import cv2,os,time
from models.experimental import attempt_load
from segutils.segmodel import SegModel,get_largest_contours
from utils.torch_utils import select_device
from utilsK.queRiver import get_labelnames,get_label_arrays,post_process_
from utils.datasets import letterbox
import numpy as np
import torch

def AI_process(im0s,model,segmodel,names,label_arraylist,rainbows,half=True,device=' cuda:0',conf_thres=0.25, iou_thres=0.45,allowedList=[0,1,2,3]):
    #输入参数
    #   im0s---原始图像列表
    #   model---检测模型，segmodel---分割模型
    #输出：两个元素（列表，字符）构成的元组，[im0s[0],im0,det_xywh,iframe],strout
    #   [im0s[0],im0,det_xywh,iframe]中，
    #   im0s[0]--原始图像，im0--AI处理后的图像,iframe--帧号/暂时不需用到。
    #   det_xywh--检测结果，是一个列表。
    #       其中每一个元素表示一个目标构成如：[float(cls_c), xc,yc,w,h, float(conf_c)]
    #       #cls_c--类别，如0,1,2,3;  xc,yc,w,h--中心点坐标及宽；conf_c--得分, 取值范围在0-1之间
    #   #strout---统计AI处理个环节的时间
    
     # Letterbox
    img = [letterbox(x, 640, auto=True, stride=32)[0] for x in im0s]
    # Stack
    img = np.stack(img, 0)
    # Convert
    img = img[:, :, :, ::-1].transpose(0, 3, 1, 2)  # BGR to RGB, to bsx3x416x416
    img = np.ascontiguousarray(img)  
    
    
    img = torch.from_numpy(img).to(device)
    img = img.half() if half else img.float()  # uint8 to fp16/32

    img /= 255.0  # 0 - 255 to 0.0 - 1.0

    seg_pred,segstr = segmodel.eval(im0s[0] )
    pred = model(img,augment=False)[0]
    datas = [[''], img, im0s, None,pred,seg_pred,10]        

    p_result,timeOut = post_process_(datas,conf_thres, iou_thres,names,label_arraylist,rainbows,10,object_config=allowedList)
    
    return p_result,timeOut
        
def main():
    ##预先设置的参数
    device_='1'  ##选定模型，可选 cpu,'0','1'
    
    ##以下参数目前不可改
    Detweights = "weights/yolov5/class5/best_5classes.pt"
    seg_nclass = 2 
    Segweights = "weights/BiSeNet/checkpoint.pth"
    conf_thres,iou_thres,classes= 0.25,0.45,5
    labelnames = "weights/yolov5/class5/labelnames.json"
    rainbows = [ [0,0,255],[0,255,0],[255,0,0],[255,0,255],[255,255,0],[255,129,0],[255,0,127],[127,255,0],[0,255,127],[0,127,255],[127,0,255],[255,127,255],[255,255,127],[127,255,255],[0,255,255],[255,127,255],[127,255,255],  [0,127,0],[0,0,127],[0,255,255]]
    allowedList=[0,1,2,3]
    
    
    ##加载模型，准备好显示字符
    device = select_device(device_)
    names=get_labelnames(labelnames)
    label_arraylist = get_label_arrays(names,rainbows,outfontsize=40,fontpath="conf/platech.ttf")
    half = device.type != 'cpu'  # half precision only supported on CUDA
    model = attempt_load(Detweights, map_location=device)  # load FP32 model
    if half: model.half()
    segmodel = SegModel(nclass=seg_nclass,weights=Segweights,device=device)
    
    
    
    ##图像测试
    #url='images/examples/20220624_响水河_12300_1621.jpg'
    impth = 'images/examples/'
    outpth = 'images/results/'
    folders = os.listdir(impth)
    for i in range(len(folders)):
        imgpath = os.path.join(impth, folders[i])
        im0s=[cv2.imread(imgpath)]
        time00 = time.time()
        p_result,timeOut = AI_process(im0s,model,segmodel,names,label_arraylist,rainbows,half,device,conf_thres, iou_thres,allowedList)
        time11 = time.time()
        image_array = p_result[1]
        cv2.imwrite(  os.path.join( outpth,folders[i] ) ,image_array )
        print('----process:%s'%(folders[i]), (time.time() - time11) * 1000)

    
    
    
        
if __name__=="__main__":
    main()