handeled null bboxes and added debugging for prints

app.py

@@ -8,6 +8,7 @@ import os
 import time
 import threading  # Import threading module
 
+
 # Add the proto directory to the Python path
 proto_dir = os.path.join(os.path.dirname(__file__), 'message_queue', 'proto')
 if proto_dir not in sys.path:
@@ -37,6 +38,7 @@ from message_queue.proto.ConnectStatus_pb2 import ConnectStatus
 from video_streamer.gst_video_streamer import GstVideoStreamer
 import cv2
 
+
 config_manager = ConfigManager('config.yaml')
 rtsp_links = config_manager.configs['rtsp_links'].get()
 debug = config_manager.configs['debug'].get()
@@ -73,14 +75,21 @@ class ConnectionThread(threading.Thread):
 
     def run(self):
         while self.running:
+
+
+
             sleep(0.5)
 
             if connection_tracker.last_client_ip:
-                print(f"Checking if last client {connection_tracker.last_client_ip} is still available...")
+
+                if debug:
+                    print(f"Checking if last client {connection_tracker.last_client_ip} is still available...")
 
                 if self.query_last_client(connection_tracker.last_client_ip):
                     connection_tracker.update_last_message_time()
-                    print(f"Last client {connection_tracker.last_client_ip} responded. Continuing...")
+
+                    if debug:
+                        print(f"Last client {connection_tracker.last_client_ip} responded. Continuing...")
                     continue  # Skip discovering a new client
             if not connection_tracker.is_client_active():
 
@@ -99,7 +108,8 @@ class ConnectionThread(threading.Thread):
     def query_last_client(self, client_ip):
         """Send a heartbeat packet to the last known client IP on port 29170 and wait for a response."""
 
-        print(f"Sending heartbeat to {client_ip}:29170")  # Debugging
+        if debug:
+            print(f"Sending heartbeat to {client_ip}:29170")  # Debugging
 
         sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         sock.settimeout(5)  # 5-second timeout
@@ -109,13 +119,17 @@ class ConnectionThread(threading.Thread):
             sock.sendto(b"HEARTBEAT", (client_ip, heartbeat_port))  # Send heartbeat message
             data, addr = sock.recvfrom(1024)  # Wait for response
 
-            print(f"Received response from {addr}: {data.decode()}")  # Debugging
+            if debug:
+                print(f"Received response from {addr}: {data.decode()}")  # Debugging
 
             if data.decode() == "HEARTBEAT_ACK":
-                print(f"Client {client_ip} is still responding.")
+
+                if debug:
+                    print(f"Client {client_ip} is still responding.")
                 return True
 
         except socket.timeout:
+
             print(f"Client {client_ip} did not respond. Marking as inactive.")
 
         finally:
@@ -135,6 +149,7 @@ class ConnectionThread(threading.Thread):
                 print(f"Received discovery request from {addr}")
                 sock.sendto(b"SERVER_RESPONSE", addr)
                 break
+        sock.close()
         return addr
 
 
@@ -199,11 +214,14 @@ if __name__ == '__main__':
                 print(f"Received discovery request from {addr}")
                 sock.sendto(b"SERVER_RESPONSE", addr)
                 break
+
+        sock.close()
         return addr
 
     cl_ip, _ = start_discovery_service(12345)
     print(cl_ip)
 
+    global manager
     manager = Manager(f"tcp://{cl_ip}:5558", f"tcp://{cl_ip}:5557")
     manager.start(manager_callback)
 
@@ -212,21 +230,16 @@ if __name__ == '__main__':
         m.msgType = MessageType.MESSAGE_TYPE_IMAGE
         m.image.timestamp = int(ctime.value)
         for bbox in bboxes:
-            # Check if bbox is not None and has exactly 4 elements
-            if bbox is not None and len(bbox) == 4:
-                # Check if all elements in bbox are not None
-                if all(element is not None for element in bbox):
-                    box = m.image.boxes.add()
-                    box.x = bbox[0]
-                    box.y = bbox[1]
-                    box.w = bbox[2]
-                    box.h = bbox[3]
-                else:
-                    # Skip if any element in bbox is None
-                    pass
-            else:
-                # Skip if bbox is None or does not have exactly 4 elements
-                pass
+            # Skip if bbox is None, doesn't have exactly 4 elements, or contains None values
+            if bbox is None or len(bbox) != 4 or not all(element is not None for element in bbox):
+                box = m.image.boxes.add()
+                box.x, box.y, box.w, box.h = [10,15,20,30]
+                continue
+
+            # Add the bounding box to the image
+            box = m.image.boxes.add()
+            box.x, box.y, box.w, box.h = bbox
+
         m.image.camType = id_
         if isDetection:
             m.image.trackMode = TrackMode.TRACK_MODE_DETECT

config.yaml

@@ -6,4 +6,4 @@ rtsp_links: [
 thickness: 2
 
 
-debug: false
+debug: False

detector/demo.py

@@ -7,7 +7,7 @@ from utils import get_bbox_by_point
 if __name__ == '__main__':
     detector = Detector(classes=[0, 2, 5, 7])
 
-    cap = cv2.VideoCapture(1)
+    cap = cv2.VideoCapture(0)
     display_name = 'detector'
     cv2.namedWindow(display_name, cv2.WINDOW_NORMAL)
     cv2.setWindowProperty(display_name, cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)

tracker/pytracking/tracker/dimp/dimp.py

@@ -213,7 +213,7 @@ class DiMP():
 
         # Compute augmentation size
         aug_expansion_factor = self.params.get('augmentation_expansion_factor', None)
-        ic(self.params.get('augmentation_expansion_factor', None))
+
 
 
         aug_expansion_sz = (self.img_sample_sz * aug_expansion_factor).long()