#ifndef YOLOPV2_H
#define YOLOPV2_H

#include <fstream>
#include <sstream>
#include <iostream>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>
#include <onnxruntime_cxx_api.h>

using namespace cv;
using namespace Ort;
using namespace std;

struct Net_config
{
    float confThreshold; // Confidence threshold
    float nmsThreshold;  // Non-maximum suppression threshold
    string modelpath;
};

typedef struct BoxInfo
{
    float x1;
    float y1;
    float x2;
    float y2;
    float score;
    int label;
} BoxInfo;

class YOLOPv2
{
public:
    YOLOPv2(Net_config config);
    Mat detect(Mat& frame);
private:
    int inpWidth;
    int inpHeight;
    int nout;
    int num_proposal;
    vector<string> class_names;
    int num_class;

    float confThreshold;
    float nmsThreshold;
    vector<float> input_image_;
    void normalize_(Mat img);
    void nms(vector<BoxInfo>& input_boxes);
    const float anchors[3][6] = { {12, 16, 19, 36, 40, 28}, {36, 75, 76, 55, 72, 146},{142, 110, 192, 243, 459, 401} };
    const float stride[3] = { 8.0, 16.0, 32.0 };
    const static int N = 6; //采样点数量
    const float dis[N] = {1000, 2000, 3000, 4000, 5000, 6000}; //偏移量采样点实际距离(mm)
    const int ypos[N] = {928, 839, 778, 735, 707, 686}; //偏移量采样点y轴坐标
    const int center = 1048; //车体中心x轴坐标
    const float rate[N] = {6.37, 8.26, 10.53, 12.98, 15.87, 19.23}; //图像像素到实际偏移(mm)转换率


    Env env = Env(ORT_LOGGING_LEVEL_ERROR, "YOLOPv2");
    Ort::Session *ort_session = nullptr;
    SessionOptions sessionOptions = SessionOptions();
    vector<char*> input_names;
    vector<char*> output_names;
    vector<vector<int64_t>> input_node_dims; // >=1 outputs
    vector<vector<int64_t>> output_node_dims; // >=1 outputs
};

#endif // YOLOPV2_H