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import torch
import torch.nn.functional as F
import numpy as np
import matplotlib.pyplot as plt

import torchext
import co


class TimedModule(torch.nn.Module):
  def __init__(self, mod_name):
    super().__init__()
    self.mod_name = mod_name

  def tforward(self, *args, **kwargs):
    raise Exception('not implemented')

  def forward(self, *args, **kwargs):
    torch.cuda.synchronize()
    with co.gtimer.Ctx(self.mod_name):
      x = self.tforward(*args, **kwargs)
      torch.cuda.synchronize()
    return x


class PosOutput(TimedModule):
  def __init__(self, channels_in, type, im_height, im_width, alpha=1, beta=0, gamma=1, offset=0):
    super().__init__(mod_name='PosOutput')
    self.im_width = im_width
    self.im_width = im_width

    if type == 'pos':
      self.layer = torch.nn.Sequential(
        torch.nn.Conv2d(channels_in, 1, kernel_size=3, padding=1),
        SigmoidAffine(alpha=alpha, beta=beta, gamma=gamma, offset=offset)
      )
    elif type == 'pos_row':
      self.layer = torch.nn.Sequential(
          MultiLinear(im_height, channels_in, 1),
          SigmoidAffine(alpha=alpha, beta=beta, gamma=gamma, offset=offset)
        )

    self.u_pos = None

  def tforward(self, x):
    if self.u_pos is None:
      self.u_pos = torch.arange(x.shape[3], dtype=torch.float32).view(1,1,1,-1)
    self.u_pos = self.u_pos.to(x.device)
    pos = self.layer(x)
    disp = self.u_pos - pos
    return disp


class OutputLayerFactory(object):
  '''
  Define type of output
  type options:
    linear: apply only conv channel, used for the edge decoder
    disp: estimate the disparity
    disp_row: independently estimate the disparity per row 
    pos: estimate the absolute location 
    pos_row: independently estimate the absolute location per row 
  '''
  def __init__(self, type='disp', params={}):
    self.type = type
    self.params = params

  def __call__(self, channels_in, imsize):

    if self.type == 'linear':
       return torch.nn.Conv2d(channels_in, 1, kernel_size=3, padding=1)

    elif self.type == 'disp':
      return torch.nn.Sequential(
          torch.nn.Conv2d(channels_in, 1, kernel_size=3, padding=1),
          SigmoidAffine(**self.params)
        )

    elif self.type == 'disp_row':
      return torch.nn.Sequential(
          MultiLinear(imsize[0], channels_in, 1),
          SigmoidAffine(**self.params)
        )

    elif self.type == 'pos' or self.type == 'pos_row':
      return PosOutput(channels_in, **self.params)

    else:
      raise Exception('unknown output layer type')


class SigmoidAffine(TimedModule):
  def __init__(self, alpha=1, beta=0, gamma=1, offset=0):
    super().__init__(mod_name='SigmoidAffine')
    self.alpha = alpha
    self.beta = beta
    self.gamma = gamma
    self.offset = offset

  def tforward(self, x):
    return torch.sigmoid(x/self.gamma - self.offset) * self.alpha + self.beta


class MultiLinear(TimedModule):
  def __init__(self, n, channels_in, channels_out):
    super().__init__(mod_name='MultiLinear')
    self.channels_out = channels_out
    self.mods = torch.nn.ModuleList()
    for idx in range(n):
      self.mods.append(torch.nn.Linear(channels_in, channels_out))

  def tforward(self, x):
    x = x.permute(2,0,3,1) # BxCxHxW => HxBxWxC
    y = x.new_empty(*x.shape[:-1], self.channels_out)
    for hidx in range(x.shape[0]):
      y[hidx] = self.mods[hidx](x[hidx])
    y = y.permute(1,3,0,2) # HxBxWxC => BxCxHxW
    return y



class DispNetS(TimedModule):
  '''
  Disparity Decoder based on DispNetS
  '''
  def __init__(self, channels_in, imsizes, output_facs, output_ms=True, coordconv=False, weight_init=False, channel_multiplier=1):
    super(DispNetS, self).__init__(mod_name='DispNetS')

    self.output_ms = output_ms
    self.coordconv = coordconv

    conv_planes = channel_multiplier * np.array( [32, 64, 128, 256, 512, 512, 512] )
    self.conv1 = self.downsample_conv(channels_in, conv_planes[0], kernel_size=7)
    self.conv2 = self.downsample_conv(conv_planes[0], conv_planes[1], kernel_size=5)
    self.conv3 = self.downsample_conv(conv_planes[1], conv_planes[2])
    self.conv4 = self.downsample_conv(conv_planes[2], conv_planes[3])
    self.conv5 = self.downsample_conv(conv_planes[3], conv_planes[4])
    self.conv6 = self.downsample_conv(conv_planes[4], conv_planes[5])
    self.conv7 = self.downsample_conv(conv_planes[5], conv_planes[6])

    upconv_planes = channel_multiplier * np.array( [512, 512, 256, 128, 64, 32, 16] )
    self.upconv7 = self.upconv(conv_planes[6],   upconv_planes[0])
    self.upconv6 = self.upconv(upconv_planes[0], upconv_planes[1])
    self.upconv5 = self.upconv(upconv_planes[1], upconv_planes[2])
    self.upconv4 = self.upconv(upconv_planes[2], upconv_planes[3])
    self.upconv3 = self.upconv(upconv_planes[3], upconv_planes[4])
    self.upconv2 = self.upconv(upconv_planes[4], upconv_planes[5])
    self.upconv1 = self.upconv(upconv_planes[5], upconv_planes[6])

    self.iconv7 = self.conv(upconv_planes[0] + conv_planes[5], upconv_planes[0])
    self.iconv6 = self.conv(upconv_planes[1] + conv_planes[4], upconv_planes[1])
    self.iconv5 = self.conv(upconv_planes[2] + conv_planes[3], upconv_planes[2])
    self.iconv4 = self.conv(upconv_planes[3] + conv_planes[2], upconv_planes[3])
    self.iconv3 = self.conv(1 + upconv_planes[4] + conv_planes[1], upconv_planes[4])
    self.iconv2 = self.conv(1 + upconv_planes[5] + conv_planes[0], upconv_planes[5])
    self.iconv1 = self.conv(1 + upconv_planes[6], upconv_planes[6])

    if isinstance(output_facs, list):
      self.predict_disp4 = output_facs[3](upconv_planes[3], imsizes[3])
      self.predict_disp3 = output_facs[2](upconv_planes[4], imsizes[2])
      self.predict_disp2 = output_facs[1](upconv_planes[5], imsizes[1])
      self.predict_disp1 = output_facs[0](upconv_planes[6], imsizes[0])
    else:
      self.predict_disp4 = output_facs(upconv_planes[3], imsizes[3])
      self.predict_disp3 = output_facs(upconv_planes[4], imsizes[2])
      self.predict_disp2 = output_facs(upconv_planes[5], imsizes[1])
      self.predict_disp1 = output_facs(upconv_planes[6], imsizes[0])


  def init_weights(self):
    for m in self.modules():
      if isinstance(m, torch.nn.Conv2d) or isinstance(m, torch.nn.ConvTranspose2d):
        torch.nn.init.xavier_uniform_(m.weight, gain=0.1)
        if m.bias is not None:
          torch.nn.init.zeros_(m.bias)

  def downsample_conv(self, in_planes, out_planes, kernel_size=3):
    if self.coordconv:
      conv = torchext.CoordConv2d(in_planes, out_planes, kernel_size=kernel_size, stride=2, padding=(kernel_size-1)//2)
    else:
      conv = torch.nn.Conv2d(in_planes, out_planes, kernel_size=kernel_size, stride=2, padding=(kernel_size-1)//2)
    return torch.nn.Sequential(
      conv,
      torch.nn.ReLU(inplace=True),
      torch.nn.Conv2d(out_planes, out_planes, kernel_size=kernel_size, padding=(kernel_size-1)//2),
      torch.nn.ReLU(inplace=True)
    )

  def conv(self, in_planes, out_planes):
    return torch.nn.Sequential(
      torch.nn.Conv2d(in_planes, out_planes, kernel_size=3, padding=1),
      torch.nn.ReLU(inplace=True)
    )

  def upconv(self, in_planes, out_planes):
    return torch.nn.Sequential(
      torch.nn.ConvTranspose2d(in_planes, out_planes, kernel_size=3, stride=2, padding=1, output_padding=1),
      torch.nn.ReLU(inplace=True)
    )

  def crop_like(self, input, ref):
    assert(input.size(2) >= ref.size(2) and input.size(3) >= ref.size(3))
    return input[:, :, :ref.size(2), :ref.size(3)]

  def tforward(self, x):
    out_conv1 = self.conv1(x)
    out_conv2 = self.conv2(out_conv1)
    out_conv3 = self.conv3(out_conv2)
    out_conv4 = self.conv4(out_conv3)
    out_conv5 = self.conv5(out_conv4)
    out_conv6 = self.conv6(out_conv5)
    out_conv7 = self.conv7(out_conv6)

    out_upconv7 = self.crop_like(self.upconv7(out_conv7), out_conv6)
    concat7 = torch.cat((out_upconv7, out_conv6), 1)
    out_iconv7 = self.iconv7(concat7)

    out_upconv6 = self.crop_like(self.upconv6(out_iconv7), out_conv5)
    concat6 = torch.cat((out_upconv6, out_conv5), 1)
    out_iconv6 = self.iconv6(concat6)

    out_upconv5 = self.crop_like(self.upconv5(out_iconv6), out_conv4)
    concat5 = torch.cat((out_upconv5, out_conv4), 1)
    out_iconv5 = self.iconv5(concat5)

    out_upconv4 = self.crop_like(self.upconv4(out_iconv5), out_conv3)
    concat4 = torch.cat((out_upconv4, out_conv3), 1)
    out_iconv4 = self.iconv4(concat4)
    disp4 = self.predict_disp4(out_iconv4)

    out_upconv3 = self.crop_like(self.upconv3(out_iconv4), out_conv2)
    disp4_up = self.crop_like(torch.nn.functional.interpolate(disp4, scale_factor=2, mode='bilinear', align_corners=False), out_conv2)
    concat3 = torch.cat((out_upconv3, out_conv2, disp4_up), 1)
    out_iconv3 = self.iconv3(concat3)
    disp3 = self.predict_disp3(out_iconv3)

    out_upconv2 = self.crop_like(self.upconv2(out_iconv3), out_conv1)
    disp3_up = self.crop_like(torch.nn.functional.interpolate(disp3, scale_factor=2, mode='bilinear', align_corners=False), out_conv1)
    concat2 = torch.cat((out_upconv2, out_conv1, disp3_up), 1)
    out_iconv2 = self.iconv2(concat2)
    disp2 = self.predict_disp2(out_iconv2)

    out_upconv1 = self.crop_like(self.upconv1(out_iconv2), x)
    disp2_up = self.crop_like(torch.nn.functional.interpolate(disp2, scale_factor=2, mode='bilinear', align_corners=False), x)
    concat1 = torch.cat((out_upconv1, disp2_up), 1)
    out_iconv1 = self.iconv1(concat1)
    disp1 = self.predict_disp1(out_iconv1)

    if self.output_ms:
      return disp1, disp2, disp3, disp4
    else:
      return disp1


class DispNetShallow(DispNetS):
  '''
  Edge Decoder based on DispNetS with fewer layers
  '''
  def __init__(self, channels_in, imsizes, output_facs, output_ms=True, coordconv=False, weight_init=False):
    super(DispNetShallow, self).__init__(channels_in, imsizes, output_facs, output_ms, coordconv, weight_init)
    self.mod_name = 'DispNetShallow'
    conv_planes = [32, 64, 128, 256, 512, 512, 512]
    upconv_planes = [512, 512, 256, 128, 64, 32, 16]
    self.iconv3 = self.conv(upconv_planes[4] + conv_planes[1], upconv_planes[4])

  def tforward(self, x):
    out_conv1 = self.conv1(x)
    out_conv2 = self.conv2(out_conv1)
    out_conv3 = self.conv3(out_conv2)

    out_upconv3 = self.crop_like(self.upconv3(out_conv3), out_conv2)
    concat3 = torch.cat((out_upconv3, out_conv2), 1)
    out_iconv3 = self.iconv3(concat3)
    disp3 = self.predict_disp3(out_iconv3)

    out_upconv2 = self.crop_like(self.upconv2(out_iconv3), out_conv1)
    disp3_up = self.crop_like(torch.nn.functional.interpolate(disp3, scale_factor=2, mode='bilinear', align_corners=False), out_conv1)
    concat2 = torch.cat((out_upconv2, out_conv1, disp3_up), 1)
    out_iconv2 = self.iconv2(concat2)
    disp2 = self.predict_disp2(out_iconv2)

    out_upconv1 = self.crop_like(self.upconv1(out_iconv2), x)
    disp2_up = self.crop_like(torch.nn.functional.interpolate(disp2, scale_factor=2, mode='bilinear', align_corners=False), x)
    concat1 = torch.cat((out_upconv1, disp2_up), 1)
    out_iconv1 = self.iconv1(concat1)
    disp1 = self.predict_disp1(out_iconv1)

    if self.output_ms:
      return disp1, disp2, disp3
    else:
      return disp1


class DispEdgeDecoders(TimedModule):
  '''
  Disparity Decoder and Edge Decoder
  '''
  def __init__(self, *args, max_disp=128, **kwargs):
    super(DispEdgeDecoders, self).__init__(mod_name='DispEdgeDecoders')

    output_facs = [OutputLayerFactory( type='disp', params={ 'alpha': max_disp/(2**s), 'beta': 0, 'gamma': 1, 'offset': 3}) for s in range(4)]
    self.disp_decoder = DispNetS(*args, output_facs=output_facs, **kwargs)

    output_facs = [OutputLayerFactory( type='linear' ) for s in range(4)]
    self.edge_decoder = DispNetShallow(*args, output_facs=output_facs, **kwargs)

  def tforward(self, x):
    disp = self.disp_decoder(x)
    edge = self.edge_decoder(x)
    return disp, edge


class DispToDepth(TimedModule):
  def __init__(self, focal_length, baseline):
    super().__init__(mod_name='DispToDepth')
    self.baseline_focal_length = baseline * focal_length

  def tforward(self, disp):
    disp = torch.nn.functional.relu(disp) + 1e-12
    depth = self.baseline_focal_length / disp
    return depth


class PosToDepth(DispToDepth):
  def __init__(self, focal_length, baseline, im_height, im_width):
    super().__init__(focal_length, baseline)
    self.mod_name = 'PosToDepth'

    self.im_height = im_height
    self.im_width = im_width
    self.u_pos = torch.arange(im_width, dtype=torch.float32).view(1,1,1,-1)

  def tforward(self, pos):
    self.u_pos = self.u_pos.to(pos.device)
    disp = self.u_pos - pos
    return super().forward(disp)



class RectifiedPatternSimilarityLoss(TimedModule):
  '''
  Photometric Loss
  '''
  def __init__(self, im_height, im_width, pattern, loss_type='census_sad', loss_eps=0.5):
    super().__init__(mod_name='RectifiedPatternSimilarityLoss')
    self.im_height = im_height
    self.im_width = im_width
    self.pattern = pattern.mean(dim=1, keepdim=True).contiguous()

    u, v = np.meshgrid(range(im_width), range(im_height))
    uv0 = np.stack((u,v), axis=2).reshape(-1,1)
    uv0 = uv0.astype(np.float32).reshape(1,-1,2)
    self.uv0 = torch.from_numpy(uv0)

    self.loss_type = loss_type
    self.loss_eps = loss_eps

  def tforward(self, disp0, im, std=None):
    self.pattern = self.pattern.to(disp0.device)
    self.uv0 = self.uv0.to(disp0.device)

    uv0 = self.uv0.expand(disp0.shape[0], *self.uv0.shape[1:])
    uv1 = torch.empty_like(uv0)
    uv1[...,0] = uv0[...,0] - disp0.contiguous().view(disp0.shape[0],-1)
    uv1[...,1] = uv0[...,1]

    uv1[..., 0] = 2 * (uv1[..., 0] / (self.im_width-1) - 0.5)
    uv1[..., 1] = 2 * (uv1[..., 1] / (self.im_height-1) - 0.5)
    uv1 = uv1.view(-1, self.im_height, self.im_width, 2).clone()
    pattern = self.pattern.expand(disp0.shape[0], *self.pattern.shape[1:])
    pattern_proj = torch.nn.functional.grid_sample(pattern, uv1, padding_mode='border')
    mask = torch.ones_like(im)
    if std is not None:
      mask = mask*std

    diff = torchext.photometric_loss(pattern_proj.contiguous(), im.contiguous(), 9, self.loss_type, self.loss_eps)
    val = (mask*diff).sum() / mask.sum()
    return val, pattern_proj

class DisparityLoss(TimedModule):
  '''
  Disparity Loss
  '''
  def __init__(self):
    super().__init__(mod_name='DisparityLoss')
    self.sobel = SobelFilter(norm=False)

    #if not edge_gt:
    self.b0=0.0503428816795
    self.b1=1.07274045944
    #else:
    #  self.b0=0.0587115108967
    #  self.b1=1.51931190491

  def tforward(self, disp, edge=None):
    self.sobel=self.sobel.to(disp.device)

    if edge is not None:
      grad = self.sobel(disp)
      grad = torch.sqrt(grad[:,0:1,...]**2 + grad[:,1:2,...]**2 + 1e-8)
      pdf = (1-edge)/self.b0 * torch.exp(-torch.abs(grad)/self.b0) + \
            edge/self.b1 * torch.exp(-torch.abs(grad)/self.b1)
      val = torch.mean(-torch.log(pdf.clamp(min=1e-4)))
    else:
      # on qifeng's data we don't have ambient info
      # therefore we supress edge everywhere
      grad = self.sobel(disp)
      grad = torch.sqrt(grad[:,0:1,...]**2 + grad[:,1:2,...]**2 + 1e-8)
      grad= torch.clamp(grad, 0, 1.0)
      val = torch.mean(grad)

    return val



class ProjectionBaseLoss(TimedModule):
  '''
  Base module of the Geometric Loss
  '''
  def __init__(self, K, Ki, im_height, im_width):
    super().__init__(mod_name='ProjectionBaseLoss')

    self.K = K.view(-1,3,3)

    self.im_height = im_height
    self.im_width = im_width

    u, v = np.meshgrid(range(im_width), range(im_height))
    uv = np.stack((u,v,np.ones_like(u)), axis=2).reshape(-1,3)

    ray = uv @ Ki.numpy().T

    ray = ray.reshape(1,-1,3).astype(np.float32)
    self.ray = torch.from_numpy(ray)

  def transform(self, xyz, R=None, t=None):
    if t is not None:
      bs = xyz.shape[0]
      xyz = xyz - t.reshape(bs,1,3)
    if R is not None:
      xyz = torch.bmm(xyz, R)
    return xyz

  def unproject(self, depth, R=None, t=None):
    self.ray = self.ray.to(depth.device)
    bs = depth.shape[0]

    xyz = depth.reshape(bs,-1,1) * self.ray
    xyz = self.transform(xyz, R, t)
    return xyz

  def project(self, xyz, R, t):
    self.K = self.K.to(xyz.device)
    bs = xyz.shape[0]

    xyz = torch.bmm(xyz, R.transpose(1,2))
    xyz = xyz + t.reshape(bs,1,3)

    Kt = self.K.transpose(1,2).expand(bs,-1,-1)
    uv = torch.bmm(xyz, Kt)

    d = uv[:,:,2:3]

    # avoid division by zero
    uv = uv[:,:,:2] / (torch.nn.functional.relu(d) + 1e-12)
    return uv, d


  def tforward(self, depth0, R0, t0, R1, t1):
    xyz = self.unproject(depth0, R0, t0)
    return self.project(xyz, R1, t1)


class ProjectionDepthSimilarityLoss(ProjectionBaseLoss):
  '''
  Geometric Loss
  '''
  def __init__(self, *args, clamp=-1):
    super().__init__(*args)
    self.mod_name = 'ProjectionDepthSimilarityLoss'
    self.clamp = clamp

  def fwd(self, depth0, depth1, R0, t0, R1, t1):
    uv1, d1 = super().tforward(depth0, R0, t0, R1, t1)

    uv1[..., 0] = 2 * (uv1[..., 0] / (self.im_width-1) - 0.5)
    uv1[..., 1] = 2 * (uv1[..., 1] / (self.im_height-1) - 0.5)
    uv1 = uv1.view(-1, self.im_height, self.im_width, 2).clone()

    depth10 = torch.nn.functional.grid_sample(depth1, uv1, padding_mode='border')

    diff = torch.abs(d1.view(-1) - depth10.view(-1))

    if self.clamp > 0:
      diff = torch.clamp(diff, 0, self.clamp)

    # return diff without clamping for debugging
    return diff.mean() 

  def tforward(self, depth0, depth1, R0, t0, R1, t1):
    l0 = self.fwd(depth0, depth1, R0, t0, R1, t1)
    l1 = self.fwd(depth1, depth0, R1, t1, R0, t0)
    return l0+l1



class LCN(TimedModule):
  '''
  Local Contract Normalization
  '''
  def __init__(self, radius, epsilon):
    super().__init__(mod_name='LCN')
    self.box_conv = torch.nn.Sequential(
        torch.nn.ReflectionPad2d(radius),
        torch.nn.Conv2d(1, 1, kernel_size=2*radius+1, bias=False)
    )
    self.box_conv[1].weight.requires_grad=False
    self.box_conv[1].weight.fill_(1.)

    self.epsilon = epsilon
    self.radius = radius

  def tforward(self, data):
    boxs = self.box_conv(data)

    avgs = boxs / (2*self.radius+1)**2
    boxs_n2 = boxs**2
    boxs_2n = self.box_conv(data**2)

    stds = torch.sqrt(boxs_2n / (2*self.radius+1)**2 - avgs**2 + 1e-6)
    stds = stds + self.epsilon

    return (data - avgs) / stds, stds



class SobelFilter(TimedModule):
  '''
  Sobel Filter
  '''
  def __init__(self, norm=False):
    super(SobelFilter, self).__init__(mod_name='SobelFilter')
    kx = np.array([[-5, -4, 0, 4, 5],
                   [-8, -10, 0, 10, 8],
                   [-10, -20, 0, 20, 10],
                   [-8, -10, 0, 10, 8],
                   [-5, -4, 0, 4, 5]])/240.0
    ky = kx.copy().transpose(1,0)

    self.conv_x=torch.nn.Conv2d(1, 1, kernel_size=5, stride=1, padding=0, bias=False)
    self.conv_x.weight=torch.nn.Parameter(torch.from_numpy(kx).float().unsqueeze(0).unsqueeze(0))

    self.conv_y=torch.nn.Conv2d(1, 1, kernel_size=5, stride=1, padding=0, bias=False)
    self.conv_y.weight=torch.nn.Parameter(torch.from_numpy(ky).float().unsqueeze(0).unsqueeze(0))

    self.norm=norm

  def tforward(self,x):
    x = F.pad(x, (2,2,2,2), "replicate")
    gx = self.conv_x(x)
    gy = self.conv_y(x)
    if self.norm:
      return torch.sqrt(gx**2 + gy**2 + 1e-8)
    else:
      return torch.cat((gx, gy), dim=1)