BlobContour.h

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#ifndef BLOBCONTOUR_H_INCLUDED
#define BLOBCONTOUR_H_INCLUDED


#include "list"
#include <ros/ros.h>
#include <opencv/cv.h>
#include "cxtypes.h"

typedef unsigned char t_chainCode;
typedef CvSeq* t_chainCodeList;
typedef CvSeq* t_PointList;


#define MAX_MOMENTS_ORDER               3


class CBlobContour
{
        friend class CBlob;
        
public:
        CBlobContour();
        CBlobContour(CvPoint startPoint, CvMemStorage *storage );
        CBlobContour( CBlobContour *source );

        ~CBlobContour();
        CBlobContour& operator=( const CBlobContour &source );

        void AddChainCode(t_chainCode code);

        t_chainCodeList GetChainCode()
        {
                return m_contour;
        }

        bool IsEmpty()
        {
                return m_contour == NULL || m_contour->total == 0;
        }

        t_chainCodeList GetContourPoints();

protected:      

        CvPoint GetStartPoint() const
        {
                return m_startPoint;
        }

        void ResetChainCode();
        

        
        double GetArea();
        double GetPerimeter();
        double GetMoment(int p, int q);

        t_chainCodeList m_contour;      

private:
        CvPoint m_startPoint;
        t_PointList m_contourPoints;



        double m_area;
        double m_perimeter;
        CvMoments m_moments;

        CvMemStorage *m_parentStorage;
};

#endif  //!BLOBCONTOUR_H_INCLUDED