diff --git a/AdvancedVision/MooreBoundaryTrackingAlgorithm.cpp b/AdvancedVision/MooreBoundaryTrackingAlgorithm.cpp
index ff2cab6..d3847f1 100644
--- a/AdvancedVision/MooreBoundaryTrackingAlgorithm.cpp
+++ b/AdvancedVision/MooreBoundaryTrackingAlgorithm.cpp
@@ -1,7 +1,5 @@
 #include "MooreBoundaryTrackingAlgorithm.h"
 #include "avansvisionlib.h"
-#include <set>
-
 
 //direction values
 //       starting at position 0. Definition of relative positions: 
@@ -11,44 +9,24 @@
 int rotateX[] = {  0,  1, 1, 1, 0, -1, -1, -1 };
 int rotateY[] = { -1, -1, 0, 1, 1,  1,  0, -1 };
 
-struct pointCompare
-{
-	bool operator() (const Point &a, const Point &b)
-	{
-		if (a.x < b.x)
-			return true;
-		return a.y < b.y;
-	}
-};
-
 int allContours(Mat binaryImage, vector<vector<Point>>& contourVecVec)
 {
+	Mat labeledImage;
+	vector<Point2d *> firstPixelVec2;
+	vector<Point2d *> posVec2;
+	vector<int> areaVec2;
+	int numberOfBlobs = labelBLOBsInfo(binaryImage, labeledImage, firstPixelVec2, posVec2, areaVec2);
 
 	Point b0, b1, c0, c1, firstb0, firstb1;
 
-	for (int y = 0; y < binaryImage.rows; y++) {
-		for (int x = 0; x < binaryImage.cols; x++)
-		{
-			Point p = Point(x, y);
+	for (Point2d *ptr : firstPixelVec2) {
+		vector<Point> contourVec;
 
-			if (getEntryImage(binaryImage, y, x) != 1)
-			{
-				continue;
-			}
+		firstb0 = Point((int)ptr->y, (int)ptr->x);
+		b0 = Point((int)ptr->y, (int)ptr->x);
+		c0 = Point((int)(ptr->y - 1), (int)ptr->x);
 
-			if (isInsideContours(contourVecVec, p))
-			{
-				continue;
-			}
-
-
-			vector<Point> contourVec;
-
-			firstb0 = p;
-			b0 = p;
-			c0 = Point(x - 1, y);
-
-			int firstDirection = discoverNext(binaryImage, b0, discoverNextRelativeDirection(b0, c0));
+			int firstDirection = discoverNext(binaryImage, b0, 6);
 			b1 = getDirPos(b0, firstDirection);
 			firstb1 = getDirPos(b0, firstDirection);
 			c1 = getDirPos(b0, (firstDirection + 7) % 8);
@@ -58,15 +36,14 @@ int allContours(Mat binaryImage, vector<vector<Point>>& contourVecVec)
 
 			do {
 
-				b0 = b1;
-				c0 = c1;
+				b0 = Point(b1.x, b1.y);
+				c0 = Point(c1.x, c1.y);
 
-				int cdir = discoverNextRelativeDirection(b0, c0);
-				int dir = discoverNext(binaryImage, b0, cdir);
+				int dir = discoverNext(binaryImage, b0, discoverNextRelativeDirection(b0, c0));
 
 				if (dir < 0)
 				{
-					cout << "Het gaat eventjes niet goed hoor: " << cdir << " : " << b0 << " - " << c0 << endl;
+					cout << "Er is niks aan de hand! " << " : " << b0 << " - "   << c0  << endl;
 				}
 
 				b1 = getDirPos(b0, dir);
@@ -78,17 +55,18 @@ int allContours(Mat binaryImage, vector<vector<Point>>& contourVecVec)
 
 			} while (b0 != firstb0 && b1 != firstb1);
 
-			if(contourVec.size() > 5)
+			cout << "Klaar met het vinden van contouren" << endl;
+
+			if(contourVec.size() > 4)
 				contourVecVec.push_back(contourVec);
-		}
 	}
 
-	flip(contourVecVec);
+	//flip(contourVecVec);
 
-	return contourVecVec.size(); //number of objects
+	return numberOfBlobs; //number of objects
 }
 
-int discoverNext(Mat &binaryImage, cv::Point pos, int beginDirection)
+int discoverNext(Mat &binaryImage, const cv::Point &pos, int beginDirection)
 {
 	if (beginDirection < 0 || beginDirection > 8) {
 		cout << "Begin direction is invalid : " << beginDirection << endl;
@@ -100,7 +78,7 @@ int discoverNext(Mat &binaryImage, cv::Point pos, int beginDirection)
 		int newX = pos.x + rotateX[dir];
 		int newY = pos.y + rotateY[dir];
 
-		if (getEntryImage(binaryImage, newX, newY) == 1) {
+		if (getEntryImage(binaryImage, newY, newX) == 1) {
 			return dir;
 		}
 	}
@@ -108,7 +86,7 @@ int discoverNext(Mat &binaryImage, cv::Point pos, int beginDirection)
 	return -1;
 }
 
-int discoverNextRelativeDirection(cv::Point pos, cv::Point target)
+int discoverNextRelativeDirection(const cv::Point &pos, const cv::Point &target)
 {
 	for (int i = 0; i < 8; i++) {
 		int dir = i;
@@ -123,7 +101,7 @@ int discoverNextRelativeDirection(cv::Point pos, cv::Point target)
 	return -1;
 }
 
-cv::Point getDirPos(cv::Point pos, int dir)
+cv::Point getDirPos(const cv::Point &pos, int dir)
 {
 	int x, y;
 	x = pos.x + rotateX[dir];
@@ -169,6 +147,19 @@ bool isInsideContours(vector<vector<Point>>& vec, Point point)
 	}
 
 	return false;
+}
 
-	
-}
\ No newline at end of file
+double getBendingEnergy(const vector<Point>& contour)
+{
+	double energy = 0;
+
+	Point previousPoint = contour[contour.size() - 1];
+
+	for (Point p : contour)
+	{
+		energy += discoverNextRelativeDirection(previousPoint, p);
+		previousPoint = p;
+	}
+
+	return energy;
+}
diff --git a/AdvancedVision/MooreBoundaryTrackingAlgorithm.h b/AdvancedVision/MooreBoundaryTrackingAlgorithm.h
index 2b9e380..966e153 100644
--- a/AdvancedVision/MooreBoundaryTrackingAlgorithm.h
+++ b/AdvancedVision/MooreBoundaryTrackingAlgorithm.h
@@ -17,16 +17,18 @@ int allContours(Mat	binaryImage, vector<vector<Point>> &contourVecVec);
 
 // func: discover next b
 // return_value: new direction
-int discoverNext(Mat &binaryImage, cv::Point pos, int beginDirection);
+int discoverNext(Mat &binaryImage, const cv::Point &pos, int beginDirection);
 
 // func: discover next c
 // return_value : new direction
-int discoverNextRelativeDirection(cv::Point pos, cv::Point target);
+int discoverNextRelativeDirection(const cv::Point &pos, const cv::Point &target);
 
 // func: get a point with a given position and direction
 // return_value : new point
-cv::Point getDirPos(cv::Point pos, int dir);
+cv::Point getDirPos(const cv::Point &pos, int dir);
 
 bool contains(vector<Point> vec, Point p);
 void flip(vector<vector<Point>> &vec);
-bool isInsideContours(vector<vector<Point>>& vec, Point point);
\ No newline at end of file
+bool isInsideContours(vector<vector<Point>>& vec, Point point);
+
+double getBendingEnergy(const vector<Point> &contour);
\ No newline at end of file
diff --git a/AdvancedVision/allContoursTestprogramma.cpp b/AdvancedVision/allContoursTestprogramma.cpp
index 0eefd3d..acf9667 100644
--- a/AdvancedVision/allContoursTestprogramma.cpp
+++ b/AdvancedVision/allContoursTestprogramma.cpp
@@ -101,6 +101,17 @@ int main(int argc, char *argv[])
 	imshow("Found contours", contourImage);
 	waitKey(0);
 
+	//haal bending energy waarde op
+
+	
+	cout << "Bending Energy" << endl << "-----------" << endl;
+
+	for (int i = 0; i < contours.size(); i++)
+	{
+		cout << "[" << i << "] " << getBendingEnergy(contours[i]) << endl;
+	}
+	
+
 	string pipo;
 	cin >> pipo;
 
diff --git a/AdvancedVision/input/Week 2/monsters.jpg b/AdvancedVision/input/Week 2/monsters.jpg
index 3013a3f..7655643 100644
Binary files a/AdvancedVision/input/Week 2/monsters.jpg and b/AdvancedVision/input/Week 2/monsters.jpg differ