/*
 * ObservationGenerator.hpp
 *
 *  Created on: Apr 2, 2020
 *      Author: lukas
 */

#ifndef OBSERVATIONGENERATOR_H
#define OBSERVATIONGENERATOR_H

#include "opencv2/opencv.hpp"

using namespace cv;
using namespace std;

/**
 * Structure to save blob parameters.
 */
struct cvBlob
{
	int     ID;  /* blob ID        */
	int   x, y;  /* blob position  */
	int   w, h;  /* blob sizes     */
};

class ObservationGenerator {

	public:
		ObservationGenerator();
		virtual ~ObservationGenerator();
		int generateObservation(Mat frame, Mat &observation);
		void doBackGroundSubstraction(Mat frame);

		Mat getFgMask(){ return _fgmask; } ;
		cvBlob getBlobMask(){ return _blob; };

	private:
		inline cvBlob initBlob(int id, int x, int y, int w, int h)
		{
			cvBlob B = { id,x,y,w,h};
			return B;
		};

		int extractBiggestBlog(cv::Mat fgmask, Mat &filled_mask, cvBlob &biggest_blob, int connectivity);

		Ptr<BackgroundSubtractor> _pMOG2;

		// Algorithm parameters
		double _bks_lr;
		double _var_threshold;
		int _history;

		int _connectivity;
		int _min_width;
		int _min_height;

		int _element_size;
		MorphShapes _erosion_type;
		Mat _struct_element;

		Mat _fgmask; // current fg mask
		cvBlob _blob; // current biggest blob
};

#endif /* SRC_OBSERVATIONGENERATOR_HPP_ */