import torch
import emd_cuda


class EarthMoverDistanceFunction(torch.autograd.Function):
    @staticmethod
    def forward(ctx, xyz1, xyz2):
        xyz1 = xyz1.contiguous()
        xyz2 = xyz2.contiguous()
        assert xyz1.is_cuda and xyz2.is_cuda, "Only support cuda currently."
        match = emd_cuda.approxmatch_forward(xyz1, xyz2)
        cost = emd_cuda.matchcost_forward(xyz1, xyz2, match)
        ctx.save_for_backward(xyz1, xyz2, match)
        return cost

    @staticmethod
    def backward(ctx, grad_cost):
        xyz1, xyz2, match = ctx.saved_tensors
        grad_cost = grad_cost.contiguous()
        grad_xyz1, grad_xyz2 = emd_cuda.matchcost_backward(grad_cost, xyz1, xyz2, match)
        return grad_xyz1, grad_xyz2


def earth_mover_distance_raw(xyz1, xyz2, transpose=True):
    """Earth Mover Distance (Approx)

    Args:
        xyz1 (torch.Tensor): (b, 3, n1)
        xyz2 (torch.Tensor): (b, 3, n1)
        transpose (bool): whether to transpose inputs as it might be BCN format.
            Extensions only support BNC format.

    Returns:
        cost (torch.Tensor): (b)

    """
    if xyz1.dim() == 2:
        xyz1 = xyz1.unsqueeze(0)
    if xyz2.dim() == 2:
        xyz2 = xyz2.unsqueeze(0)
    if transpose:
        xyz1 = xyz1.transpose(1, 2)
        xyz2 = xyz2.transpose(1, 2)
    cost = EarthMoverDistanceFunction.apply(xyz1, xyz2)
    return cost

