ImageProcessing.hpp

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#ifndef IMAGEPROCESSING_HPP_
#define IMAGEPROCESSING_HPP_
#include <labust/blueview/trackerfwd.hpp>

namespace labust
{
  namespace blueview
  {
    class BVImageProcessor
    {
    public:
      BVImageProcessor();
      ~BVImageProcessor();

      bool processROI(TrackerROI& roi);

      void setPosition(const SonarHead& cnt);
      void setTarget(const SonarHead& cnt);

      inline bool isTracking(){return foundVehicle;};

      inline TrackedFeature getTracklet(){return tracklet;};

    private:
      cv::Mat histthresh(const cv::Mat& img, float min, float max, uchar max_val);
      cv::Mat adjust(cv::Mat& original);
      cv::Mat threshold(cv::Mat& adjusted);
      boost::shared_ptr<std::vector<TrackedFeature> > label(cv::Mat& binary);
      bool associate(boost::shared_ptr<std::vector<TrackedFeature> > features);
      void _update(const SonarHead& head);
      void xy2llz(const SonarHead& head, TrackedFeature& tracklet);
      void llz2xy(const SonarHead& head, TrackedFeature& tracklet);

      std::pair<double,double> meter2deg(double x, double y, double lat);
      std::pair<double,double> deg2meter(double difflat, double difflon, double lat);

      inline void meter2pixel(TrackerROI& roi, TrackedFeature& tracklet);
      inline void pixel2meter(TrackerROI& roi, TrackedFeature& tracklet);

      TrackedFeature tracklet;
      TrackedFeature target;
      cv::Mat roiImg;
      cv::Point roiOffset;
      double roi_len;
      double resolution;
      cv::Mat R;
      bool hasVehicle;
      bool foundVehicle;
      bool hasTarget;
    };
  }
}



#endif  /* IMAGEPROCESSING_HPP_ */