# Copyright 2024 EPFL and Apple Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
import numpy as np
import torch
import torchvision.transforms.functional as TF
from einops import rearrange
import textwrap
import matplotlib.pyplot as plt
from PIL import Image
import cv2
from itertools import groupby
import re
# For visualizing CLIP feature maps
from sklearn.decomposition import PCA

# Detectron2 for semantic segmentation visualizations
try:
    from detectron2.utils.visualizer import ColorMode, Visualizer
    from detectron2.data import MetadataCatalog
    coco_metadata = MetadataCatalog.get("coco_2017_val_panoptic")
    USE_DETECTRON = True
except Exception as e:
    print(e)
    print("Detectron2 can be used for semseg visualizations. Please install detectron2 to use this feature, or plotting will fall back to matplotlib.")
    USE_DETECTRON = False

from fourm.data.modality_transforms import get_transform_key, get_transform_resolution, MetadataTransform
from fourm.utils.data_constants import IMAGENET_DEFAULT_MEAN, IMAGENET_DEFAULT_STD, COCO_SEMSEG_NUM_CLASSES
from fourm.utils import denormalize, get_sentinel_to_id_mapping, merge_span_masking
from fourm.utils.generation import unbatch

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


def tensor_to_images(tensor):
    """
    Converts a (B C H W) tensor to numpy arrays.
    If B = 1, the tensor is unbatched and converted to a single image.
    If C = 1, the channel dimension is removed.

    Args:
        tensor (torch.Tensor): Tensor to convert to images.
    """
    B, C, H, W = tensor.shape
    if B == 1:
        img = rearrange(unbatch(tensor), "c h w -> h w c")
    else:
        img = rearrange(tensor, "b c h w -> b h w c")
    if C == 1:
        img = img[..., 0]
    return img.detach().cpu().numpy()

def pca_visualize(features, n_components=3):
    """
    Visualizes a feature map using PCA.

    Args:
        features (torch.Tensor): CxHxW feature map to visualize.
        n_components (int): Number of PCA components to use.
    """
    C, H, W = features.shape
    features_flat = rearrange(features.float(), 'c h w -> (h w) c').detach().cpu().numpy()
    pca = PCA(n_components=n_components)
    img_pca = rearrange(pca.fit_transform(features_flat), '(h w) c -> h w c', h=H, w=W)
    img_pca = (img_pca - img_pca.min()) / (img_pca.max() - img_pca.min())
    return img_pca

def np_squeeze(array, axis=0):
    """
    Squeeses a numpy array along a given axis if that axis is one-dimensional.
    Otherwise, it returns the same array.
    
    Args:
        array (numpy.ndarray): Array to squeeze.
        axis (int): Axis to squeeze.
    """
    if array.shape[axis] == 1:
        return np.squeeze(array, axis=axis)
    else:
        return array

def decode_input_rgb(mod_dict, key='rgb'):
    """
    Decodes (denormalizes) an RGB image from a model dictionary.

    Args:
        mod_dict (dict): Model output dictionary.
        key (str): Key of the RGB modality to decode.
    """
    img = denormalize(mod_dict[key]['tensor'])
    return tensor_to_images(img)
    
def decode_tok_rgb(mod_dict, tokenizers, key='tok_rgb', image_size=224, patch_size=16, t=25, verbose=False):
    """
    Decodes a sequence of RGB tokens from a model dictionary into an RGB image.

    Args:
        mod_dict (dict): Model output dictionary.
        tokenizers (dict): Dictionary of tokenizers.
        key (str): Key of the tokenized RGB modality to decode.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
        t (int): Number of timesteps to decode using the tokenizer diffusion model (if applicable).
        verbose (bool): Whether to print the decoding progress.
    """
    img_tok = rearrange(mod_dict[key]['tensor'], "b (nh nw) -> b nh nw", nh=image_size//patch_size, nw=image_size//patch_size)
    rec = tokenizers[get_transform_key(key)].decode_tokens(img_tok, timesteps=t, image_size=image_size, verbose=verbose)
    rec = denormalize(rec, (0.5, 0.5, 0.5), (0.5, 0.5, 0.5)).clamp(0, 1)
    return tensor_to_images(rec)

def decode_tok_rgb_controlnet(mod_dict, tokenizers, key='tok_rgb', image_size=224, patch_size=16, 
                              t=25, guidance_scale=2.5, cond_scale=0.8, verbose=False):
    """
    Decodes a sequence of RGB tokens from a model dictionary into an RGB image using a ControlNet.

    Args:
        mod_dict (dict): Model output dictionary.
        tokenizers (dict): Dictionary of tokenizers. Needs to contain the key 'controlnet'.
        key (str): Key of the tokenized RGB modality to decode.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
        t (int): Number of timesteps to decode using the ControlNet.
        guidance_scale (float): Classifier-free guidance scale.
        cond_scale (float): ControlNet conditioning scale.
        verbose (bool): Whether to print the decoding progress.
    """
    img_tok = rearrange(mod_dict[key]['tensor'], "b (nh nw) -> b nh nw", nh=image_size//patch_size, nw=image_size//patch_size)
    rec = tokenizers['controlnet'].decode_tokens(
        img_tok, timesteps=t, guidance_scale=guidance_scale, cond_scale=cond_scale, verbose=verbose
    )
    rec = tokenizers['controlnet'].vae_decode(rec)
    rec = denormalize(rec, (0.5, 0.5, 0.5), (0.5, 0.5, 0.5)).clamp(0, 1)
    return tensor_to_images(rec)


def extract_frames(text):
    """Extract content for each frame from the special token string."""
    # Find all frame tokens and their content
    pattern = r'\[FRAME_(\d+)\](.*?)(?=\[FRAME_|\Z)'
    matches = re.findall(pattern, text, re.DOTALL)

    # Create a list with 17 entries (frames 1-17)
    frames = []
    for frame_num, content in matches:
        # Strip whitespace from content
        frames.append(content.strip())

    return frames

def decode_tok_normal(mod_dict, tokenizers, key='tok_normal', image_size=224, patch_size=16, t=25, verbose=False):
    """
    Decodes a sequence of surface normal tokens from a model dictionary into an RGB image.

    Args:
        mod_dict (dict): Model output dictionary.
        tokenizers (dict): Dictionary of tokenizers.
        key (str): Key of the tokenized normal modality to decode.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
        t (int): Number of timesteps to decode using the tokenizer diffusion model (if applicable).
        verbose (bool): Whether to print the decoding progress.
    """
    img_tok = rearrange(mod_dict[key]['tensor'], "b (nh nw) -> b nh nw", nh=image_size//patch_size, nw=image_size//patch_size)
    rec = tokenizers[get_transform_key(key)].decode_tokens(img_tok, timesteps=t, image_size=image_size, verbose=verbose)
    rec = denormalize(rec, (0.5, 0.5, 0.5), (0.5, 0.5, 0.5)).clamp(0, 1)
    return tensor_to_images(rec)

def decode_tok_canny_edge(mod_dict, tokenizers, key='tok_canny_edge', image_size=224, patch_size=16, t=10, verbose=False):
    """
    Decodes a sequence of Canny edges tokens from a model dictionary into an RGB image.

    Args:
        mod_dict (dict): Model output dictionary.
        tokenizers (dict): Dictionary of tokenizers.
        key (str): Key of the tokenized Canny edges modality to decode.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
        t (int): Number of timesteps to decode using the tokenizer diffusion model (if applicable).
        verbose (bool): Whether to print the decoding progress.
    """
    img_tok = rearrange(mod_dict[key]['tensor'], "b (nh nw) -> b nh nw", nh=image_size//patch_size, nw=image_size//patch_size)
    rec = tokenizers[get_transform_key(key)].decode_tokens(img_tok, timesteps=t, image_size=image_size, verbose=verbose)
    rec = (0.5*(rec+1)).clamp(0, 1)
    return tensor_to_images(rec)

def decode_tok_sam_edge(mod_dict, tokenizers, key='tok_sam_edge', image_size=224, patch_size=16, t=10, verbose=False):
    """
    Decodes a sequence of SAM edges from a model dictionary into an RGB image.

    Args:
        mod_dict (dict): Model output dictionary.
        tokenizers (dict): Dictionary of tokenizers.
        key (str): Key of the tokenized SAM edges modality to decode.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
        t (int): Number of timesteps to decode using the tokenizer diffusion model (if applicable).
        verbose (bool): Whether to print the decoding progress.
    """
    img_tok = rearrange(mod_dict[key]['tensor'], "b (nh nw) -> b nh nw", nh=image_size//patch_size, nw=image_size//patch_size)
    rec = tokenizers[get_transform_key(key)].decode_tokens(img_tok, timesteps=t, image_size=image_size, verbose=verbose)
    rec = (0.5*(rec+1)).clamp(0, 1)
    return tensor_to_images(rec)

def decode_tok_depth(mod_dict, tokenizers, key='tok_depth', image_size=224, patch_size=16, t=25, verbose=False, cmap='turbo'):
    """
    Decodes a sequence of depth tokens from a model dictionary into an RGB image.

    Args:
        mod_dict (dict): Model output dictionary.
        tokenizers (dict): Dictionary of tokenizers.
        key (str): Key of the tokenized depth modality to decode.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
        t (int): Number of timesteps to decode using the tokenizer diffusion model (if applicable).
        verbose (bool): Whether to print the decoding progress.
        cmap (str): Colormap to use for the depth image.
    """
    img_tok = rearrange(mod_dict[key]['tensor'], "b (nh nw) -> b nh nw", nh=image_size//patch_size, nw=image_size//patch_size)
    rec = tokenizers[get_transform_key(key)].decode_tokens(img_tok, timesteps=t, image_size=image_size, verbose=verbose)
    rec = rec.detach().cpu().numpy()[:,0]

    if cmap is None:
        return rec
    
    colormap = plt.get_cmap('turbo')
    imgs = []
    for img in rec:
        img_norm = (img - np.min(img)) / (np.max(img) - np.min(img))
        rgb_image = colormap(img_norm)[..., :3]
        imgs.append(rgb_image)

    rgb_image = np_squeeze(np.stack(imgs), axis=0)
    
    return rgb_image
    
def decode_tok_semseg(rgb_img, mod_dict, tokenizers, key='tok_semseg', image_size=224, patch_size=16, use_detectron=True, return_logits=False):
    """
    Decodes a sequence of semantic segmentation tokens from a model dictionary into an RGB image.

    Args:
        rgb_img (torch.Tensor): RGB image to overlay the semantic segmentation on.
        mod_dict (dict): Model output dictionary.
        tokenizers (dict): Dictionary of tokenizers.
        key (str): Key of the tokenized semantic segmentation modality to decode.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
        use_detectron (bool): Uses detectron2's visualization for the semseg output.
    """
    tokens = mod_dict[key]['tensor']
    tokens = tokens.unsqueeze(0) if tokens.ndim == 1 else tokens
    img_tok = rearrange(tokens, "b (nh nw) -> b nh nw", nh=image_size//patch_size, nw=image_size//patch_size)
    rec = tokenizers[get_transform_key(key)].decode_tokens(img_tok).detach().cpu()
    if return_logits:
        return rec
    semsegs = rec.argmax(1)
    B, H, W = semsegs.shape

    if not use_detectron:
        return semsegs if B > 1 else semsegs[0]
    else:
        rgb_imgs = [rgb_img] * B
        imgs = []
        for rgb, semseg in zip(rgb_imgs, semsegs):
            if USE_DETECTRON:
                v = Visualizer(255*rgb, coco_metadata, scale=1.2, instance_mode=ColorMode.IMAGE_BW)
                img = v.draw_sem_seg((semseg-1).cpu()).get_image() / 255.0
            else:
                colormap = plt.get_cmap('viridis')
                img = colormap(semseg.cpu())[..., :3]
            imgs.append(img)
        imgs = np_squeeze(np.stack(imgs), axis=0)
        return imgs

def decode_tok_clip(mod_dict, tokenizers, key='tok_clip', image_size=224, patch_size=16):
    """
    Decodes a sequence of CLIP tokens from a model dictionary into an PCA representation.

    Args:
        mod_dict (dict): Model output dictionary.
        key (str): Key of the tokenized CLIP modality to decode.
        tokenizers (dict): Dictionary of tokenizers.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
    """
    n_patches = image_size // patch_size
    img_tok = rearrange(mod_dict[key]['tensor'], "b (nh nw) -> b nh nw", nh=n_patches, nw=n_patches)
    rec = tokenizers[get_transform_key(key)].decode_tokens(img_tok)
    pca_viz = [pca_visualize(feat) for feat in rec]
    pca_viz = np_squeeze(np.stack(pca_viz), axis=0)
    return pca_viz

def decode_tok_dinov2(mod_dict, tokenizers, key='tok_dinov2', image_size=224, patch_size=14):
    """
    Decodes a sequence of DINOv2 spatial tokens from a model dictionary into an PCA representation.

    Args:
        mod_dict (dict): Model output dictionary.
        key (str): Key of the tokenized CLIP modality to decode.
        tokenizers (dict): Dictionary of tokenizers.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
    """
    patch_size = 14
    n_patches = image_size // patch_size
    img_tok = rearrange(mod_dict[key]['tensor'], "b (nh nw) -> b nh nw", nh=n_patches, nw=n_patches)
    rec = tokenizers[get_transform_key(key)].decode_tokens(img_tok)
    pca_viz = [pca_visualize(feat) for feat in rec]
    pca_viz = np_squeeze(np.stack(pca_viz), axis=0)
    return pca_viz

def decode_tok_imagebind(mod_dict, tokenizers, key='tok_imagebind', image_size=224, patch_size=14):
    """
    Decodes a sequence of ImageBind spatial tokens from a model dictionary into an PCA representation.

    Args:
        mod_dict (dict): Model output dictionary.
        key (str): Key of the tokenized CLIP modality to decode.
        tokenizers (dict): Dictionary of tokenizers.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
    """
    patch_size = 14
    n_patches = image_size // patch_size
    img_tok = rearrange(mod_dict[key]['tensor'], "b (nh nw) -> b nh nw", nh=n_patches, nw=n_patches)
    rec = tokenizers[get_transform_key(key)].decode_tokens(img_tok)
    pca_viz = [pca_visualize(feat) for feat in rec]
    pca_viz = np_squeeze(np.stack(pca_viz), axis=0)
    return pca_viz

def decode_tok_dinov2_global(mod_dict, tokenizers, key='tok_dinov2_global'):
    """
    Decodes a sequence of DINOv2 global tokens from a model dictionary.

    Args:
        mod_dict (dict): Model output dictionary.
        key (str): Key of the tokenized DINOv2 global token modality to decode.
        tokenizers (dict): Dictionary of tokenizers.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
    """
    toks = rearrange(mod_dict[key]['tensor'].long(), 'b n -> b n 1 1')
    rec = tokenizers[get_transform_key(key)].decode_tokens(toks)
    return rec.squeeze()

def decode_tok_imagebind_global(mod_dict, tokenizers, key='tok_imagebind_global'):
    """
    Decodes a sequence of ImageBind global tokens from a model dictionary.

    Args:
        mod_dict (dict): Model output dictionary.
        key (str): Key of the tokenized ImageBind global token modality to decode.
        tokenizers (dict): Dictionary of tokenizers.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
    """
    toks = rearrange(mod_dict[key]['tensor'].long(), 'b n -> b n 1 1')
    rec = tokenizers[get_transform_key(key)].decode_tokens(toks)
    return rec.squeeze()

def expand_to_aspect_ratio(input_shape, target_aspect_ratio=None):
    """Increase the size of the bounding box to match the target shape."""
    if target_aspect_ratio is None:
        return input_shape

    try:
        w, h = input_shape
    except (ValueError, TypeError):
        return input_shape

    w_t, h_t = target_aspect_ratio
    if h / w < h_t / w_t:
        h_new = max(w * h_t / w_t, h)
        w_new = w
    else:
        h_new = h
        w_new = max(h * w_t / h_t, w)
    if h_new < h or w_new < w:
        breakpoint()
    return np.array([w_new, h_new])


def decode_color_palette(mod_dict, text_tokenizer, key='color_palette'):
    """
    Decodes a sequence of color palettes from a model dictionary.

    Args:
        mod_dict (dict): Model output dictionary.
        key (str): Key of the tokenized ImageBind modality to decode.
        tokenizers (dict): Dictionary of tokenizers.
        image_size (int): Size of the image.
        patch_size (int): Size of the patches.
    """
    decoded = decode_text(mod_dict, key, text_tokenizer)[2]
    all_decoded = decoded if isinstance(decoded, list) else [decoded]
    all_decoded = [d.replace(' [EOS]', '') for d in all_decoded]
    all_decoded = [visualize_palettes_multi(d) for d in all_decoded]
    all_decoded = all_decoded[0] if len(all_decoded) == 1 else all_decoded
    return all_decoded

def decode_human_pose_single_frame(pose, poses_tokenizer,
                      global_orient_bins=1000,
                      shape_bins=1000,
                      camera_bins=1000,
                      bbox_bins=1000):
    """
    Decode human pose from tokenized string format with configurable bin resolution.

    Args:
        pose (str): Tokenized pose string
        poses_tokenizer: Tokenizer for poses
        global_orient_bins: Number of bins used for global orientation quantization (default: 1000)
        shape_bins: Number of bins used for shape parameters quantization (default: 1000)
        camera_bins: Number of bins used for camera parameters quantization (default: 1000)
        bbox_bins: Number of bins used for bbox quantization (default: 1000)

    Returns:
        dict: Dictionary containing decoded pose parameters
    """
    full_gts = pose.split()
    num_instances = len(full_gts) // 39  # total length of a pose instance seq is 39
    print(f"Total instances per image: {num_instances}")

    # Calculate decoding parameters based on bin counts
    # Global orientation: [-1, 1] quantized to [0, global_orient_bins-1]
    global_orient_scale = (global_orient_bins - 1) / 2.0
    global_orient_offset = global_orient_scale

    # Shape parameters: [-7, 6] quantized to [0, shape_bins-1] (13 unit range)
    shape_range = 12.48  # from -7 to 6
    shape_scale = (shape_bins - 1) / shape_range
    shape_offset = 6.94 * shape_scale

    # Camera parameters: [-1, 13] quantized to [0, camera_bins-1] (14 unit range)
    camera_range = 11.38
    camera_scale = (camera_bins - 1) / camera_range
    camera_offset = 0.88 * camera_scale

    # Initialize lists to collect results from all instances
    batch_params = {
        'bbox_xyxy': [],
        'box_center': [],
        'box_size': [],
        'img_size': [],
        'focal_length': [],
        'pred_cam': [],
        'pred_smpl_params': {
            'betas': [],
            'global_orient': [],
            'body_pose': []
        }
    }

    for inst in range(num_instances):
        try:
            full_gt = full_gts[inst * 39:(inst + 1) * 39]
            all_params = {}

            # Parse bbox - decode from [0, bbox_bins-1] back to [0, 1] then scale to 224
            all_params['bbox_xyxy'] = torch.Tensor([
                int(full_gt[1][3:]) / (bbox_bins - 1) * 128,
                int(full_gt[2][3:]) / (bbox_bins - 1) * 128,
                int(full_gt[3][3:]) / (bbox_bins - 1) * 128,
                int(full_gt[4][3:]) / (bbox_bins - 1) * 128
            ])

            # Calculate box center
            all_params["box_center"] = torch.cat([
                ((all_params["bbox_xyxy"][0] + all_params["bbox_xyxy"][2]) / 2.).unsqueeze(0).unsqueeze(1),
                ((all_params["bbox_xyxy"][1] + all_params["bbox_xyxy"][3]) / 2.).unsqueeze(0).unsqueeze(1)
            ], dim=1)

            # Calculate box size
            box_w = (all_params["bbox_xyxy"][2] - all_params["bbox_xyxy"][0]).item()
            box_h = (all_params["bbox_xyxy"][3] - all_params["bbox_xyxy"][1]).item()
            scale = np.array([box_w, box_h]) / 200.0
            expanded_dims = expand_to_aspect_ratio(scale * 200.0, target_aspect_ratio=[192, 256])
            bbox_size = expanded_dims.max()
            all_params["box_size"] = torch.tensor(bbox_size)

            # Set image size and focal length
            all_params["img_size"] = torch.Tensor([128., 128.]).unsqueeze(0)
            all_params["focal_length"] = torch.Tensor([5000., 5000.])

            # Parse camera parameters - decode from [0, camera_bins-1] back to [-1, 13]
            for ii, token in enumerate(full_gt):
                if token == 'camera':
                    all_params['pred_cam'] = torch.Tensor([
                        (int(full_gt[ii + 1][3:]) - camera_offset) / camera_scale,
                        (int(full_gt[ii + 2][3:]) - camera_offset) / camera_scale,
                        (int(full_gt[ii + 3][3:]) - camera_offset) / camera_scale
                    ]).unsqueeze(0)
                    break

            all_params['pred_smpl_params'] = {}

            # Parse shape parameters - decode from [0, shape_bins-1] back to [-7, 6]
            for ii, token in enumerate(full_gt):
                if token == 'shape':
                    betas = []
                    for j in range(1, 11):  # 10 beta parameters
                        quantized_val = int(full_gt[ii + j][3:])
                        decoded_val = (quantized_val - shape_offset) / shape_scale
                        betas.append(decoded_val)
                    all_params['pred_smpl_params']['betas'] = torch.Tensor(betas).unsqueeze(0)
                    break

            # Parse global orientation - decode from [0, global_orient_bins-1] back to [-1, 1]
            for ii, token in enumerate(full_gt):
                if token == 'global':
                    global_orient = []
                    for row in range(3):
                        row_data = []
                        for col in range(3):
                            idx = ii + 1 + row * 3 + col
                            quantized_val = int(full_gt[idx][3:])
                            decoded_val = (quantized_val - global_orient_offset) / global_orient_scale
                            row_data.append(decoded_val)
                        global_orient.append(row_data)
                    all_params['pred_smpl_params']['global_orient'] = torch.Tensor(global_orient).unsqueeze(
                        0).unsqueeze(0)
                    break

            # Parse body pose (unchanged - this uses a separate tokenizer)
            body_poses = torch.FloatTensor()
            pose_start = None
            for ii, token in enumerate(full_gt):
                if token == 'pose':
                    pose_start = ii
                    break

            if pose_start is not None:
                for ii in range(8):
                    pose_curr = pose_start + ii + 1
                    if 'v1' in full_gt[pose_curr]:
                        poses_curr = torch.Tensor([int(full_gt[pose_curr][3:]) + 512])
                    else:
                        poses_curr = torch.Tensor([int(full_gt[pose_curr][3:])])
                    body_poses = torch.cat((body_poses, poses_curr), dim=0)

                body_poses = body_poses.long()
                body_poses = body_poses.unsqueeze(0).unsqueeze(2).unsqueeze(2).to(device)
                body_poses = poses_tokenizer.decode_tokens(body_poses).squeeze(2).squeeze().reshape(1, 23, 3, 3).cpu()
                all_params['pred_smpl_params']['body_pose'] = body_poses

            # Append to batch collections
            batch_params['bbox_xyxy'].append(all_params['bbox_xyxy'].unsqueeze(0))
            batch_params['box_center'].append(all_params['box_center'])
            batch_params['box_size'].append(all_params['box_size'].unsqueeze(0))
            batch_params['img_size'].append(all_params['img_size'])
            batch_params['focal_length'].append(all_params['focal_length'].unsqueeze(0))
            batch_params['pred_cam'].append(all_params['pred_cam'])
            batch_params['pred_smpl_params']['betas'].append(all_params['pred_smpl_params']['betas'])
            batch_params['pred_smpl_params']['global_orient'].append(all_params['pred_smpl_params']['global_orient'])
            batch_params['pred_smpl_params']['body_pose'].append(all_params['pred_smpl_params']['body_pose'])

        except Exception as e:
            print(f'Error in decoding human poses: {e}')
            continue
    try:
        # Concatenate all collected tensors along batch dimension
        if batch_params['bbox_xyxy']:  # Check if we have any valid instances
            final_params = {}
            final_params['bbox_xyxy'] = torch.cat(batch_params['bbox_xyxy'], dim=0)
            final_params['box_center'] = torch.cat(batch_params['box_center'], dim=0)
            final_params['box_size'] = torch.stack(batch_params['box_size'], dim=0)
            final_params['img_size'] = torch.cat(batch_params['img_size'], dim=0)
            final_params['focal_length'] = torch.stack(batch_params['focal_length'], dim=0)
            final_params['pred_cam'] = torch.cat(batch_params['pred_cam'], dim=0)
            final_params['pred_smpl_params'] = {
                'betas': torch.cat(batch_params['pred_smpl_params']['betas'], dim=0),
                'global_orient': torch.cat(batch_params['pred_smpl_params']['global_orient'], dim=0),
                'body_pose': torch.cat(batch_params['pred_smpl_params']['body_pose'], dim=0)
            }
            return final_params
        else:
            print("No valid instances found")
            return None
    except Exception as e:
        print(f'Error in decoding human poses: {e}')
        return None


def decode_human_poses(mod_dict, human_pose_tokenizer, text_tokenizer, key='human_poses', first_decode_to_text=True):
    """
    Decodes human poses tokenized with text + BMLP
    """
    torch.set_grad_enabled(False)
    if first_decode_to_text:
        decoded = decode_text(mod_dict, key, text_tokenizer)[2]
    else:
        # in this case, it will not be a key
        decoded = mod_dict
    # remove special tokens
    poses_str = decoded.replace('[PAD]', '').replace('[EOS]', '')
    # convert to per frame instances (decompose into 4M style)
    frame_wise_poses = extract_frames(poses_str)
    all_decoded = frame_wise_poses if isinstance(frame_wise_poses, list) else [frame_wise_poses]
    all_decoded = [d.replace(' [EOS]', '') for d in all_decoded]
    decoded_human_poses = {}
    for idx, single_frame_results in enumerate(all_decoded):
        if len(single_frame_results.split()) % 39 != 0: # means it has proper tokens for full human
            decoded_human_poses[idx] = {}
            continue
        poses_dict_detokenized = decode_human_pose_single_frame(single_frame_results, human_pose_tokenizer)
        # Convert to lists
        if poses_dict_detokenized is None:
            decoded_human_poses[idx] = {}
            continue
        for k in poses_dict_detokenized:
            if k == 'pred_smpl_params':
                for k2 in poses_dict_detokenized[k]:
                    poses_dict_detokenized[k][k2] = poses_dict_detokenized[k][k2].cpu().numpy().tolist()
            else:
                poses_dict_detokenized[k] = poses_dict_detokenized[k].cpu().numpy().tolist()
        decoded_human_poses[idx] = poses_dict_detokenized
    # imgs = []
    # for decoded in all_decoded:
    #     img = np.ones((224,224,4))
    #     if decoded != 'none':
    #         try:
    #             img = visualize_human_poses(decoded, tokenizers[key], mod_dict)
    #         except Exception as e:
    #             print('Error in decoding human poses. Packages required for plotting may not be installed. Trace:')
    #             print(e)
    #     imgs.append(img)
    #
    # imgs = np_squeeze(np.stack(imgs), axis=0)

    return decoded_human_poses

metadata_transform = MetadataTransform(shuffle=False, random_trunc=False, return_chunks=False)

def _split_metadata_string(input_string):    
    result = []
    current_subseq = []
    
    for part in input_string.split():
        # If we encounter a "v1" and there's already a subsequence being built, 
        # we add it to the result and start a new one
        if 'v1' in part and current_subseq:
            result.append(current_subseq)
            current_subseq = []
        
        current_subseq.append(part)

    # Append any remaining subsequence to the result
    if current_subseq:
        result.append(current_subseq)
        
    return result

def decode_metadata(mod_dict, text_tokenizer, key='metadata'):
    """
    Decodes a sequence of metadata tokens into a dictionary of metadata.

    Args:
        mod_dict (dict): Model output dictionary.
        key (str): Key of the metadata modality to decode.
        text_tokenizer (tokenizers.Tokenizer): Text tokenizer.
    """
    decoded = decode_text(mod_dict, key, text_tokenizer)[2]
    all_decoded = decoded if isinstance(decoded, list) else [decoded]
    all_decoded = [d.replace(' [EOS]', '').replace(' [PAD]', '') for d in all_decoded]

    all_metadata = []

    for decoded in all_decoded:

        parts = _split_metadata_string(decoded)
        
        invalid_parts = []
        metadata_dict = {}
        
        for part in parts:
            
            # Check if part has been parsed correctly
            if len(part) != 2:
                invalid_parts.append(str(part))    
                continue
            metadata_id, metadata_value = part
            if (not metadata_id.startswith('v1=') or 
                not metadata_value.startswith('v0=') or 
                metadata_id not in metadata_transform.id_metadata_map):
                invalid_parts.append(str(part))
                
            # Parse metadata type and value
            metadata_type = metadata_transform.id_metadata_map[metadata_id]
            
            metadata_value = int(metadata_value.split('=')[1])
            
            if metadata_type in metadata_transform.image_dim_modalities:
                metadata_value *= metadata_transform.image_dim_bin_size
            elif metadata_type in metadata_transform.metadata_min_max_bins:
                vmin, vmax, bins = metadata_transform.metadata_min_max_bins[metadata_type]
                metadata_value = (vmax - vmin) * (metadata_value / bins) + vmin
            
            metadata_dict[metadata_type] = metadata_value
            
        metadata_dict = {k: metadata_dict[k] for k in metadata_transform.metadata_id_map if k in metadata_dict}
        all_metadata.append(metadata_dict)

    all_metadata = all_metadata[0] if len(all_metadata) == 1 else all_metadata
    
    return all_metadata

def decode_text(mod_dict, key, text_tokenizer):
    """
    Decodes a text sequence from a model dictionary.

    Args:
        mod_dict (dict): Model output dictionary.
        key (str): Key of the text modality to decode.
        text_tokenizer (tokenizers.Tokenizer): Text tokenizer.
    """
    input_texts, target_texts, merged_texts = [], [], []

    sentinel_ids = set(get_sentinel_to_id_mapping(text_tokenizer).values())
    B = mod_dict[key]['tensor'].shape[0]

    for i in range(B):

        input_seq = mod_dict[key]['tensor'][i]
        input_seq = input_seq[mod_dict[key]['input_mask'][i] == 0]
        input_seq = input_seq.tolist()
        
        target_seq = mod_dict[key]['tensor'][i]
        target_seq = target_seq[mod_dict[key]['target_mask'][i] == 0]
        target_seq = target_seq.tolist()
        
        merged_seq = merge_span_masking(input_seq, target_seq, sentinel_ids=sentinel_ids)
    
        input_text = text_tokenizer.decode(input_seq, skip_special_tokens=False)
        target_text = text_tokenizer.decode(target_seq, skip_special_tokens=False)
        merged_text = text_tokenizer.decode(merged_seq, skip_special_tokens=False)

        input_texts.append(input_text)
        target_texts.append(target_text)
        merged_texts.append(merged_text)

    if B == 1:
        input_texts, target_texts, merged_texts = input_texts[0], target_texts[0], merged_texts[0]
    
    return input_texts, target_texts, merged_texts

def decode_sam_instances(mod_dict, tokenizers, text_tokenizer, key='sam_instance', image_size=224, token_len=16):
    '''
    Decodes a sequence of SAM instance tokens into the instance representation.

    Args:
        mod_dict (dict): Model output dictionary.
        key (str): Key of the tokenized ImageBind modality to decode.
        tokenizers (dict): Dictionary of tokenizers.
        text_tokenizer (tokenizers.Tokenizer): Text tokenizer.
        image_size (int): Size of the image.
        token_len (int): Tokenized SAM instance token length.
    '''
    assert image_size == 224, 'SAM instance decoding only supports 224x224 images'
    decoded = decode_text(mod_dict, key, text_tokenizer)[2]
    all_decoded = decoded if isinstance(decoded, list) else [decoded]
    all_decoded = [d.replace(' [EOS]', '') for d in all_decoded]
    
    # Generate deterministic SAM color palette
    rng = np.random.default_rng(seed=0)
    sam_palette = [rng.integers(0, 255, size=3) for i in range(1000)]

    def group_by_identifier(input_list, identifier):
        ''' 
        Groups the input_list [a,b,c,a,d,d,c,..] using the identifier a, in the following format:
        [[b,c], [d,d,c], ...]
        '''
        return [list(group) for key, group in groupby(input_list, lambda x: x == identifier) if not key]
    
    def map_locations(inp, tokens=False):
        '''
        Converts v0, v1, v2, v3 textual representation into int.
        When tokens=True, inp is mapped to its corresponding token id.
        '''
        if '=' not in inp:
            return None
        axis, position = inp.split("=")
        try:
            position = int(position)
        except:
            return None
        if tokens:
            if axis == 'v0':
                return position
            else:
                return position + 512
        return position

    def iou(box1, box2):
        '''
        Calculates iou of the input bounding boxes
        '''
        # Calculate the coordinates of the intersection rectangle
        x1 = max(box1[0], box2[0])
        y1 = max(box1[1], box2[1])
        x2 = min(box1[2], box2[2])
        y2 = min(box1[3], box2[3])

        # Calculate the area of the intersection
        intersection_area = max(0, x2 - x1) * max(0, y2 - y1)

        # Calculate the areas of the individual bounding boxes
        area_box1 = (box1[2] - box1[0]) * (box1[3] - box1[1])
        area_box2 = (box2[2] - box2[0]) * (box2[3] - box2[1])

        # Calculate the union area
        union_area = area_box1 + area_box2 - intersection_area

        # Calculate and return the IoU
        return intersection_area / union_area
    
    all_sam_instances = []

    for decoded in all_decoded:
        
        tokens_per_sample = []
        bboxes_per_sample = []
        areas_per_sample = []
        parts = decoded.split()

        for part in group_by_identifier(parts, identifier='point'):
            instances = part[2:]
            # Ignore 'none' cases
            if len(instances) <= 1:
                continue

            for positions in group_by_identifier(part, identifier='polygon'):
                # Ignore incomplete polygons
                if len(positions) != token_len + 4:
                    continue

                bbox, tokens = positions[:4], positions[4:]
                min_w, min_h, max_w, max_h = map(map_locations, bbox)
                # Ignore the cases where the bounding box is prediction is in incorrect format
                if None in [min_w, max_w, min_h, max_h] or (min_w >= max_w or min_h >= max_h):
                    continue

                bbox = np.array([min_h, min_w, max_h, max_w])
                tokens = list(map(lambda x: map_locations(x, tokens=True), tokens))
                if None in tokens:
                    continue
                tokens = np.array(tokens)

                tokens_per_sample.append(tokens)
                bboxes_per_sample.append(bbox)
                areas_per_sample.append((max_w - min_w) * (max_h - min_h))

        final_instances = np.zeros((image_size, image_size, 3), dtype=np.uint8)
        if len(areas_per_sample) == 0:
            return final_instances
        
        # Sort the instance masks by area
        areas_per_sample = np.array(areas_per_sample)
        sorted_idx = np.argsort(-areas_per_sample)
        tokens_per_sample = np.stack(tokens_per_sample)[sorted_idx]
        bboxes_per_sample = np.stack(bboxes_per_sample)[sorted_idx]
        # Decoded tokens
        tokens_per_sample = torch.LongTensor(tokens_per_sample).reshape(-1, 4, 4).to(device)
        decoded_tokens = tokenizers[key].decode_tokens(tokens_per_sample)
        instances = torch.sigmoid(decoded_tokens).squeeze(1).cpu().detach().numpy()

        # Filter and group instances
        representive_masks = []
        representive_bboxes = []
        for (mask, bbox) in zip(instances, bboxes_per_sample):
            # Filter out unusual masks
            if (mask.max() - mask.min()) < 0.9:
                continue
            
            # Groups the duplicated instance masks
            duplicated_flag = False
            for rms, rbs in zip(representive_masks, representive_bboxes):
                rm, rb = rms[0], rbs[0]
                sim_score = 2 * ((rm * mask).sum() + 0.01) / (rm.sum() + mask.sum() + 0.01)
                box_iou = iou(rb, bbox)
                # If the similarity and IoU are high, consider them as the same instance and group them
                if sim_score > 0.8 and box_iou > 0.9:
                    # Add the mask to its corresponding group
                    rms.append(mask)
                    rbs.append(bbox)
                    duplicated_flag = True
                    break
            if not duplicated_flag:
                representive_masks.append([mask])
                representive_bboxes.append([bbox])
        
        # Plot the instances
        for i, (rms, rbs) in enumerate(zip(representive_masks, representive_bboxes)):
            mask = np.mean(rms, axis=0)
            bbox = np.mean(rbs, axis=0).astype(np.int32)
            min_h, min_w, max_h, max_w = bbox.tolist()
            mask = cv2.resize(mask, (max_w - min_w, max_h - min_h), interpolation=cv2.INTER_CUBIC)
            max_w, max_h = min(max_w, final_instances.shape[1]), min(max_h, final_instances.shape[0])
            mask = mask[:max_h - min_h,:max_w - min_w] > 0.5
            final_instances[min_h:max_h, min_w:max_w, :][mask] = sam_palette[i]
        
        all_sam_instances.append(final_instances)
    
    all_sam_instances = all_sam_instances[0] if len(all_sam_instances) == 1 else np.stack(all_sam_instances)
    
    return all_sam_instances

def decode_dict(mod_dict, tokenizers, text_tokenizer, image_size=224, patch_size=16, 
                decoding_steps=25, activate_controlnet=False, controlnet_guidance_scale=2.5, controlnet_cond_scale=0.8,
                to_rgb=True, seed=None):
    """
    Decodes the model output dictionary into a dictionary of images and text.

    Args:
        mod_dict (dict): Model output dictionary.
        tokenizers (dict): Dictionary of tokenizers.
        text_tokenizer (tokenizers.Tokenizer): Text tokenizer.
        image_size (int): Image size.
        patch_size (int): Patch size.
        decoding_steps (int): Number of diffusion decoding steps (if applicable).
        activate_controlnet (bool): Whether to activate the RGB ControlNet and override the RGB detokenizer.
        controlnet_guidance_scale (float): Classifier-free guidance scale for the ControlNet.
        controlnet_cond_scale (float): ControlNet conditioning scale.
    """
    dec_dict = {}
    
    for key in mod_dict:
        k, res = get_transform_key(key), get_transform_resolution(key, image_size, to_tuple=False)

        if k == 'rgb':
            decoded = decode_input_rgb(mod_dict, key=key)
        elif k == 'tok_rgb':
            if not activate_controlnet or 'controlnet' not in tokenizers:
                decoded = decode_tok_rgb(
                    mod_dict, tokenizers, key=key, 
                    image_size=res, patch_size=patch_size, 
                    t=decoding_steps, verbose=False
                )
            else:
                decoded = decode_tok_rgb_controlnet(
                    mod_dict, tokenizers, key=key, 
                    image_size=res, patch_size=patch_size, 
                    t=decoding_steps, guidance_scale=controlnet_guidance_scale, 
                    cond_scale=controlnet_cond_scale, verbose=False
                )
        elif k == 'tok_canny_edge':
            decoded = decode_tok_canny_edge(
                mod_dict, tokenizers, key=key, 
                image_size=res, patch_size=patch_size, 
                t=decoding_steps, verbose=False
            )
        elif k == 'tok_sam_edge':
            decoded = decode_tok_sam_edge(
                mod_dict, tokenizers, key=key, 
                image_size=res, patch_size=patch_size, 
                t=decoding_steps, verbose=False
            )
        elif k == 'tok_normal':
            decoded = decode_tok_normal(
                mod_dict, tokenizers, key=key, 
                image_size=res, patch_size=patch_size, 
                t=decoding_steps, verbose=False
            )
        elif k == 'tok_depth':
            decoded = decode_tok_depth(
                mod_dict, tokenizers, key=key, 
                image_size=res, patch_size=patch_size, 
                t=decoding_steps, verbose=False, cmap='turbo' if to_rgb else None
            )
        elif k == 'tok_semseg':
            decoded = decode_tok_semseg(
                np.ones((res, res, 3)), mod_dict, tokenizers, key=key, 
                image_size=res, patch_size=patch_size, return_logits=not to_rgb
            )
        elif k == 'tok_clip':
            decoded = decode_tok_clip(
                mod_dict, tokenizers, key=key, 
                image_size=res, patch_size=patch_size
            )
        elif k == 'tok_dinov2':
            decoded = decode_tok_dinov2(
                mod_dict, tokenizers, key=key, 
                image_size=res, patch_size=patch_size
            )
        elif k == 'tok_dinov2_global':
            decoded = decode_tok_dinov2_global(
                mod_dict, tokenizers, key=key
            )
        elif k == 'tok_imagebind':
            decoded = decode_tok_imagebind(
                mod_dict, tokenizers, key=key, 
                image_size=res, patch_size=patch_size
            )
        elif k == 'tok_imagebind_global':
            decoded = decode_tok_imagebind_global(
                mod_dict, tokenizers, key=key
            )
        elif k == 'color_palette':
            decoded = decode_color_palette(
                mod_dict, text_tokenizer, key=key
            )
        elif k == 'human_poses':
            decoded = decode_human_poses(
                mod_dict, tokenizers, text_tokenizer, key=key
            )
        elif k in ['caption', 'det']:
            decoded = decode_text(mod_dict, key, text_tokenizer)[2]
            decoded = decoded if isinstance(decoded, list) else [decoded]
            decoded = [d.replace(' [EOS]', '') for d in decoded]
        elif k in ['metadata']:
            decoded = decode_metadata(
                mod_dict, text_tokenizer, key=key
            )
        elif k == 'sam_instance':
            decoded = decode_sam_instances(
                mod_dict, tokenizers, text_tokenizer,
                key=key, image_size=224,
            )
        elif k in ['t5_caption']: 
            if 'ascii_tensor' in mod_dict[key]:
                decoded = []
                for ascii_tensor in mod_dict[key]['ascii_tensor']:
                    ascii_values = ascii_tensor.flatten().tolist()
                    decoded_text = ''.join(chr(val) for val in ascii_values if val != 0)
                    decoded.append(f"T5-XXL embedding of: {decoded_text}")
                decoded = decoded[0] if len(decoded) == 1 else decoded
            else:
                decoded = "T5-XXL embedding"        
        dec_dict[key] = decoded
    return dec_dict


def decode_dict_text_modalities(mod_dict, text_tokenizer, pose_tokenizer):
    """
    Decodes the model output dictionary into a dictionary of images and text.

    Args:
        mod_dict (dict): Model output dictionary.
        tokenizers (dict): Dictionary of tokenizers.
        text_tokenizer (tokenizers.Tokenizer): Text tokenizer.
        image_size (int): Image size.
        patch_size (int): Patch size.
        decoding_steps (int): Number of diffusion decoding steps (if applicable).
        activate_controlnet (bool): Whether to activate the RGB ControlNet and override the RGB detokenizer.
        controlnet_guidance_scale (float): Classifier-free guidance scale for the ControlNet.
        controlnet_cond_scale (float): ControlNet conditioning scale.
    """
    dec_dict = {}

    for key in mod_dict:
        k = get_transform_key(key)

        if k in ['caption', 'det', 'transcription']:
            decoded = decode_text(mod_dict, key, text_tokenizer)[2]
            decoded = decoded if isinstance(decoded, list) else [decoded]
            decoded = [d.replace(' [EOS]', '') for d in decoded]
        elif k in ['human_poses']:
            decoded = decode_human_poses(
                mod_dict, pose_tokenizer, text_tokenizer, key=key
            )
        elif k in ['metadata']:
            decoded = decode_metadata(
                mod_dict, text_tokenizer, key=key
            )
        elif k == 'sam_instance':
            decoded = decode_sam_instances(
                mod_dict, tokenizers, text_tokenizer,
                key=key, image_size=224,
            )
        elif k in ['t5_caption']:
            if 'ascii_tensor' in mod_dict[key]:
                decoded = []
                for ascii_tensor in mod_dict[key]['ascii_tensor']:
                    ascii_values = ascii_tensor.flatten().tolist()
                    decoded_text = ''.join(chr(val) for val in ascii_values if val != 0)
                    decoded.append(f"T5-XXL embedding of: {decoded_text}")
                decoded = decoded[0] if len(decoded) == 1 else decoded
            else:
                decoded = "T5-XXL embedding"
        else:
            decoded = "dummy"
        dec_dict[key] = decoded
    return dec_dict


# Plotting utils

MOD_PRINT_NAMES = {
    'rgb': 'RGB',
    'tok_rgb': 'RGB (tok)',
    'tok_normal': 'Normal (tok)',
    'tok_depth': 'Depth (tok)',
    'tok_semseg': 'Semseg (tok)',
    'tok_clip': 'CLIP (tok)',
    'tok_canny': 'Canny (tok)',
    'tok_sam': 'SAM (tok)',
    'sam_instance': 'SAM Instances (tok)',

    'rgb@224': 'RGB@224',
    'tok_rgb@224': 'RGB@224 (tok)',
    'tok_normal@224': 'Normal@224 (tok)',
    'tok_depth@224': 'Depth@224 (tok)',
    'tok_semseg@224': 'Semseg@224 (tok)',
    'tok_clip@224': 'CLIP@224 (tok)',

    'rgb@448': 'RGB@448',
    'tok_rgb@448': 'RGB@448 (tok)',
    'tok_normal@448': 'Normal@448 (tok)',
    'tok_depth@448': 'Depth@448 (tok)',
    'tok_semseg@448': 'Semseg@448 (tok)',
    'tok_clip@448': 'CLIP@448 (tok)',

    'caption': 'Caption',
    'det': 'Detection',
    't5_caption': 'T5 XXL',
    'metadata': 'Metadata',
    'human_poses': 'Human poses',
    'color_palette': 'Color palette',
    'tok_dinov2': 'DINOv2 (tok)',
    'tok_dinov2_global': 'DINOv2 global (tok)',
    'tok_imagebind': 'ImageBind (tok)',
    'tok_imagebind_global': 'ImageBind global (tok)',
}

def remove_ticks_and_labels(ax):
    """
    Remove the axis ticks and labels

    Args:
        ax (matplotlib.axes.Axes): Axis to remove ticks and labels from
    """
    ax.set_xticks([])
    ax.set_yticks([])
    ax.set_xticklabels([])
    ax.set_yticklabels([])
    
def remove_spines(ax):
    """
    Removes the spines from the given axis.

    Args:
        ax (matplotlib.axes.Axes): Axis to remove spines from
    """
    ax.spines['top'].set_visible(False)
    ax.spines['right'].set_visible(False)
    ax.spines['bottom'].set_visible(False)
    ax.spines['left'].set_visible(False)
    
def convert_string_to_bboxes(bboxes_str, bins=1000):
    """
    Converts a string of bboxes to a list of bboxes.

    Args:
        bboxes_str (str): String of bboxes
        bins (int): Number of bins (default: 1000)
    """
    bboxes_str = bboxes_str.split(" ")
    bboxes = []
    for token in bboxes_str:
        if "=" in token:
            coord = token.split("=")[1]
            coord = float(coord) / (bins - 1)

            if token.startswith("v0="):
                bboxes.append([coord,])
            else:
                bboxes[-1].append(coord)
        elif len(bboxes[-1]) == 4:
            bboxes[-1].append(token)
        else:
            bboxes[-1][4] = " ".join([bboxes[-1][4], token])

    bboxes = [bbox for bbox in bboxes if len(bbox) == 5]

    return bboxes

def visualize_palettes_multi(palettes):
    palettes = palettes.split()
    palettes = palettes[1:]

    all_colors = []
    for ii in range(len(palettes)):
        all_colors.append(int(palettes[ii][3:]))
    w = h = 25
    # construct palette image
    o = Image.new("RGB", size=(w * len(palettes)//3, h * len(palettes)//3))
    arr = np.asarray(o).copy()
    for ii in range(len(palettes)//3):
        arr[:, ii * h : (ii + 1) * h, :] = all_colors[ii*3:(ii+1)*3]
    final_palette = arr / 255 

    return final_palette

BOX_COLOR = (255, 0, 0) # Red
TEXT_COLOR = (255, 255, 255) # White

try:
    from fourm.utils.hmr2_utils.hmr2.models.smpl_wrapper import SMPL
    from fourm.utils.hmr2_utils.hmr2.utils.renderer import Renderer, cam_crop_to_full
    import pickle as pkl
    LIGHT_BLUE=(0.65098039,  0.74117647,  0.85882353)
    with open('./fourm/utils/hmr2_utils/model_cfg.pkl','rb') as f:
        pose_model_cfg = pkl.load(f)
    # Instantiate SMPL model
    smpl_cfg = {k.lower(): v for k,v in dict(pose_model_cfg.SMPL).items()}
    smpl_cfg['model_path'] = './fourm/utils/hmr2_utils/data/smpl'
    smpl_cfg['joint_regressor_extra'] = './fourm/utils/hmr2_utils/data/SMPL_to_J19.pkl'
    smpl_cfg['mean_params'] = './fourm/utils/hmr2_utils/data/smpl_mean_params.npz'
    smpl = SMPL(**smpl_cfg)
    # Setup the renderer
    renderer = Renderer(pose_model_cfg, faces=smpl.faces)
except Exception as e:
    print(e)
    print('Human pose dependencies are not installed, hence poses will not be visualized. To visualize them (optional), you can do the following: \n' \
    '1) Install via `pip install timm yacs smplx pyrender pyopengl==3.1.4` \n' \
    '   You may need to follow the pyrender install instructions: https://pyrender.readthedocs.io/en/latest/install/index.html \n' \
    '2) Download SMPL data from https://smpl.is.tue.mpg.de/. See https://github.com/shubham-goel/4D-Humans/ for an example. \n' \
    '3) Copy the required SMPL files (smpl_mean_params.npz, SMPL_to_J19.pkl, smpl/SMPL_NEUTRAL.pkl) to fourm/utils/hmr2_utils/data .')

def visualize_human_poses(pose, poses_tokenizer, mod_dict):
    full_gts = pose
    full_gts = full_gts.split()
    num_instances = len(full_gts) // 39 # total length of a pose instance seq is 39
    all_verts = []
    all_cam_t = []
    for inst in range(num_instances):
        try:
            full_gt = full_gts[inst*39:(inst+1)*39]
            ##create the pose params dict
            all_params = {}
            all_params['bbox_xyxy'] = torch.Tensor((int(full_gt[1][3:])/999*224, int(full_gt[2][3:])/999*224, int(full_gt[3][3:])/999*224, int(full_gt[4][3:])/999*224))
            all_params["box_center"] = torch.cat(( ((all_params["bbox_xyxy"][0] + all_params["bbox_xyxy"][2]) / 2.).unsqueeze(0).unsqueeze(1) ,  ( (all_params["bbox_xyxy"][1] + all_params["bbox_xyxy"][3]) / 2.).unsqueeze(0).unsqueeze(1) ), dim = 1)
            all_params["box_size"] = torch.max((all_params["box_center"][0,0] - all_params["bbox_xyxy"][0]) * 2 , (all_params["box_center"][0,1] - all_params["bbox_xyxy"][1]) * 2 )
            all_params["img_size"] = torch.Tensor([224., 224.])
            all_params["img_size"] = all_params["img_size"].unsqueeze(0)
            all_params["focal_length"] = torch.Tensor([5000., 5000.])

            for ii in range(len(full_gt)):
                if full_gt[ii] == 'camera':
                    all_params['pred_cam'] = torch.Tensor([ (int(full_gt[ii+1][3:])-49.95)/49.95, (int(full_gt[ii+2][3:])-49.95)/49.95, (int(full_gt[ii+3][3:])-49.95)/49.95  ])
                    break
            all_params['pred_cam'] = all_params['pred_cam'].unsqueeze(0)
            all_params['pred_smpl_params'] = {}

            for ii in range(len(full_gt)):
                if full_gt[ii] == 'shape':
                    all_params['pred_smpl_params']['betas'] = torch.Tensor([  (int(full_gt[ii+1][3:])-499.5)/166.5, (int(full_gt[ii+2][3:])-499.5)/166.5, (int(full_gt[ii+3][3:])-499.5)/166.5, (int(full_gt[ii+4][3:])-499.5)/166.5, (int(full_gt[ii+5][3:])-499.5)/166.5, (int(full_gt[ii+6][3:])-499.5)/166.5, (int(full_gt[ii+7][3:])-499.5)/166.5, (int(full_gt[ii+8][3:])-499.5)/166.5, (int(full_gt[ii+9][3:])-499.5)/166.5, (int(full_gt[ii+10][3:])-499.5)/166.5 ])
                    break
            all_params['pred_smpl_params']['betas'] = all_params['pred_smpl_params']['betas'].unsqueeze(0)

            for ii in range(len(full_gt)):
                if full_gt[ii] == 'global':
                    all_params['pred_smpl_params']['global_orient'] = torch.Tensor( [ [(int(full_gt[ii+1][3:])-499.5)/499.5, (int(full_gt[ii+2][3:])-499.5)/499.5, (int(full_gt[ii+3][3:])-499.5)/499.5 ] ,  [ (int(full_gt[ii+4][3:])-499.5)/499.5, (int(full_gt[ii+5][3:])-499.5)/499.5, (int(full_gt[ii+6][3:])-499.5)/499.5],  [(int(full_gt[ii+7][3:])-499.5)/499.5,  (int(full_gt[ii+8][3:])-499.5)/499.5, (int(full_gt[ii+9][3:])-499.5)/499.5 ] ] )
                    break
            all_params['pred_smpl_params']['global_orient'] = all_params['pred_smpl_params']['global_orient'].unsqueeze(0).unsqueeze(0)

            body_poses = torch.FloatTensor()
            for ii in range(len(full_gt)):
                if full_gt[ii] == 'pose':
                    pose_start = ii
                    break
            
            for ii in range(8):
                pose_curr = ii + pose_start + 1
                if 'v1' in full_gt[pose_curr]:
                    poses_curr = torch.Tensor([int(full_gt[pose_curr][3:])+512])
                else:
                    poses_curr = torch.Tensor([int(full_gt[pose_curr][3:])])
                poses_curr = poses_curr
                body_poses = torch.cat((body_poses,poses_curr), dim=0)
            body_poses = body_poses.long()
            
            body_poses = body_poses.unsqueeze(0).unsqueeze(2).unsqueeze(2).to(device)
            body_poses = poses_tokenizer.decode_tokens(body_poses).squeeze(2).squeeze().reshape(1,23,3,3).cpu()

            all_params['pred_smpl_params']['body_pose'] = body_poses

            smpl_params = (all_params['pred_smpl_params'])
            smpl_output = smpl(**{k: v.float().cpu() for k,v in smpl_params.items()}, pose2rot=False)

        
            for n in range(smpl_output.vertices.size(0)):
                # Add all verts and cams to list
                verts = smpl_output.vertices[n].detach().cpu().numpy()

                img_size = all_params["img_size"].float()
                pred_cam = all_params['pred_cam']
                box_center = all_params["box_center"].float()
                box_size = all_params["box_size"].float()

                scaled_focal_length = pose_model_cfg.EXTRA.FOCAL_LENGTH / pose_model_cfg.MODEL.IMAGE_SIZE * img_size.max()
                pred_cam_t_full = cam_crop_to_full(pred_cam, box_center, box_size, img_size, scaled_focal_length).detach().cpu().numpy()


                cam_t = pred_cam_t_full[n]
                all_verts.append(verts)
                all_cam_t.append(cam_t)

        except Exception as e:
            print('Error in decoding human poses: ', end='')
            print(e)
            continue

    try:
        input_img = denormalize(mod_dict['rgb@224']['tensor'].squeeze(), mean=(IMAGENET_DEFAULT_MEAN), std=IMAGENET_DEFAULT_STD).permute(1,2,0).cpu()

    except Exception as e:
        print(e)
        input_img = 1.

    if 'tok_rgb' in mod_dict:
        input_img = decode_tok_rgb(mod_dict, toks, key='tok_rgb')

    # Render front view
    input_img_overlay = 0.5* input_img[:,:,:3]
    if len(all_verts) > 0:
        misc_args = dict(
            mesh_base_color=LIGHT_BLUE,
            scene_bg_color=(1, 1, 1),
            focal_length=scaled_focal_length,
        )
        cam_view = renderer.render_rgba_multiple(all_verts, cam_t=all_cam_t, render_res=img_size[n], **misc_args)
        mask = (cam_view[:,:,0]<1.).astype(int)[:,:,None]
        input_img_overlay = 0.5* input_img[:,:,:3] * (1-mask) + cam_view[:,:,:3] * mask

    return input_img_overlay

def visualize_bboxes(img, bboxes_str, color=BOX_COLOR, thickness=2):
    """
    Visualizes bounding boxes on the image.

    Args:
        img (np.array): Image to draw bounding boxes on.
        bboxes_str (str): String containing bounding boxes in the format:
            v0=1 v1=2 v2=3 v3=4 class_name ..., where
            v0 is xmin, v1 is ymin, v2 is xmax, v3 is ymax
        color (tuple): Color of the bounding box.
        thickness (int): Thickness of the bounding box.
    """
    if img is None:
        img = 255 * np.ones((256,256,3), dtype=np.uint8)
    img = img.copy()
    
    bboxes_str = bboxes_str.replace('[PAD]', '')

    if len(bboxes_str.replace('[EOS]', '')) == 0:
        return img
    
    try:
        bboxes = convert_string_to_bboxes(bboxes_str.replace(' [EOS]', ''))
    except:
        return img
    
    for bbox in bboxes:
        x_min, y_min, x_max, y_max, class_name = bbox
        img_h, img_w = img.shape[0], img.shape[1]
        x_min, x_max, y_min, y_max = int(x_min * img_w), int(x_max * img_w), int(y_min * img_h), int(y_max * img_h)
    
        cv2.rectangle(img, (x_min, y_min), (x_max, y_max), color=color, thickness=thickness)
        
        ((text_width, text_height), _) = cv2.getTextSize(class_name.rstrip(), cv2.FONT_HERSHEY_SIMPLEX, 0.35, 1)    
        cv2.rectangle(img, (x_min, y_min - int(1.3 * text_height)), (x_min + text_width, y_min), BOX_COLOR, -1)
        cv2.putText(
            img,
            text=f"{class_name}",
            org=(x_min, y_min - int(0.3 * text_height)),
            fontFace=cv2.FONT_HERSHEY_SIMPLEX,
            fontScale=0.35, 
            color=TEXT_COLOR, 
            lineType=cv2.LINE_AA,
        )
    return img


def visualize_temporal_bboxes(frames, bboxes_str, color=BOX_COLOR, thickness=2):
    """
    Visualizes bounding boxes on multiple frames for temporal detection.
    Automatically adjusts text placement and size for edge cases.

    Args:
        frames (list): List of images (np.array) for each frame. Should contain 17 frames.
        bboxes_str (str): String containing temporal bounding boxes in the format:
            [FRAME_1] v0=1 v1=2 v2=3 v3=4 class_name ... [FRAME_2] v0=1 v1=2 v2=3 v3=4 class_name ... etc.
        color (tuple): Color of the bounding box.
        thickness (int): Thickness of the bounding box.

    Returns:
        list: List of annotated frames (np.array)
    """
    # Initialize result frames
    annotated_frames = []

    # Handle case where frames is None or empty
    if frames is None:
        frames = [255 * np.ones((128, 128, 3), dtype=np.uint8) for _ in range(17)]

    # Ensure we have exactly 17 frames
    while len(frames) < 17:
        frames.append(255 * np.ones((128, 128, 3), dtype=np.uint8))

    # Clean the input string
    bboxes_str = bboxes_str.replace('[PAD]', '').replace('[EOS]', '')

    if len(bboxes_str.strip()) == 0:
        return [np.expand_dims(frame.copy(), axis=0) for frame in frames[:17]]

    try:
        # Parse the temporal detection string
        frame_detections = parse_temporal_detections(bboxes_str)

        # Process each frame
        for frame_idx in range(17):
            frame_num = frame_idx + 1  # Frame numbers start from 1
            img = frames[frame_idx].copy()

            if frame_num in frame_detections:
                bboxes = frame_detections[frame_num]
                for bbox in bboxes:
                    x_min, y_min, x_max, y_max, class_name = bbox
                    img_h, img_w = img.shape[:2]
                    x_min, x_max, y_min, y_max = int(x_min * img_w), int(x_max * img_w), int(y_min * img_h), int(
                        y_max * img_h)

                    # Draw the bounding box
                    cv2.rectangle(img, (x_min, y_min), (x_max, y_max), color=color, thickness=thickness)

                    # Determine optimal text placement and size
                    text_position, font_scale, background_rect = _get_optimal_text_placement(
                        img, x_min, y_min, x_max, y_max, class_name
                    )

                    # Draw text background rectangle
                    if background_rect:
                        cv2.rectangle(img, background_rect[0], background_rect[1], BOX_COLOR, -1)

                    # Draw the text
                    cv2.putText(
                        img,
                        text=class_name,
                        org=text_position,
                        fontFace=cv2.FONT_HERSHEY_SIMPLEX,
                        fontScale=font_scale,
                        color=TEXT_COLOR,
                        lineType=cv2.LINE_AA,
                    )

            annotated_frames.append(np.expand_dims(img, axis=0))

    except Exception as e:
        print(f"Error processing temporal detections: {e}")
        # Return original frames if parsing fails
        return [np.expand_dims(frame.copy(), axis=0) for frame in frames[:17]]

    return annotated_frames


def _get_optimal_text_placement(img, x_min, y_min, x_max, y_max, class_name):
    """
    Determines the optimal text placement and size based on bounding box position.

    Args:
        img: Image array
        x_min, y_min, x_max, y_max: Bounding box coordinates
        class_name: Text to display

    Returns:
        tuple: (text_position, font_scale, background_rect)
    """
    img_h, img_w = img.shape[0], img.shape[1]

    # Default font scale and margin
    default_font_scale = 0.35
    small_font_scale = 0.25
    margin = 2

    # Calculate text size with default font
    ((text_width, text_height), _) = cv2.getTextSize(
        class_name.rstrip(), cv2.FONT_HERSHEY_SIMPLEX, default_font_scale, 1
    )

    # Check if text fits above the bounding box (preferred position)
    text_above_y = y_min - int(0.3 * text_height)
    text_bg_top_y = y_min - int(1.3 * text_height)

    # Case 1: Text fits above the bbox and within image bounds
    if (text_bg_top_y >= 0 and
            x_min + text_width <= img_w and
            x_min >= 0):
        return (
            (x_min, text_above_y),
            default_font_scale,
            ((x_min, text_bg_top_y), (x_min + text_width, y_min))
        )

    # Case 2: Text doesn't fit above or bbox is at top edge - place inside bbox
    # Use smaller font for inside placement
    ((small_text_width, small_text_height), _) = cv2.getTextSize(
        class_name.rstrip(), cv2.FONT_HERSHEY_SIMPLEX, small_font_scale, 1
    )

    # Calculate bbox dimensions
    bbox_width = x_max - x_min
    bbox_height = y_max - y_min

    # Check if small text fits inside the bbox
    if (small_text_width + 2 * margin <= bbox_width and
            small_text_height + 2 * margin <= bbox_height):
        # Position text in top-left corner of bbox
        text_x = x_min + margin
        text_y = y_min + small_text_height + margin

        # Background rectangle for better visibility
        bg_x1 = x_min + 1
        bg_y1 = y_min + 1
        bg_x2 = min(x_min + small_text_width + 2 * margin, x_max - 1)
        bg_y2 = min(y_min + small_text_height + 2 * margin, y_max - 1)

        return (
            (text_x, text_y),
            small_font_scale,
            ((bg_x1, bg_y1), (bg_x2, bg_y2))
        )

    # Case 3: Text doesn't fit inside bbox - try to place it in the best available space
    # Try different positions in order of preference

    positions_to_try = [
        # Above bbox (even if partially cut off)
        ((x_min, max(text_height, text_above_y)), default_font_scale,
         ((x_min, max(0, text_bg_top_y)), (min(x_min + text_width, img_w), y_min))),

        # Below bbox
        ((x_min, min(img_h - 5, y_max + text_height + 5)), default_font_scale,
         ((x_min, y_max), (min(x_min + text_width, img_w), min(y_max + int(1.3 * text_height), img_h)))),

        # Left of bbox
        ((max(0, x_min - text_width - 5), y_min + text_height), default_font_scale,
         ((max(0, x_min - text_width - 5), y_min), (x_min, y_min + int(1.3 * text_height)))),

        # Right of bbox
        ((min(img_w - text_width, x_max + 5), y_min + text_height), default_font_scale,
         ((x_max, y_min), (min(x_max + text_width + 5, img_w), y_min + int(1.3 * text_height)))),
    ]

    # Return the first position that fits reasonably within bounds
    for pos, scale, bg_rect in positions_to_try:
        if (0 <= pos[0] <= img_w - 10 and
                text_height <= pos[1] <= img_h - 5):
            return pos, scale, bg_rect

    # Fallback: place at top-left corner of image with small font
    return (
        (5, small_text_height + 5),
        small_font_scale,
        ((2, 2), (min(small_text_width + 8, img_w - 2), small_text_height + 8))
    )

def parse_temporal_detections(bboxes_str):
    """
    Parse temporal detection string into frame-wise detections.

    Args:
        bboxes_str (str): String containing temporal bounding boxes

    Returns:
        dict: Dictionary mapping frame numbers to list of bounding boxes
    """
    frame_detections = {}

    # Split by frame markers
    parts = bboxes_str.split('[FRAME_')

    for part in parts[1:]:  # Skip the first empty part
        if not part.strip():
            continue

        # Extract frame number
        frame_end = part.find(']')
        if frame_end == -1:
            continue

        try:
            frame_num = int(part[:frame_end])
            detection_str = part[frame_end + 1:].strip()

            # Find where next frame starts (if any)
            next_frame_pos = detection_str.find('[FRAME_')
            if next_frame_pos != -1:
                detection_str = detection_str[:next_frame_pos].strip()

            # Parse detections for this frame using the original conversion function
            if detection_str:
                try:
                    bboxes = convert_string_to_bboxes(detection_str)
                    frame_detections[frame_num] = bboxes
                except:
                    # Skip this frame if parsing fails
                    frame_detections[frame_num] = []
            else:
                frame_detections[frame_num] = []

        except ValueError:
            # Skip if frame number is not valid
            continue

    return frame_detections

def plot_text_in_square(ax, text, padding=0.5, fontsize=14, wrap_width=50):
    """
    Plots text in a square.

    Args:
        ax (matplotlib.axes.Axes): Matplotlib axis to plot on
        text (str): Text to plot
        padding (float): Padding around the text
        fontsize (int): Font size of the text
        wrap_width (int): Width of the text to wrap
    """
    ax.set_xlim(0, 1)
    ax.set_ylim(0, 1)

    if isinstance(text, list):
        text = text[0]

    text = text.replace('[PAD]', '')
    
    # Wrap the text if necessary
    wrapped_text = textwrap.fill(text, int(wrap_width))

    # Add the padding
    bbox_props = dict(boxstyle="square,pad=" + str(padding), facecolor="white", edgecolor="black")

    # Add the text to the plot
    ax.text(0.5, 0.5, wrapped_text, ha='center', va='center', fontsize=fontsize, bbox=bbox_props)

    remove_ticks_and_labels(ax)
    remove_spines(ax)


def text_to_pil_image(text, padding=0.5, fontsize=14, wrap_width=40, image_size=(512, 512)):
    """
    Converts text to a PIL image.

    Args:
        text (str): Text to convert to image
        padding (float): Padding around the text
        fontsize (int): Font size of the text
        wrap_width (int): Width of the text to wrap
        image_size (tuple): Size of the output image (width, height)

    Returns:
        PIL.Image.Image: Generated image with the text
    """
    fig, ax = plt.subplots(figsize=(image_size[0] / 100, image_size[1] / 100), dpi=100)
    ax.set_xlim(0, 1)
    ax.set_ylim(0, 1)
    
    if isinstance(text, list):
        text = text[0]

    text = text.replace('[PAD]', '')
    
    # Wrap the text if necessary
    wrapped_text = textwrap.fill(text, wrap_width)

    # Add the padding
    bbox_props = dict(boxstyle="square,pad=" + str(padding), facecolor="white", edgecolor="black")

    # Add the text to the plot
    ax.text(0.5, 0.5, wrapped_text, ha='center', va='center', fontsize=fontsize, bbox=bbox_props)

    # Remove ticks, labels, and spines
    ax.set_xticks([])
    ax.set_yticks([])
    for spine in ax.spines.values():
        spine.set_visible(False)

    # Convert the plot to a PIL image
    fig.canvas.draw()
    image = np.frombuffer(fig.canvas.tostring_rgb(), dtype=np.uint8)
    image = image.reshape(fig.canvas.get_width_height()[::-1] + (3,))

    plt.close(fig)

    return Image.fromarray(image)


def plot_modality(dec_dict, key, ax, figscale=4.0):
    """
    Plots a single modality. Function name has a typo because of legacy reasons.

    Args:
        dec_dict (dict): Dictionary of decoded modalities
        key (str): Key of the modality to plot
        ax (matplotlib.axes.Axes): Matplotlib axis to plot on
        figscale (float): Scaling factor for the figure (used to scale the caption box)
    """
    modality = dec_dict[key]
    k = get_transform_key(key)
    
    if 'tok' in k or k == 'rgb' or k == 'human_poses' or k == 'color_palette':
        ax.imshow(modality.clip(0,1))
    elif k == 'caption':
        plot_text_in_square(ax, modality, wrap_width=max(1,int(7*figscale))) # 7*figscale turns out to make caption box fit nicely
    elif k == 't5_caption':
        plot_text_in_square(ax, modality, wrap_width=max(1,int(7*figscale))) # 7*figscale turns out to make caption box fit nicely
    elif k == 'metadata':
        modality = ',\n'.join([f'{k}: {v:.2f}' if isinstance(v, float) else f'{k}: {v}' for k, v in modality.items()])
        plot_text_in_square(ax, modality, wrap_width=max(1,int(7*figscale)), fontsize=11)
    elif k == 'det':
        bbox_img = visualize_bboxes(np.ones((224,224,3)), modality, thickness=2)
        ax.imshow(bbox_img.clip(0,1))
        
def plot_conds_and_targets(cond_domains, target_domains, dec_dicts, save_path=None, fs_titles=15, figscale=4.0, dpi=100):
    """
    Plots the conditioning and target modalities for a batch of samples.

    Args:
        cond_domains (list of str): List of conditioning domains
        target_domains (list of str): List of target domains
        dec_dicts (list of dicts): List of dictionaries containing the decoded conditioning and target modalities
        save_path (str): Path to save the figure. If None, the figure is not saved but plotted instead.
        fs_titles (int): Font size of the titles
        figscale (float): Scaling factor for the figure size (minimum 4.0 for good results)
        dpi (float): Dots per inch for the saved figure    
    """

    n_cond = len(cond_domains)
    n_target = len(target_domains)
    n_samples = len(dec_dicts)
    ncols = n_samples + 1 if n_cond > 0 else n_samples
    nrows = max(n_cond, n_target)

    fig, ax = plt.subplots(nrows=nrows, ncols=ncols, figsize=(ncols*figscale, nrows*figscale), facecolor='white')

    if nrows == 1 and ncols == 1:
        ax = np.array([[ax]])
    elif nrows == 1:
        ax = np.expand_dims(ax, axis=0)
    elif ncols == 1:
        ax = np.expand_dims(ax, axis=1)

    for cond_idx, cond_domain in enumerate(cond_domains):
        axi = ax[cond_idx, 0]
        plot_modality(dec_dicts[0], key=cond_domain, ax=axi)
        axi.set_title(f'Conditioning: {MOD_PRINT_NAMES[cond_domain]}', fontsize=fs_titles)

    # Remove spines that are not needed
    if n_cond > 0:
        for i in range(n_cond, nrows, 1):
            remove_spines(ax[i, 0])

    offset = 0 if n_cond == 0 else 1

    for sample_idx, dec_dict in enumerate(dec_dicts):
        for target_idx, target_domain in enumerate(target_domains):
            axi = ax[target_idx, sample_idx+offset]
            plot_modality(dec_dict, key=target_domain, ax=axi)
            axi.set_title(f'{sample_idx+1}.{target_idx+1}: {MOD_PRINT_NAMES[target_domain]}', fontsize=fs_titles)
                
        # Remove spines that are not needed
        for i in range(n_target, nrows, 1):
            remove_spines(ax[i, sample_idx+offset])

    for ax in fig.axes:
        remove_ticks_and_labels(ax)
    
    plt.tight_layout()
    if save_path is not None:
        os.makedirs(os.path.dirname(save_path), exist_ok=True)
        plt.savefig(save_path, bbox_inches='tight', dpi=dpi) #, pil_kwargs={'quality': 30})
        plt.close()
    else:
        plt.show()


def save_conds_and_targets(cond_domains, target_domains, dec_dicts, save_dir, sample_idx, suffix=None, vis_det=False):
    """
    Saves the conditioning and target modalities for a batch of samples.

    Args:
        cond_domains (list of str): List of conditioning domains
        target_domains (list of str): List of target domains
        dec_dicts (list of dicts): List of dictionaries containing the decoded conditioning and target modalities
        save_dir (str): Path to save the modalities
        sample_idx (int): Unique index of the dataset sample
        suffix (str): Suffix to append to the saved file names
        vis_det (bool): Whether to visualize detection
    """
    for variant_idx, dec_dict in enumerate(dec_dicts):

        for domain in cond_domains + target_domains:
            if variant_idx != 0 and domain in cond_domains:
                continue
            
            variant_suffix = f'_{variant_idx}' if domain in target_domains else ''
            if suffix is not None:
                variant_suffix += f'_{suffix}'

            domain_save_dir = os.path.join(save_dir, 'conds' if domain in cond_domains else 'targets', domain)
            os.makedirs(domain_save_dir, exist_ok=True)

            if 'tok' in domain or domain in ['rgb', 'human_poses', 'color_palette']:
                img = Image.fromarray((255 * dec_dict[domain]).astype(np.uint8))
                if domain in ['tok_clip', 'tok_dinov2', 'tok_imagebind']:
                    img = img.resize((224,224), resample=Image.NEAREST)
                save_path = os.path.join(domain_save_dir, f'{sample_idx:06d}{variant_suffix}.png')
                img.save(save_path)

            elif domain in ['caption', 'det', 'metadata']:
                if vis_det:
                    save_path = os.path.join(domain_save_dir, f'{sample_idx:06d}{variant_suffix}.png')
                    bbox_img = visualize_bboxes(np.ones((512,512,3)), dec_dict[domain], thickness=2)
                    bbox_img = Image.fromarray((255 * bbox_img.clip(0,1)).astype(np.uint8))
                    bbox_img.save(save_path)
                else:
                    # Save caption as text file
                    save_path = os.path.join(domain_save_dir, f'{sample_idx:06d}{variant_suffix}.txt')
                    with open(save_path, 'w') as f:
                        f.write(dec_dict[domain])


def plot_images_with_captions(images, captions, save_path=None, dpi=100, wrap_length=40, figscale=4.0):
    """
    Plots images with their corresponding captions.

    Parameters:
    - images (torch.Tensor): A tensor of shape Bx3xHxW with images.
    - captions (list): A list of B captions.
    """
    assert len(images) == len(captions), "Number of images must match number of captions!"
    
    B = len(images)
    sqrt_B = int(B**0.5)
    
    # Determine the number of rows and columns for subplots
    nrows = sqrt_B
    ncols = (B + nrows - 1) // nrows
    
    fig, axarr = plt.subplots(nrows=nrows, ncols=ncols, figsize=(figscale*ncols, figscale*nrows))

    axarr = np.array([axarr]) if nrows == 1 and ncols == 1 else axarr.ravel()
    
    for i, ax in enumerate(axarr):
        if i < B:
            # Convert tensor image to numpy
            image_np = images[i].permute(1, 2, 0).cpu().float().numpy()
            ax.imshow(image_np)

            # Place caption below the image
            caption_wrapped = textwrap.fill(captions[i], width=wrap_length)
            ax.text(0.5, -0.1, caption_wrapped, ha='center', va='top', transform=ax.transAxes, wrap=True)

            ax.axis("off")
        else:
            ax.axis("off")  # Hide any additional subplots

    plt.subplots_adjust(hspace=0.6)
    plt.tight_layout()
    if save_path is not None:
        os.makedirs(os.path.dirname(save_path), exist_ok=True)
        plt.savefig(save_path, bbox_inches='tight', dpi=dpi)
        plt.close()
    else:
        plt.show()