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< title > The Camera of Zelda: /nfs/home/sasl/eleves/rob/3408212/rob3-projetsinfo-g15-2017/Code/fonction.c Source File< / title >
2017-05-30 18:12:25 +02:00
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< a href = "fonction_8c.html" > Go to the documentation of this file.< / a > < div class = "fragment" > < div class = "line" > < a name = "l00001" > < / a > < span class = "lineno" > 1< / span >   < / div >
< div class = "line" > < a name = "l00009" > < / a > < span class = "lineno" > 9< / span >   < span class = "preprocessor" > #include " < a class = "code" href = "fonction_8h.html" > fonction.h< / a > " < / span > < / div >
< div class = "line" > < a name = "l00010" > < / a > < span class = "lineno" > 10< / span >   < / div >
< div class = "line" > < a name = "l00011" > < / a > < span class = "lineno" > 11< / span >   < / div >
< div class = "line" > < a name = "l00012" > < / a > < span class = "lineno" > < a class = "line" href = "fonction_8h.html#a93cca84f54fe35dc9ad87eac3583889b" > 12< / a > < / span >   < span class = "keywordtype" > void< / span > < a class = "code" href = "fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b" > maj_angle< / a > (< span class = "keywordtype" > int< / span > vecX, < span class = "keywordtype" > int< / span > vecY, < span class = "keywordtype" > int< / span > rayon, < span class = "keywordtype" > double< / span > * angle){< / div >
< div class = "line" > < a name = "l00013" > < / a > < span class = "lineno" > 13< / span >   < span class = "comment" > //On ajustera coeff fonction du rayon. Si la cible est à une distance 5*r, il sera 5x plus rapide que s' il était à 1*r< / span > < / div >
< div class = "line" > < a name = "l00014" > < / a > < span class = "lineno" > 14< / span >   < / div >
< div class = "line" > < a name = "l00015" > < / a > < span class = "lineno" > 15< / span >   < span class = "keywordtype" > double< / span > coeffx, coeffy;< / div >
< div class = "line" > < a name = "l00016" > < / a > < span class = "lineno" > 16< / span >   < span class = "keywordtype" > int< / span > l0, l1;< / div >
< div class = "line" > < a name = "l00017" > < / a > < span class = "lineno" > 17< / span >   < / div >
< div class = "line" > < a name = "l00018" > < / a > < span class = "lineno" > 18< / span >   < span class = "comment" > //printf(" -MAJ_ANGLE...Valeur maj_angle arguments : %d %d %d\n\tAnciens angles : %d %d\n\t" ,vecX,vecY,rayon,(int)angle[0],(int)angle[1]);< / span > < / div >
< div class = "line" > < a name = "l00019" > < / a > < span class = "lineno" > 19< / span >   < / div >
< div class = "line" > < a name = "l00020" > < / a > < span class = "lineno" > 20< / span >   < / div >
< div class = "line" > < a name = "l00021" > < / a > < span class = "lineno" > 21< / span >   < span class = "comment" > //Ajout d' un angle moteur pondéré par la distance< / span > < / div >
< div class = "line" > < a name = "l00022" > < / a > < span class = "lineno" > 22< / span >   coeffx = -0.2*vecX/rayon;< / div >
< div class = "line" > < a name = "l00023" > < / a > < span class = "lineno" > 23< / span >   coeffy = 0.2*vecY/rayon;< / div >
< div class = "line" > < a name = "l00024" > < / a > < span class = "lineno" > 24< / span >   angle[0] += coeffx;< / div >
< div class = "line" > < a name = "l00025" > < / a > < span class = "lineno" > 25< / span >   angle[1] += coeffy;< / div >
< div class = "line" > < a name = "l00026" > < / a > < span class = "lineno" > 26< / span >   < / div >
< div class = "line" > < a name = "l00027" > < / a > < span class = "lineno" > 27< / span >   < span class = "comment" > //Majoration - minoration des angles moteurs< / span > < / div >
< div class = "line" > < a name = "l00028" > < / a > < span class = "lineno" > 28< / span >   l0 = < a class = "code" href = "fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2" > limite_moteur< / a > (angle[0]);< / div >
< div class = "line" > < a name = "l00029" > < / a > < span class = "lineno" > 29< / span >   l1 = < a class = "code" href = "fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2" > limite_moteur< / a > (angle[1]);< / div >
< div class = "line" > < a name = "l00030" > < / a > < span class = "lineno" > 30< / span >   < span class = "keywordflow" > if< / span > (l0 != 0) angle[0] = l0;< / div >
< div class = "line" > < a name = "l00031" > < / a > < span class = "lineno" > 31< / span >   < span class = "keywordflow" > if< / span > (l1 != 0) angle[1] = l1;< / div >
< div class = "line" > < a name = "l00032" > < / a > < span class = "lineno" > 32< / span >   < / div >
< div class = "line" > < a name = "l00033" > < / a > < span class = "lineno" > 33< / span >   < span class = "comment" > //printf(" Nouveaux angles : %lf %lf %d %d\n" ,angle[0],angle[1],(int)angle[0],(int)angle[0]);< / span > < / div >
< div class = "line" > < a name = "l00034" > < / a > < span class = "lineno" > 34< / span >   }< / div >
< div class = "line" > < a name = "l00035" > < / a > < span class = "lineno" > 35< / span >   < / div >
< div class = "line" > < a name = "l00036" > < / a > < span class = "lineno" > < a class = "line" href = "fonction_8h.html#ae89e5fc7460ea890fa61d54fd209c1ae" > 36< / a > < / span >   < span class = "keywordtype" > int< / span > < a class = "code" href = "fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae" > ajust_pos< / a > (< span class = "keywordtype" > int< / span > pos, < span class = "keywordtype" > int< / span > ref){< / div >
< div class = "line" > < a name = "l00037" > < / a > < span class = "lineno" > 37< / span >   < span class = "keywordflow" > if< / span > (pos > ref) < span class = "keywordflow" > return< / span > 0;< / div >
< div class = "line" > < a name = "l00038" > < / a > < span class = "lineno" > 38< / span >   < span class = "keywordflow" > else< / span > < span class = "keywordflow" > return< / span > pos;< / div >
< div class = "line" > < a name = "l00039" > < / a > < span class = "lineno" > 39< / span >   }< / div >
< div class = "line" > < a name = "l00040" > < / a > < span class = "lineno" > 40< / span >   < / div >
< div class = "line" > < a name = "l00041" > < / a > < span class = "lineno" > < a class = "line" href = "fonction_8h.html#a9397b95e9279b0b9cd371c9a2b4514a2" > 41< / a > < / span >   < span class = "keywordtype" > int< / span > < a class = "code" href = "fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2" > limite_moteur< / a > (< span class = "keywordtype" > int< / span > val_pwm){< / div >
< div class = "line" > < a name = "l00042" > < / a > < span class = "lineno" > 42< / span >   < span class = "keywordtype" > int< / span > MAX_PWM = 130, MIN_PWM = 30;< / div >
< div class = "line" > < a name = "l00043" > < / a > < span class = "lineno" > 43< / span >   < span class = "keywordflow" > if< / span > (val_pwm > MAX_PWM){ < / div >
< div class = "line" > < a name = "l00044" > < / a > < span class = "lineno" > 44< / span >   < span class = "keywordflow" > return< / span > MAX_PWM;< / div >
< div class = "line" > < a name = "l00045" > < / a > < span class = "lineno" > 45< / span >   }< / div >
< div class = "line" > < a name = "l00046" > < / a > < span class = "lineno" > 46< / span >   < span class = "keywordflow" > else< / span > < span class = "keywordflow" > if< / span > (val_pwm < MIN_PWM){< / div >
< div class = "line" > < a name = "l00047" > < / a > < span class = "lineno" > 47< / span >   < span class = "keywordflow" > return< / span > MIN_PWM;< / div >
< div class = "line" > < a name = "l00048" > < / a > < span class = "lineno" > 48< / span >   }< / div >
< div class = "line" > < a name = "l00049" > < / a > < span class = "lineno" > 49< / span >   < span class = "keywordflow" > else< / span > {< / div >
< div class = "line" > < a name = "l00050" > < / a > < span class = "lineno" > 50< / span >   < span class = "keywordflow" > return< / span > 0;< / div >
< div class = "line" > < a name = "l00051" > < / a > < span class = "lineno" > 51< / span >   }< / div >
< div class = "line" > < a name = "l00052" > < / a > < span class = "lineno" > 52< / span >   }< / div >
< div class = "line" > < a name = "l00053" > < / a > < span class = "lineno" > 53< / span >   < / div >
< div class = "line" > < a name = "l00054" > < / a > < span class = "lineno" > < a class = "line" href = "fonction_8h.html#ad3f512a54511a63b30a8967077736766" > 54< / a > < / span >   < span class = "keywordtype" > void< / span > < a class = "code" href = "fonction_8c.html#ad3f512a54511a63b30a8967077736766" > controle_moteur< / a > (< span class = "keywordtype" > double< / span > * angle){< / div >
< div class = "line" > < a name = "l00055" > < / a > < span class = "lineno" > 55< / span >   < / div >
< div class = "line" > < a name = "l00056" > < / a > < span class = "lineno" > 56< / span >   < span class = "comment" > //Ouverture port serie< / span > < / div >
< div class = "line" > < a name = "l00057" > < / a > < span class = "lineno" > 57< / span >   FILE* fichier = NULL;< / div >
< div class = "line" > < a name = "l00058" > < / a > < span class = "lineno" > 58< / span >   fichier = fopen(< span class = "stringliteral" > " /dev/ttyACM0" < / span > ,< span class = "stringliteral" > " w" < / span > );< / div >
< div class = "line" > < a name = "l00059" > < / a > < span class = "lineno" > 59< / span >   < span class = "keywordflow" > if< / span > (fichier==NULL){< / div >
< div class = "line" > < a name = "l00060" > < / a > < span class = "lineno" > 60< / span >   printf(< span class = "stringliteral" > " Erreur ouverture fichier\n" < / span > );< / div >
< div class = "line" > < a name = "l00061" > < / a > < span class = "lineno" > 61< / span >   perror(< span class = "stringliteral" > " fopen failed for /dev/ttyACM0" < / span > );< / div >
< div class = "line" > < a name = "l00062" > < / a > < span class = "lineno" > 62< / span >   exit( EXIT_FAILURE );< / div >
< div class = "line" > < a name = "l00063" > < / a > < span class = "lineno" > 63< / span >   }< / div >
< div class = "line" > < a name = "l00064" > < / a > < span class = "lineno" > 64< / span >   < / div >
< div class = "line" > < a name = "l00065" > < / a > < span class = "lineno" > 65< / span >   < span class = "comment" > //Ecriture angles< / span > < / div >
< div class = "line" > < a name = "l00066" > < / a > < span class = "lineno" > 66< / span >   fprintf(fichier,< span class = "stringliteral" > " %d\n" < / span > ,(< span class = "keywordtype" > int< / span > )angle[0]);< / div >
< div class = "line" > < a name = "l00067" > < / a > < span class = "lineno" > 67< / span >   fprintf(fichier,< span class = "stringliteral" > " %d\n" < / span > ,(< span class = "keywordtype" > int< / span > )angle[1]);< / div >
< div class = "line" > < a name = "l00068" > < / a > < span class = "lineno" > 68< / span >   < / div >
< div class = "line" > < a name = "l00069" > < / a > < span class = "lineno" > 69< / span >   < span class = "comment" > //Fermeture< / span > < / div >
< div class = "line" > < a name = "l00070" > < / a > < span class = "lineno" > 70< / span >   fclose(fichier);< / div >
< div class = "line" > < a name = "l00071" > < / a > < span class = "lineno" > 71< / span >   < span class = "keywordflow" > return< / span > ;< / div >
< div class = "line" > < a name = "l00072" > < / a > < span class = "lineno" > 72< / span >   }< / div >
< div class = "line" > < a name = "l00073" > < / a > < span class = "lineno" > 73< / span >   < / div >
< div class = "line" > < a name = "l00074" > < / a > < span class = "lineno" > < a class = "line" href = "fonction_8h.html#ad2cc53a42ff2450413bbb199bb4c1072" > 74< / a > < / span >   < span class = "keywordtype" > int< / span > < a class = "code" href = "fonction_8c.html#ad2cc53a42ff2450413bbb199bb4c1072" > image_CV2SFML< / a > (IplImage* imcv, sf::Image imFlux){< / div >
< div class = "line" > < a name = "l00075" > < / a > < span class = "lineno" > 75< / span >   < / div >
< div class = "line" > < a name = "l00076" > < / a > < span class = "lineno" > 76< / span >   < span class = "keywordtype" > int< / span > R, G, B;< / div >
< div class = "line" > < a name = "l00077" > < / a > < span class = "lineno" > 77< / span >   < span class = "keywordtype" > int< / span > w = imcv-> widthStep;< / div >
< div class = "line" > < a name = "l00078" > < / a > < span class = "lineno" > 78< / span >   < span class = "keywordtype" > char< / span > * ptr = imcv-> imageData;< / div >
< div class = "line" > < a name = "l00079" > < / a > < span class = "lineno" > 79< / span >   < / div >
< div class = "line" > < a name = "l00080" > < / a > < span class = "lineno" > 80< / span >   imFlux.create(imcv-> width,imcv-> height, NULL); < span class = "comment" > //Initialise une image vide< / span > < / div >
< div class = "line" > < a name = "l00081" > < / a > < span class = "lineno" > 81< / span >   < / div >
< div class = "line" > < a name = "l00082" > < / a > < span class = "lineno" > 82< / span >   < span class = "keywordflow" > for< / span > ( < span class = "keywordtype" > int< / span > y=0; y< imcv-> height; y++ ) { < / div >
< div class = "line" > < a name = "l00083" > < / a > < span class = "lineno" > 83< / span >   < span class = "comment" > //uchar* ptr = (uchar*) ( imcv-> imageData + y * imcv-> widthStep );< / span > < / div >
< div class = "line" > < a name = "l00084" > < / a > < span class = "lineno" > 84< / span >   < span class = "keywordflow" > for< / span > ( < span class = "keywordtype" > int< / span > x=0; x< imcv-> width; x++ ) { < / div >
< div class = "line" > < a name = "l00085" > < / a > < span class = "lineno" > 85< / span >   < span class = "comment" > //Recupération du pixel< / span > < / div >
< div class = "line" > < a name = "l00086" > < / a > < span class = "lineno" > 86< / span >   B = ptr[y*w + 3*x];< / div >
< div class = "line" > < a name = "l00087" > < / a > < span class = "lineno" > 87< / span >   G = ptr[y*w + 3*x + 1]; < / div >
< div class = "line" > < a name = "l00088" > < / a > < span class = "lineno" > 88< / span >   R = ptr[y*w + 3*x + 2];< / div >
< div class = "line" > < a name = "l00089" > < / a > < span class = "lineno" > 89< / span >   < / div >
< div class = "line" > < a name = "l00090" > < / a > < span class = "lineno" > 90< / span >   < span class = "comment" > //Ecriture du pixel associé< / span > < / div >
< div class = "line" > < a name = "l00091" > < / a > < span class = "lineno" > 91< / span >   imFlux.setPixel(x,y,sf::Color(R,G,B,1)); < span class = "comment" > //Alpha channel = 1< / span > < / div >
< div class = "line" > < a name = "l00092" > < / a > < span class = "lineno" > 92< / span >   }< / div >
< div class = "line" > < a name = "l00093" > < / a > < span class = "lineno" > 93< / span >   }< / div >
< div class = "line" > < a name = "l00094" > < / a > < span class = "lineno" > 94< / span >   < / div >
< div class = "line" > < a name = "l00095" > < / a > < span class = "lineno" > 95< / span >   < span class = "keywordflow" > return< / span > 0;< / div >
< div class = "line" > < a name = "l00096" > < / a > < span class = "lineno" > 96< / span >   }< / div >
< div class = "line" > < a name = "l00097" > < / a > < span class = "lineno" > 97< / span >   < / div >
< div class = "line" > < a name = "l00098" > < / a > < span class = "lineno" > 98< / span >   < / div >
< div class = "line" > < a name = "l00099" > < / a > < span class = "lineno" > < a class = "line" href = "fonction_8h.html#a96b1dd5c66492425a00921b6eaaacc89" > 99< / a > < / span >   < span class = "keywordtype" > void< / span > < a class = "code" href = "fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89" > traitement< / a > (IplImage* frame, IplImage* HSV, IplImage* Binaire, < span class = "keywordtype" > int< / span > LowH, < span class = "keywordtype" > int< / span > HighH, < span class = "keywordtype" > int< / span > LowS, < span class = "keywordtype" > int< / span > HighS, < span class = "keywordtype" > int< / span > LowV, < span class = "keywordtype" > int< / span > HighV){ < span class = "comment" > //Effectue une binarisation de frame en fonction des bornes HSV< / span > < / div >
< div class = "line" > < a name = "l00100" > < / a > < span class = "lineno" > 100< / span >   < / div >
< div class = "line" > < a name = "l00101" > < / a > < span class = "lineno" > 101< / span >   < span class = "comment" > // Covert color space to HSV as it is much easier to filter colors in the HSV color-space.< / span > < / div >
< div class = "line" > < a name = "l00102" > < / a > < span class = "lineno" > 102< / span >   cvCvtColor(frame, HSV, CV_BGR2HSV);< / div >
< div class = "line" > < a name = "l00103" > < / a > < span class = "lineno" > 103< / span >   < / div >
< div class = "line" > < a name = "l00104" > < / a > < span class = "lineno" > 104< / span >   < span class = "comment" > //Blur< / span > < / div >
< div class = "line" > < a name = "l00105" > < / a > < span class = "lineno" > 105< / span >   cvSmooth( HSV, HSV, CV_GAUSSIAN, 15, 0,0,0); < span class = "comment" > //suppression des parasites par flou gaussien< / span > < / div >
< div class = "line" > < a name = "l00106" > < / a > < span class = "lineno" > 106< / span >   < / div >
< div class = "line" > < a name = "l00107" > < / a > < span class = "lineno" > 107< / span >   < span class = "comment" > //Binarisation< / span > < / div >
< div class = "line" > < a name = "l00108" > < / a > < span class = "lineno" > 108< / span >   < / div >
< div class = "line" > < a name = "l00109" > < / a > < span class = "lineno" > 109< / span >   CvScalar valinf={(double)LowH,(< span class = "keywordtype" > double< / span > )LowS,(double)LowV};< / div >
< div class = "line" > < a name = "l00110" > < / a > < span class = "lineno" > 110< / span >   CvScalar valsup={(double)HighH,(< span class = "keywordtype" > double< / span > )HighS,(double)HighV};< / div >
< div class = "line" > < a name = "l00111" > < / a > < span class = "lineno" > 111< / span >   < / div >
< div class = "line" > < a name = "l00112" > < / a > < span class = "lineno" > 112< / span >   cvInRangeS(HSV, valinf,valsup, Binaire);< / div >
< div class = "line" > < a name = "l00113" > < / a > < span class = "lineno" > 113< / span >   < / div >
< div class = "line" > < a name = "l00114" > < / a > < span class = "lineno" > 114< / span >   < span class = "comment" > //En cas d' erreur sur les trois ligne précédentes< / span > < / div >
< div class = "line" > < a name = "l00115" > < / a > < span class = "lineno" > 115< / span >   < span class = "comment" > //cvInRangeS(HSV, CvScalar(LowH,LowS,LowV),CvScalar(HighH,HighS,HighV), Binaire);< / span > < / div >
< div class = "line" > < a name = "l00116" > < / a > < span class = "lineno" > 116< / span >   < / div >
< div class = "line" > < a name = "l00117" > < / a > < span class = "lineno" > 117< / span >   < span class = "comment" > //cvSmooth( Binaire, Binaire, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites< / span > < / div >
< div class = "line" > < a name = "l00118" > < / a > < span class = "lineno" > 118< / span >   }< / div >
< div class = "line" > < a name = "l00119" > < / a > < span class = "lineno" > 119< / span >   < / div >
< div class = "line" > < a name = "l00120" > < / a > < span class = "lineno" > < a class = "line" href = "fonction_8h.html#ac3e9405c4ebaa936308670c050285ae1" > 120< / a > < / span >   < span class = "keywordtype" > void< / span > < a class = "code" href = "fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1" > Position_moy< / a > (IplImage* Binaire, < span class = "keywordtype" > int< / span > * posX, < span class = "keywordtype" > int< / span > * posY){ < span class = "comment" > //Effectue le baricentre des pixels d' une image binaire pour obtenir la postion de l' objet< / span > < / div >
< div class = "line" > < a name = "l00121" > < / a > < span class = "lineno" > 121< / span >   < / div >
< div class = "line" > < a name = "l00122" > < / a > < span class = "lineno" > 122< / span >   CvMoments *moments = (CvMoments*)malloc(< span class = "keyword" > sizeof< / span > (CvMoments)); < / div >
< div class = "line" > < a name = "l00123" > < / a > < span class = "lineno" > 123< / span >   < / div >
< div class = "line" > < a name = "l00124" > < / a > < span class = "lineno" > 124< / span >   cvMoments(Binaire, moments, 1); < / div >
< div class = "line" > < a name = "l00125" > < / a > < span class = "lineno" > 125< / span >   < span class = "comment" > // The actual moment values < / span > < / div >
< div class = "line" > < a name = "l00126" > < / a > < span class = "lineno" > 126< / span >   < span class = "keywordtype" > double< / span > moment10 = cvGetSpatialMoment(moments, 1, 0); < / div >
< div class = "line" > < a name = "l00127" > < / a > < span class = "lineno" > 127< / span >   < span class = "keywordtype" > double< / span > moment01 = cvGetSpatialMoment(moments, 0, 1); < / div >
< div class = "line" > < a name = "l00128" > < / a > < span class = "lineno" > 128< / span >   < span class = "keywordtype" > double< / span > area = cvGetCentralMoment(moments, 0, 0);< / div >
< div class = "line" > < a name = "l00129" > < / a > < span class = "lineno" > 129< / span >   < / div >
< div class = "line" > < a name = "l00130" > < / a > < span class = "lineno" > 130< / span >   *posX = moment10/area;< / div >
< div class = "line" > < a name = "l00131" > < / a > < span class = "lineno" > 131< / span >   *posY = moment01/area;< / div >
< div class = "line" > < a name = "l00132" > < / a > < span class = "lineno" > 132< / span >   < / div >
< div class = "line" > < a name = "l00133" > < / a > < span class = "lineno" > 133< / span >   free(moments);< / div >
< div class = "line" > < a name = "l00134" > < / a > < span class = "lineno" > 134< / span >   }< / div >
< div class = "line" > < a name = "l00135" > < / a > < span class = "lineno" > 135< / span >   < / div >
< div class = "line" > < a name = "l00136" > < / a > < span class = "lineno" > < a class = "line" href = "fonction_8h.html#adcdd0544c8eb462cd2835ec99fa0f181" > 136< / a > < / span >   < span class = "keywordtype" > void< / span > < a class = "code" href = "fonction_8c.html#adcdd0544c8eb462cd2835ec99fa0f181" > config< / a > (< span class = "keywordtype" > int< / span > * LowH, < span class = "keywordtype" > int< / span > * HighH, < span class = "keywordtype" > int< / span > * LowS, < span class = "keywordtype" > int< / span > * HighS, < span class = "keywordtype" > int< / span > * LowV, < span class = "keywordtype" > int< / span > * HighV){ < span class = "comment" > //Affiche le panneau de configuration de tracking avec les arguments comme valeur de base< / span > < / div >
< div class = "line" > < a name = "l00137" > < / a > < span class = "lineno" > 137< / span >   < / div >
< div class = "line" > < a name = "l00138" > < / a > < span class = "lineno" > 138< / span >   cvNamedWindow(< span class = "stringliteral" > " Control" < / span > , CV_WINDOW_AUTOSIZE); < span class = "comment" > //create a window called " Control" < / span > < / div >
< div class = "line" > < a name = "l00139" > < / a > < span class = "lineno" > 139< / span >   < / div >
< div class = "line" > < a name = "l00140" > < / a > < span class = "lineno" > 140< / span >   < span class = "comment" > //Create trackbars in " Control" window< / span > < / div >
< div class = "line" > < a name = "l00141" > < / a > < span class = "lineno" > 141< / span >   cvCreateTrackbar(< span class = "stringliteral" > " LowH" < / span > , < span class = "stringliteral" > " Control" < / span > , LowH, 179,NULL); < span class = "comment" > //Hue (0 - 179)< / span > < / div >
< div class = "line" > < a name = "l00142" > < / a > < span class = "lineno" > 142< / span >   cvCreateTrackbar(< span class = "stringliteral" > " HighH" < / span > , < span class = "stringliteral" > " Control" < / span > , HighH, 179,NULL);< / div >
< div class = "line" > < a name = "l00143" > < / a > < span class = "lineno" > 143< / span >   < / div >
< div class = "line" > < a name = "l00144" > < / a > < span class = "lineno" > 144< / span >   cvCreateTrackbar(< span class = "stringliteral" > " LowS" < / span > , < span class = "stringliteral" > " Control" < / span > , LowS, 255,NULL); < span class = "comment" > //Saturation (0 - 255)< / span > < / div >
< div class = "line" > < a name = "l00145" > < / a > < span class = "lineno" > 145< / span >   cvCreateTrackbar(< span class = "stringliteral" > " HighS" < / span > , < span class = "stringliteral" > " Control" < / span > , HighS, 255,NULL);< / div >
< div class = "line" > < a name = "l00146" > < / a > < span class = "lineno" > 146< / span >   < / div >
< div class = "line" > < a name = "l00147" > < / a > < span class = "lineno" > 147< / span >   cvCreateTrackbar(< span class = "stringliteral" > " LowV" < / span > , < span class = "stringliteral" > " Control" < / span > , LowV, 255,NULL); < span class = "comment" > //Value (0 - 255)< / span > < / div >
< div class = "line" > < a name = "l00148" > < / a > < span class = "lineno" > 148< / span >   cvCreateTrackbar(< span class = "stringliteral" > " HighV" < / span > , < span class = "stringliteral" > " Control" < / span > , HighV, 255,NULL);< / div >
< div class = "line" > < a name = "l00149" > < / a > < span class = "lineno" > 149< / span >   }< / div >
< div class = "line" > < a name = "l00150" > < / a > < span class = "lineno" > 150< / span >   < / div >
< div class = "line" > < a name = "l00151" > < / a > < span class = "lineno" > < a class = "line" href = "fonction_8h.html#acc438fce8178d1d5aac4595f19529275" > 151< / a > < / span >   < span class = "keywordtype" > void< / span > < a class = "code" href = "fonction_8c.html#acc438fce8178d1d5aac4595f19529275" > affichage_config< / a > (IplImage* frame, IplImage* HSV, IplImage* Binaire){ < span class = "comment" > //Affiche le flux vidéos et ses différent traitements< / span > < / div >
< div class = "line" > < a name = "l00152" > < / a > < span class = "lineno" > 152< / span >   < / div >
< div class = "line" > < a name = "l00153" > < / a > < span class = "lineno" > 153< / span >   < span class = "comment" > // Create a window in which the captured images will be presented< / span > < / div >
< div class = "line" > < a name = "l00154" > < / a > < span class = "lineno" > 154< / span >   cvNamedWindow( < span class = "stringliteral" > " HSV" < / span > , CV_WINDOW_AUTOSIZE );< / div >
< div class = "line" > < a name = "l00155" > < / a > < span class = "lineno" > 155< / span >   cvNamedWindow( < span class = "stringliteral" > " Binaire" < / span > , CV_WINDOW_AUTOSIZE );< / div >
< div class = "line" > < a name = "l00156" > < / a > < span class = "lineno" > 156< / span >   cvNamedWindow( < span class = "stringliteral" > " Camera" < / span > , CV_WINDOW_AUTOSIZE );< / div >
< div class = "line" > < a name = "l00157" > < / a > < span class = "lineno" > 157< / span >   < / div >
< div class = "line" > < a name = "l00158" > < / a > < span class = "lineno" > 158< / span >   cvShowImage( < span class = "stringliteral" > " HSV" < / span > , HSV); < span class = "comment" > // Original stream in the HSV color space< / span > < / div >
< div class = "line" > < a name = "l00159" > < / a > < span class = "lineno" > 159< / span >   cvShowImage( < span class = "stringliteral" > " Binaire" < / span > , Binaire); < span class = "comment" > // The stream after color filtering< / span > < / div >
< div class = "line" > < a name = "l00160" > < / a > < span class = "lineno" > 160< / span >   cvShowImage( < span class = "stringliteral" > " Camera" < / span > , frame ); < span class = "comment" > // Flux caméra avec tracking objet< / span > < / div >
< div class = "line" > < a name = "l00161" > < / a > < span class = "lineno" > 161< / span >   }< / div >
< div class = "line" > < a name = "l00162" > < / a > < span class = "lineno" > 162< / span >   < / div >
< div class = "line" > < a name = "l00163" > < / a > < span class = "lineno" > < a class = "line" href = "fonction_8h.html#a91b1b1daf28d90b5299a9a0486f5bdf1" > 163< / a > < / span >   < span class = "keywordtype" > void< / span > < a class = "code" href = "fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1" > Affichage_Tracking< / a > (IplImage* frame, < span class = "keywordtype" > int< / span > posX, < span class = "keywordtype" > int< / span > posY, < span class = "keywordtype" > int< / span > width, < span class = "keywordtype" > int< / span > height){ < span class = "comment" > //Dessine les informations de tracking sur frame< / span > < / div >
< div class = "line" > < a name = "l00164" > < / a > < span class = "lineno" > 164< / span >   < / div >
< div class = "line" > < a name = "l00165" > < / a > < span class = "lineno" > 165< / span >   < span class = "comment" > //Affichage zone suivie objet< / span > < / div >
< div class = "line" > < a name = "l00166" > < / a > < span class = "lineno" > 166< / span >   cvCircle(frame, cvPoint(width/2,height/2), height*< a class = "code" href = "fonction_8h.html#afb63dbc6e533233f41d03e8b8a3bc570" > JEU< / a > , CV_RGB(0, 255, 0), 4, 8, 0 );< / div >
< div class = "line" > < a name = "l00167" > < / a > < span class = "lineno" > 167< / span >   < / div >
< div class = "line" > < a name = "l00168" > < / a > < span class = "lineno" > 168< / span >   < span class = "keywordflow" > if< / span > (posX< 5& & posY< 5){ < span class = "comment" > //Si aucun objet spotted, pointeur rouge au centre< / span > < / div >
< div class = "line" > < a name = "l00169" > < / a > < span class = "lineno" > 169< / span >   posX=width/2;< / div >
< div class = "line" > < a name = "l00170" > < / a > < span class = "lineno" > 170< / span >   posY=height/2;< / div >
< div class = "line" > < a name = "l00171" > < / a > < span class = "lineno" > 171< / span >   cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(255, 0, 0), 4, 8, 0 );< / div >
< div class = "line" > < a name = "l00172" > < / a > < span class = "lineno" > 172< / span >   cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(255, 0, 0), 4, 8, 0 );< / div >
< div class = "line" > < a name = "l00173" > < / a > < span class = "lineno" > 173< / span >   }< / div >
< div class = "line" > < a name = "l00174" > < / a > < span class = "lineno" > 174< / span >   < span class = "keywordflow" > else< / span > { < span class = "comment" > //Objet spotted< / span > < / div >
< div class = "line" > < a name = "l00175" > < / a > < span class = "lineno" > 175< / span >   < span class = "comment" > //Affichage position de l' objet< / span > < / div >
< div class = "line" > < a name = "l00176" > < / a > < span class = "lineno" > 176< / span >   cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(0, 0, 255), 4, 8, 0 );< / div >
< div class = "line" > < a name = "l00177" > < / a > < span class = "lineno" > 177< / span >   cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(0, 0, 255), 4, 8, 0 );< / div >
< div class = "line" > < a name = "l00178" > < / a > < span class = "lineno" > 178< / span >   }< / div >
< div class = "line" > < a name = "l00179" > < / a > < span class = "lineno" > 179< / span >   }< / div >
< div class = "line" > < a name = "l00180" > < / a > < span class = "lineno" > 180< / span >   < / div >
< div class = "line" > < a name = "l00181" > < / a > < span class = "lineno" > 181< / span >   < / div >
< div class = "line" > < a name = "l00182" > < / a > < span class = "lineno" > < a class = "line" href = "fonction_8h.html#a942c8619bb73ca7c3bb7e6fcf1875294" > 182< / a > < / span >   CvHaarClassifierCascade* < a class = "code" href = "fonction_8c.html#a5e1058b3e8eb605a74ffdd7a26637b1e" > init_cascade< / a > (){< / div >
< div class = "line" > < a name = "l00183" > < / a > < span class = "lineno" > 183< / span >   < span class = "comment" > // Create a new Haar classifier< / span > < / div >
< div class = "line" > < a name = "l00184" > < / a > < span class = "lineno" > 184< / span >   CvHaarClassifierCascade* cascade = 0;< / div >
< div class = "line" > < a name = "l00185" > < / a > < span class = "lineno" > 185< / span >   < span class = "keyword" > const< / span > < span class = "keywordtype" > char< / span > * cascade_name = < span class = "stringliteral" > " haarcascade_frontalface_alt.xml" < / span > ;< / div >
< div class = "line" > < a name = "l00186" > < / a > < span class = "lineno" > 186< / span >   < / div >
< div class = "line" > < a name = "l00187" > < / a > < span class = "lineno" > 187< / span >   < / div >
< div class = "line" > < a name = "l00188" > < / a > < span class = "lineno" > 188< / span >   cascade = (CvHaarClassifierCascade*)cvLoad( cascade_name, 0, 0, 0 );< / div >
< div class = "line" > < a name = "l00189" > < / a > < span class = "lineno" > 189< / span >   < / div >
< div class = "line" > < a name = "l00190" > < / a > < span class = "lineno" > 190< / span >   < span class = "comment" > // Check whether the cascade has loaded successfully. Else report and error and quit< / span > < / div >
< div class = "line" > < a name = "l00191" > < / a > < span class = "lineno" > 191< / span >   < span class = "keywordflow" > if< / span > ( !cascade ){< / div >
< div class = "line" > < a name = "l00192" > < / a > < span class = "lineno" > 192< / span >   fprintf( stderr, < span class = "stringliteral" > " ERROR: Could not load classifier cascade\n" < / span > );< / div >
< div class = "line" > < a name = "l00193" > < / a > < span class = "lineno" > 193< / span >   perror(< span class = "stringliteral" > " " < / span > );< / div >
< div class = "line" > < a name = "l00194" > < / a > < span class = "lineno" > 194< / span >   < span class = "keywordflow" > return< / span > NULL;< / div >
< div class = "line" > < a name = "l00195" > < / a > < span class = "lineno" > 195< / span >   }< / div >
< div class = "line" > < a name = "l00196" > < / a > < span class = "lineno" > 196< / span >   < span class = "keywordflow" > return< / span > cascade;< / div >
< div class = "line" > < a name = "l00197" > < / a > < span class = "lineno" > 197< / span >   }< / div >
< div class = "line" > < a name = "l00198" > < / a > < span class = "lineno" > 198< / span >   < / div >
< div class = "line" > < a name = "l00199" > < / a > < span class = "lineno" > 199< / span >   < span class = "comment" > // Function to detect and draw any faces that is present in an image< / span > < / div >
< div class = "line" > < a name = "l00200" > < / a > < span class = "lineno" > < a class = "line" href = "fonction_8h.html#ab9c63795209f514f5d3554bc9450b8de" > 200< / a > < / span >   < span class = "keywordtype" > void< / span > < a class = "code" href = "fonction_8c.html#ab9c63795209f514f5d3554bc9450b8de" > detect_and_draw< / a > ( IplImage* img, CvHaarClassifierCascade* cascade, < a class = "code" href = "structface.html" > face< / a > ** tab_face)< / div >
< div class = "line" > < a name = "l00201" > < / a > < span class = "lineno" > 201< / span >   {< / div >
< div class = "line" > < a name = "l00202" > < / a > < span class = "lineno" > 202< / span >   < / div >
< div class = "line" > < a name = "l00203" > < / a > < span class = "lineno" > 203< / span >   < span class = "comment" > // Create memory for calculations< / span > < / div >
< div class = "line" > < a name = "l00204" > < / a > < span class = "lineno" > 204< / span >   < span class = "keyword" > static< / span > CvMemStorage* storage = 0;< / div >
< div class = "line" > < a name = "l00205" > < / a > < span class = "lineno" > 205< / span >   < span class = "keywordtype" > int< / span > scale = 1;< / div >
< div class = "line" > < a name = "l00206" > < / a > < span class = "lineno" > 206< / span >   < / div >
< div class = "line" > < a name = "l00207" > < / a > < span class = "lineno" > 207< / span >   < span class = "comment" > // Create a new image based on the input image< / span > < / div >
< div class = "line" > < a name = "l00208" > < / a > < span class = "lineno" > 208< / span >   IplImage* temp = cvCreateImage( cvSize(img-> width/scale,img-> height/scale), 8, 3 );< / div >
< div class = "line" > < a name = "l00209" > < / a > < span class = "lineno" > 209< / span >   < / div >
< div class = "line" > < a name = "l00210" > < / a > < span class = "lineno" > 210< / span >   < span class = "comment" > // Create two points to represent the face locations< / span > < / div >
< div class = "line" > < a name = "l00211" > < / a > < span class = "lineno" > 211< / span >   CvPoint pt1, pt2;< / div >
< div class = "line" > < a name = "l00212" > < / a > < span class = "lineno" > 212< / span >   < span class = "keywordtype" > int< / span > i;< / div >
< div class = "line" > < a name = "l00213" > < / a > < span class = "lineno" > 213< / span >   < / div >
< div class = "line" > < a name = "l00214" > < / a > < span class = "lineno" > 214< / span >   < span class = "comment" > // Allocate the memory storage< / span > < / div >
< div class = "line" > < a name = "l00215" > < / a > < span class = "lineno" > 215< / span >   storage = cvCreateMemStorage(0);< / div >
< div class = "line" > < a name = "l00216" > < / a > < span class = "lineno" > 216< / span >   < / div >
< div class = "line" > < a name = "l00217" > < / a > < span class = "lineno" > 217< / span >   < span class = "comment" > // Create a new named window with title: result< / span > < / div >
< div class = "line" > < a name = "l00218" > < / a > < span class = "lineno" > 218< / span >   cvNamedWindow( < span class = "stringliteral" > " result" < / span > , 1 );< / div >
< div class = "line" > < a name = "l00219" > < / a > < span class = "lineno" > 219< / span >   < / div >
< div class = "line" > < a name = "l00220" > < / a > < span class = "lineno" > 220< / span >   < span class = "comment" > // Clear the memory storage which was used before< / span > < / div >
< div class = "line" > < a name = "l00221" > < / a > < span class = "lineno" > 221< / span >   cvClearMemStorage( storage );< / div >
< div class = "line" > < a name = "l00222" > < / a > < span class = "lineno" > 222< / span >   < / div >
< div class = "line" > < a name = "l00223" > < / a > < span class = "lineno" > 223< / span >   < span class = "comment" > // Find whether the cascade is loaded, to find the faces. If yes, then:< / span > < / div >
< div class = "line" > < a name = "l00224" > < / a > < span class = "lineno" > 224< / span >   < span class = "keywordflow" > if< / span > ( cascade ){< / div >
< div class = "line" > < a name = "l00225" > < / a > < span class = "lineno" > 225< / span >   < / div >
< div class = "line" > < a name = "l00226" > < / a > < span class = "lineno" > 226< / span >   < span class = "comment" > // There can be more than one face in an image. So create a growable sequence of faces.< / span > < / div >
< div class = "line" > < a name = "l00227" > < / a > < span class = "lineno" > 227< / span >   < span class = "comment" > // Detect the objects and store them in the sequence< / span > < / div >
< div class = "line" > < a name = "l00228" > < / a > < span class = "lineno" > 228< / span >   CvSeq* faces = cvHaarDetectObjects( img, cascade, storage,1.1, 2, 0, cvSize(60, 60),cvSize(500, 500));< / div >
< div class = "line" > < a name = "l00229" > < / a > < span class = "lineno" > 229< / span >   < / div >
< div class = "line" > < a name = "l00230" > < / a > < span class = "lineno" > 230< / span >   < span class = "comment" > //Reset faces< / span > < / div >
< div class = "line" > < a name = "l00231" > < / a > < span class = "lineno" > 231< / span >   tab_face[0]-> largeur = 0;< / div >
< div class = "line" > < a name = "l00232" > < / a > < span class = "lineno" > 232< / span >   tab_face[1]-> largeur = 0;< / div >
< div class = "line" > < a name = "l00233" > < / a > < span class = "lineno" > 233< / span >   < / div >
< div class = "line" > < a name = "l00234" > < / a > < span class = "lineno" > 234< / span >   < span class = "comment" > // Loop the number of faces found.< / span > < / div >
< div class = "line" > < a name = "l00235" > < / a > < span class = "lineno" > 235< / span >   < span class = "keywordflow" > for< / span > ( i = 0; i < (faces ? faces-> total : 0); i++ ){< / div >
< div class = "line" > < a name = "l00236" > < / a > < span class = "lineno" > 236< / span >   < span class = "comment" > // Create a new rectangle for drawing the face< / span > < / div >
< div class = "line" > < a name = "l00237" > < / a > < span class = "lineno" > 237< / span >   CvRect* r = (CvRect*)cvGetSeqElem( faces, i );< / div >
< div class = "line" > < a name = "l00238" > < / a > < span class = "lineno" > 238< / span >   < / div >
< div class = "line" > < a name = "l00239" > < / a > < span class = "lineno" > 239< / span >   < span class = "comment" > // Find the dimensions of the face,and scale it if necessary< / span > < / div >
< div class = "line" > < a name = "l00240" > < / a > < span class = "lineno" > 240< / span >   pt1.x = r-> x*scale;< / div >
< div class = "line" > < a name = "l00241" > < / a > < span class = "lineno" > 241< / span >   pt2.x = (r-> x+r-> width)*scale;< / div >
< div class = "line" > < a name = "l00242" > < / a > < span class = "lineno" > 242< / span >   pt1.y = r-> y*scale;< / div >
< div class = "line" > < a name = "l00243" > < / a > < span class = "lineno" > 243< / span >   pt2.y = (r-> y+r-> height)*scale;< / div >
< div class = "line" > < a name = "l00244" > < / a > < span class = "lineno" > 244< / span >   < / div >
< div class = "line" > < a name = "l00245" > < / a > < span class = "lineno" > 245< / span >   < span class = "comment" > // Draw the rectangle in the input image< / span > < / div >
< div class = "line" > < a name = "l00246" > < / a > < span class = "lineno" > 246< / span >   cvRectangle( img, pt1, pt2, CV_RGB(255,0,0), 3, 8, 0 );< / div >
< div class = "line" > < a name = "l00247" > < / a > < span class = "lineno" > 247< / span >   < / div >
< div class = "line" > < a name = "l00248" > < / a > < span class = "lineno" > 248< / span >   < span class = "keywordflow" > if< / span > (i < < a class = "code" href = "fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb" > MAX_FACE< / a > ){< / div >
< div class = "line" > < a name = "l00249" > < / a > < span class = "lineno" > 249< / span >   tab_face[i]-> point.x = (pt1.x + pt2.x)/2;< / div >
< div class = "line" > < a name = "l00250" > < / a > < span class = "lineno" > 250< / span >   tab_face[i]-> point.y = (pt1.y + pt2.y)/2;< / div >
< div class = "line" > < a name = "l00251" > < / a > < span class = "lineno" > 251< / span >   tab_face[i]-> largeur = r-> width;< / div >
< div class = "line" > < a name = "l00252" > < / a > < span class = "lineno" > 252< / span >   < / div >
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< div class = "line" > < a name = "l00253" > < / a > < span class = "lineno" > 253< / span >   < span class = "comment" > //printf(" VALEURS FACES n°%d : %d %d %d\n" ,i, tab_face[i]-> point.x,tab_face[i]-> point.y,tab_face[i]-> largeur);< / span > < / div >
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< div class = "line" > < a name = "l00254" > < / a > < span class = "lineno" > 254< / span >   }< / div >
< div class = "line" > < a name = "l00255" > < / a > < span class = "lineno" > 255< / span >   }< / div >
< div class = "line" > < a name = "l00256" > < / a > < span class = "lineno" > 256< / span >   }< / div >
< div class = "line" > < a name = "l00257" > < / a > < span class = "lineno" > 257< / span >   < / div >
< div class = "line" > < a name = "l00258" > < / a > < span class = "lineno" > 258< / span >   < span class = "comment" > // Show the image in the window named " result" < / span > < / div >
< div class = "line" > < a name = "l00259" > < / a > < span class = "lineno" > 259< / span >   cvShowImage( < span class = "stringliteral" > " result" < / span > , img );< / div >
< div class = "line" > < a name = "l00260" > < / a > < span class = "lineno" > 260< / span >   < / div >
< div class = "line" > < a name = "l00261" > < / a > < span class = "lineno" > 261< / span >   < span class = "comment" > //free< / span > < / div >
< div class = "line" > < a name = "l00262" > < / a > < span class = "lineno" > 262< / span >   cvReleaseImage( & temp );< / div >
< div class = "line" > < a name = "l00263" > < / a > < span class = "lineno" > 263< / span >   }< / div >
< div class = "line" > < a name = "l00264" > < / a > < span class = "lineno" > 264< / span >   < / div >
< div class = "line" > < a name = "l00265" > < / a > < span class = "lineno" > 265< / span >   < span class = "comment" > //Renvoie la couleur moyenne de rec_face< / span > < / div >
< div class = "line" > < a name = "l00266" > < / a > < span class = "lineno" > 266< / span >   < span class = "keywordtype" > void< / span > get_color(IplImage* image, < a class = "code" href = "structface.html" > face< / a > * rec_face, < span class = "keywordtype" > int< / span > * BGR){< / div >
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< div class = "line" > < a name = "l00267" > < / a > < span class = "lineno" > 267< / span >   < / div >
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< div class = "line" > < a name = "l00268" > < / a > < span class = "lineno" > 268< / span >   CvScalar colors;< / div >
< div class = "line" > < a name = "l00269" > < / a > < span class = "lineno" > 269< / span >   < span class = "keywordtype" > int< / span > largeur = rec_face-> largeur;< / div >
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< div class = "line" > < a name = "l00270" > < / a > < span class = "lineno" > 270< / span >   < / div >
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< div class = "line" > < a name = "l00271" > < / a > < span class = "lineno" > 271< / span >   cvSetImageROI(image,cvRect(rec_face-> point.x -largeur/2, rec_face-> point.y -largeur/2, largeur,largeur));< / div >
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< div class = "line" > < a name = "l00272" > < / a > < span class = "lineno" > 272< / span >   < / div >
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< div class = "line" > < a name = "l00273" > < / a > < span class = "lineno" > 273< / span >   colors = cvAvg(image);< / div >
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< div class = "line" > < a name = "l00274" > < / a > < span class = "lineno" > 274< / span >   < / div >
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< div class = "line" > < a name = "l00275" > < / a > < span class = "lineno" > 275< / span >   cvResetImageROI(image);< / div >
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< div class = "line" > < a name = "l00276" > < / a > < span class = "lineno" > 276< / span >   < / div >
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< div class = "line" > < a name = "l00277" > < / a > < span class = "lineno" > 277< / span >   BGR[0] = colors.val[0];< / div >
< div class = "line" > < a name = "l00278" > < / a > < span class = "lineno" > 278< / span >   BGR[1] = colors.val[1];< / div >
< div class = "line" > < a name = "l00279" > < / a > < span class = "lineno" > 279< / span >   BGR[2] = colors.val[2];< / div >
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< div class = "line" > < a name = "l00280" > < / a > < span class = "lineno" > 280< / span >   }< / div >
< div class = "line" > < a name = "l00281" > < / a > < span class = "lineno" > 281< / span >   < / div >
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< div class = "line" > < a name = "l00282" > < / a > < span class = "lineno" > 282< / span >   < / div >
< div class = "ttc" id = "fonction_8c_html_adcdd0544c8eb462cd2835ec99fa0f181" > < div class = "ttname" > < a href = "fonction_8c.html#adcdd0544c8eb462cd2835ec99fa0f181" > config< / a > < / div > < div class = "ttdeci" > void config(int *LowH, int *HighH, int *LowS, int *HighS, int *LowV, int *HighV)< / div > < div class = "ttdoc" > Fonction d' affichage du panneau de configuration de la couleur à suivre. < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8c_source.html#l00136" > fonction.c:136< / a > < / div > < / div >
< div class = "ttc" id = "fonction_8c_html_ab9c63795209f514f5d3554bc9450b8de" > < div class = "ttname" > < a href = "fonction_8c.html#ab9c63795209f514f5d3554bc9450b8de" > detect_and_draw< / a > < / div > < div class = "ttdeci" > void detect_and_draw(IplImage *img, CvHaarClassifierCascade *cascade, face **tab_face)< / div > < div class = "ttdoc" > Détecte et renvoie un rectangle pour chaque visage sur l' image. < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8c_source.html#l00200" > fonction.c:200< / a > < / div > < / div >
< div class = "ttc" id = "fonction_8c_html_a5e1058b3e8eb605a74ffdd7a26637b1e" > < div class = "ttname" > < a href = "fonction_8c.html#a5e1058b3e8eb605a74ffdd7a26637b1e" > init_cascade< / a > < / div > < div class = "ttdeci" > CvHaarClassifierCascade * init_cascade()< / div > < div class = "ttdoc" > Charge les fichiers cascades pour la reconnaissance faciale. < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8c_source.html#l00182" > fonction.c:182< / a > < / div > < / div >
< div class = "ttc" id = "fonction_8c_html_ac3e9405c4ebaa936308670c050285ae1" > < div class = "ttname" > < a href = "fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1" > Position_moy< / a > < / div > < div class = "ttdeci" > void Position_moy(IplImage *Binaire, int *posX, int *posY)< / div > < div class = "ttdoc" > Effectue le baricentre des pixels d' une image binaire pour obtenir la postion de l' objet. < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8c_source.html#l00120" > fonction.c:120< / a > < / div > < / div >
< div class = "ttc" id = "fonction_8c_html_ae89e5fc7460ea890fa61d54fd209c1ae" > < div class = "ttname" > < a href = "fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae" > ajust_pos< / a > < / div > < div class = "ttdeci" > int ajust_pos(int pos, int ref)< / div > < div class = "ttdoc" > permet d' éviter des positions supérieures à ref considérées comme aberrantes. < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8c_source.html#l00036" > fonction.c:36< / a > < / div > < / div >
< div class = "ttc" id = "fonction_8c_html_a96b1dd5c66492425a00921b6eaaacc89" > < div class = "ttname" > < a href = "fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89" > traitement< / a > < / div > < div class = "ttdeci" > void traitement(IplImage *frame, IplImage *HSV, IplImage *Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV)< / div > < div class = "ttdoc" > Effectue une binarisation de frame en fonction des bornes HSV. < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8c_source.html#l00099" > fonction.c:99< / a > < / div > < / div >
< div class = "ttc" id = "fonction_8c_html_a93cca84f54fe35dc9ad87eac3583889b" > < div class = "ttname" > < a href = "fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b" > maj_angle< / a > < / div > < div class = "ttdeci" > void maj_angle(int vecX, int vecY, int rayon, double *angle)< / div > < div class = "ttdoc" > Met à jour angle selon la distance entre le centre de la caméra et la cible, avec un tolérance circul...< / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8c_source.html#l00012" > fonction.c:12< / a > < / div > < / div >
< div class = "ttc" id = "fonction_8h_html_afb63dbc6e533233f41d03e8b8a3bc570" > < div class = "ttname" > < a href = "fonction_8h.html#afb63dbc6e533233f41d03e8b8a3bc570" > JEU< / a > < / div > < div class = "ttdeci" > #define JEU< / div > < div class = "ttdoc" > Coefficient de tolérance pour le suivi d' objet. < / div > < / div >
< div class = "ttc" id = "fonction_8h_html" > < div class = "ttname" > < a href = "fonction_8h.html" > fonction.h< / a > < / div > < div class = "ttdoc" > Bibliothèque, Headers et Documentation des fonctions. < / div > < / div >
< div class = "ttc" id = "fonction_8h_html_a12190c71ff3acb9694bb2f782a1dfcdb" > < div class = "ttname" > < a href = "fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb" > MAX_FACE< / a > < / div > < div class = "ttdeci" > #define MAX_FACE< / div > < div class = "ttdoc" > Nombre maximum de faces traitées. < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8h_source.html#l00055" > fonction.h:55< / a > < / div > < / div >
< div class = "ttc" id = "fonction_8c_html_acc438fce8178d1d5aac4595f19529275" > < div class = "ttname" > < a href = "fonction_8c.html#acc438fce8178d1d5aac4595f19529275" > affichage_config< / a > < / div > < div class = "ttdeci" > void affichage_config(IplImage *frame, IplImage *HSV, IplImage *Binaire)< / div > < div class = "ttdoc" > Fonction d' affichage du flux vidéo, du flux en HSV et de sa binarisation. < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8c_source.html#l00151" > fonction.c:151< / a > < / div > < / div >
< div class = "ttc" id = "fonction_8c_html_a9397b95e9279b0b9cd371c9a2b4514a2" > < div class = "ttname" > < a href = "fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2" > limite_moteur< / a > < / div > < div class = "ttdeci" > int limite_moteur(int val_pwm)< / div > < div class = "ttdoc" > Fonction qui vérifie que les valeurs envoyees aux moteurs sont correctes. < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8c_source.html#l00041" > fonction.c:41< / a > < / div > < / div >
< div class = "ttc" id = "fonction_8c_html_ad3f512a54511a63b30a8967077736766" > < div class = "ttname" > < a href = "fonction_8c.html#ad3f512a54511a63b30a8967077736766" > controle_moteur< / a > < / div > < div class = "ttdeci" > void controle_moteur(double *angle)< / div > < div class = "ttdoc" > Fonction d' envoie des angles aux moteurs. < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8c_source.html#l00054" > fonction.c:54< / a > < / div > < / div >
< div class = "ttc" id = "fonction_8c_html_a91b1b1daf28d90b5299a9a0486f5bdf1" > < div class = "ttname" > < a href = "fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1" > Affichage_Tracking< / a > < / div > < div class = "ttdeci" > void Affichage_Tracking(IplImage *frame, int posX, int posY, int width, int height)< / div > < div class = "ttdoc" > Fonction d' affichage des informations de suivi. < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8c_source.html#l00163" > fonction.c:163< / a > < / div > < / div >
< div class = "ttc" id = "fonction_8c_html_ad2cc53a42ff2450413bbb199bb4c1072" > < div class = "ttname" > < a href = "fonction_8c.html#ad2cc53a42ff2450413bbb199bb4c1072" > image_CV2SFML< / a > < / div > < div class = "ttdeci" > int image_CV2SFML(IplImage *imcv, sf::Image imFlux)< / div > < div class = "ttdoc" > Convertit une image opencv (IplImage) en une image SFML (sf::Image) < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "fonction_8c_source.html#l00074" > fonction.c:74< / a > < / div > < / div >
< div class = "ttc" id = "structface_html" > < div class = "ttname" > < a href = "structface.html" > face< / a > < / div > < div class = "ttdoc" > Contient les informations sur chaque face détectée : positions, largeur. < / div > < / div >
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