

import torch.nn as nn

import torchsparse.nn as spnn
from torchsparse.point_tensor import PointTensor
from AdelaiDepth.LeReS.lib.spvcnn_utils import *
__all__ = ['SPVCNN_CLASSIFICATION']



class BasicConvolutionBlock(nn.Module):
    def __init__(self, inc, outc, ks=3, stride=1, dilation=1):
        super().__init__()
        self.net = nn.Sequential(
            spnn.Conv3d(inc,
                                 outc,
                                 kernel_size=ks,
                                 dilation=dilation,
                                 stride=stride),
            spnn.BatchNorm(outc),
            spnn.ReLU(True))

    def forward(self, x):
        out = self.net(x)
        return out


class BasicDeconvolutionBlock(nn.Module):
    def __init__(self, inc, outc, ks=3, stride=1):
        super().__init__()
        self.net = nn.Sequential(
            spnn.Conv3d(inc,
                                 outc,
                                 kernel_size=ks,
                                 stride=stride,
                                 transpose=True),
            spnn.BatchNorm(outc),
            spnn.ReLU(True))

    def forward(self, x):
        return self.net(x)


class ResidualBlock(nn.Module):
    def __init__(self, inc, outc, ks=3, stride=1, dilation=1):
        super().__init__()
        self.net = nn.Sequential(
            spnn.Conv3d(inc,
                                 outc,
                                 kernel_size=ks,
                                 dilation=dilation,
                                 stride=stride), spnn.BatchNorm(outc),
            spnn.ReLU(True),
            spnn.Conv3d(outc,
                                 outc,
                                 kernel_size=ks,
                                 dilation=dilation,
                                 stride=1),
            spnn.BatchNorm(outc)
            )

        self.downsample = nn.Sequential() if (inc == outc and stride == 1) else \
            nn.Sequential(
                spnn.Conv3d(inc, outc, kernel_size=1, dilation=1, stride=stride),
                spnn.BatchNorm(outc)
            )

        self.relu = spnn.ReLU(True)

    def forward(self, x):
        out = self.relu(self.net(x) + self.downsample(x))
        return out


class SPVCNN_CLASSIFICATION(nn.Module):
    def __init__(self, **kwargs):
        super().__init__()

        cr = kwargs.get('cr', 1.0)
        cs = [32, 32, 64, 128, 256, 256, 128, 96, 96]
        cs = [int(cr * x) for x in cs]

        if 'pres' in kwargs and 'vres' in kwargs:
            self.pres = kwargs['pres']
            self.vres = kwargs['vres']

        self.stem = nn.Sequential(
            spnn.Conv3d(kwargs['input_channel'], cs[0], kernel_size=3, stride=1),
            spnn.BatchNorm(cs[0]),
            spnn.ReLU(True),
            spnn.Conv3d(cs[0], cs[0], kernel_size=3, stride=1),
            spnn.BatchNorm(cs[0]),
            spnn.ReLU(True))

        self.stage1 = nn.Sequential(
            BasicConvolutionBlock(cs[0], cs[0], ks=2, stride=2, dilation=1),
            ResidualBlock(cs[0], cs[1], ks=3, stride=1, dilation=1),
            ResidualBlock(cs[1], cs[1], ks=3, stride=1, dilation=1),
        )

        self.stage2 = nn.Sequential(
            BasicConvolutionBlock(cs[1], cs[1], ks=2, stride=2, dilation=1),
            ResidualBlock(cs[1], cs[2], ks=3, stride=1, dilation=1),
            ResidualBlock(cs[2], cs[2], ks=3, stride=1, dilation=1),
        )

        self.stage3 = nn.Sequential(
            BasicConvolutionBlock(cs[2], cs[2], ks=2, stride=2, dilation=1),
            ResidualBlock(cs[2], cs[3], ks=3, stride=1, dilation=1),
            ResidualBlock(cs[3], cs[3], ks=3, stride=1, dilation=1),
        )

        self.stage4 = nn.Sequential(
            BasicConvolutionBlock(cs[3], cs[3], ks=2, stride=2, dilation=1),
            ResidualBlock(cs[3], cs[4], ks=3, stride=1, dilation=1),
            ResidualBlock(cs[4], cs[4], ks=3, stride=1, dilation=1),
        )
        self.avg_pool = spnn.GlobalAveragePooling()
        self.classifier = nn.Sequential(nn.Linear(cs[4], kwargs['num_classes']))
        self.point_transforms = nn.ModuleList([
            nn.Sequential(
                nn.Linear(cs[0], cs[4]),
                nn.BatchNorm1d(cs[4]),
                nn.ReLU(True),
            ),
        ])

        self.weight_initialization()
        self.dropout = nn.Dropout(0.3, True)

    def weight_initialization(self):
        for m in self.modules():
            if isinstance(m, nn.BatchNorm1d):
                nn.init.constant_(m.weight, 1)
                nn.init.constant_(m.bias, 0)

    def forward(self, x):
        # x: SparseTensor z: PointTensor
        z = PointTensor(x.F, x.C.float())

        x0 = initial_voxelize(z, self.pres, self.vres)

        x0 = self.stem(x0)
        z0 = voxel_to_point(x0, z, nearest=False)
        z0.F = z0.F

        x1 = point_to_voxel(x0, z0)
        x1 = self.stage1(x1)
        x2 = self.stage2(x1)
        x3 = self.stage3(x2)
        x4 = self.stage4(x3)
        z1 = voxel_to_point(x4, z0)
        z1.F = z1.F + self.point_transforms[0](z0.F)
        y1 = point_to_voxel(x4, z1)
        pool = self.avg_pool(y1)
        # TODO!
        pool = self.dropout(pool)
        out = self.classifier(pool)


        return out
