app/dependencies/yolo_classification_old.py

import math
import os
import shutil
from datetime import datetime

import cv2
import matplotlib.pyplot as plt
import numpy as np
from fastapi import UploadFile
from PIL import Image
from ultralytics import YOLO

car_detection_model = YOLO(r"car_detection.pt")
part_detection_model = YOLO(r"car_part.pt")


MIN_RATIO = {
    # Front
    "Front-bumper": 0.015,
    "Grille": 0.010,
    "Headlight": 0.005,  # small but important
    "Hood": 0.020,
    "License-plate": 0.002,  # very small
    # Side
    "Front-door": 0.030,
    "Back-door": 0.030,
    "Front-wheel": 0.010,
    "Back-wheel": 0.010,
    "Mirror": 0.001,  # small but always relevant
    "Quarter-panel": 0.010,
    "Rocker-panel": 0.010,
    "Roof": 0.020,
    # Windows
    "Windshield": 0.020,
    "Front-window": 0.015,
    "Back-window": 0.015,
    "Back-windshield": 0.020,
    # Rear
    "Back-bumper": 0.015,
    "Tail-light": 0.005,  # small but important
    "Trunk": 0.020,
    # Catch-all fallback
    "default": 0.01,
}

# Load the models


# Define viewing angle rules for scoring (using only the available classes)
viewing_angle_rules = {
    # "Front": {
    #     "must_be_visible": ["Front-bumper", "Grille", "Headlight", "Windshield", "License-plate", "Mirror", "Hood"],
    #     "optional_parts": ["Front-wheel", "Front-window", "Fender", "Quarter-panel", "Rocker-panel"],
    #     "conflict_parts": ["Tail-light", "Back-bumper", "Back-window", "Back-windshield", "Back-wheel", "Trunk"]
    # },
    "Front Right": {
        "must_be_visible": [
            "Front-bumper",
            "Grille",
            "Headlight",
            "Front-wheel",
            "Windshield",
            "Front-door",
            "Front-window",
            "Fender",
            "Mirror",
            "Rocker-panel",
        ],
        "optional_parts": [
            "Hood",
            "Roof",
            "Back-door",
            "Back-wheel",
            "Back-window",
            "Quarter-panel",
        ],
        "conflict_parts": ["Tail-light", "Back-bumper", "Back-windshield", "Trunk"],
    },
    "Right": {
        "must_be_visible": [
            "Front-door",
            "Back-door",
            "Mirror",
            "Quarter-panel",
            "Fender",
            "Rocker-panel",
            "Front-wheel",
            "Back-wheel",
            "Back-window",
            "Front-window",
        ],
        "optional_parts": [
            "Roof",
            "Front-bumper",
            "Back-bumper",
            "Headlight",
            "Tail-light",
            "Hood",
            "Back-windshield",
        ],
        "conflict_parts": ["Grille", "Trunk", "Windshield", "License-plate"],
    },
    "Rear Right": {
        "must_be_visible": [
            "Back-bumper",
            "Tail-light",
            "Back-wheel",
            "Back-door",
            "Back-window",
            "Quarter-panel",
            "Back-windshield",
            "Rocker-panel",
            "Trunk",
        ],
        "optional_parts": [
            "Roof",
            "License-plate",
            "Front-wheel",
            "Front-door",
            "Fender",
            "Mirror",
            "Front-window",
        ],
        "conflict_parts": ["Front-bumper", "Headlight", "Grille", "Windshield", "Hood"],
    },
    # "Rear": {
    #     "must_be_visible": ["Back-bumper", "Tail-light", "Trunk", "Back-windshield", "License-plate", "Roof"],
    #     "optional_parts": ["Back-window", "Rocker-panel", "Mirror", "Back-wheel", "Back-door"],
    #     "conflict_parts": ["Front-bumper", "Headlight", "Grille", "Front-wheel", "Front-door", "Windshield", "Hood", "Fender", "Quarter-panel", "Front-window"]
    # },
    "Rear Left": {
        "must_be_visible": [
            "Back-bumper",
            "Tail-light",
            "Back-wheel",
            "Back-door",
            "Back-window",
            "Quarter-panel",
            "Back-windshield",
            "Rocker-panel",
            "Trunk",
        ],
        "optional_parts": [
            "Roof",
            "License-plate",
            "Front-wheel",
            "Front-door",
            "Fender",
            "Mirror",
            "Front-window",
        ],
        "conflict_parts": ["Front-bumper", "Headlight", "Grille", "Windshield", "Hood"],
    },
    "Left": {
        "must_be_visible": [
            "Front-door",
            "Back-door",
            "Mirror",
            "Quarter-panel",
            "Fender",
            "Rocker-panel",
            "Front-wheel",
            "Back-wheel",
            "Back-window",
            "Front-window",
        ],
        "optional_parts": [
            "Roof",
            "Front-bumper",
            "Back-bumper",
            "Headlight",
            "Tail-light",
            "Hood",
            "Back-windshield",
        ],
        "conflict_parts": ["Grille", "Trunk", "Windshield", "License-plate"],
    },
    "Front Left": {
        "must_be_visible": [
            "Front-bumper",
            "Grille",
            "Headlight",
            "Front-wheel",
            "Windshield",
            "Front-door",
            "Front-window",
            "Fender",
            "Mirror",
            "Rocker-panel",
        ],
        "optional_parts": [
            "Hood",
            "Roof",
            "Back-door",
            "Back-wheel",
            "Back-window",
            "Quarter-panel",
        ],
        "conflict_parts": ["Tail-light", "Back-bumper", "Back-windshield", "Trunk"],
    },
}


def compute_direction_mirror_refined(detected, fixed_label="Mirror"):
    """
    Compute vehicle side direction using the Mirror as the reference.

    Group A: ["Windshield", "Hood", "Headlight", "Front-bumper", "Front-wheel"]
      * If these parts are to the right of the Mirror (positive x-offset), they vote "Right side view".
      * If to the left, they vote "Left side view".
    Group B: ["Back-wheel", "Back-door", "Quarter-panel", "Rocker-panel", "Back-window"]
      * If these parts are to the left of the Mirror (negative x-offset), they vote "Right side view".
      * If to the right, they vote "Left side view".
    """
    if fixed_label not in detected:
        # print(f"Reference label '{fixed_label}' not detected.")
        return "Unknown", None, None

    mirror_box = detected[fixed_label][0]
    mirror_center = (
        (mirror_box[0] + mirror_box[2]) / 2,
        (mirror_box[1] + mirror_box[3]) / 2,
    )

    groupA = ["Windshield", "Hood", "Headlight", "Front-bumper", "Front-wheel"]
    groupB = ["Back-wheel", "Back-door", "Quarter-panel", "Rocker-panel", "Back-window"]

    offsets_A = []
    offsets_B = []
    radial_lines = []

    for part in groupA:
        if part in detected:
            for box in detected[part]:
                part_center = ((box[0] + box[2]) / 2, (box[1] + box[3]) / 2)
                offset = part_center[0] - mirror_center[0]
                offsets_A.append(offset)
                radial_lines.append((mirror_center, part_center))
                # print(f"{part} center: {part_center}, x-offset from Mirror: {offset}")

    for part in groupB:
        if part in detected:
            for box in detected[part]:
                part_center = ((box[0] + box[2]) / 2, (box[1] + box[3]) / 2)
                offset = part_center[0] - mirror_center[0]
                offsets_B.append(offset)
                radial_lines.append((mirror_center, part_center))
                # print(f"{part} center: {part_center}, x-offset from Mirror: {offset}")

    voteA = None
    voteB = None

    if offsets_A:
        avg_A = sum(offsets_A) / len(offsets_A)
        voteA = "Right" if avg_A > 0 else "Left"

    if offsets_B:
        avg_B = sum(offsets_B) / len(offsets_B)
        voteB = "Right" if avg_B < 0 else "Left"

    # NEW LOGIC
    if voteA and voteB:
        if voteA == voteB:
            direction = f"{voteA} side view"
            reason = f"Both groups agreed on {voteA} side view."
        else:
            # Conflict → prioritize group with more datapoints
            if len(offsets_A) > len(offsets_B):
                direction = f"{voteA} side view"
                reason = f"Conflict: Group A ({len(offsets_A)}) vs Group B ({len(offsets_B)}). Prioritizing Group A due to more datapoints."
            elif len(offsets_B) > len(offsets_A):
                direction = f"{voteB} side view"
                reason = f"Conflict: Group A ({len(offsets_A)}) vs Group B ({len(offsets_B)}). Prioritizing Group B due to more datapoints."
            else:
                # Equal datapoints → default to Group B (your old rule)
                direction = f"{voteB} side view"
                reason = f"Equal datapoints. Falling back to Group B's vote ({voteB})."
    elif voteA:
        # Only Group A has datapoints
        direction = f"{voteA} side view"
        reason = f"Only Group A datapoints ({len(offsets_A)}). Voting {voteA}."
    elif voteB:
        # Only Group B has datapoints
        direction = f"{voteB} side view"
        reason = f"Only Group B datapoints ({len(offsets_B)}). Voting {voteB}."
    else:
        direction = "Unknown"
        reason = "No sufficient data."

    # --- CONSENSUS FLAG LOGIC ---
    if voteA and voteB:
        consensus = voteA == voteB  # True if same, False if conflict
    elif voteA or voteB:
        consensus = True  # only one group voted
    else:
        consensus = None  # no votes at al

    # print(f"[Mirror] Final guess: {direction}. Reason: {reason}")
    return direction, radial_lines, consensus


def compute_direction_front_wheel_refined(detected, fixed_label="Front-wheel"):
    """
    Compute vehicle side direction using the Front Wheel as the reference.

    Group A: ["Front-bumper", "Headlight", "Fender", "Grille"]
      * If these parts are to the left of the Front Wheel (negative x-offset), they vote "Left side view".
      * If to the right, they vote "Right side view".

    Group B: ["Front-door", "Back-door", "Rocker-panel", "Front-window", "Back-window", "Back-wheel", "Quarter-panel", "Mirror", "Windshield"]
      * If these parts are to the right of the Front Wheel (positive x-offset), they vote "Left side view".
      * If to the left, they vote "Right side view".
    """
    if fixed_label not in detected:
        # print(f"Reference label '{fixed_label}' not detected.")
        return "Unknown", None, None

    front_wheel_box = detected[fixed_label][0]
    front_wheel_center = (
        (front_wheel_box[0] + front_wheel_box[2]) / 2,
        (front_wheel_box[1] + front_wheel_box[3]) / 2,
    )

    groupA = ["Front-bumper", "Headlight", "Fender", "Grille"]
    groupB = [
        "Front-door",
        "Back-door",
        "Rocker-panel",
        "Front-window",
        "Back-window",
        "Back-wheel",
        "Quarter-panel",
        "Mirror",
        "Windshield",
    ]

    offsets_A = []
    offsets_B = []
    radial_lines = []

    for part in groupA:
        if part in detected:
            for box in detected[part]:
                part_center = ((box[0] + box[2]) / 2, (box[1] + box[3]) / 2)
                offset = part_center[0] - front_wheel_center[0]
                offsets_A.append(offset)
                radial_lines.append((front_wheel_center, part_center))
                # print(f"{part} center: {part_center}, x-offset from Front Wheel: {offset}")

    for part in groupB:
        if part in detected:
            for box in detected[part]:
                part_center = ((box[0] + box[2]) / 2, (box[1] + box[3]) / 2)
                offset = part_center[0] - front_wheel_center[0]
                offsets_B.append(offset)
                radial_lines.append((front_wheel_center, part_center))
                # print(f"{part} center: {part_center}, x-offset from Front Wheel: {offset}")

    voteA = None
    voteB = None

    if offsets_A:
        avg_A = sum(offsets_A) / len(offsets_A)
        voteA = "Right" if avg_A > 0 else "Left"

    if offsets_B:
        avg_B = sum(offsets_B) / len(offsets_B)
        voteB = "Right" if avg_B < 0 else "Left"

    # NEW LOGIC
    if voteA and voteB:
        if voteA == voteB:
            direction = f"{voteA} side view"
            reason = f"Both groups agreed on {voteA} side view."
        else:
            # Conflict → prioritize group with more datapoints
            if len(offsets_A) > len(offsets_B):
                direction = f"{voteA} side view"
                reason = f"Conflict: Group A ({len(offsets_A)}) vs Group B ({len(offsets_B)}). Prioritizing Group A due to more datapoints."
            elif len(offsets_B) > len(offsets_A):
                direction = f"{voteB} side view"
                reason = f"Conflict: Group A ({len(offsets_A)}) vs Group B ({len(offsets_B)}). Prioritizing Group B due to more datapoints."
            else:
                # Equal datapoints → default to Group B (your old rule)
                direction = f"{voteB} side view"
                reason = f"Equal datapoints. Falling back to Group B's vote ({voteB})."
    elif voteA:
        # Only Group A has datapoints
        direction = f"{voteA} side view"
        reason = f"Only Group A datapoints ({len(offsets_A)}). Voting {voteA}."
    elif voteB:
        # Only Group B has datapoints
        direction = f"{voteB} side view"
        reason = f"Only Group B datapoints ({len(offsets_B)}). Voting {voteB}."
    else:
        direction = "Unknown"
        reason = "No sufficient data."

    # --- CONSENSUS FLAG LOGIC ---
    if voteA and voteB:
        consensus = voteA == voteB  # True if same, False if conflict
    elif voteA or voteB:
        consensus = True  # only one group voted
    else:
        consensus = None  # no votes at al

    # print(f"[Front-wheel] Final guess: {direction}. Reason: {reason}")
    return direction, radial_lines, consensus


def compute_direction_back_wheel_refined(detected, fixed_label="Back-wheel"):
    """
    Compute vehicle side direction using the Back Wheel as the reference.

    Group A: ["Back-bumper", "Tail-light", "Quarter-panel", "Trunk"]
      * If these parts are to the left of the Back Wheel (negative x-offset), they vote "Right side view".
      * If to the right, they vote "Left side view".

    Group B: ["Front-wheel", "Rocker-panel", "Back-door", "Front-door", "Back-window", "Front-window", "Mirror", "Fender"]
      * If these parts are to the left of the Back Wheel (negative x-offset), they vote "Left side view".
      * If to the right, they vote "Right side view".
    """
    if fixed_label not in detected:
        # print(f"Reference label '{fixed_label}' not detected.")
        return "Unknown", None, None

    back_wheel_box = detected[fixed_label][0]
    back_wheel_center = (
        (back_wheel_box[0] + back_wheel_box[2]) / 2,
        (back_wheel_box[1] + back_wheel_box[3]) / 2,
    )

    groupA = ["Back-bumper", "Tail-light", "Quarter-panel", "Trunk"]
    groupB = [
        "Front-wheel",
        "Rocker-panel",
        "Back-door",
        "Front-door",
        "Back-window",
        "Front-window",
        "Mirror",
        "Fender",
    ]

    offsets_A = []
    offsets_B = []
    radial_lines = []

    for part in groupA:
        if part in detected:
            for box in detected[part]:
                part_center = ((box[0] + box[2]) / 2, (box[1] + box[3]) / 2)
                offset = part_center[0] - back_wheel_center[0]
                offsets_A.append(offset)
                radial_lines.append((back_wheel_center, part_center))

    for part in groupB:
        if part in detected:
            for box in detected[part]:
                part_center = ((box[0] + box[2]) / 2, (box[1] + box[3]) / 2)
                offset = part_center[0] - back_wheel_center[0]
                offsets_B.append(offset)
                radial_lines.append((back_wheel_center, part_center))

    voteA = None
    voteB = None

    if offsets_A:
        avg_A = sum(offsets_A) / len(offsets_A)
        # For Group A: parts to the left (negative offset) vote "Right side view", else "Left side view"
        voteA = "Right" if avg_A < 0 else "Left"
    if offsets_B:
        avg_B = sum(offsets_B) / len(offsets_B)
        voteB = "Left" if avg_B < 0 else "Right"

    # NEW LOGIC
    if voteA and voteB:
        if voteA == voteB:
            direction = f"{voteA} side view"
            reason = f"Both groups agreed on {voteA} side view."
        else:
            # Conflict → prioritize group with more datapoints
            if len(offsets_A) > len(offsets_B):
                direction = f"{voteA} side view"
                reason = f"Conflict: Group A ({len(offsets_A)}) vs Group B ({len(offsets_B)}). Prioritizing Group A due to more datapoints."
            elif len(offsets_B) > len(offsets_A):
                direction = f"{voteB} side view"
                reason = f"Conflict: Group A ({len(offsets_A)}) vs Group B ({len(offsets_B)}). Prioritizing Group B due to more datapoints."
            else:
                # Equal datapoints → default to Group B (your old rule)
                direction = f"{voteB} side view"
                reason = f"Equal datapoints. Falling back to Group B's vote ({voteB})."
    elif voteA:
        # Only Group A has datapoints
        direction = f"{voteA} side view"
        reason = f"Only Group A datapoints ({len(offsets_A)}). Voting {voteA}."
    elif voteB:
        # Only Group B has datapoints
        direction = f"{voteB} side view"
        reason = f"Only Group B datapoints ({len(offsets_B)}). Voting {voteB}."
    else:
        direction = "Unknown"
        reason = "No sufficient data."

    # --- CONSENSUS FLAG LOGIC ---
    if voteA and voteB:
        consensus = voteA == voteB  # True if same, False if conflict
    elif voteA or voteB:
        consensus = True  # only one group voted
    else:
        consensus = None  # no votes at al

    # print(f"[Back-wheel] Final guess: {direction}. Reason: {reason}")
    return direction, radial_lines, consensus


def compute_direction_headlight_refined(detected, fixed_label="Headlight"):
    """
    Compute vehicle side direction using the Headlight as the reference.
    'Fender', 'Windshield', 'Headlight', 'Grille', 'Front-wheel', 'Hood'
    Group A: ["Front-wheel", "Fender", "Mirror", "Rocker-panel", "Front-door", "Front-window"]
      * If these parts are to the left of the Headlight (negative x-offset), they vote "Right side view".
      * If to the right, they vote "Left side view".

    Group B: ["Front-bumper", "Grille", "Hood", "Windshield"]
      * If these parts are to the right of the Headlight (positive x-offset), they vote "Right side view".
      * If to the left, they vote "Left side view".
    """
    if fixed_label not in detected:
        # print(f"Reference label '{fixed_label}' not detected.")
        return "Unknown", None, None

    headlight_box = detected[fixed_label][0]
    headlight_center = (
        (headlight_box[0] + headlight_box[2]) / 2,
        (headlight_box[1] + headlight_box[3]) / 2,
    )

    groupA = [
        "Front-wheel",
        "Fender",
        "Mirror",
        "Rocker-panel",
        "Front-door",
        "Front-window",
    ]
    groupB = ["Front-bumper", "Grille", "Hood", "Windshield"]

    offsets_A = []
    offsets_B = []
    radial_lines = []

    for part in groupA:
        if part in detected:
            for box in detected[part]:
                part_center = ((box[0] + box[2]) / 2, (box[1] + box[3]) / 2)
                offset = part_center[0] - headlight_center[0]
                offsets_A.append(offset)
                radial_lines.append((headlight_center, part_center))
                # print(f"{part} center: {part_center}, x-offset from Headlight: {offset}")

    for part in groupB:
        if part in detected:
            for box in detected[part]:
                part_center = ((box[0] + box[2]) / 2, (box[1] + box[3]) / 2)
                offset = part_center[0] - headlight_center[0]
                offsets_B.append(offset)
                radial_lines.append((headlight_center, part_center))
                # print(f"{part} center: {part_center}, x-offset from Headlight: {offset}")

    voteA = None
    voteB = None

    if offsets_A:
        avg_A = sum(offsets_A) / len(offsets_A)
        voteA = "Right" if avg_A < 0 else "Left"
    if offsets_B:
        avg_B = sum(offsets_B) / len(offsets_B)
        voteB = "Right" if avg_B > 0 else "Left"

    # NEW LOGIC
    if voteA and voteB:
        if voteA == voteB:
            direction = f"{voteA} side view"
            reason = f"Both groups agreed on {voteA} side view."
        else:
            # Conflict → prioritize group with more datapoints
            if len(offsets_A) > len(offsets_B):
                direction = f"{voteA} side view"
                reason = f"Conflict: Group A ({len(offsets_A)}) vs Group B ({len(offsets_B)}). Prioritizing Group A due to more datapoints."
            elif len(offsets_B) > len(offsets_A):
                direction = f"{voteB} side view"
                reason = f"Conflict: Group A ({len(offsets_A)}) vs Group B ({len(offsets_B)}). Prioritizing Group B due to more datapoints."
            else:
                # Equal datapoints → default to Group B (your old rule)
                direction = f"{voteB} side view"
                reason = f"Equal datapoints. Falling back to Group B's vote ({voteB})."
    elif voteA:
        # Only Group A has datapoints
        direction = f"{voteA} side view"
        reason = f"Only Group A datapoints ({len(offsets_A)}). Voting {voteA}."
    elif voteB:
        # Only Group B has datapoints
        direction = f"{voteB} side view"
        reason = f"Only Group B datapoints ({len(offsets_B)}). Voting {voteB}."
    else:
        direction = "Unknown"
        reason = "No sufficient data."

    # --- CONSENSUS FLAG LOGIC ---
    if voteA and voteB:
        consensus = voteA == voteB  # True if same, False if conflict
    elif voteA or voteB:
        consensus = True  # only one group voted
    else:
        consensus = None  # no votes at al

    # print(f"[Headlight] Final guess: {direction}. Reason: {reason}")
    return direction, radial_lines, consensus


def compute_direction_tail_refined(detected, fixed_label="Tail-light"):
    """
    Compute vehicle side direction using the Tail-light as the reference.

    Group A: ["Trunk", "Back-bumper", "Back-windshield"]
      * If these parts are to the left (negative x-offset) of the Tail-light, vote "Right side view";
        if to the right, vote "Left side view".
    Group B: ["Back-wheel", "Quarter-panel", "Back-door", "Back-window"]
      * If these parts are to the right (positive x-offset) of the Tail-light, vote "Right side view";
        if to the left, vote "Left side view".
    """
    if fixed_label not in detected:
        # print(f"Reference label '{fixed_label}' not detected.")
        return "Unknown", None, None

    tail_box = detected[fixed_label][0]
    tail_center = ((tail_box[0] + tail_box[2]) / 2, (tail_box[1] + tail_box[3]) / 2)

    groupA = ["Trunk", "Back-bumper", "Back-windshield"]
    groupB = ["Back-wheel", "Quarter-panel", "Back-door", "Back-window"]

    offsets_A = []
    offsets_B = []
    radial_lines = []

    for part in groupA:
        if part in detected:
            for box in detected[part]:
                part_center = ((box[0] + box[2]) / 2, (box[1] + box[3]) / 2)
                offset = part_center[0] - tail_center[0]
                offsets_A.append(offset)
                radial_lines.append((tail_center, part_center))
                # print(f"{part} center: {part_center}, x-offset from Tail-light: {offset}")

    for part in groupB:
        if part in detected:
            for box in detected[part]:
                part_center = ((box[0] + box[2]) / 2, (box[1] + box[3]) / 2)
                offset = part_center[0] - tail_center[0]
                offsets_B.append(offset)
                radial_lines.append((tail_center, part_center))
                # print(f"{part} center: {part_center}, x-offset from Tail-light: {offset}")

    voteA = None
    voteB = None
    if offsets_A:
        avg_A = sum(offsets_A) / len(offsets_A)
        # print(f"Average Group A offset (Tail-light): {avg_A}")
        voteA = "Right" if avg_A < 0 else "Left"
    if offsets_B:
        avg_B = sum(offsets_B) / len(offsets_B)
        # print(f"Average Group B offset (Tail-light): {avg_B}")
        voteB = "Right" if avg_B > 0 else "Left"

    # NEW LOGIC
    if voteA and voteB:
        if voteA == voteB:
            direction = f"{voteA} side view"
            reason = f"Both groups agreed on {voteA} side view."
        else:
            # Conflict → prioritize group with more datapoints
            if len(offsets_A) > len(offsets_B):
                direction = f"{voteA} side view"
                reason = f"Conflict: Group A ({len(offsets_A)}) vs Group B ({len(offsets_B)}). Prioritizing Group A due to more datapoints."
            elif len(offsets_B) > len(offsets_A):
                direction = f"{voteB} side view"
                reason = f"Conflict: Group A ({len(offsets_A)}) vs Group B ({len(offsets_B)}). Prioritizing Group B due to more datapoints."
            else:
                # Equal datapoints → default to Group B (your old rule)
                direction = f"{voteB} side view"
                reason = f"Equal datapoints. Falling back to Group B's vote ({voteB})."
    elif voteA:
        # Only Group A has datapoints
        direction = f"{voteA} side view"
        reason = f"Only Group A datapoints ({len(offsets_A)}). Voting {voteA}."
    elif voteB:
        # Only Group B has datapoints
        direction = f"{voteB} side view"
        reason = f"Only Group B datapoints ({len(offsets_B)}). Voting {voteB}."
    else:
        direction = "Unknown"
        reason = "No sufficient data."

    # --- CONSENSUS FLAG LOGIC ---
    if voteA and voteB:
        consensus = voteA == voteB  # True if same, False if conflict
    elif voteA or voteB:
        consensus = True  # only one group voted
    else:
        consensus = None  # no votes at al

    # print(f"[Tail-light] Final guess: {direction}. Reason: {reason}")
    return direction, radial_lines, consensus


def determine_vehicle_directions(detected):
    directions = {}
    radial_lines_all = {}
    consensus_flags = {}

    # Mirror-based direction
    mirror_direction, mirror_radials, mirror_consensus = (
        compute_direction_mirror_refined(detected, fixed_label="Mirror")
    )
    directions["Mirror"] = mirror_direction
    radial_lines_all["Mirror"] = mirror_radials
    consensus_flags["Mirror"] = mirror_consensus

    # Tail-light-based direction
    tail_direction, tail_radials, tail_consensus = compute_direction_tail_refined(
        detected, fixed_label="Tail-light"
    )
    directions["Tail-light"] = tail_direction
    radial_lines_all["Tail-light"] = tail_radials
    consensus_flags["Tail-light"] = tail_consensus

    # Front-wheel-based direction
    front_wheel_direction, front_wheel_radials, front_wheel_consensus = (
        compute_direction_front_wheel_refined(detected, fixed_label="Front-wheel")
    )
    directions["Front-wheel"] = front_wheel_direction
    radial_lines_all["Front-wheel"] = front_wheel_radials
    consensus_flags["Front-wheel"] = front_wheel_consensus

    # Back-wheel-based direction
    back_wheel_direction, back_wheel_radials, back_wheel_consensus = (
        compute_direction_back_wheel_refined(detected, fixed_label="Back-wheel")
    )
    directions["Back-wheel"] = back_wheel_direction
    radial_lines_all["Back-wheel"] = back_wheel_radials
    consensus_flags["Back-wheel"] = back_wheel_consensus

    # Headlight-based direction
    headlight_direction, headlight_radials, headlight_consensus = (
        compute_direction_headlight_refined(detected, fixed_label="Headlight")
    )
    directions["Headlight"] = headlight_direction
    radial_lines_all["Headlight"] = headlight_radials
    consensus_flags["Headlight"] = headlight_consensus

    return directions, radial_lines_all, consensus_flags


def find_best_combination(pil_image):
    """
    Returns:
      directions: {"Selected": "<angle>"} or {"Selected":"Not Applicable"/"Unknown"}
      detected_parts: set(...)
      need_review: bool
      top_2_predictions: [top1_key_lower, top2_key_lower_or_False]
      score_map: dict mapping angle_key_lower -> stage2_score (for all angles)
    """
    need_review = False
    image_array = cv2.cvtColor(np.array(pil_image), cv2.COLOR_RGB2BGR)
    car_results = car_detection_model(image_array)

    # --- CAR DETECTION VISUALIZATION ---
    car_detections_to_plot = []
    main_car_bbox = None
    best_area = 0
    num = 0
    for result in car_results:
        for box in result.boxes.data:
            num += 1
            conf = float(box[4])
            if conf < 0.50:  # confidence threshold for cars
                continue
            x1, y1, x2, y2 = box[0], box[1], box[2], box[3]
            car_detections_to_plot.append((x1, y1, x2, y2, "Car", conf))
            area = (x2 - x1) * (y2 - y1)
            if area > best_area:
                best_area = area
                main_car_bbox = (x1, y1, x2, y2)

    # print("Number of car boxes:", num)
    # plot_detections(image_array, car_detections_to_plot, title="Car Detections")

    if main_car_bbox is None:
        # keep shape consistent
        return pil_image, {}, {}

    # --- PART DETECTION VISUALIZATION ---
    results = part_detection_model(image_array)
    part_detections_to_plot = []
    detected = {}

    car_area = (main_car_bbox[2] - main_car_bbox[0]) * (
        main_car_bbox[3] - main_car_bbox[1]
    )

    ignored_parts = []
    kept_parts = []

    for result in results:
        for box in result.boxes.data:
            conf = float(box[4])
            if conf < 0.65:
                ignored_parts.append((result.names[int(box[5])], "low_conf", conf))
                continue

            x1, y1, x2, y2, conf, class_id = box
            label = result.names[int(class_id)]

            width = max(0, x2 - x1)
            height = max(0, y2 - y1)
            area = width * height
            part_ratio = area / car_area

            # lookup per-part min ratio
            min_ratio = MIN_RATIO.get(label, MIN_RATIO["default"])

            # filter: too small relative to car
            if part_ratio < min_ratio and conf < 0.8:
                ignored_parts.append(
                    (label, "too_small", float(part_ratio), float(conf))
                )
                continue

            # filter: truncated parts touching bbox edges
            margin = 5
            if (
                x1 <= main_car_bbox[0] + margin
                or x2 >= main_car_bbox[2] - margin
                or y1 <= main_car_bbox[1] + margin
                or y2 >= main_car_bbox[3] - margin
            ):
                if part_ratio < min_ratio * 3:  # stricter rule for edge-cut parts
                    ignored_parts.append(
                        (label, "truncated_edge", float(part_ratio), float(conf))
                    )
                    continue

            # keep part
            detected.setdefault(label, []).append((x1, y1, x2, y2))
            part_detections_to_plot.append((x1, y1, x2, y2, label, conf))
            kept_parts.append((label, float(part_ratio), float(conf)))

    # plot_detections(image_array, part_detections_to_plot, title="Part Detections")

    detections = {
        "car_detection": {
            "image_array": image_array,
            "detections_to_plot": car_detections_to_plot,
            "title": "Car Detections",
        },
        "part_detection": {
            "image_array": image_array,
            "detections_to_plot": part_detections_to_plot,
            "title": "Part Detections",
        },
    }

    return pil_image, detected, detections


def determine_viewing_angle(detected):
    """
    Returns:
      directions: {"Selected": "<angle>"} or {"Selected":"Not Applicable"/"Unknown"}
      detected_parts: set(...)
      need_review: bool
      top_2_predictions: [top1_key_lower, top2_key_lower_or_False]
      score_map: dict mapping angle_key_lower -> stage2_score (for all angles)
    """
    need_review = False

    # plot_detections(image_array, part_detections_to_plot, title="Part Detections")
    detected_parts = set(detected.keys())

    # print(f"[Summary] Detected Parts (inside main car): {detected_parts}")

    # Compute scores for each angle
    angle_scores = []
    critical_parts = {
        # "Front": {"Front-bumper", "Headlight", "Windshield", "Grille"},
        "Front Right": {"Front-bumper", "Headlight", "Front-door"},
        "Right": {"Front-door", "Back-door", "Front-wheel", "Back-wheel"},
        "Rear Right": {"Tail-light", "Trunk", "Back-windshield", "Back-door"},
        # "Rear": {"Tail-light", "Trunk", "Back-windshield", "Back-bumper"},
        "Rear Left": {"Tail-light", "Trunk", "Back-windshield", "Back-door"},
        "Left": {"Front-door", "Back-door", "Front-wheel", "Back-wheel"},
        "Front Left": {"Front-bumper", "Headlight", "Front-door"},
    }

    for angle, rules in viewing_angle_rules.items():
        if angle in critical_parts:
            total_critical = len(critical_parts[angle])
            detected_critical = len(critical_parts[angle].intersection(detected_parts))
            critical_ratio = detected_critical / total_critical
        else:
            critical_ratio = None

        ess_score = sum(
            3 for part in rules["must_be_visible"] if part in detected_parts
        )
        opt_score = sum(1 for part in rules["optional_parts"] if part in detected_parts)
        conf_pen = sum(-3 for part in rules["conflict_parts"] if part in detected_parts)
        raw_score = ess_score + opt_score + conf_pen
        total_defined = (
            len(rules["must_be_visible"])
            + len(rules["optional_parts"])
            + len(rules["conflict_parts"])
        )
        stage2_score = raw_score / total_defined if total_defined > 0 else 0.0
        # print(f"[Summary] Angle: {angle}, Stage2 Score: {stage2_score:.2f}")
        angle_scores.append((angle, critical_ratio, stage2_score))

    # Build score_map for all angles (lowercase keys)
    score_map = {angle.lower(): score for (angle, _, score) in angle_scores}

    # ---- Stage-1 selection: ALWAYS pick top1; pick top2 only if strictly lower and >= threshold ----
    # eps = 1e-6
    # view_diff_thresold = 0.20
    # critical_thresold =  0.75
    stage_2_thresold = 0.80
    # print(angle_scores)
    sorted_all = sorted(angle_scores, key=lambda x: x[2], reverse=True)
    top_2_predictions = ["", ""]  # [top1_key_lower, top2_key_lower_or_False]
    # print("sorted",sorted_all)
    if sorted_all:
        top1 = sorted_all[0]
        top1_key = top1[0].lower()
        top1_score = top1[2]
        top1_cric_score = top1[1]
        top_2_predictions[0] = top1_key

        # find second candidate: strictly lower than top1 and >= threshold
        second_key = ""
        for angle, crit, score in sorted_all[1:]:
            # print(angle,score)
            if score < top1_score and score >= stage_2_thresold:
                # print(angle)
                second_key = angle.lower()
                break
        top_2_predictions[1] = second_key

    # print(f"[Summary] Stage1 Top1: {top_2_predictions[0]}, Stage1 Top2 (or False): {top_2_predictions[1]}")

    # Existing selection logic to pick the best_angle (unchanged)
    angles_above_60 = [
        item for item in angle_scores if item[1] is not None and item[1] >= 0.60
    ]
    if len(angles_above_60) >= 3:
        need_review = True
        best_angle, best_critical, best_stage2 = max(angle_scores, key=lambda x: x[2])
    else:
        candidates = [
            item for item in angle_scores if item[1] is not None and item[1] >= 0.9
        ]
        if candidates:
            best_angle, best_critical, best_stage2 = max(candidates, key=lambda x: x[1])
        else:
            best_angle, best_critical, best_stage2 = max(
                angle_scores, key=lambda x: x[2]
            )

    # print(f"[Summary] Final Viewing Angle (from scoring): {best_angle}")

    # Stage-2 direction (geometric)
    if best_angle in ["Front", "Rear"]:
        directions = {"Selected": best_angle}
    else:
        directions_all, radial_lines_all, consensus_all = determine_vehicle_directions(
            detected
        )

        # --- NEW CONSENSUS PRIORITIZATION ---
        # 1. Check if any anchor has consensus=True
        consensus_votes = {
            ref: directions_all[ref]
            for ref, flag in consensus_all.items()
            if flag is True and directions_all[ref] != "Unknown"
        }

        if consensus_votes:
            # Pick the first consensus-true vote (or implement a tie-breaker if needed)
            chosen_ref, chosen_dir = next(iter(consensus_votes.items()))
            # print(f"[Consensus Override] Using {chosen_ref} vote because consensus=True → {chosen_dir}")
            majority_side = chosen_dir.split()[0]
        else:
            # --- FALL BACK TO ORIGINAL VOTING LOGIC ---
            votes = {}
            weights = {
                "Front-wheel": 1,
                "Back-wheel": 1,
                "Mirror": 1,
                "Headlight": 0.5,
                "Tail-light": 0.5,
            }
            for ref, dir_val in directions_all.items():
                if dir_val != "Unknown":
                    side = dir_val.split()[0]
                    weight = weights.get(ref, 1)
                    votes[side] = votes.get(side, 0) + weight
            majority_side = max(votes, key=votes.get) if votes else "Unknown"

        # print(f"[Stage-2 Majority Side] {majority_side}")

        if best_angle.startswith("Front"):
            final_side_classification = "Front " + majority_side
        elif best_angle.startswith("Rear"):
            final_side_classification = "Rear " + majority_side
        else:
            final_side_classification = majority_side

        directions = {"Selected": final_side_classification}
        # print(f"[Summary] Final side classification: {final_side_classification}.")

    return directions, detected_parts, need_review, top_2_predictions, score_map


def deskew_image(pil_image: Image.Image) -> Image.Image:
    """
    Correct skew/rotation of an input PIL Image using Hough Line Transform.

    Args:
        pil_image (PIL.Image.Image): Input image.

    Returns:
        PIL.Image.Image: Deskewed image.
    """
    # Convert PIL to OpenCV (BGR)
    img = cv2.cvtColor(np.array(pil_image), cv2.COLOR_RGB2BGR)

    # Convert to grayscale
    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)

    # Detect edges
    edges = cv2.Canny(gray, 50, 150, apertureSize=3)

    # Hough Line Transform
    lines = cv2.HoughLines(edges, 1, np.pi / 180, 200)

    angles = []
    if lines is not None:
        for rho, theta in lines[:, 0]:
            angle = (theta * 180 / np.pi) - 90
            # Normalize angle to [-90, 90]
            if angle < -90:
                angle += 180
            if angle > 90:
                angle -= 180
            angles.append(angle)

    # Use median angle
    median_angle = np.median(angles) if len(angles) > 0 else 0
    # print("Estimated angle:", median_angle)

    # Rotate image to deskew
    (h, w) = img.shape[:2]
    center = (w // 2, h // 2)
    M = cv2.getRotationMatrix2D(center, median_angle, 1.0)
    rotated = cv2.warpAffine(
        img, M, (w, h), flags=cv2.INTER_CUBIC, borderMode=cv2.BORDER_REPLICATE
    )

    # Convert back to PIL (RGB)
    return Image.fromarray(cv2.cvtColor(rotated, cv2.COLOR_BGR2RGB))


async def yolo_rule_based_classification(pil_image, image_name, img_file: UploadFile):
    """
    Returns:
      mapped_primary: canonical label (Stage-1 top1 mapped, with Stage-2 side enforced)
      final_review: bool
      final_secondaries: two-slot list [mapped_top1, mapped_top2_or_False]
        - mapped_top2 is included only if Stage-1 top2 exists AND its Stage-1 score >= 0.85
    """
    rotations = [0, 90, -90]
    best_raw_direction = None
    final_review = False
    fail_count = 0
    best_top_predictions = [False, False]
    best_score_map = {}
    max_detected_labels = 0
    detected_labels = {}
    for rotation in rotations:
        rotated_image = (
            pil_image.rotate(rotation, expand=True) if rotation != 0 else pil_image
        )
        pil_image, detected, detections = find_best_combination(rotated_image)
        if len(detected.keys()) > max_detected_labels:
            max_detected_labels = len(detected.keys())
            detected_labels = detected
            final_detections = detections

    print(detected_labels)

    direction, detected_labels, need_review, top_predictions, score_map = (
        determine_viewing_angle(detected_labels)
    )

    best_raw_direction = direction["Selected"]

    final_review = need_review
    best_top_predictions = top_predictions
    best_score_map = score_map
    viewing_angle_map = {
        "front": "Front View",
        "rear": "Rear View",
        "left": "Driver Side View",
        "right": "Passenger Side View",
        "left side view": "Driver Side View",
        "right side view": "Passenger Side View",
        "front right": "Front Passenger Side Corner View",
        "front left": "Front Driver Side Corner View",
        "rear right": "Rear Passenger Side Corner View",
        "rear left": "Rear Driver Side Corner View",
        "unknown": "NA",
    }

    # derive desired_side from Stage-2 raw direction
    desired_side, opposite_side = None, None
    if isinstance(best_raw_direction, str):
        raw = best_raw_direction.lower()
        if "left" in raw:
            desired_side = "Driver Side View"
            opposite_side = "Passenger Side View"
        elif "right" in raw:
            desired_side = "Passenger Side View"
            opposite_side = "Driver Side View"

    # Stage-1 keys (strings or False)
    stage1_top1_key = (
        best_top_predictions[0]
        if isinstance(best_top_predictions, (list, tuple))
        and len(best_top_predictions) > 0
        else False
    )
    stage1_top2_key = (
        best_top_predictions[1]
        if isinstance(best_top_predictions, (list, tuple))
        and len(best_top_predictions) > 1
        else False
    )

    # mapped_primary: prefer Stage-1 top1 mapped -> enforce Stage-2 side if needed, fallback to Stage-2 raw
    mapped_primary = "NA"
    if stage1_top1_key and isinstance(stage1_top1_key, str):
        mapped_primary = viewing_angle_map.get(stage1_top1_key.lower(), "NA")
    elif isinstance(best_raw_direction, str):
        mapped_primary = viewing_angle_map.get(best_raw_direction.lower(), "NA")

    # corner swap mapping (for side enforcement)
    corner_swap = {
        "Front Passenger Side Corner View": "Front Driver Side Corner View",
        "Front Driver Side Corner View": "Front Passenger Side Corner View",
        "Rear Passenger Side Corner View": "Rear Driver Side Corner View",
        "Rear Driver Side Corner View": "Rear Passenger Side Corner View",
    }

    # enforce desired_side on mapped_primary if necessary
    if desired_side and mapped_primary != "NA":
        if mapped_primary in ("Driver Side View", "Passenger Side View"):
            if mapped_primary != desired_side:
                mapped_primary = desired_side
        elif mapped_primary in corner_swap:
            if desired_side == "Driver Side View" and "Passenger" in mapped_primary:
                mapped_primary = corner_swap[mapped_primary]
            elif desired_side == "Passenger Side View" and "Driver" in mapped_primary:
                mapped_primary = corner_swap[mapped_primary]

    # Build final_secondaries strictly from Stage-1 keys:
    final_secondaries = [False, False]
    threshold = 0.8
    eps = 1e-6

    # mapped_top1
    if stage1_top1_key and isinstance(stage1_top1_key, str):
        mapped_top1 = viewing_angle_map.get(stage1_top1_key.lower(), "NA")
    else:
        mapped_top1 = mapped_primary if mapped_primary != "NA" else False

    # enforce side on mapped_top1
    if desired_side and mapped_top1 and mapped_top1 in corner_swap:
        if desired_side == "Driver Side View" and "Passenger" in mapped_top1:
            mapped_top1 = corner_swap[mapped_top1]
        elif desired_side == "Passenger Side View" and "Driver" in mapped_top1:
            mapped_top1 = corner_swap[mapped_top1]
    elif desired_side and mapped_top1 in ("Driver Side View", "Passenger Side View"):
        if mapped_top1 != desired_side:
            mapped_top1 = desired_side

    final_secondaries[0] = mapped_top1 if mapped_top1 != "NA" else False

    # mapped_top2
    mapped_top2 = False
    if isinstance(stage1_top2_key, str):
        top2_score = best_score_map.get(stage1_top2_key.lower(), -999.0)
        top1_score = (
            best_score_map.get(stage1_top1_key.lower(), -999.0)
            if isinstance(stage1_top1_key, str)
            else -999.0
        )
        if top2_score >= threshold and top2_score < (top1_score - eps):
            mapped_top2 = viewing_angle_map.get(stage1_top2_key.lower(), "NA")
            # enforce desired_side
            if desired_side and mapped_top2 in corner_swap:
                if desired_side == "Driver Side View" and "Passenger" in mapped_top2:
                    mapped_top2 = corner_swap[mapped_top2]
                elif desired_side == "Passenger Side View" and "Driver" in mapped_top2:
                    mapped_top2 = corner_swap[mapped_top2]
            elif desired_side and mapped_top2 in (
                "Driver Side View",
                "Passenger Side View",
            ):
                if mapped_top2 != desired_side:
                    mapped_top2 = desired_side
        else:
            mapped_top2 = False

    final_secondaries[1] = mapped_top2 if mapped_top2 and mapped_top2 != "NA" else False

    # Fallback if primary is NA
    if mapped_primary == "NA" and final_secondaries[0]:
        mapped_primary = final_secondaries[0]

    # Final-review heuristics
    if fail_count >= 3:
        final_review = True

    # collect scores
    final_scores = [0, 0]
    if isinstance(stage1_top1_key, str):
        final_scores[0] = best_score_map.get(stage1_top1_key.lower(), 0)
    if isinstance(stage1_top2_key, str) and final_secondaries[1]:
        final_scores[1] = best_score_map.get(stage1_top2_key.lower(), 0)
    final_secondaries = [item for item in final_secondaries if isinstance(item, str)]

    file_details = await store_images(final_detections, image_name, img_file)

    return final_secondaries, final_review, final_scores, file_details


async def store_images(final_detections, image_name, img_file):
    os.makedirs("./output_files", exist_ok=True)

    img_folder, extension = os.path.splitext(image_name)

    timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
    ff = f"{img_folder}_{timestamp}"
    output_folder = f"./output_files/{ff}"
    os.makedirs(f"{output_folder}", exist_ok=True)
    output_file_car = f"car_detection{extension}"
    output_file_part = f"part_detection{extension}"

    print("\n")
    print("output_file_car = ", output_file_car)
    print("output_file_car = ", output_file_part)
    print("\n")

    main_img_path = os.path.join(output_folder, img_file.filename)
    await img_file.seek(0)
    with open(main_img_path, "wb") as buffer:
        shutil.copyfileobj(img_file.file, buffer)

    try:
        save_detection_img(
            final_detections["car_detection"]["image_array"],
            final_detections["car_detection"]["detections_to_plot"],
            output_folder,
            output_file_car,
            final_detections["car_detection"]["title"],
        )
    except Exception as e:
        print("Error Saving Car detections", e)

    try:
        save_detection_img(
            final_detections["part_detection"]["image_array"],
            final_detections["part_detection"]["detections_to_plot"],
            output_folder,
            output_file_part,
            final_detections["part_detection"]["title"],
        )
    except Exception as e:
        print("Error Saving Part detections", e)

    return {
        "main_img_name": f"{ff}/{img_file.filename}",
        "part_detection": f"{ff}/{output_file_part}",
        "car_detection": f"{ff}/{output_file_car}",
    }


def save_detection_img(
    image_array, detections, save_folder, filename, title="Detections"
):

    vis_img = image_array.copy()

    # Draw bounding boxes and labels with better styling
    for x1, y1, x2, y2, label, conf in detections:
        # Thicker green rectangle
        cv2.rectangle(vis_img, (int(x1), int(y1)), (int(x2), int(y2)), (0, 255, 0), 3)

        # Better text with background for readability
        text = f"{label} {conf:.2f}"
        text_size = cv2.getTextSize(text, cv2.FONT_HERSHEY_SIMPLEX, 0.6, 2)[0]
        cv2.rectangle(
            vis_img,
            (int(x1), int(y1) - text_size[1] - 10),
            (int(x1) + text_size[0], int(y1)),
            (0, 255, 0),
            -1,
        )
        cv2.putText(
            vis_img,
            text,
            (int(x1), int(y1) - 5),
            cv2.FONT_HERSHEY_SIMPLEX,
            0.6,
            (0, 0, 0),
            2,
        )

    # Create save folder
    os.makedirs(save_folder, exist_ok=True)

    # Add .png extension if not provided
    if not filename.endswith((".png", ".jpg", ".jpeg")):
        filename += ".png"
    filepath = os.path.join(save_folder, filename)

    # High quality save with matplotlib
    plt.figure(figsize=(12, 8), dpi=300)
    plt.imshow(cv2.cvtColor(vis_img, cv2.COLOR_BGR2RGB))
    plt.title(title, fontsize=16, fontweight="bold")
    plt.axis("off")
    plt.tight_layout()
    plt.savefig(
        filepath,
        bbox_inches="tight",
        dpi=300,
        format="png",
        facecolor="white",
        edgecolor="none",
    )
    plt.close()

    print(f"High quality image saved: {filepath}")
    return filepath


def plot_detections(image_array, detections, title="Detections"):
    """
    image_array: numpy BGR image
    detections: list of tuples (x1, y1, x2, y2, label, conf)
    """
    vis_img = image_array.copy()
    for x1, y1, x2, y2, label, conf in detections:
        cv2.rectangle(vis_img, (int(x1), int(y1)), (int(x2), int(y2)), (0, 255, 0), 2)
        cv2.putText(
            vis_img,
            f"{label} {conf:.2f}",
            (int(x1), int(y1) - 5),
            cv2.FONT_HERSHEY_SIMPLEX,
            0.5,
            (0, 255, 0),
            2,
        )
    plt.figure(figsize=(8, 6))
    plt.imshow(cv2.cvtColor(vis_img, cv2.COLOR_BGR2RGB))
    plt.title(title)
    plt.axis("off")
    plt.show()