# Copyright 2019-present NAVER Corp.
# CC BY-NC-SA 3.0
# Available only for non-commercial use
# from https://raw.githubusercontent.com/naver/r2d2/master/extract.py

import sys 
sys.path.append("../../")
import config
config.cfg.set_lib('r2d2') 

import os, pdb
from PIL import Image
import numpy as np
import torch
import cv2 

from tools import common
from tools.dataloader import norm_RGB
from nets.patchnet import *


r2d2_base_path='../../thirdparty/r2d2'
r2d2_default_model_path=r2d2_base_path+'/models/r2d2_WASF_N16.pt'


def load_network(model_fn): 
    checkpoint = torch.load(model_fn)
    print("\n>> Creating net = " + checkpoint['net']) 
    net = eval(checkpoint['net'])
    nb_of_weights = common.model_size(net)
    print(f" ( Model size: {nb_of_weights/1000:.0f}K parameters )")

    # initialization
    weights = checkpoint['state_dict']
    net.load_state_dict({k.replace('module.',''):v for k,v in weights.items()})
    return net.eval()


class NonMaxSuppression (torch.nn.Module):
    def __init__(self, rel_thr=0.7, rep_thr=0.7):
        nn.Module.__init__(self)
        self.max_filter = torch.nn.MaxPool2d(kernel_size=3, stride=1, padding=1)
        self.rel_thr = rel_thr
        self.rep_thr = rep_thr
    
    def forward(self, reliability, repeatability, **kw):
        assert len(reliability) == len(repeatability) == 1
        reliability, repeatability = reliability[0], repeatability[0]

        # local maxima
        maxima = (repeatability == self.max_filter(repeatability))

        # remove low peaks
        maxima *= (repeatability >= self.rep_thr)
        maxima *= (reliability   >= self.rel_thr)

        return maxima.nonzero().t()[2:4]


def extract_multiscale( net, img, detector, scale_f=2**0.25, 
                        min_scale=0.0, max_scale=1, 
                        min_size=256, max_size=1024, 
                        verbose=False):
    old_bm = torch.backends.cudnn.benchmark 
    torch.backends.cudnn.benchmark = False # speedup
    
    # extract keypoints at multiple scales
    B, three, H, W = img.shape
    assert B == 1 and three == 3, "should be a batch with a single RGB image"
    
    assert max_scale <= 1
    s = 1.0 # current scale factor
    
    X,Y,S,C,Q,D = [],[],[],[],[],[]
    while  s+0.001 >= max(min_scale, min_size / max(H,W)):
        if s-0.001 <= min(max_scale, max_size / max(H,W)):
            nh, nw = img.shape[2:]
            if verbose: print(f"extracting at scale x{s:.02f} = {nw:4d}x{nh:3d}")
            # extract descriptors
            with torch.no_grad():
                res = net(imgs=[img])
                
            # get output and reliability map
            descriptors = res['descriptors'][0]
            reliability = res['reliability'][0]
            repeatability = res['repeatability'][0]

            # normalize the reliability for nms
            # extract maxima and descs
            y,x = detector(**res) # nms
            c = reliability[0,0,y,x]
            q = repeatability[0,0,y,x]
            d = descriptors[0,:,y,x].t()
            n = d.shape[0]

            # accumulate multiple scales
            X.append(x.float() * W/nw)
            Y.append(y.float() * H/nh)
            S.append((32/s) * torch.ones(n, dtype=torch.float32, device=d.device))
            C.append(c)
            Q.append(q)
            D.append(d)
        s /= scale_f

        # down-scale the image for next iteration
        nh, nw = round(H*s), round(W*s)
        img = F.interpolate(img, (nh,nw), mode='bilinear', align_corners=False)

    # restore value
    torch.backends.cudnn.benchmark = old_bm

    Y = torch.cat(Y)
    X = torch.cat(X)
    S = torch.cat(S) # scale
    scores = torch.cat(C) * torch.cat(Q) # scores = reliability * repeatability
    XYS = torch.stack([X,Y,S], dim=-1)
    D = torch.cat(D)
    return XYS, D, scores


def extract_keypoints(args):
    iscuda = common.torch_set_gpu(args.gpu)

    # load the network...
    net = load_network(args.model)
    if iscuda: net = net.cuda()

    # create the non-maxima detector
    detector = NonMaxSuppression(
        rel_thr = args.reliability_thr, 
        rep_thr = args.repeatability_thr)

    # while args.images:
    #     img_path = args.images.pop(0)
        
    #     if img_path.endswith('.txt'):
    #         args.images = open(img_path).read().splitlines() + args.images
    #         continue
        
    #     print(f"\nExtracting features for {img_path}")
    #     img = Image.open(img_path).convert('RGB')
    if True: 
        img_path='kitti06-12-color.png'
        img = cv2.imread('../data/kitti06-12-color.png')
        #W, H = img.size
        H, W = img.shape[:2]
        img = norm_RGB(img)[None] 
        if iscuda: img = img.cuda()
        
        # extract keypoints/descriptors for a single image
        xys, desc, scores = extract_multiscale(net, img, detector,
            scale_f   = args.scale_f, 
            min_scale = args.min_scale, 
            max_scale = args.max_scale,
            min_size  = args.min_size, 
            max_size  = args.max_size, 
            verbose = True)

        xys = xys.cpu().numpy()
        desc = desc.cpu().numpy()
        scores = scores.cpu().numpy()
        idxs = scores.argsort()[-args.top_k or None:]
        
        outpath = img_path + '.' + args.tag
        print(f"Saving {len(idxs)} keypoints to {outpath}")
        np.savez(open(outpath,'wb'), 
            imsize = (W,H),
            keypoints = xys[idxs], 
            descriptors = desc[idxs], 
            scores = scores[idxs])



if __name__ == '__main__':
    import argparse
    parser = argparse.ArgumentParser("Extract keypoints for a given image")
    parser.add_argument("--model", type=str, default=r2d2_default_model_path, help='model path')
 
    #parser.add_argument("--images", type=str, required=True, nargs='+', help='images / list')
    parser.add_argument("--tag", type=str, default='r2d2', help='output file tag')
    
    parser.add_argument("--top-k", type=int, default=5000, help='number of keypoints')

    parser.add_argument("--scale-f", type=float, default=2**0.25)
    parser.add_argument("--min-size", type=int, default=256)
    parser.add_argument("--max-size", type=int, default=1024)
    parser.add_argument("--min-scale", type=float, default=0)
    parser.add_argument("--max-scale", type=float, default=1)
    
    parser.add_argument("--reliability-thr", type=float, default=0.7)
    parser.add_argument("--repeatability-thr", type=float, default=0.7)

    parser.add_argument("--gpu", type=int, nargs='+', default=[0], help='use -1 for CPU')
    args = parser.parse_args()

    extract_keypoints(args)
