# Copyright (c) OpenMMLab. All rights reserved.
import torch

from mmdet.core import bbox2result, bbox_mapping_back
from ..builder import DETECTORS
from .single_stage import SingleStageDetector


@DETECTORS.register_module()
class CornerNet(SingleStageDetector):
    """CornerNet.

    This detector is the implementation of the paper `CornerNet: Detecting
    Objects as Paired Keypoints <https://arxiv.org/abs/1808.01244>`_ .
    """

    def __init__(self,
                 backbone,
                 neck,
                 bbox_head,
                 train_cfg=None,
                 test_cfg=None,
                 pretrained=None,
                 init_cfg=None):
        super(CornerNet, self).__init__(backbone, neck, bbox_head, train_cfg,
                                        test_cfg, pretrained, init_cfg)

    def merge_aug_results(self, aug_results, img_metas):
        """Merge augmented detection bboxes and score.

        Args:
            aug_results (list[list[Tensor]]): Det_bboxes and det_labels of each
                image.
            img_metas (list[list[dict]]): Meta information of each image, e.g.,
                image size, scaling factor, etc.

        Returns:
            tuple: (bboxes, labels)
        """
        recovered_bboxes, aug_labels = [], []
        for bboxes_labels, img_info in zip(aug_results, img_metas):
            img_shape = img_info[0]['img_shape']  # using shape before padding
            scale_factor = img_info[0]['scale_factor']
            flip = img_info[0]['flip']
            bboxes, labels = bboxes_labels
            bboxes, scores = bboxes[:, :4], bboxes[:, -1:]
            bboxes = bbox_mapping_back(bboxes, img_shape, scale_factor, flip)
            recovered_bboxes.append(torch.cat([bboxes, scores], dim=-1))
            aug_labels.append(labels)

        bboxes = torch.cat(recovered_bboxes, dim=0)
        labels = torch.cat(aug_labels)

        if bboxes.shape[0] > 0:
            out_bboxes, out_labels = self.bbox_head._bboxes_nms(
                bboxes, labels, self.bbox_head.test_cfg)
        else:
            out_bboxes, out_labels = bboxes, labels

        return out_bboxes, out_labels

    def aug_test(self, imgs, img_metas, rescale=False):
        """Augment testing of CornerNet.

        Args:
            imgs (list[Tensor]): Augmented images.
            img_metas (list[list[dict]]): Meta information of each image, e.g.,
                image size, scaling factor, etc.
            rescale (bool): If True, return boxes in original image space.
                Default: False.

        Note:
            ``imgs`` must including flipped image pairs.

        Returns:
            list[list[np.ndarray]]: BBox results of each image and classes.
                The outer list corresponds to each image. The inner list
                corresponds to each class.
        """
        img_inds = list(range(len(imgs)))

        assert img_metas[0][0]['flip'] + img_metas[1][0]['flip'], (
            'aug test must have flipped image pair')
        aug_results = []
        for ind, flip_ind in zip(img_inds[0::2], img_inds[1::2]):
            img_pair = torch.cat([imgs[ind], imgs[flip_ind]])
            x = self.extract_feat(img_pair)
            outs = self.bbox_head(x)
            bbox_list = self.bbox_head.get_bboxes(
                *outs, [img_metas[ind], img_metas[flip_ind]], False, False)
            aug_results.append(bbox_list[0])
            aug_results.append(bbox_list[1])

        bboxes, labels = self.merge_aug_results(aug_results, img_metas)
        bbox_results = bbox2result(bboxes, labels, self.bbox_head.num_classes)

        return [bbox_results]
