# Copyright (C) 2024-present Naver Corporation. All rights reserved.
# Licensed under CC BY-NC-SA 4.0 (non-commercial use only).
#
# --------------------------------------------------------
# Base class for the global alignement procedure
# --------------------------------------------------------
from copy import deepcopy

import numpy as np
import torch
import torch.nn as nn
import roma
from copy import deepcopy
import tqdm

from mini_dust3r.utils.geometry import inv, geotrf
from mini_dust3r.utils.device import to_numpy
from mini_dust3r.utils.image import rgb
from mini_dust3r.viz import SceneViz, segment_sky, auto_cam_size
from mini_dust3r.optim_factory import adjust_learning_rate_by_lr

from mini_dust3r.cloud_opt.commons import (edge_str, ALL_DISTS, NoGradParamDict, get_imshapes, signed_expm1, signed_log1p,
                                      cosine_schedule, linear_schedule, get_conf_trf)
import mini_dust3r.cloud_opt.init_im_poses as init_fun


class BasePCOptimizer (nn.Module):
    """ Optimize a global scene, given a list of pairwise observations.
    Graph node: images
    Graph edges: observations = (pred1, pred2)
    """

    def __init__(self, *args, **kwargs):
        if len(args) == 1 and len(kwargs) == 0:
            other = deepcopy(args[0])
            attrs = '''edges is_symmetrized dist n_imgs pred_i pred_j imshapes 
                        min_conf_thr conf_thr conf_i conf_j im_conf
                        base_scale norm_pw_scale POSE_DIM pw_poses 
                        pw_adaptors pw_adaptors has_im_poses rand_pose imgs verbose'''.split()
            self.__dict__.update({k: other[k] for k in attrs})
        else:
            self._init_from_views(*args, **kwargs)

    def _init_from_views(self, view1, view2, pred1, pred2,
                         dist='l1',
                         conf='log',
                         min_conf_thr=3,
                         base_scale=0.5,
                         allow_pw_adaptors=False,
                         pw_break=20,
                         rand_pose=torch.randn,
                         iterationsCount=None,
                         verbose=True):
        super().__init__()
        if not isinstance(view1['idx'], list):
            view1['idx'] = view1['idx'].tolist()
        if not isinstance(view2['idx'], list):
            view2['idx'] = view2['idx'].tolist()
        self.edges = [(int(i), int(j)) for i, j in zip(view1['idx'], view2['idx'])]
        self.is_symmetrized = set(self.edges) == {(j, i) for i, j in self.edges}
        self.dist = ALL_DISTS[dist]
        self.verbose = verbose

        self.n_imgs = self._check_edges()

        # input data
        pred1_pts = pred1['pts3d']
        pred2_pts = pred2['pts3d_in_other_view']
        self.pred_i = NoGradParamDict({ij: pred1_pts[n] for n, ij in enumerate(self.str_edges)})
        self.pred_j = NoGradParamDict({ij: pred2_pts[n] for n, ij in enumerate(self.str_edges)})
        self.imshapes = get_imshapes(self.edges, pred1_pts, pred2_pts)

        # work in log-scale with conf
        pred1_conf = pred1['conf']
        pred2_conf = pred2['conf']
        self.min_conf_thr = min_conf_thr
        self.conf_trf = get_conf_trf(conf)

        self.conf_i = NoGradParamDict({ij: pred1_conf[n] for n, ij in enumerate(self.str_edges)})
        self.conf_j = NoGradParamDict({ij: pred2_conf[n] for n, ij in enumerate(self.str_edges)})
        self.im_conf = self._compute_img_conf(pred1_conf, pred2_conf)

        # pairwise pose parameters
        self.base_scale = base_scale
        self.norm_pw_scale = True
        self.pw_break = pw_break
        self.POSE_DIM = 7
        self.pw_poses = nn.Parameter(rand_pose((self.n_edges, 1+self.POSE_DIM)))  # pairwise poses
        self.pw_adaptors = nn.Parameter(torch.zeros((self.n_edges, 2)))  # slight xy/z adaptation
        self.pw_adaptors.requires_grad_(allow_pw_adaptors)
        self.has_im_poses = False
        self.rand_pose = rand_pose

        # possibly store images for show_pointcloud
        self.imgs = None
        if 'img' in view1 and 'img' in view2:
            imgs = [torch.zeros((3,)+hw) for hw in self.imshapes]
            for v in range(len(self.edges)):
                idx = view1['idx'][v]
                imgs[idx] = view1['img'][v]
                idx = view2['idx'][v]
                imgs[idx] = view2['img'][v]
            self.imgs = rgb(imgs)

    @property
    def n_edges(self):
        return len(self.edges)

    @property
    def str_edges(self):
        return [edge_str(i, j) for i, j in self.edges]

    @property
    def imsizes(self):
        return [(w, h) for h, w in self.imshapes]

    @property
    def device(self):
        return next(iter(self.parameters())).device

    def state_dict(self, trainable=True):
        all_params = super().state_dict()
        return {k: v for k, v in all_params.items() if k.startswith(('_', 'pred_i.', 'pred_j.', 'conf_i.', 'conf_j.')) != trainable}

    def load_state_dict(self, data):
        return super().load_state_dict(self.state_dict(trainable=False) | data)

    def _check_edges(self):
        indices = sorted({i for edge in self.edges for i in edge})
        assert indices == list(range(len(indices))), 'bad pair indices: missing values '
        return len(indices)

    @torch.no_grad()
    def _compute_img_conf(self, pred1_conf, pred2_conf):
        im_conf = nn.ParameterList([torch.zeros(hw, device=self.device) for hw in self.imshapes])
        for e, (i, j) in enumerate(self.edges):
            im_conf[i] = torch.maximum(im_conf[i], pred1_conf[e])
            im_conf[j] = torch.maximum(im_conf[j], pred2_conf[e])
        return im_conf

    def get_adaptors(self):
        adapt = self.pw_adaptors
        adapt = torch.cat((adapt[:, 0:1], adapt), dim=-1)  # (scale_xy, scale_xy, scale_z)
        if self.norm_pw_scale:  # normalize so that the product == 1
            adapt = adapt - adapt.mean(dim=1, keepdim=True)
        return (adapt / self.pw_break).exp()

    def _get_poses(self, poses):
        # normalize rotation
        Q = poses[:, :4]
        T = signed_expm1(poses[:, 4:7])
        RT = roma.RigidUnitQuat(Q, T).normalize().to_homogeneous()
        return RT

    def _set_pose(self, poses, idx, R, T=None, scale=None, force=False):
        # all poses == cam-to-world
        pose = poses[idx]
        if not (pose.requires_grad or force):
            return pose

        if R.shape == (4, 4):
            assert T is None
            T = R[:3, 3]
            R = R[:3, :3]

        if R is not None:
            pose.data[0:4] = roma.rotmat_to_unitquat(R)
        if T is not None:
            pose.data[4:7] = signed_log1p(T / (scale or 1))  # translation is function of scale

        if scale is not None:
            assert poses.shape[-1] in (8, 13)
            pose.data[-1] = np.log(float(scale))
        return pose

    def get_pw_norm_scale_factor(self):
        if self.norm_pw_scale:
            # normalize scales so that things cannot go south
            # we want that exp(scale) ~= self.base_scale
            return (np.log(self.base_scale) - self.pw_poses[:, -1].mean()).exp()
        else:
            return 1  # don't norm scale for known poses

    def get_pw_scale(self):
        scale = self.pw_poses[:, -1].exp()  # (n_edges,)
        scale = scale * self.get_pw_norm_scale_factor()
        return scale

    def get_pw_poses(self):  # cam to world
        RT = self._get_poses(self.pw_poses)
        scaled_RT = RT.clone()
        scaled_RT[:, :3] *= self.get_pw_scale().view(-1, 1, 1)  # scale the rotation AND translation
        return scaled_RT

    def get_masks(self):
        return [(conf > self.min_conf_thr) for conf in self.im_conf]

    def depth_to_pts3d(self):
        raise NotImplementedError()

    def get_pts3d(self, raw=False):
        res = self.depth_to_pts3d()
        if not raw:
            res = [dm[:h*w].view(h, w, 3) for dm, (h, w) in zip(res, self.imshapes)]
        return res

    def _set_focal(self, idx, focal, force=False):
        raise NotImplementedError()

    def get_focals(self):
        raise NotImplementedError()

    def get_known_focal_mask(self):
        raise NotImplementedError()

    def get_principal_points(self):
        raise NotImplementedError()

    def get_conf(self, mode=None):
        trf = self.conf_trf if mode is None else get_conf_trf(mode)
        return [trf(c) for c in self.im_conf]

    def get_im_poses(self):
        raise NotImplementedError()

    def _set_depthmap(self, idx, depth, force=False):
        raise NotImplementedError()

    def get_depthmaps(self, raw=False):
        raise NotImplementedError()

    @torch.no_grad()
    def clean_pointcloud(self, tol=0.001, max_bad_conf=0):
        """ Method: 
        1) express all 3d points in each camera coordinate frame
        2) if they're in front of a depthmap --> then lower their confidence
        """
        assert 0 <= tol < 1
        cams = inv(self.get_im_poses())
        K = self.get_intrinsics()
        depthmaps = self.get_depthmaps()
        res = deepcopy(self)

        for i, pts3d in enumerate(self.depth_to_pts3d()):
            for j in range(self.n_imgs):
                if i == j:
                    continue

                # project 3dpts in other view
                Hi, Wi = self.imshapes[i]
                Hj, Wj = self.imshapes[j]
                proj = geotrf(cams[j], pts3d[:Hi*Wi]).reshape(Hi, Wi, 3)
                proj_depth = proj[:, :, 2]
                u, v = geotrf(K[j], proj, norm=1, ncol=2).round().long().unbind(-1)

                # check which points are actually in the visible cone
                msk_i = (proj_depth > 0) & (0 <= u) & (u < Wj) & (0 <= v) & (v < Hj)
                msk_j = v[msk_i], u[msk_i]

                # find bad points = those in front but less confident
                bad_points = (proj_depth[msk_i] < (1-tol) * depthmaps[j][msk_j]
                              ) & (res.im_conf[i][msk_i] < res.im_conf[j][msk_j])

                bad_msk_i = msk_i.clone()
                bad_msk_i[msk_i] = bad_points
                res.im_conf[i][bad_msk_i] = res.im_conf[i][bad_msk_i].clip_(max=max_bad_conf)

        return res

    def forward(self, ret_details=False):
        pw_poses = self.get_pw_poses()  # cam-to-world
        pw_adapt = self.get_adaptors()
        proj_pts3d = self.get_pts3d()
        # pre-compute pixel weights
        weight_i = {i_j: self.conf_trf(c) for i_j, c in self.conf_i.items()}
        weight_j = {i_j: self.conf_trf(c) for i_j, c in self.conf_j.items()}

        loss = 0
        if ret_details:
            details = -torch.ones((self.n_imgs, self.n_imgs))

        for e, (i, j) in enumerate(self.edges):
            i_j = edge_str(i, j)
            # distance in image i and j
            aligned_pred_i = geotrf(pw_poses[e], pw_adapt[e] * self.pred_i[i_j])
            aligned_pred_j = geotrf(pw_poses[e], pw_adapt[e] * self.pred_j[i_j])
            li = self.dist(proj_pts3d[i], aligned_pred_i, weight=weight_i[i_j]).mean()
            lj = self.dist(proj_pts3d[j], aligned_pred_j, weight=weight_j[i_j]).mean()
            loss = loss + li + lj

            if ret_details:
                details[i, j] = li + lj
        loss /= self.n_edges  # average over all pairs

        if ret_details:
            return loss, details
        return loss

    @torch.cuda.amp.autocast(enabled=False)
    def compute_global_alignment(self, init=None, niter_PnP=10, **kw):
        if init is None:
            pass
        elif init == 'msp' or init == 'mst':
            init_fun.init_minimum_spanning_tree(self, niter_PnP=niter_PnP)
        elif init == 'known_poses':
            init_fun.init_from_known_poses(self, min_conf_thr=self.min_conf_thr,
                                           niter_PnP=niter_PnP)
        else:
            raise ValueError(f'bad value for {init=}')

        return global_alignment_loop(self, **kw)

    @torch.no_grad()
    def mask_sky(self):
        res = deepcopy(self)
        for i in range(self.n_imgs):
            sky = segment_sky(self.imgs[i])
            res.im_conf[i][sky] = 0
        return res

    def show(self, show_pw_cams=False, show_pw_pts3d=False, cam_size=None, **kw):
        viz = SceneViz()
        if self.imgs is None:
            colors = np.random.randint(0, 256, size=(self.n_imgs, 3))
            colors = list(map(tuple, colors.tolist()))
            for n in range(self.n_imgs):
                viz.add_pointcloud(self.get_pts3d()[n], colors[n], self.get_masks()[n])
        else:
            viz.add_pointcloud(self.get_pts3d(), self.imgs, self.get_masks())
            colors = np.random.randint(256, size=(self.n_imgs, 3))

        # camera poses
        im_poses = to_numpy(self.get_im_poses())
        if cam_size is None:
            cam_size = auto_cam_size(im_poses)
        viz.add_cameras(im_poses, self.get_focals(), colors=colors,
                        images=self.imgs, imsizes=self.imsizes, cam_size=cam_size)
        if show_pw_cams:
            pw_poses = self.get_pw_poses()
            viz.add_cameras(pw_poses, color=(192, 0, 192), cam_size=cam_size)

            if show_pw_pts3d:
                pts = [geotrf(pw_poses[e], self.pred_i[edge_str(i, j)]) for e, (i, j) in enumerate(self.edges)]
                viz.add_pointcloud(pts, (128, 0, 128))

        viz.show(**kw)
        return viz


def global_alignment_loop(net, lr=0.01, niter=300, schedule='cosine', lr_min=1e-6):
    params = [p for p in net.parameters() if p.requires_grad]
    if not params:
        return net

    verbose = net.verbose
    if verbose:
        print('Global alignement - optimizing for:')
        print([name for name, value in net.named_parameters() if value.requires_grad])

    lr_base = lr
    optimizer = torch.optim.Adam(params, lr=lr, betas=(0.9, 0.9))

    loss = float('inf')
    if verbose:
        with tqdm.tqdm(total=niter) as bar:
            while bar.n < bar.total:
                loss = global_alignment_iter(net, bar.n, niter, lr_base, lr_min, optimizer, schedule)
                bar.set_postfix_str(f'{lr=:g} loss={loss:g}')
                bar.update()
    else:
        for n in range(niter):
            loss = global_alignment_iter(net, n, niter, lr_base, lr_min, optimizer, schedule)
    return loss


def global_alignment_iter(net, cur_iter, niter, lr_base, lr_min, optimizer, schedule):
    t = cur_iter / niter
    if schedule == 'cosine':
        lr = cosine_schedule(t, lr_base, lr_min)
    elif schedule == 'linear':
        lr = linear_schedule(t, lr_base, lr_min)
    else:
        raise ValueError(f'bad lr {schedule=}')
    adjust_learning_rate_by_lr(optimizer, lr)
    optimizer.zero_grad()
    loss = net()
    loss.backward()
    optimizer.step()

    return float(loss)
