miner.py

from pathlib import Path
from typing import List, Tuple, Dict, Optional
import sys
import os

from numpy import ndarray
from pydantic import BaseModel

sys.path.append(os.path.dirname(os.path.abspath(__file__)))
from keypoint_helper import run_keypoints_post_processing
from keypoint_helper_v2 import run_keypoints_post_processing as run_keypoints_post_processing_v2

from ultralytics import YOLO
from team_cluster import TeamClassifier
from utils import (
    BoundingBox, 
    Constants,
)

import time
import torch
import gc
import cv2
import numpy as np
from collections import defaultdict
from pitch import process_batch_input, get_cls_net
from keypoint_evaluation import (
    evaluate_keypoints_for_frame,
    evaluate_keypoints_for_frame_gpu, 
    load_template_from_file, 
    evaluate_keypoints_for_frame_opencv_cuda,
    evaluate_keypoints_batch_for_frame,
)

import yaml


class BoundingBox(BaseModel):
    x1: int
    y1: int
    x2: int
    y2: int
    cls_id: int
    conf: float


class TVFrameResult(BaseModel):
    frame_id: int
    boxes: List[BoundingBox]
    keypoints: List[Tuple[int, int]]


class Miner:
    SMALL_CONTAINED_IOA = Constants.SMALL_CONTAINED_IOA
    SMALL_RATIO_MAX = Constants.SMALL_RATIO_MAX
    SINGLE_PLAYER_HUE_PIVOT = Constants.SINGLE_PLAYER_HUE_PIVOT
    CORNER_INDICES = Constants.CORNER_INDICES
    KEYPOINTS_CONFIDENCE = Constants.KEYPOINTS_CONFIDENCE
    CORNER_CONFIDENCE = Constants.CORNER_CONFIDENCE
    GOALKEEPER_POSITION_MARGIN = Constants.GOALKEEPER_POSITION_MARGIN
    MIN_SAMPLES_FOR_FIT = 16  # Minimum player crops needed before fitting TeamClassifier
    MAX_SAMPLES_FOR_FIT = 600  # Maximum samples to avoid overfitting

    def __init__(self, path_hf_repo: Path) -> None:
        try:
            device = "cuda" if torch.cuda.is_available() else "cpu"
            model_path = path_hf_repo / "detection.onnx"
            self.bbox_model = YOLO(model_path)
            
            print(f"BBox Model Loaded: class name {self.bbox_model.names}")

            team_model_path = path_hf_repo / "osnet_model.pth.tar-100"
            self.team_classifier = TeamClassifier(
                device=device,
                batch_size=32,
                model_name=str(team_model_path)
            )
            print("Team Classifier Loaded")
            
            # Team classification state
            self.team_classifier_fitted = False
            self.player_crops_for_fit = [] 

            self.keypoints_model_yolo = YOLO(path_hf_repo / "keypoint.pt")

            model_kp_path = path_hf_repo / 'keypoint'
            config_kp_path = path_hf_repo / 'hrnetv2_w48.yaml'
            cfg_kp = yaml.safe_load(open(config_kp_path, 'r'))
            
            loaded_state_kp = torch.load(model_kp_path, map_location=device)
            model = get_cls_net(cfg_kp)
            model.load_state_dict(loaded_state_kp)
            model.to(device)
            model.eval()

            self.keypoints_model = model
            print("Keypoints Model (keypoint.pt) Loaded")

            template_image_path = path_hf_repo / "football_pitch_template.png"
            self.template_image, self.template_keypoints = load_template_from_file(str(template_image_path))

            self.kp_threshold = 0.1
            self.pitch_batch_size = 4
            self.health = "healthy"

            print("✅ Keypoints Model Loaded")
        except Exception as e:
            self.health = "❌ Miner initialization failed: " + str(e)
            print(self.health)

    def __repr__(self) -> str:
        if self.health == 'healthy':
            return (
                f"health: {self.health}\n"
                f"BBox Model: {type(self.bbox_model).__name__}\n"
                f"Keypoints Model: {type(self.keypoints_model).__name__}"
            )
        else:
            return self.health

    def _calculate_iou(self, box1: Tuple[float, float, float, float],

                       box2: Tuple[float, float, float, float]) -> float:
        """

        Calculate Intersection over Union (IoU) between two bounding boxes.

        Args:

            box1: (x1, y1, x2, y2)

            box2: (x1, y1, x2, y2)

        Returns:

            IoU score (0-1)

        """
        x1_1, y1_1, x2_1, y2_1 = box1
        x1_2, y1_2, x2_2, y2_2 = box2

        # Calculate intersection area
        x_left = max(x1_1, x1_2)
        y_top = max(y1_1, y1_2)
        x_right = min(x2_1, x2_2)
        y_bottom = min(y2_1, y2_2)

        if x_right < x_left or y_bottom < y_top:
            return 0.0

        intersection_area = (x_right - x_left) * (y_bottom - y_top)

        # Calculate union area
        box1_area = (x2_1 - x1_1) * (y2_1 - y1_1)
        box2_area = (x2_2 - x1_2) * (y2_2 - y1_2)
        union_area = box1_area + box2_area - intersection_area

        if union_area == 0:
            return 0.0

        return intersection_area / union_area

    def _extract_jersey_region(self, crop: ndarray) -> ndarray:
        """

        Extract jersey region (upper body) from player crop.

        For close-ups, focuses on upper 60%, for distant shots uses full crop.

        """
        if crop is None or crop.size == 0:
            return crop
        
        h, w = crop.shape[:2]
        if h < 10 or w < 10:
            return crop
        
        # For close-up shots, extract upper body (jersey region)
        is_closeup = h > 100 or (h * w) > 12000
        if is_closeup:
            # Upper 60% of the crop (jersey area, avoiding shorts)
            jersey_top = 0
            jersey_bottom = int(h * 0.60)
            jersey_left = max(0, int(w * 0.05))
            jersey_right = min(w, int(w * 0.95))
            return crop[jersey_top:jersey_bottom, jersey_left:jersey_right]
        return crop

    def _extract_color_signature(self, crop: ndarray) -> Optional[np.ndarray]:
        """

        Extract color signature from jersey region using HSV and LAB color spaces.

        Returns a feature vector with dominant colors and color statistics.

        """
        if crop is None or crop.size == 0:
            return None
        
        jersey_region = self._extract_jersey_region(crop)
        if jersey_region.size == 0:
            return None
        
        try:
            # Convert to HSV and LAB color spaces
            hsv = cv2.cvtColor(jersey_region, cv2.COLOR_BGR2HSV)
            lab = cv2.cvtColor(jersey_region, cv2.COLOR_BGR2LAB)
            
            # Reshape for processing
            hsv_flat = hsv.reshape(-1, 3).astype(np.float32)
            lab_flat = lab.reshape(-1, 3).astype(np.float32)
            
            # Compute statistics for HSV
            hsv_mean = np.mean(hsv_flat, axis=0) / 255.0
            hsv_std = np.std(hsv_flat, axis=0) / 255.0
            
            # Compute statistics for LAB
            lab_mean = np.mean(lab_flat, axis=0) / 255.0
            lab_std = np.std(lab_flat, axis=0) / 255.0
            
            # Dominant color (most frequent hue)
            hue_hist, _ = np.histogram(hsv_flat[:, 0], bins=36, range=(0, 180))
            dominant_hue = np.argmax(hue_hist) * 5  # Convert to hue value
            
            # Combine features
            color_features = np.concatenate([
                hsv_mean,
                hsv_std,
                lab_mean[:2],  # L and A channels (B is less informative)
                lab_std[:2],
                [dominant_hue / 180.0]  # Normalized dominant hue
            ])
            
            return color_features
        except Exception as e:
            print(f"Error extracting color signature: {e}")
            return None

    def _get_spatial_position(self, bbox: Tuple[float, float, float, float], 

                              frame_width: int, frame_height: int) -> Tuple[float, float]:
        """

        Get normalized spatial position of player on the pitch.

        Returns (x_normalized, y_normalized) where 0,0 is top-left.

        """
        x1, y1, x2, y2 = bbox
        center_x = (x1 + x2) / 2.0
        center_y = (y1 + y2) / 2.0
        
        # Normalize to [0, 1]
        x_norm = center_x / frame_width if frame_width > 0 else 0.5
        y_norm = center_y / frame_height if frame_height > 0 else 0.5
        
        return (x_norm, y_norm)

    def _find_best_match(self, target_box: Tuple[float, float, float, float],

                        predicted_frame_data: Dict[int, Tuple[Tuple, str]],

                        iou_threshold: float) -> Tuple[Optional[str], float]:
        """

        Find best matching box in predicted frame data using IoU.

        """
        best_iou = 0.0
        best_team_id = None
        
        for idx, (bbox, team_cls_id) in predicted_frame_data.items():
            iou = self._calculate_iou(target_box, bbox)
            if iou > best_iou and iou >= iou_threshold:
                best_iou = iou
                best_team_id = team_cls_id
        
        return (best_team_id, best_iou)

    def _detect_objects_batch(self, decoded_images: List[ndarray]) -> Dict[int, List[BoundingBox]]:
        batch_size = 16
        detection_results = []
        n_frames = len(decoded_images)
        for frame_number in range(0, n_frames, batch_size):
            batch_images = decoded_images[frame_number: frame_number + batch_size]
            detections = self.bbox_model(batch_images, verbose=False, save=False)
            detection_results.extend(detections)
        
        return detection_results

    def _team_classify(self, detection_results, decoded_images, offset):
        self.team_classifier_fitted = False
        start = time.time()
        # Collect player crops from first batch for fitting
        fit_sample_size = 600
        player_crops_for_fit = []

        for frame_id in range(len(detection_results)):
            detection_box = detection_results[frame_id].boxes.data
            if len(detection_box) < 4:
                continue
            # Collect player boxes for team classification fitting (first batch only)
            if len(player_crops_for_fit) < fit_sample_size:
                frame_image = decoded_images[frame_id]
                for box in detection_box:
                    x1, y1, x2, y2, conf, cls_id = box.tolist()
                    if conf < 0.5:
                        continue
                    mapped_cls_id = str(int(cls_id))
                    # Only collect player crops (cls_id = 2)
                    if mapped_cls_id == '2':
                        crop = frame_image[int(y1):int(y2), int(x1):int(x2)]
                        if crop.size > 0:
                            player_crops_for_fit.append(crop)

            # Fit team classifier after collecting samples
            if self.team_classifier and not self.team_classifier_fitted and len(player_crops_for_fit) >= fit_sample_size:
                print(f"Fitting TeamClassifier with {len(player_crops_for_fit)} player crops")
                self.team_classifier.fit(player_crops_for_fit)
                self.team_classifier_fitted = True
                break
        if not self.team_classifier_fitted and len(player_crops_for_fit) >= 16:
            print(f"Fallback: Fitting TeamClassifier with {len(player_crops_for_fit)} player crops")
            self.team_classifier.fit(player_crops_for_fit)
            self.team_classifier_fitted = True
        end = time.time()
        print(f"Fitting Kmeans time: {end - start}")

        # Second pass: predict teams with configurable frame skipping optimization
        start = time.time()

        # Get configuration for frame skipping
        prediction_interval = 1  # Default: predict every 2 frames
        iou_threshold = 0.3

        print(f"Team classification - prediction_interval: {prediction_interval}, iou_threshold: {iou_threshold}")

        # Storage for predicted frame results: {frame_id: {box_idx: (bbox, team_id)}}
        predicted_frame_data = {}

        # Step 1: Predict for frames at prediction_interval only
        frames_to_predict = []
        for frame_id in range(len(detection_results)):
            if frame_id % prediction_interval == 0:
                frames_to_predict.append(frame_id)

        print(f"Predicting teams for {len(frames_to_predict)}/{len(detection_results)} frames "
                    f"(saving {100 - (len(frames_to_predict) * 100 // len(detection_results))}% compute)")

        for frame_id in frames_to_predict:
            detection_box = detection_results[frame_id].boxes.data
            frame_image = decoded_images[frame_id]

            # Collect player crops for this frame
            frame_player_crops = []
            frame_player_indices = []
            frame_player_boxes = []

            for idx, box in enumerate(detection_box):
                x1, y1, x2, y2, conf, cls_id = box.tolist()
                if cls_id == 2 and conf < 0.6:
                    continue
                mapped_cls_id = str(int(cls_id))

                # Collect player crops for prediction
                if self.team_classifier and self.team_classifier_fitted and mapped_cls_id == '2':
                    crop = frame_image[int(y1):int(y2), int(x1):int(x2)]
                    if crop.size > 0:
                        frame_player_crops.append(crop)
                        frame_player_indices.append(idx)
                        frame_player_boxes.append((x1, y1, x2, y2))

            # Predict teams for all players in this frame
            if len(frame_player_crops) > 0:
                team_ids = self.team_classifier.predict(frame_player_crops)
                predicted_frame_data[frame_id] = {}
                for idx, bbox, team_id in zip(frame_player_indices, frame_player_boxes, team_ids):
                    # Map team_id (0,1) to cls_id (6,7)
                    team_cls_id = str(6 + int(team_id))
                    predicted_frame_data[frame_id][idx] = (bbox, team_cls_id)

        # Step 2: Process all frames (interpolate skipped frames)
        fallback_count = 0
        interpolated_count = 0
        bboxes: dict[int, list[BoundingBox]] = {}
        for frame_id in range(len(detection_results)):
            detection_box = detection_results[frame_id].boxes.data
            frame_image = decoded_images[frame_id]
            boxes = []

            team_predictions = {}

            if frame_id % prediction_interval == 0:
                # Predicted frame: use pre-computed predictions
                if frame_id in predicted_frame_data:
                    for idx, (bbox, team_cls_id) in predicted_frame_data[frame_id].items():
                        team_predictions[idx] = team_cls_id
            else:
                # Skipped frame: interpolate from neighboring predicted frames
                # Find nearest predicted frames
                prev_predicted_frame = (frame_id // prediction_interval) * prediction_interval
                next_predicted_frame = prev_predicted_frame + prediction_interval

                # Collect current frame player boxes
                for idx, box in enumerate(detection_box):
                    x1, y1, x2, y2, conf, cls_id = box.tolist()
                    if cls_id == 2 and conf < 0.6:
                        continue
                    mapped_cls_id = str(int(cls_id))

                    if self.team_classifier and self.team_classifier_fitted and mapped_cls_id == '2':
                        target_box = (x1, y1, x2, y2)

                        # Try to match with previous predicted frame
                        best_team_id = None
                        best_iou = 0.0

                        if prev_predicted_frame in predicted_frame_data:
                            team_id, iou = self._find_best_match(
                                target_box,
                                predicted_frame_data[prev_predicted_frame],
                                iou_threshold
                            )
                            if team_id is not None:
                                best_team_id = team_id
                                best_iou = iou

                        # Try to match with next predicted frame if available and no good match yet
                        if best_team_id is None and next_predicted_frame < len(detection_results):
                            if next_predicted_frame in predicted_frame_data:
                                team_id, iou = self._find_best_match(
                                    target_box,
                                    predicted_frame_data[next_predicted_frame],
                                    iou_threshold
                                )
                                if team_id is not None and iou > best_iou:
                                    best_team_id = team_id
                                    best_iou = iou

                        # Track interpolation success
                        if best_team_id is not None:
                            interpolated_count += 1
                        else:
                            # Fallback: if no match found, predict individually
                            crop = frame_image[int(y1):int(y2), int(x1):int(x2)]
                            if crop.size > 0:
                                team_id = self.team_classifier.predict([crop])[0]
                                best_team_id = str(6 + int(team_id))
                                fallback_count += 1

                        if best_team_id is not None:
                            team_predictions[idx] = best_team_id

            # Parse boxes with team classification
            for idx, box in enumerate(detection_box):
                x1, y1, x2, y2, conf, cls_id = box.tolist()
                if cls_id == 2 and conf < 0.6:
                    continue

                # Check overlap with staff box
                overlap_staff = False
                for idy, boxy in enumerate(detection_box):
                    s_x1, s_y1, s_x2, s_y2, s_conf, s_cls_id = boxy.tolist()
                    if cls_id == 2 and s_cls_id == 4:
                        staff_iou = self._calculate_iou(box[:4], boxy[:4])
                        if staff_iou >= 0.8:
                            overlap_staff = True
                            break
                if overlap_staff:
                    continue

                mapped_cls_id = str(int(cls_id))

                # Override cls_id for players with team prediction
                if idx in team_predictions:
                    mapped_cls_id = team_predictions[idx]
                if mapped_cls_id != '4':
                    if int(mapped_cls_id) == 3 and conf < 0.5:
                        continue
                    boxes.append(
                        BoundingBox(
                            x1=int(x1),
                            y1=int(y1),
                            x2=int(x2),
                            y2=int(y2),
                            cls_id=int(mapped_cls_id),
                            conf=float(conf),
                        )
                    )
            # Handle footballs - keep only the best one
            footballs = [bb for bb in boxes if int(bb.cls_id) == 0]
            if len(footballs) > 1:
                best_ball = max(footballs, key=lambda b: b.conf)
                boxes = [bb for bb in boxes if int(bb.cls_id) != 0]
                boxes.append(best_ball)
        
            bboxes[offset + frame_id] = boxes
        return bboxes


    def predict_batch(self, batch_images: List[ndarray], offset: int, n_keypoints: int) -> List[TVFrameResult]:        
        start = time.time()
        detection_results = self._detect_objects_batch(batch_images)
        end = time.time()
        print(f"Detection time: {end - start}")
        
        # Use hybrid team classification
        start = time.time()
        bboxes = self._team_classify(detection_results, batch_images, offset)
        end = time.time()
        print(f"Team classify time: {end - start}")

        # Phase 3: Keypoint Detection
        start = time.time()
        keypoints_yolo: Dict[int, List[Tuple[int, int]]] = {}

        keypoints_yolo = self._detect_keypoints_batch(batch_images, offset, n_keypoints)


        pitch_batch_size = min(self.pitch_batch_size, len(batch_images))
        keypoints: Dict[int, List[Tuple[int, int]]] = {}

        start = time.time()
        last_score = 0
        last_valid_keypoints = None
        while True:
            gc.collect()
            if torch.cuda.is_available():
                torch.cuda.empty_cache()
                torch.cuda.synchronize()
            device_str = "cuda"
            keypoints_result = process_batch_input(
                batch_images,
                self.keypoints_model,
                self.kp_threshold,
                device_str,
                batch_size=pitch_batch_size,
            )
            if keypoints_result is not None and len(keypoints_result) > 0:
                for frame_number_in_batch, kp_dict in enumerate(keypoints_result):
                    if frame_number_in_batch >= len(batch_images):
                        break
                    frame_keypoints: List[Tuple[int, int]] = []
                    try:
                        height, width = batch_images[frame_number_in_batch].shape[:2]
                        if kp_dict is not None and isinstance(kp_dict, dict):
                            for idx in range(32):
                                x, y = 0, 0
                                kp_idx = idx + 1
                                if kp_idx in kp_dict:
                                    try:
                                        kp_data = kp_dict[kp_idx]
                                        if isinstance(kp_data, dict) and "x" in kp_data and "y" in kp_data:
                                            x = int(kp_data["x"] * width)
                                            y = int(kp_data["y"] * height)
                                    except (KeyError, TypeError, ValueError):
                                        pass
                                frame_keypoints.append((x, y))
                    except (IndexError, ValueError, AttributeError):
                        frame_keypoints = [(0, 0)] * 32
                    if len(frame_keypoints) < n_keypoints:
                        frame_keypoints.extend([(0, 0)] * (n_keypoints - len(frame_keypoints)))
                    else:
                        frame_keypoints = frame_keypoints[:n_keypoints]

                    time1 = time.time()
                    frame_keypoints_yolo = keypoints_yolo.get(offset + frame_number_in_batch, frame_keypoints)
                    
                    valid_keypoints_count = 0
                    valid_keypoints_yolo_count = 0
                    for kp in frame_keypoints:
                        if kp[0] != 0.0 or kp[1] != 0.0:
                            valid_keypoints_count += 1
                            if valid_keypoints_count > 3:
                                break

                    for kp in frame_keypoints_yolo:
                        if kp[0] != 0.0 or kp[1] != 0.0:
                            valid_keypoints_yolo_count += 1
                            if valid_keypoints_yolo_count > 3:
                                break

                    # Evaluate and select best keypoints (using batch evaluation for speed)
                    if valid_keypoints_count > 3 and valid_keypoints_yolo_count > 3:
                        try:
                            last_valid_keypoints = keypoints.get(offset + frame_number_in_batch - 1, frame_keypoints)
                            # Evaluate both keypoint sets in batch (much faster!)
                            scores = evaluate_keypoints_batch_for_frame(
                                template_keypoints=self.template_keypoints,
                                frame_keypoints_list=[frame_keypoints, frame_keypoints_yolo, last_valid_keypoints],
                                frame=batch_images[frame_number_in_batch],
                                floor_markings_template=self.template_image,
                                device="cuda"
                            )
                            score = scores[0]
                            score_yolo = scores[1]
                            last_score = scores[2]
                            
                            if last_score > score and last_score > score_yolo:
                                frame_keypoints = last_valid_keypoints
                            elif score_yolo > score:
                                frame_keypoints = frame_keypoints_yolo
                                last_score = score_yolo
                            else:
                                last_score = score

                            last_valid_keypoints = frame_keypoints
                            
                        except Exception as e:
                            # Fallback: use YOLO if available, otherwise use pitch model
                            if valid_keypoints_yolo_count > 3:
                                frame_keypoints = frame_keypoints_yolo
                    elif valid_keypoints_yolo_count > 3:
                        # Only YOLO has valid keypoints
                        frame_keypoints = frame_keypoints_yolo
                    else:
                        if last_valid_keypoints is not None:
                            frame_keypoints = last_valid_keypoints

                    time2 = time.time()
                    print(f"Keypoint evaluation time: {time2 - time1}")
                    
                    keypoints[offset + frame_number_in_batch] = frame_keypoints
            break
        end = time.time()
        print(f"Keypoint time: {end - start}")

        results: List[TVFrameResult] = []
        for frame_number in range(offset, offset + len(batch_images)):
            frame_boxes = bboxes.get(frame_number, [])
            result = TVFrameResult(
                frame_id=frame_number,
                boxes=frame_boxes,
                keypoints=keypoints.get(
                        frame_number,
                        [(0, 0) for _ in range(n_keypoints)],
                    ),
            )
            results.append(result)

        start = time.time()
        if len(batch_images) > 0:
            h, w = batch_images[0].shape[:2]
            results = run_keypoints_post_processing_v2(
                results, w, h,
                frames=batch_images,
                template_keypoints=self.template_keypoints,
                floor_markings_template=self.template_image,
                offset=offset
            )
        end = time.time()
        print(f"Keypoint post processing time: {end - start}")

        gc.collect()
        if torch.cuda.is_available():
            torch.cuda.empty_cache()
            torch.cuda.synchronize()

        return results

    def _detect_keypoints_batch(self, batch_images: List[ndarray], 

                               offset: int, n_keypoints: int) -> Dict[int, List[Tuple[int, int]]]:
        """

        Phase 3: Keypoint detection for all frames in batch.

        

        Args:

            batch_images: List of images to process

            offset: Frame offset for numbering  

            n_keypoints: Number of keypoints expected

            

        Returns:

            Dictionary mapping frame_id to list of keypoint coordinates

        """
        keypoints: Dict[int, List[Tuple[int, int]]] = {}
        keypoints_model_results = self.keypoints_model_yolo.predict(batch_images)
        
        if keypoints_model_results is None:
            return keypoints
            
        for frame_idx_in_batch, detection in enumerate(keypoints_model_results):
            if not hasattr(detection, "keypoints") or detection.keypoints is None:
                continue
                
            # Extract keypoints with confidence
            frame_keypoints_with_conf: List[Tuple[int, int, float]] = []
            for i, part_points in enumerate(detection.keypoints.data):
                for k_id, (x, y, _) in enumerate(part_points):
                    confidence = float(detection.keypoints.conf[i][k_id])
                    frame_keypoints_with_conf.append((int(x), int(y), confidence))
            
            # Pad or truncate to expected number of keypoints
            if len(frame_keypoints_with_conf) < n_keypoints:
                frame_keypoints_with_conf.extend(
                    [(0, 0, 0.0)] * (n_keypoints - len(frame_keypoints_with_conf))
                )
            else:
                frame_keypoints_with_conf = frame_keypoints_with_conf[:n_keypoints]
            
            # Filter keypoints based on confidence thresholds
            filtered_keypoints: List[Tuple[int, int]] = []
            for idx, (x, y, confidence) in enumerate(frame_keypoints_with_conf):
                if idx in self.CORNER_INDICES:
                    # Corner keypoints have lower confidence threshold
                    if confidence < 0.3:
                        filtered_keypoints.append((0, 0))
                    else:
                        filtered_keypoints.append((int(x), int(y)))
                else:
                    # Regular keypoints  
                    if confidence < 0.5:
                        filtered_keypoints.append((0, 0))
                    else:
                        filtered_keypoints.append((int(x), int(y)))
            
            frame_id = offset + frame_idx_in_batch
            keypoints[frame_id] = filtered_keypoints
            
        return keypoints

    def predict_keypoints(

        self, 

        images: List[ndarray], 

        n_keypoints: int = 32,

        batch_size: Optional[int] = None,

        conf_threshold: float = 0.5,

        corner_conf_threshold: float = 0.3,

        verbose: bool = False

    ) -> Dict[int, List[Tuple[int, int]]]:
        """

        Standalone function for keypoint detection on a list of images.

        Optimized for maximum prediction speed.

        

        Args:

            images: List of images (numpy arrays) to process

            n_keypoints: Number of keypoints expected per frame (default: 32)

            batch_size: Batch size for YOLO prediction (None = auto, uses all images)

            conf_threshold: Confidence threshold for regular keypoints (default: 0.5)

            corner_conf_threshold: Confidence threshold for corner keypoints (default: 0.3)

            verbose: Whether to print progress information

            

        Returns:

            Dictionary mapping frame index to list of keypoint coordinates (x, y)

            Frame indices start from 0

        """
        if not images:
            return {}
        
        keypoints: Dict[int, List[Tuple[int, int]]] = {}
        
        # Use provided batch_size or process all at once for maximum speed
        if batch_size is None:
            batch_size = len(images)
        
        # Process in batches for optimal GPU utilization
        for batch_start in range(0, len(images), batch_size):
            batch_end = min(batch_start + batch_size, len(images))
            batch_images = images[batch_start:batch_end]
            
            if verbose:
                print(f"Processing keypoints batch {batch_start}-{batch_end-1} ({len(batch_images)} images)")
            
            # YOLO keypoint prediction (optimized batch processing)
            keypoints_model_results = self.keypoints_model_yolo.predict(
                batch_images, 
                verbose=False,
                save=False,
                conf=0.1,  # Lower conf for detection, we filter later
            )
            
            if keypoints_model_results is None:
                # Fill with empty keypoints for this batch
                for frame_idx in range(batch_start, batch_end):
                    keypoints[frame_idx] = [(0, 0)] * n_keypoints
                continue
            
            # Process each frame in the batch
            for batch_idx, detection in enumerate(keypoints_model_results):
                frame_idx = batch_start + batch_idx
                
                if not hasattr(detection, "keypoints") or detection.keypoints is None:
                    keypoints[frame_idx] = [(0, 0)] * n_keypoints
                    continue
                
                # Extract keypoints with confidence
                frame_keypoints_with_conf: List[Tuple[int, int, float]] = []
                try:
                    for i, part_points in enumerate(detection.keypoints.data):
                        for k_id, (x, y, _) in enumerate(part_points):
                            confidence = float(detection.keypoints.conf[i][k_id])
                            frame_keypoints_with_conf.append((int(x), int(y), confidence))
                except (AttributeError, IndexError, TypeError):
                    keypoints[frame_idx] = [(0, 0)] * n_keypoints
                    continue
                
                # Pad or truncate to expected number of keypoints
                if len(frame_keypoints_with_conf) < n_keypoints:
                    frame_keypoints_with_conf.extend(
                        [(0, 0, 0.0)] * (n_keypoints - len(frame_keypoints_with_conf))
                    )
                else:
                    frame_keypoints_with_conf = frame_keypoints_with_conf[:n_keypoints]
                
                # Filter keypoints based on confidence thresholds
                filtered_keypoints: List[Tuple[int, int]] = []
                for idx, (x, y, confidence) in enumerate(frame_keypoints_with_conf):
                    if idx in self.CORNER_INDICES:
                        # Corner keypoints have lower confidence threshold
                        if confidence < corner_conf_threshold:
                            filtered_keypoints.append((0, 0))
                        else:
                            filtered_keypoints.append((int(x), int(y)))
                    else:
                        # Regular keypoints
                        if confidence < conf_threshold:
                            filtered_keypoints.append((0, 0))
                        else:
                            filtered_keypoints.append((int(x), int(y)))
                
                keypoints[frame_idx] = filtered_keypoints
        
        return keypoints

    def predict_objects(

        self,

        images: List[ndarray],

        batch_size: Optional[int] = 16,

        conf_threshold: float = 0.5,

        iou_threshold: float = 0.45,

        classes: Optional[List[int]] = None,

        verbose: bool = False,

    ) -> Dict[int, List[BoundingBox]]:
        """

        Standalone high-throughput object detection function.

        Runs the YOLO detector directly on raw images while skipping

        any team-classification or keypoint stages for maximum FPS.



        Args:

            images: List of frames (BGR numpy arrays).

            batch_size: Number of frames per inference pass. Use None to process

                all frames at once (fastest but highest memory usage).

            conf_threshold: Detection confidence threshold.

            iou_threshold: IoU threshold for NMS within YOLO.

            classes: Optional list of class IDs to keep (None = all classes).

            verbose: Whether to print per-batch progress from YOLO.



        Returns:

            Dict mapping frame index -> list of BoundingBox predictions.

        """
        if not images:
            return {}

        detections: Dict[int, List[BoundingBox]] = {}
        effective_batch = len(images) if batch_size is None else max(1, batch_size)

        for batch_start in range(0, len(images), effective_batch):
            batch_end = min(batch_start + effective_batch, len(images))
            batch_images = images[batch_start:batch_end]

            start = time.time()
            yolo_results = self.bbox_model(
                batch_images,
                conf=conf_threshold,
                iou=iou_threshold,
                classes=classes,
                verbose=verbose,
                save=False,
            )
            end = time.time()
            print(f"YOLO time: {end - start}")

            for local_idx, result in enumerate(yolo_results):
                frame_idx = batch_start + local_idx
                frame_boxes: List[BoundingBox] = []

                if not hasattr(result, "boxes") or result.boxes is None:
                    detections[frame_idx] = frame_boxes
                    continue

                boxes_tensor = result.boxes.data
                if boxes_tensor is None:
                    detections[frame_idx] = frame_boxes
                    continue

                for box in boxes_tensor:
                    try:
                        x1, y1, x2, y2, conf, cls_id = box.tolist()
                        frame_boxes.append(
                            BoundingBox(
                                x1=int(x1),
                                y1=int(y1),
                                x2=int(x2),
                                y2=int(y2),
                                cls_id=int(cls_id),
                                conf=float(conf),
                            )
                        )
                    except (ValueError, TypeError):
                        continue

                detections[frame_idx] = frame_boxes

        return detections