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#ifndef __ROAD_THRESHOLDER_H__
#define __ROAD_THRESHOLDER_H__
#include <opencv2/opencv.hpp>
#include "road_thresholder_iface.h"
using namespace cv;
class RoadThresholder : public RoadThresholderIface
{
public:
RoadThresholder();
RoadThresholder(int r, int g, int b);
virtual void process_image(const Mat& img);
virtual Mat& get_road();
private:
Mat mask_raw;
int road_0;
int road_1;
int road_2;
Mat erode_2d_small;
Mat create_diff_image_and_fill_histogram(const Mat& img, int* histogram);
void calc_road_color(const Mat& img, const Mat& mask_eroded);
static void smoothen_histogram(int* hist, int* hist_smooth, int smoothness);
};
#endif
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