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< a href = "_kirby_track_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 >
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< div class = "line" > < a name = "l00013" > < / a > < span class = "lineno" > 13< / span >   < span class = "preprocessor" > #include " < a class = "code" href = "fonction_8h.html" > fonction.h< / a > " < / span > < / div >
< div class = "line" > < a name = "l00014" > < / a > < span class = "lineno" > 14< / span >   < span class = "preprocessor" > #include " < a class = "code" href = "fonction_8c.html" > fonction.c< / a > " < / span > < span class = "comment" > //Pour le problème de référence indéfinie à la compilation< / span > < / div >
< div class = "line" > < a name = "l00015" > < / a > < span class = "lineno" > 15< / span >   < / div >
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< div class = "line" > < a name = "l00016" > < / a > < span class = "lineno" > 16< / span >   < / div >
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< div class = "line" > < a name = "l00023" > < / a > < span class = "lineno" > < a class = "line" href = "_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97" > 23< / a > < / span >   < span class = "keywordtype" > int< / span > < a class = "code" href = "_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97" > main< / a > (< span class = "keywordtype" > int< / span > argc, < span class = "keywordtype" > char< / span > * argv[])< / div >
< div class = "line" > < a name = "l00024" > < / a > < span class = "lineno" > 24< / span >   {< / div >
< div class = "line" > < a name = "l00025" > < / a > < span class = "lineno" > 25< / span >   < span class = "comment" > //Initialisations < / span > < / div >
< div class = "line" > < a name = "l00026" > < / a > < span class = "lineno" > 26< / span >   < span class = "keywordtype" > int< / span > height,width; < span class = "comment" > //parameters of the image we are working on< / span > < / div >
< div class = "line" > < a name = "l00027" > < / a > < span class = "lineno" > 27< / span >   < span class = "keywordtype" > int< / span > posX, posY; < span class = "comment" > //Position objet< / span > < / div >
< div class = "line" > < a name = "l00028" > < / a > < span class = "lineno" > 28< / span >   < span class = "keywordtype" > int< / span > boucle = 1; < span class = "comment" > //On effectuera la boucle principale au moins une fois< / span > < / div >
< div class = "line" > < a name = "l00029" > < / a > < span class = "lineno" > 29< / span >   < / div >
< div class = "line" > < a name = "l00030" > < / a > < span class = "lineno" > 30< / span >   < span class = "keywordtype" > double< / span > angle[2] = {100,100};< / div >
< div class = "line" > < a name = "l00031" > < / a > < span class = "lineno" > 31< / span >   < / div >
< div class = "line" > < a name = "l00032" > < / a > < span class = "lineno" > 32< / span >   < span class = "keywordtype" > int< / span > tracking; < span class = "comment" > //0 = tracking OFF< / span > < / div >
< div class = "line" > < a name = "l00033" > < / a > < span class = "lineno" > 33< / 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 >   < span class = "preprocessor" > #ifdef SFML< / span > < / div >
< div class = "line" > < a name = "l00036" > < / a > < span class = "lineno" > 36< / span >   < span class = "preprocessor" > < / span > < span class = "comment" > //Initialisation SFML< / span > < / div >
< div class = "line" > < a name = "l00037" > < / a > < span class = "lineno" > 37< / span >   < / div >
< div class = "line" > < a name = "l00038" > < / a > < span class = "lineno" > 38< / span >   sf::Texture txFlux;< / div >
< div class = "line" > < a name = "l00039" > < / a > < span class = "lineno" > 39< / span >   sf::Sprite spFlux;< / div >
< div class = "line" > < a name = "l00040" > < / a > < span class = "lineno" > 40< / span >   sf::Image imFlux;< / div >
< div class = "line" > < a name = "l00041" > < / a > < span class = "lineno" > 41< / span >   sf::Event event;< / div >
< div class = "line" > < a name = "l00042" > < / a > < span class = "lineno" > 42< / span >   < / div >
< div class = "line" > < a name = "l00043" > < / a > < span class = "lineno" > 43< / span >   tracking = 0; < span class = "comment" > //Pas de tracking de base en mode SFML< / span > < / div >
< div class = "line" > < a name = "l00044" > < / a > < span class = "lineno" > 44< / span >   < / div >
< div class = "line" > < a name = "l00045" > < / a > < span class = "lineno" > 45< / span >   < span class = "comment" > //Chargement boutons< / span > < / div >
< div class = "line" > < a name = "l00046" > < / a > < span class = "lineno" > 46< / span >   sf::Texture txBut;< / div >
< div class = "line" > < a name = "l00047" > < / a > < span class = "lineno" > 47< / span >   sf::Sprite button_tracking;< / div >
< div class = "line" > < a name = "l00048" > < / a > < span class = "lineno" > 48< / span >   sf::Sprite button_reset;< / div >
< div class = "line" > < a name = "l00049" > < / a > < span class = "lineno" > 49< / span >   < / div >
< div class = "line" > < a name = "l00050" > < / a > < span class = "lineno" > 50< / span >   < span class = "keywordflow" > if< / span > (!txBut.loadFromFile(< span class = "stringliteral" > " Stock SFML/button.png" < / span > )){< / div >
< div class = "line" > < a name = "l00051" > < / a > < span class = "lineno" > 51< / span >   printf(< span class = "stringliteral" > " Erreur chargement image SFML\n" < / span > );< / div >
< div class = "line" > < a name = "l00052" > < / a > < span class = "lineno" > 52< / span >   < span class = "keywordflow" > return< / span > EXIT_FAILURE;< / div >
< div class = "line" > < a name = "l00053" > < / a > < span class = "lineno" > 53< / span >   }< / div >
< div class = "line" > < a name = "l00054" > < / a > < span class = "lineno" > 54< / span >   < / div >
< div class = "line" > < a name = "l00055" > < / a > < span class = "lineno" > 55< / span >   < span class = "comment" > //Chargement texte< / span > < / div >
< div class = "line" > < a name = "l00056" > < / a > < span class = "lineno" > 56< / span >   sf::Font font;< / div >
< div class = "line" > < a name = "l00057" > < / a > < span class = "lineno" > 57< / span >   < span class = "keywordflow" > if< / span > (!font.loadFromFile(< span class = "stringliteral" > " Stock SFML/arial.ttf" < / span > )){< / div >
< div class = "line" > < a name = "l00058" > < / a > < span class = "lineno" > 58< / span >   printf(< span class = "stringliteral" > " Erreur chargement police SFML\n" < / span > );< / div >
< div class = "line" > < a name = "l00059" > < / a > < span class = "lineno" > 59< / span >   < span class = "keywordflow" > return< / span > EXIT_FAILURE;< / div >
< div class = "line" > < a name = "l00060" > < / a > < span class = "lineno" > 60< / span >   }< / div >
< div class = "line" > < a name = "l00061" > < / a > < span class = "lineno" > 61< / span >   < / div >
< div class = "line" > < a name = "l00062" > < / a > < span class = "lineno" > 62< / span >   sf::Text text_track;< / div >
< div class = "line" > < a name = "l00063" > < / a > < span class = "lineno" > 63< / span >   sf::Text text_reset;< / 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" > //Chargement son< / span > < / div >
< div class = "line" > < a name = "l00066" > < / a > < span class = "lineno" > 66< / span >   sf::Music aye;< / div >
< div class = "line" > < a name = "l00067" > < / a > < span class = "lineno" > 67< / span >   < span class = "keywordflow" > if< / span > (!aye.openFromFile(< span class = "stringliteral" > " Stock SFML/Aye Sir.ogg" < / span > ))< / div >
< div class = "line" > < a name = "l00068" > < / a > < span class = "lineno" > 68< / span >   < span class = "keywordflow" > return< / span > EXIT_FAILURE;< / div >
< div class = "line" > < a name = "l00069" > < / a > < span class = "lineno" > 69< / span >   < / div >
< div class = "line" > < a name = "l00070" > < / a > < span class = "lineno" > 70< / span >   < span class = "preprocessor" > #endif< / span > < / div >
< div class = "line" > < a name = "l00071" > < / a > < span class = "lineno" > 71< / span >   < span class = "preprocessor" > < / span > < / div >
< div class = "line" > < a name = "l00072" > < / a > < span class = "lineno" > 72< / span >   < span class = "comment" > //Ouverture flux camera< / span > < / div >
< div class = "line" > < a name = "l00073" > < / a > < span class = "lineno" > 73< / span >   CvCapture* capture = cvCaptureFromCAM( 0 );< / div >
< div class = "line" > < a name = "l00074" > < / a > < span class = "lineno" > 74< / span >   < / div >
< div class = "line" > < a name = "l00075" > < / a > < span class = "lineno" > 75< / span >   < span class = "keywordflow" > if< / span > ( !capture ){< / div >
< div class = "line" > < a name = "l00076" > < / a > < span class = "lineno" > 76< / span >   printf(< span class = "stringliteral" > " ERROR: capture is NULL \n" < / span > );< / div >
< div class = "line" > < a name = "l00077" > < / a > < span class = "lineno" > 77< / span >   exit(EXIT_FAILURE);< / div >
< div class = "line" > < a name = "l00078" > < / a > < span class = "lineno" > 78< / span >   }< / 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 >   < / div >
< div class = "line" > < a name = "l00081" > < / a > < span class = "lineno" > 81< / span >   < span class = "comment" > // grab an image from the capture< / span > < / div >
< div class = "line" > < a name = "l00082" > < / a > < span class = "lineno" > 82< / span >   IplImage* frame = cvQueryFrame( capture );< / div >
< div class = "line" > < a name = "l00083" > < / a > < span class = "lineno" > 83< / span >   < / div >
< div class = "line" > < a name = "l00084" > < / a > < span class = "lineno" > 84< / span >   < span class = "comment" > // get the image data< / span > < / div >
< div class = "line" > < a name = "l00085" > < / a > < span class = "lineno" > 85< / span >   height = frame-> height;< / div >
< div class = "line" > < a name = "l00086" > < / a > < span class = "lineno" > 86< / span >   width = frame-> width;< / div >
< div class = "line" > < a name = "l00087" > < / a > < span class = "lineno" > 87< / span >   < / div >
< div class = "line" > < a name = "l00088" > < / a > < span class = "lineno" > 88< / span >   < span class = "comment" > // capture size - < / span > < / div >
< div class = "line" > < a name = "l00089" > < / a > < span class = "lineno" > 89< / span >   CvSize size = cvSize(width,height);< / div >
< div class = "line" > < a name = "l00090" > < / a > < span class = "lineno" > 90< / span >   < / div >
< div class = "line" > < a name = "l00091" > < / a > < span class = "lineno" > 91< / span >   < / div >
< div class = "line" > < a name = "l00092" > < / a > < span class = "lineno" > 92< / span >   < span class = "preprocessor" > #ifdef SFML< / span > < / div >
< div class = "line" > < a name = "l00093" > < / a > < span class = "lineno" > 93< / span >   < span class = "preprocessor" > < / span > < span class = "comment" > //Création de la fenetre principale< / span > < / div >
< div class = "line" > < a name = "l00094" > < / a > < span class = "lineno" > 94< / span >   sf::RenderWindow window(sf::VideoMode(width+300, height), < span class = "stringliteral" > " KirbyTrack" < / span > );< / div >
< div class = "line" > < a name = "l00095" > < / a > < span class = "lineno" > 95< / span >   < span class = "preprocessor" > #endif< / span > < / div >
< div class = "line" > < a name = "l00096" > < / a > < span class = "lineno" > 96< / span >   < span class = "preprocessor" > < / span > < / div >
< div class = "line" > < a name = "l00097" > < / a > < span class = "lineno" > 97< / span >   < span class = "comment" > // Initialize different images that are going to be used in the program< / span > < / div >
< div class = "line" > < a name = "l00098" > < / a > < span class = "lineno" > 98< / span >   IplImage* hsv_frame = cvCreateImage(size, IPL_DEPTH_8U, 3); < span class = "comment" > // image converted to HSV plane< / span > < / div >
< div class = "line" > < a name = "l00099" > < / a > < span class = "lineno" > 99< / span >   IplImage* threshold = cvCreateImage(size, IPL_DEPTH_8U, 1);< / 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 >   < / div >
< div class = "line" > < a name = "l00102" > < / a > < span class = "lineno" > 102< / span >   < span class = "comment" > //Controle couleur< / span > < / div >
< div class = "line" > < a name = "l00103" > < / a > < span class = "lineno" > 103< / span >   < span class = "preprocessor" > #ifdef KIRBY< / span > < / div >
< div class = "line" > < a name = "l00104" > < / a > < span class = "lineno" > 104< / span >   < span class = "preprocessor" > < / span > < span class = "comment" > //Setup Kirby< / span > < / div >
< div class = "line" > < a name = "l00105" > < / a > < span class = "lineno" > 105< / span >   < span class = "keywordtype" > int< / span > iLowH = 152;< / div >
< div class = "line" > < a name = "l00106" > < / a > < span class = "lineno" > 106< / span >   < span class = "keywordtype" > int< / span > iHighH = 179;< / div >
< div class = "line" > < a name = "l00107" > < / a > < span class = "lineno" > 107< / span >   < / div >
< div class = "line" > < a name = "l00108" > < / a > < span class = "lineno" > 108< / span >   < span class = "keywordtype" > int< / span > iLowS = 48; < / div >
< div class = "line" > < a name = "l00109" > < / a > < span class = "lineno" > 109< / span >   < span class = "keywordtype" > int< / span > iHighS = 255;< / div >
< div class = "line" > < a name = "l00110" > < / a > < span class = "lineno" > 110< / span >   < / div >
< div class = "line" > < a name = "l00111" > < / a > < span class = "lineno" > 111< / span >   < span class = "keywordtype" > int< / span > iLowV = 101;< / div >
< div class = "line" > < a name = "l00112" > < / a > < span class = "lineno" > 112< / span >   < span class = "keywordtype" > int< / span > iHighV = 255;< / div >
< div class = "line" > < a name = "l00113" > < / a > < span class = "lineno" > 113< / span >   < span class = "preprocessor" > #endif< / span > < / div >
< div class = "line" > < a name = "l00114" > < / a > < span class = "lineno" > 114< / span >   < span class = "preprocessor" > < / span > < span class = "preprocessor" > #ifdef ETOILE< / span > < / div >
< div class = "line" > < a name = "l00115" > < / a > < span class = "lineno" > 115< / span >   < span class = "preprocessor" > < / span > < span class = "comment" > //Setup Etoile< / span > < / div >
< div class = "line" > < a name = "l00116" > < / a > < span class = "lineno" > 116< / span >   < span class = "keywordtype" > int< / span > iLowH = 20;< / div >
< div class = "line" > < a name = "l00117" > < / a > < span class = "lineno" > 117< / span >   < span class = "keywordtype" > int< / span > iHighH = 30;< / 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 >   < span class = "keywordtype" > int< / span > iLowS = 100; < / div >
< div class = "line" > < a name = "l00120" > < / a > < span class = "lineno" > 120< / span >   < span class = "keywordtype" > int< / span > iHighS = 255;< / 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 >   < span class = "keywordtype" > int< / span > iLowV = 100;< / div >
< div class = "line" > < a name = "l00123" > < / a > < span class = "lineno" > 123< / span >   < span class = "keywordtype" > int< / span > iHighV = 255;< / div >
< div class = "line" > < a name = "l00124" > < / a > < span class = "lineno" > 124< / span >   < span class = "preprocessor" > #endif < / span > < / div >
< div class = "line" > < a name = "l00125" > < / a > < span class = "lineno" > 125< / span >   < span class = "preprocessor" > < / span > < / div >
< div class = "line" > < a name = "l00126" > < / a > < span class = "lineno" > 126< / span >   < span class = "preprocessor" > #ifdef CONFIG< / span > < / div >
< div class = "line" > < a name = "l00127" > < / a > < span class = "lineno" > 127< / span >   < span class = "preprocessor" > < / span > < span class = "comment" > //Affichage du panneau de config< / span > < / div >
< div class = "line" > < a name = "l00128" > < / a > < span class = "lineno" > 128< / span >   < a class = "code" href = "fonction_8c.html#adcdd0544c8eb462cd2835ec99fa0f181" > config< / a > (& iLowH, & iHighH, & iLowS, & iHighS, & iLowV, & iHighV);< / 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 >   tracking = 1; < span class = "comment" > //Tracking de base en mode CONFIG< / span > < / div >
< div class = "line" > < a name = "l00131" > < / a > < span class = "lineno" > 131< / span >   < span class = "preprocessor" > #endif< / span > < / div >
< div class = "line" > < a name = "l00132" > < / a > < span class = "lineno" > 132< / span >   < span class = "preprocessor" > < / span > < / div >
< div class = "line" > < a name = "l00133" > < / a > < span class = "lineno" > 133< / span >   < span class = "keywordflow" > while< / span > (boucle)< / 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" > 136< / span >   < span class = "preprocessor" > #ifdef SFML< / span > < / div >
< div class = "line" > < a name = "l00137" > < / a > < span class = "lineno" > 137< / span >   < span class = "preprocessor" > < / span > boucle = window.isOpen();< / div >
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< div class = "line" > < a name = "l00138" > < / a > < span class = "lineno" > 138< / span >   < / div >
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< div class = "line" > < a name = "l00139" > < / a > < span class = "lineno" > 139< / span >   < span class = "comment" > // on inspecte tous les évènements de la fenêtre qui ont été émis depuis la précédente itération< / span > < / div >
< div class = "line" > < a name = "l00140" > < / a > < span class = "lineno" > 140< / span >   < span class = "keywordflow" > while< / span > (window.pollEvent(event))< / div >
< div class = "line" > < a name = "l00141" > < / a > < span class = "lineno" > 141< / span >   {< / div >
< div class = "line" > < a name = "l00142" > < / a > < span class = "lineno" > 142< / span >   < span class = "comment" > // évènement " fermeture demandée" : on ferme la fenêtre< / span > < / div >
< div class = "line" > < a name = "l00143" > < / a > < span class = "lineno" > 143< / span >   < span class = "keywordflow" > if< / span > (event.type == sf::Event::Closed)< / div >
< div class = "line" > < a name = "l00144" > < / a > < span class = "lineno" > 144< / span >   window.close();< / div >
< div class = "line" > < a name = "l00145" > < / a > < span class = "lineno" > 145< / span >   }< / div >
< div class = "line" > < a name = "l00146" > < / a > < span class = "lineno" > 146< / span >   < span class = "preprocessor" > #endif< / span > < / div >
< div class = "line" > < a name = "l00147" > < / a > < span class = "lineno" > 147< / span >   < span class = "preprocessor" > < / span > < span class = "comment" > // Get one frame< / span > < / div >
< div class = "line" > < a name = "l00148" > < / a > < span class = "lineno" > 148< / span >   frame = cvQueryFrame( capture );< / 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 >   < span class = "keywordflow" > if< / span > ( !frame ){< / div >
< div class = "line" > < a name = "l00151" > < / a > < span class = "lineno" > 151< / span >   perror(< span class = "stringliteral" > " ERROR: frame is null..." < / span > );< / div >
< div class = "line" > < a name = "l00152" > < / a > < span class = "lineno" > 152< / span >   < span class = "keywordflow" > break< / span > ;< / div >
< div class = "line" > < a name = "l00153" > < / a > < span class = "lineno" > 153< / span >   }< / div >
< div class = "line" > < a name = "l00154" > < / a > < span class = "lineno" > 154< / span >   < / div >
< div class = "line" > < a name = "l00155" > < / a > < span class = "lineno" > 155< / span >   < span class = "comment" > //Binarisation du flux vidéo< / span > < / div >
< div class = "line" > < a name = "l00156" > < / a > < span class = "lineno" > 156< / span >   < a class = "code" href = "fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89" > traitement< / a > (frame, hsv_frame, threshold, iLowH, iHighH, iLowS, iHighS, iLowV, iHighV);< / 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 >   < span class = "comment" > // Calculate the moments to estimate the position of the ball < / span > < / div >
< div class = "line" > < a name = "l00159" > < / a > < span class = "lineno" > 159< / span >   < a class = "code" href = "fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1" > Position_moy< / a > (threshold, & posX, & posY);< / div >
< div class = "line" > < a name = "l00160" > < / a > < span class = "lineno" > 160< / span >   < / div >
< div class = "line" > < a name = "l00161" > < / a > < span class = "lineno" > 161< / span >   < span class = "comment" > //Dessine les informations de tracking sur frame< / span > < / div >
< div class = "line" > < a name = "l00162" > < / a > < span class = "lineno" > 162< / span >   < a class = "code" href = "fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1" > Affichage_Tracking< / a > (frame, posX, posY, width, height);< / div >
< div class = "line" > < a name = "l00163" > < / a > < span class = "lineno" > 163< / span >   < / div >
< div class = "line" > < a name = "l00164" > < / a > < span class = "lineno" > 164< / span >   < span class = "preprocessor" > #ifdef SFML< / span > < / div >
< div class = "line" > < a name = "l00165" > < / a > < span class = "lineno" > 165< / span >   < span class = "preprocessor" > < / span > < span class = "comment" > //Affichage SFML< / span > < / div >
< div class = "line" > < a name = "l00166" > < / a > < span class = "lineno" > 166< / span >   < span class = "comment" > /* Clear the screen */< / span > < / div >
< div class = "line" > < a name = "l00167" > < / a > < span class = "lineno" > 167< / span >   window.clear(sf::Color::White); < / div >
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< div class = "line" > < a name = "l00168" > < / a > < span class = "lineno" > 168< / span >   < / div >
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< div class = "line" > < a name = "l00169" > < / a > < span class = "lineno" > 169< / span >   < span class = "comment" > //Affichage de la frame< / span > < / div >
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< div class = "line" > < a name = "l00170" > < / a > < span class = "lineno" > 170< / span >   < / div >
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< div class = "line" > < a name = "l00171" > < / a > < span class = "lineno" > 171< / span >   < span class = "comment" > //Le chargement pourrait etre plus optimisé en créant nous me l' image SFML en parcourant l' IplImage< / span > < / div >
< div class = "line" > < a name = "l00172" > < / a > < span class = "lineno" > 172< / span >   < / div >
< div class = "line" > < a name = "l00173" > < / a > < span class = "lineno" > 173< / span >   < span class = "comment" > //Enregistrement de la frame openCV< / span > < / div >
< div class = "line" > < a name = "l00174" > < / a > < span class = "lineno" > 174< / span >   cvSaveImage(< span class = "stringliteral" > " Stock SFML/temp.jpg" < / span > , frame);< / div >
< div class = "line" > < a name = "l00175" > < / a > < span class = "lineno" > 175< / span >   < / div >
< div class = "line" > < a name = "l00176" > < / a > < span class = "lineno" > 176< / span >   < span class = "comment" > //Chargement de la frame en texture SFML< / span > < / div >
< div class = "line" > < a name = "l00177" > < / a > < span class = "lineno" > 177< / span >   < span class = "keywordflow" > if< / span > (!txFlux.loadFromFile(< span class = "stringliteral" > " Stock SFML/temp.jpg" < / span > )){< / div >
< div class = "line" > < a name = "l00178" > < / a > < span class = "lineno" > 178< / span >   printf(< span class = "stringliteral" > " Erreur chargement image SFML\n" < / span > );< / div >
< div class = "line" > < a name = "l00179" > < / a > < span class = "lineno" > 179< / span >   < span class = "keywordflow" > break< / 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" > 182< / span >   spFlux.setTexture(txFlux);< / div >
< div class = "line" > < a name = "l00183" > < / a > < span class = "lineno" > 183< / span >   window.draw(spFlux);< / div >
< div class = "line" > < a name = "l00184" > < / a > < span class = "lineno" > 184< / span >   < / div >
< div class = "line" > < a name = "l00185" > < / a > < span class = "lineno" > 185< / span >   < span class = "comment" > //Dessin des boutons< / span > < / div >
< div class = "line" > < a name = "l00186" > < / a > < span class = "lineno" > 186< / span >   button_tracking.setTexture(txBut);< / div >
< div class = "line" > < a name = "l00187" > < / a > < span class = "lineno" > 187< / span >   button_tracking.setScale(0.5,0.5);< / div >
< div class = "line" > < a name = "l00188" > < / a > < span class = "lineno" > 188< / span >   button_tracking.setPosition(sf::Vector2f(width+20, 20));< / div >
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< div class = "line" > < a name = "l00189" > < / a > < span class = "lineno" > 189< / span >   < / div >
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< div class = "line" > < a name = "l00190" > < / a > < span class = "lineno" > 190< / span >   button_reset.setTexture(txBut);< / div >
< div class = "line" > < a name = "l00191" > < / a > < span class = "lineno" > 191< / span >   button_reset.setScale(0.5,0.5);< / div >
< div class = "line" > < a name = "l00192" > < / a > < span class = "lineno" > 192< / span >   button_reset.setPosition(sf::Vector2f(width+20, 100));< / div >
< div class = "line" > < a name = "l00193" > < / a > < span class = "lineno" > 193< / span >   < / div >
< div class = "line" > < a name = "l00194" > < / a > < span class = "lineno" > 194< / span >   < span class = "keywordflow" > if< / span > (tracking){ button_tracking.setColor(sf::Color::Green); }< / div >
< div class = "line" > < a name = "l00195" > < / a > < span class = "lineno" > 195< / span >   < span class = "keywordflow" > else< / span > { button_tracking.setColor(sf::Color::Red); }< / div >
< div class = "line" > < a name = "l00196" > < / a > < span class = "lineno" > 196< / span >   < / div >
< div class = "line" > < a name = "l00197" > < / a > < span class = "lineno" > 197< / span >   < span class = "comment" > //Ajout du texte< / span > < / div >
< div class = "line" > < a name = "l00198" > < / a > < span class = "lineno" > 198< / span >   < span class = "comment" > // choix de la police à utiliser< / span > < / div >
< div class = "line" > < a name = "l00199" > < / a > < span class = "lineno" > 199< / span >   text_track.setFont(font); < span class = "comment" > // font est un sf::Font< / span > < / div >
< div class = "line" > < a name = "l00200" > < / a > < span class = "lineno" > 200< / span >   text_reset.setFont(font);< / 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 >   < span class = "comment" > // choix de la chaîne de caractères à afficher< / span > < / div >
< div class = "line" > < a name = "l00203" > < / a > < span class = "lineno" > 203< / span >   text_track.setString(< span class = "stringliteral" > " Tracking Moteurs" < / span > );< / div >
< div class = "line" > < a name = "l00204" > < / a > < span class = "lineno" > 204< / span >   text_reset.setString(< span class = "stringliteral" > " Reset Moteurs" < / span > );< / div >
< div class = "line" > < a name = "l00205" > < / a > < span class = "lineno" > 205< / span >   < / div >
< div class = "line" > < a name = "l00206" > < / a > < span class = "lineno" > 206< / span >   < span class = "comment" > // choix de la taille des caractères< / span > < / div >
< div class = "line" > < a name = "l00207" > < / a > < span class = "lineno" > 207< / span >   text_track.setCharacterSize(24); < span class = "comment" > // exprimée en pixels, pas en points !< / span > < / div >
< div class = "line" > < a name = "l00208" > < / a > < span class = "lineno" > 208< / span >   text_reset.setCharacterSize(24);< / 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" > //text.setFillColor(sf::Color::Black);< / span > < / div >
< div class = "line" > < a name = "l00211" > < / a > < span class = "lineno" > 211< / span >   text_track.setColor(sf::Color::Black);< / div >
< div class = "line" > < a name = "l00212" > < / a > < span class = "lineno" > 212< / span >   text_reset.setColor(sf::Color::Black);< / 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 >   text_track.setPosition(sf::Vector2f(width+100, 35));< / div >
< div class = "line" > < a name = "l00215" > < / a > < span class = "lineno" > 215< / span >   text_reset.setPosition(sf::Vector2f(width+100, 115));< / 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 >   < / div >
< div class = "line" > < a name = "l00218" > < / a > < span class = "lineno" > 218< / span >   < span class = "comment" > //Detection du bouton tracking< / span > < / div >
< div class = "line" > < a name = "l00219" > < / a > < span class = "lineno" > 219< / span >   sf::Vector2i PosMouse = sf::Mouse::getPosition(window);< / div >
< div class = "line" > < a name = "l00220" > < / a > < span class = "lineno" > 220< / span >   < span class = "keywordflow" > if< / span > (sf::Mouse::isButtonPressed(sf::Mouse::Left)& & (PosMouse.x> 640)& & (PosMouse.x< 760)& & (PosMouse.y> 0)& & (PosMouse.y< 110)){< / div >
< div class = "line" > < a name = "l00221" > < / a > < span class = "lineno" > 221< / span >   < span class = "comment" > //printf(" \n\n\n OK \n\n\n" );< / span > < / div >
< div class = "line" > < a name = "l00222" > < / a > < span class = "lineno" > 222< / span >   < span class = "keywordflow" > if< / span > (tracking){ tracking = 0;}< / div >
< div class = "line" > < a name = "l00223" > < / a > < span class = "lineno" > 223< / span >   < span class = "keywordflow" > else< / span > tracking = 1;< / div >
< div class = "line" > < a name = "l00224" > < / a > < span class = "lineno" > 224< / span >   < / div >
< div class = "line" > < a name = "l00225" > < / a > < span class = "lineno" > 225< / span >   aye.play();< / div >
< div class = "line" > < a name = "l00226" > < / a > < span class = "lineno" > 226< / span >   < / div >
< div class = "line" > < a name = "l00227" > < / a > < span class = "lineno" > 227< / span >   cvWaitKey(100);< / div >
< div class = "line" > < a name = "l00228" > < / a > < span class = "lineno" > 228< / span >   }< / 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" > //Detection du bouton reset< / span > < / div >
< div class = "line" > < a name = "l00231" > < / a > < span class = "lineno" > 231< / span >   < span class = "keywordflow" > if< / span > (sf::Mouse::isButtonPressed(sf::Mouse::Left)& & (PosMouse.x> 640)& & (PosMouse.x< 760)& & (PosMouse.y> 110)& & (PosMouse.y< 160)){< / div >
< div class = "line" > < a name = "l00232" > < / a > < span class = "lineno" > 232< / span >   < / div >
< div class = "line" > < a name = "l00233" > < / a > < span class = "lineno" > 233< / span >   tracking = 0;< / div >
< div class = "line" > < a name = "l00234" > < / a > < span class = "lineno" > 234< / span >   < span class = "comment" > //Reset Position moteur< / span > < / div >
< div class = "line" > < a name = "l00235" > < / a > < span class = "lineno" > 235< / span >   angle[0]=60; < span class = "comment" > //ANGLES A VERIFIER< / span > < / div >
< div class = "line" > < a name = "l00236" > < / a > < span class = "lineno" > 236< / span >   angle[1]=100;< / div >
< div class = "line" > < a name = "l00237" > < / a > < span class = "lineno" > 237< / span >   < a class = "code" href = "fonction_8c.html#ad3f512a54511a63b30a8967077736766" > controle_moteur< / a > (angle); < / 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 >   aye.play();< / div >
< div class = "line" > < a name = "l00240" > < / a > < span class = "lineno" > 240< / span >   < / div >
< div class = "line" > < a name = "l00241" > < / a > < span class = "lineno" > 241< / span >   cvWaitKey(100);< / div >
< div class = "line" > < a name = "l00242" > < / a > < span class = "lineno" > 242< / span >   }< / div >
< div class = "line" > < a name = "l00243" > < / a > < span class = "lineno" > 243< / span >   < span class = "comment" > //printf(" Pos Mouse : %d %d \n" , PosMouse.x, PosMouse.y);< / span > < / div >
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< div class = "line" > < a name = "l00244" > < / a > < span class = "lineno" > 244< / span >   < / div >
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< div class = "line" > < a name = "l00245" > < / a > < span class = "lineno" > 245< / span >   < / div >
< div class = "line" > < a name = "l00246" > < / a > < span class = "lineno" > 246< / span >   < span class = "comment" > /* Update the window */< / span > < / div >
< div class = "line" > < a name = "l00247" > < / a > < span class = "lineno" > 247< / span >   window.draw(button_tracking);< / div >
< div class = "line" > < a name = "l00248" > < / a > < span class = "lineno" > 248< / span >   window.draw(button_reset);< / div >
< div class = "line" > < a name = "l00249" > < / a > < span class = "lineno" > 249< / span >   window.draw(text_track);< / div >
< div class = "line" > < a name = "l00250" > < / a > < span class = "lineno" > 250< / span >   window.draw(text_reset);< / div >
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< div class = "line" > < a name = "l00251" > < / a > < span class = "lineno" > 251< / span >   < / div >
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< div class = "line" > < a name = "l00252" > < / a > < span class = "lineno" > 252< / span >   window.display();< / div >
< div class = "line" > < a name = "l00253" > < / a > < span class = "lineno" > 253< / span >   < / div >
< div class = "line" > < a name = "l00254" > < / a > < span class = "lineno" > 254< / span >   < span class = "preprocessor" > #endif< / span > < / div >
< div class = "line" > < a name = "l00255" > < / a > < span class = "lineno" > 255< / span >   < span class = "preprocessor" > < / span > < span class = "comment" > //Envoie données moteurs< / span > < / div >
< div class = "line" > < a name = "l00256" > < / a > < span class = "lineno" > 256< / span >   < span class = "keywordflow" > if< / span > (tracking){< / div >
< div class = "line" > < a name = "l00257" > < / a > < span class = "lineno" > 257< / span >   < span class = "comment" > //Mouvements moteurs< / span > < / div >
< div class = "line" > < a name = "l00258" > < / a > < span class = "lineno" > 258< / span >   < span class = "comment" > //printf(" -PREMAJ_ANGLE...: %d %d\n" ,width,height);< / span > < / div >
< div class = "line" > < a name = "l00259" > < / a > < span class = "lineno" > 259< / span >   < / div >
< div class = "line" > < a name = "l00260" > < / a > < span class = "lineno" > 260< / span >   < a class = "code" href = "fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b" > maj_angle< / a > (< a class = "code" href = "fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae" > ajust_pos< / a > (posX-width/2,width), < a class = "code" href = "fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae" > ajust_pos< / a > (posY-height/2,height), height*< a class = "code" href = "fonction_8h.html#afb63dbc6e533233f41d03e8b8a3bc570" > JEU< / a > , angle);< / div >
< div class = "line" > < a name = "l00261" > < / a > < span class = "lineno" > 261< / span >   < a class = "code" href = "fonction_8c.html#ad3f512a54511a63b30a8967077736766" > controle_moteur< / a > (angle); < / div >
< div class = "line" > < a name = "l00262" > < / a > < span class = "lineno" > 262< / span >   < / div >
< div class = "line" > < a name = "l00263" > < / a > < span class = "lineno" > 263< / span >   cvWaitKey(50);< / 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 >   < / div >
< div class = "line" > < a name = "l00266" > < / a > < span class = "lineno" > 266< / span >   < / div >
< div class = "line" > < a name = "l00267" > < / a > < span class = "lineno" > 267< / span >   < span class = "preprocessor" > #ifdef CONFIG< / span > < / div >
< div class = "line" > < a name = "l00268" > < / a > < span class = "lineno" > 268< / span >   < span class = "preprocessor" > < / span > < a class = "code" href = "fonction_8c.html#acc438fce8178d1d5aac4595f19529275" > affichage_config< / a > (frame, hsv_frame, threshold); < span class = "comment" > //Affichage du flux vidéo et de ses traitements< / span > < / div >
< div class = "line" > < a name = "l00269" > < / a > < span class = "lineno" > 269< / span >   < / div >
< div class = "line" > < a name = "l00270" > < / a > < span class = "lineno" > 270< / span >   < span class = "keywordflow" > if< / span > ( (cvWaitKey(10) ) > = 0 ) < span class = "keywordflow" > break< / span > ; < span class = "comment" > //Arret capture< / span > < / div >
< div class = "line" > < a name = "l00271" > < / a > < span class = "lineno" > 271< / span >   < span class = "preprocessor" > #endif< / span > < / div >
< div class = "line" > < a name = "l00272" > < / a > < span class = "lineno" > 272< / span >   < span class = "preprocessor" > < / span > < / div >
< div class = "line" > < a name = "l00273" > < / a > < span class = "lineno" > 273< / span >   }< / div >
< div class = "line" > < a name = "l00274" > < / a > < span class = "lineno" > 274< / span >   < / div >
< div class = "line" > < a name = "l00275" > < / a > < span class = "lineno" > 275< / span >   < span class = "comment" > // Release the capture device housekeeping< / span > < / div >
< div class = "line" > < a name = "l00276" > < / a > < span class = "lineno" > 276< / span >   cvReleaseCapture( & capture );< / div >
< div class = "line" > < a name = "l00277" > < / a > < span class = "lineno" > 277< / span >   < / div >
< div class = "line" > < a name = "l00278" > < / a > < span class = "lineno" > 278< / span >   cvReleaseImage(& threshold);< / div >
< div class = "line" > < a name = "l00279" > < / a > < span class = "lineno" > 279< / span >   cvReleaseImage(& hsv_frame);< / div >
< div class = "line" > < a name = "l00280" > < / a > < span class = "lineno" > 280< / span >   cvReleaseImage(& frame);< / div >
< div class = "line" > < a name = "l00281" > < / a > < span class = "lineno" > 281< / span >   < / div >
< div class = "line" > < a name = "l00282" > < / a > < span class = "lineno" > 282< / span >   < span class = "keywordflow" > return< / span > EXIT_SUCCESS;< / div >
< div class = "line" > < a name = "l00283" > < / a > < span class = "lineno" > 283< / span >   }< / div >
< div class = "line" > < a name = "l00284" > < / a > < span class = "lineno" > 284< / span >   < / div >
< div class = "line" > < a name = "l00285" > < / a > < span class = "lineno" > 285< / span >   < span class = "comment" > /*< / span > < / div >
< div class = "line" > < a name = "l00286" > < / a > < span class = "lineno" > 286< / span >   < span class = "comment" > //musique< / span > < / div >
< div class = "line" > < a name = "l00287" > < / a > < span class = "lineno" > 287< / span >   < span class = "comment" > if(aye.getStatus()==sf::Sound::Stopped){< / span > < / div >
< div class = "line" > < a name = "l00288" > < / a > < span class = "lineno" > 288< / span >   < span class = "comment" > aye.setPitch(0.5);< / span > < / div >
< div class = "line" > < a name = "l00289" > < / a > < span class = "lineno" > 289< / span >   < span class = "comment" > aye.setVolume(150);< / span > < / div >
< div class = "line" > < a name = "l00290" > < / a > < span class = "lineno" > 290< / span >   < span class = "comment" > aye.setLoop(true);< / span > < / div >
< div class = "line" > < a name = "l00291" > < / a > < span class = "lineno" > 291< / span >   < span class = "comment" > aye.play();< / span > < / div >
< div class = "line" > < a name = "l00292" > < / a > < span class = "lineno" > 292< / span >   < span class = "comment" > }< / span > < / div >
< div class = "line" > < a name = "l00293" > < / a > < span class = "lineno" > 293< / span >   < span class = "comment" > */< / span > < / div >
< div class = "line" > < a name = "l00294" > < / a > < span class = "lineno" > 294< / span >   < / div >
< div class = "line" > < a name = "l00295" > < / a > < span class = "lineno" > 295< / span >   < span class = "comment" > /*< / span > < / div >
< div class = "line" > < a name = "l00296" > < / a > < span class = "lineno" > 296< / span >   < span class = "comment" > //Link< / span > < / div >
< div class = "line" > < a name = "l00297" > < / a > < span class = "lineno" > 297< / span >   < span class = "comment" > sf::Texture txLink;< / span > < / div >
< div class = "line" > < a name = "l00298" > < / a > < span class = "lineno" > 298< / span >   < span class = "comment" > sf::Sprite Link;< / span > < / div >
< div class = "line" > < a name = "l00299" > < / a > < span class = "lineno" > 299< / span >   < span class = "comment" > < / span > < / div >
< div class = "line" > < a name = "l00300" > < / a > < span class = "lineno" > 300< / span >   < span class = "comment" > if (!txLink.loadFromFile(" Stock SFML/link.png" )){< / span > < / div >
< div class = "line" > < a name = "l00301" > < / a > < span class = "lineno" > 301< / span >   < span class = "comment" > printf(" Erreur chargement image SFML\n" );< / span > < / div >
< div class = "line" > < a name = "l00302" > < / a > < span class = "lineno" > 302< / span >   < span class = "comment" > break;< / span > < / div >
< div class = "line" > < a name = "l00303" > < / a > < span class = "lineno" > 303< / span >   < span class = "comment" > }< / span > < / div >
< div class = "line" > < a name = "l00304" > < / a > < span class = "lineno" > 304< / span >   < span class = "comment" > < / span > < / div >
< div class = "line" > < a name = "l00305" > < / a > < span class = "lineno" > 305< / span >   < span class = "comment" > Link.setTexture(txLink);< / span > < / div >
< div class = "line" > < a name = "l00306" > < / a > < span class = "lineno" > 306< / span >   < span class = "comment" > Link.setPosition(sf::Vector2f(posX-75, posY-75));< / span > < / div >
< div class = "line" > < a name = "l00307" > < / a > < span class = "lineno" > 307< / span >   < span class = "comment" > < / span > < / div >
< div class = "line" > < a name = "l00308" > < / a > < span class = "lineno" > 308< / span >   < span class = "comment" > window.draw(Link);< / span > < / div >
< div class = "line" > < a name = "l00309" > < / a > < span class = "lineno" > 309< / span >   < span class = "comment" > */< / 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_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_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" > < div class = "ttname" > < a href = "fonction_8c.html" > fonction.c< / a > < / div > < div class = "ttdoc" > Fonctions utilisés dans les programmes. < / div > < / div >
< div class = "ttc" id = "_kirby_track_8c_html_a0ddf1224851353fc92bfbff6f499fa97" > < div class = "ttname" > < a href = "_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97" > main< / a > < / div > < div class = "ttdeci" > int main(int argc, char *argv[])< / div > < div class = "ttdoc" > Entrée du programme. < / div > < div class = "ttdef" > < b > Definition:< / b > < a href = "_kirby_track_8c_source.html#l00023" > KirbyTrack.c:23< / 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 >
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< li class = "navelem" > < a class = "el" href = "dir_23fdee2f6995db16c755697cdf620cf4.html" > Code< / a > < / li > < li class = "navelem" > < a class = "el" href = "_kirby_track_8c.html" > KirbyTrack.c< / a > < / li >
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