Hu Chunming / village_ascend_arm

  #include "include.h"

  #include "../village_inc.h"
  #include "road_seg.h"
  
  #include <vector>
  
  using namespace std;
  
  struct RoadInfo{
      std::vector<LineInfo> vec_line;
      std::vector<SegInfo> vec_road;

  
      cv::Mat direct_mask;

  };

  
  class RoadSegAnalysis
  {
  public:
      RoadSegAnalysis(/* args */);
      ~RoadSegAnalysis();
  
      int init(int devId);
  

      std::vector<RoadInfo> detect(vector<sy_img> vec_img);

      int check_reverse_driving(cv::Mat direct_mask, sy_rect rc, int src_width, int src_height, int head_or_tail);
  
      int check_cross_line(std::vector<LineInfo>& vec_line, sy_rect rc);
  
      int check_cross_region(std::vector<SegInfo>& vec_reg, sy_rect rc, int region_type);
  

  private:
      int release();
  

      std::vector<SegInfo> parse_seg(rs_result one_result, sy_img src);
  

      cv::Mat parse_direct(rs_result one_result, sy_img src);
  
      void post_direct(rs_result one_result, sy_img src);

  private:
      void* m_handle{nullptr};
      aclrtContext ctx{nullptr};
  };