BackgroundSubtractorLBSP.h

#pragma once

#include <opencv2/features2d/features2d.hpp>
#include <opencv2/video/background_segm.hpp>
#include "custom_utils/LBSP.h"
#include "custom_utils/DistanceUtils.h"
#include "custom_utils/RandUtils.h"
#include <iostream>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <iomanip>
#include <exception>

class BackgroundSubtractorLBSP : public cv::BackgroundSubtractor {
public:
    BackgroundSubtractorLBSP(float fRelLBSPThreshold, size_t nLBSPThresholdOffset=0);
    virtual ~BackgroundSubtractorLBSP();
    virtual void initialize(const cv::Mat& oInitImg);
    virtual void initialize(const cv::Mat& oInitImg, const cv::Mat& oROI)=0;
    virtual void apply(cv::InputArray image, cv::OutputArray fgmask, double learningRate=0)=0;
    virtual cv::Mat getROICopy() const;
    virtual void setROI(cv::Mat& oROI);
    void setAutomaticModelReset(bool);

protected:
    struct PxInfoBase {
        int nImgCoord_Y;
        int nImgCoord_X;
        size_t nModelIdx;
    };
    cv::Mat m_oROI;
    cv::Size m_oImgSize;
    size_t m_nImgChannels;
    int m_nImgType;
    const size_t m_nLBSPThresholdOffset;
    const float m_fRelLBSPThreshold;
    size_t m_nTotPxCount, m_nTotRelevantPxCount;
    size_t m_nFrameIndex, m_nFramesSinceLastReset, m_nModelResetCooldown;
    size_t m_anLBSPThreshold_8bitLUT[UCHAR_MAX+1];
    size_t* m_aPxIdxLUT;
    PxInfoBase* m_aPxInfoLUT;
    const int m_nDefaultMedianBlurKernelSize;
    bool m_bInitialized;
    bool m_bAutoModelResetEnabled;
    bool m_bUsingMovingCamera;
    cv::Mat m_oLastColorFrame;
    cv::Mat m_oLastDescFrame;
    cv::Mat m_oLastFGMask;

private:
    BackgroundSubtractorLBSP(const BackgroundSubtractorLBSP&);
    BackgroundSubtractorLBSP& operator=(const BackgroundSubtractorLBSP&);

public:
    // ######## DEBUG PURPOSES ONLY ##########
    int m_nDebugCoordX, m_nDebugCoordY;
    std::string m_sDebugName;
    cv::FileStorage* m_pDebugFS;
};