze  Mf  gj  km  lm  km  np  gp  Mq  #r  su  vIOO//HHSVWYXYWYSYIZ[\^^_aaG!#bc'*1,R/I,5yAQRsvwz|  @B  8C  JS  JX  JX  YZ  J[  fk  -lI)*.79CSCSCUVwz{  A  DF  :G  NW  N\  N\  ]^  N_  jo  /pI+, 	_-d3
s58}% 	FA!H!Aa2+&--/335G,,Wk%6HA36O6W6W6Y\ghm\n6npqrstvuvtvwypy5z5~5~  6A  BC  6D  E  FG  HF >E=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D1+s#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. 	 

	IIlul{l{l}~ehefghvaxAIIaA$6$<$<$>$E$E$G$L$LQq$Q$U$U$W$]$]$_``~	
 7  R2 s   AE$CA<AE)
)N)3osioshutilrn   r   
matplotlibr   cv2r   torchvisiontimetorchvision.utilsr   r   torch.nn.functionalnn
functionalrq   rm   rj   r|   re   flow_visrv   matplotlib.pyplotpyplotr   einopsr   r   modelspiqaimageioPILr	   scipyr
   plotly.expressexpresspxplotly.graph_objectsgraph_objectsgocollectionsr   viser.transforms
transformstfrt   ch_secr   r    r   r   <module>r      sw         
    6         $       ! # 	r	:SU]_efrt Rr   