
    Rg8                     ,   d dl mZ d dlZd dlZd dl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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 mZ d dlm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Zd dlZd dl m!Z! d	ejD                  fd
Z#d	ejD                  fdZ$d Z%d Z&d Z'd dl(m)Z)m*Z* d Z+ddZ,ddZ-d Z.ddZ/d Z0ddZ1d dl m!Z! d	ejD                  fdZ#d	ejD                  fdZ$ G d dejd                  jf                  jh                        Z5y)    N)glob)defaultdict)	set_trace)combinations)choice)
transforms)Imagereturnc                 |   t        j                  |       5 }t        j                  t        j                  |t        j
                        t        j                        j                  t        j                        j                  |j                  d   |j                  d   f      }d d d        |S # 1 sw Y   S xY wNdtype   r   r	   opennp
frombufferarrayuint16float16astypefloat32reshapesize	depth_png	depth_pildepths      I/home/cameronsmith/repos/refactor_flowmap_and_splat/data/pokemon_rooms.py_load_16big_png_depthr           	I	 
) MM"((9BII>bjjQVBJJWinnQ'):;< 	
 L
 L   BB11B;c                 Z    t        |       |z  }d|t        j                  |       <   |d    S N        r    r   isfinitepathscale_adjustmentds      r   _load_depthr,   )   /    d#&66AAr{{1~oT7N    c           	          g }dD ]:  }|j                  t        t        j                  j	                  | |                   < |S )N)z*.pngz*.jpgz*.JPEGz*.JPG)extendr   osr)   join)r)   imgsexts      r   	glob_imgsr5   /   s;    D4 3DdC0123Kr.   c                 :    | s| S |D cg c]  }| |   	 c}S c c}w N )list	item_idcsis      r   pickr<   6   s"    &'DG'''s   c                 ^    | ddd df   }| ddddf   }| ddddf   }| ddddf   }||||fS )N.r   r         r8   )
intrinsicsfxfycxcys        r   parse_intrinsicsrE   <   s`    	CBQBJ	B	CAaCK	 B	CAaCK	 B	CAaCK	 Br2r>r.   )	rearrangerepeatc                     t        | d      S )Nz... c x y -> ... (x y) c)rF   xs    r   <lambda>rK   E   s    9Q9: r.   c           	      f    t        | d|"t        | j                  d      dz              S |      S )Nz... (x y) c -> ... c x y      ?rI   )rF   intr   )srcrJ   s     r   rK   rK   F   s2    9S)Cabajc#((SU,Y[J\F]r pqr r.   c                     t        j                  | t        j                  | j                  |      d   j	                  |            f|      S Nr   )torchcat	ones_likeunbind	unsqueeze)rJ   r;   s     r   rK   rK   G   s7    eiiEOOAHHQKN4L4LQ4O$P QSTU r.   c                     t        | j                        t        |j                        k(  r| S t        t        |j                        t        | j                        z
        D ]  }| j                  d      }  | S )N)lenshaperangerW   )rJ   yr;   s      r   	expand_asr^   J   s\    
177|s177|#3qww<#agg,./ KKO Hr.   c                 d   t        |      \  }}}}| t        ||       z
  t        ||       z  |z  }	|t        ||      z
  t        ||      z  |z  }
|rGt        j                  |	|
|t        j                  |      j                  | j                        fd      S t        j                  |	|
|fd      S )z

    :param self:
    :param x: Shape (batch_size, num_points)
    :param y:
    :param z:
    :param intrinsics:
    :return:
    rY   dim)rE   r^   rS   stackrU   todevice)rJ   r]   zr@   homogeneousrA   rB   rC   rD   x_lifty_lifts              r   liftri   T   s     &j1NBB)B""iA&66:F)B""iA&66:F{{FFAuq/A/D/DQXX/NOUWXX{{FFA.B77r.   c                     |j                   ^}}| d   }| d   }|}t        ||||d      }	t        j                  d||	      dd df   }
|
S )N).r   ).r   T)r@   rf   zb...ij,b...kj->b...ki.r?   )r[   ri   rS   einsum)xyr   	cam2worldr@   
batch_size_x_camy_camz_campixel_points_camworld_coordss              r   world_from_xy_depthru   i   sj    __NJvJEvJEEue
 << 7DTURaRL r.   c                     t        j                  | j                  d d       j                  | j                        }t        | |||      }|dd ddf   }||dd d d f   z
  }|rt        j                  |d      }|S )NrY   )r@   rm   .r?   r`   )rS   onesr[   rc   rd   ru   F	normalize)rl   rm   r@   ry   rr   pixel_pointscam_posray_dirss           r   get_ray_directionsr}   z   s    JJrxx}%((3E&
EjIL RaR
#Ggc4l33H;;xR0Or.   c                 |   t        j                  |       5 }t        j                  t        j                  |t        j
                        t        j                        j                  t        j                        j                  |j                  d   |j                  d   f      }d d d        |S # 1 sw Y   S xY wr   r   r   s      r   r    r       r!   r"   c                 Z    t        |       |z  }d|t        j                  |       <   |d    S r$   r&   r(   s      r   r,   r,      r-   r.   c                   J    e Zd ZdZ	 	 	 	 	 	 d
dZd Zd Zd Zd Zd Z	dd	Z
y)PokemonRoomszODataset for a class of objects, where each datapoint is a SceneInstanceDataset.c                    || _         || _        || _        t        j                  j                  ddddg|   z        | _        t        | j                         t        t        t        j                  j                  | j                  d            d       d d | _
        d	}|r| j                  |d  n| j                  d | | _
        t        d
       y )Nz/nobackup/nvme1/pokemon_rooms/z
%s_pokemonstaticdynamic*c                 <    t        | j                  d      d         S )Nro   rY   )rO   splitrI   s    r   rK   z'PokemonRooms.__init__.<locals>.<lambda>   s    TWXYX_X_`cXdegXhTi r.   )key2   (   zdone with dataloader init)n_trgtnum_skiplow_resr1   r)   r2   	base_pathprintsortedr   	scenedirs)selfnum_contextn_skipnum_trgtr   r   valns           r   __init__zPokemonRooms.__init__   s     ww||$D\S[\eRfgnRoEopdnnRWW\\$..%E FKijknlno
CdnnQR0T^^BQ=OT^)*r.   c                     || j                   |   i| _        | j                  D cg c]  }|d   |k(  s| c}| _        t	        | j                        | _        y c c}w rR   )total_sorted_seqseqstotal_all_frame_namesall_frame_namesrZ   total_num_data)r   	seq_queryrJ   s      r   set_seqzPokemonRooms.set_seq   sU    T229=>	)-)C)CWAqtYaW 4 45 Xs
   AAc                     i }||S t         j                  j                  | j                  dz  |d      }dD ]  }||   |   ||<    |j	                         D ]  \  }}|dvs||   ||<    |S )Nr>   F)r   replace)rgbuv)r   randomr   img_sidelengthitems)r   dictsparsitynew_dict	rand_idcsr   vs          r   sparsifyzPokemonRooms.sparsify   s    K 		((##q(x ) I % 5 $S	) 45 **, .Qm+$(IHSM. Or.   c                 V    || _         | j                  D ]  }|j                  |        y)zYFor multi-resolution training: Updates the image sidelength with which images are loaded.N)r   all_instancesset_img_sidelength)r   new_img_sidelengthinstances      r   r   zPokemonRooms.set_img_sidelength   s.    0** 	<H''(:;	<r.   c                 ,    t        | j                        S r7   )rZ   r   )r   s    r   __len__zPokemonRooms.__len__   s    4>>""r.   c                     |d   j                         }t        t              }|D ]   }|D ]  }||   j                  ||           " |D ]   }	 t	        j
                  ||   d      ||<   " |S #  Y )xY w)Nr   r`   )keysr   r9   appendrS   rb   )r   
batch_listr   resultentryr   s         r   
collate_fnzPokemonRooms.collate_fn   s    !}!!#T" 	/E /s""5:./	/
  	C#kk&+1=s	 s   A//A3Nc                     | j                   }g }g }g }t        | j                        t        k(  rt	        j
                  | j                        n| j                  dz   }| j                  |   }t        t        t        j                  j                  |dd                  }	t        t        t        j                  j                  |dd                  }
t        t        t        j                  j                  |dd                  }dD cg c]8  }t        t        t        j                  j                  |dd|z                    : }}t        t        t        |	                  d | j                  |z  |   }t        j                   |D cg c]0  }t        j"                  t%        j&                  ||         d	         2 c}      j)                         }t        j                   |D cg c]-  }t        j"                  t-        j.                  |	|               / c}      d
d df   dz  }	t        j                   |D cg c]n  }t        j                   |D cg c]M  }t        j"                  t%        j0                  ||   t$        j2                              j5                  dd      O c}      p c}}      }t        j                   |D cg c]-  }t        j"                  t-        j.                  |
|               / c}      }
t        |
j7                               dk  s6|
j7                         t        j8                  g d      k7  j;                         rt+        d       | d   S t        j                   |
j7                         D cg c]  }|
|z
  j=                         dk   c}d      j)                         }
t?        t        j                  j                  |d            5 }t%        j@                  |jC                         d d jE                               jG                  t$        j2                        }d d d        t        jH                  d      }t)        d         x|d<   |d<   t)        |d         |d<   t)        |d         |d<   |dxx   |	jK                  d      z  cc<   |dxx   |	jK                  d      z  cc<   |d    jM                  t        |	      dd      }d}|	}tO        jP                  t        j                   |	D cg c]  }|jS                  ddd       c}      |dd      }	tO        jP                  |d d d f   |dd      jU                  d      }tO        jP                  |
jW                  dd      d d d f   |d      jU                  d      jY                  d|
jZ                  d d       }
|	dz  dz  dz
  }	t$        j\                  d|d   d|d   f   jG                  t(              j_                  ddd      }t        j"                  t%        j`                  |d       jc                               je                         }|t        j8                  |d   dz
  |d   dz
  g      z  }|d    jM                  t        |	      ddd      jW                  dd      }g }t        dt        |	            D ]_  }g }	 to        |      D ]  \  }}|r||dz
     ||   jg                         z  nt        jH                  d      }|d   |d   |dz
     jg                         |z  |d   |   z  ti        |d   jg                         ti        ||         ||   jW                         jk                  d      z  jl                  z  d      z  d d z  }|d d |d   d!z   z  }|jq                  |        t        j                   |      }|
|   jW                  dd      jk                  d      |z  js                  d      }|jq                  |jl                  |d   z
         b tu        t        j                   |            }|d   }|	|jS                  dddd      |jU                  d      |||||
d"} tw        |	      d#z  d#z   |jU                  d      jW                  dd      jk                  d      ||d$}!| |!fS c c}w c c}w #  t+        |       Y xY wc c}w c c}w c c}}w c c}w c c}w # 1 sw Y   xY wc c}w )%Nr   r   r   instance_mapr   )camobj_0obj_1posez%s_*arr_0.r?      r      )r%   g~ >gz4ՓG?zbad setr   gHz>zintrinsics.txt)r   r   )r   r   )r   r>   r>   )r   r>   rY   Tbilinear)	antialiasmodenearest)r   )axisgh㈵>)r   	rgb_larger   r@   bwd_flowtrgt_c2wx_pixsegsrN   )r   r   r@   r   )<r   typer   r9   r   r   r   r   r   r1   r)   r2   r\   rZ   r   rS   rb   
from_numpyr   loadfloatr   pltimread
genfromtxtr   viewuniquetensorallabsr   r   readliner   r   eyer   expandrx   interpolatepermutesqueezeflatten	unflattenr[   mgrid	transposeflipcopylonginversehomrW   T	enumerater   sumch_fstch_sec)"r   idxr   r   contexttrgt
post_inputr   scenedirr3   r   depthssposesidxsr;   poses_rJ   f
raw_K_flatKlarge_scale
imgs_larger   bwd_optflows	pix_projspix0pix_projpose_ir   objposec2wmodel_inputgts"                                     r   __getitem__zPokemonRooms.__getitem__   s   
26t}}2Et2K&--.QUQ^Q^bcc>>#&d277<<s;<=d277<<DEFRWW\\(73?@AOfg!RWW\\(6&(CDEggE#d)$%&@t{{6'9&&@AKKX\ ]ST!1!1"''&)2DW2M!N ]^ddfV[[NA%**3::d1g+>?NOPSTVUVTVPVWZ]]kk  MR  S  CI5;;w{'|rs(8(8vayWYWaWa9b(c(h(hijkl(m'|}  S  T[[NA%**3::d1g+>?NOt{{}aDKKM5<<@d3e$e#j#j#l)7N[[  E!46,,.-  E  FG  H  N  N  P"'',,x(89:  	EabhhWXWaWaWcdgegWhWnWnWpNqNxNxy{  zD  zD  OE  	EIIaLJqM**#qvZ]##Z]##	!diil	!diil
D'..T2b
)
}}U[[D)Iq!))Aa*:)IJ7]agqrvaf~g*U]]^_`}}T\\!A.qv6wINVVWXYccdefjfpfpqsrsftuCx!|a XXa
lAgajL0188?II!QPQRbggbr2779:??Awqz!|WQZ\:;;X__SYr"R0881=qT# 	2AI $-U#3 +KF4AGtAaCy47??+<<UYYWX\GQ458AaC=#8#8#:W#DuQxPQ{#RUXYZ[\Y]YeYeYgknoqrsotkuv|}~v  wH  wH  wJ  wT  wT  UW  wX  lX  k[  k[  Z[  \]  V^  $^  `b  ab  #c  cD8T!WT\2D$$T*	+
 kk),IQ!,66q9)CHHKH 

2a5 01)	2* EKK56. !H '//!Aa8*(
 d|Br)*221Q7AA"E	 2~O h !^hN'|  SN E 	E  	E *Jsb   	=b78c 5b< c (2c?c
Ac)	c
2c$	c)%Ac.	c;<c cc
.c8)r>   r   r   T)   r	  Fr7   )__name__
__module____qualname____doc__r   r   r   r   r   r   r  r8   r.   r   r   r      s=    Y +*6
$<#"Pr.   r   r7   )rY   )F)T)6matplotlib.pyplotpyplotr   cv2r1   multiprocessingmptorch.nn.functionalnn
functionalrx   rS   r   imageionumpyr   r   collectionsr   pdbr   	itertoolsr   r   
imageio.v3v3iiotorchvisionr   sysgzipjsonPILr	   ndarrayr    r,   r5   r<   rE   einopsrF   rG   r   r   r   r^   ri   ru   r}   utilsdataDatasetr   r8   r.   r   <module>r(     s      
 	         #   "    " 
  	    	

 	2:: ( %	:	rU8*"
 	

 	2:: Z5;;##++ Zr.   