Quadrotor

#ifndef BLOBCONTOUR_H_INCLUDED

#define BLOBCONTOUR_H_INCLUDED

#include "list"

#include <opencv/cv.h>

//#include "cxtypes.h"  //AO

#include <opencv/cxcore.h>   //

//! Type of chain codes

typedef unsigned char t_chainCode;

//! Type of list of chain codes

typedef CvSeq* t_chainCodeList;

//! Type of list of points

typedef CvSeq* t_PointList;

//! Max order of calculated moments

#define MAX_MOMENTS_ORDER                3

//! Blob contour class (in crack code)

class CBlobContour

{

        friend class CBlob;

        friend class CBlobProperties; //AO

public:

        //! Constructors

        CBlobContour();

        CBlobContour(CvPoint startPoint, CvMemStorage *storage );

        //! Copy constructor

        CBlobContour( CBlobContour *source );

        ~CBlobContour();

        //! Assigment operator

        CBlobContour& operator=( const CBlobContour &source );

        //! Add chain code to contour

        void AddChainCode(t_chainCode code);

        //! Return freeman chain coded contour

        t_chainCodeList GetChainCode()

        {

                return m_contour;

        }

        bool IsEmpty()

        {

                return m_contour == NULL || m_contour->total == 0;

        }

        //! Return all contour points

        t_chainCodeList GetContourPoints();

protected:        

        CvPoint GetStartPoint() const

        {

                return m_startPoint;

        }

        //! Clears chain code contour

        void ResetChainCode();

        //! Computes area from contour

        double GetArea();

        //! Computes perimeter from contour

        double GetPerimeter();

        //! Get contour moment (p,q up to MAX_CALCULATED_MOMENTS)

        double GetMoment(int p, int q);

        //! Crack code list

        t_chainCodeList m_contour;         

private:

        //! Starting point of the contour

        CvPoint m_startPoint;

        //! All points from the contour

        t_PointList m_contourPoints;

        //! Computed area from contour

        double m_area;

        //! Computed perimeter from contour

        double m_perimeter;

        //! Computed moments from contour

        CvMoments m_moments;

        //! Pointer to storage

        CvMemStorage *m_parentStorage;

};

#endif        //!BLOBCONTOUR_H_INCLUDED