#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};
};