HMTrackingModule.h

#ifndef HMTRACKINGMODULE_H
#define HMTRACKINGMODULE_H

#include <QImage>
#include <QDir>
#include <opencv2/imgproc/imgproc.hpp>
#include <vector>
#include <cmath>
#include <QColor>

#include "Datapool.h"
#include "ModuleInterface.h"
#include "src/asmOpenCV.h"

#include "opencv2/opencv.hpp"
#include <opencv/highgui.h>
#include <map>
#include <string>
#include "image_display.h"

typedef std::vector<int> hist;

using namespace std;

class HMTrackingModule : public ModuleInterface
{
public:
    HMTrackingModule(Datapool* i_data);
    ~HMTrackingModule();

    //Set module configuration parameters
    bool setParameters(QDomNode& config);

    //Initialization after reading parameters
    bool init();

    //Function executed at each frame
    bool run();

    //update parameters at runtime.
    bool updateParameters();

private:
    //Module parameters
    bool firstTime;
    float alpha, beta;
    QImage ROI_mask;

    //Threshold Parameters
    float A_p[4];//, G_p, B_p, GL_p; // histogram intensity peaks
    float A_t[4];//, G_t, B_t, GL_t; // intensity thresholds

    void HackROI(const QImage currIm);

    //float R_u, G_u, B_u, GL_u; // histogram intensity mean
    //float R_std, G_std, B_std, GL_std; //histogram standar deviation

    //Calculates Intensity Histograms per channel
    vector<hist> calculateHistograms(const QImage img);

    //Calculates first and second statistical moments of the intesity histograms
    vector<float> calculateMoments(vector<hist> channels);

    //Calculate channels peaks using paper proposed criterias
    void calculatePeaks(vector<hist> channels);

    //Calculate thresholds
    void calculateThresholds(vector<hist> ch);

    //Store grass area of the image on bgImage using a binary classifier
    QImage GrassClassifier(const QImage currIm);

    //Get the line on the grass selection usign Hough Transform
    QImage Line_detect(const QImage CurrentImage, const QImage Grassimage);

    //Aplly a filter
    void ApplyFilter(QImage *f_in, QImage *f_out);

    //Dilate image
    void applydilate(QImage * f_in, QImage * fg_out);

    //Detect image
    void Hough_Transform(QImage *f_in);

    //Discard low gradient
    QImage DLowIntGrad(const QImage src);

    //Get the foreground
    QImage ForeGround(const QImage curr, const QImage bg);

};

#endif // HMTRACKINGMODULE_H