
    P>h4                     D   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Zd dl-Z-dd	Z.d
 Z/ddd g fdZ0y)    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     0/home/cameronsmith/repos/rotation_testing/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	                 J   |||fD 	
cg c]@  }	|	j                         D 
ci c]"  \  }
}|
t        |j                        r|d d n|$ c}}
B c}}
}	\  }}}i }|j                         D 
ci c]  \  }
}d|
v s|
| c}}
j                         D ]&  \  }
}t        |j	                  dd            |d|
z   <   ( t        j                  g dg dg dg      j                         j                         }d|vr|d	   j                  d
      dk(  r@t        j                  j                  j                  t        j                  |d	               }n|d	   j                  d
      dk(  r|d	   }t        j                  j!                  d      |d   j!                  d            d   |d<   d|vrt        j"                  |d         d   d    x|d<   }t        j$                  t        j                  j                  j                  |d d d dd df         j'                  d
      d
      |d<   |dd dd
f   |d<   d|vrBt        j                  |d   |d         |d<   t        j"                  |d         d   d    x|d<   }t)        j*                  d|z   |d   |d   z
  j-                         j/                         i|       t)        j*                  d|z   |d   |d   z
  j-                         j/                         i|       t)        j*                  d|z   |d   |d   z
  j-                         j/                         i|       |d   dffD ]  \  }}|j1                         j3                         j                         d   }|d   j1                         j3                         j                         d   }t5        j6                  d      }|j9                  dd      }|j;                  |d d df   |d d df   |d d df   dd        |j;                  |d d df   |d d df   |d d df   d!d        |j;                  |d d df   |d d df   |d d df   d"d        |j=                  d#       |j?                  d$       |jA                  d%       |jC                  d&       |jE                  g d'       	 t5        jF                  d(       t5        jH                          t5        jJ                  d(      }t        jL                  |dd df         jO                  ddd      |d)|z   <   tQ        d*t        |             t5        jH                           tS        jT                  d   j3                         j                               jO                  ddd      |d,<   	 |j                         D ]  \  }
}tQ        |
|j                          t)        j*                  |j                         D 
ci c]w  \  }
}||
z   t)        j`                  |jO                  ddd      j                         j1                         j]                  dd      j3                         j                               y c}}
       tQ        d-       |S c c}}
w c c}}
}	w c c}}
w #  tQ        d+       Y dxY wc c}}
w ).N   imgr   zref/)r   r   r   r   )r   r   r   r   )r   r   r   r   	pred_trispred_rot      
pred_transrottransf   .transzmetrics/trans_metric_)stepzmetrics/rot_metriczmetrics/tri_vis_metric_transf_tris)
   r(   )figsizeo   3d)
projection   redr   )coloralphabluegreenXYZz9Unit (Red) and Pred (Blue) and GT Transformed Tri (Green))r   r   r   zoutput/img/tmp.pngzref/tri_zlogging imagesz#failed saving/logging 3d plot imagezest/cam_rerender_estzdone logging images)1itemslenshaper   flattentorchtensorfloatnumpyr   korniageometryconversionsrotation_matrix_to_quaternionrotation_6d_to_matrixrot_trans_to_trissqueezetris_to_transfstackunbindwandblogsquaremeandetachcpupltfigureadd_subplotplot_trisurf
set_xlabel
set_ylabel
set_zlabel	set_titleset_box_aspectsavefigcloseimread
from_numpypermuteprintdata
render_cammaxminimsaveclipzzr	   )lossmodel_outputmodel_inputground_truth
resolutionprefixsuffixr&   
losses_aggr   kv	wandb_outunit_trir"   r#   pred_tritri_namegt_trifigaximg_arrs                         r   wandb_summaryrv   "   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y!`ijkjsjstuvwjx`y9U[\]U]K^y ||kK+IJPPRXXZH,&
#((,a/v7R7R7p7pqy  rP  rP  Q]  ^h  Qi  rj  8k*%**2.1j9Q3"*"<"<S[[^LYeLfLnLnopLq"rst"u[! L &.&=&=l;>W&XYZ&[\`&aaXv!KK(C(C(a(abhijkmlmkmnpopnpipbq(r(y(yz|(}  A  BU$S!BY/W,&"*"<"<\%=PQ]^eQf"g[!&.&=&=l;>W&XYZ&[\`&aaXv	II&v-U0CKPUDV0V/^/^/`/e/e/ghost	II#F*\'-B;wCW-W,_,_,a,f,f,hiptu	II(/,{2KKXeLf2f1n1n1p1u1u1wx  @D  E+K8EF ??$((*00215]+22488:@@B1Ejj*__ST_2
AAAe[^_
AAAf\_`
q!tfQTlF1a4LWZ[
cR]]3/"--2Dr||  UP  HQ
)$	=KK,-ciikJJ34G-2-=-=gc"1"fo-N-V-VWXYZ[\-]Ij)*"3y>2		). )-q	8M8M8O(P(X(XYZ[\]^(_I$%  1!q!11	IIlul{l{l}~ehefghvaxAIIaA$6$<$<$>$E$E$G$L$LQq$Q$U$U$W$]$]$_``~	
 } .e  -W
 BP 	=;< s6   Y?'Y9	Y?-Z:Z2BZ(A<Z
9Y?Z)N)1osioshutilr?   rH   
matplotlibr   cv2r   torchvisiontimetorchvision.utilsr   r   torch.nn.functionalnn
functionalFr>   r=   npr:   flow_visflow_vis_torchmatplotlib.pyplotpyplotrN   einopsr   r   modelspiqaimageioPILr	   scipyr
   plotly.expressexpresspxplotly.graph_objectsgraph_objectsgocollectionsr   r]   ch_fstch_secrv    r   r   <module>r      sy         
    6         $       ! #  	r	:SU]_efrt ?r   