
     h3                         d dl Z d dlZd dlmZ d dlmZmZ d dl	m
Z
 ddZddZd ZddZdd	Zd
 Zd Zd ZddZ e j(                         dd       Z e j(                         dd       Zd Zd Zy)    N)cKDTree)invalid_to_zerosinvalid_to_nans)to_numpyc           	         Dt         j                  t         j                  t         j                  t         j                  f\  }}	}
}n*fd}t
        j                  t
        j                  }
}	fd}t        | |f|      D cg c]  \  }} ||||z   fi | c}}\  }} |	||d      }|r| ||| f      fz   }|(|d   j                  |      |d   j                  |      f}|	 |
||      }|S c c}}w )z| Output a (H,W,2) array of int32 
        with output[j,i,0] = i + origin[0]
             output[j,i,1] = j + origin[1]
    c                  2    t        j                  | di|S Ndevice)torcharange)akwr
   s     C/home/cameronsmith/repos/controll3r/dust3r/dust3r/utils/geometry.py<lambda>zxy_grid.<locals>.<lambda>   s    %,,"G&"GB"G     c                  .    t        j                  | diS r	   )r   ones)r   r
   s    r   r   zxy_grid.<locals>.<lambda>   s    %**a77 r   xy)indexingr      )npr   meshgridstackr   r   zip	unsqueeze)WHr
   originr   cat_dimhomogeneous	arange_kwr   r   r   r   sotwthgrids     `              r   xy_gridr'      s    
 ~(*		2;;"''(Q%% H..%++%78;QFF8KL1fQA++LFBBT*DtQF|o%Q!!),d1g.?.?	.JKT7#K Ms   C3c                    | j                   dk\  sJ t        | t        j                        rt        j                  |      }n;t        | t
        j                        r!t        j                  || j                        }|j                  dd }|xs |j                  d   }t        | t
        j                        rt        |t
        j                        r| j                   dk(  r|j                   dk(  r|j                  d   }| j                  d   |k(  rt        j                  d| |      }n| j                  d   |dz   k(  r4t        j                  d| ddd|d|f   |      | ddddd||f   z   }nt        d	|j                        | j                   dk\  r| j                   dz
  }| j                  d| |j                  d| k(  sJ d
       | j                  d| j                  d   | j                  d         } |j                   | j                   kD  r.|j                  | j                  d   d|j                  d         }n|j                   dk(  r|dddddf   }|j                  d   dz   | j                  d   k(  r/| j                  dd      } || dddddf   z  | dddddf   z   }ng|j                  d   | j                  d   k(  r| j                  dd      } || z  }n0| |j                  z  }|j                   dk\  r|j                  dd      }|r||dddf   z  }|dk7  r||z  } |dd|f   j                  g || }|S )at   Apply a geometric transformation to a list of 3-D points.

    H: 3x3 or 4x4 projection matrix (typically a Homography)
    p: numpy/torch/tuple of coordinates. Shape must be (...,2) or (...,3)

    ncol: int. number of columns of the result (2 or 3)
    norm: float. if != 0, the resut is projected on the z=norm plane.

    Returns an array of projected 2d points.
       )dtypeN      zbij, bhwj -> bhwir   z1bad shape, not ending with 3 or 4, for pts.shape=zbatch size does not matchr   .)ndim
isinstancer   ndarrayasarrayr   Tensor	as_tensorr*   shapeeinsum
ValueErrorreshapeswapaxesT)Trfptsncolnormoutput_reshapednress           r   geotrfrC   (   s    88q=#rzz"jjo	C	&ooc3 YYs^N 399R=D 	3%*S%,,*GHHMchh!mIIaL99R=A,,2C=CYYr]a!e#,,2C2A2rr	NCH3qRVX\^`_`^`bcOcKddCQsyylSTT88q=1A99Ra=CIIbqM1N3NN++b#))B-2?Cxx#(("kk#))A,CIIbMBQ!T1*o99R=1		"-,,r2&CC"aK((3sBC{+;;CYYr]ciim+,,r2&C)C+Cxx1}ll2r*CRSM!194KC
!#c5D5j/
!
!
8>
84
8CJr   c                    t        | t        j                        rt        j                  j	                  |       S t        | t
        j                        rt
        j                  j	                  |       S t        dt        |              )z$ Invert a torch or numpy matrix
    zbad matrix type = )	r0   r   r3   linalginvr   r1   r7   type)mats    r   rF   rF   h   s_     #u||$||$$#rzz"yy}}S!!
)$s)5
66r   c                    t        | j                        dk(  r| j                  \  }}}}n| j                  \  }}}d}t        |j                        dk(  r|x}}	nKt        |j                        dk(  r(|dddf   }|j                  d   dk(  r
|dddf   }	n|}	nt        d      |j                  | j                  dd k(  sJ |	j                  | j                  dd k(  sJ t        ||d| j                        dddf   \  }
}||
|dz
  dz  z
  }
||dz
  dz  z
  }n>|
j                  |d	d	      |dddddf   z
  }
|j                  |d	d	      |dddddf   z
  }|Bt        j                  |||df| j                  
      }| |
z  |z  |d<   | |z  |	z  |d<   | |d<   |S t        j                  |||d|f| j                  
      }| |
|z  d   z  |ddddf<   | ||	z  d   z  |ddddf<   | |ddddf<   |S )z
    Args:
        - depthmap (BxHxW array):
        - pseudo_focal: [B,H,W] ; [B,2,H,W] or [B,1,H,W]
    Returns:
        pointmap of absolute coordinates (BxHxWx3 array)
    r-   Nr,   r   r   r)   z(Error, unknown input focal shape format.)r   r
   r+   )r
   ).r   ).r   ).r)   ).N.)lenr5   NotImplementedErrorr'   r
   expandr   empty)depthpseudo_focalpp_Br   r   rA   pseudo_focalxpseudo_focalygrid_xgrid_ypts3ds                r   depthmap_to_pts3drX   r   s>    5;;1[[
1a++1a
<!#(44	\	 A	%$QT*a A%(A.M)M!"LMM%++bq/11%++bq/11Q1U\\B1d7KNFF 
z1q5A+%1q5A+%q"b)Bq!T4/?,@@q"b)Bq!T4/?,@@yQ1aL>6f6ff L	 Q1aOELLA F]$:I#FFc1ai F]$:I#FFc1ai c1aiLr   c                    t        j                  |      }| j                  \  }}|d   dk(  sJ |d   dk(  sJ ||d   }|d   }n|j                  ||fk(  sJ |x}}|d   }|d   }t        j                  t        j                  |      t        j                  |            \  }	}
| }|	|z
  |z  |z  }|
|z
  |z  |z  }t        j
                  |||fd	      j                  t         j                        }| dkD  }||fS )
z
    Args:
        - depthmap (HxW array):
        - camera_intrinsics: a 3x3 matrix
    Returns:
        pointmap of absolute coordinates (HxWx3 array), and a mask specifying valid pixels.
    )r   r   g        )r   r   r   r   )r   r   r   r)   r   r)   r+   )axis)r   float32r5   r   r   r   astype)depthmapcamera_intrinsicsrO   r   r   fufvcucvuvz_camx_camy_camX_cam
valid_masks                   r   depthmap_to_camera_coordinatesrm      s    

#45>>DAq T"c))T"c))t$t$!!aV++R	4	 B	4	 B;;ryy|RYYq\2DAqEVur!EVur!EHHeUE*4;;BJJGE S.J*r   c                     t        | |      \  }}|}|6|ddddf   }|dddf   }t        j                  d||      |ddddf   z   }||fS )z
    Args:
        - depthmap (HxW array):
        - camera_intrinsics: a 3x3 matrix
        - camera_pose: a 4x3 or 4x4 cam2world matrix
    Returns:
        pointmap of absolute coordinates (HxWx3 array), and a mask specifying valid pixels.Nr,   zik, vuk -> vui)rm   r   r6   )	r`   ra   camera_poser   rk   rl   X_worldR_cam2worldt_cam2worlds	            r   'depthmap_to_absolute_camera_coordinatesrs      s     7xARSE:G ""1"bqb&)!"1"a%( )),k5AKPTVZ\]P]D^^Jr   c                 Z    | j                         } | dxx   dz  cc<   | dxx   dz  cc<   | S z
    Modify camera intrinsics to follow a different convention.
    Coordinates of the center of the top-left pixels are by default:
    - (0.5, 0.5) in Colmap
    - (0,0) in OpenCV
    r[         ?r\   copyKs    r   colmap_to_opencv_intrinsicsr{      .     	
AdGsNGdGsNGHr   c                 Z    | j                         } | dxx   dz  cc<   | dxx   dz  cc<   | S ru   rw   ry   s    r   opencv_to_colmap_intrinsicsr~      r|   r   c                    | j                   dk\  r| j                  d   dk(  sJ |#|j                   dk\  r|j                  d   dk(  sJ |j                  d      \  }}|dk(  r>t        | |d      \  }}|t        ||d      nd\  }	}
|t	        j
                  ||	fd	      n|}|j                  d	      }|d
k(  rn|dk(  rt	        j                  |      }n|dk(  rt	        j                  |      }||j                  d      z  }| j                  dd \  }}| |ddd||z  f   j                  d||d      z  } |5|j                  dd \  }}||dd||z  df   j                  d||d      z  }|}nt        d|      |j                  d	      ||
z   dz   z  }nt        | |d      }|t        ||d      nd}	|t	        j
                  ||	fd	      n|}|j                  d	      }|dk(  r|j                  d	      }ng|dk(  r+|j                  d	      j                  j!                         }n7|dk(  r$|j#                         j                  d	      dz  }nt        d|      |j                  d      }|j                   | j                   k  r+|j%                  d       |j                   | j                   k  r+| |z  }||||z  f}|r||fz   }|S )z0 renorm pointmaps pts1, pts2 with norm_mode
    r,   r+   NrQ   avg)r/   )Nr   r   dimdislog1pz
warp-log1pg:0yE>)minzbad dis_mode=mediansqrtr)   zbad norm_mode=)r/   r5   splitr   r   catr>   r   clipviewr7   sumr   nanmean	nanmedianvaluesdetachr   
unsqueeze_)pts1pts2	norm_modevalid1valid2
ret_factordis_modenan_pts1nnz1nan_pts2nnz2all_ptsall_dislog_diswarp_factorH1W1H2W2norm_factorrB   s                        r   normalize_pointcloudr      s	    99>djjn11<DIINtzz"~/BC#//#.IxE)$Q?$CGCS)$Q?Yb$<@<L%))Xx0a8RZ ,,2,&u kk'*G%kk'*G!GLLTL$::KZZ"%FB+a"r'k277BAFFDAb)Bk!R"WX+6;;BBJJG~H;/00kkak(D4K$,>? #4a8<@<L?4a8RV<@<L%))Xx0a8RZ ,,2,&!//a/0K("!+++299@@BK& !,,.00Q07:KI<011""t",K


TYY
&r" 

TYY
& 
CD;&'[N"Jr   c                 \   t        | |      j                  t        |       d      }|%t        ||      j                  t        |      d      nd }|t        j                  ||fd      n|}|dk(  r#t        j
                  |d      j                  }|S t        j                  ||d      }|S )Nr+   r   rv   )r   r8   rJ   r   r   r   r   nanquantile)	z1z2valid_mask1valid_mask2quantile_z1_z2_zshift_zs	            r   get_joint_pointcloud_depthr   8  s     "k
*
2
23r7B
?CCE>/"k
*
2
23r7B
?W[C*,.C:2	&cB 3//""-44 N ##Bb9Nr   c                    t        | |      j                  t        |       dd      }|&t        ||      j                  t        |      dd      nd }|t        j                  ||fd      n|}t        j
                  |dd      j                  }	|r	d|	dd d	f<   |r||	z
  n|j                  d      }
t        j
                  |
d      j                  }|	d d d d d d d f   |d d d d d f   fS )
Nr+   r,   r   r   T)r   keepdimr   .r)   )r   r8   rJ   r   r   r   r   r>   )r   r   r   r   z_onlycenter_pts1_pts2_pts_center_normscales               r   !get_joint_pointcloud_center_scaler   G  s     D+.66s4y"aHELPL\OD+.66s4y"aHbfE/3/?599eU^+UD ood48??GRaR "(dWnT77B7?EOOEq)00E1dAq=!5D$)<#===r   c                    t        |       }t        |      }|j                  | d      \  }}|j                  |d      \  }}||   t        j                  t	        |            k(  }||   t        j                  t	        |            k(  }|j                         |j                         k(  sJ |||j                         fS )a  
    returns 3 values:
    1 - reciprocal_in_P2: a boolean array of size P2.shape[0], a "True" value indicates a match
    2 - nn2_in_P1: a int array of size P2.shape[0], it contains the indexes of the closest points in P1
    3 - reciprocal_in_P2.sum(): the number of matches
       )workers)KDTreequeryr   r   rJ   r   )	P1P2tree1tree2rQ   	nn1_in_P2	nn2_in_P1reciprocal_in_P1reciprocal_in_P2s	            r   find_reciprocal_matchesr   Y  s     2JE2JE;;r1;-LAy;;r1;-LAy!),		#i.0II!),		#i.0II!%5%9%9%;;;Y(8(<(<(>>>r   c                     ddl m} t        j                   || D cg c]  }t	        |d ddf          c}            S c c}w )Nr   )pdistr,   )scipy.spatial.distancer   r   r   r   )posesr   ps      r   get_med_dist_between_posesr   l  s8    ,99U>1HQrr1uX.>?@@>s   A )NrZ   Nr+   F)NF)N)avg_disNNF)Nrv   )NNFT)r   numpyr   scipy.spatialr   r   dust3r.utils.miscr   r   dust3r.utils.devicer   r'   rC   rF   rX   rm   rs   r{   r~   r   no_gradr   r   r   r    r   r   <module>r      s      + ? (2=@70f F.

<~   > >"?&Ar   