
    /[h	                     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 yg      ?x)r   intsize)srcr   s     >/home/cameronsmith/repos/simple_policy_baseline_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	                    |||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|
v       |d|
z   <   , t        j                          |d   dd	f|d
   ddffD ]j  \  }}}|d   j	                         j                         j                         }t        j                  t        t        t        |                  ||d|       l 	 t        j                          t        j                  d       t        j                          t        j                  d      }t!        j"                  |dd df         j%                  ddd      |dz   |z   <   t'        dt        |             t        j                          	 |j                         D ]  \  }
}t'        |
|j                          t7        j8                  |j                         D 
ci c]w  \  }
}||
z   t7        j:                  |j%                  ddd      j/                         j1                         j3                  dd      j                         j                               y c}}
       t'        d       |S c c}}
w c c}}
}	w c c}}
w #  t'        d       Y xY wc c}}
w )N   imgr   pointmap)	normalizezref/joint_statereforangeaction_stateestblueg333333?)coloralphalabelzoutput/img/tmp.png.      z/action_hist_zlogging imagesz#failed saving/logging 3d plot imagezdone logging images)itemslenshaper   flattenpltfigurecpunumpybarlistrangelegendsavefigcloseimreadtorch
from_numpypermuteprintmaxminimsavefloatdetachclipzzwandblogr	   )lossmodel_outputmodel_inputground_truth
resolutionprefixsuffixstep
losses_aggr   kv	wandb_outr   prefr#   jointsimg_arrs                     r   wandb_summaryrS   "   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  T!`ijkjsjstuvwjx  DN  RS  DS  aT9U[\]U]K^  TJJL'6uXFUcHdejkqGrs QD1v~~##%++-U3v;'(e"4PQ9

()#))+

/0/4/?/?BQB/P/X/XYZ[\]^/_	$&t+,s9~.IIK  1!q!11	IIlul{l{l}~ehefghvaxAIIaA$6$<$<$>$E$E$G$L$LQq$Q$U$U$W$]$]$_``~	
 ? .e  -W
 B 9E78 s6   K)'K#	K)-K0:K0BK6 A<L	
#K)6L)N)1osioshutilgeometryrB   
matplotlibr   cv2r   torchvisiontimetorchvision.utilsr   r   torch.nn.functionalnn
functionalFkorniar/   npr7   flow_visflow_vis_torchmatplotlib.pyplotpyplotr,   einopsr   r   modelspiqaimageioPILr	   scipyr
   plotly.expressexpresspxplotly.graph_objectsgraph_objectsgocollectionsr   datach_fstch_secrS    r   r   <module>rx      sy         
    6         $       ! #  	r	:SU]_efrt  r   