suivi moteur et presentation html

This commit is contained in:
Jacques Zhong 2017-05-01 20:45:20 +02:00
parent 81ea78a32d
commit 166879222f
62 changed files with 3196 additions and 0 deletions

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#include <SFML/Audio.h>
#include <SFML/Graphics.h>
/*
Installation :
sudo apt-get install libcsfml-dev
Commandes :
gcc -c main.c
gcc main.o -o main -lcsfml-graphics -lcsfml-window -lcsfml-audio -lcsfml-system
opencv :
gcc opencv.c -o opencv `pkg-config --libs --cflags opencv` -ldl -lm
*/
#define EXIT_FAILURE 0
#define EXIT_SUCCESS 1
int main()
{
sfVideoMode mode = {800, 600, 32};
sfRenderWindow* window;
sfTexture* texture;
sfSprite* sprite;
sfFont* font;
sfText* text;
sfMusic* music;
sfEvent event;
/* Create the main window */
window = sfRenderWindow_create(mode, "SFML window", sfResize | sfClose, NULL);
if (!window)
return EXIT_FAILURE;
/* Load a sprite to display */
texture = sfTexture_createFromFile("tree.jpeg", NULL);
if (!texture)
return EXIT_FAILURE;
sprite = sfSprite_create();
sfSprite_setTexture(sprite, texture, sfTrue);
/* Create a graphical text to display */
font = sfFont_createFromFile("arial.ttf");
if (!font)
return EXIT_FAILURE;
text = sfText_create();
sfText_setString(text, "Hello SFML");
sfText_setFont(text, font);
sfText_setCharacterSize(text, 50);
/* Load a music to play */
//music = sfMusic_createFromFile("nice_music.ogg");
if (!music)
return EXIT_FAILURE;
/* Play the music */
sfMusic_play(music);
/* Start the game loop */
while (sfRenderWindow_isOpen(window))
{
/* Process events */
while (sfRenderWindow_pollEvent(window, &event))
{
/* Close window : exit */
if (event.type == sfEvtClosed)
sfRenderWindow_close(window);
}
/* Clear the screen */
sfRenderWindow_clear(window, sfBlack);
/* Draw the sprite */
sfRenderWindow_drawSprite(window, sprite, NULL);
/* Draw the text */
sfRenderWindow_drawText(window, text, NULL);
/* Update the window */
sfRenderWindow_display(window);
}
/* Cleanup resources */
sfMusic_destroy(music);
sfText_destroy(text);
sfFont_destroy(font);
sfSprite_destroy(sprite);
sfTexture_destroy(texture);
sfRenderWindow_destroy(window);
return EXIT_SUCCESS;
}

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#include <SFML/Audio.h>
#include <SFML/Graphics.h>
/*Commandes :
gcc -c main.c
gcc main.o -o main -lcsfml-graphics -lcsfml-window -lcsfml-audio -lcsfml-system
*/
int main()
{
sfVideoMode mode = {800, 600, 32};
sfRenderWindow* window;
sfTexture* texture;
sfSprite* sprite;
sfFont* font;
sfText* text;
sfMusic* music;
sfEvent event;
/* Create the main window */
window = sfRenderWindow_create(mode, "SFML window", sfResize | sfClose, NULL);
if (!window)
return EXIT_FAILURE;
/* Load a sprite to display */
texture = sfTexture_createFromFile("tree.jpeg", NULL);
if (!texture)
return EXIT_FAILURE;
sprite = sfSprite_create();
sfSprite_setTexture(sprite, texture, sfTrue);
/* Create a graphical text to display */
font = sfFont_createFromFile("arial.ttf");
if (!font)
return EXIT_FAILURE;
text = sfText_create();
sfText_setString(text, "Hello SFML");
sfText_setFont(text, font);
sfText_setCharacterSize(text, 50);
/* Load a music to play */
//music = sfMusic_createFromFile("nice_music.ogg");
if (!music)
return EXIT_FAILURE;
/* Play the music */
sfMusic_play(music);
/* Start the game loop */
while (sfRenderWindow_isOpen(window))
{
/* Process events */
while (sfRenderWindow_pollEvent(window, &event))
{
/* Close window : exit */
if (event.type == sfEvtClosed)
sfRenderWindow_close(window);
}
/* Clear the screen */
sfRenderWindow_clear(window, sfBlack);
/* Draw the sprite */
sfRenderWindow_drawSprite(window, sprite, NULL);
/* Draw the text */
sfRenderWindow_drawText(window, text, NULL);
/* Update the window */
sfRenderWindow_display(window);
}
/* Cleanup resources */
sfMusic_destroy(music);
sfText_destroy(text);
sfFont_destroy(font);
sfSprite_destroy(sprite);
sfTexture_destroy(texture);
sfRenderWindow_destroy(window);
return EXIT_SUCCESS;
}

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#include <SFML/Graphics.h>
int main(){
sfVideoMode mode = {800, 600, 32};
sfRenderWindow* window;
/* Create the main window */
window = sfRenderWindow_create(mode, "SFML window", sfResize | sfClose, NULL);
}

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#include <stdio.h>
#include <stdlib.h>
#include <opencv/highgui.h>
/*
Commandes :
gcc -c main.c -Wall `pkg-config opencv --cflags`
gcc -o main main.o `pkg-config opencv --libs`
*/
int main (int argc, char* argv[])
{
IplImage* img = NULL;
const char* window_title = "Hello, OpenCV!";
/* Vérification: au moins un argument doit être passé au programme.*/
if (argc < 2)
{
fprintf (stderr, "usage: %s IMAGE\n", argv[0]);
return EXIT_FAILURE;
}
/* Chargement de l'image passée en argument */
img = cvLoadImage(argv[1], CV_LOAD_IMAGE_UNCHANGED);
if (!img)
{
fprintf (stderr, "couldn't open image file: %s\n", argv[1]);
return EXIT_FAILURE;
}
/* Création d'une fenêtre intitulée "Hello, OpenCV!" */
cvNamedWindow (window_title, CV_WINDOW_AUTOSIZE);
/* Affichage de l'image */
cvShowImage (window_title, img);
/* Pause le temps que l'utilisateur appuie sur une touche */
cvWaitKey (0);
/* Destruction de la fenêtre */
cvDestroyAllWindows ();
/* Libération de la mémoire */
cvReleaseImage (&img);
return EXIT_SUCCESS;
}

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#include <stdio.h>
#include <stdlib.h>
#include <opencv/highgui.h>
/*
Commandes :
opencv :
gcc opencv.c -o opencv `pkg-config --libs --cflags opencv` -ldl -lm
*/
int main (int argc, char* argv[])
{
IplImage* img = NULL;
const char* window_title = "Hello, OpenCV!";
/* Vérification: au moins un argument doit être passé au programme.*/
if (argc < 2)
{
fprintf (stderr, "usage: %s IMAGE\n", argv[0]);
return EXIT_FAILURE;
}
/* Chargement de l'image passée en argument */
img = cvLoadImage(argv[1], CV_LOAD_IMAGE_UNCHANGED);
if (!img)
{
fprintf (stderr, "couldn't open image file: %s\n", argv[1]);
return EXIT_FAILURE;
}
/* Création d'une fenêtre intitulée "Hello, OpenCV!" */
cvNamedWindow (window_title, CV_WINDOW_AUTOSIZE);
/* Affichage de l'image */
cvShowImage (window_title, img);
/* Pause le temps que l'utilisateur appuie sur une touche */
cvWaitKey (0);
/* Destruction de la fenêtre */
cvDestroyAllWindows ();
/* Libération de la mémoire */
cvReleaseImage (&img);
return EXIT_SUCCESS;
}

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[100%] Built target DisplayImage

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<!DOCTYPE html>
<html xmlns="http://www.w3.org/1999/xhtml" lang="" xml:lang="">
<head>
<title>Page 1</title>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8"/>
<style type="text/css">
<!--
p {margin: 0; padding: 0;} .ft00{font-size:20px;font-family:Times;color:#000000;}
.ft01{font-size:14px;font-family:Times;color:#000000;}
.ft02{font-size:14px;font-family:Times;color:#000000;}
.ft03{font-size:14px;line-height:22px;font-family:Times;color:#000000;}
.ft04{font-size:14px;line-height:22px;font-family:Times;color:#000000;}
-->
</style>
</head>
<body bgcolor="#A0A0A0" vlink="blue" link="blue">
<div id="page1-div" style="position:relative;width:891px;height:1261px;">
<img width="891" height="1261" src="ProjetInformatiqueRob3001.png" alt="background image"/>
<p style="position:absolute;top:109px;left:320px;white-space:nowrap" class="ft00">Projet Informatique Rob3&#160;</p>
<p style="position:absolute;top:140px;left:444px;white-space:nowrap" class="ft00">&#160;</p>
<p style="position:absolute;top:172px;left:370px;white-space:nowrap" class="ft00">Living Machine&#160;</p>
<p style="position:absolute;top:203px;left:444px;white-space:nowrap" class="ft01"><b>&#160;</b></p>
<p style="position:absolute;top:225px;left:336px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:248px;left:108px;white-space:nowrap" class="ft01"><b>Figure&#160;imposée&#160;:&#160;Suivi&#160;de&#160;balle&#160;monochrome&#160;</b></p>
<p style="position:absolute;top:270px;left:162px;white-space:nowrap" class="ft01"><b>Description&#160;:</b></p>
<p style="position:absolute;top:270px;left:276px;white-space:nowrap" class="ft02">Pour&#160;la&#160;figure&#160;libre,&#160;nous&#160;avons&#160;pour</p>
<p style="position:absolute;top:270px;left:252px;white-space:nowrap" class="ft01"><b>&#160;&#160;&#160;</b></p>
<p style="position:absolute;top:270px;left:310px;white-space:nowrap" class="ft02">&#160;&#160;&#160;</p>
<p style="position:absolute;top:270px;left:382px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:270px;left:426px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:270px;left:470px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:270px;left:521px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:270px;left:562px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:293px;left:108px;white-space:nowrap" class="ft02">objectif&#160;le&#160;suivi&#160;dun&#160;objet&#160;dune&#160;couleur&#160;unie&#160;et&#160;ce&#160;tout&#160;autour</p>
<p style="position:absolute;top:293px;left:160px;white-space:nowrap" class="ft02">&#160;&#160;&#160;</p>
<p style="position:absolute;top:293px;left:217px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:293px;left:254px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:293px;left:295px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:293px;left:341px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:293px;left:401px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:293px;left:437px;white-space:nowrap" class="ft02">&#160;&#160;&#160;</p>
<p style="position:absolute;top:293px;left:480px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:293px;left:512px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:293px;left:563px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:315px;left:108px;white-space:nowrap" class="ft02">de&#160;notre&#160;robot&#160;à&#160;base&#160;fixe.&#160;Notre&#160;robot&#160;est&#160;composé&#160;dune</p>
<p style="position:absolute;top:315px;left:126px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:315px;left:173px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:315px;left:218px;white-space:nowrap" class="ft02">&#160;&#160;&#160;</p>
<p style="position:absolute;top:315px;left:279px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:315px;left:317px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:315px;left:365px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:315px;left:410px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:315px;left:440px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:315px;left:515px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:315px;left:563px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:337px;left:108px;white-space:nowrap" class="ft02">caméra&#160;et&#160;de&#160;deux&#160;moteurs&#160;à&#160;axes&#160;de&#160;rotation&#160;perpendiculaire</p>
<p style="position:absolute;top:337px;left:163px;white-space:nowrap" class="ft02">&#160;&#160;&#160;</p>
<p style="position:absolute;top:337px;left:206px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:337px;left:246px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:337px;left:310px;white-space:nowrap" class="ft02">&#160;&#160;&#160;</p>
<p style="position:absolute;top:337px;left:363px;white-space:nowrap" class="ft02">&#160;&#160;&#160;</p>
<p style="position:absolute;top:337px;left:445px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:337px;left:562px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:360px;left:108px;white-space:nowrap" class="ft02">permettant&#160;une&#160;orientation&#160;dans&#160;toutes&#160;les&#160;directions&#160;du</p>
<p style="position:absolute;top:360px;left:186px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:360px;left:226px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:360px;left:315px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:360px;left:363px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:360px;left:420px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:360px;left:452px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:360px;left:534px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:360px;left:563px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:382px;left:108px;white-space:nowrap" class="ft03">système&#160;dacquisition&#160;dimage.&#160;<br/>Une&#160;interface&#160;graphique&#160;permet&#160;de&#160;visualiser&#160;la&#160;position&#160;de&#160;la</p>
<p style="position:absolute;top:405px;left:138px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:405px;left:207px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:405px;left:285px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:405px;left:342px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:405px;left:366px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:405px;left:441px;white-space:nowrap" class="ft02">&#160;&#160;&#160;</p>
<p style="position:absolute;top:405px;left:521px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:405px;left:545px;white-space:nowrap" class="ft02">&#160;&#160;&#160;</p>
<p style="position:absolute;top:427px;left:108px;white-space:nowrap" class="ft02">balle&#160;dans&#160;limage&#160;et&#160;de&#160;configurer&#160;la&#160;couleur&#160;de&#160;lobjet&#160;suivi.</p>
<p style="position:absolute;top:427px;left:142px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:427px;left:185px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:427px;left:244px;white-space:nowrap" class="ft02">&#160;&#160;&#160;</p>
<p style="position:absolute;top:427px;left:289px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:427px;left:368px;white-space:nowrap" class="ft02">&#160;&#160;&#160;</p>
<p style="position:absolute;top:427px;left:446px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:427px;left:470px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:427px;left:519px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:427px;left:562px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:450px;left:108px;white-space:nowrap" class="ft03">Ci-contre&#160;notre&#160;couleur&#160;de&#160;référence&#160;(Rose&#160;Kirby).&#160;<br/>&#160;</p>
<p style="position:absolute;top:495px;left:162px;white-space:nowrap" class="ft01"><b>Modules&#160;:</b>&#160;</p>
<p style="position:absolute;top:517px;left:135px;white-space:nowrap" class="ft02">-</p>
<p style="position:absolute;top:517px;left:162px;white-space:nowrap" class="ft03">Acquisition&#160;du&#160;flux&#160;image&#160;:&#160;Découverte&#160;de&#160;la&#160;bibliothèque&#160;openCV&#160;et&#160;programmation&#160;<br/>dun&#160;affichage&#160;du&#160;flux&#160;vidéo&#160;de&#160;la&#160;caméra&#160;USB.&#160;</p>
<p style="position:absolute;top:562px;left:135px;white-space:nowrap" class="ft02">-</p>
<p style="position:absolute;top:562px;left:162px;white-space:nowrap" class="ft03">Traitement&#160;de&#160;limage&#160;:&#160;Mise&#160;en&#160;place&#160;dun&#160;traitement&#160;de&#160;limage&#160;(Filtrage&#160;couleur,&#160;<br/>Binarisation,&#160;Filtrage&#160;parasite,&#160;etc.)&#160;permettant&#160;de&#160;connaître&#160;la&#160;position&#160;de&#160;lobjet&#160;<br/>dans&#160;limage.&#160;</p>
<p style="position:absolute;top:629px;left:135px;white-space:nowrap" class="ft02">-</p>
<p style="position:absolute;top:629px;left:162px;white-space:nowrap" class="ft03">Asservissement&#160;moteurs&#160;:&#160;Découverte&#160;du&#160;fonctionnement&#160;de&#160;la&#160;carte&#160;Arch&#160;Pro&#160;et&#160;de&#160;<br/>lutilisation&#160;des&#160;moteurs.&#160;Développement&#160;dune&#160;fonction&#160;dasservissement&#160;des&#160;<br/>moteurs&#160;pour&#160;garder&#160;lobjet&#160;dans&#160;le&#160;flux&#160;vidéo.&#160;</p>
<p style="position:absolute;top:697px;left:135px;white-space:nowrap" class="ft02">-</p>
<p style="position:absolute;top:697px;left:162px;white-space:nowrap" class="ft03">Interface&#160;graphique&#160;:&#160;Affichage&#160;de&#160;limage&#160;avec&#160;les&#160;informations&#160;du&#160;suivi&#160;et&#160;dun&#160;<br/>panneau&#160;de&#160;configuration&#160;du&#160;robot.&#160;Découverte&#160;de&#160;la&#160;bibliothèque&#160;SFML.&#160;</p>
<p style="position:absolute;top:741px;left:108px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:764px;left:162px;white-space:nowrap" class="ft04"><b>Planning&#160;de&#160;lactivité&#160;principale&#160;de&#160;chaque&#160;binôme&#160;:&#160;<br/></b>&#160;</p>
<p style="position:absolute;top:819px;left:162px;white-space:nowrap" class="ft01"><b>Module&#160;</b></p>
<p style="position:absolute;top:819px;left:322px;white-space:nowrap" class="ft01"><b>Séance&#160;1&#160;</b></p>
<p style="position:absolute;top:839px;left:321px;white-space:nowrap" class="ft02">(18/04/17)&#160;</p>
<p style="position:absolute;top:819px;left:489px;white-space:nowrap" class="ft01"><b>Séance&#160;2&#160;</b></p>
<p style="position:absolute;top:839px;left:488px;white-space:nowrap" class="ft02">(25/04/17)<b>&#160;</b></p>
<p style="position:absolute;top:819px;left:656px;white-space:nowrap" class="ft01"><b>Séance&#160;3&#160;</b></p>
<p style="position:absolute;top:839px;left:655px;white-space:nowrap" class="ft02">(02/05/17)<b>&#160;</b></p>
<p style="position:absolute;top:877px;left:125px;white-space:nowrap" class="ft02">Acquisition&#160;du&#160;flux&#160;</p>
<p style="position:absolute;top:900px;left:168px;white-space:nowrap" class="ft02">image&#160;</p>
<p style="position:absolute;top:877px;left:293px;white-space:nowrap" class="ft02">Antoine&#160;/&#160;Jacques&#160;</p>
<p style="position:absolute;top:877px;left:609px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:940px;left:140px;white-space:nowrap" class="ft02">Traitement&#160;de&#160;</p>
<p style="position:absolute;top:963px;left:165px;white-space:nowrap" class="ft02">limage&#160;</p>
<p style="position:absolute;top:940px;left:358px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:940px;left:581px;white-space:nowrap" class="ft02">Antoine&#160;</p>
<p style="position:absolute;top:1003px;left:132px;white-space:nowrap" class="ft02">Asservissement&#160;</p>
<p style="position:absolute;top:1023px;left:162px;white-space:nowrap" class="ft02">moteurs&#160;</p>
<p style="position:absolute;top:1003px;left:495px;white-space:nowrap" class="ft02">Jacques&#160;</p>
<p style="position:absolute;top:1061px;left:120px;white-space:nowrap" class="ft02">Interface&#160;graphique&#160;</p>
<p style="position:absolute;top:1061px;left:442px;white-space:nowrap" class="ft02">&#160;</p>
<p style="position:absolute;top:1061px;left:664px;white-space:nowrap" class="ft02">Antoine&#160;</p>
<p style="position:absolute;top:1092px;left:108px;white-space:nowrap" class="ft04"><b>&#160;<br/>&#160;</b></p>
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<p style="position:absolute;top:109px;left:108px;white-space:nowrap" class="ft02"><b>&#160;<br/>&#160;<br/>&#160;<br/>&#160;<br/>Figure&#160;libre&#160;:&#160;Navi,&#160;assistant&#160;du&#160;parfait&#160;aventurier&#160;(prototype&#160;de&#160;réalité&#160;augmenté)&#160;</b></p>
<p style="position:absolute;top:221px;left:162px;white-space:nowrap" class="ft00"><b>Description&#160;:</b></p>
<p style="position:absolute;top:220px;left:278px;white-space:nowrap" class="ft01">Pour&#160;la&#160;figure&#160;libre,&#160;nous&#160;avons&#160;trouvé&#160;notre&#160;inspiration&#160;dans&#160;le</p>
<p style="position:absolute;top:221px;left:252px;white-space:nowrap" class="ft00"><b>&#160;&#160;&#160;</b></p>
<p style="position:absolute;top:221px;left:313px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:221px;left:336px;white-space:nowrap" class="ft01">&#160;</p>
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<p style="position:absolute;top:221px;left:477px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:221px;left:530px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:221px;left:585px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:221px;left:632px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:221px;left:716px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:221px;left:760px;white-space:nowrap" class="ft01">&#160;&#160;&#160;</p>
<p style="position:absolute;top:243px;left:108px;white-space:nowrap" class="ft01">personnage&#160;de&#160;la&#160;fée&#160;Navi&#160;dOcarina&#160;of&#160;Time.&#160;&#160;</p>
<p style="position:absolute;top:266px;left:162px;white-space:nowrap" class="ft01">Le&#160;système&#160;devrait&#160;pouvoir&#160;reconnaître&#160;différents&#160;visages,&#160;déterminer</p>
<p style="position:absolute;top:266px;left:180px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:266px;left:247px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:266px;left:302px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:266px;left:360px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:266px;left:448px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:266px;left:520px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:266px;left:585px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:266px;left:668px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:288px;left:108px;white-space:nowrap" class="ft01">sil&#160;sagit&#160;dun&#160;allié&#160;(Link)&#160;ou&#160;bien&#160;un&#160;ennemi&#160;(Ganon)&#160;et&#160;remplacer&#160;son</p>
<p style="position:absolute;top:288px;left:127px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:288px;left:174px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:288px;left:214px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:288px;left:253px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:288px;left:303px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:288px;left:330px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:288px;left:370px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:288px;left:398px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:288px;left:461px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:288px;left:530px;white-space:nowrap" class="ft01">&#160;&#160;&#160;</p>
<p style="position:absolute;top:288px;left:634px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:288px;left:668px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:311px;left:108px;white-space:nowrap" class="ft01">visage&#160;par&#160;celui&#160;de&#160;lallié/ennemi&#160;correspondant&#160;pour&#160;plus&#160;de&#160;réalisme.&#160;Selon</p>
<p style="position:absolute;top:311px;left:155px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:311px;left:185px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:311px;left:223px;white-space:nowrap" class="ft01">&#160;&#160;&#160;</p>
<p style="position:absolute;top:311px;left:346px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:311px;left:455px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:311px;left:493px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:311px;left:527px;white-space:nowrap" class="ft01">&#160;&#160;&#160;</p>
<p style="position:absolute;top:311px;left:622px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:311px;left:668px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:333px;left:108px;white-space:nowrap" class="ft01">ce&#160;quelle&#160;détecte,&#160;Navi&#160;lancera&#160;des&#160;sons&#160;:&#160;par&#160;exemple,&#160;“Hey&#160;Listen&#160;!&#160;&#160;sil</p>
<p style="position:absolute;top:333px;left:125px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:333px;left:179px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:333px;left:245px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:333px;left:284px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:333px;left:345px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:333px;left:379px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:333px;left:420px;white-space:nowrap" class="ft01">&#160;&#160;&#160;</p>
<p style="position:absolute;top:333px;left:460px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:333px;left:532px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:333px;left:573px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:333px;left:622px;white-space:nowrap" class="ft01">&#160;&#160;&#160;&#160;&#160;</p>
<p style="position:absolute;top:333px;left:668px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:355px;left:108px;white-space:nowrap" class="ft01">sagit&#160;dun&#160;allié,&#160;“Watchout&#160;!&#160;&#160;sil&#160;sagit&#160;dun&#160;ennemi,&#160;ou&#160;bien&#160;un&#160;bruit&#160;de</p>
<p style="position:absolute;top:355px;left:146px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:355px;left:185px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:355px;left:227px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:355px;left:310px;white-space:nowrap" class="ft01">&#160;&#160;&#160;&#160;&#160;</p>
<p style="position:absolute;top:355px;left:363px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:355px;left:409px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:355px;left:448px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:355px;left:515px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:355px;left:541px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:355px;left:579px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:355px;left:604px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:355px;left:643px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:355px;left:668px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:378px;left:108px;white-space:nowrap" class="ft01">battements&#160;dailes&#160;sil&#160;ne&#160;se&#160;passe&#160;rien.&#160;&#160;</p>
<p style="position:absolute;top:400px;left:162px;white-space:nowrap" class="ft01">Par&#160;rapport&#160;aux&#160;mouvements&#160;de&#160;caméras,&#160;Navi&#160;pourrait&#160;activer&#160;un</p>
<p style="position:absolute;top:400px;left:187px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:400px;left:247px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:400px;left:282px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:400px;left:384px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:400px;left:410px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:400px;left:486px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:400px;left:525px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:400px;left:588px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:400px;left:643px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:400px;left:668px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:423px;left:108px;white-space:nowrap" class="ft01">suivi&#160;de&#160;la&#160;cible&#160;surtout&#160;si&#160;elle&#160;détecte&#160;lennemi.&#160;Elle&#160;pourrait&#160;aussi&#160;effectuer</p>
<p style="position:absolute;top:423px;left:141px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:423px;left:166px;white-space:nowrap" class="ft01">&#160;&#160;&#160;</p>
<p style="position:absolute;top:423px;left:224px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:423px;left:280px;white-space:nowrap" class="ft01">&#160;&#160;&#160;</p>
<p style="position:absolute;top:423px;left:329px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:423px;left:388px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:423px;left:460px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:423px;left:493px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:423px;left:554px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:423px;left:598px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:423px;left:668px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:445px;left:108px;white-space:nowrap" class="ft01">des&#160;mouvements&#160;libres&#160;comme&#160;si&#160;elle&#160;cherchait&#160;à&#160;explorer&#160;son</p>
<p style="position:absolute;top:445px;left:134px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:445px;left:245px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:445px;left:301px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:445px;left:372px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:445px;left:401px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:445px;left:444px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:445px;left:526px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:445px;left:551px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:445px;left:626px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:445px;left:669px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:468px;left:108px;white-space:nowrap" class="ft01">environnement.&#160;Cependant,&#160;avant&#160;den&#160;arriver&#160;là,&#160;on&#160;cherchera&#160;dabord&#160;à</p>
<p style="position:absolute;top:468px;left:221px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:468px;left:314px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:468px;left:362px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:468px;left:401px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:468px;left:456px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:468px;left:481px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:468px;left:507px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:468px;left:588px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:468px;left:651px;white-space:nowrap" class="ft01">&#160;&#160;&#160;</p>
<p style="position:absolute;top:490px;left:108px;white-space:nowrap" class="ft01">avoir&#160;un&#160;résultat&#160;propre&#160;en&#160;caméra&#160;fixe.&#160;</p>
<p style="position:absolute;top:513px;left:162px;white-space:nowrap" class="ft01">Selon&#160;lavancé&#160;du&#160;projet,&#160;nous&#160;avons&#160;encore&#160;pensé&#160;à&#160;pas&#160;mal&#160;de&#160;fonctionnalités&#160;pour</p>
<p style="position:absolute;top:513px;left:204px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:513px;left:270px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:513px;left:294px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:513px;left:344px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:513px;left:384px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:513px;left:433px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:513px;left:487px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:513px;left:537px;white-space:nowrap" class="ft01">&#160;&#160;&#160;</p>
<p style="position:absolute;top:513px;left:582px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:513px;left:613px;white-space:nowrap" class="ft01">&#160;&#160;&#160;</p>
<p style="position:absolute;top:513px;left:745px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:513px;left:783px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:535px;left:108px;white-space:nowrap" class="ft01">rendre&#160;plus&#160;vivant&#160;notre&#160;système&#160;:&#160;détection&#160;de&#160;plusieurs&#160;alliés/ennemis&#160;différents&#160;(Zelda,</p>
<p style="position:absolute;top:535px;left:155px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:535px;left:193px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:535px;left:244px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:535px;left:289px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:535px;left:357px;white-space:nowrap" class="ft01">&#160;&#160;&#160;</p>
<p style="position:absolute;top:535px;left:442px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:535px;left:467px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:535px;left:539px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:535px;left:650px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:535px;left:725px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:535px;left:783px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:108px;white-space:nowrap" class="ft01">Kokiri,&#160;Arbre&#160;Mojo&#160;ou&#160;bien&#160;Effroi,&#160;Dark&#160;link,&#160;etc),&#160;détection&#160;dobjets&#160;de&#160;quêtes&#160;utiles&#160;(stylo</p>
<p style="position:absolute;top:557px;left:153px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:202px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:244px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:269px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:307px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:357px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:398px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:434px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:473px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:547px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:610px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:635px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:691px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:737px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:557px;left:783px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:580px;left:108px;white-space:nowrap" class="ft01">transformé&#160;en&#160;Master&#160;Sword,&#160;gomme&#160;transformée&#160;en&#160;Ocarina,&#160;etc.).&#160;</p>
<p style="position:absolute;top:602px;left:162px;white-space:nowrap" class="ft03">&#160;<br/><b>Modules&#160;&#160;</b></p>
<p style="position:absolute;top:647px;left:135px;white-space:nowrap" class="ft01">-</p>
<p style="position:absolute;top:647px;left:162px;white-space:nowrap" class="ft01">Reconnaissance&#160;faciale&#160;:&#160;Découverte&#160;et&#160;utilisation&#160;des&#160;modules&#160;spécialisés&#160;opencv&#160;&#160;</p>
<p style="position:absolute;top:670px;left:135px;white-space:nowrap" class="ft01">-</p>
<p style="position:absolute;top:670px;left:162px;white-space:nowrap" class="ft03">Réalité&#160;augmentée&#160;:&#160;Chargement&#160;dimages&#160;2D&#160;dans&#160;opencv&#160;et&#160;trouver&#160;une&#160;manière&#160;<br/>propre&#160;de&#160;modifier&#160;un&#160;visage&#160;détecté&#160;(en&#160;calquant&#160;limage&#160;par&#160;exemple)&#160;</p>
<p style="position:absolute;top:715px;left:135px;white-space:nowrap" class="ft01">-</p>
<p style="position:absolute;top:715px;left:162px;white-space:nowrap" class="ft03">Audio&#160;:&#160;Gestion&#160;des&#160;appels&#160;audios&#160;du&#160;système&#160;(on&#160;compte&#160;regarder&#160;du&#160;côté&#160;de&#160;<br/>SFML)&#160;</p>
<p style="position:absolute;top:759px;left:135px;white-space:nowrap" class="ft01">-</p>
<p style="position:absolute;top:759px;left:162px;white-space:nowrap" class="ft03">Interface&#160;graphique&#160;:&#160;Affichage&#160;de&#160;limage&#160;avec&#160;les&#160;informations&#160;du&#160;suivi&#160;et&#160;dun&#160;<br/>panneau&#160;de&#160;configuration&#160;du&#160;robot.&#160;</p>
<p style="position:absolute;top:804px;left:135px;white-space:nowrap" class="ft01">-</p>
<p style="position:absolute;top:804px;left:162px;white-space:nowrap" class="ft01">Optionnels&#160;:&#160;Mouvements&#160;libres,&#160;multi-détections&#160;</p>
<p style="position:absolute;top:827px;left:108px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:849px;left:162px;white-space:nowrap" class="ft02"><b>Planning&#160;prévu&#160;:&#160;<br/>&#160;</b></p>
<p style="position:absolute;top:904px;left:119px;white-space:nowrap" class="ft00"><b>Module&#160;</b></p>
<p style="position:absolute;top:904px;left:276px;white-space:nowrap" class="ft00"><b>Séance&#160;3&#160;</b></p>
<p style="position:absolute;top:924px;left:270px;white-space:nowrap" class="ft01">(2/05/2017)&#160;</p>
<p style="position:absolute;top:904px;left:407px;white-space:nowrap" class="ft00"><b>Séance&#160;4&#160;</b></p>
<p style="position:absolute;top:924px;left:396px;white-space:nowrap" class="ft01">(09/05/2017)&#160;</p>
<p style="position:absolute;top:904px;left:545px;white-space:nowrap" class="ft00"><b>Séance&#160;5&#160;</b></p>
<p style="position:absolute;top:924px;left:534px;white-space:nowrap" class="ft01">(16/05/2017)&#160;</p>
<p style="position:absolute;top:904px;left:681px;white-space:nowrap" class="ft00"><b>Séance&#160;6&#160;</b></p>
<p style="position:absolute;top:924px;left:670px;white-space:nowrap" class="ft01">(23/05/2017)&#160;</p>
<p style="position:absolute;top:963px;left:56px;white-space:nowrap" class="ft01">Reconnaissance&#160;faciale&#160;</p>
<p style="position:absolute;top:963px;left:419px;white-space:nowrap" class="ft01">Jacques&#160;</p>
<p style="position:absolute;top:963px;left:717px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:1001px;left:56px;white-space:nowrap" class="ft01">Réalité&#160;augmentée&#160;</p>
<p style="position:absolute;top:1001px;left:380px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:1001px;left:582px;white-space:nowrap" class="ft01">Antoine&#160;/&#160;Jacques&#160;</p>
<p style="position:absolute;top:1039px;left:56px;white-space:nowrap" class="ft01">Audio&#160;</p>
<p style="position:absolute;top:1039px;left:380px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:1039px;left:619px;white-space:nowrap" class="ft01">Antoine&#160;</p>
<p style="position:absolute;top:1077px;left:56px;white-space:nowrap" class="ft01">Interface&#160;Graphique&#160;</p>
<p style="position:absolute;top:1077px;left:352px;white-space:nowrap" class="ft01">Antoine&#160;</p>
<p style="position:absolute;top:1077px;left:647px;white-space:nowrap" class="ft01">&#160;</p>
<p style="position:absolute;top:1107px;left:108px;white-space:nowrap" class="ft00"><b>&#160;</b></p>
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#include <stdio.h>
#include <stdlib.h>
#include <cv.h>
#include <highgui.h>
//#include <opencv2/highgui.hpp> //Pour le cvRound
//#include "opencv2/videoio/videoio_c.h" //Pour le CvCapture*
//#include <cxcore.h>
//#include <SFML/Window.hpp>
/*Headers*/
void controle_moteur(int vecX, int vecY, int rayon);
int limite_moteur(int val_pwm);
int main(int argc, char* argv[])
{
int height,width,step,channels; //parameters of the image we are working on
int posX, posY; //Position objet
CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments)); //Variable moyenne position
// Open capture device. 0 is /dev/video0, 1 is /dev/video1, etc.
CvCapture* capture = cvCaptureFromCAM( 0 );
if( !capture ){
printf("ERROR: capture is NULL \n" );
return -1;
}
// grab an image from the capture
IplImage* frame = cvQueryFrame( capture );
// Create a window in which the captured images will be presented
cvNamedWindow( "Camera", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "HSV", CV_WINDOW_AUTOSIZE );
cvNamedWindow( "Binaire", CV_WINDOW_AUTOSIZE );
//sf::Window window;
//window.create(sf::VideoMode(800, 600), "My window",sf::Style::Default);
// get the image data
height = frame->height;
width = frame->width;
step = frame->widthStep;
// capture size -
CvSize size = cvSize(width,height);
// Initialize different images that are going to be used in the program
IplImage* hsv_frame = cvCreateImage(size, IPL_DEPTH_8U, 3); // image converted to HSV plane
IplImage* threshold = cvCreateImage(size, IPL_DEPTH_8U, 1);
//Controle couleur
cvNamedWindow("Control", CV_WINDOW_AUTOSIZE); //create a window called "Control"
//Setup Kirby
int iLowH = 139;
int iHighH = 179;
int iLowS = 48;
int iHighS = 255;
int iLowV = 101;
int iHighV = 255;
CvScalar valinf={iLowH,iLowS,iLowV};
CvScalar valsup={iHighH,iHighS,iHighV};
//Create trackbars in "Control" window
cvCreateTrackbar("LowH", "Control", &iLowH, 179,NULL); //Hue (0 - 179)
cvCreateTrackbar("HighH", "Control", &iHighH, 179,NULL);
cvCreateTrackbar("LowS", "Control", &iLowS, 255,NULL); //Saturation (0 - 255)
cvCreateTrackbar("HighS", "Control", &iHighS, 255,NULL);
cvCreateTrackbar("LowV", "Control", &iLowV, 255,NULL); //Value (0 - 255)
cvCreateTrackbar("HighV", "Control", &iHighV, 255,NULL);
while( 1 )
{
// Get one frame
frame = cvQueryFrame( capture );
if( !frame ){
printf("ERROR: frame is null...\n" );
break;
}
// Covert color space to HSV as it is much easier to filter colors in the HSV color-space.
cvCvtColor(frame, hsv_frame, CV_BGR2HSV);
//Blur
cvSmooth( hsv_frame, hsv_frame, CV_GAUSSIAN, 15, 0,0,0); //suppression des parasites par flou gaussien
//Binarisation
cvInRangeS(hsv_frame, valinf,valsup, threshold);
//cvSmooth( threshold, threshold, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites
// Calculate the moments to estimate the position of the ball
cvMoments(threshold, moments, 1);
// The actual moment values
double moment10 = cvGetSpatialMoment(moments, 1, 0);
double moment01 = cvGetSpatialMoment(moments, 0, 1);
double area = cvGetCentralMoment(moments, 0, 0);
posX= moment10/area;
posY= moment01/area;
//Affichage zone suivie objet
cvCircle(frame, cvPoint(width/2,height/2), height/6, CV_RGB(0, 255, 0), 4, 8, 0 );
if(posX<5&&posY<5){ //Si aucun objet spotted, pointeur rouge au centre
posX=width/2;
posY=height/2;
cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(255, 0, 0), 4, 8, 0 );
cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(255, 0, 0), 4, 8, 0 );
}
else{ //Objet spotted
//Affichage position de l'objet
cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(0, 0, 255), 4, 8, 0 );
cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(0, 0, 255), 4, 8, 0 );
}
cvShowImage( "Camera", frame ); // Original stream with detected ball overlay
cvShowImage( "HSV", hsv_frame); // Original stream in the HSV color space
cvShowImage( "Binaire", threshold); // The stream after color filtering
controle_moteur(posX-width/2, posY-height/2, height/6); //Envoie commande moteur
if( (cvWaitKey(10) ) >= 0 ) break; //Arret capture
}
cvWaitKey(0); //Fin programme
// Release the capture device housekeeping
cvReleaseCapture( &capture );
cvReleaseImage(&threshold);
return 0;
}
/*On se rapproche de (vecX, vecY) si la position se situe en dehors d'un cercle centre sur la camera*/
void controle_moteur(int vecX, int vecY, int rayon){
int val_pwm[2];
/*Lecture valeur*/
FILE* fichier = NULL;
fichier = fopen("/dev/ttyACM0","r");
if(fichier==NULL){
printf("Erreur ouverture fichier\n");
return ;
}
fscanf(fichier,"%d,%d",&val_pwm[0],&val_pwm[1]);
fclose(fichier);
/*Ecriture nouvelle valeur*/
fichier = fopen("/dev/ttyACM0","w");
if(fichier==NULL){
printf("Erreur ouverture fichier\n");
return ;
}
double norme = 1.0*vecX*vecX + 1.0*vecY*vecY;
if (norme > rayon*rayon){
if(vecX >= vecY && limite_moteur(val_pwm[0])){ /*Ecart sur x plus important*/
fprintf(fichier,"%d,%d",val_pwm[0]++,val_pwm[1]);
}
else if(vecX <= vecY && limite_moteur(val_pwm[1])){ /*Ecart sur y plus important*/
fprintf(fichier,"%d,%d",val_pwm[0],val_pwm[1]++);
}
}
fclose(fichier);
return;
}
/*Verifie que les valeurs envoyees aux moteurs sont correctes*/
int limite_moteur(int val_pwm){
int MAX_PWM = 255;
if (val_pwm > MAX_PWM || val_pwm < 0){
return 0;
}
else{
return 1;
}
}

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('0' + ((n)>>20 & 0xF)), \
('0' + ((n)>>16 & 0xF)), \
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char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
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#include <cv.h>
#include <highgui.h>
#include <cxcore.h>
//callback for trackbar. nothing to be done here
void on_trackbar( int, void* )
{
}
int main(int argc, char* argv[])
{
int height,width,step,channels; //parameters of the image we are working on
int posX, posY; //Position objet
CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments)); //Variable moyenne position
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if( !capture ){
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return -1;
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cvNamedWindow( "Camera", CV_WINDOW_AUTOSIZE );
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cvNamedWindow("Control", CV_WINDOW_AUTOSIZE); //create a window called "Control"
//Setup Kirby
int iLowH = 139;
int iHighH = 179;
int iLowS = 48;
int iHighS = 255;
int iLowV = 101;
int iHighV = 255;
//Create trackbars in "Control" window
cvCreateTrackbar("LowH", "Control", &iLowH, 179); //Hue (0 - 179)
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cvCreateTrackbar("LowS", "Control", &iLowS, 255); //Saturation (0 - 255)
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cvSmooth( threshold, threshold, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites
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cvMoments(threshold, moments, 1);
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double moment10 = cvGetSpatialMoment(moments, 1, 0);
double moment01 = cvGetSpatialMoment(moments, 0, 1);
double area = cvGetCentralMoment(moments, 0, 0);
posX= moment10/area;
posY= moment01/area;
cvCircle(frame, cvPoint(posX,posY), 5, cvScalar(0,0,255), -1, 8, 0 );
cvShowImage( "Camera", frame ); // Original stream with detected ball overlay
cvShowImage( "HSV", hsv_frame); // Original stream in the HSV color space
cvShowImage( "Binaire", threshold); // The stream after color filtering
if( (cvWaitKey(10) ) >= 0 ) break; //Arret capture
}
cvWaitKey(0); //Fin programme
// Release the capture device housekeeping
cvReleaseCapture( &capture );
cvReleaseImage(&threshold);
return 0;
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#include <stdio.h>
#include <opencv2/opencv.hpp>
using namespace cv;
int main(int argc, char** argv )
{
CvCapture *capture;
IplImage *image;
VideoCapture cap(0); // open the default camera
if(!cap.isOpened()) // check if we succeeded
return -1;
Mat edges;
namedWindow("edges",1);
for(;;)
{
Mat frame;
cap >> frame; // get a new frame from camera
cvtColor(frame, edges, CV_BGR2GRAY);
GaussianBlur(edges, edges, Size(7,7), 1.5, 1.5);
Canny(edges, edges, 0, 30, 3);
imshow("edges", edges);
if(waitKey(30) >= 0) break;
}
waitKey(0);
return 0;
}

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#include <stdio.h>
#include <opencv2/opencv.hpp>
using namespace cv;
int main(int argc, char** argv )
{
CvCapture *capture;
IplImage *image;
VideoCapture cap(0); // open the default camera
if(!cap.isOpened()) // check if we succeeded
return -1;
Mat edges;
namedWindow("edges",1);
for(;;)
{
Mat frame;
cap >> frame; // get a new frame from camera
cvtColor(frame, edges, CV_BGR2GRAY);
GaussianBlur(edges, edges, Size(7,7), 1.5, 1.5);
Canny(edges, edges, 0, 30, 3);
imshow("edges", edges);
if(waitKey(30) >= 0) break;
}
cv::waitKey(0);
return 0;
/*
capture = cvCaptureFromCAM(0);
if (!capture) {
printf("Ouverture du flux vidéo impossible !\n");
return 1;
}
cvNamedWindow("Test", CV_WINDOW_AUTOSIZE);
while(1){
image = cvQueryFrame(capture);
cvShowImage("Test", image);
}
return 0;
*/
}

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#include "mbed.h"
DigitalOut led2(P0_5);
DigitalOut led1(LED1);
PwmOut servo1(P2_5);
PwmOut servo2(P2_4);
//Serial pc(USBTX,USBRX);
Serial pc(USBTX,USBRX);
Thread mythread;
void console_thread(){
char buff[255];
char *c0;
char *c;
int vals[3];
int num=0;
//pc.printf("Ask for servos with XXX,YYY \n\r(where XXX and YYY are integers 1/1000 of 20ms)\n\r"); //Commented in RELEASE
while (true) {
c0=buff;
c=buff;
for(num=0;num<2;){
*c=pc.getc(); // echo input back to terminal
pc.putc(*c);
if(*c == 'q')
break ;
if((*c == '\n') || (*c == '\r') || (*c == '\0') || (*c == ' ') || (*c == ','))
{
//
*c='\0';
vals[num]=atoi(c0);
c0=c+1;
num++;
}
c++;
}
float s_vals[2];
int idx=0;
for(idx=0;idx<2;idx++){
if(vals[idx]<0) vals[idx]=0;
if(vals[idx]>1000) vals[idx]=1000;
s_vals[idx]=vals[idx]*0.001;
}
servo1=s_vals[0];
servo2=s_vals[1];
pc.printf("%d,%d \n",vals[0],vals[1]);
wait(0.5);
}
}
int main() {
mythread.start(console_thread);
int mystate=0;
servo1.period_ms(20);
servo2.period_ms(20);
while (true) {
led2 = !led2;
led1 = !led1;
mystate = !mystate;
wait(0.5);
}
}