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structure face
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1712fc1120
102 changed files with 8159 additions and 20 deletions
BIN
Code/KirbyTrack
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Code/KirbyTrack
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@ -1,3 +1,16 @@
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/**
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* \file KirbyTrack.c
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* \author Jacques / Antoine
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* \date avril - mai 2017
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* \brief Figure Imposé : Suivi d'un objet coloré.
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*
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* \details Suivie d'un Kirby (Rose) ou d'une étoile (Jaune) par une caméra avec mode interface utilisateur ou configuration
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* \bug SFML ne supporte qu'un nombre limité de sprite en fonction du PC
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* \bug Affichage OpenCV incompatible avec SFML
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* \todo Optimisation du chargement de la frame en image SFML
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*/
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||||
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#include <stdio.h>
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#include <stdlib.h>
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#include <cv.h>
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@ -6,7 +19,22 @@
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#include <SFML/Audio.hpp>
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#include <SFML/Graphics.hpp>
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#include <SFML/Window.hpp>
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/**
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* \def SFML
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* \brief Programme en mode affichage interface utilisateur
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*
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* \def CONFIG
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* \brief Programme en mode configuration couleur
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*
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* \def KIRBY
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* \brief Programme en mode suivi de Kirby (Objet rose)
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*
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* \def ETOILE
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* \brief Programme en mide suivi de l'étoile (Objet jaune)
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*
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* \def JEU
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* \brief Coefficient de tolérance pour le suivi d'objet
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*/
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//#define CONFIG
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#define SFML
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@ -19,18 +47,120 @@
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//ATTENTION SFML SUPPORTE UN NOMBRE LIMITE DE SPRITE EN FCT DU PC
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/*Headers*/
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void maj_angle(int vecX, int vecY, int rayon, double* angle); //Met à jour l'angle selon la distance CentreCamera - Cible
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int ajust_pos(int pos, int ref);
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void controle_moteur(double* angle);//Envoie les angles au moteur
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/**
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* \fn void maj_angle(int vecX, int vecY, int rayon, double* angle)
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* \brief Met à jour \a angle selon la distance entre le centre de la caméra et la cible, avec un tolérance circulaire définie par rayon
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* \author Jacques
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* \param vecX composante X de la cible par rapport au centre de l'image
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* \param vecY composante Y de la cible par rapport au centre de l'image
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* \param rayon tolérance avant changement d'angle
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* \param angle tableau contenant les deux angles à modifier
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*/
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void maj_angle(int vecX, int vecY, int rayon, double* angle); //Met à jour l'angle selon la distance CentreCamera - Cible
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/**
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* \fn int ajust_pos(int pos, int ref)
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* \brief permet d'éviter des positions supérieures à ref considérées comme aberrantes.
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* \details retourne 0 si la position est supérieure à ref.
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* \author Jacques
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* \param pos position à tester
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* \param ref position de référence
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* \return renvoie la position corrigée
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*/
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int ajust_pos(int pos, int ref);
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/**
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* \fn void controle_moteur(double* angle)
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* \brief Fonction d'envoie des angles aux moteurs
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* \details
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||||
* \author Jacques
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* \param angle tableau des angles moteurs
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*/
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void controle_moteur(double* angle);//Envoie les angles au moteur
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||||
/**
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* \fn int limite_moteur(int val_pwm)
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* \brief Fonction qui vérifie que les valeurs envoyees aux moteurs sont correctes
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* \details Valeur minimale = 30, valeur maximale = 130 (déterminées expérimentalement)
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* \author Jacques
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* \param val_pwm valeur pwm dont on veut vérifier la valeur
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* \return renvoie l'angle corrigée
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*/
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int limite_moteur(int val_pwm);//Verifie que les valeurs envoyees aux moteurs sont correctes
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||||
/**
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* \fn void config(int* LowH, int* HighH, int* LowS, int* HighS, int* LowV, int* HighV)
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* \brief Fonction d'affichage du panneau de configuration de la \a couleur à suivre
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* \author Antoine
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* \details Panneau de configuration comprenant 6 slidebarres pour configurer la couleur suivie en HSV. La fonction modifie les valeurs limites LowH/
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* HighH de la plage HUE, LowS/HighS de la plage SATURATION, LowV/HighV de la plage VALUE.
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* \param LowH Valeur \a basse de la plage de HUE suivie.
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* \param HighH Valeur \a haute de la plage de HUE suivie.
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* \param LowS Valeur \a basse de la plage de SATURATION suivie.
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* \param HighS Valeur \a haute de la plage de SATURATION suivie.
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||||
* \param LowV Valeur \a basse de la plage de VALUE suivie.
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* \param HighV Valeur \a haute de la plage de VALUE suivie.
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*/
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void config(int* LowH, int* HighH, int* LowS, int* HighS, int* LowV, int* HighV); //Affiche le panneau de configuration de tracking avec les arguments comme valeur de base
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/**
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* \fn void affichage_config(IplImage* frame, IplImage* HSV, IplImage* Binaire);
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* \brief Fonction d'affichage du flux vidéo, du flux en HSV et de sa binarisation
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* \author Antoine
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* \param frame image contenant la frame capturé par la caméra
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* \param HSV image contenant l'image passé en HSV
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* \param Binaire image contenant l'image binarisée
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*/
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void affichage_config(IplImage* frame, IplImage* HSV, IplImage* Binaire); //Affiche le flux vidéos et ses différent traitements
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/**
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* \fn void Affichage_Tracking(IplImage* frame, int posX, int posY, int width, int height)
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* \brief Fonction d'affichage des informations de suivi
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* \details Dessine sur \a frame la zone de tolérance de suivie au centre de l'image et le curseur de position de l'objet ayant pour coordonées \a posX et \a posY
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* \author Antoine
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* \param frame image a modifier
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* \param posX composante X du curseur a dessiner
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* \param posY composante Y du curseur a dessiner
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* \param width largeur (en \a pixel) de \a frame
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* \param height hauteur (en \a pixel) de \a frame
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*/
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void Affichage_Tracking(IplImage* frame, int posX, int posY, int width, int height); //Dessine les informations de tracking sur frame
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/**
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* \fn void Position_moy(IplImage* Binaire, int* posX, int * posY)
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* \brief Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet
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* \author Antoine
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* \param Binaire image binarisée (matrice de 0 ou de 1)
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* \param posX contient la composante X du barycentre
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* \param posY contient la composante Y du barycentre
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*/
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void Position_moy(IplImage* Binaire, int* posX, int * posY); //Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet
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/**
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* \fn void traitement(IplImage* frame, IplImage* HSV, IplImage* Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV)
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* \brief Effectue une binarisation de \a frame en fonction des bornes \a HSV
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* \details Passe la frame en HSV puis binarise l'image en fonction des bornes LowH, HighH, LowS, HighS, LowV, HighV
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* \author Antoine
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* \param frame image contenant la frame capturé par la caméra
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* \param HSV image contenant l'image passé en HSV au terme de la fonction
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* \param Binaire image contenant l'image binarisée au terme de la fonction
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* \param LowH Valeur \a basse de la plage de HUE suivie.
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* \param HighH Valeur \a haute de la plage de HUE suivie.
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* \param LowS Valeur \a basse de la plage de SATURATION suivie.
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* \param HighS Valeur \a haute de la plage de SATURATION suivie.
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* \param LowV Valeur \a basse de la plage de VALUE suivie.
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* \param HighV Valeur \a haute de la plage de VALUE suivie.
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*/
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void traitement(IplImage* frame, IplImage* HSV, IplImage* Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV); //Effectue une binarisation de frame en fonction des bornes HSV
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/**
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* \fn int main(int argc, char* argv[])
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* \brief Entrée du programme
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* \author Antoine / Jacques
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||||
* \return EXIT_SUCCESS : Arrêt normal du programme, EXIT_FAILURE : Le programme a rencontrée une erreur au cours de son execution
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*/
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int main(int argc, char* argv[])
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{
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//Initialisations
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@ -1,3 +1,4 @@
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EXEC= KirbyTrack Navy
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LDFLAGS = -lsfml-graphics -lsfml-window -lsfml-system -lsfml-audio `pkg-config opencv --libs`
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Code/Navy
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Code/Navy
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Code/Navy.c
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Code/Navy.c
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@ -81,7 +81,9 @@ int main(int argc, char* argv[])
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break;
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}
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detect_and_draw(frame,cascade);
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pface tab_face[2];
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detect_and_draw(frame,cascade,tab_face);
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#ifdef SFML
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//Affichage SFML
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@ -137,7 +139,6 @@ int main(int argc, char* argv[])
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window.draw(button_tracking);
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/*
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//Dessin du bouton reset
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sf::Texture txBut2;
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sf::Sprite button_reset;
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@ -149,10 +150,11 @@ int main(int argc, char* argv[])
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button_reset.setTexture(txBut2);
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button_reset.setScale(0.5,0.5);
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button_reset.setPosition(sf::Vector2f(width+20, 60));
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button_reset.setPosition(sf::Vector2f(width+20, 100));
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window.draw(button_reset);
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||||
*/
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/*
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||||
//Ajout du texte
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sf::Font font;
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||||
if (!font.loadFromFile("Stock SFML/arial.ttf")){
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@ -176,6 +178,7 @@ int main(int argc, char* argv[])
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text.setPosition(sf::Vector2f(width+100, 35));
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window.draw(text);
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*/
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/*
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//Link
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sf::Texture txLink;
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@ -195,7 +198,7 @@ int main(int argc, char* argv[])
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window.display();
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#endif
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/*
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if(tracking){
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//Mouvements moteurs
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//printf("-PREMAJ_ANGLE...: %d %d\n",width,height);
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@ -205,7 +208,7 @@ int main(int argc, char* argv[])
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|||
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cvWaitKey(50);
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}
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||||
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*/
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||||
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||||
#ifdef CONFIG
|
||||
/*
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||||
|
|
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|||
BIN
Code/Navy.o
Normal file
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Code/Navy.o
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Binary file not shown.
|
Before Width: | Height: | Size: 91 KiB After Width: | Height: | Size: 69 KiB |
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@ -189,12 +189,9 @@ CvHaarClassifierCascade* init_cascade(){
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}
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||||
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// Function to detect and draw any faces that is present in an image
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||||
void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade )
|
||||
void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade, pface* tab_face)
|
||||
{
|
||||
|
||||
pface* tab_face[2];
|
||||
|
||||
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// Create memory for calculations
|
||||
static CvMemStorage* storage = 0;
|
||||
int scale = 1;
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||||
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@ -237,11 +234,12 @@ void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade )
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cvRectangle( img, pt1, pt2, CV_RGB(255,0,0), 3, 8, 0 );
|
||||
|
||||
if(i < MAX_FACE){
|
||||
tab_face[i]->point =
|
||||
tab_face[i]->point.x = (pt1.x + pt2.x)/2;
|
||||
tab_face[i]->point.y = (pt1.y + pt2.y)/2;
|
||||
tab_face[i]->largeur = r->width;
|
||||
|
||||
printf("VALEURS FACES : %d %d %d\n",tab_face[i]->point.x,tab_face[i]->point.y,tab_face[i]->largeur);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
|
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|||
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|
@ -33,9 +33,9 @@
|
|||
typedef struct _face{
|
||||
CvPoint point;
|
||||
int largeur;
|
||||
} face
|
||||
} face;
|
||||
|
||||
typedef struct pface *face;
|
||||
typedef face* pface;
|
||||
|
||||
|
||||
/*HEADERS*/
|
||||
|
|
@ -54,7 +54,7 @@ void traitement(IplImage* frame, IplImage* HSV, IplImage* Binaire, int LowH, int
|
|||
int image_CV2SFML(IplImage* imcv, sf::Image imFlux); //Construction de imsf (RGBA) à partir de imcv (BGR), avec alpha constant (=1)
|
||||
|
||||
CvHaarClassifierCascade* init_cascade();
|
||||
void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade );
|
||||
void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade, pface* tab_face );
|
||||
|
||||
|
||||
#endif
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||||
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Code/fonction.o
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Code/fonction.o
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|
||||
<div class="title">KirbyTrack.c File Reference</div> </div>
|
||||
</div><!--header-->
|
||||
<div class="contents">
|
||||
|
||||
<p>Figure Imposé : Suivi d'un objet coloré.
|
||||
<a href="#details">More...</a></p>
|
||||
<div class="textblock"><code>#include <stdio.h></code><br/>
|
||||
<code>#include <stdlib.h></code><br/>
|
||||
<code>#include <cv.h></code><br/>
|
||||
<code>#include <highgui.h></code><br/>
|
||||
<code>#include <SFML/Audio.hpp></code><br/>
|
||||
<code>#include <SFML/Graphics.hpp></code><br/>
|
||||
<code>#include <SFML/Window.hpp></code><br/>
|
||||
</div>
|
||||
<p><a href="_kirby_track_8c_source.html">Go to the source code of this file.</a></p>
|
||||
<table class="memberdecls">
|
||||
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
|
||||
Macros</h2></td></tr>
|
||||
<tr class="memitem:a28c9f30d423e9c1ca6fa15a0ec9a0032"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a28c9f30d423e9c1ca6fa15a0ec9a0032"></a>
|
||||
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#a28c9f30d423e9c1ca6fa15a0ec9a0032">SFML</a></td></tr>
|
||||
<tr class="memdesc:a28c9f30d423e9c1ca6fa15a0ec9a0032"><td class="mdescLeft"> </td><td class="mdescRight">Programme en mode affichage interface utilisateur. <br/></td></tr>
|
||||
<tr class="separator:a28c9f30d423e9c1ca6fa15a0ec9a0032"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a9270f8e0b3866a58cfa3a7173da21abd"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9270f8e0b3866a58cfa3a7173da21abd"></a>
|
||||
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#a9270f8e0b3866a58cfa3a7173da21abd">KIRBY</a></td></tr>
|
||||
<tr class="memdesc:a9270f8e0b3866a58cfa3a7173da21abd"><td class="mdescLeft"> </td><td class="mdescRight">Programme en mode suivi de Kirby (Objet rose) <br/></td></tr>
|
||||
<tr class="separator:a9270f8e0b3866a58cfa3a7173da21abd"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:afb63dbc6e533233f41d03e8b8a3bc570"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afb63dbc6e533233f41d03e8b8a3bc570"></a>
|
||||
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#afb63dbc6e533233f41d03e8b8a3bc570">JEU</a>   0.15</td></tr>
|
||||
<tr class="memdesc:afb63dbc6e533233f41d03e8b8a3bc570"><td class="mdescLeft"> </td><td class="mdescRight">Coefficient de tolérance pour le suivi d'objet. <br/></td></tr>
|
||||
<tr class="separator:afb63dbc6e533233f41d03e8b8a3bc570"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
</table><table class="memberdecls">
|
||||
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
|
||||
Functions</h2></td></tr>
|
||||
<tr class="memitem:a93cca84f54fe35dc9ad87eac3583889b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#a93cca84f54fe35dc9ad87eac3583889b">maj_angle</a> (int vecX, int vecY, int rayon, double *angle)</td></tr>
|
||||
<tr class="memdesc:a93cca84f54fe35dc9ad87eac3583889b"><td class="mdescLeft"> </td><td class="mdescRight">Met à jour <em>angle</em> selon la distance entre le centre de la caméra et la cible, avec un tolérance circulaire définie par rayon. <a href="#a93cca84f54fe35dc9ad87eac3583889b">More...</a><br/></td></tr>
|
||||
<tr class="separator:a93cca84f54fe35dc9ad87eac3583889b"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ae89e5fc7460ea890fa61d54fd209c1ae"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a> (int pos, int ref)</td></tr>
|
||||
<tr class="memdesc:ae89e5fc7460ea890fa61d54fd209c1ae"><td class="mdescLeft"> </td><td class="mdescRight">permet d'éviter des positions supérieures à ref considérées comme aberrantes. <a href="#ae89e5fc7460ea890fa61d54fd209c1ae">More...</a><br/></td></tr>
|
||||
<tr class="separator:ae89e5fc7460ea890fa61d54fd209c1ae"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ad3f512a54511a63b30a8967077736766"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a> (double *angle)</td></tr>
|
||||
<tr class="memdesc:ad3f512a54511a63b30a8967077736766"><td class="mdescLeft"> </td><td class="mdescRight">Fonction d'envoie des angles aux moteurs. <a href="#ad3f512a54511a63b30a8967077736766">More...</a><br/></td></tr>
|
||||
<tr class="separator:ad3f512a54511a63b30a8967077736766"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a9397b95e9279b0b9cd371c9a2b4514a2"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a> (int val_pwm)</td></tr>
|
||||
<tr class="memdesc:a9397b95e9279b0b9cd371c9a2b4514a2"><td class="mdescLeft"> </td><td class="mdescRight">Fonction qui vérifie que les valeurs envoyees aux moteurs sont correctes. <a href="#a9397b95e9279b0b9cd371c9a2b4514a2">More...</a><br/></td></tr>
|
||||
<tr class="separator:a9397b95e9279b0b9cd371c9a2b4514a2"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:adcdd0544c8eb462cd2835ec99fa0f181"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">config</a> (int *LowH, int *HighH, int *LowS, int *HighS, int *LowV, int *HighV)</td></tr>
|
||||
<tr class="memdesc:adcdd0544c8eb462cd2835ec99fa0f181"><td class="mdescLeft"> </td><td class="mdescRight">Fonction d'affichage du panneau de configuration de la <em>couleur</em> à suivre. <a href="#adcdd0544c8eb462cd2835ec99fa0f181">More...</a><br/></td></tr>
|
||||
<tr class="separator:adcdd0544c8eb462cd2835ec99fa0f181"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:acc438fce8178d1d5aac4595f19529275"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#acc438fce8178d1d5aac4595f19529275">affichage_config</a> (IplImage *frame, IplImage *HSV, IplImage *Binaire)</td></tr>
|
||||
<tr class="memdesc:acc438fce8178d1d5aac4595f19529275"><td class="mdescLeft"> </td><td class="mdescRight">Fonction d'affichage du flux vidéo, du flux en HSV et de sa binarisation. <a href="#acc438fce8178d1d5aac4595f19529275">More...</a><br/></td></tr>
|
||||
<tr class="separator:acc438fce8178d1d5aac4595f19529275"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a91b1b1daf28d90b5299a9a0486f5bdf1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">Affichage_Tracking</a> (IplImage *frame, int posX, int posY, int width, int height)</td></tr>
|
||||
<tr class="memdesc:a91b1b1daf28d90b5299a9a0486f5bdf1"><td class="mdescLeft"> </td><td class="mdescRight">Fonction d'affichage des informations de suivi. <a href="#a91b1b1daf28d90b5299a9a0486f5bdf1">More...</a><br/></td></tr>
|
||||
<tr class="separator:a91b1b1daf28d90b5299a9a0486f5bdf1"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ac3e9405c4ebaa936308670c050285ae1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#ac3e9405c4ebaa936308670c050285ae1">Position_moy</a> (IplImage *Binaire, int *posX, int *posY)</td></tr>
|
||||
<tr class="memdesc:ac3e9405c4ebaa936308670c050285ae1"><td class="mdescLeft"> </td><td class="mdescRight">Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet. <a href="#ac3e9405c4ebaa936308670c050285ae1">More...</a><br/></td></tr>
|
||||
<tr class="separator:ac3e9405c4ebaa936308670c050285ae1"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a96b1dd5c66492425a00921b6eaaacc89"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#a96b1dd5c66492425a00921b6eaaacc89">traitement</a> (IplImage *frame, IplImage *HSV, IplImage *Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV)</td></tr>
|
||||
<tr class="memdesc:a96b1dd5c66492425a00921b6eaaacc89"><td class="mdescLeft"> </td><td class="mdescRight">Effectue une binarisation de <em>frame</em> en fonction des bornes <em>HSV</em>. <a href="#a96b1dd5c66492425a00921b6eaaacc89">More...</a><br/></td></tr>
|
||||
<tr class="separator:a96b1dd5c66492425a00921b6eaaacc89"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a0ddf1224851353fc92bfbff6f499fa97"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97">main</a> (int argc, char *argv[])</td></tr>
|
||||
<tr class="memdesc:a0ddf1224851353fc92bfbff6f499fa97"><td class="mdescLeft"> </td><td class="mdescRight">Entrée du programme. <a href="#a0ddf1224851353fc92bfbff6f499fa97">More...</a><br/></td></tr>
|
||||
<tr class="separator:a0ddf1224851353fc92bfbff6f499fa97"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
</table>
|
||||
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
||||
<div class="textblock"><p>Figure Imposé : Suivi d'un objet coloré. </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Jacques / Antoine </dd></dl>
|
||||
<dl class="section date"><dt>Date</dt><dd>avril - mai 2017</dd></dl>
|
||||
<p>Suivie d'un Kirby (Rose) ou d'une étoile (Jaune) par une caméra avec mode interface utilisateur ou configuration </p>
|
||||
|
||||
<p>Definition in file <a class="el" href="_kirby_track_8c_source.html">KirbyTrack.c</a>.</p>
|
||||
</div><h2 class="groupheader">Function Documentation</h2>
|
||||
<a class="anchor" id="acc438fce8178d1d5aac4595f19529275"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void affichage_config </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">IplImage * </td>
|
||||
<td class="paramname"><em>frame</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">IplImage * </td>
|
||||
<td class="paramname"><em>HSV</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">IplImage * </td>
|
||||
<td class="paramname"><em>Binaire</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Fonction d'affichage du flux vidéo, du flux en HSV et de sa binarisation. </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Antoine </dd></dl>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">frame</td><td>image contenant la frame capturé par la caméra </td></tr>
|
||||
<tr><td class="paramname">HSV</td><td>image contenant l'image passé en HSV </td></tr>
|
||||
<tr><td class="paramname">Binaire</td><td>image contenant l'image binarisée </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="_kirby_track_8c_source.html#l00505">505</a> of file <a class="el" href="_kirby_track_8c_source.html">KirbyTrack.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="a91b1b1daf28d90b5299a9a0486f5bdf1"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void Affichage_Tracking </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">IplImage * </td>
|
||||
<td class="paramname"><em>frame</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>posX</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>posY</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>width</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>height</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Fonction d'affichage des informations de suivi. </p>
|
||||
<p>Dessine sur <em>frame</em> la zone de tolérance de suivie au centre de l'image et le curseur de position de l'objet ayant pour coordonées <em>posX</em> et <em>posY</em> </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Antoine </dd></dl>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">frame</td><td>image a modifier </td></tr>
|
||||
<tr><td class="paramname">posX</td><td>composante X du curseur a dessiner </td></tr>
|
||||
<tr><td class="paramname">posY</td><td>composante Y du curseur a dessiner </td></tr>
|
||||
<tr><td class="paramname">width</td><td>largeur (en <em>pixel</em>) de <em>frame</em> </td></tr>
|
||||
<tr><td class="paramname">height</td><td>hauteur (en <em>pixel</em>) de <em>frame</em> </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="_kirby_track_8c_source.html#l00517">517</a> of file <a class="el" href="_kirby_track_8c_source.html">KirbyTrack.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="ae89e5fc7460ea890fa61d54fd209c1ae"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">int ajust_pos </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>pos</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>ref</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>permet d'éviter des positions supérieures à ref considérées comme aberrantes. </p>
|
||||
<p>retourne 0 si la position est supérieure à ref. </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Jacques </dd></dl>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">pos</td><td>position à tester </td></tr>
|
||||
<tr><td class="paramname">ref</td><td>position de référence </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>renvoie la position corrigée </dd></dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="_kirby_track_8c_source.html#l00415">415</a> of file <a class="el" href="_kirby_track_8c_source.html">KirbyTrack.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="adcdd0544c8eb462cd2835ec99fa0f181"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void config </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">int * </td>
|
||||
<td class="paramname"><em>LowH</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int * </td>
|
||||
<td class="paramname"><em>HighH</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int * </td>
|
||||
<td class="paramname"><em>LowS</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int * </td>
|
||||
<td class="paramname"><em>HighS</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int * </td>
|
||||
<td class="paramname"><em>LowV</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int * </td>
|
||||
<td class="paramname"><em>HighV</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Fonction d'affichage du panneau de configuration de la <em>couleur</em> à suivre. </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Antoine</dd></dl>
|
||||
<p>Panneau de configuration comprenant 6 slidebarres pour configurer la couleur suivie en HSV. La fonction modifie les valeurs limites LowH/ HighH de la plage HUE, LowS/HighS de la plage SATURATION, LowV/HighV de la plage VALUE.</p>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">LowH</td><td>Valeur <em>basse</em> de la plage de HUE suivie. </td></tr>
|
||||
<tr><td class="paramname">HighH</td><td>Valeur <em>haute</em> de la plage de HUE suivie. </td></tr>
|
||||
<tr><td class="paramname">LowS</td><td>Valeur <em>basse</em> de la plage de SATURATION suivie. </td></tr>
|
||||
<tr><td class="paramname">HighS</td><td>Valeur <em>haute</em> de la plage de SATURATION suivie. </td></tr>
|
||||
<tr><td class="paramname">LowV</td><td>Valeur <em>basse</em> de la plage de VALUE suivie. </td></tr>
|
||||
<tr><td class="paramname">HighV</td><td>Valeur <em>haute</em> de la plage de VALUE suivie. </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="_kirby_track_8c_source.html#l00490">490</a> of file <a class="el" href="_kirby_track_8c_source.html">KirbyTrack.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="ad3f512a54511a63b30a8967077736766"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void controle_moteur </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">double * </td>
|
||||
<td class="paramname"><em>angle</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Fonction d'envoie des angles aux moteurs. </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Jacques </dd></dl>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">angle</td><td>tableau des angles moteurs </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="_kirby_track_8c_source.html#l00433">433</a> of file <a class="el" href="_kirby_track_8c_source.html">KirbyTrack.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="a9397b95e9279b0b9cd371c9a2b4514a2"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">int limite_moteur </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>val_pwm</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Fonction qui vérifie que les valeurs envoyees aux moteurs sont correctes. </p>
|
||||
<p>Valeur minimale = 30, valeur maximale = 130 (déterminées expérimentalement) </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Jacques </dd></dl>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">val_pwm</td><td>valeur pwm dont on veut vérifier la valeur </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>renvoie l'angle corrigée </dd></dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="_kirby_track_8c_source.html#l00420">420</a> of file <a class="el" href="_kirby_track_8c_source.html">KirbyTrack.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="a0ddf1224851353fc92bfbff6f499fa97"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">int main </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>argc</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">char * </td>
|
||||
<td class="paramname"><em>argv</em>[] </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Entrée du programme. </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Antoine / Jacques </dd></dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>EXIT_SUCCESS : Arrêt normal du programme, EXIT_FAILURE : Le programme a rencontrée une erreur au cours de son execution </dd></dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="_kirby_track_8c_source.html#l00162">162</a> of file <a class="el" href="_kirby_track_8c_source.html">KirbyTrack.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="a93cca84f54fe35dc9ad87eac3583889b"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void maj_angle </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>vecX</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>vecY</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>rayon</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">double * </td>
|
||||
<td class="paramname"><em>angle</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Met à jour <em>angle</em> selon la distance entre le centre de la caméra et la cible, avec un tolérance circulaire définie par rayon. </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Jacques </dd></dl>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">vecX</td><td>composante X de la cible par rapport au centre de l'image </td></tr>
|
||||
<tr><td class="paramname">vecY</td><td>composante Y de la cible par rapport au centre de l'image </td></tr>
|
||||
<tr><td class="paramname">rayon</td><td>tolérance avant changement d'angle </td></tr>
|
||||
<tr><td class="paramname">angle</td><td>tableau contenant les deux angles à modifier </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="_kirby_track_8c_source.html#l00391">391</a> of file <a class="el" href="_kirby_track_8c_source.html">KirbyTrack.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="ac3e9405c4ebaa936308670c050285ae1"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void Position_moy </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">IplImage * </td>
|
||||
<td class="paramname"><em>Binaire</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int * </td>
|
||||
<td class="paramname"><em>posX</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int * </td>
|
||||
<td class="paramname"><em>posY</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet. </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Antoine </dd></dl>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">Binaire</td><td>image binarisée (matrice de 0 ou de 1) </td></tr>
|
||||
<tr><td class="paramname">posX</td><td>contient la composante X du barycentre </td></tr>
|
||||
<tr><td class="paramname">posY</td><td>contient la composante Y du barycentre </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="_kirby_track_8c_source.html#l00474">474</a> of file <a class="el" href="_kirby_track_8c_source.html">KirbyTrack.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="a96b1dd5c66492425a00921b6eaaacc89"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void traitement </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">IplImage * </td>
|
||||
<td class="paramname"><em>frame</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">IplImage * </td>
|
||||
<td class="paramname"><em>HSV</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">IplImage * </td>
|
||||
<td class="paramname"><em>Binaire</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>LowH</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>HighH</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>LowS</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>HighS</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>LowV</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>HighV</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Effectue une binarisation de <em>frame</em> en fonction des bornes <em>HSV</em>. </p>
|
||||
<p>Passe la frame en HSV puis binarise l'image en fonction des bornes LowH, HighH, LowS, HighS, LowV, HighV </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Antoine </dd></dl>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramname">frame</td><td>image contenant la frame capturé par la caméra </td></tr>
|
||||
<tr><td class="paramname">HSV</td><td>image contenant l'image passé en HSV au terme de la fonction </td></tr>
|
||||
<tr><td class="paramname">Binaire</td><td>image contenant l'image binarisée au terme de la fonction </td></tr>
|
||||
<tr><td class="paramname">LowH</td><td>Valeur <em>basse</em> de la plage de HUE suivie. </td></tr>
|
||||
<tr><td class="paramname">HighH</td><td>Valeur <em>haute</em> de la plage de HUE suivie. </td></tr>
|
||||
<tr><td class="paramname">LowS</td><td>Valeur <em>basse</em> de la plage de SATURATION suivie. </td></tr>
|
||||
<tr><td class="paramname">HighS</td><td>Valeur <em>haute</em> de la plage de SATURATION suivie. </td></tr>
|
||||
<tr><td class="paramname">LowV</td><td>Valeur <em>basse</em> de la plage de VALUE suivie. </td></tr>
|
||||
<tr><td class="paramname">HighV</td><td>Valeur <em>haute</em> de la plage de VALUE suivie. </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="_kirby_track_8c_source.html#l00453">453</a> of file <a class="el" href="_kirby_track_8c_source.html">KirbyTrack.c</a>.</p>
|
||||
|
||||
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520
Doxy/html/_kirby_track_8c_source.html
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<li class="navelem"><a class="el" href="dir_23fdee2f6995db16c755697cdf620cf4.html">Code</a></li> </ul>
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<div class="title">KirbyTrack.c</div> </div>
|
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<div class="contents">
|
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<a href="_kirby_track_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> </div>
|
||||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <stdio.h></span></div>
|
||||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <stdlib.h></span></div>
|
||||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <cv.h></span> </div>
|
||||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <highgui.h></span></div>
|
||||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div>
|
||||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <SFML/Audio.hpp></span></div>
|
||||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include <SFML/Graphics.hpp></span></div>
|
||||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include <SFML/Window.hpp></span></div>
|
||||
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment">//#define CONFIG</span></div>
|
||||
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#a28c9f30d423e9c1ca6fa15a0ec9a0032"> 37</a></span> <span class="preprocessor">#define SFML</span></div>
|
||||
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#a9270f8e0b3866a58cfa3a7173da21abd"> 39</a></span> <span class="preprocessor">#define KIRBY</span></div>
|
||||
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor"></span><span class="comment">//#define ETOILE</span></div>
|
||||
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div>
|
||||
<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#afb63dbc6e533233f41d03e8b8a3bc570"> 42</a></span> <span class="preprocessor">#define JEU 0.15</span></div>
|
||||
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment">//ATTENTION AFFICHAGE OPENCV INCOMPATIBLE AVEC AFFICHAGE SFML</span></div>
|
||||
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment">//ATTENTION SFML SUPPORTE UN NOMBRE LIMITE DE SPRITE EN FCT DU PC</span></div>
|
||||
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> </div>
|
||||
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment">/*Headers*/</span></div>
|
||||
<div class="line"><a name="l00057"></a><span class="lineno"> 57</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>
|
||||
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div>
|
||||
<div class="line"><a name="l00068"></a><span class="lineno"> 68</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="l00069"></a><span class="lineno"> 69</span> </div>
|
||||
<div class="line"><a name="l00077"></a><span class="lineno"> 77</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>
|
||||
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div>
|
||||
<div class="line"><a name="l00087"></a><span class="lineno"> 87</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>
|
||||
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> </div>
|
||||
<div class="line"><a name="l00103"></a><span class="lineno"> 103</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="l00104"></a><span class="lineno"> 104</span> </div>
|
||||
<div class="line"><a name="l00113"></a><span class="lineno"> 113</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="l00114"></a><span class="lineno"> 114</span> </div>
|
||||
<div class="line"><a name="l00127"></a><span class="lineno"> 127</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="l00128"></a><span class="lineno"> 128</span> </div>
|
||||
<div class="line"><a name="l00137"></a><span class="lineno"> 137</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="l00138"></a><span class="lineno"> 138</span> </div>
|
||||
<div class="line"><a name="l00154"></a><span class="lineno"> 154</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>
|
||||
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> </div>
|
||||
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97"> 162</a></span> <span class="keywordtype">int</span> <a class="code" href="_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>* argv[])</div>
|
||||
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> {</div>
|
||||
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="comment">//Initialisations </span></div>
|
||||
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordtype">int</span> height,width; <span class="comment">//parameters of the image we are working on</span></div>
|
||||
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordtype">int</span> posX, posY; <span class="comment">//Position objet</span></div>
|
||||
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordtype">int</span> boucle;</div>
|
||||
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div>
|
||||
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="keywordtype">double</span> angle[2] = {100,100};</div>
|
||||
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> </div>
|
||||
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordtype">int</span> tracking; <span class="comment">//0 = tracking OFF</span></div>
|
||||
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> , 1 = ON</div>
|
||||
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> </div>
|
||||
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> </div>
|
||||
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> <span class="preprocessor">#ifdef SFML</span></div>
|
||||
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="preprocessor"></span> <span class="comment">//Initialisation SFML</span></div>
|
||||
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> </div>
|
||||
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  sf::Texture txFlux;</div>
|
||||
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  sf::Sprite spFlux;</div>
|
||||
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  sf::Image imFlux;</div>
|
||||
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  sf::Event event;</div>
|
||||
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> </div>
|
||||
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  tracking = 0; <span class="comment">//Pas de tracking de base en mode SFML</span></div>
|
||||
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  </div>
|
||||
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="comment">//Ouverture flux camera</span></div>
|
||||
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  CvCapture* capture = cvCaptureFromCAM( 0 );</div>
|
||||
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  </div>
|
||||
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">if</span>( !capture ){</div>
|
||||
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  printf(<span class="stringliteral">"ERROR: capture is NULL \n"</span> );</div>
|
||||
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  exit(EXIT_FAILURE);</div>
|
||||
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  }</div>
|
||||
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  </div>
|
||||
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> </div>
|
||||
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="comment">// grab an image from the capture</span></div>
|
||||
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  IplImage* frame = cvQueryFrame( capture );</div>
|
||||
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  </div>
|
||||
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="comment">// get the image data</span></div>
|
||||
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  height = frame->height;</div>
|
||||
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  width = frame->width;</div>
|
||||
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  </div>
|
||||
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="comment">// capture size - </span></div>
|
||||
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  CvSize size = cvSize(width,height);</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> </div>
|
||||
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> <span class="preprocessor">#ifdef SFML</span></div>
|
||||
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="preprocessor"></span> <span class="comment">//Création de la fenetre principale</span></div>
|
||||
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  sf::RenderWindow window(sf::VideoMode(width+300, height), <span class="stringliteral">"KirbyTrack"</span>);</div>
|
||||
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="comment">// Initialize different images that are going to be used in the program</span></div>
|
||||
<div class="line"><a name="l00213"></a><span class="lineno"> 213</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="l00214"></a><span class="lineno"> 214</span>  IplImage* threshold = cvCreateImage(size, IPL_DEPTH_8U, 1);</div>
|
||||
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div>
|
||||
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  </div>
|
||||
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="comment">//Controle couleur</span></div>
|
||||
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="preprocessor">#ifdef KIRBY</span></div>
|
||||
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="preprocessor"></span> <span class="comment">//Setup Kirby</span></div>
|
||||
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordtype">int</span> iLowH = 152;</div>
|
||||
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordtype">int</span> iHighH = 179;</div>
|
||||
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> </div>
|
||||
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keywordtype">int</span> iLowS = 48; </div>
|
||||
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordtype">int</span> iHighS = 255;</div>
|
||||
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div>
|
||||
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordtype">int</span> iLowV = 101;</div>
|
||||
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordtype">int</span> iHighV = 255;</div>
|
||||
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> <span class="preprocessor"></span><span class="preprocessor">#ifdef ETOILE</span></div>
|
||||
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> <span class="preprocessor"></span> <span class="comment">//Setup Etoile</span></div>
|
||||
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keywordtype">int</span> iLowH = 20;</div>
|
||||
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keywordtype">int</span> iHighH = 30;</div>
|
||||
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> </div>
|
||||
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="keywordtype">int</span> iLowS = 100; </div>
|
||||
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordtype">int</span> iHighS = 255;</div>
|
||||
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> </div>
|
||||
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordtype">int</span> iLowV = 100;</div>
|
||||
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keywordtype">int</span> iHighV = 255;</div>
|
||||
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> <span class="preprocessor">#endif </span></div>
|
||||
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> <span class="preprocessor">#ifdef CONFIG</span></div>
|
||||
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="preprocessor"></span> <span class="comment">//Affichage du panneau de config</span></div>
|
||||
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <a class="code" href="_kirby_track_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">config</a>(&iLowH, &iHighH, &iLowS, &iHighS, &iLowV, &iHighV);</div>
|
||||
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> </div>
|
||||
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  boucle = 1;</div>
|
||||
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  tracking = 1; <span class="comment">//Tracking de base en mode CONFIG</span></div>
|
||||
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> <span class="preprocessor"></span> </div>
|
||||
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keywordflow">while</span>(boucle)</div>
|
||||
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  { </div>
|
||||
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> </div>
|
||||
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="preprocessor">#ifdef SFML</span></div>
|
||||
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="preprocessor"></span> boucle = window.isOpen();</div>
|
||||
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> </div>
|
||||
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <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="l00256"></a><span class="lineno"> 256</span>  <span class="keywordflow">while</span> (window.pollEvent(event))</div>
|
||||
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  {</div>
|
||||
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="comment">// évènement "fermeture demandée" : on ferme la fenêtre</span></div>
|
||||
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordflow">if</span> (event.type == sf::Event::Closed)</div>
|
||||
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  window.close();</div>
|
||||
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  }</div>
|
||||
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="comment">// Get one frame</span></div>
|
||||
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  frame = cvQueryFrame( capture );</div>
|
||||
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  </div>
|
||||
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordflow">if</span>( !frame ){</div>
|
||||
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  perror(<span class="stringliteral">"ERROR: frame is null..."</span>);</div>
|
||||
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">break</span>;</div>
|
||||
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  }</div>
|
||||
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> </div>
|
||||
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="comment">//Binarisation du flux vidéo</span></div>
|
||||
<div class="line"><a name="l00273"></a><span class="lineno"> 273</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="l00274"></a><span class="lineno"> 274</span>  </div>
|
||||
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="comment">// Calculate the moments to estimate the position of the ball </span></div>
|
||||
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <a class="code" href="_kirby_track_8c.html#ac3e9405c4ebaa936308670c050285ae1">Position_moy</a>(threshold, &posX, &posY);</div>
|
||||
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  </div>
|
||||
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="comment">//Dessine les informations de tracking sur frame</span></div>
|
||||
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <a class="code" href="_kirby_track_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">Affichage_Tracking</a>(frame, posX, posY, width, height);</div>
|
||||
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> </div>
|
||||
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> </div>
|
||||
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span> <span class="preprocessor">#ifdef SFML</span></div>
|
||||
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span> <span class="preprocessor"></span><span class="comment">//Affichage SFML</span></div>
|
||||
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="comment">/* Clear the screen */</span></div>
|
||||
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  window.clear(sf::Color::White); </div>
|
||||
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> </div>
|
||||
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> <span class="comment">//Affichage de la frame</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="comment">//Le chargement pourrait etre plus optimisé en créant nous me l'image SFML en parcourant l'IplImage</span></div>
|
||||
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> </div>
|
||||
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="comment">//Enregistrement de la frame openCV</span></div>
|
||||
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  cvSaveImage(<span class="stringliteral">"Stock SFML/temp.jpg"</span>, frame);</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">//Chargement de la frame en texture SFML</span></div>
|
||||
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="keywordflow">if</span> (!txFlux.loadFromFile(<span class="stringliteral">"Stock SFML/temp.jpg"</span>)){</div>
|
||||
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  printf(<span class="stringliteral">"Erreur chargement image SFML\n"</span> );</div>
|
||||
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keywordflow">break</span>;</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> </div>
|
||||
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  spFlux.setTexture(txFlux);</div>
|
||||
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  window.draw(spFlux);</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> </div>
|
||||
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  sf::Vector2i PosMouse = sf::Mouse::getPosition(window);</div>
|
||||
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> <span class="comment">//Detection du bouton tracking</span></div>
|
||||
<div class="line"><a name="l00306"></a><span class="lineno"> 306</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="l00307"></a><span class="lineno"> 307</span>  <span class="comment">//printf("\n\n\n OK \n\n\n");</span></div>
|
||||
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="keywordflow">if</span> (tracking){ tracking = 0;}</div>
|
||||
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordflow">else</span> tracking = 1;</div>
|
||||
<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  cvWaitKey(100);</div>
|
||||
<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  }</div>
|
||||
<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="comment">//printf("Pos Mouse : %d %d \n", PosMouse.x, PosMouse.y);</span></div>
|
||||
<div class="line"><a name="l00313"></a><span class="lineno"> 313</span> </div>
|
||||
<div class="line"><a name="l00314"></a><span class="lineno"> 314</span> <span class="comment">//Dessin du bouton de tracking</span></div>
|
||||
<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  sf::Texture txBut;</div>
|
||||
<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  sf::Sprite button_tracking;</div>
|
||||
<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  </div>
|
||||
<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="keywordflow">if</span> (!txBut.loadFromFile(<span class="stringliteral">"Stock SFML/button.png"</span>)){</div>
|
||||
<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  printf(<span class="stringliteral">"Erreur chargement image SFML\n"</span> );</div>
|
||||
<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="keywordflow">break</span>;</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>  </div>
|
||||
<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  button_tracking.setTexture(txBut);</div>
|
||||
<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  button_tracking.setScale(0.5,0.5);</div>
|
||||
<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  button_tracking.setPosition(sf::Vector2f(width+20, 20));</div>
|
||||
<div class="line"><a name="l00326"></a><span class="lineno"> 326</span> </div>
|
||||
<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <span class="keywordflow">if</span>(tracking){ button_tracking.setColor(sf::Color::Green); }</div>
|
||||
<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <span class="keywordflow">else</span>{ button_tracking.setColor(sf::Color::Red); }</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>  window.draw(button_tracking);</div>
|
||||
<div class="line"><a name="l00331"></a><span class="lineno"> 331</span> </div>
|
||||
<div class="line"><a name="l00332"></a><span class="lineno"> 332</span> <span class="comment">//Ajout du texte</span></div>
|
||||
<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  sf::Font font;</div>
|
||||
<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keywordflow">if</span> (!font.loadFromFile(<span class="stringliteral">"Stock SFML/arial.ttf"</span>)){</div>
|
||||
<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  printf(<span class="stringliteral">"Erreur chargement police SFML\n"</span> );</div>
|
||||
<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <span class="keywordflow">break</span>;</div>
|
||||
<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  }</div>
|
||||
<div class="line"><a name="l00338"></a><span class="lineno"> 338</span> </div>
|
||||
<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  sf::Text text;</div>
|
||||
<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="comment">// choix de la police à utiliser</span></div>
|
||||
<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  text.setFont(font); <span class="comment">// font est un sf::Font</span></div>
|
||||
<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> </div>
|
||||
<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <span class="comment">// choix de la chaîne de caractères à afficher</span></div>
|
||||
<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  text.setString(<span class="stringliteral">"Tracking Moteur"</span>);</div>
|
||||
<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> </div>
|
||||
<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="comment">// choix de la taille des caractères</span></div>
|
||||
<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  text.setCharacterSize(24); <span class="comment">// exprimée en pixels, pas en points !</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="comment">//text.setFillColor(sf::Color::Black);</span></div>
|
||||
<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  text.setColor(sf::Color::Black);</div>
|
||||
<div class="line"><a name="l00351"></a><span class="lineno"> 351</span> </div>
|
||||
<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  text.setPosition(sf::Vector2f(width+100, 35));</div>
|
||||
<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  </div>
|
||||
<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  window.draw(text);</div>
|
||||
<div class="line"><a name="l00355"></a><span class="lineno"> 355</span> </div>
|
||||
<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  <span class="comment">/* Update the window */</span></div>
|
||||
<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  window.display();</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> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00360"></a><span class="lineno"> 360</span> <span class="preprocessor"></span><span class="comment">//Envoie données moteurs</span></div>
|
||||
<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="keywordflow">if</span>(tracking){</div>
|
||||
<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  <span class="comment">//Mouvements moteurs</span></div>
|
||||
<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="comment">//printf("-PREMAJ_ANGLE...: %d %d\n",width,height);</span></div>
|
||||
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span> </div>
|
||||
<div class="line"><a name="l00365"></a><span class="lineno"> 365</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="l00366"></a><span class="lineno"> 366</span>  <a class="code" href="_kirby_track_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a>(angle); </div>
|
||||
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> </div>
|
||||
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  cvWaitKey(50);</div>
|
||||
<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  }</div>
|
||||
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span> </div>
|
||||
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span> </div>
|
||||
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span> <span class="preprocessor">#ifdef CONFIG</span></div>
|
||||
<div class="line"><a name="l00373"></a><span class="lineno"> 373</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="l00374"></a><span class="lineno"> 374</span>  </div>
|
||||
<div class="line"><a name="l00375"></a><span class="lineno"> 375</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="l00376"></a><span class="lineno"> 376</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00377"></a><span class="lineno"> 377</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  }</div>
|
||||
<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  </div>
|
||||
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="comment">// Release the capture device housekeeping</span></div>
|
||||
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  cvReleaseCapture( &capture );</div>
|
||||
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  </div>
|
||||
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  cvReleaseImage(&threshold);</div>
|
||||
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  cvReleaseImage(&hsv_frame);</div>
|
||||
<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  cvReleaseImage(&frame);</div>
|
||||
<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  </div>
|
||||
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="keywordflow">return</span> EXIT_SUCCESS;</div>
|
||||
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span> }</div>
|
||||
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span> </div>
|
||||
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span> </div>
|
||||
<div class="line"><a name="l00391"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#a93cca84f54fe35dc9ad87eac3583889b"> 391</a></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="l00392"></a><span class="lineno"> 392</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="l00393"></a><span class="lineno"> 393</span> </div>
|
||||
<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <span class="keywordtype">double</span> coeffx, coeffy;</div>
|
||||
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  <span class="keywordtype">int</span> l0, l1;</div>
|
||||
<div class="line"><a name="l00396"></a><span class="lineno"> 396</span> </div>
|
||||
<div class="line"><a name="l00397"></a><span class="lineno"> 397</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="l00398"></a><span class="lineno"> 398</span> </div>
|
||||
<div class="line"><a name="l00399"></a><span class="lineno"> 399</span> </div>
|
||||
<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <span class="comment">//Ajout d'un angle moteur pondéré par la distance</span></div>
|
||||
<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  coeffx = -0.2*vecX/rayon;</div>
|
||||
<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  coeffy = 0.2*vecY/rayon;</div>
|
||||
<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  angle[0] += coeffx;</div>
|
||||
<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  angle[1] += coeffy;</div>
|
||||
<div class="line"><a name="l00405"></a><span class="lineno"> 405</span> </div>
|
||||
<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  <span class="comment">//Majoration - minoration des angles moteurs</span></div>
|
||||
<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  l0 = <a class="code" href="_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a>(angle[0]);</div>
|
||||
<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  l1 = <a class="code" href="_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a>(angle[1]);</div>
|
||||
<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  <span class="keywordflow">if</span> (l0 != 0) angle[0] = l0;</div>
|
||||
<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  <span class="keywordflow">if</span> (l1 != 0) angle[1] = l1;</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">//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="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"><a class="line" href="_kirby_track_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae"> 415</a></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="l00416"></a><span class="lineno"> 416</span>  <span class="keywordflow">if</span> (pos > ref) <span class="keywordflow">return</span> 0;</div>
|
||||
<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  <span class="keywordflow">else</span> <span class="keywordflow">return</span> pos;</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> </div>
|
||||
<div class="line"><a name="l00420"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2"> 420</a></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="l00421"></a><span class="lineno"> 421</span>  <span class="keywordtype">int</span> MAX_PWM = 130, MIN_PWM = 30;</div>
|
||||
<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="keywordflow">if</span> (val_pwm > MAX_PWM){ </div>
|
||||
<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  <span class="keywordflow">return</span> MAX_PWM;</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>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (val_pwm < MIN_PWM){</div>
|
||||
<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="keywordflow">return</span> MIN_PWM;</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>  <span class="keywordflow">else</span>{</div>
|
||||
<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  <span class="keywordflow">return</span> 0;</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> }</div>
|
||||
<div class="line"><a name="l00432"></a><span class="lineno"> 432</span> </div>
|
||||
<div class="line"><a name="l00433"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#ad3f512a54511a63b30a8967077736766"> 433</a></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="l00434"></a><span class="lineno"> 434</span> </div>
|
||||
<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  <span class="comment">//Ouverture port serie</span></div>
|
||||
<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  FILE* fichier = NULL;</div>
|
||||
<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  fichier = fopen(<span class="stringliteral">"/dev/ttyACM0"</span>,<span class="stringliteral">"w"</span>);</div>
|
||||
<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  <span class="keywordflow">if</span>(fichier==NULL){</div>
|
||||
<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  printf(<span class="stringliteral">"Erreur ouverture fichier\n"</span>);</div>
|
||||
<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  perror(<span class="stringliteral">"fopen failed for /dev/ttyACM0"</span> );</div>
|
||||
<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  exit( EXIT_FAILURE );</div>
|
||||
<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  }</div>
|
||||
<div class="line"><a name="l00443"></a><span class="lineno"> 443</span> </div>
|
||||
<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  <span class="comment">//Ecriture angles</span></div>
|
||||
<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  fprintf(fichier,<span class="stringliteral">"%d\n"</span>,(<span class="keywordtype">int</span>)angle[0]);</div>
|
||||
<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  fprintf(fichier,<span class="stringliteral">"%d\n"</span>,(<span class="keywordtype">int</span>)angle[1]);</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">//Fermeture</span></div>
|
||||
<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  fclose(fichier);</div>
|
||||
<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  <span class="keywordflow">return</span>;</div>
|
||||
<div class="line"><a name="l00451"></a><span class="lineno"> 451</span> }</div>
|
||||
<div class="line"><a name="l00452"></a><span class="lineno"> 452</span> </div>
|
||||
<div class="line"><a name="l00453"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#a96b1dd5c66492425a00921b6eaaacc89"> 453</a></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>
|
||||
<div class="line"><a name="l00454"></a><span class="lineno"> 454</span> </div>
|
||||
<div class="line"><a name="l00455"></a><span class="lineno"> 455</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="l00456"></a><span class="lineno"> 456</span>  cvCvtColor(frame, HSV, CV_BGR2HSV);</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="comment">//Blur</span></div>
|
||||
<div class="line"><a name="l00459"></a><span class="lineno"> 459</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="l00460"></a><span class="lineno"> 460</span> </div>
|
||||
<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  <span class="comment">//Binarisation</span></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>  CvScalar valinf={(double)LowH,(<span class="keywordtype">double</span>)LowS,(double)LowV};</div>
|
||||
<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  CvScalar valsup={(double)HighH,(<span class="keywordtype">double</span>)HighS,(double)HighV};</div>
|
||||
<div class="line"><a name="l00465"></a><span class="lineno"> 465</span> </div>
|
||||
<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  cvInRangeS(HSV, valinf,valsup, Binaire);</div>
|
||||
<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  </div>
|
||||
<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  <span class="comment">//En cas d'erreur sur les trois ligne précédentes</span></div>
|
||||
<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  <span class="comment">//cvInRangeS(HSV, CvScalar(LowH,LowS,LowV),CvScalar(HighH,HighS,HighV), Binaire);</span></div>
|
||||
<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  </div>
|
||||
<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  <span class="comment">//cvSmooth( Binaire, Binaire, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites</span></div>
|
||||
<div class="line"><a name="l00472"></a><span class="lineno"> 472</span> }</div>
|
||||
<div class="line"><a name="l00473"></a><span class="lineno"> 473</span> </div>
|
||||
<div class="line"><a name="l00474"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#ac3e9405c4ebaa936308670c050285ae1"> 474</a></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="l00475"></a><span class="lineno"> 475</span> </div>
|
||||
<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  CvMoments *moments = (CvMoments*)malloc(<span class="keyword">sizeof</span>(CvMoments)); </div>
|
||||
<div class="line"><a name="l00477"></a><span class="lineno"> 477</span> </div>
|
||||
<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  cvMoments(Binaire, moments, 1); </div>
|
||||
<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  <span class="comment">// The actual moment values </span></div>
|
||||
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  <span class="keywordtype">double</span> moment10 = cvGetSpatialMoment(moments, 1, 0); </div>
|
||||
<div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  <span class="keywordtype">double</span> moment01 = cvGetSpatialMoment(moments, 0, 1); </div>
|
||||
<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  <span class="keywordtype">double</span> area = cvGetCentralMoment(moments, 0, 0);</div>
|
||||
<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  </div>
|
||||
<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  *posX = moment10/area;</div>
|
||||
<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  *posY = moment01/area;</div>
|
||||
<div class="line"><a name="l00486"></a><span class="lineno"> 486</span> </div>
|
||||
<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  free(moments);</div>
|
||||
<div class="line"><a name="l00488"></a><span class="lineno"> 488</span> }</div>
|
||||
<div class="line"><a name="l00489"></a><span class="lineno"> 489</span> </div>
|
||||
<div class="line"><a name="l00490"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#adcdd0544c8eb462cd2835ec99fa0f181"> 490</a></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="l00491"></a><span class="lineno"> 491</span> </div>
|
||||
<div class="line"><a name="l00492"></a><span class="lineno"> 492</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="l00493"></a><span class="lineno"> 493</span> </div>
|
||||
<div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  <span class="comment">//Create trackbars in "Control" window</span></div>
|
||||
<div class="line"><a name="l00495"></a><span class="lineno"> 495</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="l00496"></a><span class="lineno"> 496</span>  cvCreateTrackbar(<span class="stringliteral">"HighH"</span>, <span class="stringliteral">"Control"</span>, HighH, 179,NULL);</div>
|
||||
<div class="line"><a name="l00497"></a><span class="lineno"> 497</span> </div>
|
||||
<div class="line"><a name="l00498"></a><span class="lineno"> 498</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="l00499"></a><span class="lineno"> 499</span>  cvCreateTrackbar(<span class="stringliteral">"HighS"</span>, <span class="stringliteral">"Control"</span>, HighS, 255,NULL);</div>
|
||||
<div class="line"><a name="l00500"></a><span class="lineno"> 500</span> </div>
|
||||
<div class="line"><a name="l00501"></a><span class="lineno"> 501</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="l00502"></a><span class="lineno"> 502</span>  cvCreateTrackbar(<span class="stringliteral">"HighV"</span>, <span class="stringliteral">"Control"</span>, HighV, 255,NULL);</div>
|
||||
<div class="line"><a name="l00503"></a><span class="lineno"> 503</span> }</div>
|
||||
<div class="line"><a name="l00504"></a><span class="lineno"> 504</span> </div>
|
||||
<div class="line"><a name="l00505"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#acc438fce8178d1d5aac4595f19529275"> 505</a></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="l00506"></a><span class="lineno"> 506</span>  </div>
|
||||
<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  <span class="comment">// Create a window in which the captured images will be presented</span></div>
|
||||
<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  cvNamedWindow( <span class="stringliteral">"HSV"</span>, CV_WINDOW_AUTOSIZE );</div>
|
||||
<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  cvNamedWindow( <span class="stringliteral">"Binaire"</span>, CV_WINDOW_AUTOSIZE );</div>
|
||||
<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  cvNamedWindow( <span class="stringliteral">"Camera"</span>, CV_WINDOW_AUTOSIZE );</div>
|
||||
<div class="line"><a name="l00511"></a><span class="lineno"> 511</span> </div>
|
||||
<div class="line"><a name="l00512"></a><span class="lineno"> 512</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="l00513"></a><span class="lineno"> 513</span>  cvShowImage( <span class="stringliteral">"Binaire"</span>, Binaire); <span class="comment">// The stream after color filtering</span></div>
|
||||
<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  cvShowImage( <span class="stringliteral">"Camera"</span>, frame ); <span class="comment">// Flux caméra avec tracking objet</span></div>
|
||||
<div class="line"><a name="l00515"></a><span class="lineno"> 515</span> }</div>
|
||||
<div class="line"><a name="l00516"></a><span class="lineno"> 516</span> </div>
|
||||
<div class="line"><a name="l00517"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1"> 517</a></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="l00518"></a><span class="lineno"> 518</span> </div>
|
||||
<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  <span class="comment">//Affichage zone suivie objet</span></div>
|
||||
<div class="line"><a name="l00520"></a><span class="lineno"> 520</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="l00521"></a><span class="lineno"> 521</span> </div>
|
||||
<div class="line"><a name="l00522"></a><span class="lineno"> 522</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="l00523"></a><span class="lineno"> 523</span>  posX=width/2;</div>
|
||||
<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  posY=height/2;</div>
|
||||
<div class="line"><a name="l00525"></a><span class="lineno"> 525</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="l00526"></a><span class="lineno"> 526</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="l00527"></a><span class="lineno"> 527</span>  }</div>
|
||||
<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  <span class="keywordflow">else</span>{ <span class="comment">//Objet spotted</span></div>
|
||||
<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  <span class="comment">//Affichage position de l'objet</span></div>
|
||||
<div class="line"><a name="l00530"></a><span class="lineno"> 530</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="l00531"></a><span class="lineno"> 531</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="l00532"></a><span class="lineno"> 532</span>  }</div>
|
||||
<div class="line"><a name="l00533"></a><span class="lineno"> 533</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>
|
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<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>
|
||||
<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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<div class="contents">
|
||||
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#include <stdio.h></span></div>
|
||||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#include <stdlib.h></span></div>
|
||||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#include <cv.h></span> </div>
|
||||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <highgui.h></span></div>
|
||||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">//#include <opencv2/highgui.hpp> //Pour le cvRound</span></div>
|
||||
<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>
|
||||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> </div>
|
||||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">//#include <cxcore.h></span></div>
|
||||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">//#include <SFML/Window.h></span></div>
|
||||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <SFML/Audio.hpp></span></div>
|
||||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <SFML/Graphics.hpp></span></div>
|
||||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <SFML/Window.hpp></span></div>
|
||||
<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>
|
||||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div>
|
||||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">//#define CONFIG</span></div>
|
||||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#define SFML</span></div>
|
||||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#define KIRBY</span></div>
|
||||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor"></span><span class="comment">//#define ETOILE</span></div>
|
||||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div>
|
||||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#define JEU 0.15</span></div>
|
||||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">//ATTENTION AFFICHAGE OPENCV INCOMPATIBLE AVEC AFFICHAGE SFML</span></div>
|
||||
<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>
|
||||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div>
|
||||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">/*Headers*/</span></div>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div>
|
||||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="keywordtype">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="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>
|
||||
<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>
|
||||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div>
|
||||
<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>
|
||||
<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>
|
||||
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> </div>
|
||||
<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>
|
||||
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div>
|
||||
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div>
|
||||
<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>
|
||||
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {</div>
|
||||
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="comment">//Initialisations </span></div>
|
||||
<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>
|
||||
<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>
|
||||
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordtype">int</span> boucle;</div>
|
||||
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> </div>
|
||||
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordtype">double</span> angle[2] = {100,100};</div>
|
||||
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div>
|
||||
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordtype">int</span> tracking;</div>
|
||||
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> </div>
|
||||
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div>
|
||||
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="preprocessor">#ifdef SFML</span></div>
|
||||
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="preprocessor"></span> <span class="comment">//Initialisation SFML</span></div>
|
||||
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div>
|
||||
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  sf::Texture txFlux;</div>
|
||||
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  sf::Sprite spFlux;</div>
|
||||
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  sf::Image imFlux;</div>
|
||||
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  sf::Event event;</div>
|
||||
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> </div>
|
||||
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  tracking = 0; <span class="comment">//Pas de tracking de base en mode SFML</span></div>
|
||||
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
|
||||
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="comment">//Ouverture flux camera</span></div>
|
||||
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  CvCapture* capture = cvCaptureFromCAM( 0 );</div>
|
||||
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
|
||||
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">if</span>( !capture ){</div>
|
||||
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  printf(<span class="stringliteral">"ERROR: capture is NULL \n"</span> );</div>
|
||||
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  exit(EXIT_FAILURE);</div>
|
||||
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  }</div>
|
||||
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
|
||||
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> </div>
|
||||
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="comment">// grab an image from the capture</span></div>
|
||||
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  IplImage* frame = cvQueryFrame( capture );</div>
|
||||
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
|
||||
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="comment">// get the image data</span></div>
|
||||
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  height = frame->height;</div>
|
||||
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  width = frame->width;</div>
|
||||
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
|
||||
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="comment">// capture size - </span></div>
|
||||
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  CvSize size = cvSize(width,height);</div>
|
||||
<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>
|
||||
<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="comment">//Fermeture</span></div>
|
||||
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  fclose(fichier);</div>
|
||||
<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keywordflow">return</span>;</div>
|
||||
<div class="line"><a name="l00367"></a><span class="lineno"> 367</span> }</div>
|
||||
<div class="line"><a name="l00368"></a><span class="lineno"> 368</span> </div>
|
||||
<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>
|
||||
<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  </div>
|
||||
<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="keywordtype">int</span> R, G, B;</div>
|
||||
<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  <span class="keywordtype">int</span> w = imcv->widthStep;</div>
|
||||
<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  <span class="keywordtype">char</span>* ptr = imcv->imageData;</div>
|
||||
<div class="line"><a name="l00374"></a><span class="lineno"> 374</span> </div>
|
||||
<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>
|
||||
<div class="line"><a name="l00376"></a><span class="lineno"> 376</span> </div>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="comment">//Recupération du pixel</span></div>
|
||||
<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  B = ptr[y*w + 3*x];</div>
|
||||
<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  G = ptr[y*w + 3*x + 1]; </div>
|
||||
<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  R = ptr[y*w + 3*x + 2];</div>
|
||||
<div class="line"><a name="l00384"></a><span class="lineno"> 384</span> </div>
|
||||
<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>
|
||||
<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  }</div>
|
||||
<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  }</div>
|
||||
<div class="line"><a name="l00389"></a><span class="lineno"> 389</span> </div>
|
||||
<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="keywordflow">return</span> 0;</div>
|
||||
<div class="line"><a name="l00391"></a><span class="lineno"> 391</span> }</div>
|
||||
<div class="line"><a name="l00392"></a><span class="lineno"> 392</span> </div>
|
||||
<div class="line"><a name="l00393"></a><span class="lineno"> 393</span> </div>
|
||||
<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>
|
||||
<div class="line"><a name="l00395"></a><span class="lineno"> 395</span> </div>
|
||||
<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>
|
||||
<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_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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<tr class="memitem:_navy_8c"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><b>Navy.c</b> <a href="_navy_8c_source.html">[code]</a></td></tr>
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<div class="header">
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<div class="title">File List</div> </div>
|
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</div><!--header-->
|
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<div class="contents">
|
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<div class="textblock">Here is a list of all documented files with brief descriptions:</div><div class="directory">
|
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<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span>]</div><table class="directory">
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<tr id="row_0_" class="even"><td class="entry"><img id="arr_0_" src="ftv2mlastnode.png" alt="\" width="16" height="22" onclick="toggleFolder('0_')"/><img id="img_0_" src="ftv2folderopen.png" alt="-" width="24" height="22" onclick="toggleFolder('0_')"/><a class="el" href="dir_23fdee2f6995db16c755697cdf620cf4.html" target="_self">Code</a></td><td class="desc"></td></tr>
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<tr id="row_0_0_"><td class="entry"><img src="ftv2blank.png" alt=" " width="16" height="22" /><img src="ftv2node.png" alt="o" width="16" height="22" /><a href="_kirby_track_8c_source.html"><img src="ftv2doc.png" alt="*" width="24" height="22" /></a><a class="el" href="_kirby_track_8c.html" target="_self">KirbyTrack.c</a></td><td class="desc">Figure Imposé : Suivi d'un objet coloré </td></tr>
|
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<tr id="row_0_1_" class="even"><td class="entry"><img src="ftv2blank.png" alt=" " width="16" height="22" /><img src="ftv2lastnode.png" alt="\" width="16" height="22" /><a href="_navy_8c_source.html"><img src="ftv2doc.png" alt="*" width="24" height="22" /></a><b>Navy.c</b></td><td class="desc"></td></tr>
|
||||
</table>
|
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|
||||
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|
||||
<!-- start footer part -->
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<hr class="footer"/><address class="footer"><small>
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Generated on Tue May 23 2017 17:13:57 for CamAdventure by  <a href="http://www.doxygen.org/index.html">
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</a> 1.8.6
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</small></address>
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|
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</html>
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@ -0,0 +1,138 @@
|
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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|
||||
<div id="titlearea">
|
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<table cellspacing="0" cellpadding="0">
|
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<tbody>
|
||||
<tr style="height: 56px;">
|
||||
<td id="projectlogo"><img alt="Logo" src="linku.jpeg"/></td>
|
||||
<td style="padding-left: 0.5em;">
|
||||
<div id="projectname">CamAdventure
|
||||
</div>
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
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</table>
|
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<!-- Generated by Doxygen 1.8.6 -->
|
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|
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<div id="navrow1" class="tabs">
|
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<ul class="tablist">
|
||||
<li><a href="index.html"><span>Main Page</span></a></li>
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|
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<div id="navrow2" class="tabs2">
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<li><a href="files.html"><span>File List</span></a></li>
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|
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<li><a href="globals_defs.html"><span>Macros</span></a></li>
|
||||
</ul>
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<!-- window showing the filter options -->
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<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Macros</a></div>
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<div class="contents">
|
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<div class="textblock">Here is a list of all documented file members with links to the documentation:</div><ul>
|
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<li>affichage_config()
|
||||
: <a class="el" href="_kirby_track_8c.html#acc438fce8178d1d5aac4595f19529275">KirbyTrack.c</a>
|
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</li>
|
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<li>Affichage_Tracking()
|
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: <a class="el" href="_kirby_track_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">KirbyTrack.c</a>
|
||||
</li>
|
||||
<li>ajust_pos()
|
||||
: <a class="el" href="_kirby_track_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">KirbyTrack.c</a>
|
||||
</li>
|
||||
<li>config()
|
||||
: <a class="el" href="_kirby_track_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">KirbyTrack.c</a>
|
||||
</li>
|
||||
<li>controle_moteur()
|
||||
: <a class="el" href="_kirby_track_8c.html#ad3f512a54511a63b30a8967077736766">KirbyTrack.c</a>
|
||||
</li>
|
||||
<li>JEU
|
||||
: <a class="el" href="_kirby_track_8c.html#afb63dbc6e533233f41d03e8b8a3bc570">KirbyTrack.c</a>
|
||||
</li>
|
||||
<li>KIRBY
|
||||
: <a class="el" href="_kirby_track_8c.html#a9270f8e0b3866a58cfa3a7173da21abd">KirbyTrack.c</a>
|
||||
</li>
|
||||
<li>limite_moteur()
|
||||
: <a class="el" href="_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">KirbyTrack.c</a>
|
||||
</li>
|
||||
<li>main()
|
||||
: <a class="el" href="_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97">KirbyTrack.c</a>
|
||||
</li>
|
||||
<li>maj_angle()
|
||||
: <a class="el" href="_kirby_track_8c.html#a93cca84f54fe35dc9ad87eac3583889b">KirbyTrack.c</a>
|
||||
</li>
|
||||
<li>Position_moy()
|
||||
: <a class="el" href="_kirby_track_8c.html#ac3e9405c4ebaa936308670c050285ae1">KirbyTrack.c</a>
|
||||
</li>
|
||||
<li>SFML
|
||||
: <a class="el" href="_kirby_track_8c.html#a28c9f30d423e9c1ca6fa15a0ec9a0032">KirbyTrack.c</a>
|
||||
</li>
|
||||
<li>traitement()
|
||||
: <a class="el" href="_kirby_track_8c.html#a96b1dd5c66492425a00921b6eaaacc89">KirbyTrack.c</a>
|
||||
</li>
|
||||
</ul>
|
||||
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|
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<!-- start footer part -->
|
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<hr class="footer"/><address class="footer"><small>
|
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Generated on Tue May 23 2017 17:13:57 for CamAdventure by  <a href="http://www.doxygen.org/index.html">
|
||||
<img class="footer" src="doxygen.png" alt="doxygen"/>
|
||||
</a> 1.8.6
|
||||
</small></address>
|
||||
</body>
|
||||
</html>
|
||||
108
Doxy/html/globals_defs.html
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108
Doxy/html/globals_defs.html
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|
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@ -0,0 +1,108 @@
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<html xmlns="http://www.w3.org/1999/xhtml">
|
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|
||||
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|
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|
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<div id="projectname">CamAdventure
|
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<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Macros</a></div>
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 <ul>
|
||||
<li>JEU
|
||||
: <a class="el" href="_kirby_track_8c.html#afb63dbc6e533233f41d03e8b8a3bc570">KirbyTrack.c</a>
|
||||
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|
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|
||||
: <a class="el" href="_kirby_track_8c.html#a9270f8e0b3866a58cfa3a7173da21abd">KirbyTrack.c</a>
|
||||
</li>
|
||||
<li>SFML
|
||||
: <a class="el" href="_kirby_track_8c.html#a28c9f30d423e9c1ca6fa15a0ec9a0032">KirbyTrack.c</a>
|
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||||
</a> 1.8.6
|
||||
</small></address>
|
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</body>
|
||||
</html>
|
||||
129
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: <a class="el" href="_kirby_track_8c.html#acc438fce8178d1d5aac4595f19529275">KirbyTrack.c</a>
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: <a class="el" href="_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">KirbyTrack.c</a>
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: <a class="el" href="_kirby_track_8c.html#a93cca84f54fe35dc9ad87eac3583889b">KirbyTrack.c</a>
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: <a class="el" href="_kirby_track_8c.html#a96b1dd5c66492425a00921b6eaaacc89">KirbyTrack.c</a>
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||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
5
Doxy/html/search/all_3.js
Normal file
5
Doxy/html/search/all_3.js
Normal file
|
|
@ -0,0 +1,5 @@
|
|||
var searchData=
|
||||
[
|
||||
['kirby',['KIRBY',['../_kirby_track_8c.html#a9270f8e0b3866a58cfa3a7173da21abd',1,'KirbyTrack.c']]],
|
||||
['kirbytrack_2ec',['KirbyTrack.c',['../_kirby_track_8c.html',1,'']]]
|
||||
];
|
||||
26
Doxy/html/search/all_4.html
Normal file
26
Doxy/html/search/all_4.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="all_4.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/all_4.js
Normal file
4
Doxy/html/search/all_4.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['limite_5fmoteur',['limite_moteur',['../_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2',1,'KirbyTrack.c']]]
|
||||
];
|
||||
26
Doxy/html/search/all_5.html
Normal file
26
Doxy/html/search/all_5.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="all_5.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
5
Doxy/html/search/all_5.js
Normal file
5
Doxy/html/search/all_5.js
Normal file
|
|
@ -0,0 +1,5 @@
|
|||
var searchData=
|
||||
[
|
||||
['main',['main',['../_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97',1,'KirbyTrack.c']]],
|
||||
['maj_5fangle',['maj_angle',['../_kirby_track_8c.html#a93cca84f54fe35dc9ad87eac3583889b',1,'KirbyTrack.c']]]
|
||||
];
|
||||
26
Doxy/html/search/all_6.html
Normal file
26
Doxy/html/search/all_6.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="all_6.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/all_6.js
Normal file
4
Doxy/html/search/all_6.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['position_5fmoy',['Position_moy',['../_kirby_track_8c.html#ac3e9405c4ebaa936308670c050285ae1',1,'KirbyTrack.c']]]
|
||||
];
|
||||
26
Doxy/html/search/all_7.html
Normal file
26
Doxy/html/search/all_7.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="all_7.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/all_7.js
Normal file
4
Doxy/html/search/all_7.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['sfml',['SFML',['../_kirby_track_8c.html#a28c9f30d423e9c1ca6fa15a0ec9a0032',1,'KirbyTrack.c']]]
|
||||
];
|
||||
26
Doxy/html/search/all_8.html
Normal file
26
Doxy/html/search/all_8.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="all_8.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/all_8.js
Normal file
4
Doxy/html/search/all_8.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['traitement',['traitement',['../_kirby_track_8c.html#a96b1dd5c66492425a00921b6eaaacc89',1,'KirbyTrack.c']]]
|
||||
];
|
||||
BIN
Doxy/html/search/close.png
Normal file
BIN
Doxy/html/search/close.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 273 B |
26
Doxy/html/search/defines_0.html
Normal file
26
Doxy/html/search/defines_0.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="defines_0.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/defines_0.js
Normal file
4
Doxy/html/search/defines_0.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['jeu',['JEU',['../_kirby_track_8c.html#afb63dbc6e533233f41d03e8b8a3bc570',1,'KirbyTrack.c']]]
|
||||
];
|
||||
26
Doxy/html/search/defines_1.html
Normal file
26
Doxy/html/search/defines_1.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="defines_1.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/defines_1.js
Normal file
4
Doxy/html/search/defines_1.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['kirby',['KIRBY',['../_kirby_track_8c.html#a9270f8e0b3866a58cfa3a7173da21abd',1,'KirbyTrack.c']]]
|
||||
];
|
||||
26
Doxy/html/search/defines_2.html
Normal file
26
Doxy/html/search/defines_2.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="defines_2.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/defines_2.js
Normal file
4
Doxy/html/search/defines_2.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['sfml',['SFML',['../_kirby_track_8c.html#a28c9f30d423e9c1ca6fa15a0ec9a0032',1,'KirbyTrack.c']]]
|
||||
];
|
||||
26
Doxy/html/search/files_0.html
Normal file
26
Doxy/html/search/files_0.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="files_0.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/files_0.js
Normal file
4
Doxy/html/search/files_0.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['kirbytrack_2ec',['KirbyTrack.c',['../_kirby_track_8c.html',1,'']]]
|
||||
];
|
||||
26
Doxy/html/search/functions_0.html
Normal file
26
Doxy/html/search/functions_0.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="functions_0.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
6
Doxy/html/search/functions_0.js
Normal file
6
Doxy/html/search/functions_0.js
Normal file
|
|
@ -0,0 +1,6 @@
|
|||
var searchData=
|
||||
[
|
||||
['affichage_5fconfig',['affichage_config',['../_kirby_track_8c.html#acc438fce8178d1d5aac4595f19529275',1,'KirbyTrack.c']]],
|
||||
['affichage_5ftracking',['Affichage_Tracking',['../_kirby_track_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1',1,'KirbyTrack.c']]],
|
||||
['ajust_5fpos',['ajust_pos',['../_kirby_track_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae',1,'KirbyTrack.c']]]
|
||||
];
|
||||
26
Doxy/html/search/functions_1.html
Normal file
26
Doxy/html/search/functions_1.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="functions_1.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
5
Doxy/html/search/functions_1.js
Normal file
5
Doxy/html/search/functions_1.js
Normal file
|
|
@ -0,0 +1,5 @@
|
|||
var searchData=
|
||||
[
|
||||
['config',['config',['../_kirby_track_8c.html#adcdd0544c8eb462cd2835ec99fa0f181',1,'KirbyTrack.c']]],
|
||||
['controle_5fmoteur',['controle_moteur',['../_kirby_track_8c.html#ad3f512a54511a63b30a8967077736766',1,'KirbyTrack.c']]]
|
||||
];
|
||||
26
Doxy/html/search/functions_2.html
Normal file
26
Doxy/html/search/functions_2.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="functions_2.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/functions_2.js
Normal file
4
Doxy/html/search/functions_2.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['limite_5fmoteur',['limite_moteur',['../_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2',1,'KirbyTrack.c']]]
|
||||
];
|
||||
26
Doxy/html/search/functions_3.html
Normal file
26
Doxy/html/search/functions_3.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="functions_3.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
5
Doxy/html/search/functions_3.js
Normal file
5
Doxy/html/search/functions_3.js
Normal file
|
|
@ -0,0 +1,5 @@
|
|||
var searchData=
|
||||
[
|
||||
['main',['main',['../_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97',1,'KirbyTrack.c']]],
|
||||
['maj_5fangle',['maj_angle',['../_kirby_track_8c.html#a93cca84f54fe35dc9ad87eac3583889b',1,'KirbyTrack.c']]]
|
||||
];
|
||||
26
Doxy/html/search/functions_4.html
Normal file
26
Doxy/html/search/functions_4.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="functions_4.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/functions_4.js
Normal file
4
Doxy/html/search/functions_4.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['position_5fmoy',['Position_moy',['../_kirby_track_8c.html#ac3e9405c4ebaa936308670c050285ae1',1,'KirbyTrack.c']]]
|
||||
];
|
||||
26
Doxy/html/search/functions_5.html
Normal file
26
Doxy/html/search/functions_5.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="functions_5.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
createResults();
|
||||
--></script>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
<script type="text/javascript"><!--
|
||||
document.getElementById("Loading").style.display="none";
|
||||
document.getElementById("NoMatches").style.display="none";
|
||||
var searchResults = new SearchResults("searchResults");
|
||||
searchResults.Search();
|
||||
--></script>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/functions_5.js
Normal file
4
Doxy/html/search/functions_5.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['traitement',['traitement',['../_kirby_track_8c.html#a96b1dd5c66492425a00921b6eaaacc89',1,'KirbyTrack.c']]]
|
||||
];
|
||||
BIN
Doxy/html/search/mag_sel.png
Normal file
BIN
Doxy/html/search/mag_sel.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 563 B |
12
Doxy/html/search/nomatches.html
Normal file
12
Doxy/html/search/nomatches.html
Normal file
|
|
@ -0,0 +1,12 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
||||
<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
271
Doxy/html/search/search.css
Normal file
271
Doxy/html/search/search.css
Normal file
|
|
@ -0,0 +1,271 @@
|
|||
/*---------------- Search Box */
|
||||
|
||||
#FSearchBox {
|
||||
float: left;
|
||||
}
|
||||
|
||||
#MSearchBox {
|
||||
white-space : nowrap;
|
||||
position: absolute;
|
||||
float: none;
|
||||
display: inline;
|
||||
margin-top: 8px;
|
||||
right: 0px;
|
||||
width: 170px;
|
||||
z-index: 102;
|
||||
background-color: white;
|
||||
}
|
||||
|
||||
#MSearchBox .left
|
||||
{
|
||||
display:block;
|
||||
position:absolute;
|
||||
left:10px;
|
||||
width:20px;
|
||||
height:19px;
|
||||
background:url('search_l.png') no-repeat;
|
||||
background-position:right;
|
||||
}
|
||||
|
||||
#MSearchSelect {
|
||||
display:block;
|
||||
position:absolute;
|
||||
width:20px;
|
||||
height:19px;
|
||||
}
|
||||
|
||||
.left #MSearchSelect {
|
||||
left:4px;
|
||||
}
|
||||
|
||||
.right #MSearchSelect {
|
||||
right:5px;
|
||||
}
|
||||
|
||||
#MSearchField {
|
||||
display:block;
|
||||
position:absolute;
|
||||
height:19px;
|
||||
background:url('search_m.png') repeat-x;
|
||||
border:none;
|
||||
width:111px;
|
||||
margin-left:20px;
|
||||
padding-left:4px;
|
||||
color: #909090;
|
||||
outline: none;
|
||||
font: 9pt Arial, Verdana, sans-serif;
|
||||
}
|
||||
|
||||
#FSearchBox #MSearchField {
|
||||
margin-left:15px;
|
||||
}
|
||||
|
||||
#MSearchBox .right {
|
||||
display:block;
|
||||
position:absolute;
|
||||
right:10px;
|
||||
top:0px;
|
||||
width:20px;
|
||||
height:19px;
|
||||
background:url('search_r.png') no-repeat;
|
||||
background-position:left;
|
||||
}
|
||||
|
||||
#MSearchClose {
|
||||
display: none;
|
||||
position: absolute;
|
||||
top: 4px;
|
||||
background : none;
|
||||
border: none;
|
||||
margin: 0px 4px 0px 0px;
|
||||
padding: 0px 0px;
|
||||
outline: none;
|
||||
}
|
||||
|
||||
.left #MSearchClose {
|
||||
left: 6px;
|
||||
}
|
||||
|
||||
.right #MSearchClose {
|
||||
right: 2px;
|
||||
}
|
||||
|
||||
.MSearchBoxActive #MSearchField {
|
||||
color: #000000;
|
||||
}
|
||||
|
||||
/*---------------- Search filter selection */
|
||||
|
||||
#MSearchSelectWindow {
|
||||
display: none;
|
||||
position: absolute;
|
||||
left: 0; top: 0;
|
||||
border: 1px solid #90A5CE;
|
||||
background-color: #F9FAFC;
|
||||
z-index: 1;
|
||||
padding-top: 4px;
|
||||
padding-bottom: 4px;
|
||||
-moz-border-radius: 4px;
|
||||
-webkit-border-top-left-radius: 4px;
|
||||
-webkit-border-top-right-radius: 4px;
|
||||
-webkit-border-bottom-left-radius: 4px;
|
||||
-webkit-border-bottom-right-radius: 4px;
|
||||
-webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
|
||||
}
|
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|
||||
.SelectItem {
|
||||
font: 8pt Arial, Verdana, sans-serif;
|
||||
padding-left: 2px;
|
||||
padding-right: 12px;
|
||||
border: 0px;
|
||||
}
|
||||
|
||||
span.SelectionMark {
|
||||
margin-right: 4px;
|
||||
font-family: monospace;
|
||||
outline-style: none;
|
||||
text-decoration: none;
|
||||
}
|
||||
|
||||
a.SelectItem {
|
||||
display: block;
|
||||
outline-style: none;
|
||||
color: #000000;
|
||||
text-decoration: none;
|
||||
padding-left: 6px;
|
||||
padding-right: 12px;
|
||||
}
|
||||
|
||||
a.SelectItem:focus,
|
||||
a.SelectItem:active {
|
||||
color: #000000;
|
||||
outline-style: none;
|
||||
text-decoration: none;
|
||||
}
|
||||
|
||||
a.SelectItem:hover {
|
||||
color: #FFFFFF;
|
||||
background-color: #3D578C;
|
||||
outline-style: none;
|
||||
text-decoration: none;
|
||||
cursor: pointer;
|
||||
display: block;
|
||||
}
|
||||
|
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/*---------------- Search results window */
|
||||
|
||||
iframe#MSearchResults {
|
||||
width: 60ex;
|
||||
height: 15em;
|
||||
}
|
||||
|
||||
#MSearchResultsWindow {
|
||||
display: none;
|
||||
position: absolute;
|
||||
left: 0; top: 0;
|
||||
border: 1px solid #000;
|
||||
background-color: #EEF1F7;
|
||||
}
|
||||
|
||||
/* ----------------------------------- */
|
||||
|
||||
|
||||
#SRIndex {
|
||||
clear:both;
|
||||
padding-bottom: 15px;
|
||||
}
|
||||
|
||||
.SREntry {
|
||||
font-size: 10pt;
|
||||
padding-left: 1ex;
|
||||
}
|
||||
|
||||
.SRPage .SREntry {
|
||||
font-size: 8pt;
|
||||
padding: 1px 5px;
|
||||
}
|
||||
|
||||
body.SRPage {
|
||||
margin: 5px 2px;
|
||||
}
|
||||
|
||||
.SRChildren {
|
||||
padding-left: 3ex; padding-bottom: .5em
|
||||
}
|
||||
|
||||
.SRPage .SRChildren {
|
||||
display: none;
|
||||
}
|
||||
|
||||
.SRSymbol {
|
||||
font-weight: bold;
|
||||
color: #425E97;
|
||||
font-family: Arial, Verdana, sans-serif;
|
||||
text-decoration: none;
|
||||
outline: none;
|
||||
}
|
||||
|
||||
a.SRScope {
|
||||
display: block;
|
||||
color: #425E97;
|
||||
font-family: Arial, Verdana, sans-serif;
|
||||
text-decoration: none;
|
||||
outline: none;
|
||||
}
|
||||
|
||||
a.SRSymbol:focus, a.SRSymbol:active,
|
||||
a.SRScope:focus, a.SRScope:active {
|
||||
text-decoration: underline;
|
||||
}
|
||||
|
||||
span.SRScope {
|
||||
padding-left: 4px;
|
||||
}
|
||||
|
||||
.SRPage .SRStatus {
|
||||
padding: 2px 5px;
|
||||
font-size: 8pt;
|
||||
font-style: italic;
|
||||
}
|
||||
|
||||
.SRResult {
|
||||
display: none;
|
||||
}
|
||||
|
||||
DIV.searchresults {
|
||||
margin-left: 10px;
|
||||
margin-right: 10px;
|
||||
}
|
||||
|
||||
/*---------------- External search page results */
|
||||
|
||||
.searchresult {
|
||||
background-color: #F0F3F8;
|
||||
}
|
||||
|
||||
.pages b {
|
||||
color: white;
|
||||
padding: 5px 5px 3px 5px;
|
||||
background-image: url("../tab_a.png");
|
||||
background-repeat: repeat-x;
|
||||
text-shadow: 0 1px 1px #000000;
|
||||
}
|
||||
|
||||
.pages {
|
||||
line-height: 17px;
|
||||
margin-left: 4px;
|
||||
text-decoration: none;
|
||||
}
|
||||
|
||||
.hl {
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
#searchresults {
|
||||
margin-bottom: 20px;
|
||||
}
|
||||
|
||||
.searchpages {
|
||||
margin-top: 10px;
|
||||
}
|
||||
|
||||
799
Doxy/html/search/search.js
Normal file
799
Doxy/html/search/search.js
Normal file
|
|
@ -0,0 +1,799 @@
|
|||
// Search script generated by doxygen
|
||||
// Copyright (C) 2009 by Dimitri van Heesch.
|
||||
|
||||
// The code in this file is loosly based on main.js, part of Natural Docs,
|
||||
// which is Copyright (C) 2003-2008 Greg Valure
|
||||
// Natural Docs is licensed under the GPL.
|
||||
|
||||
var indexSectionsWithContent =
|
||||
{
|
||||
0: "acjklmpst",
|
||||
1: "k",
|
||||
2: "aclmpt",
|
||||
3: "jks"
|
||||
};
|
||||
|
||||
var indexSectionNames =
|
||||
{
|
||||
0: "all",
|
||||
1: "files",
|
||||
2: "functions",
|
||||
3: "defines"
|
||||
};
|
||||
|
||||
function convertToId(search)
|
||||
{
|
||||
var result = '';
|
||||
for (i=0;i<search.length;i++)
|
||||
{
|
||||
var c = search.charAt(i);
|
||||
var cn = c.charCodeAt(0);
|
||||
if (c.match(/[a-z0-9\u0080-\uFFFF]/))
|
||||
{
|
||||
result+=c;
|
||||
}
|
||||
else if (cn<16)
|
||||
{
|
||||
result+="_0"+cn.toString(16);
|
||||
}
|
||||
else
|
||||
{
|
||||
result+="_"+cn.toString(16);
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
function getXPos(item)
|
||||
{
|
||||
var x = 0;
|
||||
if (item.offsetWidth)
|
||||
{
|
||||
while (item && item!=document.body)
|
||||
{
|
||||
x += item.offsetLeft;
|
||||
item = item.offsetParent;
|
||||
}
|
||||
}
|
||||
return x;
|
||||
}
|
||||
|
||||
function getYPos(item)
|
||||
{
|
||||
var y = 0;
|
||||
if (item.offsetWidth)
|
||||
{
|
||||
while (item && item!=document.body)
|
||||
{
|
||||
y += item.offsetTop;
|
||||
item = item.offsetParent;
|
||||
}
|
||||
}
|
||||
return y;
|
||||
}
|
||||
|
||||
/* A class handling everything associated with the search panel.
|
||||
|
||||
Parameters:
|
||||
name - The name of the global variable that will be
|
||||
storing this instance. Is needed to be able to set timeouts.
|
||||
resultPath - path to use for external files
|
||||
*/
|
||||
function SearchBox(name, resultsPath, inFrame, label)
|
||||
{
|
||||
if (!name || !resultsPath) { alert("Missing parameters to SearchBox."); }
|
||||
|
||||
// ---------- Instance variables
|
||||
this.name = name;
|
||||
this.resultsPath = resultsPath;
|
||||
this.keyTimeout = 0;
|
||||
this.keyTimeoutLength = 500;
|
||||
this.closeSelectionTimeout = 300;
|
||||
this.lastSearchValue = "";
|
||||
this.lastResultsPage = "";
|
||||
this.hideTimeout = 0;
|
||||
this.searchIndex = 0;
|
||||
this.searchActive = false;
|
||||
this.insideFrame = inFrame;
|
||||
this.searchLabel = label;
|
||||
|
||||
// ----------- DOM Elements
|
||||
|
||||
this.DOMSearchField = function()
|
||||
{ return document.getElementById("MSearchField"); }
|
||||
|
||||
this.DOMSearchSelect = function()
|
||||
{ return document.getElementById("MSearchSelect"); }
|
||||
|
||||
this.DOMSearchSelectWindow = function()
|
||||
{ return document.getElementById("MSearchSelectWindow"); }
|
||||
|
||||
this.DOMPopupSearchResults = function()
|
||||
{ return document.getElementById("MSearchResults"); }
|
||||
|
||||
this.DOMPopupSearchResultsWindow = function()
|
||||
{ return document.getElementById("MSearchResultsWindow"); }
|
||||
|
||||
this.DOMSearchClose = function()
|
||||
{ return document.getElementById("MSearchClose"); }
|
||||
|
||||
this.DOMSearchBox = function()
|
||||
{ return document.getElementById("MSearchBox"); }
|
||||
|
||||
// ------------ Event Handlers
|
||||
|
||||
// Called when focus is added or removed from the search field.
|
||||
this.OnSearchFieldFocus = function(isActive)
|
||||
{
|
||||
this.Activate(isActive);
|
||||
}
|
||||
|
||||
this.OnSearchSelectShow = function()
|
||||
{
|
||||
var searchSelectWindow = this.DOMSearchSelectWindow();
|
||||
var searchField = this.DOMSearchSelect();
|
||||
|
||||
if (this.insideFrame)
|
||||
{
|
||||
var left = getXPos(searchField);
|
||||
var top = getYPos(searchField);
|
||||
left += searchField.offsetWidth + 6;
|
||||
top += searchField.offsetHeight;
|
||||
|
||||
// show search selection popup
|
||||
searchSelectWindow.style.display='block';
|
||||
left -= searchSelectWindow.offsetWidth;
|
||||
searchSelectWindow.style.left = left + 'px';
|
||||
searchSelectWindow.style.top = top + 'px';
|
||||
}
|
||||
else
|
||||
{
|
||||
var left = getXPos(searchField);
|
||||
var top = getYPos(searchField);
|
||||
top += searchField.offsetHeight;
|
||||
|
||||
// show search selection popup
|
||||
searchSelectWindow.style.display='block';
|
||||
searchSelectWindow.style.left = left + 'px';
|
||||
searchSelectWindow.style.top = top + 'px';
|
||||
}
|
||||
|
||||
// stop selection hide timer
|
||||
if (this.hideTimeout)
|
||||
{
|
||||
clearTimeout(this.hideTimeout);
|
||||
this.hideTimeout=0;
|
||||
}
|
||||
return false; // to avoid "image drag" default event
|
||||
}
|
||||
|
||||
this.OnSearchSelectHide = function()
|
||||
{
|
||||
this.hideTimeout = setTimeout(this.name +".CloseSelectionWindow()",
|
||||
this.closeSelectionTimeout);
|
||||
}
|
||||
|
||||
// Called when the content of the search field is changed.
|
||||
this.OnSearchFieldChange = function(evt)
|
||||
{
|
||||
if (this.keyTimeout) // kill running timer
|
||||
{
|
||||
clearTimeout(this.keyTimeout);
|
||||
this.keyTimeout = 0;
|
||||
}
|
||||
|
||||
var e = (evt) ? evt : window.event; // for IE
|
||||
if (e.keyCode==40 || e.keyCode==13)
|
||||
{
|
||||
if (e.shiftKey==1)
|
||||
{
|
||||
this.OnSearchSelectShow();
|
||||
var win=this.DOMSearchSelectWindow();
|
||||
for (i=0;i<win.childNodes.length;i++)
|
||||
{
|
||||
var child = win.childNodes[i]; // get span within a
|
||||
if (child.className=='SelectItem')
|
||||
{
|
||||
child.focus();
|
||||
return;
|
||||
}
|
||||
}
|
||||
return;
|
||||
}
|
||||
else if (window.frames.MSearchResults.searchResults)
|
||||
{
|
||||
var elem = window.frames.MSearchResults.searchResults.NavNext(0);
|
||||
if (elem) elem.focus();
|
||||
}
|
||||
}
|
||||
else if (e.keyCode==27) // Escape out of the search field
|
||||
{
|
||||
this.DOMSearchField().blur();
|
||||
this.DOMPopupSearchResultsWindow().style.display = 'none';
|
||||
this.DOMSearchClose().style.display = 'none';
|
||||
this.lastSearchValue = '';
|
||||
this.Activate(false);
|
||||
return;
|
||||
}
|
||||
|
||||
// strip whitespaces
|
||||
var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
|
||||
|
||||
if (searchValue != this.lastSearchValue) // search value has changed
|
||||
{
|
||||
if (searchValue != "") // non-empty search
|
||||
{
|
||||
// set timer for search update
|
||||
this.keyTimeout = setTimeout(this.name + '.Search()',
|
||||
this.keyTimeoutLength);
|
||||
}
|
||||
else // empty search field
|
||||
{
|
||||
this.DOMPopupSearchResultsWindow().style.display = 'none';
|
||||
this.DOMSearchClose().style.display = 'none';
|
||||
this.lastSearchValue = '';
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
this.SelectItemCount = function(id)
|
||||
{
|
||||
var count=0;
|
||||
var win=this.DOMSearchSelectWindow();
|
||||
for (i=0;i<win.childNodes.length;i++)
|
||||
{
|
||||
var child = win.childNodes[i]; // get span within a
|
||||
if (child.className=='SelectItem')
|
||||
{
|
||||
count++;
|
||||
}
|
||||
}
|
||||
return count;
|
||||
}
|
||||
|
||||
this.SelectItemSet = function(id)
|
||||
{
|
||||
var i,j=0;
|
||||
var win=this.DOMSearchSelectWindow();
|
||||
for (i=0;i<win.childNodes.length;i++)
|
||||
{
|
||||
var child = win.childNodes[i]; // get span within a
|
||||
if (child.className=='SelectItem')
|
||||
{
|
||||
var node = child.firstChild;
|
||||
if (j==id)
|
||||
{
|
||||
node.innerHTML='•';
|
||||
}
|
||||
else
|
||||
{
|
||||
node.innerHTML=' ';
|
||||
}
|
||||
j++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Called when an search filter selection is made.
|
||||
// set item with index id as the active item
|
||||
this.OnSelectItem = function(id)
|
||||
{
|
||||
this.searchIndex = id;
|
||||
this.SelectItemSet(id);
|
||||
var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
|
||||
if (searchValue!="" && this.searchActive) // something was found -> do a search
|
||||
{
|
||||
this.Search();
|
||||
}
|
||||
}
|
||||
|
||||
this.OnSearchSelectKey = function(evt)
|
||||
{
|
||||
var e = (evt) ? evt : window.event; // for IE
|
||||
if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
|
||||
{
|
||||
this.searchIndex++;
|
||||
this.OnSelectItem(this.searchIndex);
|
||||
}
|
||||
else if (e.keyCode==38 && this.searchIndex>0) // Up
|
||||
{
|
||||
this.searchIndex--;
|
||||
this.OnSelectItem(this.searchIndex);
|
||||
}
|
||||
else if (e.keyCode==13 || e.keyCode==27)
|
||||
{
|
||||
this.OnSelectItem(this.searchIndex);
|
||||
this.CloseSelectionWindow();
|
||||
this.DOMSearchField().focus();
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
// --------- Actions
|
||||
|
||||
// Closes the results window.
|
||||
this.CloseResultsWindow = function()
|
||||
{
|
||||
this.DOMPopupSearchResultsWindow().style.display = 'none';
|
||||
this.DOMSearchClose().style.display = 'none';
|
||||
this.Activate(false);
|
||||
}
|
||||
|
||||
this.CloseSelectionWindow = function()
|
||||
{
|
||||
this.DOMSearchSelectWindow().style.display = 'none';
|
||||
}
|
||||
|
||||
// Performs a search.
|
||||
this.Search = function()
|
||||
{
|
||||
this.keyTimeout = 0;
|
||||
|
||||
// strip leading whitespace
|
||||
var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
|
||||
|
||||
var code = searchValue.toLowerCase().charCodeAt(0);
|
||||
var idxChar = searchValue.substr(0, 1).toLowerCase();
|
||||
if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
|
||||
{
|
||||
idxChar = searchValue.substr(0, 2);
|
||||
}
|
||||
|
||||
var resultsPage;
|
||||
var resultsPageWithSearch;
|
||||
var hasResultsPage;
|
||||
|
||||
var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
|
||||
if (idx!=-1)
|
||||
{
|
||||
var hexCode=idx.toString(16);
|
||||
resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + '.html';
|
||||
resultsPageWithSearch = resultsPage+'?'+escape(searchValue);
|
||||
hasResultsPage = true;
|
||||
}
|
||||
else // nothing available for this search term
|
||||
{
|
||||
resultsPage = this.resultsPath + '/nomatches.html';
|
||||
resultsPageWithSearch = resultsPage;
|
||||
hasResultsPage = false;
|
||||
}
|
||||
|
||||
window.frames.MSearchResults.location = resultsPageWithSearch;
|
||||
var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
|
||||
|
||||
if (domPopupSearchResultsWindow.style.display!='block')
|
||||
{
|
||||
var domSearchBox = this.DOMSearchBox();
|
||||
this.DOMSearchClose().style.display = 'inline';
|
||||
if (this.insideFrame)
|
||||
{
|
||||
var domPopupSearchResults = this.DOMPopupSearchResults();
|
||||
domPopupSearchResultsWindow.style.position = 'relative';
|
||||
domPopupSearchResultsWindow.style.display = 'block';
|
||||
var width = document.body.clientWidth - 8; // the -8 is for IE :-(
|
||||
domPopupSearchResultsWindow.style.width = width + 'px';
|
||||
domPopupSearchResults.style.width = width + 'px';
|
||||
}
|
||||
else
|
||||
{
|
||||
var domPopupSearchResults = this.DOMPopupSearchResults();
|
||||
var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth;
|
||||
var top = getYPos(domSearchBox) + 20; // domSearchBox.offsetHeight + 1;
|
||||
domPopupSearchResultsWindow.style.display = 'block';
|
||||
left -= domPopupSearchResults.offsetWidth;
|
||||
domPopupSearchResultsWindow.style.top = top + 'px';
|
||||
domPopupSearchResultsWindow.style.left = left + 'px';
|
||||
}
|
||||
}
|
||||
|
||||
this.lastSearchValue = searchValue;
|
||||
this.lastResultsPage = resultsPage;
|
||||
}
|
||||
|
||||
// -------- Activation Functions
|
||||
|
||||
// Activates or deactivates the search panel, resetting things to
|
||||
// their default values if necessary.
|
||||
this.Activate = function(isActive)
|
||||
{
|
||||
if (isActive || // open it
|
||||
this.DOMPopupSearchResultsWindow().style.display == 'block'
|
||||
)
|
||||
{
|
||||
this.DOMSearchBox().className = 'MSearchBoxActive';
|
||||
|
||||
var searchField = this.DOMSearchField();
|
||||
|
||||
if (searchField.value == this.searchLabel) // clear "Search" term upon entry
|
||||
{
|
||||
searchField.value = '';
|
||||
this.searchActive = true;
|
||||
}
|
||||
}
|
||||
else if (!isActive) // directly remove the panel
|
||||
{
|
||||
this.DOMSearchBox().className = 'MSearchBoxInactive';
|
||||
this.DOMSearchField().value = this.searchLabel;
|
||||
this.searchActive = false;
|
||||
this.lastSearchValue = ''
|
||||
this.lastResultsPage = '';
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// -----------------------------------------------------------------------
|
||||
|
||||
// The class that handles everything on the search results page.
|
||||
function SearchResults(name)
|
||||
{
|
||||
// The number of matches from the last run of <Search()>.
|
||||
this.lastMatchCount = 0;
|
||||
this.lastKey = 0;
|
||||
this.repeatOn = false;
|
||||
|
||||
// Toggles the visibility of the passed element ID.
|
||||
this.FindChildElement = function(id)
|
||||
{
|
||||
var parentElement = document.getElementById(id);
|
||||
var element = parentElement.firstChild;
|
||||
|
||||
while (element && element!=parentElement)
|
||||
{
|
||||
if (element.nodeName == 'DIV' && element.className == 'SRChildren')
|
||||
{
|
||||
return element;
|
||||
}
|
||||
|
||||
if (element.nodeName == 'DIV' && element.hasChildNodes())
|
||||
{
|
||||
element = element.firstChild;
|
||||
}
|
||||
else if (element.nextSibling)
|
||||
{
|
||||
element = element.nextSibling;
|
||||
}
|
||||
else
|
||||
{
|
||||
do
|
||||
{
|
||||
element = element.parentNode;
|
||||
}
|
||||
while (element && element!=parentElement && !element.nextSibling);
|
||||
|
||||
if (element && element!=parentElement)
|
||||
{
|
||||
element = element.nextSibling;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
this.Toggle = function(id)
|
||||
{
|
||||
var element = this.FindChildElement(id);
|
||||
if (element)
|
||||
{
|
||||
if (element.style.display == 'block')
|
||||
{
|
||||
element.style.display = 'none';
|
||||
}
|
||||
else
|
||||
{
|
||||
element.style.display = 'block';
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Searches for the passed string. If there is no parameter,
|
||||
// it takes it from the URL query.
|
||||
//
|
||||
// Always returns true, since other documents may try to call it
|
||||
// and that may or may not be possible.
|
||||
this.Search = function(search)
|
||||
{
|
||||
if (!search) // get search word from URL
|
||||
{
|
||||
search = window.location.search;
|
||||
search = search.substring(1); // Remove the leading '?'
|
||||
search = unescape(search);
|
||||
}
|
||||
|
||||
search = search.replace(/^ +/, ""); // strip leading spaces
|
||||
search = search.replace(/ +$/, ""); // strip trailing spaces
|
||||
search = search.toLowerCase();
|
||||
search = convertToId(search);
|
||||
|
||||
var resultRows = document.getElementsByTagName("div");
|
||||
var matches = 0;
|
||||
|
||||
var i = 0;
|
||||
while (i < resultRows.length)
|
||||
{
|
||||
var row = resultRows.item(i);
|
||||
if (row.className == "SRResult")
|
||||
{
|
||||
var rowMatchName = row.id.toLowerCase();
|
||||
rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
|
||||
|
||||
if (search.length<=rowMatchName.length &&
|
||||
rowMatchName.substr(0, search.length)==search)
|
||||
{
|
||||
row.style.display = 'block';
|
||||
matches++;
|
||||
}
|
||||
else
|
||||
{
|
||||
row.style.display = 'none';
|
||||
}
|
||||
}
|
||||
i++;
|
||||
}
|
||||
document.getElementById("Searching").style.display='none';
|
||||
if (matches == 0) // no results
|
||||
{
|
||||
document.getElementById("NoMatches").style.display='block';
|
||||
}
|
||||
else // at least one result
|
||||
{
|
||||
document.getElementById("NoMatches").style.display='none';
|
||||
}
|
||||
this.lastMatchCount = matches;
|
||||
return true;
|
||||
}
|
||||
|
||||
// return the first item with index index or higher that is visible
|
||||
this.NavNext = function(index)
|
||||
{
|
||||
var focusItem;
|
||||
while (1)
|
||||
{
|
||||
var focusName = 'Item'+index;
|
||||
focusItem = document.getElementById(focusName);
|
||||
if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
|
||||
{
|
||||
break;
|
||||
}
|
||||
else if (!focusItem) // last element
|
||||
{
|
||||
break;
|
||||
}
|
||||
focusItem=null;
|
||||
index++;
|
||||
}
|
||||
return focusItem;
|
||||
}
|
||||
|
||||
this.NavPrev = function(index)
|
||||
{
|
||||
var focusItem;
|
||||
while (1)
|
||||
{
|
||||
var focusName = 'Item'+index;
|
||||
focusItem = document.getElementById(focusName);
|
||||
if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
|
||||
{
|
||||
break;
|
||||
}
|
||||
else if (!focusItem) // last element
|
||||
{
|
||||
break;
|
||||
}
|
||||
focusItem=null;
|
||||
index--;
|
||||
}
|
||||
return focusItem;
|
||||
}
|
||||
|
||||
this.ProcessKeys = function(e)
|
||||
{
|
||||
if (e.type == "keydown")
|
||||
{
|
||||
this.repeatOn = false;
|
||||
this.lastKey = e.keyCode;
|
||||
}
|
||||
else if (e.type == "keypress")
|
||||
{
|
||||
if (!this.repeatOn)
|
||||
{
|
||||
if (this.lastKey) this.repeatOn = true;
|
||||
return false; // ignore first keypress after keydown
|
||||
}
|
||||
}
|
||||
else if (e.type == "keyup")
|
||||
{
|
||||
this.lastKey = 0;
|
||||
this.repeatOn = false;
|
||||
}
|
||||
return this.lastKey!=0;
|
||||
}
|
||||
|
||||
this.Nav = function(evt,itemIndex)
|
||||
{
|
||||
var e = (evt) ? evt : window.event; // for IE
|
||||
if (e.keyCode==13) return true;
|
||||
if (!this.ProcessKeys(e)) return false;
|
||||
|
||||
if (this.lastKey==38) // Up
|
||||
{
|
||||
var newIndex = itemIndex-1;
|
||||
var focusItem = this.NavPrev(newIndex);
|
||||
if (focusItem)
|
||||
{
|
||||
var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
|
||||
if (child && child.style.display == 'block') // children visible
|
||||
{
|
||||
var n=0;
|
||||
var tmpElem;
|
||||
while (1) // search for last child
|
||||
{
|
||||
tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
|
||||
if (tmpElem)
|
||||
{
|
||||
focusItem = tmpElem;
|
||||
}
|
||||
else // found it!
|
||||
{
|
||||
break;
|
||||
}
|
||||
n++;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (focusItem)
|
||||
{
|
||||
focusItem.focus();
|
||||
}
|
||||
else // return focus to search field
|
||||
{
|
||||
parent.document.getElementById("MSearchField").focus();
|
||||
}
|
||||
}
|
||||
else if (this.lastKey==40) // Down
|
||||
{
|
||||
var newIndex = itemIndex+1;
|
||||
var focusItem;
|
||||
var item = document.getElementById('Item'+itemIndex);
|
||||
var elem = this.FindChildElement(item.parentNode.parentNode.id);
|
||||
if (elem && elem.style.display == 'block') // children visible
|
||||
{
|
||||
focusItem = document.getElementById('Item'+itemIndex+'_c0');
|
||||
}
|
||||
if (!focusItem) focusItem = this.NavNext(newIndex);
|
||||
if (focusItem) focusItem.focus();
|
||||
}
|
||||
else if (this.lastKey==39) // Right
|
||||
{
|
||||
var item = document.getElementById('Item'+itemIndex);
|
||||
var elem = this.FindChildElement(item.parentNode.parentNode.id);
|
||||
if (elem) elem.style.display = 'block';
|
||||
}
|
||||
else if (this.lastKey==37) // Left
|
||||
{
|
||||
var item = document.getElementById('Item'+itemIndex);
|
||||
var elem = this.FindChildElement(item.parentNode.parentNode.id);
|
||||
if (elem) elem.style.display = 'none';
|
||||
}
|
||||
else if (this.lastKey==27) // Escape
|
||||
{
|
||||
parent.searchBox.CloseResultsWindow();
|
||||
parent.document.getElementById("MSearchField").focus();
|
||||
}
|
||||
else if (this.lastKey==13) // Enter
|
||||
{
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
this.NavChild = function(evt,itemIndex,childIndex)
|
||||
{
|
||||
var e = (evt) ? evt : window.event; // for IE
|
||||
if (e.keyCode==13) return true;
|
||||
if (!this.ProcessKeys(e)) return false;
|
||||
|
||||
if (this.lastKey==38) // Up
|
||||
{
|
||||
if (childIndex>0)
|
||||
{
|
||||
var newIndex = childIndex-1;
|
||||
document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
|
||||
}
|
||||
else // already at first child, jump to parent
|
||||
{
|
||||
document.getElementById('Item'+itemIndex).focus();
|
||||
}
|
||||
}
|
||||
else if (this.lastKey==40) // Down
|
||||
{
|
||||
var newIndex = childIndex+1;
|
||||
var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
|
||||
if (!elem) // last child, jump to parent next parent
|
||||
{
|
||||
elem = this.NavNext(itemIndex+1);
|
||||
}
|
||||
if (elem)
|
||||
{
|
||||
elem.focus();
|
||||
}
|
||||
}
|
||||
else if (this.lastKey==27) // Escape
|
||||
{
|
||||
parent.searchBox.CloseResultsWindow();
|
||||
parent.document.getElementById("MSearchField").focus();
|
||||
}
|
||||
else if (this.lastKey==13) // Enter
|
||||
{
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
function setKeyActions(elem,action)
|
||||
{
|
||||
elem.setAttribute('onkeydown',action);
|
||||
elem.setAttribute('onkeypress',action);
|
||||
elem.setAttribute('onkeyup',action);
|
||||
}
|
||||
|
||||
function setClassAttr(elem,attr)
|
||||
{
|
||||
elem.setAttribute('class',attr);
|
||||
elem.setAttribute('className',attr);
|
||||
}
|
||||
|
||||
function createResults()
|
||||
{
|
||||
var results = document.getElementById("SRResults");
|
||||
for (var e=0; e<searchData.length; e++)
|
||||
{
|
||||
var id = searchData[e][0];
|
||||
var srResult = document.createElement('div');
|
||||
srResult.setAttribute('id','SR_'+id);
|
||||
setClassAttr(srResult,'SRResult');
|
||||
var srEntry = document.createElement('div');
|
||||
setClassAttr(srEntry,'SREntry');
|
||||
var srLink = document.createElement('a');
|
||||
srLink.setAttribute('id','Item'+e);
|
||||
setKeyActions(srLink,'return searchResults.Nav(event,'+e+')');
|
||||
setClassAttr(srLink,'SRSymbol');
|
||||
srLink.innerHTML = searchData[e][1][0];
|
||||
srEntry.appendChild(srLink);
|
||||
if (searchData[e][1].length==2) // single result
|
||||
{
|
||||
srLink.setAttribute('href',searchData[e][1][1][0]);
|
||||
if (searchData[e][1][1][1])
|
||||
{
|
||||
srLink.setAttribute('target','_parent');
|
||||
}
|
||||
var srScope = document.createElement('span');
|
||||
setClassAttr(srScope,'SRScope');
|
||||
srScope.innerHTML = searchData[e][1][1][2];
|
||||
srEntry.appendChild(srScope);
|
||||
}
|
||||
else // multiple results
|
||||
{
|
||||
srLink.setAttribute('href','javascript:searchResults.Toggle("SR_'+id+'")');
|
||||
var srChildren = document.createElement('div');
|
||||
setClassAttr(srChildren,'SRChildren');
|
||||
for (var c=0; c<searchData[e][1].length-1; c++)
|
||||
{
|
||||
var srChild = document.createElement('a');
|
||||
srChild.setAttribute('id','Item'+e+'_c'+c);
|
||||
setKeyActions(srChild,'return searchResults.NavChild(event,'+e+','+c+')');
|
||||
setClassAttr(srChild,'SRScope');
|
||||
srChild.setAttribute('href',searchData[e][1][c+1][0]);
|
||||
if (searchData[e][1][c+1][1])
|
||||
{
|
||||
srChild.setAttribute('target','_parent');
|
||||
}
|
||||
srChild.innerHTML = searchData[e][1][c+1][2];
|
||||
srChildren.appendChild(srChild);
|
||||
}
|
||||
srEntry.appendChild(srChildren);
|
||||
}
|
||||
srResult.appendChild(srEntry);
|
||||
results.appendChild(srResult);
|
||||
}
|
||||
}
|
||||
|
||||
BIN
Doxy/html/search/search_l.png
Normal file
BIN
Doxy/html/search/search_l.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 604 B |
BIN
Doxy/html/search/search_m.png
Normal file
BIN
Doxy/html/search/search_m.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 158 B |
BIN
Doxy/html/search/search_r.png
Normal file
BIN
Doxy/html/search/search_r.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 612 B |
BIN
Doxy/html/sync_off.png
Normal file
BIN
Doxy/html/sync_off.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 853 B |
BIN
Doxy/html/sync_on.png
Normal file
BIN
Doxy/html/sync_on.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 845 B |
BIN
Doxy/html/tab_a.png
Normal file
BIN
Doxy/html/tab_a.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 142 B |
BIN
Doxy/html/tab_b.png
Normal file
BIN
Doxy/html/tab_b.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 169 B |
BIN
Doxy/html/tab_h.png
Normal file
BIN
Doxy/html/tab_h.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 177 B |
Some files were not shown because too many files have changed in this diff Show more
Loading…
Add table
Add a link
Reference in a new issue