scripts/render_motion.py

"""
Unified motion visualization: npz → stick figure video/gif.

Supports all datasets (human + animal, any joint count).
Outputs: MP4 video or GIF for human/VLM review.

Usage:
    # Render single motion
    python scripts/render_motion.py --input data/processed/humanml3d/motions/000001.npz --output results/videos/

    # Batch render dataset
    python scripts/render_motion.py --dataset humanml3d --num 20 --output results/videos/humanml3d/

    # Render with text overlay
    python scripts/render_motion.py --input ... --output ... --show_text --show_skeleton_info
"""

import sys
import os
import argparse
from pathlib import Path
import numpy as np
import matplotlib
matplotlib.use('Agg')
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
from matplotlib.animation import FuncAnimation, PillowWriter
import matplotlib.patches as mpatches

project_root = Path(__file__).parent.parent
sys.path.insert(0, str(project_root))

from src.data.skeleton_graph import SkeletonGraph

SIDE_COLORS = {'left': '#e74c3c', 'right': '#3498db', 'center': '#555555'}


def load_motion_and_skeleton(npz_path: Path, dataset_path: Path = None):
    """Load motion data and its skeleton."""
    d = dict(np.load(npz_path, allow_pickle=True))
    T = int(d['num_frames'])

    # Find skeleton
    skel_data = None
    if dataset_path:
        # Try per-species skeleton for Zoo
        species = str(d.get('species', ''))
        if species:
            sp_path = dataset_path / 'skeletons' / f'{species}.npz'
            if sp_path.exists():
                skel_data = dict(np.load(sp_path, allow_pickle=True))
        if skel_data is None:
            main_skel = dataset_path / 'skeleton.npz'
            if main_skel.exists():
                skel_data = dict(np.load(main_skel, allow_pickle=True))

    if skel_data is None:
        # Infer from parent directory
        parent = npz_path.parent.parent
        main_skel = parent / 'skeleton.npz'
        if main_skel.exists():
            skel_data = dict(np.load(main_skel, allow_pickle=True))

    skeleton = SkeletonGraph.from_dict(skel_data) if skel_data else None
    canon = [str(n) for n in skel_data.get('canonical_names', [])] if skel_data else []

    return d, T, skeleton, canon


def render_motion_to_gif(
    npz_path: Path,
    output_path: Path,
    dataset_path: Path = None,
    fps: int = 20,
    show_text: bool = True,
    show_skeleton_info: bool = True,
    figsize: tuple = (10, 8),
    frame_skip: int = 1,
    view_angles: tuple = (25, -60),
):
    """Render a single motion npz to an animated GIF."""
    d, T, skeleton, canon = load_motion_and_skeleton(npz_path, dataset_path)

    joint_positions = d['joint_positions'][:T]  # [T, J, 3]
    J = joint_positions.shape[1]
    parents = skeleton.parent_indices if skeleton else [-1] + [0] * (J - 1)
    side_tags = skeleton.side_tags if skeleton else ['center'] * J

    # Subsample frames
    frames = range(0, T, frame_skip)
    n_frames = len(list(frames))

    # Compute scene bounds (from all frames)
    all_pos = joint_positions.reshape(-1, 3)
    center = all_pos.mean(axis=0)
    span = max(all_pos.max(axis=0) - all_pos.min(axis=0)) / 2 + 0.1

    # Metadata
    texts = str(d.get('texts', ''))
    first_text = texts.split('|||')[0] if texts else ''
    species = str(d.get('species', ''))
    skeleton_id = str(d.get('skeleton_id', ''))
    motion_id = npz_path.stem

    # Create figure
    fig = plt.figure(figsize=figsize)
    ax = fig.add_subplot(111, projection='3d')

    def update(frame_idx):
        ax.clear()
        fi = list(frames)[frame_idx]
        pos = joint_positions[fi]

        # Draw bones
        for j in range(J):
            p = parents[j]
            if p >= 0 and p < J:
                ax.plot3D(
                    [pos[j, 0], pos[p, 0]],
                    [pos[j, 2], pos[p, 2]],
                    [pos[j, 1], pos[p, 1]],
                    color='#bdc3c7', linewidth=2, zorder=1,
                )

        # Draw joints (colored by side)
        for j in range(J):
            color = SIDE_COLORS.get(side_tags[j] if j < len(side_tags) else 'center', '#555')
            ax.scatter3D(
                [pos[j, 0]], [pos[j, 2]], [pos[j, 1]],
                color=color, s=25, zorder=3, edgecolors='black', linewidths=0.3,
            )

        # Draw ground plane
        ground_y = joint_positions[:, :, 1].min() - 0.02
        gx = np.array([center[0] - span, center[0] + span])
        gz = np.array([center[2] - span, center[2] + span])
        gx, gz = np.meshgrid(gx, gz)
        gy = np.full_like(gx, ground_y)
        ax.plot_surface(gx, gz, gy, alpha=0.1, color='green')

        # Draw root trajectory (faded)
        traj = joint_positions[:fi+1, 0, :]
        if len(traj) > 1:
            ax.plot3D(traj[:, 0], traj[:, 2], np.full(len(traj), ground_y),
                     color='blue', alpha=0.3, linewidth=1)

        # Axes
        ax.set_xlim(center[0] - span, center[0] + span)
        ax.set_ylim(center[2] - span, center[2] + span)
        ax.set_zlim(center[1] - span, center[1] + span)
        ax.set_xlabel('X')
        ax.set_ylabel('Z')
        ax.set_zlabel('Y')
        ax.view_init(elev=view_angles[0], azim=view_angles[1])

        # Title
        title_parts = []
        if show_skeleton_info:
            info = f'{skeleton_id}'
            if species:
                info = f'{species}'
            title_parts.append(f'{info} ({J}j)')
        title_parts.append(f'frame {fi}/{T}')
        if show_text and first_text:
            # Truncate text
            txt = first_text[:60] + ('...' if len(first_text) > 60 else '')
            title_parts.append(f'"{txt}"')
        ax.set_title('\n'.join(title_parts), fontsize=9)

    anim = FuncAnimation(fig, update, frames=n_frames, interval=1000 // (fps // frame_skip))

    # Save
    output_path.parent.mkdir(parents=True, exist_ok=True)
    suffix = output_path.suffix.lower()
    if suffix == '.gif':
        anim.save(str(output_path), writer=PillowWriter(fps=fps // frame_skip))
    elif suffix == '.mp4':
        try:
            anim.save(str(output_path), writer='ffmpeg', fps=fps // frame_skip)
        except Exception:
            # Fallback to gif
            gif_path = output_path.with_suffix('.gif')
            anim.save(str(gif_path), writer=PillowWriter(fps=fps // frame_skip))
            output_path = gif_path
    else:
        anim.save(str(output_path), writer=PillowWriter(fps=fps // frame_skip))

    plt.close(fig)
    return output_path


def render_multi_view(
    npz_path: Path,
    output_path: Path,
    dataset_path: Path = None,
    n_frames: int = 8,
):
    """Render a multi-frame overview image (static, for quick review)."""
    d, T, skeleton, canon = load_motion_and_skeleton(npz_path, dataset_path)

    joint_positions = d['joint_positions'][:T]
    J = joint_positions.shape[1]
    parents = skeleton.parent_indices if skeleton else [-1] + [0] * (J - 1)
    side_tags = skeleton.side_tags if skeleton else ['center'] * J

    frame_indices = np.linspace(0, T - 1, n_frames, dtype=int)
    colors = plt.cm.viridis(np.linspace(0, 1, n_frames))

    texts = str(d.get('texts', ''))
    first_text = texts.split('|||')[0][:80] if texts else ''
    species = str(d.get('species', ''))
    skeleton_id = str(d.get('skeleton_id', ''))

    fig = plt.figure(figsize=(16, 6))

    # Left: multi-frame overlay
    ax1 = fig.add_subplot(121, projection='3d')
    for idx, fi in enumerate(frame_indices):
        pos = joint_positions[fi]
        alpha = 0.3 + 0.7 * (idx / max(n_frames - 1, 1))
        for j in range(J):
            p = parents[j]
            if p >= 0 and p < J:
                ax1.plot3D([pos[j, 0], pos[p, 0]], [pos[j, 2], pos[p, 2]],
                          [pos[j, 1], pos[p, 1]], color=colors[idx], alpha=alpha, linewidth=1.5)

    all_pos = joint_positions.reshape(-1, 3)
    mid = all_pos.mean(axis=0)
    sp = max(all_pos.max(axis=0) - all_pos.min(axis=0)) / 2 + 0.1
    ax1.set_xlim(mid[0]-sp, mid[0]+sp); ax1.set_ylim(mid[2]-sp, mid[2]+sp); ax1.set_zlim(mid[1]-sp, mid[1]+sp)
    ax1.set_title(f'{species or skeleton_id} ({J}j, {T} frames)\n{first_text}', fontsize=9)
    ax1.view_init(25, -60)

    # Right: trajectory top view + velocity
    ax2 = fig.add_subplot(222)
    root = d['root_position'][:T]
    ax2.plot(root[:, 0], root[:, 2], 'b-', linewidth=1)
    ax2.plot(root[0, 0], root[0, 2], 'go', ms=6, label='start')
    ax2.plot(root[-1, 0], root[-1, 2], 'ro', ms=6, label='end')
    ax2.set_title('Root trajectory (top)', fontsize=8)
    ax2.set_aspect('equal')
    ax2.legend(fontsize=7)
    ax2.grid(True, alpha=0.3)

    ax3 = fig.add_subplot(224)
    vel = d['velocities'][:T]
    mean_vel = np.linalg.norm(vel, axis=-1).mean(axis=1)
    ax3.plot(mean_vel, 'b-', alpha=0.7, linewidth=1)
    fc = d['foot_contact'][:T]
    if fc.shape[1] >= 4:
        ax3.fill_between(range(T), 0, fc[:, :2].max(axis=1) * mean_vel.max() * 0.3,
                        alpha=0.2, color='red', label='L foot')
        ax3.fill_between(range(T), 0, fc[:, 2:].max(axis=1) * mean_vel.max() * 0.3,
                        alpha=0.2, color='green', label='R foot')
    ax3.set_title('Velocity + foot contact', fontsize=8)
    ax3.legend(fontsize=7)
    ax3.grid(True, alpha=0.3)

    plt.tight_layout()
    output_path.parent.mkdir(parents=True, exist_ok=True)
    plt.savefig(output_path, dpi=120, bbox_inches='tight')
    plt.close()
    return output_path


def batch_render(
    dataset_id: str,
    output_dir: Path,
    num: int = 20,
    mode: str = 'overview',  # 'overview' | 'gif' | 'both'
    frame_skip: int = 2,
):
    """Batch render samples from a dataset."""
    base = project_root / 'data' / 'processed' / dataset_id
    mdir = base / 'motions'
    files = sorted(os.listdir(mdir))

    # Select diverse samples (spread across dataset)
    indices = np.linspace(0, len(files) - 1, min(num, len(files)), dtype=int)
    selected = [files[i] for i in indices]

    output_dir.mkdir(parents=True, exist_ok=True)
    rendered = 0

    for f in selected:
        npz_path = mdir / f
        name = f.replace('.npz', '')

        if mode in ('overview', 'both'):
            out = output_dir / f'{name}_overview.png'
            render_multi_view(npz_path, out, base)
            rendered += 1

        if mode in ('gif', 'both'):
            out = output_dir / f'{name}.gif'
            render_motion_to_gif(npz_path, out, base, frame_skip=frame_skip)
            rendered += 1

    return rendered


def main():
    parser = argparse.ArgumentParser(description='Render motion visualizations')
    parser.add_argument('--input', type=str, help='Single npz file to render')
    parser.add_argument('--dataset', type=str, help='Dataset ID for batch render')
    parser.add_argument('--output', type=str, default='results/videos/', help='Output directory')
    parser.add_argument('--num', type=int, default=20, help='Number of samples for batch')
    parser.add_argument('--mode', choices=['overview', 'gif', 'both'], default='both')
    parser.add_argument('--frame_skip', type=int, default=2, help='Frame skip for GIF (1=all frames)')
    parser.add_argument('--show_text', action='store_true', default=True)
    parser.add_argument('--show_skeleton_info', action='store_true', default=True)
    args = parser.parse_args()

    output = Path(args.output)

    if args.input:
        npz_path = Path(args.input)
        ds_path = npz_path.parent.parent
        print(f'Rendering: {npz_path.name}')

        if args.mode in ('overview', 'both'):
            out = output / f'{npz_path.stem}_overview.png'
            render_multi_view(npz_path, out, ds_path)
            print(f'  Overview: {out}')

        if args.mode in ('gif', 'both'):
            out = output / f'{npz_path.stem}.gif'
            render_motion_to_gif(npz_path, out, ds_path, frame_skip=args.frame_skip)
            print(f'  GIF: {out}')

    elif args.dataset:
        print(f'Batch rendering: {args.dataset} ({args.num} samples, mode={args.mode})')
        n = batch_render(args.dataset, output / args.dataset, args.num, args.mode, args.frame_skip)
        print(f'  Rendered: {n} files → {output / args.dataset}')

    else:
        # Render all datasets
        for ds in ['humanml3d', 'lafan1', '100style', 'bandai_namco', 'cmu_mocap', 'mixamo', 'truebones_zoo']:
            ds_path = project_root / 'data' / 'processed' / ds
            if not ds_path.exists():
                continue
            print(f'Rendering {ds}...')
            n = batch_render(ds, output / ds, min(args.num, 10), args.mode, args.frame_skip)
            print(f'  {n} files')


if __name__ == '__main__':
    main()