# Lint as: python2, python3
# Copyright 2018 The TensorFlow Authors. All Rights Reserved.
#
# 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
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# ==============================================================================

"""SSD Keras-based MobilenetV1 FPN Feature Extractor."""

from __future__ import absolute_import
from __future__ import division
from __future__ import print_function

from six.moves import range
import tensorflow.compat.v1 as tf

from object_detection.meta_architectures import ssd_meta_arch
from object_detection.models import feature_map_generators
from object_detection.models.keras_models import mobilenet_v1
from object_detection.models.keras_models import model_utils
from object_detection.utils import ops
from object_detection.utils import shape_utils


# A modified config of mobilenet v1 that makes it more detection friendly.
def _create_modified_mobilenet_config():
  conv_def_block_12 = model_utils.ConvDefs(conv_name='conv_pw_12', filters=512)
  conv_def_block_13 = model_utils.ConvDefs(conv_name='conv_pw_13', filters=256)
  return [conv_def_block_12, conv_def_block_13]


class SSDMobileNetV1FpnKerasFeatureExtractor(
    ssd_meta_arch.SSDKerasFeatureExtractor):
  """SSD Feature Extractor using Keras-based MobilenetV1 FPN features."""

  def __init__(self,
               is_training,
               depth_multiplier,
               min_depth,
               pad_to_multiple,
               conv_hyperparams,
               freeze_batchnorm,
               inplace_batchnorm_update,
               fpn_min_level=3,
               fpn_max_level=7,
               additional_layer_depth=256,
               use_explicit_padding=False,
               use_depthwise=False,
               use_native_resize_op=False,
               override_base_feature_extractor_hyperparams=False,
               name=None):
    """SSD Keras based FPN feature extractor Mobilenet v1 architecture.

    Args:
      is_training: whether the network is in training mode.
      depth_multiplier: float depth multiplier for feature extractor.
      min_depth: minimum feature extractor depth.
      pad_to_multiple: the nearest multiple to zero pad the input height and
        width dimensions to.
      conv_hyperparams: a `hyperparams_builder.KerasLayerHyperparams` object
        containing convolution hyperparameters for the layers added on top of
        the base feature extractor.
      freeze_batchnorm: whether to freeze batch norm parameters during
        training or not. When training with a small batch size (e.g. 1), it is
        desirable to freeze batch norm update and use pretrained batch norm
        params.
      inplace_batchnorm_update: whether to update batch norm moving average
        values inplace. When this is false train op must add a control
        dependency on tf.graphkeys.UPDATE_OPS collection in order to update
        batch norm statistics.
      fpn_min_level: the highest resolution feature map to use in FPN. The valid
        values are {2, 3, 4, 5} which map to MobileNet v1 layers
        {Conv2d_3_pointwise, Conv2d_5_pointwise, Conv2d_11_pointwise,
        Conv2d_13_pointwise}, respectively.
      fpn_max_level: the smallest resolution feature map to construct or use in
        FPN. FPN constructions uses features maps starting from fpn_min_level
        upto the fpn_max_level. In the case that there are not enough feature
        maps in the backbone network, additional feature maps are created by
        applying stride 2 convolutions until we get the desired number of fpn
        levels.
      additional_layer_depth: additional feature map layer channel depth.
      use_explicit_padding: Whether to use explicit padding when extracting
        features. Default is False.
      use_depthwise: whether to use depthwise convolutions. Default is False.
      use_native_resize_op: Whether to use tf.image.nearest_neighbor_resize
        to do upsampling in FPN. Default is false.
      override_base_feature_extractor_hyperparams: Whether to override
        hyperparameters of the base feature extractor with the one from
        `conv_hyperparams`.
      name: a string name scope to assign to the model. If 'None', Keras
        will auto-generate one from the class name.
    """
    super(SSDMobileNetV1FpnKerasFeatureExtractor, self).__init__(
        is_training=is_training,
        depth_multiplier=depth_multiplier,
        min_depth=min_depth,
        pad_to_multiple=pad_to_multiple,
        conv_hyperparams=conv_hyperparams,
        freeze_batchnorm=freeze_batchnorm,
        inplace_batchnorm_update=inplace_batchnorm_update,
        use_explicit_padding=use_explicit_padding,
        use_depthwise=use_depthwise,
        override_base_feature_extractor_hyperparams=
        override_base_feature_extractor_hyperparams,
        name=name)
    self._fpn_min_level = fpn_min_level
    self._fpn_max_level = fpn_max_level
    self._additional_layer_depth = additional_layer_depth
    self._conv_defs = None
    if self._use_depthwise:
      self._conv_defs = _create_modified_mobilenet_config()
    self._use_native_resize_op = use_native_resize_op
    self._feature_blocks = [
        'Conv2d_3_pointwise', 'Conv2d_5_pointwise', 'Conv2d_11_pointwise',
        'Conv2d_13_pointwise'
    ]
    self._mobilenet_v1 = None
    self._fpn_features_generator = None
    self._coarse_feature_layers = []

  def build(self, input_shape):
    full_mobilenet_v1 = mobilenet_v1.mobilenet_v1(
        batchnorm_training=(self._is_training and not self._freeze_batchnorm),
        conv_hyperparams=(self._conv_hyperparams
                          if self._override_base_feature_extractor_hyperparams
                          else None),
        weights=None,
        use_explicit_padding=self._use_explicit_padding,
        alpha=self._depth_multiplier,
        min_depth=self._min_depth,
        conv_defs=self._conv_defs,
        include_top=False)
    conv2d_3_pointwise = full_mobilenet_v1.get_layer(
        name='conv_pw_3_relu').output
    conv2d_5_pointwise = full_mobilenet_v1.get_layer(
        name='conv_pw_5_relu').output
    conv2d_11_pointwise = full_mobilenet_v1.get_layer(
        name='conv_pw_11_relu').output
    conv2d_13_pointwise = full_mobilenet_v1.get_layer(
        name='conv_pw_13_relu').output
    self._mobilenet_v1 = tf.keras.Model(
        inputs=full_mobilenet_v1.inputs,
        outputs=[conv2d_3_pointwise, conv2d_5_pointwise,
                 conv2d_11_pointwise, conv2d_13_pointwise]
    )
    # pylint:disable=g-long-lambda
    self._depth_fn = lambda d: max(
        int(d * self._depth_multiplier), self._min_depth)
    self._base_fpn_max_level = min(self._fpn_max_level, 5)
    self._num_levels = self._base_fpn_max_level + 1 - self._fpn_min_level
    self._fpn_features_generator = (
        feature_map_generators.KerasFpnTopDownFeatureMaps(
            num_levels=self._num_levels,
            depth=self._depth_fn(self._additional_layer_depth),
            use_depthwise=self._use_depthwise,
            use_explicit_padding=self._use_explicit_padding,
            use_native_resize_op=self._use_native_resize_op,
            is_training=self._is_training,
            conv_hyperparams=self._conv_hyperparams,
            freeze_batchnorm=self._freeze_batchnorm,
            name='FeatureMaps'))
    # Construct coarse feature layers
    padding = 'VALID' if self._use_explicit_padding else 'SAME'
    kernel_size = 3
    stride = 2
    for i in range(self._base_fpn_max_level + 1, self._fpn_max_level + 1):
      coarse_feature_layers = []
      if self._use_explicit_padding:
        def fixed_padding(features, kernel_size=kernel_size):
          return ops.fixed_padding(features, kernel_size)
        coarse_feature_layers.append(tf.keras.layers.Lambda(
            fixed_padding, name='fixed_padding'))
      layer_name = 'bottom_up_Conv2d_{}'.format(
          i - self._base_fpn_max_level + 13)
      conv_block = feature_map_generators.create_conv_block(
          self._use_depthwise, kernel_size, padding, stride, layer_name,
          self._conv_hyperparams, self._is_training, self._freeze_batchnorm,
          self._depth_fn(self._additional_layer_depth))
      coarse_feature_layers.extend(conv_block)
      self._coarse_feature_layers.append(coarse_feature_layers)
    self.built = True

  def preprocess(self, resized_inputs):
    """SSD preprocessing.

    Maps pixel values to the range [-1, 1].

    Args:
      resized_inputs: a [batch, height, width, channels] float tensor
        representing a batch of images.

    Returns:
      preprocessed_inputs: a [batch, height, width, channels] float tensor
        representing a batch of images.
    """
    return (2.0 / 255.0) * resized_inputs - 1.0

  def _extract_features(self, preprocessed_inputs):
    """Extract features from preprocessed inputs.

    Args:
      preprocessed_inputs: a [batch, height, width, channels] float tensor
        representing a batch of images.

    Returns:
      feature_maps: a list of tensors where the ith tensor has shape
        [batch, height_i, width_i, depth_i]
    """
    preprocessed_inputs = shape_utils.check_min_image_dim(
        33, preprocessed_inputs)

    image_features = self._mobilenet_v1(
        ops.pad_to_multiple(preprocessed_inputs, self._pad_to_multiple))

    feature_block_list = []
    for level in range(self._fpn_min_level, self._base_fpn_max_level + 1):
      feature_block_list.append(self._feature_blocks[level - 2])

    feature_start_index = len(self._feature_blocks) - self._num_levels
    fpn_input_image_features = [
        (key, image_features[feature_start_index + index])
        for index, key in enumerate(feature_block_list)]
    fpn_features = self._fpn_features_generator(fpn_input_image_features)

    feature_maps = []
    for level in range(self._fpn_min_level, self._base_fpn_max_level + 1):
      feature_maps.append(fpn_features['top_down_{}'.format(
          self._feature_blocks[level - 2])])
    last_feature_map = fpn_features['top_down_{}'.format(
        self._feature_blocks[self._base_fpn_max_level - 2])]

    for coarse_feature_layers in self._coarse_feature_layers:
      for layer in coarse_feature_layers:
        last_feature_map = layer(last_feature_map)
      feature_maps.append(last_feature_map)
    return feature_maps
