o i+@s dZddlmZddlZ d)dejdejdedejfd d Zd*d ejd edejfddZ  d+dejdejdejdejdejdededejfddZd,dejde dejfddZ d-dejd!ejd"edejfd#d$Z %d.dejdejdejd&edeejejff d'd(Z dS)/z> Alignment utilities for depth estimation and metric scaling. )TupleN-q=abepsreturncCs|j|jkrtd|jd|j|j|jkr$td|jd|j|r,|s0tdt|d|d}t|d|d|}||S)uw Compute least squares scale factor s such that a ≈ s * b. Args: a: First tensor b: Second tensor eps: Small epsilon for numerical stability Returns: Scalar tensor containing the scale factor Raises: ValueError: If tensors have mismatched shapes or devices TypeError: If tensors are not floating point zShape mismatch: z vs zDevice mismatch: z#Tensors must be floating point type) shape ValueErrordeviceis_floating_point TypeErrortorchdotreshape clamp_min)rrrnumdenr>/data/cameron/da3_repo/src/depth_anything_3/utils/alignment.pyleast_squares_scale_scalars  r333333?sky_prediction thresholdcCs||kS)z Compute non-sky mask from sky prediction. Args: sky_prediction: Sky prediction tensor threshold: Threshold for sky classification Returns: Boolean mask where True indicates non-sky regions r)rrrrrcompute_sky_mask6s rMbP?{Gz? depth_conf non_sky_maskdepth metric_depth median_confmin_depth_thresholdmin_metric_depth_thresholdcCs||k|@||k@||k@S)a Compute mask for depth alignment based on confidence and depth thresholds. Args: depth_conf: Depth confidence tensor non_sky_mask: Non-sky region mask depth: Predicted depth tensor metric_depth: Metric depth tensor median_conf: Median confidence threshold min_depth_threshold: Minimum depth threshold min_metric_depth_threshold: Minimum metric depth threshold Returns: Boolean mask for valid alignment regions r)rrrr r!r"r#rrrcompute_alignment_maskDsr$順tensor max_samplescCs8||kr|Stj||jdd|}||S)z Sample tensor elements for quantile computation to reduce memory usage. Args: tensor: Input tensor to sample max_samples: Maximum number of samples to take Returns: Sampled tensor )r N)numelrrandpermr flatten)r&r'idxrrrsample_tensor_for_quantileds  r,r@ intrinsics scale_factorcCsT|ddddddf|ddddddfd}||ddddddf|S)a Apply metric scaling to depth based on camera intrinsics. Args: depth: Input depth tensor intrinsics: Camera intrinsics tensor scale_factor: Scaling factor for metric conversion Returns: Scaled depth tensor Nrr)rr.r/ focal_lengthrrrapply_metric_scalingvs4 r3i@ max_depthcCs<|}|||<|dur|}d||<||fS|dfS)a6 Set sky regions to maximum depth and high confidence. Args: depth: Depth tensor depth_conf: Depth confidence tensor non_sky_mask: Non-sky region mask max_depth: Maximum depth value for sky regions Returns: Tuple of (updated_depth, updated_depth_conf) Ng?)clone)rrrr5rrrset_sky_regions_to_max_depths  r7)r)r)rr)r%)r-)r4) __doc__typingrrTensorfloatrrr$intr,r3r7rrrrsp