#!/usr/bin/env bash
set -euo pipefail

ROOT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
cd "$ROOT_DIR"

MODEL="$ROOT_DIR/weights/uav_drone_yolov8s_best.pt"
LOGO="$ROOT_DIR/ykz.png"
OUTPUT="$ROOT_DIR/outputs"

mkdir -p "$OUTPUT"

COMMON_ARGS=(
  --model "$MODEL"
  --logo "$LOGO"
  --classes 0
  --display-class-name drone
  --imgsz 1280
  --conf 0.12
  --display-conf 0.32
  --display-min-hits 4
  --det-iou 0.50
  --tracker motion
  --max-missed 45
  --max-match-gap 60
  --reconnect-buffer 45
  --min-hits 8
  --new-track-conf 0.34
  --smooth-alpha 0.75
  --track-nms-iou 0.45
  --track-nms-center 0.75
  --stitch-ids
  --stitch-buffer 45
  --stitch-min-gap 15
  --trail-length 180
)

python3 run_detect_track.py \
  --input "$ROOT_DIR/test_video/test_video_1.mp4" \
  --output "$OUTPUT" \
  --rescue-detections \
  --rescue-conf 0.45 \
  --rescue-max-missed 20 \
  "${COMMON_ARGS[@]}"

for video in "$ROOT_DIR"/test_video/test_video_{2,3,4}.mp4; do
  python3 run_detect_track.py \
    --input "$video" \
    --output "$OUTPUT" \
    "${COMMON_ARGS[@]}"
done

python3 - <<'PY'
from pathlib import Path
import csv
import cv2
import collections

root = Path.cwd()
out = root / "outputs"
for video in sorted(out.glob("*_tracked.mp4")):
    cap = cv2.VideoCapture(str(video))
    frames = int(cap.get(cv2.CAP_PROP_FRAME_COUNT)) if cap.isOpened() else 0
    fps = cap.get(cv2.CAP_PROP_FPS) if cap.isOpened() else 0
    cap.release()
    csv_path = out / video.name.replace("_tracked.mp4", "_tracks.csv")
    ids = set()
    rows = 0
    by_frame = collections.defaultdict(list)
    if csv_path.exists():
        with csv_path.open(newline="", encoding="utf-8") as f:
            for row in csv.DictReader(f):
                rows += 1
                ids.add(row["track_id"])
                by_frame[int(row["frame"])].append(row["track_id"])
    duplicate_same_id = 0
    for frame_ids in by_frame.values():
        duplicate_same_id += sum(1 for count in collections.Counter(frame_ids).values() if count > 1)
    print(f"{video.name}: frames={frames}, fps={fps:.3f}, rows={rows}, ids={len(ids)}, duplicate_same_id_frames={duplicate_same_id}")
PY