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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#include <stdio.h></span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <stdlib.h></span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include <cv.h></span> </div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <highgui.h></span></div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">//#include <opencv2/highgui.hpp> //Pour le cvRound</span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">//#include "opencv2/videoio/videoio_c.h" //Pour le CvCapture*</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> </div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">//#include <cxcore.h></span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">//#include <SFML/Window.h></span></div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <SFML/Audio.hpp></span></div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <SFML/Graphics.hpp></span></div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <SFML/Window.hpp></span></div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <SFML/System.hpp></span> <span class="comment">//inutilisé pour le moment</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">//#define CONFIG</span></div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#define SFML</span></div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor"></span></div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#define KIRBY</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor"></span><span class="comment">//#define ETOILE</span></div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#define JEU 0.15</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor"></span></div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">//ATTENTION AFFICHAGE OPENCV INCOMPATIBLE AVEC AFFICHAGE SFML</span></div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">//ATTENTION SFML SUPPORTE UN NOMBRE LIMITE DE SPRITE EN FCT DU PC</span></div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">/*Headers*/</span></div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_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); <span class="comment">//Met à jour l'angle selon la distance CentreCamera - Cible</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="keywordtype">int</span> <a class="code" href="_kirby_track_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a>(<span class="keywordtype">int</span> pos, <span class="keywordtype">int</span> ref);</div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a>(<span class="keywordtype">double</span>* angle);<span class="comment">//Envoie les angles au moteur</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="keywordtype">int</span> <a class="code" href="_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a>(<span class="keywordtype">int</span> val_pwm);<span class="comment">//Verifie que les valeurs envoyees aux moteurs sont correctes</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_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>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_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>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_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>
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||
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_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>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_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>
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||
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> </div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="keywordtype">int</span> image_CV2SFML(IplImage* imcv, sf::Image imFlux); <span class="comment">//Construction de imsf (RGBA) à partir de imcv (BGR), avec alpha constant (=1)</span></div>
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||
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</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>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {</div>
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<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="comment">//Initialisations </span></div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keywordtype">int</span> height,width; <span class="comment">//parameters of the image we are working on</span></div>
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||
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordtype">int</span> posX, posY; <span class="comment">//Position objet</span></div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordtype">int</span> boucle;</div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> </div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordtype">double</span> angle[2] = {100,100};</div>
|
||
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordtype">int</span> tracking;</div>
|
||
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div>
|
||
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div>
|
||
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="preprocessor">#ifdef SFML</span></div>
|
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="preprocessor"></span> <span class="comment">//Initialisation SFML</span></div>
|
||
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div>
|
||
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  sf::Texture txFlux;</div>
|
||
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  sf::Sprite spFlux;</div>
|
||
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  sf::Image imFlux;</div>
|
||
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  sf::Event event;</div>
|
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> </div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  tracking = 0; <span class="comment">//Pas de tracking de base en mode SFML</span></div>
|
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
|
||
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="preprocessor">#endif</span></div>
|
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<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="preprocessor"></span></div>
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<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="comment">//Ouverture flux camera</span></div>
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||
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  CvCapture* capture = cvCaptureFromCAM( 0 );</div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
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||
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">if</span>( !capture ){</div>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  printf(<span class="stringliteral">"ERROR: capture is NULL \n"</span> );</div>
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||
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  exit(EXIT_FAILURE);</div>
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||
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  }</div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> </div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="comment">// grab an image from the capture</span></div>
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||
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  IplImage* frame = cvQueryFrame( capture );</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
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||
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="comment">// get the image data</span></div>
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||
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  height = frame->height;</div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  width = frame->width;</div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
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||
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<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="comment">// capture size - </span></div>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  CvSize size = cvSize(width,height);</div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
|
||
|
|
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> </div>
|
||
|
|
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="preprocessor">#ifdef SFML</span></div>
|
||
|
|
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="preprocessor"></span> <span class="comment">//Création de la fenetre principale</span></div>
|
||
|
|
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  sf::RenderWindow window(sf::VideoMode(width+300, height), <span class="stringliteral">"KirbyTrack"</span>);</div>
|
||
|
|
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="preprocessor">#endif</span></div>
|
||
|
|
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="preprocessor"></span></div>
|
||
|
|
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="comment">// Initialize different images that are going to be used in the program</span></div>
|
||
|
|
<div class="line"><a name="l00092"></a><span class="lineno"> 92</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="l00093"></a><span class="lineno"> 93</span>  IplImage* threshold = cvCreateImage(size, IPL_DEPTH_8U, 1);</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>  </div>
|
||
|
|
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="comment">//Controle couleur</span></div>
|
||
|
|
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="preprocessor">#ifdef KIRBY</span></div>
|
||
|
|
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="preprocessor"></span> <span class="comment">//Setup Kirby</span></div>
|
||
|
|
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordtype">int</span> iLowH = 152;</div>
|
||
|
|
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordtype">int</span> iHighH = 179;</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="keywordtype">int</span> iLowS = 48; </div>
|
||
|
|
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordtype">int</span> iHighS = 255;</div>
|
||
|
|
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> </div>
|
||
|
|
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordtype">int</span> iLowV = 101;</div>
|
||
|
|
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordtype">int</span> iHighV = 255;</div>
|
||
|
|
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="preprocessor">#endif</span></div>
|
||
|
|
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="preprocessor"></span><span class="preprocessor">#ifdef ETOILE</span></div>
|
||
|
|
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="preprocessor"></span> <span class="comment">//Setup Etoile</span></div>
|
||
|
|
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordtype">int</span> iLowH = 20;</div>
|
||
|
|
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordtype">int</span> iHighH = 30;</div>
|
||
|
|
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> </div>
|
||
|
|
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keywordtype">int</span> iLowS = 100; </div>
|
||
|
|
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordtype">int</span> iHighS = 255;</div>
|
||
|
|
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div>
|
||
|
|
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordtype">int</span> iLowV = 100;</div>
|
||
|
|
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordtype">int</span> iHighV = 255;</div>
|
||
|
|
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="preprocessor">#endif </span></div>
|
||
|
|
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> <span class="preprocessor"></span></div>
|
||
|
|
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="preprocessor">#ifdef CONFIG</span></div>
|
||
|
|
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="preprocessor"></span> <span class="comment">//Affichage du panneau de config</span></div>
|
||
|
|
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <a class="code" href="_kirby_track_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">config</a>(&iLowH, &iHighH, &iLowS, &iHighS, &iLowV, &iHighV);</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>  boucle = 1;</div>
|
||
|
|
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  tracking = 1; <span class="comment">//Tracking de base en mode CONFIG</span></div>
|
||
|
|
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="preprocessor">#endif</span></div>
|
||
|
|
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="preprocessor"></span> </div>
|
||
|
|
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">while</span>(boucle)</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> </div>
|
||
|
|
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="preprocessor">#ifdef SFML</span></div>
|
||
|
|
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="preprocessor"></span> boucle = window.isOpen();</div>
|
||
|
|
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span> </div>
|
||
|
|
<div class="line"><a name="l00134"></a><span class="lineno"> 134</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="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">while</span> (window.pollEvent(event))</div>
|
||
|
|
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  {</div>
|
||
|
|
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="comment">// évènement "fermeture demandée" : on ferme la fenêtre</span></div>
|
||
|
|
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordflow">if</span> (event.type == sf::Event::Closed)</div>
|
||
|
|
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  window.close();</div>
|
||
|
|
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  }</div>
|
||
|
|
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="preprocessor">#endif</span></div>
|
||
|
|
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="preprocessor"></span></div>
|
||
|
|
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="comment">// Get one frame</span></div>
|
||
|
|
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  frame = cvQueryFrame( capture );</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="keywordflow">if</span>( !frame ){</div>
|
||
|
|
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  perror(<span class="stringliteral">"ERROR: frame is null..."</span>);</div>
|
||
|
|
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordflow">break</span>;</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"> 151</span>  <span class="comment">//Binarisation du flux vidéo</span></div>
|
||
|
|
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <a class="code" href="_kirby_track_8c.html#a96b1dd5c66492425a00921b6eaaacc89">traitement</a>(frame, hsv_frame, threshold, iLowH, iHighH, iLowS, iHighS, iLowV, iHighV);</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>  <span class="comment">// Calculate the moments to estimate the position of the ball </span></div>
|
||
|
|
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <a class="code" href="_kirby_track_8c.html#ac3e9405c4ebaa936308670c050285ae1">Position_moy</a>(threshold, &posX, &posY);</div>
|
||
|
|
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  </div>
|
||
|
|
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="comment">//Dessine les informations de tracking sur frame</span></div>
|
||
|
|
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <a class="code" href="_kirby_track_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">Affichage_Tracking</a>(frame, posX, posY, width, height);</div>
|
||
|
|
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> </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="preprocessor">#ifdef SFML</span></div>
|
||
|
|
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> <span class="preprocessor"></span> <span class="comment">//Affichage SFML</span></div>
|
||
|
|
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="comment">/* Clear the screen */</span></div>
|
||
|
|
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  window.clear(sf::Color::White); </div>
|
||
|
|
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> </div>
|
||
|
|
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="comment">//Conversion de la frame en image smfl</span></div>
|
||
|
|
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="comment">/*if(image_CV2SFML(frame, imFlux)){</span></div>
|
||
|
|
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> <span class="comment"> printf("Erreur conversion OpenCV-SFML\n");</span></div>
|
||
|
|
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="comment"> break;</span></div>
|
||
|
|
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="comment"> }</span></div>
|
||
|
|
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> <span class="comment"> */</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> </div>
|
||
|
|
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  window.draw(spFlux);</div>
|
||
|
|
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> </div>
|
||
|
|
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="comment">//TEST SFML</span></div>
|
||
|
|
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  sf::Vector2i PosMouse = sf::Mouse::getPosition(window);</div>
|
||
|
|
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="comment">//Detection du bouton tracking</span></div>
|
||
|
|
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keywordflow">if</span> (sf::Mouse::isButtonPressed(sf::Mouse::Left)&&(PosMouse.x>640)&&(PosMouse.x<760)&&(PosMouse.y>0)&&(PosMouse.y<120)){</div>
|
||
|
|
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="comment">//printf("\n\n\n OK \n\n\n");</span></div>
|
||
|
|
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">if</span> (tracking){ tracking = 0;}</div>
|
||
|
|
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordflow">else</span> tracking = 1;</div>
|
||
|
|
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  cvWaitKey(100);</div>
|
||
|
|
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  }</div>
|
||
|
|
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="comment">//printf("Pos Mouse : %d %d \n", PosMouse.x, PosMouse.y);</span></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">//Dessin du bouton de tracking</span></div>
|
||
|
|
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  sf::Texture txBut;</div>
|
||
|
|
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  sf::Sprite button_tracking;</div>
|
||
|
|
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  </div>
|
||
|
|
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">if</span> (!txBut.loadFromFile(<span class="stringliteral">"Stock SFML/button.png"</span>)){</div>
|
||
|
|
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  printf(<span class="stringliteral">"Erreur chargement image SFML\n"</span> );</div>
|
||
|
|
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">break</span>;</div>
|
||
|
|
<div class="line"><a name="l00204"></a><span class="lineno"> 204</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>  button_tracking.setTexture(txBut);</div>
|
||
|
|
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  button_tracking.setScale(0.5,0.5);</div>
|
||
|
|
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  button_tracking.setPosition(sf::Vector2f(width+20, 20));</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="keywordflow">if</span>(tracking){ button_tracking.setColor(sf::Color::Green); }</div>
|
||
|
|
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordflow">else</span>{ button_tracking.setColor(sf::Color::Red); }</div>
|
||
|
|
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> </div>
|
||
|
|
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  window.draw(button_tracking);</div>
|
||
|
|
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> </div>
|
||
|
|
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="comment">//Dessin du bouton reset</span></div>
|
||
|
|
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  sf::Texture txBut2;</div>
|
||
|
|
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  sf::Sprite button_reset;</div>
|
||
|
|
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> </div>
|
||
|
|
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keywordflow">if</span> (!txBut2.loadFromFile(<span class="stringliteral">"Stock SFML/button.png"</span>)){</div>
|
||
|
|
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  printf(<span class="stringliteral">"Erreur chargement image SFML\n"</span> );</div>
|
||
|
|
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordflow">break</span>;</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>  </div>
|
||
|
|
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  button_reset.setTexture(txBut2);</div>
|
||
|
|
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  button_reset.setScale(0.5,0.5);</div>
|
||
|
|
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  button_reset.setPosition(sf::Vector2f(width+20, 100));</div>
|
||
|
|
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> </div>
|
||
|
|
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  window.draw(button_reset);</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">/*</span></div>
|
||
|
|
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span> <span class="comment"> //Ajout du texte</span></div>
|
||
|
|
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> <span class="comment"> sf::Font font;</span></div>
|
||
|
|
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> <span class="comment"> if (!font.loadFromFile("Stock SFML/arial.ttf")){</span></div>
|
||
|
|
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span> <span class="comment"> printf("Erreur chargement police SFML\n" );</span></div>
|
||
|
|
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span> <span class="comment"> break;</span></div>
|
||
|
|
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> <span class="comment"> }</span></div>
|
||
|
|
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> <span class="comment"></span></div>
|
||
|
|
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> <span class="comment"> sf::Text text;</span></div>
|
||
|
|
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> <span class="comment"> // choix de la police à utiliser</span></div>
|
||
|
|
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> <span class="comment"> text.setFont(font); // font est un sf::Font</span></div>
|
||
|
|
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> <span class="comment"></span></div>
|
||
|
|
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="comment"> // choix de la chaîne de caractères à afficher</span></div>
|
||
|
|
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="comment"> text.setString("Tracking Moteur");</span></div>
|
||
|
|
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> <span class="comment"></span></div>
|
||
|
|
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> <span class="comment"> // choix de la taille des caractères</span></div>
|
||
|
|
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="comment"> text.setCharacterSize(24); // exprimée en pixels, pas en points !</span></div>
|
||
|
|
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> <span class="comment"></span></div>
|
||
|
|
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="comment"> //text.setFillColor(sf::Color::Black);</span></div>
|
||
|
|
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> <span class="comment"> text.setColor(sf::Color::Black);</span></div>
|
||
|
|
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span> <span class="comment"></span></div>
|
||
|
|
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> <span class="comment"> text.setPosition(sf::Vector2f(width+100, 35));</span></div>
|
||
|
|
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="comment"> </span></div>
|
||
|
|
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="comment"> window.draw(text);</span></div>
|
||
|
|
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> <span class="comment">*/</span></div>
|
||
|
|
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> <span class="comment">/*</span></div>
|
||
|
|
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> <span class="comment"> //Link</span></div>
|
||
|
|
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> <span class="comment"> sf::Texture txLink;</span></div>
|
||
|
|
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> <span class="comment"> sf::Sprite Link;</span></div>
|
||
|
|
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> <span class="comment"> </span></div>
|
||
|
|
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> <span class="comment"> if (!txLink.loadFromFile("Stock SFML/link.png")){</span></div>
|
||
|
|
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> <span class="comment"> printf("Erreur chargement image SFML\n" );</span></div>
|
||
|
|
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="comment"> break;</span></div>
|
||
|
|
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> <span class="comment"> }</span></div>
|
||
|
|
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> <span class="comment"> </span></div>
|
||
|
|
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="comment"> Link.setTexture(txLink);</span></div>
|
||
|
|
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="comment"> Link.setPosition(sf::Vector2f(posX-75, posY-75));</span></div>
|
||
|
|
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span> <span class="comment"></span></div>
|
||
|
|
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> <span class="comment"> window.draw(Link);</span></div>
|
||
|
|
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> <span class="comment">*/</span></div>
|
||
|
|
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="comment">/* Update the window */</span></div>
|
||
|
|
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  window.display();</div>
|
||
|
|
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> </div>
|
||
|
|
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> <span class="preprocessor">#endif</span></div>
|
||
|
|
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="preprocessor"></span></div>
|
||
|
|
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="keywordflow">if</span>(tracking){</div>
|
||
|
|
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="comment">//Mouvements moteurs</span></div>
|
||
|
|
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="comment">//printf("-PREMAJ_ANGLE...: %d %d\n",width,height);</span></div>
|
||
|
|
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> </div>
|
||
|
|
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <a class="code" href="_kirby_track_8c.html#a93cca84f54fe35dc9ad87eac3583889b">maj_angle</a>(<a class="code" href="_kirby_track_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a>(posX-width/2,width), <a class="code" href="_kirby_track_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a>(posY-height/2,height), height*<a class="code" href="_kirby_track_8c.html#afb63dbc6e533233f41d03e8b8a3bc570">JEU</a>, angle);</div>
|
||
|
|
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <a class="code" href="_kirby_track_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a>(angle); </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>  cvWaitKey(50);</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> </div>
|
||
|
|
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> <span class="preprocessor">#ifdef CONFIG</span></div>
|
||
|
|
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> <span class="preprocessor"></span> <a class="code" href="_kirby_track_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="l00288"></a><span class="lineno"> 288</span>  </div>
|
||
|
|
<div class="line"><a name="l00289"></a><span class="lineno"> 289</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="l00290"></a><span class="lineno"> 290</span> <span class="preprocessor">#endif</span></div>
|
||
|
|
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="preprocessor"></span></div>
|
||
|
|
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  }</div>
|
||
|
|
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  </div>
|
||
|
|
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="comment">//cvWaitKey(0); //Fin programme</span></div>
|
||
|
|
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  </div>
|
||
|
|
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  <span class="comment">// Release the capture device housekeeping</span></div>
|
||
|
|
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  cvReleaseCapture( &capture );</div>
|
||
|
|
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  </div>
|
||
|
|
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  cvReleaseImage(&threshold);</div>
|
||
|
|
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  cvReleaseImage(&hsv_frame);</div>
|
||
|
|
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  cvReleaseImage(&frame);</div>
|
||
|
|
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  </div>
|
||
|
|
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keywordflow">return</span> EXIT_SUCCESS;</div>
|
||
|
|
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> }</div>
|
||
|
|
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> </div>
|
||
|
|
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> </div>
|
||
|
|
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_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="l00308"></a><span class="lineno"> 308</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="l00309"></a><span class="lineno"> 309</span> </div>
|
||
|
|
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordtype">double</span> coeffx, coeffy;</div>
|
||
|
|
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keywordtype">int</span> l0, l1;</div>
|
||
|
|
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span> </div>
|
||
|
|
<div class="line"><a name="l00313"></a><span class="lineno"> 313</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="l00314"></a><span class="lineno"> 314</span> </div>
|
||
|
|
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> </div>
|
||
|
|
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="comment">//Ajout d'un angle moteur pondéré par la distance</span></div>
|
||
|
|
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  coeffx = -0.2*vecX/rayon;</div>
|
||
|
|
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  coeffy = 0.2*vecY/rayon;</div>
|
||
|
|
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  angle[0] += coeffx;</div>
|
||
|
|
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  angle[1] += coeffy;</div>
|
||
|
|
<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> </div>
|
||
|
|
<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="comment">//Majoration - minoration des angles moteurs</span></div>
|
||
|
|
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  l0 = <a class="code" href="_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a>(angle[0]);</div>
|
||
|
|
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  l1 = <a class="code" href="_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a>(angle[1]);</div>
|
||
|
|
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="keywordflow">if</span> (l0 != 0) angle[0] = l0;</div>
|
||
|
|
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keywordflow">if</span> (l1 != 0) angle[1] = l1;</div>
|
||
|
|
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span> </div>
|
||
|
|
<div class="line"><a name="l00328"></a><span class="lineno"> 328</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="l00329"></a><span class="lineno"> 329</span> }</div>
|
||
|
|
<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> </div>
|
||
|
|
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> <span class="keywordtype">int</span> <a class="code" href="_kirby_track_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a>(<span class="keywordtype">int</span> pos, <span class="keywordtype">int</span> ref){</div>
|
||
|
|
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <span class="keywordflow">if</span> (pos > ref) <span class="keywordflow">return</span> 0;</div>
|
||
|
|
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <span class="keywordflow">else</span> <span class="keywordflow">return</span> pos;</div>
|
||
|
|
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span> }</div>
|
||
|
|
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span> </div>
|
||
|
|
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> <span class="keywordtype">int</span> <a class="code" href="_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a>(<span class="keywordtype">int</span> val_pwm){</div>
|
||
|
|
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  <span class="keywordtype">int</span> MAX_PWM = 130, MIN_PWM = 30;</div>
|
||
|
|
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <span class="keywordflow">if</span> (val_pwm > MAX_PWM){ </div>
|
||
|
|
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="keywordflow">return</span> MAX_PWM;</div>
|
||
|
|
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  }</div>
|
||
|
|
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (val_pwm < MIN_PWM){</div>
|
||
|
|
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <span class="keywordflow">return</span> MIN_PWM;</div>
|
||
|
|
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  }</div>
|
||
|
|
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <span class="keywordflow">else</span>{</div>
|
||
|
|
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="keywordflow">return</span> 0;</div>
|
||
|
|
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  }</div>
|
||
|
|
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span> }</div>
|
||
|
|
<div class="line"><a name="l00348"></a><span class="lineno"> 348</span> </div>
|
||
|
|
<div class="line"><a name="l00349"></a><span class="lineno"> 349</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a>(<span class="keywordtype">double</span>* angle){</div>
|
||
|
|
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span> </div>
|
||
|
|
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="comment">//Ouverture port serie</span></div>
|
||
|
|
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  FILE* fichier = NULL;</div>
|
||
|
|
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  fichier = fopen(<span class="stringliteral">"/dev/ttyACM0"</span>,<span class="stringliteral">"w"</span>);</div>
|
||
|
|
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="keywordflow">if</span>(fichier==NULL){</div>
|
||
|
|
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  printf(<span class="stringliteral">"Erreur ouverture fichier\n"</span>);</div>
|
||
|
|
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  perror(<span class="stringliteral">"fopen failed for /dev/ttyACM0"</span> );</div>
|
||
|
|
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  exit( EXIT_FAILURE );</div>
|
||
|
|
<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  }</div>
|
||
|
|
<div class="line"><a name="l00359"></a><span class="lineno"> 359</span> </div>
|
||
|
|
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <span class="comment">//Ecriture angles</span></div>
|
||
|
|
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  fprintf(fichier,<span class="stringliteral">"%d\n"</span>,(<span class="keywordtype">int</span>)angle[0]);</div>
|
||
|
|
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  fprintf(fichier,<span class="stringliteral">"%d\n"</span>,(<span class="keywordtype">int</span>)angle[1]);</div>
|
||
|
|
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span> </div>
|
||
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<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="comment">//Fermeture</span></div>
|
||
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<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  fclose(fichier);</div>
|
||
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<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keywordflow">return</span>;</div>
|
||
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<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> }</div>
|
||
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<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> </div>
|
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<div class="line"><a name="l00369"></a><span class="lineno"> 369</span> <span class="keywordtype">int</span> image_CV2SFML(IplImage* imcv, sf::Image imFlux){</div>
|
||
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<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  </div>
|
||
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<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keywordtype">int</span> R, G, B;</div>
|
||
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<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  <span class="keywordtype">int</span> w = imcv->widthStep;</div>
|
||
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<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  <span class="keywordtype">char</span>* ptr = imcv->imageData;</div>
|
||
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<div class="line"><a name="l00374"></a><span class="lineno"> 374</span> </div>
|
||
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<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  imFlux.create(imcv->width,imcv->height, NULL); <span class="comment">//Initialise une image vide</span></div>
|
||
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<div class="line"><a name="l00376"></a><span class="lineno"> 376</span> </div>
|
||
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<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <span class="keywordflow">for</span>( <span class="keywordtype">int</span> y=0; y<imcv->height; y++ ) { </div>
|
||
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<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  <span class="comment">//uchar* ptr = (uchar*) ( imcv->imageData + y * imcv->widthStep );</span></div>
|
||
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<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <span class="keywordflow">for</span>( <span class="keywordtype">int</span> x=0; x<imcv->width; x++ ) { </div>
|
||
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<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="comment">//Recupération du pixel</span></div>
|
||
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<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  B = ptr[y*w + 3*x];</div>
|
||
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<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  G = ptr[y*w + 3*x + 1]; </div>
|
||
|
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<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  R = ptr[y*w + 3*x + 2];</div>
|
||
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<div class="line"><a name="l00384"></a><span class="lineno"> 384</span> </div>
|
||
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<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="comment">//Ecriture du pixel associé</span></div>
|
||
|
|
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  imFlux.setPixel(x,y,sf::Color(R,G,B,1)); <span class="comment">//Alpha channel = 1</span></div>
|
||
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<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  }</div>
|
||
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<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  }</div>
|
||
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<div class="line"><a name="l00389"></a><span class="lineno"> 389</span> </div>
|
||
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<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="keywordflow">return</span> 0;</div>
|
||
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<div class="line"><a name="l00391"></a><span class="lineno"> 391</span> }</div>
|
||
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<div class="line"><a name="l00392"></a><span class="lineno"> 392</span> </div>
|
||
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<div class="line"><a name="l00393"></a><span class="lineno"> 393</span> </div>
|
||
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<div class="line"><a name="l00394"></a><span class="lineno"> 394</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_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>
|
||
|
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<div class="line"><a name="l00395"></a><span class="lineno"> 395</span> </div>
|
||
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|
<div class="line"><a name="l00396"></a><span class="lineno"> 396</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="l00397"></a><span class="lineno"> 397</span>  cvCvtColor(frame, HSV, CV_BGR2HSV);</div>
|
||
|
|
<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  </div>
|
||
|
|
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <span class="comment">//Blur</span></div>
|
||
|
|
<div class="line"><a name="l00400"></a><span class="lineno"> 400</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="l00401"></a><span class="lineno"> 401</span> </div>
|
||
|
|
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <span class="comment">//Binarisation</span></div>
|
||
|
|
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span> </div>
|
||
|
|
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  CvScalar valinf={(double)LowH,(<span class="keywordtype">double</span>)LowS,(double)LowV};</div>
|
||
|
|
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  CvScalar valsup={(double)HighH,(<span class="keywordtype">double</span>)HighS,(double)HighV};</div>
|
||
|
|
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span> </div>
|
||
|
|
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  cvInRangeS(HSV, valinf,valsup, Binaire);</div>
|
||
|
|
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  </div>
|
||
|
|
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  <span class="comment">//En cas d'erreur sur les trois ligne précédentes</span></div>
|
||
|
|
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <span class="comment">//cvInRangeS(HSV, CvScalar(LowH,LowS,LowV),CvScalar(HighH,HighS,HighV), Binaire);</span></div>
|
||
|
|
<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  </div>
|
||
|
|
<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  <span class="comment">//cvSmooth( Binaire, Binaire, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites</span></div>
|
||
|
|
<div class="line"><a name="l00413"></a><span class="lineno"> 413</span> }</div>
|
||
|
|
<div class="line"><a name="l00414"></a><span class="lineno"> 414</span> </div>
|
||
|
|
<div class="line"><a name="l00415"></a><span class="lineno"> 415</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_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="l00416"></a><span class="lineno"> 416</span> </div>
|
||
|
|
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  CvMoments *moments = (CvMoments*)malloc(<span class="keyword">sizeof</span>(CvMoments)); </div>
|
||
|
|
<div class="line"><a name="l00418"></a><span class="lineno"> 418</span> </div>
|
||
|
|
<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  cvMoments(Binaire, moments, 1); </div>
|
||
|
|
<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  <span class="comment">// The actual moment values </span></div>
|
||
|
|
<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  <span class="keywordtype">double</span> moment10 = cvGetSpatialMoment(moments, 1, 0); </div>
|
||
|
|
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="keywordtype">double</span> moment01 = cvGetSpatialMoment(moments, 0, 1); </div>
|
||
|
|
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  <span class="keywordtype">double</span> area = cvGetCentralMoment(moments, 0, 0);</div>
|
||
|
|
<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  </div>
|
||
|
|
<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  *posX = moment10/area;</div>
|
||
|
|
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  *posY = moment01/area;</div>
|
||
|
|
<div class="line"><a name="l00427"></a><span class="lineno"> 427</span> </div>
|
||
|
|
<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  free(moments);</div>
|
||
|
|
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span> }</div>
|
||
|
|
<div class="line"><a name="l00430"></a><span class="lineno"> 430</span> </div>
|
||
|
|
<div class="line"><a name="l00431"></a><span class="lineno"> 431</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_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="l00432"></a><span class="lineno"> 432</span> </div>
|
||
|
|
<div class="line"><a name="l00433"></a><span class="lineno"> 433</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="l00434"></a><span class="lineno"> 434</span> </div>
|
||
|
|
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  <span class="comment">//Create trackbars in "Control" window</span></div>
|
||
|
|
<div class="line"><a name="l00436"></a><span class="lineno"> 436</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="l00437"></a><span class="lineno"> 437</span>  cvCreateTrackbar(<span class="stringliteral">"HighH"</span>, <span class="stringliteral">"Control"</span>, HighH, 179,NULL);</div>
|
||
|
|
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span> </div>
|
||
|
|
<div class="line"><a name="l00439"></a><span class="lineno"> 439</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="l00440"></a><span class="lineno"> 440</span>  cvCreateTrackbar(<span class="stringliteral">"HighS"</span>, <span class="stringliteral">"Control"</span>, HighS, 255,NULL);</div>
|
||
|
|
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span> </div>
|
||
|
|
<div class="line"><a name="l00442"></a><span class="lineno"> 442</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="l00443"></a><span class="lineno"> 443</span>  cvCreateTrackbar(<span class="stringliteral">"HighV"</span>, <span class="stringliteral">"Control"</span>, HighV, 255,NULL);</div>
|
||
|
|
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span> }</div>
|
||
|
|
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span> </div>
|
||
|
|
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_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="l00447"></a><span class="lineno"> 447</span>  </div>
|
||
|
|
<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  <span class="comment">// Create a window in which the captured images will be presented</span></div>
|
||
|
|
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  cvNamedWindow( <span class="stringliteral">"HSV"</span>, CV_WINDOW_AUTOSIZE );</div>
|
||
|
|
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  cvNamedWindow( <span class="stringliteral">"Binaire"</span>, CV_WINDOW_AUTOSIZE );</div>
|
||
|
|
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  cvNamedWindow( <span class="stringliteral">"Camera"</span>, CV_WINDOW_AUTOSIZE );</div>
|
||
|
|
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span> </div>
|
||
|
|
<div class="line"><a name="l00453"></a><span class="lineno"> 453</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="l00454"></a><span class="lineno"> 454</span>  cvShowImage( <span class="stringliteral">"Binaire"</span>, Binaire); <span class="comment">// The stream after color filtering</span></div>
|
||
|
|
<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  cvShowImage( <span class="stringliteral">"Camera"</span>, frame ); <span class="comment">// Flux caméra avec tracking objet</span></div>
|
||
|
|
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span> }</div>
|
||
|
|
<div class="line"><a name="l00457"></a><span class="lineno"> 457</span> </div>
|
||
|
|
<div class="line"><a name="l00458"></a><span class="lineno"> 458</span> <span class="keywordtype">void</span> <a class="code" href="_kirby_track_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="l00459"></a><span class="lineno"> 459</span> </div>
|
||
|
|
<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  <span class="comment">//Affichage zone suivie objet</span></div>
|
||
|
|
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  cvCircle(frame, cvPoint(width/2,height/2), height*<a class="code" href="_kirby_track_8c.html#afb63dbc6e533233f41d03e8b8a3bc570">JEU</a>, CV_RGB(0, 255, 0), 4, 8, 0 );</div>
|
||
|
|
<div class="line"><a name="l00462"></a><span class="lineno"> 462</span> </div>
|
||
|
|
<div class="line"><a name="l00463"></a><span class="lineno"> 463</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="l00464"></a><span class="lineno"> 464</span>  posX=width/2;</div>
|
||
|
|
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  posY=height/2;</div>
|
||
|
|
<div class="line"><a name="l00466"></a><span class="lineno"> 466</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="l00467"></a><span class="lineno"> 467</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="l00468"></a><span class="lineno"> 468</span>  }</div>
|
||
|
|
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <span class="keywordflow">else</span>{ <span class="comment">//Objet spotted</span></div>
|
||
|
|
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="comment">//Affichage position de l'objet</span></div>
|
||
|
|
<div class="line"><a name="l00471"></a><span class="lineno"> 471</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="l00472"></a><span class="lineno"> 472</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="l00473"></a><span class="lineno"> 473</span>  }</div>
|
||
|
|
<div class="line"><a name="l00474"></a><span class="lineno"> 474</span> }</div>
|
||
|
|
<div class="ttc" id="_kirby_track_8c_html_ac3e9405c4ebaa936308670c050285ae1"><div class="ttname"><a href="_kirby_track_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="_kirby_track_8c_source.html#l00474">KirbyTrack.c:474</a></div></div>
|
||
|
|
<div class="ttc" id="_kirby_track_8c_html_adcdd0544c8eb462cd2835ec99fa0f181"><div class="ttname"><a href="_kirby_track_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="_kirby_track_8c_source.html#l00490">KirbyTrack.c:490</a></div></div>
|
||
|
|
<div class="ttc" id="_kirby_track_8c_html_afb63dbc6e533233f41d03e8b8a3bc570"><div class="ttname"><a href="_kirby_track_8c.html#afb63dbc6e533233f41d03e8b8a3bc570">JEU</a></div><div class="ttdeci">#define JEU</div><div class="ttdoc">Coefficient de tolérance pour le suivi d'objet. </div><div class="ttdef"><b>Definition:</b> <a href="_kirby_track_8c_source.html#l00042">KirbyTrack.c:42</a></div></div>
|
||
|
|
<div class="ttc" id="_kirby_track_8c_html_ae89e5fc7460ea890fa61d54fd209c1ae"><div class="ttname"><a href="_kirby_track_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="_kirby_track_8c_source.html#l00415">KirbyTrack.c:415</a></div></div>
|
||
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<div class="ttc" id="_kirby_track_8c_html_a93cca84f54fe35dc9ad87eac3583889b"><div class="ttname"><a href="_kirby_track_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="_kirby_track_8c_source.html#l00391">KirbyTrack.c:391</a></div></div>
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<div class="ttc" id="_kirby_track_8c_html_a9397b95e9279b0b9cd371c9a2b4514a2"><div class="ttname"><a href="_kirby_track_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="_kirby_track_8c_source.html#l00420">KirbyTrack.c:420</a></div></div>
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<div class="ttc" id="_kirby_track_8c_html_a91b1b1daf28d90b5299a9a0486f5bdf1"><div class="ttname"><a href="_kirby_track_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="_kirby_track_8c_source.html#l00517">KirbyTrack.c:517</a></div></div>
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<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#l00162">KirbyTrack.c:162</a></div></div>
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<div class="ttc" id="_kirby_track_8c_html_ad3f512a54511a63b30a8967077736766"><div class="ttname"><a href="_kirby_track_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="_kirby_track_8c_source.html#l00433">KirbyTrack.c:433</a></div></div>
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<div class="ttc" id="_kirby_track_8c_html_acc438fce8178d1d5aac4595f19529275"><div class="ttname"><a href="_kirby_track_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="_kirby_track_8c_source.html#l00505">KirbyTrack.c:505</a></div></div>
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<div class="ttc" id="_kirby_track_8c_html_a96b1dd5c66492425a00921b6eaaacc89"><div class="ttname"><a href="_kirby_track_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="_kirby_track_8c_source.html#l00453">KirbyTrack.c:453</a></div></div>
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