{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [],
   "source": [
    "from pathlib import Path\n",
    "import awkward as ak\n",
    "import numpy as np\n",
    "from matplotlib import pyplot as plt\n",
    "import jax\n",
    "import jax.numpy as jnp"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/html": [
       "<pre>{AE_01: {extrinsic: {rvec: [...], ...}, intrinsic: {...}, keypoints: ..., ...},\n",
       " AE_1A: {extrinsic: {rvec: [...], ...}, intrinsic: {...}, keypoints: ..., ...},\n",
       " AE_08: {extrinsic: {rvec: [...], ...}, intrinsic: {...}, keypoints: ..., ...}}\n",
       "--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------\n",
       "backend: cpu\n",
       "nbytes: 5.9 MB\n",
       "type: {\n",
       "    AE_01: {\n",
       "        extrinsic: {\n",
       "            rvec: var * float64,\n",
       "            tvec: var * float64\n",
       "        },\n",
       "        intrinsic: {\n",
       "            camera_matrix: var * var * float64,\n",
       "            distortion_coefficients: var * float64\n",
       "        },\n",
       "        keypoints: var * var * var * float64,\n",
       "        confidences: var * var * float64,\n",
       "        matrix: var * var * float64,\n",
       "        projection_matrix: var * var * float64\n",
       "    },\n",
       "    AE_1A: {\n",
       "        extrinsic: {\n",
       "            rvec: var * float64,\n",
       "            tvec: var * float64\n",
       "        },\n",
       "        intrinsic: {\n",
       "            camera_matrix: var * var * float64,\n",
       "            distortion_coefficients: var * float64\n",
       "        },\n",
       "        keypoints: var * var * var * float64,\n",
       "        confidences: var * var * float64,\n",
       "        matrix: var * var * float64,\n",
       "        projection_matrix: var * var * float64\n",
       "    },\n",
       "    AE_08: {\n",
       "        extrinsic: {\n",
       "            rvec: var * float64,\n",
       "            tvec: var * float64\n",
       "        },\n",
       "        intrinsic: {\n",
       "            camera_matrix: var * var * float64,\n",
       "            distortion_coefficients: var * float64\n",
       "        },\n",
       "        keypoints: var * var * var * float64,\n",
       "        confidences: var * var * float64,\n",
       "        matrix: var * var * float64,\n",
       "        projection_matrix: var * var * float64\n",
       "    }\n",
       "}</pre>"
      ],
      "text/plain": [
       "<Record {AE_01: {...}, AE_1A: {...}, ...} type='{AE_01: {extrinsic: {rvec: ...'>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "DATASET_PATH = Path(\"samples/camera_dataset.parquet\")\n",
    "AK_CAMERA_DATASET: ak.Array = ak.from_parquet(DATASET_PATH)[0]\n",
    "display(AK_CAMERA_DATASET)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [],
   "source": [
    "from app.camera import Camera, CameraParams\n",
    "\n",
    "\n",
    "def preprocess(key:str, record: ak.Record) -> Camera:\n",
    "    K = jnp.array(ak.to_numpy(record[\"intrinsic\"][\"camera_matrix\"]))  # type: ignore\n",
    "    Rt = jnp.array(ak.to_numpy(record[\"matrix\"]))\n",
    "    dist_coeffs = jnp.array(ak.to_numpy(record[\"intrinsic\"][\"distortion_coefficients\"])) # type: ignore\n",
    "    size = (2560, 1440)\n",
    "    return Camera(id=key, params=CameraParams(K=K, Rt=Rt, dist_coeffs=dist_coeffs), size=size)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [],
   "source": [
    "CAMERA_DATASET = {key: preprocess(key, AK_CAMERA_DATASET[key]) for key in AK_CAMERA_DATASET.fields} # type: ignore"
   ]
  }
 ],
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