# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
import bisect
import copy
import itertools
import logging
import numpy as np
import operator
import pickle
import torch.utils.data
from fvcore.common.file_io import PathManager
from tabulate import tabulate
from termcolor import colored

from detectron2.structures import BoxMode
from detectron2.utils.comm import get_world_size
from detectron2.utils.env import seed_all_rng
from detectron2.utils.logger import log_first_n

from . import samplers
from .catalog import DatasetCatalog, MetadataCatalog
from .common import AspectRatioGroupedDataset, DatasetFromList, MapDataset
from .dataset_mapper import DatasetMapper
from .detection_utils import check_metadata_consistency

"""
This file contains the default logic to build a dataloader for training or testing.
"""

__all__ = [
    "build_detection_train_loader",
    "build_detection_test_loader",
    "get_detection_dataset_dicts",
    "load_proposals_into_dataset",
    "print_instances_class_histogram",
]


def filter_images_with_only_crowd_annotations(dataset_dicts):
    """
    Filter out images with none annotations or only crowd annotations
    (i.e., images without non-crowd annotations).
    A common training-time preprocessing on COCO dataset.

    Args:
        dataset_dicts (list[dict]): annotations in Detectron2 Dataset format.

    Returns:
        list[dict]: the same format, but filtered.
    """
    num_before = len(dataset_dicts)

    def valid(anns):
        for ann in anns:
            if ann.get("iscrowd", 0) == 0:
                return True
        return False

    dataset_dicts = [x for x in dataset_dicts if valid(x["annotations"])]
    num_after = len(dataset_dicts)
    logger = logging.getLogger(__name__)
    logger.info(
        "Removed {} images with no usable annotations. {} images left.".format(
            num_before - num_after, num_after
        )
    )
    return dataset_dicts


def filter_images_with_few_keypoints(dataset_dicts, min_keypoints_per_image):
    """
    Filter out images with too few number of keypoints.

    Args:
        dataset_dicts (list[dict]): annotations in Detectron2 Dataset format.

    Returns:
        list[dict]: the same format as dataset_dicts, but filtered.
    """
    num_before = len(dataset_dicts)

    def visible_keypoints_in_image(dic):
        # Each keypoints field has the format [x1, y1, v1, ...], where v is visibility
        annotations = dic["annotations"]
        return sum(
            (np.array(ann["keypoints"][2::3]) > 0).sum()
            for ann in annotations
            if "keypoints" in ann
        )

    dataset_dicts = [
        x for x in dataset_dicts if visible_keypoints_in_image(x) >= min_keypoints_per_image
    ]
    num_after = len(dataset_dicts)
    logger = logging.getLogger(__name__)
    logger.info(
        "Removed {} images with fewer than {} keypoints.".format(
            num_before - num_after, min_keypoints_per_image
        )
    )
    return dataset_dicts


def load_proposals_into_dataset(dataset_dicts, proposal_file):
    """
    Load precomputed object proposals into the dataset.

    The proposal file should be a pickled dict with the following keys:

    - "ids": list[int] or list[str], the image ids
    - "boxes": list[np.ndarray], each is an Nx4 array of boxes corresponding to the image id
    - "objectness_logits": list[np.ndarray], each is an N sized array of objectness scores
      corresponding to the boxes.
    - "bbox_mode": the BoxMode of the boxes array. Defaults to ``BoxMode.XYXY_ABS``.

    Args:
        dataset_dicts (list[dict]): annotations in Detectron2 Dataset format.
        proposal_file (str): file path of pre-computed proposals, in pkl format.

    Returns:
        list[dict]: the same format as dataset_dicts, but added proposal field.
    """
    logger = logging.getLogger(__name__)
    logger.info("Loading proposals from: {}".format(proposal_file))

    with PathManager.open(proposal_file, "rb") as f:
        proposals = pickle.load(f, encoding="latin1")

    # Rename the key names in D1 proposal files
    rename_keys = {"indexes": "ids", "scores": "objectness_logits"}
    for key in rename_keys:
        if key in proposals:
            proposals[rename_keys[key]] = proposals.pop(key)

    # Fetch the indexes of all proposals that are in the dataset
    # Convert image_id to str since they could be int.
    img_ids = set({str(record["image_id"]) for record in dataset_dicts})
    id_to_index = {str(id): i for i, id in enumerate(proposals["ids"]) if str(id) in img_ids}

    # Assuming default bbox_mode of precomputed proposals are 'XYXY_ABS'
    bbox_mode = BoxMode(proposals["bbox_mode"]) if "bbox_mode" in proposals else BoxMode.XYXY_ABS

    for record in dataset_dicts:
        # Get the index of the proposal
        i = id_to_index[str(record["image_id"])]

        boxes = proposals["boxes"][i]
        objectness_logits = proposals["objectness_logits"][i]
        # Sort the proposals in descending order of the scores
        inds = objectness_logits.argsort()[::-1]
        record["proposal_boxes"] = boxes[inds]
        record["proposal_objectness_logits"] = objectness_logits[inds]
        record["proposal_bbox_mode"] = bbox_mode

    return dataset_dicts


def _quantize(x, bin_edges):
    bin_edges = copy.copy(bin_edges)
    bin_edges = sorted(bin_edges)
    quantized = list(map(lambda y: bisect.bisect_right(bin_edges, y), x))
    return quantized


def print_instances_class_histogram(dataset_dicts, class_names):
    """
    Args:
        dataset_dicts (list[dict]): list of dataset dicts.
        class_names (list[str]): list of class names (zero-indexed).
    """
    num_classes = len(class_names)
    hist_bins = np.arange(num_classes + 1)
    histogram = np.zeros((num_classes,), dtype=np.int)
    for entry in dataset_dicts:
        annos = entry["annotations"]
        classes = [x["category_id"] for x in annos if not x.get("iscrowd", 0)]
        histogram += np.histogram(classes, bins=hist_bins)[0]

    N_COLS = min(6, len(class_names) * 2)

    def short_name(x):
        # make long class names shorter. useful for lvis
        if len(x) > 13:
            return x[:11] + ".."
        return x

    data = list(
        itertools.chain(*[[short_name(class_names[i]), int(v)] for i, v in enumerate(histogram)])
    )
    total_num_instances = sum(data[1::2])
    data.extend([None] * (N_COLS - (len(data) % N_COLS)))
    if num_classes > 1:
        data.extend(["total", total_num_instances])
    data = itertools.zip_longest(*[data[i::N_COLS] for i in range(N_COLS)])
    table = tabulate(
        data,
        headers=["category", "#instances"] * (N_COLS // 2),
        tablefmt="pipe",
        numalign="left",
        stralign="center",
    )
    log_first_n(
        logging.INFO,
        "Distribution of instances among all {} categories:\n".format(num_classes)
        + colored(table, "cyan"),
        key="message",
    )


def get_detection_dataset_dicts(
    dataset_names, filter_empty=True, min_keypoints=0, proposal_files=None
):
    """
    Load and prepare dataset dicts for instance detection/segmentation and semantic segmentation.

    Args:
        dataset_names (list[str]): a list of dataset names
        filter_empty (bool): whether to filter out images without instance annotations
        min_keypoints (int): filter out images with fewer keypoints than
            `min_keypoints`. Set to 0 to do nothing.
        proposal_files (list[str]): if given, a list of object proposal files
            that match each dataset in `dataset_names`.
    """
    assert len(dataset_names)
    dataset_dicts = [DatasetCatalog.get(dataset_name) for dataset_name in dataset_names]
    for dataset_name, dicts in zip(dataset_names, dataset_dicts):
        assert len(dicts), "Dataset '{}' is empty!".format(dataset_name)

    if proposal_files is not None:
        assert len(dataset_names) == len(proposal_files)
        # load precomputed proposals from proposal files
        dataset_dicts = [
            load_proposals_into_dataset(dataset_i_dicts, proposal_file)
            for dataset_i_dicts, proposal_file in zip(dataset_dicts, proposal_files)
        ]

    dataset_dicts = list(itertools.chain.from_iterable(dataset_dicts))

    has_instances = "annotations" in dataset_dicts[0]
    # Keep images without instance-level GT if the dataset has semantic labels.
    if filter_empty and has_instances and "sem_seg_file_name" not in dataset_dicts[0]:
        dataset_dicts = filter_images_with_only_crowd_annotations(dataset_dicts)

    if min_keypoints > 0 and has_instances:
        dataset_dicts = filter_images_with_few_keypoints(dataset_dicts, min_keypoints)

    if has_instances:
        try:
            class_names = MetadataCatalog.get(dataset_names[0]).thing_classes
            check_metadata_consistency("thing_classes", dataset_names)
            print_instances_class_histogram(dataset_dicts, class_names)
        except AttributeError:  # class names are not available for this dataset
            pass
    return dataset_dicts


def build_detection_train_loader(cfg, mapper=None):
    """
    A data loader is created by the following steps:

    1. Use the dataset names in config to query :class:`DatasetCatalog`, and obtain a list of dicts.
    2. Start workers to work on the dicts. Each worker will:

       * Map each metadata dict into another format to be consumed by the model.
       * Batch them by simply putting dicts into a list.

    The batched ``list[mapped_dict]`` is what this dataloader will return.

    Args:
        cfg (CfgNode): the config
        mapper (callable): a callable which takes a sample (dict) from dataset and
            returns the format to be consumed by the model.
            By default it will be `DatasetMapper(cfg, True)`.

    Returns:
        an infinite iterator of training data
    """
    num_workers = get_world_size()
    images_per_batch = cfg.SOLVER.IMS_PER_BATCH
    assert (
        images_per_batch % num_workers == 0
    ), "SOLVER.IMS_PER_BATCH ({}) must be divisible by the number of workers ({}).".format(
        images_per_batch, num_workers
    )
    assert (
        images_per_batch >= num_workers
    ), "SOLVER.IMS_PER_BATCH ({}) must be larger than the number of workers ({}).".format(
        images_per_batch, num_workers
    )
    images_per_worker = images_per_batch // num_workers

    dataset_dicts = get_detection_dataset_dicts(
        cfg.DATASETS.TRAIN,
        filter_empty=cfg.DATALOADER.FILTER_EMPTY_ANNOTATIONS,
        min_keypoints=cfg.MODEL.ROI_KEYPOINT_HEAD.MIN_KEYPOINTS_PER_IMAGE
        if cfg.MODEL.KEYPOINT_ON
        else 0,
        proposal_files=cfg.DATASETS.PROPOSAL_FILES_TRAIN if cfg.MODEL.LOAD_PROPOSALS else None,
    )
    dataset = DatasetFromList(dataset_dicts, copy=False)

    if mapper is None:
        mapper = DatasetMapper(cfg, True)
    dataset = MapDataset(dataset, mapper)

    sampler_name = cfg.DATALOADER.SAMPLER_TRAIN
    logger = logging.getLogger(__name__)
    logger.info("Using training sampler {}".format(sampler_name))
    if sampler_name == "TrainingSampler":
        sampler = samplers.TrainingSampler(len(dataset))
    elif sampler_name == "RepeatFactorTrainingSampler":
        sampler = samplers.RepeatFactorTrainingSampler(
            dataset_dicts, cfg.DATALOADER.REPEAT_THRESHOLD
        )
    else:
        raise ValueError("Unknown training sampler: {}".format(sampler_name))

    if cfg.DATALOADER.ASPECT_RATIO_GROUPING:
        data_loader = torch.utils.data.DataLoader(
            dataset,
            sampler=sampler,
            num_workers=cfg.DATALOADER.NUM_WORKERS,
            batch_sampler=None,
            collate_fn=operator.itemgetter(0),  # don't batch, but yield individual elements
            worker_init_fn=worker_init_reset_seed,
        )  # yield individual mapped dict
        data_loader = AspectRatioGroupedDataset(data_loader, images_per_worker)
    else:
        batch_sampler = torch.utils.data.sampler.BatchSampler(
            sampler, images_per_worker, drop_last=True
        )
        # drop_last so the batch always have the same size
        data_loader = torch.utils.data.DataLoader(
            dataset,
            num_workers=cfg.DATALOADER.NUM_WORKERS,
            batch_sampler=batch_sampler,
            collate_fn=trivial_batch_collator,
            worker_init_fn=worker_init_reset_seed,
        )

    return data_loader


def build_detection_test_loader(cfg, dataset_name, mapper=None):
    """
    Similar to `build_detection_train_loader`.
    But this function uses the given `dataset_name` argument (instead of the names in cfg),
    and uses batch size 1.

    Args:
        cfg: a detectron2 CfgNode
        dataset_name (str): a name of the dataset that's available in the DatasetCatalog
        mapper (callable): a callable which takes a sample (dict) from dataset
           and returns the format to be consumed by the model.
           By default it will be `DatasetMapper(cfg, False)`.

    Returns:
        DataLoader: a torch DataLoader, that loads the given detection
        dataset, with test-time transformation and batching.
    """
    dataset_dicts = get_detection_dataset_dicts(
        [dataset_name],
        filter_empty=False,
        proposal_files=[
            cfg.DATASETS.PROPOSAL_FILES_TEST[list(cfg.DATASETS.TEST).index(dataset_name)]
        ]
        if cfg.MODEL.LOAD_PROPOSALS
        else None,
    )

    dataset = DatasetFromList(dataset_dicts)
    if mapper is None:
        mapper = DatasetMapper(cfg, False)
    dataset = MapDataset(dataset, mapper)

    sampler = samplers.InferenceSampler(len(dataset))
    # Always use 1 image per worker during inference since this is the
    # standard when reporting inference time in papers.
    batch_sampler = torch.utils.data.sampler.BatchSampler(sampler, 1, drop_last=False)

    data_loader = torch.utils.data.DataLoader(
        dataset,
        num_workers=cfg.DATALOADER.NUM_WORKERS,
        batch_sampler=batch_sampler,
        collate_fn=trivial_batch_collator,
    )
    return data_loader


def trivial_batch_collator(batch):
    """
    A batch collator that does nothing.
    """
    return batch


def worker_init_reset_seed(worker_id):
    seed_all_rng(np.random.randint(2 ** 31) + worker_id)
