Quadrotor

/************************************************************************

                          Blob.h

FUNCIONALITAT: Definici? de la classe CBlob

AUTOR: Inspecta S.L.

MODIFICACIONS (Modificaci?, Autor, Data):

FUNCTIONALITY: Definition of the CBlob class and some helper classes to perform

                           some calculations on it

AUTHOR: Inspecta S.L.

MODIFICATIONS (Modification, Author, Date):

**************************************************************************/

//! Disable warnings referred to 255 character truncation for the std:map

#pragma warning( disable : 4786 ) 

#ifndef CBLOB_INSPECTA_INCLUDED

#define CBLOB_INSPECTA_INCLUDED

#include <opencv/cxcore.h>

#include "BlobLibraryConfiguration.h"

#include "BlobContour.h"

#ifdef BLOB_OBJECT_FACTORY

        //! Object factory pattern implementation

        #include "..\inspecta\DesignPatterns\ObjectFactory.h"

#endif

//! Type of labelled images

typedef unsigned int t_labelType;

//! Blob class

class CBlob

{

        typedef std::list<CBlobContour> t_contourList;

public:

        CBlob();

        CBlob( t_labelType id, CvPoint startPoint, CvSize originalImageSize );

        ~CBlob();

        //! Copy constructor

        CBlob( const CBlob &src );

        CBlob( const CBlob *src );

        //! Operador d'assignaci?

        //! Assigment operator

        CBlob& operator=(const CBlob &src );

        //! Adds a new internal contour to the blob

        void AddInternalContour( const CBlobContour &newContour );

        //! Retrieves contour in Freeman's chain code

        CBlobContour *GetExternalContour()

        {

                return &m_externalContour;

        }

        //! Retrieves blob storage

        CvMemStorage *GetStorage()

        {

                return m_storage;

        }

        //! Get label ID

        t_labelType GetID()

        {

                return m_id;

        }

        //! > 0 for extern blobs, 0 if not

        int          Exterior( IplImage *mask, bool xBorder = true, bool yBorder = true );

        //! Compute blob's area

        double Area();

        //! Compute blob's perimeter

        double Perimeter();

        //! Compute blob's moment (p,q up to MAX_CALCULATED_MOMENTS)

        double Moment(int p, int q);

        //! Compute extern perimeter 

        double ExternPerimeter( IplImage *mask, bool xBorder  = true, bool yBorder = true );

        //! Get mean grey color

        double Mean( IplImage *image );

        //! Get standard deviation grey color

        double StdDev( IplImage *image );

        //! Indica si el blob est? buit ( no t? cap info associada )

        //! Shows if the blob has associated information

        bool IsEmpty();

        //! Retorna el poligon convex del blob

        //! Calculates the convex hull of the blob

        t_PointList GetConvexHull();

        //! Pinta l'interior d'un blob d'un color determinat

        //! Paints the blob in an image

        void FillBlob( IplImage *imatge, CvScalar color, int offsetX = 0, int offsetY = 0 );

        //! Join a blob to current one (add's contour

        void JoinBlob( CBlob *blob );

        //! Get bounding box

        CvRect GetBoundingBox();

        //! Get bounding ellipse

        CvBox2D GetEllipse();

        //! Minimun X        

        double MinX()

        {

                return GetBoundingBox().x;

        }

        //! Minimun Y

        double MinY()

        {

                return GetBoundingBox().y;

        }

        //! Maximun X

        double MaxX()

        {

                return GetBoundingBox().x + GetBoundingBox().width;

        }

        //! Maximun Y

        double MaxY()

        {

                return GetBoundingBox().y + GetBoundingBox().height;

        }

private:

        //! Deallocates all contours

        void ClearContours();

        //////////////////////////////////////////////////////////////////////////

        // Blob contours

        //////////////////////////////////////////////////////////////////////////

        //! Contour storage memory

        CvMemStorage *m_storage;

        //! External contour of the blob (crack codes)

        CBlobContour m_externalContour;

        //! Internal contours (crack codes)

        t_contourList m_internalContours;

        //////////////////////////////////////////////////////////////////////////

        // Blob features

        //////////////////////////////////////////////////////////////////////////

        //! Label number

        t_labelType m_id;

        //! Area

        double m_area;

        //! Perimeter

        double m_perimeter;

        //! Extern perimeter from blob

        double m_externPerimeter;

        //! Mean gray color

        double m_meanGray;

        //! Standard deviation from gray color blob distribution

        double m_stdDevGray;

        //! Bounding box

        CvRect m_boundingBox;

        //! Bounding ellipse

        CvBox2D m_ellipse;

        //! Sizes from image where blob is extracted

        CvSize m_originalImageSize;

};

#endif //CBLOB_INSPECTA_INCLUDED