# Copyright 2017 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
#
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# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# ==============================================================================

"""Base target assigner module.

The job of a TargetAssigner is, for a given set of anchors (bounding boxes) and
groundtruth detections (bounding boxes), to assign classification and regression
targets to each anchor as well as weights to each anchor (specifying, e.g.,
which anchors should not contribute to training loss).

It assigns classification/regression targets by performing the following steps:
1) Computing pairwise similarity between anchors and groundtruth boxes using a
  provided RegionSimilarity Calculator
2) Computing a matching based on the similarity matrix using a provided Matcher
3) Assigning regression targets based on the matching and a provided BoxCoder
4) Assigning classification targets based on the matching and groundtruth labels

Note that TargetAssigners only operate on detections from a single
image at a time, so any logic for applying a TargetAssigner to multiple
images must be handled externally.
"""
import tensorflow as tf

from nvidia_tao_tf1.cv.mask_rcnn.object_detection import box_list
from nvidia_tao_tf1.cv.mask_rcnn.object_detection import shape_utils

KEYPOINTS_FIELD_NAME = 'keypoints'


class TargetAssigner(object):
    """Target assigner to compute classification and regression targets."""

    def __init__(self, similarity_calc, matcher, box_coder,
                 negative_class_weight=1.0, unmatched_cls_target=None):
        """Construct Object Detection Target Assigner.

        Args:
          similarity_calc: a RegionSimilarityCalculator
          matcher: Matcher used to match groundtruth to anchors.
          box_coder: BoxCoder used to encode matching groundtruth boxes with
            respect to anchors.
          negative_class_weight: classification weight to be associated to negative
            anchors (default: 1.0). The weight must be in [0., 1.].
          unmatched_cls_target: a float32 tensor with shape [d_1, d_2, ..., d_k]
            which is consistent with the classification target for each
            anchor (and can be empty for scalar targets).  This shape must thus be
            compatible with the groundtruth labels that are passed to the "assign"
            function (which have shape [num_gt_boxes, d_1, d_2, ..., d_k]).
            If set to None, unmatched_cls_target is set to be [0] for each anchor.

        Raises:
          ValueError: if similarity_calc is not a RegionSimilarityCalculator or
            if matcher is not a Matcher or if box_coder is not a BoxCoder
        """
        self._similarity_calc = similarity_calc
        self._matcher = matcher
        self._box_coder = box_coder
        self._negative_class_weight = negative_class_weight
        if unmatched_cls_target is None:
            self._unmatched_cls_target = tf.constant([0], tf.float32)
        else:
            self._unmatched_cls_target = unmatched_cls_target

    @property
    def box_coder(self):
        """Box coder."""
        return self._box_coder

    def assign(self, anchors, groundtruth_boxes, groundtruth_labels=None,
               groundtruth_weights=None, **params):
        """Assign classification and regression targets to each anchor.

        For a given set of anchors and groundtruth detections, match anchors
        to groundtruth_boxes and assign classification and regression targets to
        each anchor as well as weights based on the resulting match (specifying,
        e.g., which anchors should not contribute to training loss).

        Anchors that are not matched to anything are given a classification target
        of self._unmatched_cls_target which can be specified via the constructor.

        Args:
          anchors: a BoxList representing N anchors
          groundtruth_boxes: a BoxList representing M groundtruth boxes
          groundtruth_labels:  a tensor of shape [M, d_1, ... d_k]
            with labels for each of the ground_truth boxes. The subshape
            [d_1, ... d_k] can be empty (corresponding to scalar inputs).  When set
            to None, groundtruth_labels assumes a binary problem where all
            ground_truth boxes get a positive label (of 1).
          groundtruth_weights: a float tensor of shape [M] indicating the weight to
            assign to all anchors match to a particular groundtruth box. The weights
            must be in [0., 1.]. If None, all weights are set to 1.
          **params: Additional keyword arguments for specific implementations of
                  the Matcher.

        Returns:
          cls_targets: a float32 tensor with shape [num_anchors, d_1, d_2 ... d_k],
            where the subshape [d_1, ..., d_k] is compatible with groundtruth_labels
            which has shape [num_gt_boxes, d_1, d_2, ... d_k].
          cls_weights: a float32 tensor with shape [num_anchors]
          reg_targets: a float32 tensor with shape [num_anchors, box_code_dimension]
          reg_weights: a float32 tensor with shape [num_anchors]
          match: a matcher.Match object encoding the match between anchors and
            groundtruth boxes, with rows corresponding to groundtruth boxes
            and columns corresponding to anchors.

        Raises:
          ValueError: if anchors or groundtruth_boxes are not of type
            box_list.BoxList
        """
        if not isinstance(anchors, box_list.BoxList):
            raise ValueError('anchors must be an BoxList')

        if not isinstance(groundtruth_boxes, box_list.BoxList):
            raise ValueError('groundtruth_boxes must be an BoxList')

        if groundtruth_labels is None:
            groundtruth_labels = tf.ones(tf.expand_dims(groundtruth_boxes.num_boxes(),
                                                        0))
            groundtruth_labels = tf.expand_dims(groundtruth_labels, -1)

        if groundtruth_weights is None:
            num_gt_boxes = groundtruth_boxes.num_boxes_static()

            if not num_gt_boxes:
                num_gt_boxes = groundtruth_boxes.num_boxes()

            groundtruth_weights = tf.ones([num_gt_boxes], dtype=tf.float32)

        match_quality_matrix = self._similarity_calc.compare(groundtruth_boxes, anchors)
        match = self._matcher.match(match_quality_matrix, **params)

        reg_targets = self._create_regression_targets(anchors, groundtruth_boxes, match)
        cls_targets = self._create_classification_targets(groundtruth_labels, match)

        reg_weights = self._create_regression_weights(match, groundtruth_weights)
        cls_weights = self._create_classification_weights(match, groundtruth_weights)

        num_anchors = anchors.num_boxes_static()

        if num_anchors is not None:
            reg_targets = self._reset_target_shape(reg_targets, num_anchors)
            cls_targets = self._reset_target_shape(cls_targets, num_anchors)
            reg_weights = self._reset_target_shape(reg_weights, num_anchors)
            cls_weights = self._reset_target_shape(cls_weights, num_anchors)

        return cls_targets, cls_weights, reg_targets, reg_weights, match

    def _reset_target_shape(self, target, num_anchors):
        """Sets the static shape of the target.

        Args:
          target: the target tensor. Its first dimension will be overwritten.
          num_anchors: the number of anchors, which is used to override the target's
            first dimension.

        Returns:
          A tensor with the shape info filled in.
        """
        target_shape = target.get_shape().as_list()
        target_shape[0] = num_anchors
        target.set_shape(target_shape)
        return target

    def _create_regression_targets(self, anchors, groundtruth_boxes, match):
        """Returns a regression target for each anchor.

        Args:
          anchors: a BoxList representing N anchors
          groundtruth_boxes: a BoxList representing M groundtruth_boxes
          match: a matcher.Match object

        Returns:
          reg_targets: a float32 tensor with shape [N, box_code_dimension]
        """
        matched_gt_boxes = match.gather_based_on_match(
            groundtruth_boxes.get(),
            unmatched_value=tf.zeros(4),
            ignored_value=tf.zeros(4)
        )

        matched_gt_boxlist = box_list.BoxList(matched_gt_boxes)

        if groundtruth_boxes.has_field(KEYPOINTS_FIELD_NAME):
            groundtruth_keypoints = groundtruth_boxes.get_field(KEYPOINTS_FIELD_NAME)
            matched_keypoints = match.gather_based_on_match(
                groundtruth_keypoints,
                unmatched_value=tf.zeros(groundtruth_keypoints.get_shape()[1:]),
                ignored_value=tf.zeros(groundtruth_keypoints.get_shape()[1:])
            )
            matched_gt_boxlist.add_field(KEYPOINTS_FIELD_NAME, matched_keypoints)

        matched_reg_targets = self._box_coder.encode(matched_gt_boxlist, anchors)
        match_results_shape = shape_utils.combined_static_and_dynamic_shape(match.match_results)

        # Zero out the unmatched and ignored regression targets.
        unmatched_ignored_reg_targets = \
            tf.tile(self._default_regression_target(), [match_results_shape[0], 1])
        matched_anchors_mask = match.matched_column_indicator()

        matched_anchors_mask = tf.expand_dims(matched_anchors_mask, axis=1)
        matched_anchors_mask = tf.broadcast_to(
            matched_anchors_mask, shape=matched_reg_targets.get_shape())

        reg_targets = tf.where(matched_anchors_mask, matched_reg_targets,
                               unmatched_ignored_reg_targets)
        return reg_targets

    def _default_regression_target(self):
        """Returns the default target for anchors to regress to.

        Default regression targets are set to zero (though in
        this implementation what these targets are set to should
        not matter as the regression weight of any box set to
        regress to the default target is zero).

        Returns:
          default_target: a float32 tensor with shape [1, box_code_dimension]
        """
        return tf.constant([self._box_coder.code_size * [0]], tf.float32)

    def _create_classification_targets(self, groundtruth_labels, match):
        """Create classification targets for each anchor.

        Assign a classification target of for each anchor to the matching
        groundtruth label that is provided by match.  Anchors that are not matched
        to anything are given the target self._unmatched_cls_target

        Args:
          groundtruth_labels:  a tensor of shape [num_gt_boxes, d_1, ... d_k]
            with labels for each of the ground_truth boxes. The subshape
            [d_1, ... d_k] can be empty (corresponding to scalar labels).
          match: a matcher.Match object that provides a matching between anchors
            and groundtruth boxes.

        Returns:
          a float32 tensor with shape [num_anchors, d_1, d_2 ... d_k], where the
          subshape [d_1, ..., d_k] is compatible with groundtruth_labels which has
          shape [num_gt_boxes, d_1, d_2, ... d_k].
        """
        return match.gather_based_on_match(
            groundtruth_labels,
            unmatched_value=self._unmatched_cls_target,
            ignored_value=self._unmatched_cls_target)

    def _create_regression_weights(self, match, groundtruth_weights):
        """Set regression weight for each anchor.

        Only positive anchors are set to contribute to the regression loss, so this
        method returns a weight of 1 for every positive anchor and 0 for every
        negative anchor.

        Args:
          match: a matcher.Match object that provides a matching between anchors
            and groundtruth boxes.
          groundtruth_weights: a float tensor of shape [M] indicating the weight to
            assign to all anchors match to a particular groundtruth box.

        Returns:
          a float32 tensor with shape [num_anchors] representing regression weights.
        """
        return match.gather_based_on_match(
            groundtruth_weights, ignored_value=0., unmatched_value=0.)

    def _create_classification_weights(self,
                                       match,
                                       groundtruth_weights):
        """Create classification weights for each anchor.

        Positive (matched) anchors are associated with a weight of
        positive_class_weight and negative (unmatched) anchors are associated with
        a weight of negative_class_weight. When anchors are ignored, weights are set
        to zero. By default, both positive/negative weights are set to 1.0,
        but they can be adjusted to handle class imbalance (which is almost always
        the case in object detection).

        Args:
          match: a matcher.Match object that provides a matching between anchors
            and groundtruth boxes.
          groundtruth_weights: a float tensor of shape [M] indicating the weight to
            assign to all anchors match to a particular groundtruth box.

        Returns:
          a float32 tensor with shape [num_anchors] representing classification
          weights.
        """
        return match.gather_based_on_match(
            groundtruth_weights,
            ignored_value=0.,
            unmatched_value=self._negative_class_weight)

    def get_box_coder(self):
        """Get BoxCoder of this TargetAssigner.

        Returns:
          BoxCoder object.
        """
        return self._box_coder
