background_subtractor.h

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 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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 * The following code makes use of the OpenCV library.
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 * Authors: Franz Albers, Christoph Rösmann
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#ifndef BACKGROUNDSUBTRACTOR_H_
#define BACKGROUNDSUBTRACTOR_H_

#include <cv_bridge/cv_bridge.h>

class BackgroundSubtractor
{
public:
  struct Params
  {
    double alpha_slow; 
    double alpha_fast; 
    double beta;
    double min_sep_between_fast_and_slow_filter;
    double min_occupancy_probability;
    double max_occupancy_neighbors;
    int morph_size;
  };

  BackgroundSubtractor(const Params& parameters);

  void apply(const cv::Mat& image, cv::Mat& fg_mask, int shift_x = 0, int shift_y = 0);

  void visualize(const std::string& name, const cv::Mat& image);

  void writeMatToYAML(const std::string& filename, const std::vector<cv::Mat>& mat_vec);

  void updateParameters(const Params& parameters);

private:
  void transformToCurrentFrame(int shift_x, int shift_y);

  cv::Mat occupancy_grid_fast_;
  cv::Mat occupancy_grid_slow_;
  cv::Mat current_frame_;

  int previous_shift_x_;
  int previous_shift_y_;

  Params params_;
};

#endif // BACKGROUNDSUBTRACTOR_H_