# Copyright (c) Meta Platforms, Inc. and affiliates.
#
# This source code is licensed under the Apache License, Version 2.0
# found in the LICENSE file in the root directory of this source tree.

import copy
from functools import partial
import math
import warnings

import torch
import torch.nn as nn

from .ops import resize


# XXX: (Untested) replacement for mmcv.imdenormalize()
def _imdenormalize(img, mean, std, to_bgr=True):
    import numpy as np

    mean = mean.reshape(1, -1).astype(np.float64)
    std = std.reshape(1, -1).astype(np.float64)
    img = (img * std) + mean
    if to_bgr:
        img = img[::-1]
    return img


class DepthBaseDecodeHead(nn.Module):
    """Base class for BaseDecodeHead.

    Args:
        in_channels (List): Input channels.
        channels (int): Channels after modules, before conv_depth.
        conv_layer (nn.Module): Conv layers. Default: None.
        act_layer (nn.Module): Activation layers. Default: nn.ReLU.
        loss_decode (dict): Config of decode loss.
            Default: ().
        sampler (dict|None): The config of depth map sampler.
            Default: None.
        align_corners (bool): align_corners argument of F.interpolate.
            Default: False.
        min_depth (int): Min depth in dataset setting.
            Default: 1e-3.
        max_depth (int): Max depth in dataset setting.
            Default: None.
        norm_layer (dict|None): Norm layers.
            Default: None.
        classify (bool): Whether predict depth in a cls.-reg. manner.
            Default: False.
        n_bins (int): The number of bins used in cls. step.
            Default: 256.
        bins_strategy (str): The discrete strategy used in cls. step.
            Default: 'UD'.
        norm_strategy (str): The norm strategy on cls. probability
            distribution. Default: 'linear'
        scale_up (str): Whether predict depth in a scale-up manner.
            Default: False.
    """

    def __init__(
        self,
        in_channels,
        conv_layer=None,
        act_layer=nn.ReLU,
        channels=96,
        loss_decode=(),
        sampler=None,
        align_corners=False,
        min_depth=1e-3,
        max_depth=None,
        norm_layer=None,
        classify=False,
        n_bins=256,
        bins_strategy="UD",
        norm_strategy="linear",
        scale_up=False,
    ):
        super(DepthBaseDecodeHead, self).__init__()

        self.in_channels = in_channels
        self.channels = channels
        self.conf_layer = conv_layer
        self.act_layer = act_layer
        self.loss_decode = loss_decode
        self.align_corners = align_corners
        self.min_depth = min_depth
        self.max_depth = max_depth
        self.norm_layer = norm_layer
        self.classify = classify
        self.n_bins = n_bins
        self.scale_up = scale_up

        if self.classify:
            assert bins_strategy in ["UD", "SID"], "Support bins_strategy: UD, SID"
            assert norm_strategy in ["linear", "softmax", "sigmoid"], "Support norm_strategy: linear, softmax, sigmoid"

            self.bins_strategy = bins_strategy
            self.norm_strategy = norm_strategy
            self.softmax = nn.Softmax(dim=1)
            self.conv_depth = nn.Conv2d(channels, n_bins, kernel_size=3, padding=1, stride=1)
        else:
            self.conv_depth = nn.Conv2d(channels, 1, kernel_size=3, padding=1, stride=1)

        self.relu = nn.ReLU()
        self.sigmoid = nn.Sigmoid()

    def forward(self, inputs, img_metas):
        """Placeholder of forward function."""
        pass

    def forward_train(self, img, inputs, img_metas, depth_gt):
        """Forward function for training.
        Args:
            inputs (list[Tensor]): List of multi-level img features.
            img_metas (list[dict]): List of image info dict where each dict
                has: 'img_shape', 'scale_factor', 'flip', and may also contain
                'filename', 'ori_shape', 'pad_shape', and 'img_norm_cfg'.
                For details on the values of these keys see
                `depth/datasets/pipelines/formatting.py:Collect`.
            depth_gt (Tensor): GT depth

        Returns:
            dict[str, Tensor]: a dictionary of loss components
        """
        depth_pred = self.forward(inputs, img_metas)
        losses = self.losses(depth_pred, depth_gt)

        log_imgs = self.log_images(img[0], depth_pred[0], depth_gt[0], img_metas[0])
        losses.update(**log_imgs)

        return losses

    def forward_test(self, inputs, img_metas):
        """Forward function for testing.
        Args:
            inputs (list[Tensor]): List of multi-level img features.
            img_metas (list[dict]): List of image info dict where each dict
                has: 'img_shape', 'scale_factor', 'flip', and may also contain
                'filename', 'ori_shape', 'pad_shape', and 'img_norm_cfg'.
                For details on the values of these keys see
                `depth/datasets/pipelines/formatting.py:Collect`.

        Returns:
            Tensor: Output depth map.
        """
        return self.forward(inputs, img_metas)

    def depth_pred(self, feat):
        """Prediction each pixel."""
        if self.classify:
            logit = self.conv_depth(feat)

            if self.bins_strategy == "UD":
                bins = torch.linspace(self.min_depth, self.max_depth, self.n_bins, device=feat.device)
            elif self.bins_strategy == "SID":
                bins = torch.logspace(self.min_depth, self.max_depth, self.n_bins, device=feat.device)

            # following Adabins, default linear
            if self.norm_strategy == "linear":
                logit = torch.relu(logit)
                eps = 0.1
                logit = logit + eps
                logit = logit / logit.sum(dim=1, keepdim=True)
            elif self.norm_strategy == "softmax":
                logit = torch.softmax(logit, dim=1)
            elif self.norm_strategy == "sigmoid":
                logit = torch.sigmoid(logit)
                logit = logit / logit.sum(dim=1, keepdim=True)

            output = torch.einsum("ikmn,k->imn", [logit, bins]).unsqueeze(dim=1)

        else:
            if self.scale_up:
                output = self.sigmoid(self.conv_depth(feat)) * self.max_depth
            else:
                output = self.relu(self.conv_depth(feat)) + self.min_depth
        return output

    def losses(self, depth_pred, depth_gt):
        """Compute depth loss."""
        loss = dict()
        depth_pred = resize(
            input=depth_pred, size=depth_gt.shape[2:], mode="bilinear", align_corners=self.align_corners, warning=False
        )
        if not isinstance(self.loss_decode, nn.ModuleList):
            losses_decode = [self.loss_decode]
        else:
            losses_decode = self.loss_decode
        for loss_decode in losses_decode:
            if loss_decode.loss_name not in loss:
                loss[loss_decode.loss_name] = loss_decode(depth_pred, depth_gt)
            else:
                loss[loss_decode.loss_name] += loss_decode(depth_pred, depth_gt)
        return loss

    def log_images(self, img_path, depth_pred, depth_gt, img_meta):
        import numpy as np

        show_img = copy.deepcopy(img_path.detach().cpu().permute(1, 2, 0))
        show_img = show_img.numpy().astype(np.float32)
        show_img = _imdenormalize(
            show_img,
            img_meta["img_norm_cfg"]["mean"],
            img_meta["img_norm_cfg"]["std"],
            img_meta["img_norm_cfg"]["to_rgb"],
        )
        show_img = np.clip(show_img, 0, 255)
        show_img = show_img.astype(np.uint8)
        show_img = show_img[:, :, ::-1]
        show_img = show_img.transpose(0, 2, 1)
        show_img = show_img.transpose(1, 0, 2)

        depth_pred = depth_pred / torch.max(depth_pred)
        depth_gt = depth_gt / torch.max(depth_gt)

        depth_pred_color = copy.deepcopy(depth_pred.detach().cpu())
        depth_gt_color = copy.deepcopy(depth_gt.detach().cpu())

        return {"img_rgb": show_img, "img_depth_pred": depth_pred_color, "img_depth_gt": depth_gt_color}


class BNHead(DepthBaseDecodeHead):
    """Just a batchnorm."""

    def __init__(self, input_transform="resize_concat", in_index=(0, 1, 2, 3), upsample=1, **kwargs):
        super().__init__(**kwargs)
        self.input_transform = input_transform
        self.in_index = in_index
        self.upsample = upsample
        # self.bn = nn.SyncBatchNorm(self.in_channels)
        if self.classify:
            self.conv_depth = nn.Conv2d(self.channels, self.n_bins, kernel_size=1, padding=0, stride=1)
        else:
            self.conv_depth = nn.Conv2d(self.channels, 1, kernel_size=1, padding=0, stride=1)

    def _transform_inputs(self, inputs):
        """Transform inputs for decoder.
        Args:
            inputs (list[Tensor]): List of multi-level img features.
        Returns:
            Tensor: The transformed inputs
        """

        if "concat" in self.input_transform:
            inputs = [inputs[i] for i in self.in_index]
            if "resize" in self.input_transform:
                inputs = [
                    resize(
                        input=x,
                        size=[s * self.upsample for s in inputs[0].shape[2:]],
                        mode="bilinear",
                        align_corners=self.align_corners,
                    )
                    for x in inputs
                ]
            inputs = torch.cat(inputs, dim=1)
        elif self.input_transform == "multiple_select":
            inputs = [inputs[i] for i in self.in_index]
        else:
            inputs = inputs[self.in_index]

        return inputs

    def _forward_feature(self, inputs, img_metas=None, **kwargs):
        """Forward function for feature maps before classifying each pixel with
        ``self.cls_seg`` fc.
        Args:
            inputs (list[Tensor]): List of multi-level img features.
        Returns:
            feats (Tensor): A tensor of shape (batch_size, self.channels,
                H, W) which is feature map for last layer of decoder head.
        """
        # accept lists (for cls token)
        inputs = list(inputs)
        for i, x in enumerate(inputs):
            if len(x) == 2:
                x, cls_token = x[0], x[1]
                if len(x.shape) == 2:
                    x = x[:, :, None, None]
                cls_token = cls_token[:, :, None, None].expand_as(x)
                inputs[i] = torch.cat((x, cls_token), 1)
            else:
                x = x[0]
                if len(x.shape) == 2:
                    x = x[:, :, None, None]
                inputs[i] = x
        x = self._transform_inputs(inputs)
        # feats = self.bn(x)
        return x

    def forward(self, inputs, img_metas=None, **kwargs):
        """Forward function."""
        output = self._forward_feature(inputs, img_metas=img_metas, **kwargs)
        output = self.depth_pred(output)
        return output


class ConvModule(nn.Module):
    """A conv block that bundles conv/norm/activation layers.

    This block simplifies the usage of convolution layers, which are commonly
    used with a norm layer (e.g., BatchNorm) and activation layer (e.g., ReLU).
    It is based upon three build methods: `build_conv_layer()`,
    `build_norm_layer()` and `build_activation_layer()`.

    Besides, we add some additional features in this module.
    1. Automatically set `bias` of the conv layer.
    2. Spectral norm is supported.
    3. More padding modes are supported. Before PyTorch 1.5, nn.Conv2d only
    supports zero and circular padding, and we add "reflect" padding mode.

    Args:
        in_channels (int): Number of channels in the input feature map.
            Same as that in ``nn._ConvNd``.
        out_channels (int): Number of channels produced by the convolution.
            Same as that in ``nn._ConvNd``.
        kernel_size (int | tuple[int]): Size of the convolving kernel.
            Same as that in ``nn._ConvNd``.
        stride (int | tuple[int]): Stride of the convolution.
            Same as that in ``nn._ConvNd``.
        padding (int | tuple[int]): Zero-padding added to both sides of
            the input. Same as that in ``nn._ConvNd``.
        dilation (int | tuple[int]): Spacing between kernel elements.
            Same as that in ``nn._ConvNd``.
        groups (int): Number of blocked connections from input channels to
            output channels. Same as that in ``nn._ConvNd``.
        bias (bool | str): If specified as `auto`, it will be decided by the
            norm_layer. Bias will be set as True if `norm_layer` is None, otherwise
            False. Default: "auto".
        conv_layer (nn.Module): Convolution layer. Default: None,
            which means using conv2d.
        norm_layer (nn.Module): Normalization layer. Default: None.
        act_layer (nn.Module): Activation layer. Default: nn.ReLU.
        inplace (bool): Whether to use inplace mode for activation.
            Default: True.
        with_spectral_norm (bool): Whether use spectral norm in conv module.
            Default: False.
        padding_mode (str): If the `padding_mode` has not been supported by
            current `Conv2d` in PyTorch, we will use our own padding layer
            instead. Currently, we support ['zeros', 'circular'] with official
            implementation and ['reflect'] with our own implementation.
            Default: 'zeros'.
        order (tuple[str]): The order of conv/norm/activation layers. It is a
            sequence of "conv", "norm" and "act". Common examples are
            ("conv", "norm", "act") and ("act", "conv", "norm").
            Default: ('conv', 'norm', 'act').
    """

    _abbr_ = "conv_block"

    def __init__(
        self,
        in_channels,
        out_channels,
        kernel_size,
        stride=1,
        padding=0,
        dilation=1,
        groups=1,
        bias="auto",
        conv_layer=nn.Conv2d,
        norm_layer=None,
        act_layer=nn.ReLU,
        inplace=True,
        with_spectral_norm=False,
        padding_mode="zeros",
        order=("conv", "norm", "act"),
    ):
        super(ConvModule, self).__init__()
        official_padding_mode = ["zeros", "circular"]
        self.conv_layer = conv_layer
        self.norm_layer = norm_layer
        self.act_layer = act_layer
        self.inplace = inplace
        self.with_spectral_norm = with_spectral_norm
        self.with_explicit_padding = padding_mode not in official_padding_mode
        self.order = order
        assert isinstance(self.order, tuple) and len(self.order) == 3
        assert set(order) == set(["conv", "norm", "act"])

        self.with_norm = norm_layer is not None
        self.with_activation = act_layer is not None
        # if the conv layer is before a norm layer, bias is unnecessary.
        if bias == "auto":
            bias = not self.with_norm
        self.with_bias = bias

        if self.with_explicit_padding:
            if padding_mode == "zeros":
                padding_layer = nn.ZeroPad2d
            else:
                raise AssertionError(f"Unsupported padding mode: {padding_mode}")
            self.pad = padding_layer(padding)

        # reset padding to 0 for conv module
        conv_padding = 0 if self.with_explicit_padding else padding
        # build convolution layer
        self.conv = self.conv_layer(
            in_channels,
            out_channels,
            kernel_size,
            stride=stride,
            padding=conv_padding,
            dilation=dilation,
            groups=groups,
            bias=bias,
        )
        # export the attributes of self.conv to a higher level for convenience
        self.in_channels = self.conv.in_channels
        self.out_channels = self.conv.out_channels
        self.kernel_size = self.conv.kernel_size
        self.stride = self.conv.stride
        self.padding = padding
        self.dilation = self.conv.dilation
        self.transposed = self.conv.transposed
        self.output_padding = self.conv.output_padding
        self.groups = self.conv.groups

        if self.with_spectral_norm:
            self.conv = nn.utils.spectral_norm(self.conv)

        # build normalization layers
        if self.with_norm:
            # norm layer is after conv layer
            if order.index("norm") > order.index("conv"):
                norm_channels = out_channels
            else:
                norm_channels = in_channels
            norm = partial(norm_layer, num_features=norm_channels)
            self.add_module("norm", norm)
            if self.with_bias:
                from torch.nnModules.batchnorm import _BatchNorm
                from torch.nnModules.instancenorm import _InstanceNorm

                if isinstance(norm, (_BatchNorm, _InstanceNorm)):
                    warnings.warn("Unnecessary conv bias before batch/instance norm")
        else:
            self.norm_name = None

        # build activation layer
        if self.with_activation:
            # nn.Tanh has no 'inplace' argument
            # (nn.Tanh, nn.PReLU, nn.Sigmoid, nn.HSigmoid, nn.Swish, nn.GELU)
            if not isinstance(act_layer, (nn.Tanh, nn.PReLU, nn.Sigmoid, nn.GELU)):
                act_layer = partial(act_layer, inplace=inplace)
            self.activate = act_layer()

        # Use msra init by default
        self.init_weights()

    @property
    def norm(self):
        if self.norm_name:
            return getattr(self, self.norm_name)
        else:
            return None

    def init_weights(self):
        # 1. It is mainly for customized conv layers with their own
        #    initialization manners by calling their own ``init_weights()``,
        #    and we do not want ConvModule to override the initialization.
        # 2. For customized conv layers without their own initialization
        #    manners (that is, they don't have their own ``init_weights()``)
        #    and PyTorch's conv layers, they will be initialized by
        #    this method with default ``kaiming_init``.
        # Note: For PyTorch's conv layers, they will be overwritten by our
        #    initialization implementation using default ``kaiming_init``.
        if not hasattr(self.conv, "init_weights"):
            if self.with_activation and isinstance(self.act_layer, nn.LeakyReLU):
                nonlinearity = "leaky_relu"
                a = 0.01  # XXX: default negative_slope
            else:
                nonlinearity = "relu"
                a = 0
            if hasattr(self.conv, "weight") and self.conv.weight is not None:
                nn.init.kaiming_normal_(self.conv.weight, a=a, mode="fan_out", nonlinearity=nonlinearity)
            if hasattr(self.conv, "bias") and self.conv.bias is not None:
                nn.init.constant_(self.conv.bias, 0)
        if self.with_norm:
            if hasattr(self.norm, "weight") and self.norm.weight is not None:
                nn.init.constant_(self.norm.weight, 1)
            if hasattr(self.norm, "bias") and self.norm.bias is not None:
                nn.init.constant_(self.norm.bias, 0)

    def forward(self, x, activate=True, norm=True):
        for layer in self.order:
            if layer == "conv":
                if self.with_explicit_padding:
                    x = self.pad(x)
                x = self.conv(x)
            elif layer == "norm" and norm and self.with_norm:
                x = self.norm(x)
            elif layer == "act" and activate and self.with_activation:
                x = self.activate(x)
        return x


class Interpolate(nn.Module):
    def __init__(self, scale_factor, mode, align_corners=False):
        super(Interpolate, self).__init__()
        self.interp = nn.functional.interpolate
        self.scale_factor = scale_factor
        self.mode = mode
        self.align_corners = align_corners

    def forward(self, x):
        x = self.interp(x, scale_factor=self.scale_factor, mode=self.mode, align_corners=self.align_corners)
        return x


class HeadDepth(nn.Module):
    def __init__(self, features):
        super(HeadDepth, self).__init__()
        self.head = nn.Sequential(
            nn.Conv2d(features, features // 2, kernel_size=3, stride=1, padding=1),
            Interpolate(scale_factor=2, mode="bilinear", align_corners=True),
            nn.Conv2d(features // 2, 32, kernel_size=3, stride=1, padding=1),
            nn.ReLU(),
            nn.Conv2d(32, 1, kernel_size=1, stride=1, padding=0),
        )

    def forward(self, x):
        x = self.head(x)
        return x


class ReassembleBlocks(nn.Module):
    """ViTPostProcessBlock, process cls_token in ViT backbone output and
    rearrange the feature vector to feature map.
    Args:
        in_channels (int): ViT feature channels. Default: 768.
        out_channels (List): output channels of each stage.
            Default: [96, 192, 384, 768].
        readout_type (str): Type of readout operation. Default: 'ignore'.
        patch_size (int): The patch size. Default: 16.
    """

    def __init__(self, in_channels=768, out_channels=[96, 192, 384, 768], readout_type="ignore", patch_size=16):
        super(ReassembleBlocks, self).__init__()

        assert readout_type in ["ignore", "add", "project"]
        self.readout_type = readout_type
        self.patch_size = patch_size

        self.projects = nn.ModuleList(
            [
                ConvModule(
                    in_channels=in_channels,
                    out_channels=out_channel,
                    kernel_size=1,
                    act_layer=None,
                )
                for out_channel in out_channels
            ]
        )

        self.resize_layers = nn.ModuleList(
            [
                nn.ConvTranspose2d(
                    in_channels=out_channels[0], out_channels=out_channels[0], kernel_size=4, stride=4, padding=0
                ),
                nn.ConvTranspose2d(
                    in_channels=out_channels[1], out_channels=out_channels[1], kernel_size=2, stride=2, padding=0
                ),
                nn.Identity(),
                nn.Conv2d(
                    in_channels=out_channels[3], out_channels=out_channels[3], kernel_size=3, stride=2, padding=1
                ),
            ]
        )
        if self.readout_type == "project":
            self.readout_projects = nn.ModuleList()
            for _ in range(len(self.projects)):
                self.readout_projects.append(nn.Sequential(nn.Linear(2 * in_channels, in_channels), nn.GELU()))

    def forward(self, inputs):
        assert isinstance(inputs, list)
        out = []
        for i, x in enumerate(inputs):
            assert len(x) == 2
            x, cls_token = x[0], x[1]
            feature_shape = x.shape
            if self.readout_type == "project":
                x = x.flatten(2).permute((0, 2, 1))
                readout = cls_token.unsqueeze(1).expand_as(x)
                x = self.readout_projects[i](torch.cat((x, readout), -1))
                x = x.permute(0, 2, 1).reshape(feature_shape)
            elif self.readout_type == "add":
                x = x.flatten(2) + cls_token.unsqueeze(-1)
                x = x.reshape(feature_shape)
            else:
                pass
            x = self.projects[i](x)
            x = self.resize_layers[i](x)
            out.append(x)
        return out


class PreActResidualConvUnit(nn.Module):
    """ResidualConvUnit, pre-activate residual unit.
    Args:
        in_channels (int): number of channels in the input feature map.
        act_layer (nn.Module): activation layer.
        norm_layer (nn.Module): norm layer.
        stride (int): stride of the first block. Default: 1
        dilation (int): dilation rate for convs layers. Default: 1.
    """

    def __init__(self, in_channels, act_layer, norm_layer, stride=1, dilation=1):
        super(PreActResidualConvUnit, self).__init__()

        self.conv1 = ConvModule(
            in_channels,
            in_channels,
            3,
            stride=stride,
            padding=dilation,
            dilation=dilation,
            norm_layer=norm_layer,
            act_layer=act_layer,
            bias=False,
            order=("act", "conv", "norm"),
        )

        self.conv2 = ConvModule(
            in_channels,
            in_channels,
            3,
            padding=1,
            norm_layer=norm_layer,
            act_layer=act_layer,
            bias=False,
            order=("act", "conv", "norm"),
        )

    def forward(self, inputs):
        inputs_ = inputs.clone()
        x = self.conv1(inputs)
        x = self.conv2(x)
        return x + inputs_


class FeatureFusionBlock(nn.Module):
    """FeatureFusionBlock, merge feature map from different stages.
    Args:
        in_channels (int): Input channels.
        act_layer (nn.Module): activation layer for ResidualConvUnit.
        norm_layer (nn.Module): normalization layer.
        expand (bool): Whether expand the channels in post process block.
            Default: False.
        align_corners (bool): align_corner setting for bilinear upsample.
            Default: True.
    """

    def __init__(self, in_channels, act_layer, norm_layer, expand=False, align_corners=True):
        super(FeatureFusionBlock, self).__init__()

        self.in_channels = in_channels
        self.expand = expand
        self.align_corners = align_corners

        self.out_channels = in_channels
        if self.expand:
            self.out_channels = in_channels // 2

        self.project = ConvModule(self.in_channels, self.out_channels, kernel_size=1, act_layer=None, bias=True)

        self.res_conv_unit1 = PreActResidualConvUnit(
            in_channels=self.in_channels, act_layer=act_layer, norm_layer=norm_layer
        )
        self.res_conv_unit2 = PreActResidualConvUnit(
            in_channels=self.in_channels, act_layer=act_layer, norm_layer=norm_layer
        )

    def forward(self, *inputs):
        x = inputs[0]
        if len(inputs) == 2:
            if x.shape != inputs[1].shape:
                res = resize(inputs[1], size=(x.shape[2], x.shape[3]), mode="bilinear", align_corners=False)
            else:
                res = inputs[1]
            x = x + self.res_conv_unit1(res)
        x = self.res_conv_unit2(x)
        x = resize(x, scale_factor=2, mode="bilinear", align_corners=self.align_corners)
        x = self.project(x)
        return x


class DPTHead(DepthBaseDecodeHead):
    """Vision Transformers for Dense Prediction.
    This head is implemented of `DPT <https://arxiv.org/abs/2103.13413>`_.
    Args:
        embed_dims (int): The embed dimension of the ViT backbone.
            Default: 768.
        post_process_channels (List): Out channels of post process conv
            layers. Default: [96, 192, 384, 768].
        readout_type (str): Type of readout operation. Default: 'ignore'.
        patch_size (int): The patch size. Default: 16.
        expand_channels (bool): Whether expand the channels in post process
            block. Default: False.
    """

    def __init__(
        self,
        embed_dims=768,
        post_process_channels=[96, 192, 384, 768],
        readout_type="ignore",
        patch_size=16,
        expand_channels=False,
        **kwargs,
    ):
        super(DPTHead, self).__init__(**kwargs)

        self.in_channels = self.in_channels
        self.expand_channels = expand_channels
        self.reassemble_blocks = ReassembleBlocks(embed_dims, post_process_channels, readout_type, patch_size)

        self.post_process_channels = [
            channel * math.pow(2, i) if expand_channels else channel for i, channel in enumerate(post_process_channels)
        ]
        self.convs = nn.ModuleList()
        for channel in self.post_process_channels:
            self.convs.append(ConvModule(channel, self.channels, kernel_size=3, padding=1, act_layer=None, bias=False))
        self.fusion_blocks = nn.ModuleList()
        for _ in range(len(self.convs)):
            self.fusion_blocks.append(FeatureFusionBlock(self.channels, self.act_layer, self.norm_layer))
        self.fusion_blocks[0].res_conv_unit1 = None
        self.project = ConvModule(self.channels, self.channels, kernel_size=3, padding=1, norm_layer=self.norm_layer)
        self.num_fusion_blocks = len(self.fusion_blocks)
        self.num_reassemble_blocks = len(self.reassemble_blocks.resize_layers)
        self.num_post_process_channels = len(self.post_process_channels)
        assert self.num_fusion_blocks == self.num_reassemble_blocks
        assert self.num_reassemble_blocks == self.num_post_process_channels
        self.conv_depth = HeadDepth(self.channels)

    def forward(self, inputs, img_metas):
        assert len(inputs) == self.num_reassemble_blocks
        x = [inp for inp in inputs]
        x = self.reassemble_blocks(x)
        x = [self.convs[i](feature) for i, feature in enumerate(x)]
        out = self.fusion_blocks[0](x[-1])
        for i in range(1, len(self.fusion_blocks)):
            out = self.fusion_blocks[i](out, x[-(i + 1)])
        out = self.project(out)
        out = self.depth_pred(out)
        return out