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;

      std::vector<SegInfo> vec_direct;

  };

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

      int init(int devId, std::string sdk_root);

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

      int check_reverse_driving(std::vector<SegInfo>& vec_direct, 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 src_width, int src_height);

      int check_cross_region(std::vector<SegInfo>& vec_reg, sy_rect rc, int src_width, int src_height, int region_type);

  private:
      int release();
  

      std::vector<LineInfo> parse_line(rs_result one_result, sy_img src);
  

      RoadInfo parse_road(rs_result one_result, sy_img src);

  
      std::vector<SegInfo> parse_direct(rs_result one_result, sy_img src);
  
      // void post_direct(rs_result one_result, sy_img src);
  

      cv::Mat mask_to_rgb(cv::Mat img, cv::Mat mask);
      float contourArea(std::vector<cv::Point> contour, cv::Point2f& center);
      void lanes_process(const rs_lane* lanes, int lane_count, std::vector<std::pair<std::vector<cv::Point>, int>>& combined, float scale_w = 1.0, float scale_h = 1.0);
      cv::Mat imshow_lanes(cv::Mat img, const rs_lane* lanes, int lane_count);
      int Mask2LanePoints(const cv::Mat& pred, std::vector<std::vector<cv::Point>>&lanes, std::vector<int>& cats);
      cv::Mat seg_post_process(bool large_resolution, unsigned char *seg_array, std::vector<std::pair<std::vector<cv::Point>, int>> combined, std::vector<std::vector<cv::Point>> &poly_masks, std::vector<int> &region_classes, std::vector<std::vector<cv::Point>> &lanes, std::vector<int> &cats, std::map<double, int> &x_sort);

      cv::Mat direct_post_process(bool large_resolution, unsigned char *direct_array, std::vector<std::vector<cv::Point>> &poly_masks, std::vector<int> &region_classes);
  

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