Quadrotor

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

                          BlobResult.h

FUNCIONALITAT: Definici? de la classe CBlobResult

AUTOR: Inspecta S.L.

MODIFICACIONS (Modificaci?, Autor, Data):

FUNCTIONALITY: Definition of the CBlobResult class

AUTHOR: Inspecta S.L.

MODIFICATIONS (Modification, Author, Date):

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

#if !defined(_CLASSE_BLOBRESULT_INCLUDED)

#define _CLASSE_BLOBRESULT_INCLUDED

#if _MSC_VER > 1000 

#pragma once

#endif // _MSC_VER > 1000

#include "BlobLibraryConfiguration.h"

#include <math.h>

#include <opencv/cxcore.h>

#ifdef MATRIXCV_ACTIU

        #include "matrixCV.h"

#else

        // llibreria STL

        #include "vector"

        //! Vector de doubles

        typedef std::vector<double> double_stl_vector;

#endif

#include <vector>                // vectors de la STL

#include <functional>

#include "blob.h"

#include "BlobOperators.h"

#include "ComponentLabeling.h"

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

        Filtres / Filters

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

//! accions que es poden fer amb els filtres

//! Actions performed by a filter (include or exclude blobs)

#define B_INCLUDE                                1L

#define B_EXCLUDE                                2L

//! condicions sobre els filtres

//! Conditions to apply the filters

#define B_EQUAL                                        3L

#define B_NOT_EQUAL                                4L

#define B_GREATER                                5L

#define B_LESS                                        6L

#define B_GREATER_OR_EQUAL                7L

#define B_LESS_OR_EQUAL                        8L

#define B_INSIDE                            9L

#define B_OUTSIDE                            10L

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

        Excepcions / Exceptions

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

//! Excepcions llen?ades per les funcions:

#define EXCEPTION_BLOB_OUT_OF_BOUNDS        1000

#define EXCEPCIO_CALCUL_BLOBS                        1001

/** 

        Classe que cont? un conjunt de blobs i permet extreure'n propietats 

        o filtrar-los segons determinats criteris.

        Class to calculate the blobs of an image and calculate some properties 

        on them. Also, the class provides functions to filter the blobs using

        some criteria.

*/

class CBlobResult  

{

public:

        //! constructor estandard, crea un conjunt buit de blobs

        //! Standard constructor, it creates an empty set of blobs

        CBlobResult();

        //! constructor a partir d'una imatge

        //! Image constructor, it creates an object with the blobs of the image

        CBlobResult(IplImage *source, IplImage *mask, uchar backgroundColor);

        //! constructor de c?pia

        //! Copy constructor

        CBlobResult( const CBlobResult &source );

        //! Destructor

        virtual ~CBlobResult();

        //! operador = per a fer assignacions entre CBlobResult

        //! Assigment operator

        CBlobResult& operator=(const CBlobResult& source);

        //! operador + per concatenar dos CBlobResult

        //! Addition operator to concatenate two sets of blobs

        CBlobResult operator+( const CBlobResult& source ) const;

        //! Afegeix un blob al conjunt

        //! Adds a blob to the set of blobs

        void AddBlob( CBlob *blob );

#ifdef MATRIXCV_ACTIU

        //! Calcula un valor sobre tots els blobs de la classe retornant una MatrixCV

        //! Computes some property on all the blobs of the class

        double_vector GetResult( funcio_calculBlob *evaluador ) const;

#endif

        //! Calcula un valor sobre tots els blobs de la classe retornant un std::vector<double>

        //! Computes some property on all the blobs of the class

        double_stl_vector GetSTLResult( funcio_calculBlob *evaluador ) const;

        //! Calcula un valor sobre un blob de la classe

        //! Computes some property on one blob of the class

        double GetNumber( int indexblob, funcio_calculBlob *evaluador ) const;

        //! Retorna aquells blobs que compleixen les condicions del filtre en el destination 

        //! Filters the blobs of the class using some property

        void Filter(CBlobResult &dst,

                                int filterAction, funcio_calculBlob *evaluador, 

                                int condition, double lowLimit, double highLimit = 0 );

        void Filter(CBlobResult &dst,

                                int filterAction, funcio_calculBlob *evaluador, 

                                int condition, double lowLimit, double highLimit = 0 ) const;

        //! Retorna l'en?ssim blob segons un determinat criteri

        //! Sorts the blobs of the class acording to some criteria and returns the n-th blob

        void GetNthBlob( funcio_calculBlob *criteri, int nBlob, CBlob &dst ) const;

        //! Retorna el blob en?ssim

        //! Gets the n-th blob of the class ( without sorting )

        CBlob GetBlob(int indexblob) const;

        CBlob *GetBlob(int indexblob);

        //! Elimina tots els blobs de l'objecte

        //! Clears all the blobs of the class

        void ClearBlobs();

        //! Escriu els blobs a un fitxer

        //! Prints some features of all the blobs in a file

        void PrintBlobs( char *nom_fitxer ) const;

//Metodes GET/SET

        //! Retorna el total de blobs

        //! Gets the total number of blobs

        int GetNumBlobs() const 

        { 

                return(m_blobs.size()); 

        }

private:

        //! Funci? per gestionar els errors

        //! Function to manage the errors

        void RaiseError(const int errorCode) const;

        //! Does the Filter method job

        void DoFilter(CBlobResult &dst,

                                int filterAction, funcio_calculBlob *evaluador, 

                                int condition, double lowLimit, double highLimit = 0) const;

protected:

        //! Vector amb els blobs

        //! Vector with all the blobs

        Blob_vector                m_blobs;

};

#endif // !defined(_CLASSE_BLOBRESULT_INCLUDED)