/* Background/vehicle segmentation. */
/* Last edited on 2016-04-09 20:11:27 by stolfilocal */

#ifndef dsm_segment2_H
#define dsm_segment2_H

#include <dsm_image.h>

/* Version of Abril/2016 */

typedef struct dsm_segment2_state_t
  { 
    /* Dimensions of input frames (or region of interest): */
    int nx; /* Columns. */
    int ny; /* Rows. */

    /* All images below have {ny} rows and {nx} columns. */

    /* Current state of the segmenter: */
    dsm_image_t bg;   /* Current background estimate. */ 
    double mu;        /* Camera gain. */   
    dsm_image_t sh;   /* Last shadow factor, encoded {[0_2] --> {0..255}}. */ 
    dsm_image_t wt;   /* Last background probability mask. */ 

    /* Previous masks: */
    dsm_image_t wt_prev;      /* Background indicator image of previous frame. */
    dsm_image_t up_prev;      /* Background update mask of previous frame. */
    dsm_image_t sh_prev;      /* Previous shadow mask. */ 
     
    /* Classifier paramters: */
    double lambda;  /* Standard deviation of noise in background pixels. */
    int rhigh;      /* Blur radius for high-pass filtering. */
    int rshblur;    /* Blur radius for shadow mask. */
    int rwterode1;  /* Structuring element radius to close holes in vehicles. */
    int rwtdilate;  /* Structuring element radius to clean small noise spots. */
    int rwterode2;  /* Structuring element radius to expand vehicle spot. */    

    /* Work images: */
    dsm_image_t im_high; /* High-pass filtered version of frame image. */
    dsm_image_t bg_adj;  /* Bachground image adjusted for camera gain and shadow factor. */
    dsm_image_t bg_high; /* High-pass filtered version of background image. */
    dsm_image_t up;      /* Bachground update mask. */
    dsm_image_t sh_sharp;/* Shadow mask before blurring. */
    dsm_image_t disc;    /* Image-background discrepancy image. */
    dsm_image_t temp;    /* Generic work image. */

    /* Other work areas: */
    int32_t *i32temp;        /* Vector of {nx*ny} integers. */

  } dsm_segment2_state_t;
  /* Current state of the segmentation module. */

/* Initializes the state {st} for images with {nx} columns and {ny} rows. 
   Copies {bg0} into the background reference image. */
void dsm_segment2_state_initialize(dsm_segment2_state_t *st, int nx, int ny, dsm_image_t *bg0);
  

/*Tries to segment the (possibly reduced) image {img} into foreground and
  background within the region of interest defined by {st}.
  The image {img} must have {st.nx} columns and {st.ny} rows.
  Returns in {st->wt} the fuzzy classification of each pixel,
  as background (255) or foreground (0), and in {st->sh}
  the shadow factor (scaled 0.0 --> 0, 2.0 --> 255).
  The parameter {lambda} should be the  in
  {img}. */
void dsm_segment2_identify_background
  ( dsm_image_t *img, 
    dsm_segment2_state_t *st,
    const char *out_prefix  /* Filename prefix for debugging images, or {NULL}. */
  );

#endif