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/* Copyright (c) 2012 Patrick Ruoff
* Copyright (c) 2015-2016 Stanislaw Halik <sthalik@misaki.pl>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*/
#pragma once
#include "ftnoir_tracker_pt_settings.h"
#include "camera.h"
#include "cv/numeric.hpp"
#include <vector>
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
namespace pt_impl {
using namespace types;
struct blob
{
f radius, brightness;
vec2 pos;
cv::Rect rect;
blob(f radius, const vec2& pos, f brightness, cv::Rect &rect);
};
class PointExtractor final
{
public:
// extracts points from frame and draws some processing info into frame, if draw_output is set
// dt: time since last call in seconds
void extract_points(const cv::Mat& frame, cv::Mat& preview_frame, std::vector<vec2>& points);
PointExtractor();
settings_pt s;
static double threshold_radius_value(int w, int h, int threshold);
private:
static constexpr int max_blobs = 16;
cv::Mat frame_gray;
cv::Mat frame_bin;
cv::Mat hist;
cv::Mat frame_blobs;
std::vector<blob> blobs;
cv::Mat ch[3], ch_float[4];
void ensure_channel_buffers(const cv::Mat& orig_frame);
void ensure_buffers(const cv::Mat& frame);
void extract_single_channel(const cv::Mat& orig_frame, int idx, cv::Mat& dest);
void extract_channels(const cv::Mat& orig_frame, const int* order, int order_npairs);
void extract_all_channels(const cv::Mat& orig_frame);
void channels_to_float(unsigned num_channels);
void color_to_grayscale(const cv::Mat& frame, cv::Mat& output);
void threshold_image(const cv::Mat& frame_gray, cv::Mat& output);
};
} // ns impl
using pt_impl::PointExtractor;
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