Seeker.hpp

#pragma once
#include <opencv2/imgcodecs.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <string>
#include <iostream>
using namespace std;
using namespace cv;
// using namespace sciplot;
class Ball;
class Seeker
{
public:

	Seeker();

	static const int      MIN_OBJECT_AREA;
	static const int 	  MAX_OBJECT_AREA;
	static vector<Point>  circle_contour;
	static Mat            freezedTrajectory;
	static Mat            freezedTrajectoryGrey;

	Mat 			  	  frame;
	Mat 			  	  contourPoints;
	Mat  			      contourPointsColored;
	Mat  			      contourFreezedPoints;
	vector<Point> 	  	  contour;
	Point2f 			  vtx[4];
	bool 				  findObject(cv::Mat* Output_frame, cv::Mat* BGR_frame, int FRAME_WIDTH, int FRAME_HEIGHT);
	void 				  drawObject(Mat *BGR_frame, float xPos, float yPos, float zPos, int xPosPx, int yPosPx);
	bool 				  checkContourBorder(int FRAME_WIDTH, int FRAME_HEIGHT);
	void				  disableBackground(Mat* BGR_frame);
	void				  enableFreezedTrajectory(Mat* BGR_frame);
	double 				  compareWithCircle();
	int 				  get_pxX();
	int 				  get_pxY();
	int 				  get_pxDiameter();
	
private:
	int 				  pxX;
	int 				  pxY;
	float 				  pxDiameter;

};