import sys
sys.path.insert(0, '/home/admin/dsh/dual_camera_system')
import cv2
from panorama_camera import ObjectDetector
from config.detection import DETECTION_CONFIG
import time

print('Loading detector...')
detector = ObjectDetector(
    model_path=DETECTION_CONFIG['model_path'],
    use_gpu=DETECTION_CONFIG['use_gpu'],
    model_type=DETECTION_CONFIG['model_type']
)
print('Detector loaded, type:', detector.model_type)

# Load test image
frame = cv2.imread('/home/admin/dsh/panorama_now.jpg')
if frame is None:
    print('Failed to load image')
    sys.exit(1)
print('Image shape:', frame.shape)

# Run detection
t0 = time.time()
dets = detector.detect(frame)
t1 = time.time()
print(f'Detection took {t1-t0:.3f}s, found {len(dets)} objects')

for d in dets:
    print(f'  {d.class_name}: conf={d.confidence:.3f}, bbox={d.bbox}, center={d.center}')

# Save marked image
marked = frame.copy()
for d in dets:
    x, y, w, h = d.bbox
    cv2.rectangle(marked, (x, y), (x+w, y+h), (0, 255, 0), 2)
    cv2.putText(marked, f'{d.class_name} {d.confidence:.2f}', (x, y-5),
                cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 255, 0), 2)
cv2.imwrite('/home/admin/dsh/detection_test.jpg', marked)
print('Saved marked image to /home/admin/dsh/detection_test.jpg')