app.py

import os
import sys
sys.path.append(os.path.abspath('./modules'))

import math
import tempfile
import gradio
import torch
import spaces
import numpy as np
import functools
import trimesh
import copy
from PIL import Image
from scipy.spatial.transform import Rotation

from modules.pe3r.images import Images

from modules.dust3r.inference import inference
from modules.dust3r.image_pairs import make_pairs
from modules.dust3r.utils.image import load_images #, rgb
from modules.dust3r.utils.device import to_numpy
from modules.dust3r.viz import add_scene_cam, CAM_COLORS, OPENGL, pts3d_to_trimesh, cat_meshes
from modules.dust3r.cloud_opt import global_aligner, GlobalAlignerMode
from copy import deepcopy
import cv2
from typing import Any, Dict, Generator,List
import matplotlib.pyplot as pl

from modules.mobilesamv2.utils.transforms import ResizeLongestSide
from modules.pe3r.models import Models
import torchvision.transforms as tvf

sys.path.append(os.path.abspath('./modules/ultralytics'))

from transformers import AutoTokenizer, AutoModel, AutoProcessor, SamModel
from modules.mast3r.model import AsymmetricMASt3R

from modules.sam2.build_sam import build_sam2_video_predictor
from modules.mobilesamv2.promt_mobilesamv2 import ObjectAwareModel
from modules.mobilesamv2 import sam_model_registry

from sam2.sam2_video_predictor import SAM2VideoPredictor
from modules.mast3r.model import AsymmetricMASt3R

from torch.nn.functional import cosine_similarity

silent = False

# device = 'cpu' #'cuda' if torch.cuda.is_available() else 'cpu' # #
# pe3r = Models('cpu') # 'cpu' #
# print(device)

def _convert_scene_output_to_glb(outdir, imgs, pts3d, mask, focals, cams2world, cam_size=0.05,
                                 cam_color=None, as_pointcloud=False,
                                 transparent_cams=False):
    assert len(pts3d) == len(mask) <= len(imgs) <= len(cams2world) == len(focals)
    pts3d = to_numpy(pts3d)
    imgs = to_numpy(imgs)
    focals = to_numpy(focals)
    cams2world = to_numpy(cams2world)

    scene = trimesh.Scene()

    # full pointcloud
    if as_pointcloud:
        pts = np.concatenate([p[m] for p, m in zip(pts3d, mask)])
        col = np.concatenate([p[m] for p, m in zip(imgs, mask)])
        pct = trimesh.PointCloud(pts.reshape(-1, 3), colors=col.reshape(-1, 3))
        scene.add_geometry(pct)
    else:
        meshes = []
        for i in range(len(imgs)):
            meshes.append(pts3d_to_trimesh(imgs[i], pts3d[i], mask[i]))
        mesh = trimesh.Trimesh(**cat_meshes(meshes))
        scene.add_geometry(mesh)

    # add each camera
    for i, pose_c2w in enumerate(cams2world):
        if isinstance(cam_color, list):
            camera_edge_color = cam_color[i]
        else:
            camera_edge_color = cam_color or CAM_COLORS[i % len(CAM_COLORS)]
        add_scene_cam(scene, pose_c2w, camera_edge_color,
                      None if transparent_cams else imgs[i], focals[i],
                      imsize=imgs[i].shape[1::-1], screen_width=cam_size)

    rot = np.eye(4)
    rot[:3, :3] = Rotation.from_euler('y', np.deg2rad(180)).as_matrix()
    scene.apply_transform(np.linalg.inv(cams2world[0] @ OPENGL @ rot))
    outfile = os.path.join(outdir, 'scene.glb')
    if not silent:
        print('(exporting 3D scene to', outfile, ')')
    scene.export(file_obj=outfile)
    return outfile


def get_3D_model_from_scene(outdir, scene, min_conf_thr=3, as_pointcloud=False, mask_sky=False,
                            clean_depth=False, transparent_cams=False, cam_size=0.05):
    """
    extract 3D_model (glb file) from a reconstructed scene
    """
    if scene is None:
        return None
    # post processes
    if clean_depth:
        scene = scene.clean_pointcloud()
    if mask_sky:
        scene = scene.mask_sky()

    # get optimized values from scene
    rgbimg = scene.ori_imgs
    focals = scene.get_focals().cpu()
    cams2world = scene.get_im_poses().cpu()
    # 3D pointcloud from depthmap, poses and intrinsics
    pts3d = to_numpy(scene.get_pts3d())
    scene.min_conf_thr = float(scene.conf_trf(torch.tensor(min_conf_thr)))
    msk = to_numpy(scene.get_masks())
    return _convert_scene_output_to_glb(outdir, rgbimg, pts3d, msk, focals, cams2world, as_pointcloud=as_pointcloud,
                                        transparent_cams=transparent_cams, cam_size=cam_size)

def mask_nms(masks, threshold=0.8):
    keep = []
    mask_num = len(masks)
    suppressed = np.zeros((mask_num), dtype=np.int64)
    for i in range(mask_num):
        if suppressed[i] == 1:
            continue
        keep.append(i)
        for j in range(i + 1, mask_num):
            if suppressed[j] == 1:
                continue
            intersection = (masks[i] & masks[j]).sum()
            if min(intersection / masks[i].sum(), intersection / masks[j].sum()) > threshold:
                suppressed[j] = 1
    return keep

def filter(masks, keep):
    ret = []
    for i, m in enumerate(masks):
        if i in keep: ret.append(m)
    return ret

def mask_to_box(mask):
    if mask.sum() == 0:
        return np.array([0, 0, 0, 0])
    
    # Get the rows and columns where the mask is 1
    rows = np.any(mask, axis=1)
    cols = np.any(mask, axis=0)
    
    # Get top, bottom, left, right edges
    top = np.argmax(rows)
    bottom = len(rows) - 1 - np.argmax(np.flip(rows))
    left = np.argmax(cols)
    right = len(cols) - 1 - np.argmax(np.flip(cols))
    
    return np.array([left, top, right, bottom])

def box_xyxy_to_xywh(box_xyxy):
    box_xywh = deepcopy(box_xyxy)
    box_xywh[2] = box_xywh[2] - box_xywh[0]
    box_xywh[3] = box_xywh[3] - box_xywh[1]
    return box_xywh

def get_seg_img(mask, box, image):
    image = image.copy()
    x, y, w, h = box
    # image[mask == 0] = np.array([0, 0, 0], dtype=np.uint8)
    box_area = w * h
    mask_area = mask.sum()
    if 1 - (mask_area / box_area) < 0.2:
        image[mask == 0] = np.array([0, 0, 0], dtype=np.uint8)
    else:
        random_values = np.random.randint(0, 255, size=image.shape, dtype=np.uint8)
        image[mask == 0] = random_values[mask == 0]
    seg_img = image[y:y+h, x:x+w, ...]
    return seg_img

def pad_img(img):
    h, w, _ = img.shape
    l = max(w,h) 
    pad = np.zeros((l,l,3), dtype=np.uint8) # 
    if h > w:
        pad[:,(h-w)//2:(h-w)//2 + w, :] = img
    else:
        pad[(w-h)//2:(w-h)//2 + h, :, :] = img
    return pad

def batch_iterator(batch_size: int, *args) -> Generator[List[Any], None, None]:
    assert len(args) > 0 and all(
        len(a) == len(args[0]) for a in args
    ), "Batched iteration must have inputs of all the same size."
    n_batches = len(args[0]) // batch_size + int(len(args[0]) % batch_size != 0)
    for b in range(n_batches):
        yield [arg[b * batch_size : (b + 1) * batch_size] for arg in args]

def slerp(u1, u2, t):
    """
    Perform spherical linear interpolation (Slerp) between two unit vectors.
    
    Args:
    - u1 (torch.Tensor): First unit vector, shape (1024,)
    - u2 (torch.Tensor): Second unit vector, shape (1024,)
    - t (float): Interpolation parameter
    
    Returns:
    - torch.Tensor: Interpolated vector, shape (1024,)
    """
    # Compute the dot product
    dot_product = torch.sum(u1 * u2)
    
    # Ensure the dot product is within the valid range [-1, 1]
    dot_product = torch.clamp(dot_product, -1.0, 1.0)
    
    # Compute the angle between the vectors
    theta = torch.acos(dot_product)
    
    # Compute the coefficients for the interpolation
    sin_theta = torch.sin(theta)
    if sin_theta == 0:
        # Vectors are parallel, return a linear interpolation
        return u1 + t * (u2 - u1)
    
    s1 = torch.sin((1 - t) * theta) / sin_theta
    s2 = torch.sin(t * theta) / sin_theta
    
    # Perform the interpolation
    return s1 * u1 + s2 * u2

def slerp_multiple(vectors, t_values):
    """
    Perform spherical linear interpolation (Slerp) for multiple vectors.
    
    Args:
    - vectors (torch.Tensor): Tensor of vectors, shape (n, 1024)
    - a_values (torch.Tensor): Tensor of values corresponding to each vector, shape (n,)
    
    Returns:
    - torch.Tensor: Interpolated vector, shape (1024,)
    """
    n = vectors.shape[0]
    
    # Initialize the interpolated vector with the first vector
    interpolated_vector = vectors[0]
    
    # Perform Slerp iteratively
    for i in range(1, n):
        # Perform Slerp between the current interpolated vector and the next vector
        t = t_values[i] / (t_values[i] + t_values[i-1])
        interpolated_vector = slerp(interpolated_vector, vectors[i], t)
    
    return interpolated_vector

@torch.no_grad
def get_mask_from_img_sam1(yolov8, mobilesamv2, sam1_image, yolov8_image, original_size, input_size, transform):

    device = 'cuda' if torch.cuda.is_available() else 'cpu'
    

    sam_mask=[]
    img_area = original_size[0] * original_size[1]

    obj_results = yolov8(yolov8_image,device=device,retina_masks=False,imgsz=1024,conf=0.25,iou=0.95,verbose=False)
    input_boxes1 = obj_results[0].boxes.xyxy
    input_boxes1 = input_boxes1.cpu().numpy()
    input_boxes1 = transform.apply_boxes(input_boxes1, original_size)
    input_boxes = torch.from_numpy(input_boxes1).to(device)
    
    # obj_results = yolov8(yolov8_image,device=device,retina_masks=False,imgsz=512,conf=0.25,iou=0.9,verbose=False)
    # input_boxes2 = obj_results[0].boxes.xyxy
    # input_boxes2 = input_boxes2.cpu().numpy()
    # input_boxes2 = transform.apply_boxes(input_boxes2, original_size)
    # input_boxes2 = torch.from_numpy(input_boxes2).to(device)

    # input_boxes = torch.cat((input_boxes1, input_boxes2), dim=0)

    input_image = mobilesamv2.preprocess(sam1_image)
    image_embedding = mobilesamv2.image_encoder(input_image)['last_hidden_state']

    image_embedding=torch.repeat_interleave(image_embedding, 320, dim=0)
    prompt_embedding=mobilesamv2.prompt_encoder.get_dense_pe()
    prompt_embedding=torch.repeat_interleave(prompt_embedding, 320, dim=0)
    for (boxes,) in batch_iterator(320, input_boxes):
        with torch.no_grad():
            image_embedding=image_embedding[0:boxes.shape[0],:,:,:]
            prompt_embedding=prompt_embedding[0:boxes.shape[0],:,:,:]
            sparse_embeddings, dense_embeddings = mobilesamv2.prompt_encoder(
                points=None,
                boxes=boxes,
                masks=None,)
            low_res_masks, _ = mobilesamv2.mask_decoder(
                image_embeddings=image_embedding,
                image_pe=prompt_embedding,
                sparse_prompt_embeddings=sparse_embeddings,
                dense_prompt_embeddings=dense_embeddings,
                multimask_output=False,
                simple_type=True,
            )
            low_res_masks=mobilesamv2.postprocess_masks(low_res_masks, input_size, original_size)
            sam_mask_pre = (low_res_masks > mobilesamv2.mask_threshold)
            for mask in sam_mask_pre:
                if mask.sum() / img_area > 0.002:
                    sam_mask.append(mask.squeeze(1))
    sam_mask=torch.cat(sam_mask)
    sorted_sam_mask = sorted(sam_mask, key=(lambda x: x.sum()), reverse=True)
    keep = mask_nms(sorted_sam_mask)
    ret_mask = filter(sorted_sam_mask, keep)

    return ret_mask

@torch.no_grad
def get_cog_feats(images, sam2, siglip, siglip_processor, yolov8, mobilesamv2):

    device = 'cuda' if torch.cuda.is_available() else 'cpu'

    cog_seg_maps = []
    rev_cog_seg_maps = []
    inference_state = sam2.init_state(images=images.sam2_images, video_height=images.sam2_video_size[0], video_width=images.sam2_video_size[1])
    mask_num = 0

    sam1_images = images.sam1_images
    sam1_images_size = images.sam1_images_size
    np_images = images.np_images
    np_images_size = images.np_images_size
    
    sam1_masks = get_mask_from_img_sam1(yolov8, mobilesamv2, sam1_images[0], np_images[0], np_images_size[0], sam1_images_size[0], images.sam1_transform)
    for mask in sam1_masks:
        _, _, _ = sam2.add_new_mask(
            inference_state=inference_state,
            frame_idx=0,
            obj_id=mask_num,
            mask=mask,
        )
        mask_num += 1

    video_segments = {}  # video_segments contains the per-frame segmentation results
    for out_frame_idx, out_obj_ids, out_mask_logits in sam2.propagate_in_video(inference_state):
        sam2_masks = (out_mask_logits > 0.0).squeeze(1)

        video_segments[out_frame_idx] = {
            out_obj_id: sam2_masks[i].cpu().numpy()
            for i, out_obj_id in enumerate(out_obj_ids)
        }

        if out_frame_idx == 0:
            continue

        sam1_masks = get_mask_from_img_sam1(yolov8, mobilesamv2, sam1_images[out_frame_idx], np_images[out_frame_idx], np_images_size[out_frame_idx], sam1_images_size[out_frame_idx], images.sam1_transform)

        for sam1_mask in sam1_masks:
            flg = 1
            for sam2_mask in sam2_masks:
                # print(sam1_mask.shape, sam2_mask.shape)
                area1 = sam1_mask.sum()
                area2 = sam2_mask.sum()
                intersection = (sam1_mask & sam2_mask).sum()
                if min(intersection / area1, intersection / area2) > 0.25:
                    flg = 0
                    break
            if flg:
                video_segments[out_frame_idx][mask_num] = sam1_mask.cpu().numpy()
                mask_num += 1

    multi_view_clip_feats = torch.zeros((mask_num+1, 1024))
    multi_view_clip_feats_map = {}
    multi_view_clip_area_map = {}
    for now_frame in range(0, len(video_segments), 1):
        image = np_images[now_frame]

        seg_img_list = []
        out_obj_id_list = []
        out_obj_mask_list = []
        out_obj_area_list = []
        # NOTE: background: -1
        rev_seg_map = -np.ones(image.shape[:2], dtype=np.int64)
        sorted_dict_items = sorted(video_segments[now_frame].items(), key=lambda x: np.count_nonzero(x[1]), reverse=False)
        for out_obj_id, mask in sorted_dict_items:
            if mask.sum() == 0:
                continue
            rev_seg_map[mask] = out_obj_id
        rev_cog_seg_maps.append(rev_seg_map)

        seg_map = -np.ones(image.shape[:2], dtype=np.int64)
        sorted_dict_items = sorted(video_segments[now_frame].items(), key=lambda x: np.count_nonzero(x[1]), reverse=True)
        for out_obj_id, mask in sorted_dict_items:
            if mask.sum() == 0:
                continue
            box = np.int32(box_xyxy_to_xywh(mask_to_box(mask)))
            
            if box[2] == 0 and box[3] == 0:
                continue
            # print(box)
            seg_img = get_seg_img(mask, box, image)
            pad_seg_img = cv2.resize(pad_img(seg_img), (256,256))
            seg_img_list.append(pad_seg_img)
            seg_map[mask] = out_obj_id
            out_obj_id_list.append(out_obj_id)
            out_obj_area_list.append(np.count_nonzero(mask))
            out_obj_mask_list.append(mask)

        if len(seg_img_list) == 0:
            cog_seg_maps.append(seg_map)
            continue

        seg_imgs = np.stack(seg_img_list, axis=0) # b,H,W,3
        seg_imgs = torch.from_numpy(seg_imgs).permute(0,3,1,2) # / 255.0
        
        inputs = siglip_processor(images=seg_imgs, return_tensors="pt")
        inputs = {key: value.to(device) for key, value in inputs.items()}
        
        image_features = siglip.get_image_features(**inputs)
        image_features = image_features / image_features.norm(dim=-1, keepdim=True)
        image_features = image_features.detach().cpu()

        for i in range(len(out_obj_mask_list)):
            for j in range(i + 1, len(out_obj_mask_list)):
                mask1 = out_obj_mask_list[i]
                mask2 = out_obj_mask_list[j]
                intersection = np.logical_and(mask1, mask2).sum()
                area1 = out_obj_area_list[i]
                area2 = out_obj_area_list[j]
                if min(intersection / area1, intersection / area2) > 0.025:
                    conf1 = area1 / (area1 + area2)
                    # conf2 = area2 / (area1 + area2)
                    image_features[j] = slerp(image_features[j], image_features[i], conf1)

        for i, clip_feat in enumerate(image_features):
            id = out_obj_id_list[i]
            if id in multi_view_clip_feats_map.keys():
                multi_view_clip_feats_map[id].append(clip_feat)
                multi_view_clip_area_map[id].append(out_obj_area_list[i])
            else:
                multi_view_clip_feats_map[id] = [clip_feat]
                multi_view_clip_area_map[id] = [out_obj_area_list[i]]

        cog_seg_maps.append(seg_map)
        del image_features
        
    for i in range(mask_num):
        if i in multi_view_clip_feats_map.keys():
            clip_feats = multi_view_clip_feats_map[i]
            mask_area = multi_view_clip_area_map[i]
            multi_view_clip_feats[i] = slerp_multiple(torch.stack(clip_feats), np.stack(mask_area))
        else:
            multi_view_clip_feats[i] = torch.zeros((1024))
    multi_view_clip_feats[mask_num] = torch.zeros((1024))

    return cog_seg_maps, rev_cog_seg_maps, multi_view_clip_feats


class Scene_cpu:
    def __init__(self, fix_imgs, cogs, focals, cams2world, pts3d, min_conf_thr, msk):
        self.fix_imgs = fix_imgs
        self.cogs = cogs
        self.focals = focals
        self.cams2world = cams2world
        self.pts3d = pts3d
        self.min_conf_thr = min_conf_thr
        self.msk = msk

    def render_image(self, text_feats, threshold=0.85):
        self.rendered_imgs = []
        # Collect all cosine similarities to compute min-max normalization
        all_similarities = []
        for each_cog in self.cogs:
            similarity_map = cosine_similarity(each_cog, text_feats.unsqueeze(1), dim=-1)
            all_similarities.append(similarity_map.squeeze().numpy())
        # Flatten and normalize all similarities
        total_similarities = np.concatenate(all_similarities)
        min_sim, max_sim = total_similarities.min(), total_similarities.max()
        normalized_similarities = [(sim - min_sim) / (max_sim - min_sim) for sim in all_similarities]
        # Process each image with normalized similarities
        for i, (each_cog, heatmap) in enumerate(zip(self.cogs, normalized_similarities)):
            mask = heatmap > threshold
            # Scale heatmap for visualization
            heatmap = np.uint8(255 * heatmap)
            heatmap_color = cv2.applyColorMap(heatmap, cv2.COLORMAP_JET)
            # Prepare image
            image = self.fix_imgs[i]
            image = image * 255.0
            image = np.clip(image, 0, 255).astype(np.uint8)
            # Apply mask and overlay heatmap with red RGB for masked areas
            mask_indices = np.where(mask)  # Get indices where mask is True
            heatmap_color[mask_indices[0], mask_indices[1]] = [0, 0, 255]  # Red color for masked regions
            superimposed_img = np.where(np.expand_dims(mask, axis=-1), heatmap_color, image) / 255.0
            self.rendered_imgs.append(superimposed_img)


@spaces.GPU(duration=180)
def get_reconstructed_scene(outdir, filelist, schedule='linear', niter=300, min_conf_thr=3.0,
                            as_pointcloud=True, mask_sky=False, clean_depth=True, transparent_cams=True, cam_size=0.05,
                            scenegraph_type='complete', winsize=1, refid=0):
    """
    from a list of images, run dust3r inference, global aligner.
    then run get_3D_model_from_scene
    """

    if len(filelist) < 2:
        raise gradio.Error("Please input at least 2 images.")
    if len(filelist) > 8:
        raise gradio.Error("Please input less than 8 images.")
    

    device = 'cuda' if torch.cuda.is_available() else 'cpu'

    MAST3R_CKP = 'naver/MASt3R_ViTLarge_BaseDecoder_512_catmlpdpt_metric'
    mast3r = AsymmetricMASt3R.from_pretrained(MAST3R_CKP).to(device)

    sam2 = SAM2VideoPredictor.from_pretrained('facebook/sam2.1-hiera-large', device=device)

    siglip = AutoModel.from_pretrained("google/siglip-large-patch16-256", device_map=device).eval()
    siglip_processor = AutoProcessor.from_pretrained("google/siglip-large-patch16-256")

    SAM1_DECODER_CKP = './checkpoints/Prompt_guided_Mask_Decoder.pt'
    mobilesamv2 = sam_model_registry['sam_vit_h'](None)
    sam1 = SamModel.from_pretrained('facebook/sam-vit-huge')
    image_encoder = sam1.vision_encoder

    prompt_encoder, mask_decoder = sam_model_registry['prompt_guided_decoder'](SAM1_DECODER_CKP)
    mobilesamv2.prompt_encoder = prompt_encoder
    mobilesamv2.mask_decoder = mask_decoder
    mobilesamv2.image_encoder=image_encoder
    mobilesamv2.to(device=device)
    mobilesamv2.eval()
    
    YOLO8_CKP='./checkpoints/ObjectAwareModel.pt'
    yolov8 = ObjectAwareModel(YOLO8_CKP)

    

    images = Images(filelist=filelist, device=device)
    
    # try:
    cog_seg_maps, rev_cog_seg_maps, cog_feats = get_cog_feats(images, sam2, siglip, siglip_processor, yolov8, mobilesamv2)
    imgs = load_images(images, rev_cog_seg_maps, size=512, verbose=not silent)
    # except Exception as e:
    # rev_cog_seg_maps = []
    # for tmp_img in images.np_images:
    #     rev_seg_map = -np.ones(tmp_img.shape[:2], dtype=np.int64)
    #     rev_cog_seg_maps.append(rev_seg_map)
    # cog_seg_maps = rev_cog_seg_maps
    # cog_feats = torch.zeros((1, 1024))
    # imgs = load_images(images, rev_cog_seg_maps, size=512, verbose=not silent)

    if len(imgs) == 1:
        imgs = [imgs[0], copy.deepcopy(imgs[0])]
        imgs[1]['idx'] = 1

    if scenegraph_type == "swin":
        scenegraph_type = scenegraph_type + "-" + str(winsize)
    elif scenegraph_type == "oneref":
        scenegraph_type = scenegraph_type + "-" + str(refid)

    pairs = make_pairs(imgs, scene_graph=scenegraph_type, prefilter=None, symmetrize=True)
    output = inference(pairs, mast3r, device, batch_size=1, verbose=not silent)
    mode = GlobalAlignerMode.PointCloudOptimizer if len(imgs) > 2 else GlobalAlignerMode.PairViewer
    scene_1 = global_aligner(output, cog_seg_maps, rev_cog_seg_maps, cog_feats, device=device, mode=mode, verbose=not silent)
    lr = 0.01
    # if mode == GlobalAlignerMode.PointCloudOptimizer:
    loss = scene_1.compute_global_alignment(tune_flg=True, init='mst', niter=niter, schedule=schedule, lr=lr)

    try:
        ImgNorm = tvf.Compose([tvf.ToTensor(), tvf.Normalize((0.5, 0.5, 0.5), (0.5, 0.5, 0.5))])
        for i in range(len(imgs)):
            # print(imgs[i]['img'].shape, scene.imgs[i].shape, ImgNorm(scene.imgs[i])[None])
            imgs[i]['img'] = ImgNorm(scene_1.imgs[i])[None]
        pairs = make_pairs(imgs, scene_graph=scenegraph_type, prefilter=None, symmetrize=True)
        output = inference(pairs, mast3r, device, batch_size=1, verbose=not silent)
        mode = GlobalAlignerMode.PointCloudOptimizer if len(imgs) > 2 else GlobalAlignerMode.PairViewer
        scene = global_aligner(output, cog_seg_maps, rev_cog_seg_maps, cog_feats, device=device, mode=mode, verbose=not silent)
        ori_imgs = scene.ori_imgs
        lr = 0.01
        # if mode == GlobalAlignerMode.PointCloudOptimizer:
        loss = scene.compute_global_alignment(tune_flg=False, init='mst', niter=niter, schedule=schedule, lr=lr)
    except Exception as e:
        scene = scene_1
        scene.imgs = ori_imgs
        scene.ori_imgs = ori_imgs
        print(e)

    outfile = get_3D_model_from_scene(outdir, scene, min_conf_thr, as_pointcloud, mask_sky,
                                      clean_depth, transparent_cams, cam_size)
    
    torch.cuda.empty_cache()

    fix_imgs = []
    for img in scene.fix_imgs:
        fix_imgs.append(img)
    cogs = []
    for cog in scene.cogs:
        cog_cpu = cog.detach().cpu()
        cogs.append(cog_cpu)
    focals = scene.get_focals().detach().cpu()
    cams2world = scene.get_im_poses().detach().cpu()
    pts3d = to_numpy(scene.get_pts3d())
    min_conf_thr = float(to_numpy(scene.conf_trf(torch.tensor(3.0))))
    msk = to_numpy(scene.get_masks())
    scene_cpu = Scene_cpu(fix_imgs, cogs, focals, cams2world, pts3d, min_conf_thr, msk)

    del scene, scene_1

    return scene_cpu, outfile 


def get_3D_object_from_scene(outdir, text, threshold, scene, min_conf_thr=3.0, as_pointcloud=True, 
                 mask_sky=False, clean_depth=True, transparent_cams=True, cam_size=0.05):
    
    device = 'cpu'
    siglip_tokenizer = AutoTokenizer.from_pretrained("google/siglip-large-patch16-256")
    siglip = AutoModel.from_pretrained("google/siglip-large-patch16-256", device_map=device).eval()

    texts = [text]
    inputs = siglip_tokenizer(text=texts, padding="max_length", return_tensors="pt")
    inputs = {key: value.to(device) for key, value in inputs.items()}
    with torch.no_grad():
        text_feats =siglip.get_text_features(**inputs)
        text_feats = text_feats / text_feats.norm(dim=-1, keepdim=True)
    scene.render_image(text_feats, threshold)
    scene.ori_imgs = scene.rendered_imgs
    rgbimg = scene.ori_imgs
    focals = scene.focals
    cams2world = scene.cams2world
    # 3D pointcloud from depthmap, poses and intrinsics
    pts3d = scene.pts3d
    msk = scene.msk
    return _convert_scene_output_to_glb(outdir, rgbimg, pts3d, msk, focals, cams2world, as_pointcloud=as_pointcloud,
                                        transparent_cams=transparent_cams, cam_size=cam_size)




tmpdirname = tempfile.mkdtemp(suffix='pe3r_gradio_demo')

recon_fun = functools.partial(get_reconstructed_scene, tmpdirname)
# model_from_scene_fun = functools.partial(get_3D_model_from_scene, tmpdirname)
get_3D_object_from_scene_fun = functools.partial(get_3D_object_from_scene, tmpdirname)

with gradio.Blocks(css=""".gradio-container {margin: 0 !important; min-width: 100%};""", title="PE3R Demo") as demo:
    # scene state is save so that you can change conf_thr, cam_size... without rerunning the inference
    scene = gradio.State(None)

    gradio.HTML('<h2 style="text-align: center;">PE3R: Perception-Efficient 3D Reconstruction</h2>')
    gradio.HTML('<p style="text-align: center; font-size: 16px;">🪄 Take 2~3 photos with your phone, upload them, wait a few (3~5) minutes, and then start exploring your 3D world via text!<br>'
    '✨ If you like this project, please consider giving us an encouraging star <a href="https://github.com/hujiecpp/PE3R" target="_blank">[github]</a>.</p>')
    with gradio.Column():
        snapshot = gradio.Image(None, visible=False)

        inputfiles = gradio.File(file_count="multiple", label="Input Images")

        run_btn = gradio.Button("Reconstruct")

        with gradio.Row():
            text_input = gradio.Textbox(label="Query Text")
            threshold = gradio.Slider(label="Threshold", value=0.85, minimum=0.0, maximum=1.0, step=0.01)

        find_btn = gradio.Button("Find")

        outmodel = gradio.Model3D()

        examples = gradio.Examples(
            examples=[
                ["./examples/1.png", ["./examples/1.png", "./examples/2.png", "./examples/3.png", "./examples/4.png"], "Table", 0.85],
                ["./examples/5.png", ["./examples/5.png", "./examples/6.png", "./examples/7.png", "./examples/8.png"], "Christmas Tree", 0.96],
            ],
            inputs=[snapshot, inputfiles, text_input, threshold],
            label="Example Inputs"
        )

        # events

        run_btn.click(fn=recon_fun,
                        inputs=[inputfiles],
                        outputs=[scene, outmodel]) # , outgallery, , 
        
        find_btn.click(fn=get_3D_object_from_scene_fun,
                            inputs=[text_input, threshold, scene],
                        outputs=outmodel)
demo.launch(show_error=True, share=None, server_name=None, server_port=None)