# Copyright (c) OpenMMLab. All rights reserved.
import copy
from os import path as osp
from typing import Callable, List, Optional, Set, Union

import mmengine
import numpy as np
import torch
from mmengine.dataset import BaseDataset
from mmengine.logging import print_log
from terminaltables import AsciiTable

from mmdet3d.datasets import DATASETS
from mmdet3d.structures import get_box_type


@DATASETS.register_module()
class Det3DDataset(BaseDataset):
    """Base Class of 3D dataset.

    This is the base dataset of SUNRGB-D, ScanNet, nuScenes, and KITTI
    dataset.
    # TODO: doc link here for the standard data format

    Args:
        data_root (str, optional): The root directory for ``data_prefix`` and
            ``ann_file``. Defaults to None.
        ann_file (str): Annotation file path. Defaults to ''.
        metainfo (dict, optional): Meta information for dataset, such as class
            information. Defaults to None.
        data_prefix (dict): Prefix for training data. Defaults to
            dict(pts='velodyne', img='').
        pipeline (list[dict]): Pipeline used for data processing.
            Defaults to [].
        modality (dict): Modality to specify the sensor data used as input,
            it usually has following keys:

                - use_camera: bool
                - use_lidar: bool
            Defaults to `dict(use_lidar=True, use_camera=False)`
        default_cam_key (str, optional): The default camera name adopted.
            Defaults to None.
        box_type_3d (str): Type of 3D box of this dataset.
            Based on the `box_type_3d`, the dataset will encapsulate the box
            to its original format then converted them to `box_type_3d`.
            Defaults to 'LiDAR' in this dataset. Available options includes:

            - 'LiDAR': Box in LiDAR coordinates, usually for
              outdoor point cloud 3d detection.
            - 'Depth': Box in depth coordinates, usually for
              indoor point cloud 3d detection.
            - 'Camera': Box in camera coordinates, usually
              for vision-based 3d detection.
        filter_empty_gt (bool): Whether to filter the data with empty GT.
            If it's set to be True, the example with empty annotations after
            data pipeline will be dropped and a random example will be chosen
            in `__getitem__`. Defaults to True.
        test_mode (bool): Whether the dataset is in test mode.
            Defaults to False.
        load_eval_anns (bool): Whether to load annotations in test_mode,
            the annotation will be save in `eval_ann_infos`, which can be
            used in Evaluator. Defaults to True.
        file_client_args (dict): Configuration of file client.
            Defaults to dict(backend='disk').
        show_ins_var (bool): For debug purpose. Whether to show variation
            of the number of instances before and after through pipeline.
            Defaults to False.
    """

    def __init__(self,
                 data_root: Optional[str] = None,
                 ann_file: str = '',
                 metainfo: Optional[dict] = None,
                 data_prefix: dict = dict(pts='velodyne', img=''),
                 pipeline: List[Union[dict, Callable]] = [],
                 modality: dict = dict(use_lidar=True, use_camera=False),
                 default_cam_key: str = None,
                 box_type_3d: dict = 'LiDAR',
                 filter_empty_gt: bool = True,
                 test_mode: bool = False,
                 load_eval_anns=True,
                 file_client_args: dict = dict(backend='disk'),
                 show_ins_var: bool = False,
                 **kwargs) -> None:
        # init file client
        self.file_client = mmengine.FileClient(**file_client_args)
        self.filter_empty_gt = filter_empty_gt
        self.load_eval_anns = load_eval_anns
        _default_modality_keys = ('use_lidar', 'use_camera')
        if modality is None:
            modality = dict()

        # Defaults to False if not specify
        for key in _default_modality_keys:
            if key not in modality:
                modality[key] = False
        self.modality = modality
        self.default_cam_key = default_cam_key
        assert self.modality['use_lidar'] or self.modality['use_camera'], (
            'Please specify the `modality` (`use_lidar` '
            f', `use_camera`) for {self.__class__.__name__}')

        self.box_type_3d, self.box_mode_3d = get_box_type(box_type_3d)

        if metainfo is not None and 'CLASSES' in metainfo:
            # we allow to train on subset of self.METAINFO['CLASSES']
            # map unselected labels to -1
            self.label_mapping = {
                i: -1
                for i in range(len(self.METAINFO['CLASSES']))
            }
            self.label_mapping[-1] = -1
            for label_idx, name in enumerate(metainfo['CLASSES']):
                ori_label = self.METAINFO['CLASSES'].index(name)
                self.label_mapping[ori_label] = label_idx

            self.num_ins_per_cat = {name: 0 for name in metainfo['CLASSES']}
        else:
            self.label_mapping = {
                i: i
                for i in range(len(self.METAINFO['CLASSES']))
            }
            self.label_mapping[-1] = -1

            self.num_ins_per_cat = {
                name: 0
                for name in self.METAINFO['CLASSES']
            }

        super().__init__(
            ann_file=ann_file,
            metainfo=metainfo,
            data_root=data_root,
            data_prefix=data_prefix,
            pipeline=pipeline,
            test_mode=test_mode,
            **kwargs)

        # can be accessed by other component in runner
        self.metainfo['box_type_3d'] = box_type_3d
        self.metainfo['label_mapping'] = self.label_mapping

        # used for showing variation of the number of instances before and
        # after through the pipeline
        self.show_ins_var = show_ins_var

        # show statistics of this dataset
        print_log('-' * 30, 'current')
        print_log(f'The length of the dataset: {len(self)}', 'current')
        content_show = [['category', 'number']]
        for cat_name, num in self.num_ins_per_cat.items():
            content_show.append([cat_name, num])
        table = AsciiTable(content_show)
        print_log(
            f'The number of instances per category in the dataset:\n{table.table}',  # noqa: E501
            'current')

    def _remove_dontcare(self, ann_info: dict) -> dict:
        """Remove annotations that do not need to be cared.

        -1 indicate dontcare in MMDet3d.

        Args:
            ann_info (dict): Dict of annotation infos. The
                instance with label `-1` will be removed.

        Returns:
            dict: Annotations after filtering.
        """
        img_filtered_annotations = {}
        filter_mask = ann_info['gt_labels_3d'] > -1
        for key in ann_info.keys():
            if key != 'instances':
                img_filtered_annotations[key] = (ann_info[key][filter_mask])
            else:
                img_filtered_annotations[key] = ann_info[key]
        return img_filtered_annotations

    def get_ann_info(self, index: int) -> dict:
        """Get annotation info according to the given index.

        Use index to get the corresponding annotations, thus the
        evalhook could use this api.

        Args:
            index (int): Index of the annotation data to get.

        Returns:
            dict: annotation information.
        """
        data_info = self.get_data_info(index)
        # test model
        if 'ann_info' not in data_info:
            ann_info = self.parse_ann_info(data_info)
        else:
            ann_info = data_info['ann_info']

        return ann_info

    def parse_ann_info(self, info: dict) -> Optional[dict]:
        """Process the `instances` in data info to `ann_info`.

        In `Custom3DDataset`, we simply concatenate all the field
        in `instances` to `np.ndarray`, you can do the specific
        process in subclass. You have to convert `gt_bboxes_3d`
        to different coordinates according to the task.

        Args:
            info (dict): Info dict.

        Returns:
            dict | None: Processed `ann_info`
        """
        # add s or gt prefix for most keys after concat
        # we only process 3d annotations here, the corresponding
        # 2d annotation process is in the `LoadAnnotations3D`
        # in `transforms`
        name_mapping = {
            'bbox_label_3d': 'gt_labels_3d',
            'bbox_label': 'gt_bboxes_labels',
            'bbox': 'gt_bboxes',
            'bbox_3d': 'gt_bboxes_3d',
            'depth': 'depths',
            'center_2d': 'centers_2d',
            'attr_label': 'attr_labels',
            'velocity': 'velocities',
        }
        instances = info['instances']
        # empty gt
        if len(instances) == 0:
            return None
        else:
            keys = list(instances[0].keys())
            ann_info = dict()
            for ann_name in keys:
                temp_anns = [item[ann_name] for item in instances]
                # map the original dataset label to training label
                if 'label' in ann_name and ann_name != 'attr_label':
                    temp_anns = [
                        self.label_mapping[item] for item in temp_anns
                    ]
                if ann_name in name_mapping:
                    mapped_ann_name = name_mapping[ann_name]
                else:
                    mapped_ann_name = ann_name

                if 'label' in ann_name:
                    temp_anns = np.array(temp_anns).astype(np.int64)
                elif ann_name in name_mapping:
                    temp_anns = np.array(temp_anns).astype(np.float32)
                else:
                    temp_anns = np.array(temp_anns)

                ann_info[mapped_ann_name] = temp_anns
            ann_info['instances'] = info['instances']

            for label in ann_info['gt_labels_3d']:
                cat_name = self.metainfo['CLASSES'][label]
                self.num_ins_per_cat[cat_name] += 1

        return ann_info

    def parse_data_info(self, info: dict) -> dict:
        """Process the raw data info.

        Convert all relative path of needed modality data file to
        the absolute path. And process the `instances` field to
        `ann_info` in training stage.

        Args:
            info (dict): Raw info dict.

        Returns:
            dict: Has `ann_info` in training stage. And
            all path has been converted to absolute path.
        """

        if self.modality['use_lidar']:
            info['lidar_points']['lidar_path'] = \
                osp.join(
                    self.data_prefix.get('pts', ''),
                    info['lidar_points']['lidar_path'])

            info['num_pts_feats'] = info['lidar_points']['num_pts_feats']
            info['lidar_path'] = info['lidar_points']['lidar_path']
            if 'lidar_sweeps' in info:
                for sweep in info['lidar_sweeps']:
                    file_suffix = sweep['lidar_points']['lidar_path'].split(
                        '/')[-1]
                    if 'samples' in sweep['lidar_points']['lidar_path']:
                        sweep['lidar_points']['lidar_path'] = osp.join(
                            self.data_prefix['pts'], file_suffix)
                    else:
                        sweep['lidar_points']['lidar_path'] = osp.join(
                            self.data_prefix['sweeps'], file_suffix)

        if self.modality['use_camera']:
            for cam_id, img_info in info['images'].items():
                if 'img_path' in img_info:
                    if cam_id in self.data_prefix:
                        cam_prefix = self.data_prefix[cam_id]
                    else:
                        cam_prefix = self.data_prefix.get('img', '')
                    img_info['img_path'] = osp.join(cam_prefix,
                                                    img_info['img_path'])
            if self.default_cam_key is not None:
                info['img_path'] = info['images'][
                    self.default_cam_key]['img_path']
                if 'lidar2cam' in info['images'][self.default_cam_key]:
                    info['lidar2cam'] = np.array(
                        info['images'][self.default_cam_key]['lidar2cam'])
                if 'cam2img' in info['images'][self.default_cam_key]:
                    info['cam2img'] = np.array(
                        info['images'][self.default_cam_key]['cam2img'])
                if 'lidar2img' in info['images'][self.default_cam_key]:
                    info['lidar2img'] = np.array(
                        info['images'][self.default_cam_key]['lidar2img'])
                else:
                    info['lidar2img'] = info['cam2img'] @ info['lidar2cam']

        if not self.test_mode:
            # used in training
            info['ann_info'] = self.parse_ann_info(info)
        if self.test_mode and self.load_eval_anns:
            info['eval_ann_info'] = self.parse_ann_info(info)

        return info

    def _show_ins_var(self, old_labels: np.ndarray, new_labels: torch.Tensor):
        """Show variation of the number of instances before and after through
        the pipeline.

        Args:
            old_labels (np.ndarray): The labels before through the pipeline.
            new_labels (torch.Tensor): The labels after through the pipeline.
        """
        ori_num_per_cat = dict()
        for label in old_labels:
            cat_name = self.metainfo['CLASSES'][label]
            ori_num_per_cat[cat_name] = ori_num_per_cat.get(cat_name, 0) + 1
        new_num_per_cat = dict()
        for label in new_labels:
            cat_name = self.metainfo['CLASSES'][label]
            new_num_per_cat[cat_name] = new_num_per_cat.get(cat_name, 0) + 1
        content_show = [['category', 'new number', 'ori number']]
        for cat_name, num in ori_num_per_cat.items():
            new_num = new_num_per_cat.get(cat_name, 0)
            content_show.append([cat_name, new_num, num])
        table = AsciiTable(content_show)
        print_log(
            'The number of instances per category after and before '
            f'through pipeline:\n{table.table}', 'current')

    def prepare_data(self, index: int) -> Optional[dict]:
        """Data preparation for both training and testing stage.

        Called by `__getitem__`  of dataset.

        Args:
            index (int): Index for accessing the target data.

        Returns:
            dict | None: Data dict of the corresponding index.
        """
        ori_input_dict = self.get_data_info(index)

        # deepcopy here to avoid inplace modification in pipeline.
        input_dict = copy.deepcopy(ori_input_dict)

        # box_type_3d (str): 3D box type.
        input_dict['box_type_3d'] = self.box_type_3d
        # box_mode_3d (str): 3D box mode.
        input_dict['box_mode_3d'] = self.box_mode_3d

        # pre-pipline return None to random another in `__getitem__`
        if not self.test_mode and self.filter_empty_gt:
            if len(input_dict['ann_info']['gt_labels_3d']) == 0:
                return None

        example = self.pipeline(input_dict)

        if not self.test_mode and self.filter_empty_gt:
            # after pipeline drop the example with empty annotations
            # return None to random another in `__getitem__`
            if example is None or len(
                    example['data_samples'].gt_instances_3d.labels_3d) == 0:
                return None

        if self.show_ins_var:
            self._show_ins_var(
                ori_input_dict['ann_info']['gt_labels_3d'],
                example['data_samples'].gt_instances_3d.labels_3d)

        return example

    def get_cat_ids(self, idx: int) -> Set[int]:
        """Get category ids by index. Dataset wrapped by ClassBalancedDataset
        must implement this method.

        The ``CBGSDataset`` or ``ClassBalancedDataset``requires a subclass
        which implements this method.

        Args:
            idx (int): The index of data.

        Returns:
            set[int]: All categories in the sample of specified index.
        """
        info = self.get_data_info(idx)
        gt_labels = info['ann_info']['gt_labels_3d'].tolist()
        return set(gt_labels)
