RoadSegAnalysis.h
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#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> ®ion_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> ®ion_classes);
private:
void* m_handle{nullptr};
aclrtContext ctx{nullptr};
};