RoadSegAnalysis.cpp
1.69 KB
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#include "RoadSegAnalysis.h"
#include "road_seg.h"
RoadSegAnalysis::RoadSegAnalysis(/* args */)
{
}
RoadSegAnalysis::~RoadSegAnalysis()
{
release();
}
int RoadSegAnalysis::init(int devId){
ACL_CALL(aclrtCreateContext(&ctx, devId), SY_SUCCESS, SY_FAILED);
rs_param param;
param.modelNames = "./models/road_seg/tzroad_seg240108_310p.om";
param.thresld = 0.25;
param.devId = devId;
cout << "rs_init start " << endl;
int ret = rs_init(&m_handle, param);
if (ret != 0) {
return -1;
}
cout << "rs_init success " << endl;
return SY_SUCCESS;
}
int RoadSegAnalysis::detect(vector<sy_img> vec_img){
ACL_CALL(aclrtSetCurrentContext(ctx), SY_SUCCESS, SY_FAILED);
const int batchsize = vec_img.size();
rs_result results[batchsize];
const int fea_size = 360*640;
for (int b = 0; b < batchsize; b++) {
results[b].seg_array = new unsigned char[fea_size];
results[b].direct_seg = new unsigned char[fea_size];
}
int ret = SY_FAILED;
do
{
ret = rs_batch(m_handle, vec_img.data(), batchsize, results);
if (SY_SUCCESS != ret) {
printf("mrc_batch failed!");
break;
}
// todo 结果处理
} while (0);
for (int b = 0; b < batchsize; b++) {
delete[] results[b].seg_array; results[b].seg_array = NULL;
delete[] results[b].direct_seg; results[b].direct_seg = NULL;
}
return ret;
}
int RoadSegAnalysis::release() {
ACL_CALL(aclrtSetCurrentContext(ctx), SY_SUCCESS, SY_FAILED);
if (m_handle) {
rs_release(&m_handle);
}
if(ctx){
aclrtDestroyContext(ctx);
ctx = nullptr;
}
return SY_SUCCESS;
}