Quadrotor

// main.cpp : Defines the entry point for the console application.

//

//#include "stdafx.h" //AO

#include "opencv/cv.h"

#include "opencv/highgui.h"

#include <stdio.h>

//#include <conio.h> //AO

// Main blob library include

#include "BlobResult.h"

char wndname[] = "Blob Extraction";

char tbarname1[] = "Threshold";

char tbarname2[] = "Blob Size";

// The output and temporary images

IplImage* originalThr = 0;

IplImage* original = 0;

IplImage* displayedImage = 0;

int param1,param2;

// threshold trackbar callback

void on_trackbar( int dummy )

{

        if(!originalThr)

        {

                originalThr = cvCreateImage(cvGetSize(original), IPL_DEPTH_8U,1);

        }

        if(!displayedImage)

        {

                displayedImage = cvCreateImage(cvGetSize(original), IPL_DEPTH_8U,3);

        }

        // threshold input image

        cvThreshold( original, originalThr, param1, 255, CV_THRESH_BINARY );

        // get blobs and filter them using its area

        CBlobResult blobs;

        int i;

        CBlob *currentBlob;

        // find blobs in image

        blobs = CBlobResult( originalThr, NULL, 255 );

        blobs.Filter( blobs, B_EXCLUDE, CBlobGetArea(), B_LESS, param2 );

        // display filtered blobs

        cvMerge( originalThr, originalThr, originalThr, NULL, displayedImage );

        for (i = 0; i < blobs.GetNumBlobs(); i++ )

        {

                currentBlob = blobs.GetBlob(i);

                currentBlob->FillBlob( displayedImage, CV_RGB(255,0,0));

        }

    cvShowImage( wndname, displayedImage );

}

int main( int argc, char** argv )

{

        param1 = 100;

        param2 = 2000;

        // open input image

        original = cvLoadImage("pic6.png",0);

        cvNamedWindow("input");

        cvShowImage("input", original );

        cvNamedWindow(wndname, 0);

    cvCreateTrackbar( tbarname1, wndname, &param1, 255, on_trackbar );

        cvCreateTrackbar( tbarname2, wndname, &param2, 30000, on_trackbar );

        // Call to update the view

        for(;;)

    {

        int c;

        // Call to update the view

        on_trackbar(0);

        c = cvWaitKey(0);

           if( c == 27 )

            break;

        }

    cvReleaseImage( &original );

        cvReleaseImage( &originalThr );

        cvReleaseImage( &displayedImage );

    cvDestroyWindow( wndname );

    return 0;

}