# Copyright 2021 Huawei Technologies Co., Ltd
#
# 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
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ============================================================================
# External Modules
import torch
from torch import cuda, FloatTensor, LongTensor
import numpy as np
import matplotlib.pyplot as plt
from sklearn.neighbors import NearestNeighbors
from typing import Union

# Types to allow for both CPU and GPU models.
UFloatTensor = Union[FloatTensor, cuda.FloatTensor]
ULongTensor = Union[LongTensor, cuda.LongTensor]

def knn_indices_func_cpu(rep_pts : FloatTensor,  # (N, pts, dim)
                         pts : FloatTensor,      # (N, x, dim)
                         K : int, D : int
                        ) -> LongTensor:         # (N, pts, K)
    """
    CPU-based Indexing function based on K-Nearest Neighbors search.
    :param rep_pts: Representative points.
    :param pts: Point cloud to get indices from.
    :param K: Number of nearest neighbors to collect.
    :param D: "Spread" of neighboring points.
    :return: Array of indices, P_idx, into pts such that pts[n][P_idx[n],:]
    is the set k-nearest neighbors for the representative points in pts[n].
    """
    rep_pts = rep_pts.data.numpy()
    pts = pts.data.numpy()
    region_idx = []

    for n, p in enumerate(rep_pts):
        P_particular = pts[n]
        nbrs = NearestNeighbors(D*K + 1, algorithm = "ball_tree").fit(P_particular)
        indices = nbrs.kneighbors(p)[1]
        region_idx.append(indices[:,1::D])

    region_idx = torch.from_numpy(np.stack(region_idx, axis = 0))
    return region_idx

def knn_indices_func_gpu(rep_pts : cuda.FloatTensor,  # (N, pts, dim)
                         pts : cuda.FloatTensor,      # (N, x, dim)
                         k : int, d : int
                        ) -> cuda.LongTensor:         # (N, pts, K)
    """
    GPU-based Indexing function based on K-Nearest Neighbors search.
    Very memory intensive, and thus unoptimal for large numbers of points.
    :param rep_pts: Representative points.
    :param pts: Point cloud to get indices from.
    :param K: Number of nearest neighbors to collect.
    :param D: "Spread" of neighboring points.
    :return: Array of indices, P_idx, into pts such that pts[n][P_idx[n],:]
    is the set k-nearest neighbors for the representative points in pts[n].
    """
    region_idx = []

    for n, qry in enumerate(rep_pts):
        ref = pts[n]
        n, d = ref.size()
        m, d = qry.size()
        mref = ref.expand(m, n, d)
        mqry = qry.expand(n, m, d).transpose(0, 1)
        dist2 = torch.sum((mqry - mref)**2, 2).squeeze()
        _, inds = torch.topk(dist2, k*d + 1, dim = 1, largest = False)
        region_idx.append(inds[:,1::d])

    region_idx = torch.stack(region_idx, dim = 0)
    return region_idx