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/*
* road_thresholder.h
*
* Copyright 2012 Florian Jung <florian.a.jung@web.de>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License Version 3
* as published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#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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