
     h                         d dl Z d dlZd dlmZmZ d dlmZ d dlmZm	Z	 d Z
d ZddZ ej                         dd       Zd	 Zdd
ZddZy)    N)to_cpucollate_with_cat)invalid_to_nans)depthmap_to_pts3dgeotrfc                 &   i }| j                         D ]u  \  }}||   }t        |t        j                        r*t        j                  ||fd      j                  dd      }n"t        ||      D cg c]  }|D ]  }|  }}}|||<   w |S c c}}w )N   dimr   )items
isinstancetorchTensorstackflattenzip)	img1img2reskeyvalue1value2valuepairxs	            3/home/cameronsmith/repos/dust3r/dust3r/inference.py_interleave_imgsr      s    
Czz| Vcfell+KK 0a8@@AFE#&vv#6E4E1QEQEEEC J Fs   1Bc                 D    | \  }}t        ||      t        ||      }}||fS )N)r   )batchview1view2s      r   make_batch_symmetricr"      s-    LE5$UE24DUE4R5E%<    c                 0   | \  }}t        g d      }	| D ]5  }
|
j                         D ]   }||	v r|
|   j                  |d      |
|<   " 7 |rt        |       \  }}t        j
                  j                  j                  t        |            5   |||      \  }}t        j
                  j                  j                  d      5  | |||||      nd }d d d        d d d        t        ||      }|r||   S |S # 1 sw Y   *xY w# 1 sw Y   .xY w)N)depthmapdatasetlabelinstanceidx
true_shaperngT)non_blocking)enabledF)r    r!   pred1pred2loss)
setkeystor"   r   cudaampautocastbooldict)r   model	criteriondevicesymmetrize_batchuse_ampretr    r!   ignore_keysviewnamer.   r/   r0   results                   r   loss_of_one_batchrC       s-   LE5^_K BIIK 	BD{"dvDADJ	BB +E2u		 	 g	 	7 \UE*u ZZ^^$$U$3 	\<E<Q9UE5%8W[D	\	\ U%u4PF6#;)6)		\ 	\	\ \s$   7DD D D		DDc           	      6   |rt        dt        |        d       g }t        |        }|rd}t        j                  dt        |       ||       D ]9  }t        t        | |||z          |d |      }|j                  t        |             ; t        ||      }|S )Nz>> Inference with model on z image pairsr	   r   )disable)lists)	printlencheck_if_same_sizetqdmtrangerC   r   appendr   )	pairsr9   r;   
batch_sizeverboserB   multiple_shapesir   s	            r   	inferencerR   7   s    +CJ<|DEF .e45O
[[CJ
KH # 0qZ1H I5RVX^_fSk"# fO<FMr#   c                    | D cg c]  \  }}|d   j                   dd   c}}| D cg c]  \  }}|d   j                   dd   c}}t        fdD              xr t        fdD              S c c}}w c c}}w )Nimgc              3   .   K   | ]  }d    |k(    ywr   N ).0sshapes1s     r   	<genexpr>z%check_if_same_size.<locals>.<genexpr>N   s     01wqzQ0   c              3   .   K   | ]  }d    |k(    ywrW   rX   )rY   rZ   shapes2s     r   r\   z%check_if_same_size.<locals>.<genexpr>N   s     8ZQq8Zr]   )shapeall)rM   r   r   r[   r_   s      @@r   rI   rI   K   sw    8=>*$tE{  %>G8=>*$tE{  %>G000ZS8ZRY8Z5ZZ ?>s
   A7A=c                     d|v r"d|v r	 | d   dd ddf   }t        di |d|i}nd|v r|d   }nd|v r|d	u sJ |d   S |r!|j                  d
      }|J t        |      }S # t         $ r d }Y [w xY w)Ndepthpseudo_focalcamera_intrinsics.   pppts3dpts3d_in_other_viewTcamera_poserX   )KeyErrorr   getr   )gtpreduse_poserg   rh   rj   s         r   get_pred_pts3drp   Q   s    $>T1	'(bqb!4B "0D0R0	DW	$	&4)**hh}-&&{E*L%  	B	s   A% %A32A3c                    | j                   |j                   cxk(  rdk(  sJ  J | j                  |j                  k(  sJ |?|j                   |j                   cxk(  rdk(  sJ  J |j                  |j                  k(  sJ t        | |      j                  dd      }|t        ||      j                  dd      nd }t        ||      j                  dd      }|t        ||      j                  dd      nd }|t	        j
                  ||fd      n|}	|t	        j
                  ||fd      n|}
|
|	z  j                  d      }|	j                         j                  d      }|j                  d      r&|j                  d      |j                  d      z  }n|j                  d      r ||z  j                  d      j                  }n|j                  d      r|j                  d      |j                  d      z  }t        d	      D ]v  }|
|j                  ddd      |	z  z
  j                  d      }|j                  d
      j!                         }||z  j                  d      ||z  j                  d      z  }x nt#        d|      |j%                  d      r|j'                         }|j)                  d      }|S )N   r	   rf   r
   avgmedian	weiszfeld
   g:0yE>)minzbad fit_mode=	stop_gradgMbP?)ndimr`   r   r   r   catsumsquare
startswithnanmean	nanmedianvaluesranger@   normclip_
reciprocal
ValueErrorendswithdetachclip)gt_pts1gt_pts2pr_pts1pr_pts2fit_modevalid1valid2nan_gt_pts1nan_gt_pts2all_gtall_pr	dot_gt_pr	dot_gt_gtscalingiterdisws                    r   find_opt_scalingr   j   s   <<7<<,1,,,,==GMM))||w||0q0000}}-- "'62::1a@KDKDW/'62::1a@]aKgv.66q!<G@G@Sogv.66q!<Y]G=D=PUYY[1q9VaF5<5HUYY)q1gF&%%"%-I###+I5!###*Y->->1->-EE			X	&y(333:AA			[	)###*Y->->1->-EE"I 	VDGLLQ2V;;AAbAIC		d	#..0A9}--!-4I7N7NST7N7UUG	V >{+,,%.."lltl$GNr#   )FFN)   T)F)Nweiszfeld_stop_gradNN)rJ   r   dust3r.utils.devicer   r   dust3r.utils.miscr   dust3r.utils.geometryr   r   r   r"   rC   no_gradrR   rI   rp   r   rX   r#   r   <module>r      sQ      8 - ;	*.  &[2,r#   