biotracker_backgroundsubtraction_tracker/Src/Model/BioTrackerTrackingAlgorithm.h at staticboost · BioroboticsLab/biotracker_backgroundsubtraction_tracker · GitHub

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#ifndef BIOTRACKERTRACKINGALGORITHM_H
#define BIOTRACKERTRACKINGALGORITHM_H


#include "Interfaces/IModel/IModel.h"

#include "TrackerParameter.h"

#include <opencv2/opencv.hpp>
#include "Interfaces/IModel/IModelTrackingAlgorithm.h"
#include "Interfaces/IModel/IModelDataExporter.h"
#include "TrackedComponents/TrackedElement.h"
#include "TrackedComponents/TrackedTrajectory.h"
#include "TrackingAlgorithm/imageProcessor/detector/blob/cvBlob/BlobsDetector.h"
#include "TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.h"
#include "../Controller/ControllerTrackingAlgorithm.h"
#include "TrackingAlgorithm/NN2dMapper.h"
#include "Interfaces/IModel/IModelAreaDescriptor.h"
#include <iostream>

#include "Network/TcpListener.h"
#include "../Config.h"

class BioTrackerTrackingAlgorithm : public IModelTrackingAlgorithm
{
    Q_OBJECT
public:
    BioTrackerTrackingAlgorithm(IController *parent, IModel* parameter, IModel* trajectory);
	~BioTrackerTrackingAlgorithm();

Q_SIGNALS:
    void emitCvMatA(std::shared_ptr<cv::Mat> image, QString name);
	void emitDimensionUpdate(int x, int y);
	void emitTrackingDone(uint framenumber);

    // ITrackingAlgorithm interface
public Q_SLOTS:
	void doTracking(std::shared_ptr<cv::Mat> image, uint framenumber) override;
	void receiveAreaDescriptorUpdate(IModelAreaDescriptor *areaDescr);
    void receiveParametersChanged();

private:
std::vector<BlobPose> getContourCentroids(cv::Mat& image, int minSize);
	void refreshPolygon();
    void sendSelectedImage(std::map<std::string, std::shared_ptr<cv::Mat>>* images);

	std::vector<FishPose> getLastPositionsAsPose();

    BST::TrackedTrajectory* _TrackedTrajectoryMajor;
	TrackerParameter* _TrackingParameter;
	IModelAreaDescriptor* _AreaInfo;

	TcpListener* _listener;

	ImagePreProcessor _ipp;
	BlobsDetector _bd;
	std::shared_ptr<NN2dMapper> _nn2d;

	// background subtraction
	cv::Ptr<cv::BackgroundSubtractorMOG2> _pMOG;

	int _noFish;

	//std::ofstream _ofs;

	int _imageX;
	int _imageY;

    std::shared_ptr<cv::Mat> _lastImage;
    uint _lastFramenumber;
	Config *_cfg;
};

#endif // BIOTRACKERTRACKINGALGORITHM_H