utils.py

import numpy as np
import torch
import torch.nn as nn
import matplotlib.pyplot as plt
from matplotlib.patches import Rectangle
from typing import Tuple, List, Dict, Optional
from tqdm import tqdm
from pathlib import Path
from sklearn.ensemble import IsolationForest
from sklearn.preprocessing import StandardScaler
import pickle

# ==============================================================================
# MODEL ARCHITECTURE
# ==============================================================================

class ResidualBlock(nn.Module):
    def __init__(self, channels: int):
        super().__init__()
        self.conv1 = nn.Conv2d(channels, channels, kernel_size=3, padding=1, bias=False)
        self.bn1 = nn.BatchNorm2d(channels)
        self.conv2 = nn.Conv2d(channels, channels, kernel_size=3, padding=1, bias=False)
        self.bn2 = nn.BatchNorm2d(channels)
        self.relu = nn.ReLU(inplace=True)
    
    def forward(self, x):
        residual = x
        out = self.relu(self.bn1(self.conv1(x)))
        out = self.bn2(self.conv2(out))
        out += residual
        out = self.relu(out)
        return out

class EncoderBlock(nn.Module):
    def __init__(self, in_channels: int, out_channels: int, downsample: bool = True):
        super().__init__()
        self.downsample = downsample
        self.conv = nn.Conv2d(in_channels, out_channels, kernel_size=3, padding=1, bias=False)
        self.bn = nn.BatchNorm2d(out_channels)
        self.relu = nn.ReLU(inplace=True)
        self.res_block = ResidualBlock(out_channels)
        
        if downsample:
            self.pool = nn.Conv2d(out_channels, out_channels, kernel_size=3, 
                                 stride=2, padding=1, bias=False)
    
    def forward(self, x):
        x = self.relu(self.bn(self.conv(x)))
        x = self.res_block(x)
        
        if self.downsample:
            skip = x
            x = self.pool(x)
            return x, skip
        else:
            return x

class DecoderBlock(nn.Module):
    def __init__(self, in_channels: int, skip_channels: int, out_channels: int):
        super().__init__()
        self.upsample = nn.Upsample(scale_factor=2, mode='bilinear', align_corners=True)
        self.conv = nn.Conv2d(in_channels + skip_channels, out_channels, 
                             kernel_size=3, padding=1, bias=False)
        self.bn = nn.BatchNorm2d(out_channels)
        self.relu = nn.ReLU(inplace=True)
        self.res_block = ResidualBlock(out_channels)
    
    def forward(self, x, skip):
        x = self.upsample(x)
        x = torch.cat([x, skip], dim=1)
        x = self.relu(self.bn(self.conv(x)))
        x = self.res_block(x)
        return x

class ResUNetAutoencoder(nn.Module):
    def __init__(self, in_channels: int = 7, latent_dim: int = 256):
        super().__init__()
        
        # Encoder
        self.enc1 = EncoderBlock(in_channels, 32, downsample=True)
        self.enc2 = EncoderBlock(32, 64, downsample=True)
        self.enc3 = EncoderBlock(64, 128, downsample=True)
        self.bottleneck = EncoderBlock(128, 256, downsample=False)
        
        # Latent
        self.global_pool = nn.AdaptiveAvgPool2d(1)
        self.latent_dim = latent_dim
        
        # Decoder
        self.dec1 = DecoderBlock(256, 128, 128)
        self.dec2 = DecoderBlock(128, 64, 64)
        self.dec3 = DecoderBlock(64, 32, 32)
        self.final_conv = nn.Conv2d(32, in_channels, kernel_size=3, padding=1)
    
    def forward(self, x):
        # Encoder
        x, skip1 = self.enc1(x)
        x, skip2 = self.enc2(x)
        x, skip3 = self.enc3(x)
        x = self.bottleneck(x)
        
        # Latent
        latent = self.global_pool(x)
        latent = latent.view(latent.size(0), -1)
        
        # Decoder
        x = self.dec1(x, skip3)
        x = self.dec2(x, skip2)
        x = self.dec3(x, skip1)
        
        # Final Conv (Reduces 32 channels -> 7 channels)
        x = self.final_conv(x)
        reconstruction = torch.sigmoid(x)
        return reconstruction, latent
    
    def count_parameters(self):
        return sum(p.numel() for p in self.parameters() if p.requires_grad)

# ==============================================================================
# RECONSTRUCTION FUNCTIONS
# ==============================================================================

def reconstruct_full_aoi_corrected(

    patches: np.ndarray, 

    metadata: List[Dict],

    patch_size: int = 64,

    use_weighted: bool = True

) -> Tuple[np.ndarray, np.ndarray, Tuple[int, int]]:
    """Reconstruct full AOI from overlapping patches with proper blending

    

    Args:

        patches: Array of patches with shape (num_patches, channels, height, width)

        metadata: List of dicts containing 'row' and 'col' positions for each patch

        patch_size: Size of each patch (default 64)

        use_weighted: Whether to use weighted blending (default True)

    

    Returns:

        reconstructed: Full AOI reconstruction (channels, height, width)

        weight_map: Map showing patch overlap counts

        shape: Tuple of (height, width) of reconstructed AOI

    """
    
    if len(patches) == 0:
        raise ValueError("No patches provided for reconstruction")
    
    num_patches = patches.shape[0]
    num_channels = patches.shape[1]
    
    print(f"      Reconstructing from {num_patches} patches with {num_channels} channels...")
    
    # Determine full AOI dimensions
    max_row = max(m['row'] + patch_size for m in metadata)
    max_col = max(m['col'] + patch_size for m in metadata)
    
    print(f"      Target dimensions: {max_row}×{max_col} pixels")
    
    # Initialize accumulation arrays
    reconstructed = np.zeros((num_channels, max_row, max_col), dtype=np.float64)
    weight_map = np.zeros((max_row, max_col), dtype=np.float64)
    
    # Create blending weight template
    if use_weighted:
        y, x = np.ogrid[0:patch_size, 0:patch_size]
        center = patch_size // 2
        dist_from_center = np.sqrt((y - center)**2 + (x - center)**2)
        max_dist = np.sqrt(2) * center
        blend_weight = 1.0 - (dist_from_center / max_dist) ** 2
        blend_weight = np.clip(blend_weight, 0.1, 1.0)
    else:
        blend_weight = np.ones((patch_size, patch_size), dtype=np.float64)
    
    # Stitch all patches
    for i, meta in enumerate(metadata):
        row_start = meta['row']
        col_start = meta['col']
        
        row_end = min(row_start + patch_size, max_row)
        col_end = min(col_start + patch_size, max_col)
        
        patch_height = row_end - row_start
        patch_width = col_end - col_start
        
        if patch_height <= 0 or patch_width <= 0:
            continue
        
        patch_data = patches[i, :, :patch_height, :patch_width]
        patch_weight = blend_weight[:patch_height, :patch_width]
        
        for ch in range(num_channels):
            reconstructed[ch, row_start:row_end, col_start:col_end] += (
                patch_data[ch] * patch_weight
            )
        
        weight_map[row_start:row_end, col_start:col_end] += patch_weight
    
    # Normalize by weights
    weight_map_safe = np.where(weight_map > 0, weight_map, 1.0)
    
    for ch in range(num_channels):
        reconstructed[ch] = reconstructed[ch] / weight_map_safe
    
    # Set uncovered areas to NaN
    uncovered_mask = weight_map == 0
    for ch in range(num_channels):
        reconstructed[ch][uncovered_mask] = np.nan
    
    reconstructed = reconstructed.astype(np.float32)
    weight_map = weight_map.astype(np.float32)
    
    # Report coverage statistics
    coverage = np.sum(weight_map > 0) / weight_map.size * 100
    avg_overlap = np.mean(weight_map[weight_map > 0]) if np.any(weight_map > 0) else 0
    
    print(f"      Coverage: {coverage:.1f}% | Avg overlap: {avg_overlap:.2f}×")
    
    if coverage < 50:
        print(f"      ⚠️  WARNING: Only {coverage:.1f}% coverage!")
    
    return reconstructed, weight_map, (max_row, max_col)


# ==============================================================================
# ANOMALY COMPUTATION
# ==============================================================================

def compute_autoencoder_probabilities(

    model: nn.Module, 

    patches: np.ndarray,

    metadata: List[Dict], 

    device: torch.device,

    batch_size: int = 32,

    use_sigmoid_scores: bool = True

) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
    """

    Compute autoencoder anomaly probabilities

    

    Returns:

        prob_scores: (num_patches,) - Normalized probability scores [0, 1]

        pixel_scores: (num_patches, H, W) - Per-pixel anomaly maps

        reconstructed_patches: (num_patches, C, H, W) - Reconstructions

    """
    model.eval()
    
    patches_torch = torch.from_numpy(patches).float()
    
    anomaly_scores = []
    pixel_scores = []
    reconstructed_patches = []
    
    with torch.no_grad():
        for i in tqdm(range(0, len(patches), batch_size), 
                     desc="Model 1 (Autoencoder)", leave=False):
            batch = patches_torch[i:i+batch_size].to(device)
            
            reconstruction, _ = model(batch)
            
            if use_sigmoid_scores:
                # Sigmoid uncertainty: higher = more anomalous
                sigmoid_uncertainty = 1.0 - torch.abs(reconstruction - 0.5) * 2
                pixel_score = sigmoid_uncertainty.mean(dim=1)  # Per pixel
                patch_score = sigmoid_uncertainty.mean(dim=(1, 2, 3))  # Per patch
            else:
                # MSE-based approach
                squared_error = (reconstruction - batch) ** 2
                pixel_score = squared_error.mean(dim=1)
                patch_score = squared_error.mean(dim=(1, 2, 3))
            
            anomaly_scores.append(patch_score.cpu().numpy())
            pixel_scores.append(pixel_score.cpu().numpy())
            reconstructed_patches.append(reconstruction.cpu().numpy())
    
    anomaly_scores = np.concatenate(anomaly_scores)
    pixel_scores = np.concatenate(pixel_scores)
    reconstructed_patches = np.concatenate(reconstructed_patches)
    
    # NORMALIZE to [0, 1] probability range
    prob_scores = (anomaly_scores - anomaly_scores.min()) / (anomaly_scores.max() - anomaly_scores.min() + 1e-10)
    
    return prob_scores, pixel_scores, reconstructed_patches

# ==============================================================================
# TRAIN/TEST SPLIT
# ==============================================================================

def discover_and_split_aois(

    patches_dir: Path, 

    train_ratio: float = 0.8

) -> Tuple[List[str], List[str]]:
    """Discover all AOIs and split into train/test sets

    

    Args:

        patches_dir: Directory containing AOI_xxxx_important_patches.npz files

        train_ratio: Fraction of AOIs for training (default 0.8)

    

    Returns:

        train_aoi_names: List of AOI names for training

        test_aoi_names: List of AOI names for testing

    """
    # Find all important_patches files
    important_files = sorted(list(patches_dir.glob("AOI_*_important_patches.npz")))
    
    if len(important_files) == 0:
        raise FileNotFoundError(f"No *_important_patches.npz files found in {patches_dir}")
    
    # Extract AOI names (remove suffix)
    aoi_names = [f.stem.replace('_important_patches', '') for f in important_files]
    
    print(f"\n📂 Discovered {len(aoi_names)} AOIs in {patches_dir}")
    print(f"   Examples: {', '.join(aoi_names[:5])}")
    
    # Shuffle for random split
    np.random.shuffle(aoi_names)
    
    split_idx = int(len(aoi_names) * train_ratio)
    train_aoi_names = aoi_names[:split_idx]
    test_aoi_names = aoi_names[split_idx:]
    
    print(f"\n📊 AOI-Level Split:")
    print(f"   Total AOIs: {len(aoi_names)}")
    print(f"   Training AOIs: {len(train_aoi_names)}")
    print(f"   Testing AOIs: {len(test_aoi_names)}")
    
    return train_aoi_names, test_aoi_names


# ==============================================================================
# VISUALIZATION
# ==============================================================================
def visualize_full_aoi_anomalies(

    aoi_name: str, 

    model: nn.Module,

    patches_dir: Path,

    device: torch.device, 

    top_k: int = 20,

    channel_names: Optional[List[str]] = None,

    save_path: Optional[str] = None,

    use_sigmoid_scores: bool = True  # ADD THIS LINE

):
    """Visualize anomalies on full AOI reconstruction using ALL patches

    

    Args:

        aoi_name: Name of the AOI to visualize

        model: Trained autoencoder model

        patches_dir: Directory containing patch files

        device: torch device to use

        top_k: Number of top anomalies to highlight

        channel_names: List of channel names (optional)

        save_path: Path to save visualization (optional)

        use_sigmoid_scores: If True, use sigmoid-based scoring; if False, use MSE

    

    Returns:

        anomaly_scores: Anomaly score per patch

        anomaly_heatmap: Full-resolution anomaly heatmap

        original_full: Original reconstructed AOI

        reconstructed_full: Model-reconstructed AOI

    """
    
    if channel_names is None:
        channel_names = ['DTM', 'Slope', 'Roughness', 'NDVI', 'NDWI', 'FlowAcc', 'FlowDir']
    
    score_type = "Sigmoid Score" if use_sigmoid_scores else "MSE"
    
    print(f"\n{'='*70}")
    print(f"FULL AOI ANOMALY DETECTION: {aoi_name}")
    print(f"Scoring Method: {score_type}")
    print(f"{'='*70}")
    
    # Load ALL patches
    all_patches_file = patches_dir / f"{aoi_name}_all_patches.npz"
    if not all_patches_file.exists():
        raise FileNotFoundError(f"All patches file not found: {all_patches_file}")
    
    print(f"   Loading ALL patches from: {all_patches_file.name}")
    with np.load(all_patches_file, allow_pickle=True) as data:
        patches = data['patches']
        metadata = list(data['metadata'])
        patches = np.nan_to_num(patches, nan=0.0, posinf=0.0, neginf=0.0)
    
    print(f"   Patches loaded: {len(patches)}")
    
    # Compute anomalies
    print(f"   🔬 Computing anomaly scores ({score_type})...")
    anomaly_scores, pixel_scores, recon_patches, original_patches = compute_full_aoi_anomalies(
        model, patches, metadata, device, use_sigmoid_scores=use_sigmoid_scores
    )
        
    # Reconstruct full AOI
    print(f"   🔨 Reconstructing original AOI...")
    original_full, weight_map_orig, shape = reconstruct_full_aoi_corrected(
        patches, metadata, use_weighted=True
    )
    
    print(f"   🔨 Reconstructing from model output...")
    reconstructed_full, weight_map_recon, _ = reconstruct_full_aoi_corrected(
        recon_patches, metadata, use_weighted=True
    )
    
    # Create anomaly heatmap
    print(f"   🗺️  Creating anomaly heatmap...")
    anomaly_heatmap = np.zeros(shape, dtype=np.float32)
    anomaly_count = np.zeros(shape, dtype=np.float32)
    
    for i, meta in enumerate(metadata):
        row = meta['row']
        col = meta['col']
        row_end = min(row + 64, shape[0])
        col_end = min(col + 64, shape[1])
        patch_h = row_end - row
        patch_w = col_end - col
        
        if patch_h > 0 and patch_w > 0:
            anomaly_heatmap[row:row_end, col:col_end] += pixel_scores[i, :patch_h, :patch_w]
            anomaly_count[row:row_end, col:col_end] += 1
    
    anomaly_count = np.maximum(anomaly_count, 1)
    anomaly_heatmap = anomaly_heatmap / anomaly_count
    
    # Find top anomalies
    top_indices = np.argsort(anomaly_scores)[-top_k:][::-1]
    
    # Create visualization
    print(f"   🎨 Creating visualization...")
    fig = plt.figure(figsize=(24, 18))
    gs = fig.add_gridspec(3, 3, hspace=0.3, wspace=0.3)
    
    # Row 1: Original channels
    for i, (ch_idx, ch_name) in enumerate([(0, 'DTM'), (3, 'NDVI'), (4, 'NDWI')]):
        ax = fig.add_subplot(gs[0, i])
        data = original_full[ch_idx]
        data_masked = np.ma.masked_invalid(data)
        cmap = 'terrain' if ch_idx == 0 else 'RdYlGn'
        im = ax.imshow(data_masked, cmap=cmap, interpolation='bilinear')
        ax.set_title(f'{aoi_name}\n{ch_name} (Original)', fontsize=12, fontweight='bold')
        ax.axis('off')
        plt.colorbar(im, ax=ax, fraction=0.046, pad=0.04)
    
    # Row 2: Reconstruction quality
    ax = fig.add_subplot(gs[1, 0])
    recon_masked = np.ma.masked_invalid(reconstructed_full[0])
    im = ax.imshow(recon_masked, cmap='terrain', interpolation='bilinear')
    ax.set_title('DTM Reconstruction', fontsize=12, fontweight='bold')
    ax.axis('off')
    plt.colorbar(im, ax=ax, fraction=0.046, pad=0.04)
    
    ax = fig.add_subplot(gs[1, 1])
    error_map = np.abs(original_full[0] - reconstructed_full[0])
    error_masked = np.ma.masked_invalid(error_map)
    im = ax.imshow(error_masked, cmap='Reds', interpolation='bilinear')
    ax.set_title('Absolute Error (DTM)', fontsize=12, fontweight='bold')
    ax.axis('off')
    plt.colorbar(im, ax=ax, fraction=0.046, pad=0.04)
    
    ax = fig.add_subplot(gs[1, 2])
    im = ax.imshow(weight_map_orig, cmap='viridis', interpolation='nearest')
    coverage_pct = np.sum(weight_map_orig > 0) / weight_map_orig.size * 100
    ax.set_title(f'Patch Overlap\n(coverage: {coverage_pct:.1f}%)', fontsize=12, fontweight='bold')
    ax.axis('off')
    plt.colorbar(im, ax=ax, fraction=0.046, pad=0.04)
    
    # Row 3: Anomaly detection
    ax = fig.add_subplot(gs[2, 0])
    im = ax.imshow(anomaly_heatmap, cmap='hot', interpolation='bilinear')
    title = f'Anomaly Heatmap ({score_type})'
    ax.set_title(title, fontsize=12, fontweight='bold')
    ax.axis('off')
    plt.colorbar(im, ax=ax, fraction=0.046, pad=0.04, label='Anomaly Score')
    
    ax = fig.add_subplot(gs[2, 1])
    ax.imshow(original_full[0], cmap='terrain', interpolation='bilinear', alpha=0.6)
    im = ax.imshow(anomaly_heatmap, cmap='hot', interpolation='bilinear', alpha=0.5)
    
    for idx in top_indices[:10]:
        row = metadata[idx]['row']
        col = metadata[idx]['col']
        rect = Rectangle((col, row), 64, 64, linewidth=2, 
                        edgecolor='cyan', facecolor='none', linestyle='--')
        ax.add_patch(rect)
    
    ax.set_title(f'Top-{min(10, top_k)} Anomalies\n(cyan boxes)', fontsize=12, fontweight='bold')
    ax.axis('off')
    
    ax = fig.add_subplot(gs[2, 2])
    ax.axis('off')
    
    for i in range(min(6, len(top_indices))):
        idx = top_indices[i]
        row = metadata[idx]['row']
        col = metadata[idx]['col']
        
        row_end = min(row + 64, shape[0])
        col_end = min(col + 64, shape[1])
        patch_dtm = original_full[0, row:row_end, col:col_end]
        patch_error = pixel_scores[idx]
        
        sub_row = i // 3
        sub_col = i % 3
        sub_ax = ax.inset_axes([sub_col*0.33, (1-sub_row*0.5)-0.45, 0.3, 0.42])
        
        sub_ax.imshow(patch_dtm, cmap='terrain', interpolation='nearest')
        sub_ax.imshow(patch_error, cmap='hot', interpolation='nearest', alpha=0.5)
        sub_ax.set_title(f'#{i+1}: {anomaly_scores[idx]:.4f}', fontsize=8)
        sub_ax.axis('off')
    
    ax.set_title(f'Top-6 Anomalous Patches', fontsize=12, fontweight='bold', pad=10)
    
    plt.suptitle(f'{aoi_name} - Full AOI Anomaly Detection ({score_type})\n{shape[0]}×{shape[1]} pixels from {len(patches)} patches', 
                 fontsize=14, fontweight='bold', y=0.995)
    
    if save_path:
        plt.savefig(save_path, dpi=150, bbox_inches='tight')
        print(f"   💾 Saved: {save_path}")
    
    plt.show()
    
    # Print statistics
    print(f"\n   📊 Anomaly Statistics ({score_type}):")
    print(f"      Mean score: {np.mean(anomaly_scores):.6f}")
    print(f"      Std score: {np.std(anomaly_scores):.6f}")
    print(f"      95th percentile: {np.percentile(anomaly_scores, 95):.6f}")
    print(f"      99th percentile: {np.percentile(anomaly_scores, 99):.6f}")
    
    print(f"\n   🔍 Top-{min(10, top_k)} Anomalies:")
    for i, idx in enumerate(top_indices[:10]):
        row = metadata[idx]['row']
        col = metadata[idx]['col']
        print(f"      {i+1:2d}. Patch at ({row:4d}, {col:4d}) - Score: {anomaly_scores[idx]:.6f}")
    
    return anomaly_scores, anomaly_heatmap, original_full, reconstructed_full

"""

utils.py

========

Reusable utilities for Isolation Forest anomaly detection pipeline.

Contains model architectures, data processing, and core operations.

"""


# ==============================================================================
# DATA PROCESSING
# ==============================================================================

def load_patches(patches_file: Path) -> Tuple[np.ndarray, List[Dict]]:
    """Load patches from .npz file and sanitize data"""
    with np.load(patches_file, allow_pickle=True) as data:
        patches = data['patches']
        metadata = list(data['metadata'])
        patches = np.nan_to_num(patches, nan=0.0, posinf=0.0, neginf=0.0)
    return patches, metadata


def reconstruct_full_aoi_corrected(

    patches: np.ndarray, 

    metadata: List[Dict],

    patch_size: int = 64,

    use_weighted: bool = True

) -> Tuple[np.ndarray, np.ndarray, Tuple[int, int]]:
    """Reconstruct full AOI from overlapping patches with proper blending"""
    
    if len(patches) == 0:
        raise ValueError("No patches provided for reconstruction")
    
    num_patches = patches.shape[0]
    num_channels = patches.shape[1]
    
    # Determine full AOI dimensions
    max_row = max(m['row'] + patch_size for m in metadata)
    max_col = max(m['col'] + patch_size for m in metadata)
    
    # Initialize accumulation arrays
    reconstructed = np.zeros((num_channels, max_row, max_col), dtype=np.float64)
    weight_map = np.zeros((max_row, max_col), dtype=np.float64)
    
    # Create blending weight template
    if use_weighted:
        y, x = np.ogrid[0:patch_size, 0:patch_size]
        center = patch_size // 2
        dist_from_center = np.sqrt((y - center)**2 + (x - center)**2)
        max_dist = np.sqrt(2) * center
        blend_weight = 1.0 - (dist_from_center / max_dist) ** 2
        blend_weight = np.clip(blend_weight, 0.1, 1.0)
    else:
        blend_weight = np.ones((patch_size, patch_size), dtype=np.float64)
    
    # Stitch all patches
    for i, meta in enumerate(metadata):
        row_start = meta['row']
        col_start = meta['col']
        
        row_end = min(row_start + patch_size, max_row)
        col_end = min(col_start + patch_size, max_col)
        
        patch_height = row_end - row_start
        patch_width = col_end - col_start
        
        if patch_height <= 0 or patch_width <= 0:
            continue
        
        patch_data = patches[i, :, :patch_height, :patch_width]
        patch_weight = blend_weight[:patch_height, :patch_width]
        
        for ch in range(num_channels):
            reconstructed[ch, row_start:row_end, col_start:col_end] += (
                patch_data[ch] * patch_weight
            )
        
        weight_map[row_start:row_end, col_start:col_end] += patch_weight
    
    # Normalize by weights
    weight_map_safe = np.where(weight_map > 0, weight_map, 1.0)
    
    for ch in range(num_channels):
        reconstructed[ch] = reconstructed[ch] / weight_map_safe
    
    # Set uncovered areas to NaN
    uncovered_mask = weight_map == 0
    for ch in range(num_channels):
        reconstructed[ch][uncovered_mask] = np.nan
    
    reconstructed = reconstructed.astype(np.float32)
    weight_map = weight_map.astype(np.float32)
    
    return reconstructed, weight_map, (max_row, max_col)


# ==============================================================================
# EMBEDDING EXTRACTION
# ==============================================================================

def extract_embeddings(

    encoder: nn.Module,

    patches: np.ndarray,

    device: torch.device,

    batch_size: int = 32

) -> np.ndarray:
    """Extract embeddings from patches using encoder"""
    encoder.eval()
    
    patches_torch = torch.from_numpy(patches).float()
    embeddings = []
    
    with torch.no_grad():
        for i in tqdm(range(0, len(patches), batch_size), 
                     desc="Extracting embeddings", leave=False):
            batch = patches_torch[i:i+batch_size].to(device)
            embedding = encoder(batch)
            embeddings.append(embedding.cpu().numpy())
    
    embeddings = np.concatenate(embeddings, axis=0)
    return embeddings


# ==============================================================================
# ISOLATION FOREST OPERATIONS
# ==============================================================================

def train_isolation_forest(

    embeddings: np.ndarray,

    contamination: float = 0.05,

    n_estimators: int = 100,

    max_samples: str = 'auto',

    random_state: int = 42

) -> Tuple[IsolationForest, StandardScaler]:
    """

    Train Isolation Forest on embeddings

    

    Args:

        embeddings: (N, embedding_dim) array

        contamination: Expected proportion of outliers

        n_estimators: Number of trees

        max_samples: Samples to draw for each tree

        random_state: Random seed

    

    Returns:

        Trained IsolationForest model and fitted scaler

    """
    print(f"\n🌲 Training Isolation Forest")
    print(f"   Embeddings shape: {embeddings.shape}")
    print(f"   Contamination: {contamination:.1%}")
    print(f"   Trees: {n_estimators}")
    
    # Standardize embeddings
    scaler = StandardScaler()
    embeddings_scaled = scaler.fit_transform(embeddings)
    
    # Train Isolation Forest
    iforest = IsolationForest(
        contamination=contamination,
        n_estimators=n_estimators,
        max_samples=max_samples,
        random_state=random_state,
        n_jobs=-1,
        verbose=1
    )
    
    iforest.fit(embeddings_scaled)
    
    # Get anomaly scores
    scores = iforest.decision_function(embeddings_scaled)
    predictions = iforest.predict(embeddings_scaled)
    
    n_anomalies = np.sum(predictions == -1)
    print(f"   ✓ Training complete")
    print(f"   Detected anomalies: {n_anomalies} ({n_anomalies/len(predictions)*100:.2f}%)")
    print(f"   Score range: [{scores.min():.4f}, {scores.max():.4f}]")
    
    return iforest, scaler


def compute_isolation_forest_anomalies(

    encoder: nn.Module,

    iforest: IsolationForest,

    scaler: StandardScaler,

    patches: np.ndarray,

    device: torch.device,

    batch_size: int = 32

) -> Tuple[np.ndarray, np.ndarray]:
    """

    Compute anomaly scores and predictions for patches

    

    Returns:

        probability_scores: Normalized anomaly probabilities [0, 1]

        predictions: Binary predictions (-1 = anomaly, 1 = normal)

    """
    # Extract embeddings
    embeddings = extract_embeddings(encoder, patches, device, batch_size)
    embeddings_scaled = scaler.transform(embeddings)
    
    # Get raw scores (Negative = Anomaly, Positive = Normal)
    raw_scores = iforest.decision_function(embeddings_scaled)
    predictions = iforest.predict(embeddings_scaled)

    # Invert so Higher = More Anomalous
    inverted_scores = -raw_scores 

    # Convert to probability (0.0 to 1.0)
    min_s = inverted_scores.min()
    max_s = inverted_scores.max()
    
    # Min-Max Normalization
    probability_scores = (inverted_scores - min_s) / (max_s - min_s + 1e-10)

    return probability_scores, predictions


def save_model(iforest: IsolationForest, scaler: StandardScaler, save_path: str):
    """Save trained Isolation Forest model and scaler"""
    with open(save_path, 'wb') as f:
        pickle.dump({'iforest': iforest, 'scaler': scaler}, f)
    print(f"💾 Saved model: {save_path}")


def load_model(model_path: str) -> Tuple[IsolationForest, StandardScaler]:
    """Load trained Isolation Forest model and scaler"""
    with open(model_path, 'rb') as f:
        data = pickle.load(f)
    print(f"✓ Loaded model from: {model_path}")
    return data['iforest'], data['scaler']


# ==============================================================================
# MISSING: ResUNetEncoder Class (for Isolation Forest)
# ==============================================================================

"""

Fixed ResUNetEncoder with proper weight loading

"""

class ResUNetEncoder(nn.Module):
    """Encoder-only version for embedding extraction"""
    def __init__(self, in_channels: int = 7, embedding_dim: int = 128):
        super().__init__()
        
        # Encoder (must match autoencoder architecture)
        self.enc1 = EncoderBlock(in_channels, 32, downsample=True)
        self.enc2 = EncoderBlock(32, 64, downsample=True)
        self.enc3 = EncoderBlock(64, 128, downsample=True)
        self.bottleneck = EncoderBlock(128, 256, downsample=False)
        
        # Embedding projection
        self.global_pool = nn.AdaptiveAvgPool2d(1)
        self.embedding_dim = embedding_dim
        
        # Bottleneck outputs 256 channels, project to embedding_dim
        self.projection = nn.Linear(256, embedding_dim)
    
    def forward(self, x):
        # Encoder path
        x, _ = self.enc1(x)
        x, _ = self.enc2(x)
        x, _ = self.enc3(x)
        x = self.bottleneck(x)
        
        # Global pooling: (batch, 256, H, W) -> (batch, 256, 1, 1)
        x = self.global_pool(x)
        # Flatten: (batch, 256, 1, 1) -> (batch, 256)
        x = x.view(x.size(0), -1)
        
        # Project to target embedding dimension: (batch, 256) -> (batch, embedding_dim)
        embedding = self.projection(x)
        
        return embedding
    
    def load_from_autoencoder(self, autoencoder_path: str):
        """Load encoder weights from trained autoencoder"""
        print(f"Loading encoder weights from: {autoencoder_path}")
        
        # Load full autoencoder state dict
        autoencoder_state = torch.load(autoencoder_path, map_location='cpu')
        
        # Filter to get only encoder + bottleneck weights
        encoder_dict = {}
        for k, v in autoencoder_state.items():
            if k.startswith(('enc1.', 'enc2.', 'enc3.', 'bottleneck.')):
                encoder_dict[k] = v
        
        # Load encoder weights (projection layer will remain randomly initialized)
        missing, unexpected = self.load_state_dict(encoder_dict, strict=False)
        
        # Verify what was loaded
        print(f"✓ Loaded {len(encoder_dict)} encoder layers")
        print(f"  Missing keys (expected): {len(missing)} - {missing[:3]}..." if len(missing) > 3 else f"  Missing keys: {missing}")
        
        # The projection layer should be in missing keys (it's not in autoencoder)
        if 'projection.weight' not in missing or 'projection.bias' not in missing:
            print("⚠️  Warning: Projection layer might have been incorrectly loaded")
        else:
            print(f"✓ Projection layer (256 → {self.embedding_dim}) will be trained from scratch")

# ==============================================================================
# MISSING: Isolation Forest Probability Computation
# ==============================================================================

def compute_iforest_probabilities(

    encoder: nn.Module,

    iforest: IsolationForest,

    scaler: StandardScaler,

    patches: np.ndarray,

    metadata: List[Dict],

    device: torch.device,

    batch_size: int = 32

) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
    """

    Compute Isolation Forest anomaly probabilities

    

    Returns:

        prob_scores: (num_patches,) - Normalized probability scores [0, 1]

        embeddings: (num_patches, embedding_dim) - Latent embeddings

        predictions: (num_patches,) - Binary predictions (-1=anomaly, 1=normal)

    """
    # Extract embeddings
    embeddings = extract_embeddings(encoder, patches, device, batch_size)
    embeddings_scaled = scaler.transform(embeddings)
    
    # Get raw scores
    raw_scores = iforest.decision_function(embeddings_scaled)
    predictions = iforest.predict(embeddings_scaled)

    # Invert so Higher = More Anomalous
    inverted_scores = -raw_scores 

    # Normalize to [0, 1]
    min_s = inverted_scores.min()
    max_s = inverted_scores.max()
    prob_scores = (inverted_scores - min_s) / (max_s - min_s + 1e-10)

    return prob_scores, embeddings, predictions


# ==============================================================================
# MISSING: Template Matching Probabilities (Model 3 placeholder)
# ==============================================================================

def compute_template_matching_probabilities(

    patches: np.ndarray,

    metadata: List[Dict],

    template_library: Dict[str, np.ndarray],

    method: str = 'correlation'

) -> Tuple[np.ndarray, np.ndarray]:
    """

    Compute template matching probabilities (PLACEHOLDER - implement your method)

    

    Returns:

        prob_scores: (num_patches,) - Match probability scores [0, 1]

        similarity_scores: (num_patches, num_templates) - Raw similarity to each template

    """
    from scipy.signal import correlate2d
    
    num_patches = len(patches)
    num_templates = len(template_library)
    
    similarity_scores = np.zeros((num_patches, num_templates))
    
    # Extract DTM channel (channel 0)
    patch_dtm = patches[:, 0, :, :]
    
    for i, patch in enumerate(tqdm(patch_dtm, desc="Model 3 (Template Matching)", leave=False)):
        for j, (template_name, template) in enumerate(template_library.items()):
            
            if method == 'correlation':
                corr = correlate2d(patch, template, mode='valid')
                if corr.size > 0:
                    similarity = np.max(corr) / (np.linalg.norm(patch) * np.linalg.norm(template) + 1e-10)
                else:
                    similarity = 0.0
            else:
                # Add other methods as needed
                similarity = 0.0
            
            similarity_scores[i, j] = similarity
    
    # Use max similarity across templates
    max_similarity = similarity_scores.max(axis=1)
    
    # Normalize to [0, 1]
    prob_scores = (max_similarity - max_similarity.min()) / (max_similarity.max() - max_similarity.min() + 1e-10)
    
    return prob_scores, similarity_scores


# ==============================================================================
# MISSING: Probability Matrix Storage
# ==============================================================================

def save_probability_matrix(

    aoi_name: str,

    probability_matrix: np.ndarray,

    metadata: List[Dict],

    save_dir: Path = Path('./probability_matrices')

):
    """Save probability matrix for later use by the gate model"""
    save_dir.mkdir(exist_ok=True, parents=True)
    
    save_path = save_dir / f"{aoi_name}_probability_matrix.npz"
    
    np.savez_compressed(
        save_path,
        probability_matrix=probability_matrix,
        metadata=metadata,
        column_names=['prob_autoencoder', 'prob_iforest', 'prob_template', 'sim_score']
    )
    
    print(f"💾 Saved probability matrix: {save_path}")


def load_probability_matrix(

    aoi_name: str, 

    load_dir: Path = Path('./probability_matrices')

) -> Tuple[np.ndarray, List[Dict]]:
    """Load saved probability matrix"""
    load_path = load_dir / f"{aoi_name}_probability_matrix.npz"
    
    with np.load(load_path, allow_pickle=True) as data:
        probability_matrix = data['probability_matrix']
        metadata = data['metadata']
    
    print(f"✓ Loaded probability matrix from: {load_path}")
    print(f"  Shape: {probability_matrix.shape}")
    
    return probability_matrix, metadata


# ==============================================================================
# MODEL 3: SIGNATURE MATCHING UTILITIES
# ==============================================================================

def compute_cosine_similarity(vec1: np.ndarray, vec2: np.ndarray) -> float:
    """Compute cosine similarity between two vectors"""
    dot_product = np.dot(vec1, vec2)
    norm1 = np.linalg.norm(vec1)
    norm2 = np.linalg.norm(vec2)
    
    if norm1 == 0 or norm2 == 0:
        return 0.0
    
    return dot_product / (norm1 * norm2)


def compute_signature_scores(

    latent: np.ndarray,

    centroids: np.ndarray,

    scaler: Optional[StandardScaler] = None

) -> Dict:
    """Compute signature matching scores for a single latent vector"""
    if scaler is not None:
        latent_scaled = scaler.transform(latent.reshape(1, -1))[0]
    else:
        latent_scaled = latent
    
    n_clusters = centroids.shape[0]
    similarities = np.zeros(n_clusters)
    
    for i in range(n_clusters):
        similarities[i] = compute_cosine_similarity(latent_scaled, centroids[i])
    
    similarities_normalized = (similarities + 1.0) / 2.0
    
    best_cluster = int(np.argmax(similarities_normalized))
    best_score = float(similarities_normalized[best_cluster])
    
    return {
        "cluster_scores": similarities_normalized.tolist(),
        "best_cluster": best_cluster,
        "best_score": best_score,
        "max_similarity": best_score
    }


def compute_kmeans_probabilities(

    encoder: nn.Module,

    kmeans_model,

    scaler: Optional[StandardScaler],

    patches: np.ndarray,

    metadata: List[Dict],

    device: torch.device,

    batch_size: int = 32

) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
    """

    Compute K-Means signature matching probabilities

    

    Returns:

        prob_scores: (num_patches,) - Match probability scores [0, 1]

        similarity_scores: (num_patches,) - Max similarity to any cluster

        cluster_assignments: (num_patches,) - Best matching cluster ID

    """
    embeddings = extract_embeddings(encoder, patches, device, batch_size)
    
    centroids = kmeans_model.cluster_centers_
    n_patches = len(embeddings)
    
    prob_scores = np.zeros(n_patches)
    similarity_scores = np.zeros(n_patches)
    cluster_assignments = np.zeros(n_patches, dtype=int)
    
    for i in tqdm(range(n_patches), desc="Model 3 (K-Means Matching)", leave=False):
        scores = compute_signature_scores(embeddings[i], centroids, scaler)
        prob_scores[i] = scores['best_score']
        similarity_scores[i] = scores['max_similarity']
        cluster_assignments[i] = scores['best_cluster']
    
    return prob_scores, similarity_scores, cluster_assignments


def load_kmeans_model(model_path: str):
    """Load trained K-Means model and scaler"""
    with open(model_path, 'rb') as f:
        data = pickle.load(f)
    
    print(f"✓ Loaded K-Means model from: {model_path}")
    
    # Handle different storage formats
    if isinstance(data, dict):
        kmeans = data.get('kmeans', data.get('model', None))
        scaler = data.get('scaler', None)
    else:
        # Assume it's the KMeans object directly
        kmeans = data
        scaler = None
        print("⚠️  Warning: No scaler found, loaded KMeans object only")
    
    if kmeans is None:
        raise ValueError(f"Could not find KMeans model in {model_path}")
    
    return kmeans, scaler

# ==============================================================================
# ADD THESE FUNCTIONS TO YOUR EXISTING utils.py
# ==============================================================================

def load_unified_probability_matrix(

    aoi_name: str,

    load_dir: Path = Path('./unified_probability_matrices')

) -> Tuple[np.ndarray, List[Dict], List[str]]:
    """

    Load saved unified probability matrix

    

    Args:

        aoi_name: Name of AOI (e.g., "AOI_0001")

        load_dir: Directory containing saved matrices

    

    Returns:

        unified_matrix: Shape (num_patches, 64, 64, 4)

        metadata: List of patch metadata dicts

        channel_names: List of channel names

    """
    load_path = load_dir / f"{aoi_name}_unified_prob_matrix.npz"
    
    if not load_path.exists():
        raise FileNotFoundError(f"Unified matrix not found: {load_path}")
    
    with np.load(load_path, allow_pickle=True) as data:
        unified_matrix = data['unified_matrix']
        metadata = data['metadata']
        channel_names = data['channel_names']
    
    print(f"✓ Loaded unified probability matrix from: {load_path}")
    print(f"  Shape: {unified_matrix.shape}")
    print(f"  Channels: {list(channel_names)}")
    
    return unified_matrix, metadata, channel_names


def broadcast_patch_scores_to_pixels(

    patch_scores: np.ndarray,

    patch_size: int = 64

) -> np.ndarray:
    """

    Broadcast patch-level scores to pixel-level

    

    Args:

        patch_scores: Shape (num_patches,) or (num_patches, 1)

        patch_size: Size of patches (default 64)

    

    Returns:

        pixel_scores: Shape (num_patches, patch_size, patch_size)

    """
    if patch_scores.ndim == 1:
        patch_scores = patch_scores[:, np.newaxis, np.newaxis]
    elif patch_scores.ndim == 2 and patch_scores.shape[1] == 1:
        patch_scores = patch_scores[:, :, np.newaxis]
    
    num_patches = patch_scores.shape[0]
    pixel_scores = np.broadcast_to(
        patch_scores,
        (num_patches, patch_size, patch_size)
    ).copy()
    
    return pixel_scores


def normalize_scores(scores: np.ndarray) -> np.ndarray:
    """

    Normalize scores to [0, 1] range using min-max scaling

    

    Args:

        scores: Input scores of any shape

    

    Returns:

        normalized_scores: Same shape as input, values in [0, 1]

    """
    min_val = scores.min()
    max_val = scores.max()
    
    if max_val - min_val < 1e-10:
        # All values are the same, return zeros or ones
        return np.zeros_like(scores)
    
    normalized = (scores - min_val) / (max_val - min_val)
    return normalized.astype(np.float32)


def save_unified_probability_matrix(

    aoi_name: str,

    unified_matrix: np.ndarray,

    metadata: List[Dict],

    save_dir: Path = Path('./unified_probability_matrices'),

    channel_names: List[str] = None

):
    """

    Save unified probability matrix to disk

    

    Args:

        aoi_name: Name of AOI

        unified_matrix: Shape (num_patches, 64, 64, 4)

        metadata: Patch metadata

        save_dir: Directory to save to

        channel_names: Names of the 4 channels

    """
    if channel_names is None:
        channel_names = ['prob_autoencoder', 'prob_iforest', 'prob_kmeans', 'sim_score']
    
    save_dir.mkdir(exist_ok=True, parents=True)
    save_path = save_dir / f"{aoi_name}_unified_prob_matrix.npz"
    
    np.savez_compressed(
        save_path,
        unified_matrix=unified_matrix,
        metadata=metadata,
        channel_names=channel_names,
        aoi_name=aoi_name
    )
    
    print(f"💾 Saved unified probability matrix: {save_path}")
    print(f"   Shape: {unified_matrix.shape}")
    print(f"   Channels: {channel_names}")


# Add this function to utils.py to fix the missing function issue

def compute_full_aoi_anomalies(

    model: nn.Module, 

    patches: np.ndarray,

    metadata: List[Dict], 

    device: torch.device,

    batch_size: int = 32,

    use_sigmoid_scores: bool = True

) -> Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
    """

    Compute autoencoder anomaly scores for full AOI visualization

    

    Returns:

        anomaly_scores: (num_patches,) - Per-patch anomaly scores

        pixel_scores: (num_patches, H, W) - Per-pixel anomaly maps

        reconstructed_patches: (num_patches, C, H, W) - Model reconstructions

        original_patches: (num_patches, C, H, W) - Original input patches

    """
    model.eval()
    
    patches_torch = torch.from_numpy(patches).float()
    
    anomaly_scores = []
    pixel_scores = []
    reconstructed_patches = []
    
    with torch.no_grad():
        for i in tqdm(range(0, len(patches), batch_size), 
                     desc="Computing anomalies", leave=False):
            batch = patches_torch[i:i+batch_size].to(device)
            
            reconstruction, _ = model(batch)
            
            if use_sigmoid_scores:
                # Sigmoid uncertainty: higher = more anomalous
                sigmoid_uncertainty = 1.0 - torch.abs(reconstruction - 0.5) * 2
                pixel_score = sigmoid_uncertainty.mean(dim=1)  # Per pixel
                patch_score = sigmoid_uncertainty.mean(dim=(1, 2, 3))  # Per patch
            else:
                # MSE-based approach
                squared_error = (reconstruction - batch) ** 2
                pixel_score = squared_error.mean(dim=1)
                patch_score = squared_error.mean(dim=(1, 2, 3))
            
            anomaly_scores.append(patch_score.cpu().numpy())
            pixel_scores.append(pixel_score.cpu().numpy())
            reconstructed_patches.append(reconstruction.cpu().numpy())
    
    anomaly_scores = np.concatenate(anomaly_scores)
    pixel_scores = np.concatenate(pixel_scores)
    reconstructed_patches = np.concatenate(reconstructed_patches)
    
    # Return original patches as well (convert to numpy)
    original_patches = patches
    
    return anomaly_scores, pixel_scores, reconstructed_patches, original_patches