From bc5569794a1663219e7c4c74dea3c6f6a11c463c Mon Sep 17 00:00:00 2001
From: jzq <1391797124@qq.com>
Date: Tue, 19 Dec 2023 14:50:16 +0000
Subject: [PATCH] API definition

Signed-off-by: jzq <1391797124@qq.com>
---
 depthProcess.cc | 18 ++++++++++++++++++
 depthProcess.h  | 18 ++++++++++++++++++
 main.cc         | 16 ++++++++++++++++
 yolo.cc         | 15 +++++++++++++++
 yolo.h          | 21 +++++++++++++++++++++
 5 files changed, 88 insertions(+)
 create mode 100644 depthProcess.cc
 create mode 100644 depthProcess.h
 create mode 100644 main.cc
 create mode 100644 yolo.cc
 create mode 100644 yolo.h

diff --git a/depthProcess.cc b/depthProcess.cc
new file mode 100644
index 0000000..cc87445
--- /dev/null
+++ b/depthProcess.cc
@@ -0,0 +1,18 @@
+#include"depthProcess.h"
+
+
+DepthProcess::DepthProcess(cv::Mat mk) {
+
+}
+
+void DepthProcess::obstacleDetect(cv::Mat imgDepth) {
+
+}
+
+void DepthProcess::obstacleDetect(cv::Mat boxes) {
+
+}
+
+void DepthProcess::getObstacle() {
+    
+}
diff --git a/depthProcess.h b/depthProcess.h
new file mode 100644
index 0000000..de0cecb
--- /dev/null
+++ b/depthProcess.h
@@ -0,0 +1,18 @@
+#pragma once
+
+#include "opencv2/core/core.hpp"
+
+
+class DepthProcess
+{
+private:
+    cv::Mat imgRGB;
+    cv::Mat imgDepth;   // or pointCloud detect by lidar
+    cv::Mat mK; // camera intrinsic or external parameters between camera and lidar
+    cv::Mat obstacle;   // [dis, cls, maby size]
+public:
+    DepthProcess(cv::Mat mk);
+    void obstacleDetect(cv::Mat imgDepth);
+    void obstacleRecognize(cv::Mat boxes);
+    cv::Mat getObstacle();
+};
diff --git a/main.cc b/main.cc
new file mode 100644
index 0000000..ede66a6
--- /dev/null
+++ b/main.cc
@@ -0,0 +1,16 @@
+#include "yolo.h"
+#include "depthProcess.h"
+
+
+int main(int argc, char** argv) {
+    
+    // initialize yolo
+    Yolo detector = Yolo(modelPath);
+    // initialize depthProcessor
+    DepthProcess depthProcessor = DepthProcess(mk);
+    // read image
+    // read depth
+    // do object detection (new thread)
+    // do depth process
+    // get boxes and do obstacleRecognize
+}
\ No newline at end of file
diff --git a/yolo.cc b/yolo.cc
new file mode 100644
index 0000000..c8519f4
--- /dev/null
+++ b/yolo.cc
@@ -0,0 +1,15 @@
+#include"yolo.h"
+
+
+
+Yolo::Yolo(std::string modelPath) {
+
+}
+
+void Yolo::detect(cv::Mat image) {
+    
+}
+
+cv::Mat Yolo::getBoxes() {
+
+}
\ No newline at end of file
diff --git a/yolo.h b/yolo.h
new file mode 100644
index 0000000..1793fc3
--- /dev/null
+++ b/yolo.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include<string>
+
+class Yolo
+{
+private:
+    cv::Mat image;
+    cv::Mat boxes;
+public:
+    Yolo(std::string modelPath);    // initialize detector here, may need more args
+    // void gpuInit(/* args */);    // initialize the GPU, may called by the constructor
+    void detect(cv::Mat image);  // detect objects in the image, return the 2d mat
+                                    // which every row represents for an object
+    cv::Mat getBoxes(); // return infomation about the detected objects
+    // may called by the detect function
+    // void preProcess(/* args */);
+    // void postProcess(/* args */);
+};
+
+