/*
* This file is part of robotreality
*
* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
* http://opensource.cit-ec.de/projects/robotreality
*
* This file may be licensed under the terms of the
* GNU General Public License Version 3 (the ``GPL''),
* or (at your option) any later version.
*
* Software distributed under the License is distributed
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
* express or implied. See the GPL for the specific language
* governing rights and limitations.
*
* You should have received a copy of the GPL along with this
* program. If not, go to http://www.gnu.org/licenses/gpl.html
* or write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The development of this software was supported by the
* Excellence Cluster EXC 277 Cognitive Interaction Technology.
* The Excellence Cluster EXC 277 is a grant of the Deutsche
* Forschungsgemeinschaft (DFG) in the context of the German
* Excellence Initiative.
*
*/

#ifndef FastBlob_H
#define FastBlob_H

#include <math.h>
#include <stdlib.h>

// class Triplet;

class FastBlob{
  public:
    FastBlob();
    ~FastBlob();
//     int distance_to(FastBlob b);
//     int distance_to(Triplet t);
//     int get_radius(void);
//     void set_rect( int xs,  int ys,  int xe,   int ye);
	void init(int x, int y);
	void include_pixel( int px,  int py);
	double get_centeroid_x();
	double get_centeroid_y();


	int get_x(){ return x; }
	int get_y(){ return y; }
	int get_width(){ return width; }
	int get_height(){ return height; }
	int get_pixelcount(){ return  pixelcount; }
	void move(double x, double y);
	
	void merge_with_blob(FastBlob b);
	
     int get_boundingboxsize();
//      int get_searchradius_min();
//      int get_searchradius_max();
//      int is_valid_clustering_partner(FastBlob bl2);
//      int get_bbox_center_x();
//      int get_bbox_center_y();

     int runid;
     int id;
//      int correlation_id;
     int object_id;
     bool possible_candidate;
//      int search_radius_min;
//      int search_radius_max;

	double circle_quality(){
		double length;
		length = get_width();
		if (get_height() > length){
			length = get_height();
		}
		return (4.0 * get_height() * get_width()) / (3.14*length);
	}
	
	static bool compare_circle_quality(FastBlob a, FastBlob b){ return (a.circle_quality() > b.circle_quality()); }

//      long sum_x;
//      long sum_y;
//      long sum_count;
private:
	
	void boundingbox_update(int px, int py);
	int width;
	int height;
	
	int sum_x;
	int sum_y;
// 	int sum_count;
	 int pixelcount;
	int x;
	int y;

};

#endif