# ------------------------------------------------------------------------
# Deformable DETR
# Copyright (c) 2020 SenseTime. All Rights Reserved.
# Licensed under the Apache License, Version 2.0 [see LICENSE for details]
# ------------------------------------------------------------------------
# Modified from DETR (https://github.com/facebookresearch/detr)
# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
# ------------------------------------------------------------------------

"""
Deformable DETR model and criterion classes.
"""
import copy
import math

import torch
import torch.nn.functional as F
from torch import nn

from ..util import box_ops
from ..util.misc import (
    NestedTensor,
    nested_tensor_from_tensor_list,
    accuracy,
    get_world_size,
    interpolate,
    is_dist_avail_and_initialized,
    inverse_sigmoid,
)
from .backbone import build_backbone
from .deformable_transformer import build_deforamble_transformer
from .matcher import build_matcher
from .segmentation import (
    DETRsegm,
    PostProcessPanoptic,
    PostProcessSegm,
    dice_loss,
    sigmoid_focal_loss,
)
from .setcriterion import FocalLossSetCriterion


def _get_clones(module, N):
    return nn.ModuleList([copy.deepcopy(module) for i in range(N)])


class DeformableDETR(nn.Module):
    """This is the Deformable DETR module that performs object detection"""

    def __init__(
        self,
        backbone,
        transformer,
        num_classes,
        num_queries,
        num_feature_levels,
        aux_loss=True,
        with_box_refine=False,
        two_stage=False,
    ):
        """Initializes the model.
        Parameters:
            backbone: torch module of the backbone to be used. See backbone.py
            transformer: torch module of the transformer architecture. See transformer.py
            num_classes: number of object classes
            num_queries: number of object queries, ie detection slot. This is the maximal number of objects
                         DETR can detect in a single image. For COCO, we recommend 100 queries.
            aux_loss: True if auxiliary decoding losses (loss at each decoder layer) are to be used.
            with_box_refine: iterative bounding box refinement
            two_stage: two-stage Deformable DETR
        """
        super().__init__()
        self.num_queries = num_queries
        self.transformer = transformer
        hidden_dim = transformer.d_model
        self.class_embed = nn.Linear(hidden_dim, num_classes)
        self.bbox_embed = MLP(hidden_dim, hidden_dim, 4, 3)
        self.num_feature_levels = num_feature_levels
        if not two_stage:
            self.query_embed = nn.Embedding(num_queries, hidden_dim * 2)
        if num_feature_levels > 1:
            num_backbone_outs = len(backbone.strides)
            input_proj_list = []
            for _ in range(num_backbone_outs):
                in_channels = backbone.num_channels[_]
                input_proj_list.append(
                    nn.Sequential(
                        nn.Conv2d(in_channels, hidden_dim, kernel_size=1),
                        nn.GroupNorm(32, hidden_dim),
                    )
                )
            for _ in range(num_feature_levels - num_backbone_outs):
                input_proj_list.append(
                    nn.Sequential(
                        nn.Conv2d(
                            in_channels, hidden_dim, kernel_size=3, stride=2, padding=1
                        ),
                        nn.GroupNorm(32, hidden_dim),
                    )
                )
                in_channels = hidden_dim
            self.input_proj = nn.ModuleList(input_proj_list)
        else:
            self.input_proj = nn.ModuleList(
                [
                    nn.Sequential(
                        nn.Conv2d(backbone.num_channels[0], hidden_dim, kernel_size=1),
                        nn.GroupNorm(32, hidden_dim),
                    )
                ]
            )
        self.backbone = backbone
        self.aux_loss = aux_loss
        self.with_box_refine = with_box_refine
        self.two_stage = two_stage

        prior_prob = 0.01
        bias_value = -math.log((1 - prior_prob) / prior_prob)
        self.class_embed.bias.data = torch.ones(num_classes) * bias_value
        nn.init.constant_(self.bbox_embed.layers[-1].weight.data, 0)
        nn.init.constant_(self.bbox_embed.layers[-1].bias.data, 0)
        for proj in self.input_proj:
            nn.init.xavier_uniform_(proj[0].weight, gain=1)
            nn.init.constant_(proj[0].bias, 0)

        # if two-stage, the last class_embed and bbox_embed is for region proposal generation
        num_pred = (
            (transformer.decoder.num_layers + 1)
            if two_stage
            else transformer.decoder.num_layers
        )
        if with_box_refine:
            self.class_embed = _get_clones(self.class_embed, num_pred)
            self.bbox_embed = _get_clones(self.bbox_embed, num_pred)
            nn.init.constant_(self.bbox_embed[0].layers[-1].bias.data[2:], -2.0)
            # hack implementation for iterative bounding box refinement
            self.transformer.decoder.bbox_embed = self.bbox_embed
        else:
            nn.init.constant_(self.bbox_embed.layers[-1].bias.data[2:], -2.0)
            self.class_embed = nn.ModuleList(
                [self.class_embed for _ in range(num_pred)]
            )
            self.bbox_embed = nn.ModuleList([self.bbox_embed for _ in range(num_pred)])
            self.transformer.decoder.bbox_embed = None
        if two_stage:
            # hack implementation for two-stage
            self.transformer.decoder.class_embed = self.class_embed
            for box_embed in self.bbox_embed:
                nn.init.constant_(box_embed.layers[-1].bias.data[2:], 0.0)

    def forward(self, samples: NestedTensor):
        """The forward expects a NestedTensor, which consists of:
           - samples.tensor: batched images, of shape [batch_size x 3 x H x W]
           - samples.mask: a binary mask of shape [batch_size x H x W], containing 1 on padded pixels

        It returns a dict with the following elements:
           - "pred_logits": the classification logits (including no-object) for all queries.
                            Shape= [batch_size x num_queries x (num_classes + 1)]
           - "pred_boxes": The normalized boxes coordinates for all queries, represented as
                           (center_x, center_y, height, width). These values are normalized in [0, 1],
                           relative to the size of each individual image (disregarding possible padding).
                           See PostProcess for information on how to retrieve the unnormalized bounding box.
           - "aux_outputs": Optional, only returned when auxilary losses are activated. It is a list of
                            dictionnaries containing the two above keys for each decoder layer.
        """
        if isinstance(samples, (list, torch.Tensor)):
            samples = nested_tensor_from_tensor_list(samples)
        # features is a list of num_levels NestedTensor.
        # pos is a list of num_levels tensors. Each one has shape (B, H_l, W_l).
        features, pos = self.backbone(samples)
        # srcs is a list of num_levels tensor. Each one has shape (B, C, H_l, W_l)
        srcs = []
        # masks is a list of num_levels tensor. Each one has shape (B, H_l, W_l)
        masks = []
        for l, feat in enumerate(features):
            # src shape: (N, C, H_l, W_l)
            # mask shape: (N, H_l, W_l)
            src, mask = feat.decompose()
            srcs.append(self.input_proj[l](src))
            masks.append(mask)
            assert mask is not None

        if self.num_feature_levels > len(srcs):
            N, C, H, W = samples.tensor.size()
            sample_mask = torch.ones((N, H, W), dtype=torch.bool, device=src.device)
            for idx in range(N):
                image_size = samples.image_sizes[idx]
                h, w = image_size
                sample_mask[idx, :h, :w] = False
            # sample_mask shape (1, N, H, W)
            sample_mask = sample_mask[None].float()

            _len_srcs = len(srcs)
            for l in range(_len_srcs, self.num_feature_levels):
                if l == _len_srcs:
                    src = self.input_proj[l](features[-1].tensors)
                else:
                    src = self.input_proj[l](srcs[-1])
                b, _, h, w = src.size()
                mask = F.interpolate(sample_mask, size=src.shape[-2:]).to(torch.bool)[0]
                pos_l = self.backbone[1](NestedTensor(src, mask)).to(src.dtype)
                srcs.append(src)
                masks.append(mask)
                pos.append(pos_l)

        query_embeds = None
        if not self.two_stage:
            # shape (num_queries, hidden_dim*2)
            query_embeds = self.query_embed.weight

        # hs shape: (num_layers, batch_size, num_queries, c)
        # init_reference shape: (num_queries, 2)
        # inter_references shape: (num_layers, bs, num_queries, num_levels, 2)
        (
            hs,
            init_reference,
            inter_references,
            enc_outputs_class,
            enc_outputs_coord_unact,
        ) = self.transformer(srcs, masks, pos, query_embeds)

        outputs_classes = []
        outputs_coords = []
        for lvl in range(hs.shape[0]):
            if lvl == 0:
                reference = init_reference
            else:
                reference = inter_references[lvl - 1]
            # reference shape: (num_queries, 2)
            reference = inverse_sigmoid(reference)
            # shape (batch_size, num_queries, num_classes)
            outputs_class = self.class_embed[lvl](hs[lvl])
            # shape (batch_size, num_queries, 4). 4-tuple (cx, cy, w, h)

            assert not torch.any(
                torch.isnan(hs[lvl])
            ), f"lvl {lvl}, NaN hs[lvl] {hs[lvl]}"

            tmp = self.bbox_embed[lvl](hs[lvl])
            if reference.shape[-1] == 4:
                tmp += reference
            else:
                assert reference.shape[-1] == 2
                tmp[..., :2] += reference
            # shape (batch_size, num_queries, 4). 4-tuple (cx, cy, w, h)

            assert not torch.any(torch.isnan(tmp)), f"NaN tmp {tmp}"

            outputs_coord = tmp.sigmoid()

            assert not torch.any(
                torch.isnan(outputs_coord)
            ), f"NaN outputs_coord {outputs_coord}"

            outputs_classes.append(outputs_class)
            outputs_coords.append(outputs_coord)
        # shape (num_levels, batch_size, num_queries, num_classes)
        outputs_class = torch.stack(outputs_classes)
        # shape (num_levels, batch_size, num_queries, 4)
        outputs_coord = torch.stack(outputs_coords)

        out = {"pred_logits": outputs_class[-1], "pred_boxes": outputs_coord[-1]}
        if self.aux_loss:
            out["aux_outputs"] = self._set_aux_loss(outputs_class, outputs_coord)

        if self.two_stage:
            enc_outputs_coord = enc_outputs_coord_unact.sigmoid()
            out["enc_outputs"] = {
                "pred_logits": enc_outputs_class,
                "pred_boxes": enc_outputs_coord,
            }
        return out

    @torch.jit.unused
    def _set_aux_loss(self, outputs_class, outputs_coord):
        # this is a workaround to make torchscript happy, as torchscript
        # doesn't support dictionary with non-homogeneous values, such
        # as a dict having both a Tensor and a list.
        return [
            {"pred_logits": a, "pred_boxes": b}
            for a, b in zip(outputs_class[:-1], outputs_coord[:-1])
        ]


class PostProcess(nn.Module):
    """This module converts the model's output into the format expected by the coco api"""

    @torch.no_grad()
    def forward(self, outputs, target_sizes):
        """Perform the computation
        Parameters:
            outputs: raw outputs of the model
            target_sizes: tensor of dimension [batch_size x 2] containing the size of each images of the batch
                          For evaluation, this must be the original image size (before any data augmentation)
                          For visualization, this should be the image size after data augment, but before padding
        """
        out_logits, out_bbox = outputs["pred_logits"], outputs["pred_boxes"]

        assert len(out_logits) == len(target_sizes)
        assert target_sizes.shape[1] == 2

        prob = out_logits.sigmoid()
        topk_values, topk_indexes = torch.topk(
            prob.view(out_logits.shape[0], -1), 100, dim=1
        )
        scores = topk_values
        topk_boxes = topk_indexes // out_logits.shape[2]
        labels = topk_indexes % out_logits.shape[2]
        boxes = box_ops.box_cxcywh_to_xyxy(out_bbox)
        boxes = torch.gather(boxes, 1, topk_boxes.unsqueeze(-1).repeat(1, 1, 4))

        # and from relative [0, 1] to absolute [0, height] coordinates
        img_h, img_w = target_sizes.unbind(1)
        scale_fct = torch.stack([img_w, img_h, img_w, img_h], dim=1)
        boxes = boxes * scale_fct[:, None, :]

        results = [
            {"scores": s, "labels": l, "boxes": b}
            for s, l, b in zip(scores, labels, boxes)
        ]

        return results


class MLP(nn.Module):
    """Very simple multi-layer perceptron (also called FFN)"""

    def __init__(self, input_dim, hidden_dim, output_dim, num_layers):
        super().__init__()
        self.num_layers = num_layers
        h = [hidden_dim] * (num_layers - 1)
        self.layers = nn.ModuleList(
            nn.Linear(n, k) for n, k in zip([input_dim] + h, h + [output_dim])
        )

    def forward(self, x):
        for i, layer in enumerate(self.layers):
            x = F.relu(layer(x)) if i < self.num_layers - 1 else layer(x)
        return x


def build(args):
    num_classes = 20 if args.dataset_file != "coco" else 91
    if args.dataset_file == "coco_panoptic":
        num_classes = 250
    device = torch.device(args.device)

    backbone = build_backbone(args)

    transformer = build_deforamble_transformer(args)
    model = DeformableDETR(
        backbone,
        transformer,
        num_classes=num_classes,
        num_queries=args.num_queries,
        num_feature_levels=args.num_feature_levels,
        aux_loss=args.aux_loss,
        with_box_refine=args.with_box_refine,
        two_stage=args.two_stage,
    )
    if args.masks:
        model = DETRsegm(model, freeze_detr=(args.frozen_weights is not None))
    matcher = build_matcher(args)
    weight_dict = {"loss_ce": args.cls_loss_coef, "loss_bbox": args.bbox_loss_coef}
    weight_dict["loss_giou"] = args.giou_loss_coef
    if args.masks:
        weight_dict["loss_mask"] = args.mask_loss_coef
        weight_dict["loss_dice"] = args.dice_loss_coef
    # TODO this is a hack
    if args.aux_loss:
        aux_weight_dict = {}
        for i in range(args.dec_layers - 1):
            aux_weight_dict.update({k + f"_{i}": v for k, v in weight_dict.items()})
        aux_weight_dict.update({k + f"_enc": v for k, v in weight_dict.items()})
        weight_dict.update(aux_weight_dict)

    losses = ["labels", "boxes", "cardinality"]
    if args.masks:
        losses += ["masks"]
    # num_classes, matcher, weight_dict, losses, focal_alpha=0.25
    criterion = FocalLossSetCriterion(
        num_classes, matcher, weight_dict, losses, focal_alpha=args.focal_alpha
    )
    criterion.to(device)
    postprocessors = {"bbox": PostProcess()}
    if args.masks:
        postprocessors["segm"] = PostProcessSegm()
        if args.dataset_file == "coco_panoptic":
            is_thing_map = {i: i <= 90 for i in range(201)}
            postprocessors["panoptic"] = PostProcessPanoptic(
                is_thing_map, threshold=0.85
            )

    return model, criterion, postprocessors
