Quadrotor

#include <limits.h>

#include "BlobOperators.h"

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

  Implementaci? de les classes per al c?lcul de caracter?stiques sobre el blob

  Implementation of the helper classes to perform operations on blobs

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

/**

- FUNCTION: Moment

- FUNCTIONALITY: Calculates the pq moment of the blob

- PARAMETERS:

- RESULT:

        - returns the pq moment or 0 if the moment it is not implemented

- RESTRICTIONS:

        - Currently, implemented moments up to 3

- AUTHOR: Ricard Borr?s

- CREATION DATE: 20-07-2004.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetMoment::operator()(CBlob &blob)

{

        return blob.Moment(m_p, m_q);

}

/**

- FUNCI?: HullPerimeter

- FUNCIONALITAT: Calcula la longitud del perimetre convex del blob.

                           Fa servir la funci? d'OpenCV cvConvexHull2 per a 

                           calcular el perimetre convex.

- PAR?METRES:

- RESULTAT:

        - retorna la longitud del per?metre convex del blob. Si el blob no t? coordenades

          associades retorna el per?metre normal del blob.

- RESTRICCIONS:

- AUTOR: Ricard Borr?s

- DATA DE CREACI?: 20-07-2004.

- MODIFICACI?: Data. Autor. Descripci?.

*/

/**

- FUNCTION: CBlobGetHullPerimeter

- FUNCTIONALITY: Calculates the convex hull perimeter of the blob

- PARAMETERS:

- RESULT:

        - returns the convex hull perimeter of the blob or the perimeter if the 

        blob edges could not be retrieved

- RESTRICTIONS:

- AUTHOR: Ricard Borr?s

- CREATION DATE: 25-05-2005.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetHullPerimeter::operator()(CBlob &blob)

{

        CvSeq *convexHull;

        double perimeter;

        convexHull = blob.GetConvexHull();

        if( convexHull )

                perimeter = fabs(cvArcLength(convexHull,CV_WHOLE_SEQ,1));

        else

                return 0;

        cvClearSeq(convexHull);

        return perimeter;

}

double CBlobGetHullArea::operator()(CBlob &blob)

{

        CvSeq *convexHull;

        double area;

        convexHull = blob.GetConvexHull();

        if( convexHull )

                area = fabs(cvContourArea(convexHull));

        else

                return 0;

        cvClearSeq(convexHull);

        return area;

}

/**

- FUNCTION: CBlobGetMinXatMinY

- FUNCTIONALITY: Calculates the minimum X on the minimum Y

- PARAMETERS:

- RESULT:

- RESTRICTIONS:

- AUTHOR: Ricard Borr?s

- CREATION DATE: 25-05-2005.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetMinXatMinY::operator()(CBlob &blob)

{

        double result = LONG_MAX;

        CvSeqReader reader;

        CvPoint actualPoint;

        t_PointList externContour;

        externContour = blob.GetExternalContour()->GetContourPoints();

        if( !externContour ) return result;

        cvStartReadSeq( externContour, &reader);

        for( int i=0; i< externContour->total; i++)

        {

                CV_READ_SEQ_ELEM( actualPoint, reader);

                if( (actualPoint.y == blob.MinY()) && (actualPoint.x < result) )

                {

                        result = actualPoint.x;

                }        

        }

        return result;

}

/**

- FUNCTION: CBlobGetMinXatMinY

- FUNCTIONALITY: Calculates the minimum Y on the maximum X

- PARAMETERS:

- RESULT:

- RESTRICTIONS:

- AUTHOR: Ricard Borr?s

- CREATION DATE: 25-05-2005.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetMinYatMaxX::operator()(CBlob &blob)

{

        double result = LONG_MAX;

        CvSeqReader reader;

        CvPoint actualPoint;

        t_PointList externContour;

        externContour = blob.GetExternalContour()->GetContourPoints();

        if( !externContour ) return result;

        cvStartReadSeq( externContour, &reader);

        for( int i=0; i< externContour->total; i++)

        {

                CV_READ_SEQ_ELEM( actualPoint, reader);

                if( (actualPoint.x == blob.MaxX()) && (actualPoint.y < result) )

                {

                        result = actualPoint.y;

                }        

        }

        return result;

}

/**

- FUNCTION: CBlobGetMaxXatMaxY

- FUNCTIONALITY: Calculates the maximum X on the maximum Y

- PARAMETERS:

- RESULT:

- RESTRICTIONS:

- AUTHOR: Ricard Borr?s

- CREATION DATE: 25-05-2005.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetMaxXatMaxY::operator()(CBlob &blob)

{

        double result = LONG_MIN;

        CvSeqReader reader;

        CvPoint actualPoint;

        t_PointList externContour;

        externContour = blob.GetExternalContour()->GetContourPoints();

        if( !externContour ) return result;

        cvStartReadSeq( externContour, &reader);

        for( int i=0; i< externContour->total; i++)

        {

                CV_READ_SEQ_ELEM( actualPoint, reader);

                if( (actualPoint.y == blob.MaxY()) && (actualPoint.x > result) )

                {

                        result = actualPoint.x;

                }        

        }

        return result;

}

/**

- FUNCTION: CBlobGetMaxYatMinX

- FUNCTIONALITY: Calculates the maximum Y on the minimum X

- PARAMETERS:

- RESULT:

- RESTRICTIONS:

- AUTHOR: Ricard Borr?s

- CREATION DATE: 25-05-2005.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetMaxYatMinX::operator()(CBlob &blob)

{

        double result = LONG_MIN;

        CvSeqReader reader;

        CvPoint actualPoint;

        t_PointList externContour;

        externContour = blob.GetExternalContour()->GetContourPoints();

        if( !externContour ) return result;

        cvStartReadSeq( externContour, &reader);

        for( int i=0; i< externContour->total; i++)

        {

                CV_READ_SEQ_ELEM( actualPoint, reader);

                if( (actualPoint.x == blob.MinX()) && (actualPoint.y > result) )

                {

                        result = actualPoint.y;

                }        

        }

        return result;

}

/**

- FUNCTION: CBlobGetElongation

- FUNCTIONALITY: Calculates the elongation of the blob ( length/breadth )

- PARAMETERS:

- RESULT:

- RESTRICTIONS:

        - See below to see how the lenght and the breadth are aproximated

- AUTHOR: Ricard Borr?s

- CREATION DATE: 25-05-2005.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetElongation::operator()(CBlob &blob)

{

        double ampladaC,longitudC,amplada,longitud;

        double tmp;

        tmp = blob.Perimeter()*blob.Perimeter() - 16*blob.Area();

        if( tmp > 0.0 )

                ampladaC = (double) (blob.Perimeter()+sqrt(tmp))/4;

        // error intr?nsec en els c?lculs de l'?rea i el per?metre 

        else

                ampladaC = (double) (blob.Perimeter())/4;

        if(ampladaC<=0.0) return 0;

        longitudC=(double) blob.Area()/ampladaC;

        longitud=MAX( longitudC , ampladaC );

        amplada=MIN( longitudC , ampladaC );

        return (double) longitud/amplada;

}

/**

        Retorna la compacitat del blob

*/

/**

- FUNCTION: CBlobGetCompactness

- FUNCTIONALITY: Calculates the compactness of the blob 

                            ( maximum for circle shaped blobs, minimum for the rest)

- PARAMETERS:

- RESULT:

- RESTRICTIONS:

- AUTHOR: Ricard Borr?s

- CREATION DATE: 25-05-2005.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetCompactness::operator()(CBlob &blob)

{

        if( blob.Area() != 0.0 )

                return (double) pow(blob.Perimeter(),2)/(4*CV_PI*blob.Area());

        else

                return 0.0;

}

/**

        Retorna la rugositat del blob

*/

/**

- FUNCTION: CBlobGetRoughness

- FUNCTIONALITY: Calculates the roughness of the blob 

                            ( ratio between perimeter and convex hull perimeter)

- PARAMETERS:

- RESULT:

- RESTRICTIONS:

- AUTHOR: Ricard Borr?s

- CREATION DATE: 25-05-2005.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetRoughness::operator()(CBlob &blob)

{

        CBlobGetHullPerimeter getHullPerimeter = CBlobGetHullPerimeter();

        double hullPerimeter = getHullPerimeter(blob);

        if( hullPerimeter != 0.0 )

                return blob.Perimeter() / hullPerimeter;//HullPerimeter();

        return 0.0;

}

/**

        Retorna la longitud del blob

*/

/**

- FUNCTION: CBlobGetLength

- FUNCTIONALITY: Calculates the lenght of the blob (the biggest axis of the blob)

- PARAMETERS:

- RESULT:

- RESTRICTIONS:

        - The lenght is an aproximation to the real lenght

- AUTHOR: Ricard Borr?s

- CREATION DATE: 25-05-2005.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetLength::operator()(CBlob &blob)

{

        double ampladaC,longitudC;

        double tmp;

        tmp = blob.Perimeter()*blob.Perimeter() - 16*blob.Area();

        if( tmp > 0.0 )

                ampladaC = (double) (blob.Perimeter()+sqrt(tmp))/4;

        // error intr?nsec en els c?lculs de l'?rea i el per?metre 

        else

                ampladaC = (double) (blob.Perimeter())/4;

        if(ampladaC<=0.0) return 0;

        longitudC=(double) blob.Area()/ampladaC;

        return MAX( longitudC , ampladaC );

}

/**

        Retorna l'amplada del blob

*/

/**

- FUNCTION: CBlobGetBreadth

- FUNCTIONALITY: Calculates the breadth of the blob (the smallest axis of the blob)

- PARAMETERS:

- RESULT:

- RESTRICTIONS:

        - The breadth is an aproximation to the real breadth

- AUTHOR: Ricard Borr?s

- CREATION DATE: 25-05-2005.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetBreadth::operator()(CBlob &blob)

{

        double ampladaC,longitudC;

        double tmp;

        tmp = blob.Perimeter()*blob.Perimeter() - 16*blob.Area();

        if( tmp > 0.0 )

                ampladaC = (double) (blob.Perimeter()+sqrt(tmp))/4;

        // error intr?nsec en els c?lculs de l'?rea i el per?metre 

        else

                ampladaC = (double) (blob.Perimeter())/4;

        if(ampladaC<=0.0) return 0;

        longitudC = (double) blob.Area()/ampladaC;

        return MIN( longitudC , ampladaC );

}

/**

        Calcula la dist?ncia entre un punt i el centre del blob

*/

/**

- FUNCTION: CBlobGetDistanceFromPoint

- FUNCTIONALITY: Calculates the euclidean distance between the blob center and 

                                 the point specified in the constructor

- PARAMETERS:

- RESULT:

- RESTRICTIONS:

- AUTHOR: Ricard Borr?s

- CREATION DATE: 25-05-2005.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetDistanceFromPoint::operator()(CBlob &blob)

{

        double xmitjana, ymitjana;

        CBlobGetXCenter getXCenter;

        CBlobGetYCenter getYCenter;

        xmitjana = m_x - getXCenter( blob );

        ymitjana = m_y - getYCenter( blob );

        return sqrt((xmitjana*xmitjana)+(ymitjana*ymitjana));

}

/**

- FUNCTION: BlobGetXYInside

- FUNCTIONALITY: Calculates whether a point is inside the

    rectangular bounding box of a blob

- PARAMETERS:

- RESULT:

        - returns 1 if it is inside; o if not

- RESTRICTIONS:

- AUTHOR: Francesc Pinyol Margalef

- CREATION DATE: 16-01-2006.

- MODIFICATION: Date. Author. Description.

*/

double CBlobGetXYInside::operator()(CBlob &blob)

{

        if( blob.GetExternalContour()->GetContourPoints() )

        {

                return cvPointPolygonTest( blob.GetExternalContour()->GetContourPoints(), m_p,0) >= 0;

        }

        return 0;

}

#ifdef BLOB_OBJECT_FACTORY

/**

- FUNCI?: RegistraTotsOperadors

- FUNCIONALITAT: Registrar tots els operadors definits a blob.h

- PAR?METRES:

        - fabricaOperadorsBlob: f?brica on es registraran els operadors

- RESULTAT:

        - Modifica l'objecte fabricaOperadorsBlob

- RESTRICCIONS:

        - Nom?s es registraran els operadors de blob.h. Si se'n volen afegir, cal afegir-los amb 

          el m?tode Register de la f?brica.

- AUTOR: rborras

- DATA DE CREACI?: 2006/05/18

- MODIFICACI?: Data. Autor. Descripci?.

*/

void RegistraTotsOperadors( t_OperadorBlobFactory &fabricaOperadorsBlob )

{

        // blob shape

        fabricaOperadorsBlob.Register( CBlobGetArea().GetNom(), Type2Type<CBlobGetArea>());

        fabricaOperadorsBlob.Register( CBlobGetBreadth().GetNom(), Type2Type<CBlobGetBreadth>());

        fabricaOperadorsBlob.Register( CBlobGetCompactness().GetNom(), Type2Type<CBlobGetCompactness>());

        fabricaOperadorsBlob.Register( CBlobGetElongation().GetNom(), Type2Type<CBlobGetElongation>());

        fabricaOperadorsBlob.Register( CBlobGetExterior().GetNom(), Type2Type<CBlobGetExterior>());

        fabricaOperadorsBlob.Register( CBlobGetLength().GetNom(), Type2Type<CBlobGetLength>());

        fabricaOperadorsBlob.Register( CBlobGetPerimeter().GetNom(), Type2Type<CBlobGetPerimeter>());

        fabricaOperadorsBlob.Register( CBlobGetRoughness().GetNom(), Type2Type<CBlobGetRoughness>());

        // blob color

        fabricaOperadorsBlob.Register( CBlobGetMean(NULL).GetNom(), Type2Type<CBlobGetMean>());

        fabricaOperadorsBlob.Register( CBlobGetStdDev(NULL).GetNom(), Type2Type<CBlobGetStdDev>());

        // extern pixels

        fabricaOperadorsBlob.Register( CBlobGetExternPerimeterRatio().GetNom(), Type2Type<CBlobGetExternPerimeterRatio>());

        fabricaOperadorsBlob.Register( CBlobGetExternHullPerimeterRatio().GetNom(), Type2Type<CBlobGetExternHullPerimeterRatio>());

        fabricaOperadorsBlob.Register( CBlobGetExternPerimeter().GetNom(), Type2Type<CBlobGetExternPerimeter>());

        // hull 

        fabricaOperadorsBlob.Register( CBlobGetHullPerimeter().GetNom(), Type2Type<CBlobGetHullPerimeter>());

        fabricaOperadorsBlob.Register( CBlobGetHullArea().GetNom(), Type2Type<CBlobGetHullArea>());

        // elipse info

        fabricaOperadorsBlob.Register( CBlobGetMajorAxisLength().GetNom(), Type2Type<CBlobGetMajorAxisLength>());

        fabricaOperadorsBlob.Register( CBlobGetMinorAxisLength().GetNom(), Type2Type<CBlobGetMinorAxisLength>());

        fabricaOperadorsBlob.Register( CBlobGetAxisRatio().GetNom(), Type2Type<CBlobGetAxisRatio>());

        fabricaOperadorsBlob.Register( CBlobGetOrientation().GetNom(), Type2Type<CBlobGetOrientation>());

        fabricaOperadorsBlob.Register( CBlobGetOrientationCos().GetNom(), Type2Type<CBlobGetOrientationCos>());

        fabricaOperadorsBlob.Register( CBlobGetAreaElipseRatio().GetNom(), Type2Type<CBlobGetAreaElipseRatio>());

        // min an max

        fabricaOperadorsBlob.Register( CBlobGetMaxX().GetNom(), Type2Type<CBlobGetMaxX>());

        fabricaOperadorsBlob.Register( CBlobGetMaxY().GetNom(), Type2Type<CBlobGetMaxY>());

        fabricaOperadorsBlob.Register( CBlobGetMinX().GetNom(), Type2Type<CBlobGetMinX>());

        fabricaOperadorsBlob.Register( CBlobGetMinY().GetNom(), Type2Type<CBlobGetMinY>());

        fabricaOperadorsBlob.Register( CBlobGetMaxXatMaxY().GetNom(), Type2Type<CBlobGetMaxXatMaxY>());

        fabricaOperadorsBlob.Register( CBlobGetMaxYatMinX().GetNom(), Type2Type<CBlobGetMaxYatMinX>());

        fabricaOperadorsBlob.Register( CBlobGetMinXatMinY().GetNom(), Type2Type<CBlobGetMinXatMinY>());

        fabricaOperadorsBlob.Register( CBlobGetMinYatMaxX().GetNom(), Type2Type<CBlobGetMinYatMaxX>());

        // coordinate info

        fabricaOperadorsBlob.Register( CBlobGetXYInside().GetNom(), Type2Type<CBlobGetXYInside>());

        fabricaOperadorsBlob.Register( CBlobGetDiffY().GetNom(), Type2Type<CBlobGetDiffY>());

        fabricaOperadorsBlob.Register( CBlobGetDiffX().GetNom(), Type2Type<CBlobGetDiffX>());

        fabricaOperadorsBlob.Register( CBlobGetXCenter().GetNom(), Type2Type<CBlobGetXCenter>());

        fabricaOperadorsBlob.Register( CBlobGetYCenter().GetNom(), Type2Type<CBlobGetYCenter>());

        fabricaOperadorsBlob.Register( CBlobGetDistanceFromPoint().GetNom(), Type2Type<CBlobGetDistanceFromPoint>());

        // moments

        fabricaOperadorsBlob.Register( CBlobGetMoment().GetNom(), Type2Type<CBlobGetMoment>());

}

#endif        //BLOB_OBJECT_FACTORY