motion_detector.h

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#pragma once
 
#include "tracking_types.h"
 
namespace tracking
{
class MotionDetector
{
public:
    explicit MotionDetector(const DetectorConfig& config = DetectorConfig{});
 
    const DetectionResult& process(const GrayFrame& frame);
 
    void reset();
 
    const DetectionResult& last() const { return result_; }
 
private:
    static constexpr int kMaxLabels = kCells / 2;
    static constexpr int kMaxComponents = 64;
 
    struct Accum {
        int area = 0;
        int sum_x = 0;
        int sum_y = 0;
        Box box;
    };
 
    void copy_background(const GrayFrame& frame);
    void seed_background(const GrayFrame& frame);
    int mask_and_learn(const GrayFrame& frame);
    void label_blobs();
    uint16_t find(uint16_t label);
    void unite(uint16_t a, uint16_t b);
 
    DetectorConfig config_;
    bool seeded_ = false;
    int warmup_left_ = 0;
    int frame_mean_ = 0;      
    int background_mean_ = 0; 
    DetectionResult result_;
    std::array<uint16_t, kCells> background_{}; 
    std::array<uint8_t, kCells> mask_{};
    std::array<uint8_t, kCells> fg_age_{}; 
    std::array<uint16_t, kCells> labels_{};
    std::array<uint16_t, kMaxLabels + 1> parent_{};
    std::array<uint8_t, kMaxLabels + 1> component_of_{};
    std::array<Accum, kMaxComponents> accum_{};
};
} // namespace tracking