motion_detector.h File Reference

Finds moving regions in 40x30 gray frames with a background model (pure C++20, natively tested). More...

#include "tracking_types.h"

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Classes
class	tracking::MotionDetector

Detailed Description

Finds moving regions in 40x30 gray frames with a background model (pure C++20, natively tested).

Per frame: foreground mask against an exponential-moving-average background, a scene-change guard, and 8-connected blobs via two-pass union-find labelling. There is no morphological opening: each cell is already an 8x8 block average (1/8 DC decode), so an opening would erase hand-sized targets; isolated noise cells are rejected by DetectorConfig::min_blob_cells instead. Background cells learn fast (1/16) and foreground cells slowly (1/128), so moving objects leave no trail while a stopped object is still absorbed eventually. A cell that stays foreground for more than fg_age_limit frames goes back to the fast rate, so ghosts (cells that differ because the background itself was wrong) clear in a few seconds instead of ~14 s. All state is fixed-size (~12 KB): no heap. NOT thread-safe.