mirror of
https://github.com/AntoineHX/LivingMachine.git
synced 2025-05-03 13:20:45 +02:00
Ajout de fonctionnalités sur Navy
This commit is contained in:
AntoineUPMC
parent
e2bf98b7f8
commit
25b7096cce
113 changed files with 6698 additions and 1857 deletions
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@ -5,10 +5,8 @@
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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 (Résolu ?) 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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* \todo Verifier les angles du RESET
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*/
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@ -234,8 +232,8 @@ sf::Vector2i PosMouse = sf::Mouse::getPosition(window);
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tracking = 0;
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//Reset Position moteur
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angle[0]=0; //ANGLES A VERIFIER
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angle[1]=0;
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angle[0]=60; //ANGLES A VERIFIER
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angle[1]=100;
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controle_moteur(angle);
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aye.play();
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@ -284,5 +282,28 @@ sf::Vector2i PosMouse = sf::Mouse::getPosition(window);
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return EXIT_SUCCESS;
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}
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/*
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//musique
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if(aye.getStatus()==sf::Sound::Stopped){
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aye.setPitch(0.5);
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aye.setVolume(150);
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aye.setLoop(true);
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aye.play();
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}
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*/
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/*
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//Link
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sf::Texture txLink;
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sf::Sprite Link;
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if (!txLink.loadFromFile("Stock SFML/link.png")){
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printf("Erreur chargement image SFML\n" );
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break;
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}
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Link.setTexture(txLink);
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Link.setPosition(sf::Vector2f(posX-75, posY-75));
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window.draw(Link);
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*/
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@ -1,5 +1,5 @@
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EXEC= Navy KirbyTrack
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EXEC= Navy KirbyTrack
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LDFLAGS = -lsfml-graphics -lsfml-window -lsfml-system -lsfml-audio `pkg-config opencv --libs`
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CFLAGS = -Wall -g3 -pg `pkg-config opencv --cflags`
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@ -1,14 +0,0 @@
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all : KirbyTrack
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KirbyTrack : KirbyTrack.o
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gcc -o $@ $< `pkg-config opencv --libs` -lsfml-graphics -lsfml-window -lsfml-audio -lsfml-system
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KirbyTrack.o : KirbyTrack.c
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gcc -o $@ -c $< `pkg-config opencv --cflags`
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clean:
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rm -rf *.o
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mrproper : clean
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rm -rf KirbyTrack
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294
Code/Navy.c
294
Code/Navy.c
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@ -5,21 +5,79 @@
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* \brief Figure Libre
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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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*
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* \todo Reprendre nouvelle structure SFML de Kirbytrack
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*
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* \todo Stabiliser detection faciale
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*/
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#include "fonction.h"
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//#include "fonction.c" //Pour le problème de référence indéfinie à la compilation
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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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//Initialisations
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int height,width; //parameters of the image we are working on
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int posX, posY; //Position objet
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int boucle;
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double angle[2] = {100,100};
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int tracking;
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int boucle = 1; //On effectuera la boucle principale au moins une fois
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int i;
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float scale_x, scale_y;
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int BGR[3];
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//Initialisation detection visage
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CvHaarClassifierCascade* cascade = init_cascade();
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face* tab_face[MAX_FACE];
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for (i=0;i<2;i++){
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tab_face[i] = (face*)malloc(sizeof(face));
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}
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int rdy[MAX_FACE];
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//Link
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sf::Texture txLink;
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sf::Sprite Link;
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if (!txLink.loadFromFile("Stock SFML/link.png")){
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printf("Erreur chargement image SFML\n" );
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return EXIT_FAILURE;
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}
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sf::Vector2u vec_link = txLink.getSize();
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//Ganon
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sf::Texture txGanon;
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sf::Sprite Ganon;
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if (!txGanon.loadFromFile("Stock SFML/ganon.png")){
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printf("Erreur chargement image SFML\n" );
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return EXIT_FAILURE;
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}
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sf::Vector2u vec_ganon = txGanon.getSize();
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//Initialisation SFML
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sf::Texture txFlux;
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sf::Sprite spFlux;
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sf::Image imFlux;
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sf::Event event;
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//Chargement son
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sf::Music aile;
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if (!aile.openFromFile("Stock SFML/aile.ogg"))
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return EXIT_FAILURE;
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aile.setLoop(true);
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aile.play();
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sf::Music hey;
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if (!hey.openFromFile("Stock SFML/hey_listen.ogg"))
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return EXIT_FAILURE;
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sf::Music watchout;
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if (!watchout.openFromFile("Stock SFML/watchout.ogg"))
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return EXIT_FAILURE;
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//Ouverture flux camera
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CvCapture* capture = cvCaptureFromCAM( 0 );
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@ -27,52 +85,28 @@ int main(int argc, char* argv[])
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if( !capture ){
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printf("ERROR: capture is NULL \n" );
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exit(EXIT_FAILURE);
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}
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}
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//Initialisation frame
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// grab an image from the capture
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IplImage* frame = cvQueryFrame( capture );
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height = frame->height;
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width = frame->width;
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CvSize size = cvSize(width,height);
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IplImage* hsv_frame = cvCreateImage(size, IPL_DEPTH_8U, 3); // image converted to HSV plane
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IplImage* threshold = cvCreateImage(size, IPL_DEPTH_8U, 1);
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//Initialisation detection visage
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CvHaarClassifierCascade* cascade = init_cascade();
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#ifdef SFML
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//Initialisation SFML
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sf::Texture txFlux;
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sf::Sprite spFlux;
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sf::Image imFlux;
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sf::Event event;
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tracking = 0; //Pas de tracking de base en mode SFML
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//Création de la fenetre principale
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sf::RenderWindow window(sf::VideoMode(width+300, height), "KirbyTrack");
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#endif
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//Controle couleur
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#ifdef KIRBY
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int tab_HSV[6] = {152,179,48,255,101,255};
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#endif
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// get the image data
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height = frame->height;
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width = frame->width;
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// capture size -
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// CvSize size = cvSize(width,height);
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#ifdef ETOILE
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int tab_HSV[6] = {20,30,100,255,100,255};
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#endif
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#ifdef CONFIG
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//Affichage du panneau de config
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config(tab_HSV,tab_HSV+1,tab_HSV+2,tab_HSV+3,tab_HSV+4,tab_HSV+5);
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//Création de la fenetre principale
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sf::RenderWindow window(sf::VideoMode(width, height), "KirbyTrack");
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boucle = 1;
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tracking = 0; //Tracking de base en mode CONFIG
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#endif
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while(boucle)
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{
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#ifdef SFML
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boucle = window.isOpen();
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// on inspecte tous les évènements de la fenêtre qui ont été émis depuis la précédente itération
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@ -82,7 +116,6 @@ int main(int argc, char* argv[])
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if (event.type == sf::Event::Closed)
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window.close();
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}
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#endif
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// Get one frame
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frame = cvQueryFrame( capture );
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}
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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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//Affichage SFML
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/* Clear the screen */
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window.clear(sf::Color::White);
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//Conversion de la frame en image smfl
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/*if(image_CV2SFML(frame, imFlux)){
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printf("Erreur conversion OpenCV-SFML\n");
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break;
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}
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*/
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//Affichage de la frame
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//Le chargement pourrait etre plus optimisé en créant nous me l'image SFML en parcourant l'IplImage
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//Enregistrement de la frame openCV
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cvSaveImage("Stock SFML/temp.jpg", frame);
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}
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spFlux.setTexture(txFlux);
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window.draw(spFlux);
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//TEST SFML
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sf::Vector2i PosMouse = sf::Mouse::getPosition(window);
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//Detection du bouton tracking
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if (sf::Mouse::isButtonPressed(sf::Mouse::Left)&&(PosMouse.x>640)&&(PosMouse.x<760)&&(PosMouse.y>0)&&(PosMouse.y<120)){
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//printf("\n\n\n OK \n\n\n");
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if (tracking){ tracking = 0;}
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else tracking = 1;
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cvWaitKey(100);
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}
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//printf("Pos Mouse : %d %d \n", PosMouse.x, PosMouse.y);
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//Dessin du bouton de tracking
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sf::Texture txBut;
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sf::Sprite button_tracking;
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if (!txBut.loadFromFile("Stock SFML/button.png")){
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printf("Erreur chargement image SFML\n" );
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break;
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}
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button_tracking.setTexture(txBut);
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button_tracking.setScale(0.5,0.5);
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button_tracking.setPosition(sf::Vector2f(width+20, 20));
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if(tracking){ button_tracking.setColor(sf::Color::Green); }
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else{ button_tracking.setColor(sf::Color::Red); }
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window.draw(button_tracking);
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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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if (!txBut2.loadFromFile("Stock SFML/button.png")){
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printf("Erreur chargement image SFML\n" );
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break;
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}
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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, 100));
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window.draw(button_reset);
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/*
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//musique
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if(aye.getStatus()==sf::Sound::Stopped){
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aye.setPitch(0.5);
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aye.setVolume(150);
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aye.setLoop(true);
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aye.play();
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}
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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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printf("Erreur chargement police SFML\n" );
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break;
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}
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sf::Text text;
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// choix de la police à utiliser
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text.setFont(font); // font est un sf::Font
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// choix de la chaîne de caractères à afficher
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text.setString("Tracking Moteur");
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// choix de la taille des caractères
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text.setCharacterSize(24); // exprimée en pixels, pas en points !
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//text.setFillColor(sf::Color::Black);
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text.setColor(sf::Color::Black);
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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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sf::Sprite Link;
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if (!txLink.loadFromFile("Stock SFML/link.png")){
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printf("Erreur chargement image SFML\n" );
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break;
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}
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Link.setTexture(txLink);
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Link.setPosition(sf::Vector2f(posX-75, posY-75));
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Link.setOrigin(sf::Vector2f(vec_link.x/2,vec_link.y/2));
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Link.setPosition(sf::Vector2f(tab_face[0]->point.x, tab_face[0]->point.y));
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scale_x = tab_face[0]->largeur / (1.0*vec_link.x);
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scale_y = tab_face[0]->largeur / (1.0*vec_link.y);
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//printf("%d , %d et%lf, %lf\n",tab_face[0]->largeur,vec_link.x,scale_x,scale_y);
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Link.setScale(sf::Vector2f(scale_x, scale_y));
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Ganon.setTexture(txGanon);
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Ganon.setOrigin(sf::Vector2f(vec_ganon.x/2,vec_ganon.y/2));
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Ganon.setPosition(sf::Vector2f(tab_face[1]->point.x, tab_face[1]->point.y));
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scale_x = tab_face[1]->largeur / (1.0*vec_ganon.x);
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scale_y = tab_face[1]->largeur / (1.0*vec_ganon.y);
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Ganon.setScale(sf::Vector2f(scale_x, scale_y));
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window.draw(Link);
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*/
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window.draw(Ganon);
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/* Update the window */
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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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maj_angle(ajust_pos(posX-width/2,width), ajust_pos(posY-height/2,height), height*JEU, angle);
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controle_moteur(angle);
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cvWaitKey(50);
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}
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*/
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#ifdef CONFIG
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/*
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affichage_config(frame, hsv_frame, threshold); //Affichage du flux vidéo et de ses traitements
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*/
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if( (cvWaitKey(10) ) >= 0 ) break; //Arret capture
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#endif
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}
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//cvWaitKey(0); //Fin programme
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//Marqueurs rdy
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for (i=0 ; i<MAX_FACE ; i++){
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if(tab_face[i]->largeur==0){
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rdy[i]=1;
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}
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}
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if((tab_face[1]->largeur>0) && (watchout.getStatus()==sf::Sound::Stopped) && rdy[1]){
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watchout.play();
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rdy[1]=0;
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}
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if((tab_face[0]->largeur>0) && (hey.getStatus()==sf::Sound::Stopped) && rdy[0]){
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hey.play();
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rdy[0]=0;
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printf("a\n");
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get_color(frame, tab_face[0],BGR);
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printf("B = %d, G = %d, R = %d\n",BGR[0],BGR[1],BGR[2]);
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}
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}
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// Release the capture device housekeeping
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cvReleaseCapture( &capture );
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cvReleaseImage(&threshold);
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cvReleaseImage(&hsv_frame);
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cvReleaseImage(&frame);
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return EXIT_SUCCESS;
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Before Width: | Height: | Size: 74 KiB After Width: | Height: | Size: 47 KiB |
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Before Width: | Height: | Size: 36 KiB After Width: | Height: | Size: 35 KiB |
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Before Width: | Height: | Size: 50 KiB After Width: | Height: | Size: 84 KiB |
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@ -1,125 +0,0 @@
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// Sample Application to demonstrate how Face detection can be done as a part of your source code.
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// Include header files
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#include "cv.h"
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#include "highgui.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <assert.h>
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#include <math.h>
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#include <float.h>
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#include <limits.h>
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#include <time.h>
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#include <ctype.h>
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// Create a string that contains the exact cascade name
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const char* cascade_name =
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"C:/Program Files/OpenCV/data/haarcascades/haarcascade_frontalface_alt.xml";
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/* "haarcascade_profileface.xml";*/
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// Function prototype for detecting and drawing an object from an image
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void detect_and_draw( IplImage* image );
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// Main function, defines the entry point for the program.
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int main( int argc, char** argv )
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{
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//Ouverture flux camera
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CvCapture* capture = cvCaptureFromCAM( 0 );
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if( !capture ){
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printf("ERROR: capture is NULL \n" );
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exit(EXIT_FAILURE);
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}
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// Call the function to detect and draw the face positions
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detect_and_draw(img);
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// Wait for user input before quitting the program
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cvWaitKey();
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// Release the image
|
||||
cvReleaseImage(&img);
|
||||
|
||||
// Destroy the window previously created with filename: "result"
|
||||
cvDestroyWindow("result");
|
||||
|
||||
// return 0 to indicate successfull execution of the program
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Function to detect and draw any faces that is present in an image
|
||||
void detect_and_draw( IplImage* img )
|
||||
{
|
||||
|
||||
// Create memory for calculations
|
||||
static CvMemStorage* storage = 0;
|
||||
|
||||
// Create a new Haar classifier
|
||||
static CvHaarClassifierCascade* cascade = 0;
|
||||
|
||||
int scale = 1;
|
||||
|
||||
// Create a new image based on the input image
|
||||
IplImage* temp = cvCreateImage( cvSize(img->width/scale,img->height/scale), 8, 3 );
|
||||
|
||||
// Create two points to represent the face locations
|
||||
CvPoint pt1, pt2;
|
||||
int i;
|
||||
|
||||
// Load the [[HaarClassifierCascade]]
|
||||
cascade = (CvHaarClassifierCascade*)cvLoad( cascade_name, 0, 0, 0 );
|
||||
|
||||
// Check whether the cascade has loaded successfully. Else report and error and quit
|
||||
if( !cascade )
|
||||
{
|
||||
fprintf( stderr, "ERROR: Could not load classifier cascade\n" );
|
||||
return;
|
||||
}
|
||||
|
||||
// Allocate the memory storage
|
||||
storage = cvCreateMemStorage(0);
|
||||
|
||||
// Create a new named window with title: result
|
||||
cvNamedWindow( "result", 1 );
|
||||
|
||||
// Clear the memory storage which was used before
|
||||
cvClearMemStorage( storage );
|
||||
|
||||
// Find whether the cascade is loaded, to find the faces. If yes, then:
|
||||
if( cascade )
|
||||
{
|
||||
|
||||
// There can be more than one face in an image. So create a growable sequence of faces.
|
||||
// Detect the objects and store them in the sequence
|
||||
CvSeq* faces = cvHaarDetectObjects( img, cascade, storage,
|
||||
1.1, 2, CV_HAAR_DO_CANNY_PRUNING,
|
||||
cvSize(40, 40) );
|
||||
|
||||
// Loop the number of faces found.
|
||||
for( i = 0; i < (faces ? faces->total : 0); i++ )
|
||||
{
|
||||
// Create a new rectangle for drawing the face
|
||||
CvRect* r = (CvRect*)cvGetSeqElem( faces, i );
|
||||
|
||||
// Find the dimensions of the face,and scale it if necessary
|
||||
pt1.x = r->x*scale;
|
||||
pt2.x = (r->x+r->width)*scale;
|
||||
pt1.y = r->y*scale;
|
||||
pt2.y = (r->y+r->height)*scale;
|
||||
|
||||
// Draw the rectangle in the input image
|
||||
cvRectangle( img, pt1, pt2, CV_RGB(255,0,0), 3, 8, 0 );
|
||||
}
|
||||
}
|
||||
|
||||
// Show the image in the window named "result"
|
||||
cvShowImage( "result", img );
|
||||
|
||||
// Release the temp image created.
|
||||
cvReleaseImage( &temp );
|
||||
}
|
||||
|
|
@ -105,14 +105,14 @@ void traitement(IplImage* frame, IplImage* HSV, IplImage* Binaire, int LowH, int
|
|||
cvSmooth( HSV, HSV, CV_GAUSSIAN, 15, 0,0,0); //suppression des parasites par flou gaussien
|
||||
|
||||
//Binarisation
|
||||
/*
|
||||
|
||||
CvScalar valinf={(double)LowH,(double)LowS,(double)LowV};
|
||||
CvScalar valsup={(double)HighH,(double)HighS,(double)HighV};
|
||||
|
||||
cvInRangeS(HSV, valinf,valsup, Binaire);
|
||||
*/
|
||||
|
||||
//En cas d'erreur sur les trois ligne précédentes
|
||||
cvInRangeS(HSV, CvScalar(LowH,LowS,LowV),CvScalar(HighH,HighS,HighV), Binaire);
|
||||
//cvInRangeS(HSV, CvScalar(LowH,LowS,LowV),CvScalar(HighH,HighS,HighV), Binaire);
|
||||
|
||||
//cvSmooth( Binaire, Binaire, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites
|
||||
}
|
||||
|
|
@ -197,7 +197,7 @@ CvHaarClassifierCascade* init_cascade(){
|
|||
}
|
||||
|
||||
// Function to detect and draw any faces that is present in an image
|
||||
void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade, pface* tab_face)
|
||||
void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade, face** tab_face)
|
||||
{
|
||||
|
||||
// Create memory for calculations
|
||||
|
|
@ -227,6 +227,10 @@ void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade, pface* ta
|
|||
// Detect the objects and store them in the sequence
|
||||
CvSeq* faces = cvHaarDetectObjects( img, cascade, storage,1.1, 2, 0, cvSize(60, 60),cvSize(500, 500));
|
||||
|
||||
//Reset faces
|
||||
tab_face[0]->largeur = 0;
|
||||
tab_face[1]->largeur = 0;
|
||||
|
||||
// Loop the number of faces found.
|
||||
for( i = 0; i < (faces ? faces->total : 0); i++ ){
|
||||
// Create a new rectangle for drawing the face
|
||||
|
|
@ -246,7 +250,7 @@ void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade, pface* ta
|
|||
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);
|
||||
printf("VALEURS FACES n°%d : %d %d %d\n",i, tab_face[i]->point.x,tab_face[i]->point.y,tab_face[i]->largeur);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -257,3 +261,35 @@ void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade, pface* ta
|
|||
//free
|
||||
cvReleaseImage( &temp );
|
||||
}
|
||||
|
||||
//Renvoie la couleur moyenne de rec_face
|
||||
void get_color(IplImage* image, face* rec_face, int* BGR){
|
||||
printf("z\n");
|
||||
CvScalar colors;
|
||||
int largeur = rec_face->largeur;
|
||||
printf("e\n");
|
||||
cvSetImageROI(image,cvRect(rec_face->point.x -largeur/2, rec_face->point.y -largeur/2, largeur,largeur));
|
||||
printf("r\n");
|
||||
colors = cvAvg(image);
|
||||
printf("t\n");
|
||||
cvResetImageROI(image);
|
||||
printf("y\n");
|
||||
BGR[0] = colors.val[0];
|
||||
BGR[1] = colors.val[1];
|
||||
BGR[2] = colors.val[2];
|
||||
printf("u\n");
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -39,10 +39,13 @@
|
|||
* \brief Programme en mode suivi de Kirby (Objet rose)
|
||||
*
|
||||
* \def ETOILE
|
||||
* \brief Programme en mide suivi de l'étoile (Objet jaune)
|
||||
* \brief Programme en mode suivi de l'étoile (Objet jaune)
|
||||
*
|
||||
* \def JEU
|
||||
* \brief Coefficient de tolérance pour le suivi d'objet
|
||||
*
|
||||
* \def MAX_FACE
|
||||
* \brief Nombre maximum de faces traitées
|
||||
*/
|
||||
//#define CONFIG
|
||||
#define SFML
|
||||
|
|
@ -52,11 +55,16 @@
|
|||
#define MAX_FACE 2
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* \struct face
|
||||
* \brief Contient les informations sur chaque face détectée : positions, largeur
|
||||
* \param point coordonnées en x et y du centre de la face
|
||||
* \param largeur largeur de la face
|
||||
*/
|
||||
/*STRUCTURE*/
|
||||
typedef struct _face{
|
||||
CvPoint point;
|
||||
int largeur;
|
||||
CvPoint point; /*!< coordonnées en x et y du centre de la face */
|
||||
int largeur; /*!< largeur de la face */
|
||||
} face;
|
||||
|
||||
typedef face* pface;
|
||||
|
|
@ -174,10 +182,44 @@ void Position_moy(IplImage* Binaire, int* posX, int * posY); //Effectue le baric
|
|||
*/
|
||||
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
|
||||
|
||||
/**
|
||||
* \fn int image_CV2SFML(IplImage* imcv, sf::Image imFlux)
|
||||
* \brief Convertit une image opencv (IplImage) en une image SFML (sf::Image)
|
||||
* \author Antoine
|
||||
* \param imcv image OpenCv à convertir
|
||||
* \param imFlux image SFML convertie en sortie de la fonction
|
||||
* \return 0 si la convertion est réussie
|
||||
* \bug A debugger ! Inutilisable en l'état
|
||||
*/
|
||||
int image_CV2SFML(IplImage* imcv, sf::Image imFlux); //Construction de imsf (RGBA) à partir de imcv (BGR), avec alpha constant (=1)
|
||||
|
||||
/**
|
||||
* \fn CvHaarClassifierCascade* init_cascade()
|
||||
* \brief Charge les fichiers cascades pour la reconnaissance faciale
|
||||
* \details fichier(s) chargé(s) : "haarcascade_frontalface_alt.xml"
|
||||
* \author Jacques
|
||||
* \return Renvoie la cascade
|
||||
*/
|
||||
CvHaarClassifierCascade* init_cascade();
|
||||
void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade, pface* tab_face );
|
||||
|
||||
/**
|
||||
* \fn void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade, face** tab_face )
|
||||
* \brief Détecte et renvoie un rectangle pour chaque visage sur l'image
|
||||
* \author Jacques
|
||||
* \param img Image sur laquelle on veut détecter des visages
|
||||
* \param cascade structure contenant les données pour alimenter l'algorithme de reconnaissance d'image
|
||||
* \param tab_face tableau des faces détectées
|
||||
*/
|
||||
void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade, face** tab_face );
|
||||
|
||||
/**
|
||||
* \fn int* get_color(IplImage* image, face* rec_face)
|
||||
* \brief retourne la couleur moyenne des pixels dans rec_face
|
||||
* \author Antoine / Jacques
|
||||
* \param image image d'où on cherche la moyenne
|
||||
* \param imFlux image SFML convertie en sortie de la fonction
|
||||
* \return 0 si la convertion est réussie
|
||||
*/
|
||||
void get_color(IplImage* image, face* rec_face, int* BGR);
|
||||
|
||||
#endif
|
||||
|
|
|
|||
BIN
Code/gmon.out
BIN
Code/gmon.out
Binary file not shown.
|
|
@ -1403,7 +1403,7 @@ DISABLE_INDEX = NO
|
|||
# The default value is: NO.
|
||||
# This tag requires that the tag GENERATE_HTML is set to YES.
|
||||
|
||||
GENERATE_TREEVIEW = NO
|
||||
GENERATE_TREEVIEW = YES
|
||||
|
||||
# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
|
||||
# doxygen will group on one line in the generated HTML documentation.
|
||||
|
|
|
|||
|
|
@ -8,6 +8,13 @@
|
|||
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="jquery.js"></script>
|
||||
<script type="text/javascript" src="dynsections.js"></script>
|
||||
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="resize.js"></script>
|
||||
<script type="text/javascript" src="navtree.js"></script>
|
||||
<script type="text/javascript">
|
||||
$(document).ready(initResizable);
|
||||
$(window).load(resizeHeight);
|
||||
</script>
|
||||
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="search/search.js"></script>
|
||||
<script type="text/javascript">
|
||||
|
|
@ -38,6 +45,8 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
<div id="navrow1" class="tabs">
|
||||
<ul class="tablist">
|
||||
<li><a href="index.html"><span>Main Page</span></a></li>
|
||||
<li><a href="pages.html"><span>Related Pages</span></a></li>
|
||||
<li><a href="annotated.html"><span>Classes</span></a></li>
|
||||
<li class="current"><a href="files.html"><span>Files</span></a></li>
|
||||
<li>
|
||||
<div id="MSearchBox" class="MSearchBoxInactive">
|
||||
|
|
@ -63,12 +72,27 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
<li><a href="globals.html"><span>File Members</span></a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div><!-- top -->
|
||||
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
||||
<div id="nav-tree">
|
||||
<div id="nav-tree-contents">
|
||||
<div id="nav-sync" class="sync"></div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="splitbar" style="-moz-user-select:none;"
|
||||
class="ui-resizable-handle">
|
||||
</div>
|
||||
</div>
|
||||
<script type="text/javascript">
|
||||
$(document).ready(function(){initNavTree('_kirby_track_8c.html','');});
|
||||
</script>
|
||||
<div id="doc-content">
|
||||
<!-- window showing the filter options -->
|
||||
<div id="MSearchSelectWindow"
|
||||
onmouseover="return searchBox.OnSearchSelectShow()"
|
||||
onmouseout="return searchBox.OnSearchSelectHide()"
|
||||
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
||||
<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>
|
||||
<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>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Macros</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Pages</a></div>
|
||||
|
||||
<!-- iframe showing the search results (closed by default) -->
|
||||
<div id="MSearchResultsWindow">
|
||||
|
|
@ -77,14 +101,8 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
</iframe>
|
||||
</div>
|
||||
|
||||
<div id="nav-path" class="navpath">
|
||||
<ul>
|
||||
<li class="navelem"><a class="el" href="dir_23fdee2f6995db16c755697cdf620cf4.html">Code</a></li> </ul>
|
||||
</div>
|
||||
</div><!-- top -->
|
||||
<div class="header">
|
||||
<div class="summary">
|
||||
<a href="#define-members">Macros</a> |
|
||||
<a href="#func-members">Functions</a> </div>
|
||||
<div class="headertitle">
|
||||
<div class="title">KirbyTrack.c File Reference</div> </div>
|
||||
|
|
@ -93,60 +111,13 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
|
||||
<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 class="textblock"><code>#include "<a class="el" href="fonction_8h_source.html">fonction.h</a>"</code><br/>
|
||||
<code>#include "<a class="el" href="fonction_8c_source.html">fonction.c</a>"</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>
|
||||
|
|
@ -156,277 +127,11 @@ Functions</h2></td></tr>
|
|||
<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>
|
||||
<dl class="bug"><dt><b><a class="el" href="bug.html#_bug000003">Bug:</a></b></dt><dd>Affichage OpenCV incompatible avec SFML </dd></dl>
|
||||
<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000001">Todo:</a></b></dt><dd>Optimisation du chargement de la frame en image SFML </dd></dl>
|
||||
|
||||
<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>
|
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<div class="memitem">
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<div class="memproto">
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<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>
|
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<a class="anchor" id="ae89e5fc7460ea890fa61d54fd209c1ae"></a>
|
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<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">
|
||||
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|
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|
||||
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|
||||
<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">
|
||||
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|
||||
<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>
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||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
|
|
@ -455,201 +160,20 @@ Functions</h2></td></tr>
|
|||
<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>
|
||||
<p>Definition at line <a class="el" href="_kirby_track_8c_source.html#l00023">23</a> of file <a class="el" href="_kirby_track_8c_source.html">KirbyTrack.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</div><!-- contents -->
|
||||
</div><!-- doc-content -->
|
||||
<!-- start footer part -->
|
||||
<hr class="footer"/><address class="footer"><small>
|
||||
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>
|
||||
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
||||
<ul>
|
||||
<li class="navelem"><a class="el" href="dir_23fdee2f6995db16c755697cdf620cf4.html">Code</a></li><li class="navelem"><a class="el" href="_kirby_track_8c.html">KirbyTrack.c</a></li>
|
||||
<li class="footer">Generated on Tue May 30 2017 18:00:53 for CamAdventure by
|
||||
<a href="http://www.doxygen.org/index.html">
|
||||
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.6 </li>
|
||||
</ul>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
|
|
|||
4
Doxy/html/_kirby_track_8c.js
Normal file
4
Doxy/html/_kirby_track_8c.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var _kirby_track_8c =
|
||||
[
|
||||
[ "main", "_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97", null ]
|
||||
];
|
||||
|
|
@ -8,6 +8,13 @@
|
|||
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="jquery.js"></script>
|
||||
<script type="text/javascript" src="dynsections.js"></script>
|
||||
<link href="navtree.css" rel="stylesheet" type="text/css"/>
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||||
<script type="text/javascript" src="resize.js"></script>
|
||||
<script type="text/javascript" src="navtree.js"></script>
|
||||
<script type="text/javascript">
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||||
$(document).ready(initResizable);
|
||||
$(window).load(resizeHeight);
|
||||
</script>
|
||||
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="search/search.js"></script>
|
||||
<script type="text/javascript">
|
||||
|
|
@ -38,6 +45,8 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
<div id="navrow1" class="tabs">
|
||||
<ul class="tablist">
|
||||
<li><a href="index.html"><span>Main Page</span></a></li>
|
||||
<li><a href="pages.html"><span>Related Pages</span></a></li>
|
||||
<li><a href="annotated.html"><span>Classes</span></a></li>
|
||||
<li class="current"><a href="files.html"><span>Files</span></a></li>
|
||||
<li>
|
||||
<div id="MSearchBox" class="MSearchBoxInactive">
|
||||
|
|
@ -63,12 +72,27 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
<li><a href="globals.html"><span>File Members</span></a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div><!-- top -->
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<div id="side-nav" class="ui-resizable side-nav-resizable">
|
||||
<div id="nav-tree">
|
||||
<div id="nav-tree-contents">
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<div id="nav-sync" class="sync"></div>
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</div>
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</div>
|
||||
<div id="splitbar" style="-moz-user-select:none;"
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class="ui-resizable-handle">
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||||
</div>
|
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</div>
|
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<script type="text/javascript">
|
||||
$(document).ready(function(){initNavTree('_kirby_track_8c_source.html','');});
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</script>
|
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<div id="doc-content">
|
||||
<!-- window showing the filter options -->
|
||||
<div id="MSearchSelectWindow"
|
||||
onmouseover="return searchBox.OnSearchSelectShow()"
|
||||
onmouseout="return searchBox.OnSearchSelectHide()"
|
||||
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
||||
<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>
|
||||
<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>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Macros</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Pages</a></div>
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<!-- iframe showing the search results (closed by default) -->
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<div id="MSearchResultsWindow">
|
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|
|
@ -77,444 +101,325 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
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</iframe>
|
||||
</div>
|
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|
||||
<div id="nav-path" class="navpath">
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<ul>
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<li class="navelem"><a class="el" href="dir_23fdee2f6995db16c755697cdf620cf4.html">Code</a></li> </ul>
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</div>
|
||||
</div><!-- top -->
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||||
<div class="header">
|
||||
<div class="headertitle">
|
||||
<div class="title">KirbyTrack.c</div> </div>
|
||||
</div><!--header-->
|
||||
<div class="contents">
|
||||
<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="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include "<a class="code" href="fonction_8h.html">fonction.h</a>"</span></div>
|
||||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include "<a class="code" href="fonction_8c.html">fonction.c</a>"</span> <span class="comment">//Pour le problème de référence indéfinie à la compilation</span></div>
|
||||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> </div>
|
||||
<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="l00023"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97"> 23</a></span> <span class="keywordtype">int</span> <a class="code" href="_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>* argv[])</div>
|
||||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> {</div>
|
||||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="comment">//Initialisations </span></div>
|
||||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keywordtype">int</span> height,width; <span class="comment">//parameters of the image we are working on</span></div>
|
||||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordtype">int</span> posX, posY; <span class="comment">//Position objet</span></div>
|
||||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordtype">int</span> boucle = 1; <span class="comment">//On effectuera la boucle principale au moins une fois</span></div>
|
||||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
|
||||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordtype">double</span> angle[2] = {100,100};</div>
|
||||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div>
|
||||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordtype">int</span> tracking; <span class="comment">//0 = tracking OFF</span></div>
|
||||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> </div>
|
||||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> </div>
|
||||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#ifdef SFML</span></div>
|
||||
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor"></span> <span class="comment">//Initialisation SFML</span></div>
|
||||
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div>
|
||||
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  sf::Texture txFlux;</div>
|
||||
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  sf::Sprite spFlux;</div>
|
||||
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  sf::Image imFlux;</div>
|
||||
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  sf::Event event;</div>
|
||||
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div>
|
||||
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  tracking = 0; <span class="comment">//Pas de tracking de base en mode SFML</span></div>
|
||||
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div>
|
||||
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="comment">//Chargement boutons</span></div>
|
||||
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  sf::Texture txBut;</div>
|
||||
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  sf::Sprite button_tracking;</div>
|
||||
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  sf::Sprite button_reset;</div>
|
||||
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
|
||||
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordflow">if</span> (!txBut.loadFromFile(<span class="stringliteral">"Stock SFML/button.png"</span>)){</div>
|
||||
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  printf(<span class="stringliteral">"Erreur chargement image SFML\n"</span> );</div>
|
||||
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordflow">return</span> EXIT_FAILURE;</div>
|
||||
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  }</div>
|
||||
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
|
||||
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="comment">//Chargement texte</span></div>
|
||||
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  sf::Font font;</div>
|
||||
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">if</span> (!font.loadFromFile(<span class="stringliteral">"Stock SFML/arial.ttf"</span>)){</div>
|
||||
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  printf(<span class="stringliteral">"Erreur chargement police SFML\n"</span> );</div>
|
||||
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">return</span> EXIT_FAILURE;</div>
|
||||
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  }</div>
|
||||
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> </div>
|
||||
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  sf::Text text_track;</div>
|
||||
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  sf::Text text_reset;</div>
|
||||
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div>
|
||||
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="comment">//Chargement son</span></div>
|
||||
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  sf::Music aye;</div>
|
||||
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordflow">if</span> (!aye.openFromFile(<span class="stringliteral">"Stock SFML/Aye Sir.ogg"</span>))</div>
|
||||
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">return</span> EXIT_FAILURE;</div>
|
||||
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
|
||||
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="comment">//Ouverture flux camera</span></div>
|
||||
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  CvCapture* capture = cvCaptureFromCAM( 0 );</div>
|
||||
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
|
||||
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">if</span>( !capture ){</div>
|
||||
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  printf(<span class="stringliteral">"ERROR: capture is NULL \n"</span> );</div>
|
||||
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  exit(EXIT_FAILURE);</div>
|
||||
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  }</div>
|
||||
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
|
||||
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div>
|
||||
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="comment">// grab an image from the capture</span></div>
|
||||
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  IplImage* frame = cvQueryFrame( capture );</div>
|
||||
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
|
||||
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="comment">// get the image data</span></div>
|
||||
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  height = frame->height;</div>
|
||||
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  width = frame->width;</div>
|
||||
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
|
||||
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="comment">// capture size - </span></div>
|
||||
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  CvSize size = cvSize(width,height);</div>
|
||||
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div>
|
||||
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
|
||||
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="preprocessor">#ifdef SFML</span></div>
|
||||
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="preprocessor"></span> <span class="comment">//Création de la fenetre principale</span></div>
|
||||
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  sf::RenderWindow window(sf::VideoMode(width+300, height), <span class="stringliteral">"KirbyTrack"</span>);</div>
|
||||
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="comment">// Initialize different images that are going to be used in the program</span></div>
|
||||
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  IplImage* hsv_frame = cvCreateImage(size, IPL_DEPTH_8U, 3); <span class="comment">// image converted to HSV plane</span></div>
|
||||
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  IplImage* threshold = cvCreateImage(size, IPL_DEPTH_8U, 1);</div>
|
||||
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div>
|
||||
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
|
||||
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="comment">//Controle couleur</span></div>
|
||||
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="preprocessor">#ifdef KIRBY</span></div>
|
||||
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="preprocessor"></span> <span class="comment">//Setup Kirby</span></div>
|
||||
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordtype">int</span> iLowH = 152;</div>
|
||||
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordtype">int</span> iHighH = 179;</div>
|
||||
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> </div>
|
||||
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordtype">int</span> iLowS = 48; </div>
|
||||
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordtype">int</span> iHighS = 255;</div>
|
||||
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div>
|
||||
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordtype">int</span> iLowV = 101;</div>
|
||||
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordtype">int</span> iHighV = 255;</div>
|
||||
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="preprocessor"></span><span class="preprocessor">#ifdef ETOILE</span></div>
|
||||
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="preprocessor"></span> <span class="comment">//Setup Etoile</span></div>
|
||||
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordtype">int</span> iLowH = 20;</div>
|
||||
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordtype">int</span> iHighH = 30;</div>
|
||||
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> </div>
|
||||
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordtype">int</span> iLowS = 100; </div>
|
||||
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordtype">int</span> iHighS = 255;</div>
|
||||
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> </div>
|
||||
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordtype">int</span> iLowV = 100;</div>
|
||||
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">int</span> iHighV = 255;</div>
|
||||
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="preprocessor">#endif </span></div>
|
||||
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="preprocessor">#ifdef CONFIG</span></div>
|
||||
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="preprocessor"></span> <span class="comment">//Affichage du panneau de config</span></div>
|
||||
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <a class="code" href="fonction_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">config</a>(&iLowH, &iHighH, &iLowS, &iHighS, &iLowV, &iHighV);</div>
|
||||
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> </div>
|
||||
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  tracking = 1; <span class="comment">//Tracking de base en mode CONFIG</span></div>
|
||||
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">while</span>(boucle)</div>
|
||||
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  { </div>
|
||||
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> </div>
|
||||
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="preprocessor">#ifdef SFML</span></div>
|
||||
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="preprocessor"></span> boucle = window.isOpen();</div>
|
||||
<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="l00139"></a><span class="lineno"> 139</span>  <span class="comment">// on inspecte tous les évènements de la fenêtre qui ont été émis depuis la précédente itération</span></div>
|
||||
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordflow">while</span> (window.pollEvent(event))</div>
|
||||
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  {</div>
|
||||
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="comment">// évènement "fermeture demandée" : on ferme la fenêtre</span></div>
|
||||
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">if</span> (event.type == sf::Event::Closed)</div>
|
||||
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  window.close();</div>
|
||||
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  }</div>
|
||||
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="preprocessor"></span> <span class="comment">// Get one frame</span></div>
|
||||
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  frame = cvQueryFrame( capture );</div>
|
||||
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  </div>
|
||||
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">if</span>( !frame ){</div>
|
||||
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  perror(<span class="stringliteral">"ERROR: frame is null..."</span>);</div>
|
||||
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordflow">break</span>;</div>
|
||||
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  }</div>
|
||||
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> </div>
|
||||
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="comment">//Binarisation du flux vidéo</span></div>
|
||||
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <a class="code" href="fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89">traitement</a>(frame, hsv_frame, threshold, iLowH, iHighH, iLowS, iHighS, iLowV, iHighV);</div>
|
||||
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  </div>
|
||||
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="comment">// Calculate the moments to estimate the position of the ball </span></div>
|
||||
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <a class="code" href="fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1">Position_moy</a>(threshold, &posX, &posY);</div>
|
||||
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  </div>
|
||||
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="comment">//Dessine les informations de tracking sur frame</span></div>
|
||||
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <a class="code" href="fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">Affichage_Tracking</a>(frame, posX, posY, width, height);</div>
|
||||
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> </div>
|
||||
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="preprocessor">#ifdef SFML</span></div>
|
||||
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="preprocessor"></span><span class="comment">//Affichage SFML</span></div>
|
||||
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="comment">/* Clear the screen */</span></div>
|
||||
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  window.clear(sf::Color::White); </div>
|
||||
<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="l00169"></a><span class="lineno"> 169</span> <span class="comment">//Affichage de la frame</span></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="l00171"></a><span class="lineno"> 171</span>  <span class="comment">//Le chargement pourrait etre plus optimisé en créant nous me l'image SFML en parcourant l'IplImage</span></div>
|
||||
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> </div>
|
||||
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="comment">//Enregistrement de la frame openCV</span></div>
|
||||
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  cvSaveImage(<span class="stringliteral">"Stock SFML/temp.jpg"</span>, frame);</div>
|
||||
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  </div>
|
||||
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="comment">//Chargement de la frame en texture SFML</span></div>
|
||||
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">if</span> (!txFlux.loadFromFile(<span class="stringliteral">"Stock SFML/temp.jpg"</span>)){</div>
|
||||
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  printf(<span class="stringliteral">"Erreur chargement image SFML\n"</span> );</div>
|
||||
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordflow">break</span>;</div>
|
||||
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  }</div>
|
||||
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div>
|
||||
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  spFlux.setTexture(txFlux);</div>
|
||||
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  window.draw(spFlux);</div>
|
||||
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> </div>
|
||||
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="comment">//Dessin des boutons</span></div>
|
||||
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  button_tracking.setTexture(txBut);</div>
|
||||
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  button_tracking.setScale(0.5,0.5);</div>
|
||||
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  button_tracking.setPosition(sf::Vector2f(width+20, 20));</div>
|
||||
<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="l00190"></a><span class="lineno"> 190</span>  button_reset.setTexture(txBut);</div>
|
||||
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  button_reset.setScale(0.5,0.5);</div>
|
||||
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  button_reset.setPosition(sf::Vector2f(width+20, 100));</div>
|
||||
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> </div>
|
||||
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">if</span>(tracking){ button_tracking.setColor(sf::Color::Green); }</div>
|
||||
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordflow">else</span>{ button_tracking.setColor(sf::Color::Red); }</div>
|
||||
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> </div>
|
||||
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="comment">//Ajout du texte</span></div>
|
||||
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="comment">// choix de la police à utiliser</span></div>
|
||||
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  text_track.setFont(font); <span class="comment">// font est un sf::Font</span></div>
|
||||
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  text_reset.setFont(font);</div>
|
||||
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span> </div>
|
||||
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="comment">// choix de la chaîne de caractères à afficher</span></div>
|
||||
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  text_track.setString(<span class="stringliteral">"Tracking Moteurs"</span>);</div>
|
||||
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  text_reset.setString(<span class="stringliteral">"Reset Moteurs"</span>);</div>
|
||||
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> </div>
|
||||
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="comment">// choix de la taille des caractères</span></div>
|
||||
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  text_track.setCharacterSize(24); <span class="comment">// exprimée en pixels, pas en points !</span></div>
|
||||
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  text_reset.setCharacterSize(24);</div>
|
||||
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> </div>
|
||||
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="comment">//text.setFillColor(sf::Color::Black);</span></div>
|
||||
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  text_track.setColor(sf::Color::Black);</div>
|
||||
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  text_reset.setColor(sf::Color::Black);</div>
|
||||
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div>
|
||||
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  text_track.setPosition(sf::Vector2f(width+100, 35));</div>
|
||||
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  text_reset.setPosition(sf::Vector2f(width+100, 115));</div>
|
||||
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div>
|
||||
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span> </div>
|
||||
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="comment">//Detection du bouton tracking</span></div>
|
||||
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> sf::Vector2i PosMouse = sf::Mouse::getPosition(window);</div>
|
||||
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordflow">if</span> (sf::Mouse::isButtonPressed(sf::Mouse::Left)&&(PosMouse.x>640)&&(PosMouse.x<760)&&(PosMouse.y>0)&&(PosMouse.y<110)){</div>
|
||||
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="comment">//printf("\n\n\n OK \n\n\n");</span></div>
|
||||
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordflow">if</span> (tracking){ tracking = 0;}</div>
|
||||
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keywordflow">else</span> tracking = 1;</div>
|
||||
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> </div>
|
||||
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  aye.play();</div>
|
||||
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> </div>
|
||||
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  cvWaitKey(100);</div>
|
||||
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  }</div>
|
||||
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> </div>
|
||||
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> <span class="comment">//Detection du bouton reset</span></div>
|
||||
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keywordflow">if</span> (sf::Mouse::isButtonPressed(sf::Mouse::Left)&&(PosMouse.x>640)&&(PosMouse.x<760)&&(PosMouse.y>110)&&(PosMouse.y<160)){</div>
|
||||
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> </div>
|
||||
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  tracking = 0;</div>
|
||||
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="comment">//Reset Position moteur</span></div>
|
||||
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  angle[0]=60; <span class="comment">//ANGLES A VERIFIER</span></div>
|
||||
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  angle[1]=100;</div>
|
||||
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <a class="code" href="fonction_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a>(angle); </div>
|
||||
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
|
||||
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  aye.play();</div>
|
||||
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  </div>
|
||||
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  cvWaitKey(100);</div>
|
||||
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  }</div>
|
||||
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="comment">//printf("Pos Mouse : %d %d \n", PosMouse.x, PosMouse.y);</span></div>
|
||||
<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="l00245"></a><span class="lineno"> 245</span> </div>
|
||||
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="comment">/* Update the window */</span></div>
|
||||
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  window.draw(button_tracking);</div>
|
||||
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  window.draw(button_reset);</div>
|
||||
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  window.draw(text_track);</div>
|
||||
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  window.draw(text_reset);</div>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  window.display();</div>
|
||||
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> </div>
|
||||
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> <span class="preprocessor"></span><span class="comment">//Envoie données moteurs</span></div>
|
||||
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordflow">if</span>(tracking){</div>
|
||||
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="comment">//Mouvements moteurs</span></div>
|
||||
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="comment">//printf("-PREMAJ_ANGLE...: %d %d\n",width,height);</span></div>
|
||||
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> </div>
|
||||
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <a class="code" href="fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b">maj_angle</a>(<a class="code" href="fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a>(posX-width/2,width), <a class="code" href="fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a>(posY-height/2,height), height*<a class="code" href="fonction_8h.html#afb63dbc6e533233f41d03e8b8a3bc570">JEU</a>, angle);</div>
|
||||
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <a class="code" href="fonction_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a>(angle); </div>
|
||||
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> </div>
|
||||
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  cvWaitKey(50);</div>
|
||||
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  }</div>
|
||||
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> </div>
|
||||
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> </div>
|
||||
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span> <span class="preprocessor">#ifdef CONFIG</span></div>
|
||||
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> <span class="preprocessor"></span> <a class="code" href="fonction_8c.html#acc438fce8178d1d5aac4595f19529275">affichage_config</a>(frame, hsv_frame, threshold); <span class="comment">//Affichage du flux vidéo et de ses traitements</span></div>
|
||||
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  </div>
|
||||
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordflow">if</span>( (cvWaitKey(10) ) >= 0 ) <span class="keywordflow">break</span>; <span class="comment">//Arret capture</span></div>
|
||||
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  }</div>
|
||||
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  </div>
|
||||
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="comment">// Release the capture device housekeeping</span></div>
|
||||
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  cvReleaseCapture( &capture );</div>
|
||||
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  </div>
|
||||
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  cvReleaseImage(&threshold);</div>
|
||||
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  cvReleaseImage(&hsv_frame);</div>
|
||||
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  cvReleaseImage(&frame);</div>
|
||||
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  </div>
|
||||
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordflow">return</span> EXIT_SUCCESS;</div>
|
||||
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span> }</div>
|
||||
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span> </div>
|
||||
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span> <span class="comment">/*</span></div>
|
||||
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> <span class="comment"> //musique</span></div>
|
||||
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> <span class="comment"> if(aye.getStatus()==sf::Sound::Stopped){</span></div>
|
||||
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> <span class="comment"> aye.setPitch(0.5);</span></div>
|
||||
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> <span class="comment"> aye.setVolume(150);</span></div>
|
||||
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="comment"> aye.setLoop(true);</span></div>
|
||||
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="comment"> aye.play();</span></div>
|
||||
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> <span class="comment"> }</span></div>
|
||||
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> <span class="comment">*/</span></div>
|
||||
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> </div>
|
||||
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> <span class="comment">/*</span></div>
|
||||
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> <span class="comment"> //Link</span></div>
|
||||
<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> <span class="comment"> sf::Texture txLink;</span></div>
|
||||
<div class="line"><a name="l00298"></a><span class="lineno"> 298</span> <span class="comment"> sf::Sprite Link;</span></div>
|
||||
<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> <span class="comment"> </span></div>
|
||||
<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> <span class="comment"> if (!txLink.loadFromFile("Stock SFML/link.png")){</span></div>
|
||||
<div class="line"><a name="l00301"></a><span class="lineno"> 301</span> <span class="comment"> printf("Erreur chargement image SFML\n" );</span></div>
|
||||
<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> <span class="comment"> break;</span></div>
|
||||
<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="comment"> }</span></div>
|
||||
<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> <span class="comment"> </span></div>
|
||||
<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> <span class="comment"> Link.setTexture(txLink);</span></div>
|
||||
<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> <span class="comment"> Link.setPosition(sf::Vector2f(posX-75, posY-75));</span></div>
|
||||
<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> <span class="comment"></span></div>
|
||||
<div class="line"><a name="l00308"></a><span class="lineno"> 308</span> <span class="comment"> window.draw(Link);</span></div>
|
||||
<div class="line"><a name="l00309"></a><span class="lineno"> 309</span> <span class="comment">*/</span></div>
|
||||
<div class="ttc" id="fonction_8c_html_adcdd0544c8eb462cd2835ec99fa0f181"><div class="ttname"><a href="fonction_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">config</a></div><div class="ttdeci">void config(int *LowH, int *HighH, int *LowS, int *HighS, int *LowV, int *HighV)</div><div class="ttdoc">Fonction d'affichage du panneau de configuration de la couleur à suivre. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00136">fonction.c:136</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_ac3e9405c4ebaa936308670c050285ae1"><div class="ttname"><a href="fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1">Position_moy</a></div><div class="ttdeci">void Position_moy(IplImage *Binaire, int *posX, int *posY)</div><div class="ttdoc">Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00120">fonction.c:120</a></div></div>
|
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<div class="ttc" id="fonction_8c_html_ae89e5fc7460ea890fa61d54fd209c1ae"><div class="ttname"><a href="fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a></div><div class="ttdeci">int ajust_pos(int pos, int ref)</div><div class="ttdoc">permet d'éviter des positions supérieures à ref considérées comme aberrantes. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00036">fonction.c:36</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_a96b1dd5c66492425a00921b6eaaacc89"><div class="ttname"><a href="fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89">traitement</a></div><div class="ttdeci">void traitement(IplImage *frame, IplImage *HSV, IplImage *Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV)</div><div class="ttdoc">Effectue une binarisation de frame en fonction des bornes HSV. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00099">fonction.c:99</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_a93cca84f54fe35dc9ad87eac3583889b"><div class="ttname"><a href="fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b">maj_angle</a></div><div class="ttdeci">void maj_angle(int vecX, int vecY, int rayon, double *angle)</div><div class="ttdoc">Met à jour angle selon la distance entre le centre de la caméra et la cible, avec un tolérance circul...</div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00012">fonction.c:12</a></div></div>
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<div class="ttc" id="fonction_8h_html_afb63dbc6e533233f41d03e8b8a3bc570"><div class="ttname"><a href="fonction_8h.html#afb63dbc6e533233f41d03e8b8a3bc570">JEU</a></div><div class="ttdeci">#define JEU</div><div class="ttdoc">Coefficient de tolérance pour le suivi d'objet. </div></div>
|
||||
<div class="ttc" id="fonction_8h_html"><div class="ttname"><a href="fonction_8h.html">fonction.h</a></div><div class="ttdoc">Bibliothèque, Headers et Documentation des fonctions. </div></div>
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||||
<div class="ttc" id="fonction_8c_html"><div class="ttname"><a href="fonction_8c.html">fonction.c</a></div><div class="ttdoc">Fonctions utilisés dans les programmes. </div></div>
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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#l00023">KirbyTrack.c:23</a></div></div>
|
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<div class="ttc" id="fonction_8c_html_ad3f512a54511a63b30a8967077736766"><div class="ttname"><a href="fonction_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a></div><div class="ttdeci">void controle_moteur(double *angle)</div><div class="ttdoc">Fonction d'envoie des angles aux moteurs. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00054">fonction.c:54</a></div></div>
|
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<div class="ttc" id="fonction_8c_html_a91b1b1daf28d90b5299a9a0486f5bdf1"><div class="ttname"><a href="fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">Affichage_Tracking</a></div><div class="ttdeci">void Affichage_Tracking(IplImage *frame, int posX, int posY, int width, int height)</div><div class="ttdoc">Fonction d'affichage des informations de suivi. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00163">fonction.c:163</a></div></div>
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<li class="footer">Generated on Tue May 30 2017 18:00:53 for CamAdventure by
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.6 </li>
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143
Doxy/html/_navy_8c.html
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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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<a href="#func-members">Functions</a> </div>
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<div class="title">Navy.c File Reference</div> </div>
|
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</div><!--header-->
|
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<div class="contents">
|
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|
||||
<p>Figure Libre.
|
||||
<a href="#details">More...</a></p>
|
||||
<div class="textblock"><code>#include "<a class="el" href="fonction_8h_source.html">fonction.h</a>"</code><br/>
|
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</div>
|
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<p><a href="_navy_8c_source.html">Go to the source code of this file.</a></p>
|
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<table class="memberdecls">
|
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
|
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Functions</h2></td></tr>
|
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<tr class="memitem:a0ddf1224851353fc92bfbff6f499fa97"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0ddf1224851353fc92bfbff6f499fa97"></a>
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int </td><td class="memItemRight" valign="bottom"><b>main</b> (int argc, char *argv[])</td></tr>
|
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<tr class="separator:a0ddf1224851353fc92bfbff6f499fa97"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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||||
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
||||
<div class="textblock"><p>Figure Libre. </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="_navy_8c_source.html">Navy.c</a>.</p>
|
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|
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4
Doxy/html/_navy_8c.js
Normal file
4
Doxy/html/_navy_8c.js
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@ -0,0 +1,4 @@
|
|||
var _navy_8c =
|
||||
[
|
||||
[ "main", "_navy_8c.html#a0ddf1224851353fc92bfbff6f499fa97", null ]
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];
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@ -8,6 +8,13 @@
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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>
|
||||
<a href="_navy_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="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "<a class="code" href="fonction_8h.html">fonction.h</a>"</span></div>
|
||||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">//#include "fonction.c" //Pour le problème de référence indéfinie à la compilation</span></div>
|
||||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</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="l00021"></a><span class="lineno"> 21</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="l00022"></a><span class="lineno"> 22</span> {</div>
|
||||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="comment">//Initialisations </span></div>
|
||||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</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="l00025"></a><span class="lineno"> 25</span>  <span class="keywordtype">int</span> boucle = 1; <span class="comment">//On effectuera la boucle principale au moins une fois</span></div>
|
||||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keywordtype">int</span> i;</div>
|
||||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordtype">float</span> scale_x, scale_y;</div>
|
||||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordtype">int</span> BGR[3];</div>
|
||||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
|
||||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="comment">//Initialisation detection visage</span></div>
|
||||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  CvHaarClassifierCascade* cascade = <a class="code" href="fonction_8c.html#a5e1058b3e8eb605a74ffdd7a26637b1e">init_cascade</a>();</div>
|
||||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="structface.html">face</a>* tab_face[<a class="code" href="fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb">MAX_FACE</a>];</div>
|
||||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordflow">for</span> (i=0;i<2;i++){</div>
|
||||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  tab_face[i] = (<a class="code" href="structface.html">face</a>*)malloc(<span class="keyword">sizeof</span>(<a class="code" href="structface.html">face</a>));</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">int</span> rdy[<a class="code" href="fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb">MAX_FACE</a>];</div>
|
||||
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div>
|
||||
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="comment">//Link</span></div>
|
||||
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  sf::Texture txLink;</div>
|
||||
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  sf::Sprite Link;</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="keywordflow">if</span> (!txLink.loadFromFile(<span class="stringliteral">"Stock SFML/link.png"</span>)){</div>
|
||||
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  printf(<span class="stringliteral">"Erreur chargement image SFML\n"</span> );</div>
|
||||
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">return</span> EXIT_FAILURE;</div>
|
||||
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  }</div>
|
||||
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> </div>
|
||||
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  sf::Vector2u vec_link = txLink.getSize();</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="l00049"></a><span class="lineno"> 49</span>  <span class="comment">//Ganon</span></div>
|
||||
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  sf::Texture txGanon;</div>
|
||||
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  sf::Sprite Ganon;</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>  <span class="keywordflow">if</span> (!txGanon.loadFromFile(<span class="stringliteral">"Stock SFML/ganon.png"</span>)){</div>
|
||||
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  printf(<span class="stringliteral">"Erreur chargement image SFML\n"</span> );</div>
|
||||
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">return</span> EXIT_FAILURE;</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> </div>
|
||||
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  sf::Vector2u vec_ganon = txGanon.getSize();</div>
|
||||
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> </div>
|
||||
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="comment">//Initialisation SFML</span></div>
|
||||
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> </div>
|
||||
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  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="l00062"></a><span class="lineno"> 62</span>  sf::Texture txFlux;</div>
|
||||
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  sf::Sprite spFlux;</div>
|
||||
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  sf::Image imFlux;</div>
|
||||
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  sf::Event event;</div>
|
||||
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> </div>
|
||||
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="comment">//Chargement son</span></div>
|
||||
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  sf::Music aile;</div>
|
||||
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">if</span> (!aile.openFromFile(<span class="stringliteral">"Stock SFML/aile.ogg"</span>))</div>
|
||||
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordflow">return</span> EXIT_FAILURE;</div>
|
||||
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  aile.setLoop(<span class="keyword">true</span>);</div>
|
||||
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  aile.play();</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="l00074"></a><span class="lineno"> 74</span>  sf::Music hey;</div>
|
||||
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">if</span> (!hey.openFromFile(<span class="stringliteral">"Stock SFML/hey_listen.ogg"</span>))</div>
|
||||
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordflow">return</span> EXIT_FAILURE;</div>
|
||||
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  sf::Music watchout;</div>
|
||||
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">if</span> (!watchout.openFromFile(<span class="stringliteral">"Stock SFML/watchout.ogg"</span>))</div>
|
||||
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">return</span> EXIT_FAILURE;</div>
|
||||
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div>
|
||||
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="comment">//Ouverture flux camera</span></div>
|
||||
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  CvCapture* capture = cvCaptureFromCAM( 0 );</div>
|
||||
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
|
||||
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">if</span>( !capture ){</div>
|
||||
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  printf(<span class="stringliteral">"ERROR: capture is NULL \n"</span> );</div>
|
||||
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  exit(EXIT_FAILURE);</div>
|
||||
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  }</div>
|
||||
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div>
|
||||
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div>
|
||||
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="comment">// grab an image from the capture</span></div>
|
||||
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  IplImage* frame = cvQueryFrame( capture );</div>
|
||||
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
|
||||
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="comment">// get the image data</span></div>
|
||||
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  height = frame->height;</div>
|
||||
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  width = frame->width;</div>
|
||||
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div>
|
||||
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="comment">// capture size - </span></div>
|
||||
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="comment">// CvSize size = cvSize(width,height);</span></div>
|
||||
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div>
|
||||
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div>
|
||||
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </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="l00102"></a><span class="lineno"> 102</span>  <span class="comment">//Création de la fenetre principale</span></div>
|
||||
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  sf::RenderWindow window(sf::VideoMode(width, height), <span class="stringliteral">"KirbyTrack"</span>);</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> </div>
|
||||
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordflow">while</span>(boucle)</div>
|
||||
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  { </div>
|
||||
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div>
|
||||
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  boucle = window.isOpen();</div>
|
||||
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div>
|
||||
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="comment">// on inspecte tous les évènements de la fenêtre qui ont été émis depuis la précédente itération</span></div>
|
||||
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">while</span> (window.pollEvent(event))</div>
|
||||
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  {</div>
|
||||
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="comment">// évènement "fermeture demandée" : on ferme la fenêtre</span></div>
|
||||
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">if</span> (event.type == sf::Event::Closed)</div>
|
||||
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  window.close();</div>
|
||||
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  }</div>
|
||||
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> </div>
|
||||
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="comment">// Get one frame</span></div>
|
||||
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  frame = cvQueryFrame( capture );</div>
|
||||
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div>
|
||||
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordflow">if</span>( !frame ){</div>
|
||||
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  perror(<span class="stringliteral">"ERROR: frame is null..."</span>);</div>
|
||||
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordflow">break</span>;</div>
|
||||
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  }</div>
|
||||
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> </div>
|
||||
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div>
|
||||
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <a class="code" href="fonction_8c.html#ab9c63795209f514f5d3554bc9450b8de">detect_and_draw</a>(frame,cascade,tab_face);</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="l00131"></a><span class="lineno"> 131</span> <span class="comment">//Affichage SFML</span></div>
|
||||
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="comment">/* Clear the screen */</span></div>
|
||||
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  window.clear(sf::Color::White); </div>
|
||||
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div>
|
||||
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment">//Affichage de la frame</span></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">//Le chargement pourrait etre plus optimisé en créant nous me l'image SFML en parcourant l'IplImage</span></div>
|
||||
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div>
|
||||
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="comment">//Enregistrement de la frame openCV</span></div>
|
||||
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  cvSaveImage(<span class="stringliteral">"Stock SFML/temp.jpg"</span>, frame);</div>
|
||||
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  </div>
|
||||
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="comment">//Chargement de la frame en texture SFML</span></div>
|
||||
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">if</span> (!txFlux.loadFromFile(<span class="stringliteral">"Stock SFML/temp.jpg"</span>)){</div>
|
||||
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  printf(<span class="stringliteral">"Erreur chargement image SFML\n"</span> );</div>
|
||||
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">break</span>;</div>
|
||||
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</div>
|
||||
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> </div>
|
||||
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  spFlux.setTexture(txFlux);</div>
|
||||
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  window.draw(spFlux);</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="l00151"></a><span class="lineno"> 151</span>  Link.setTexture(txLink);</div>
|
||||
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  Link.setOrigin(sf::Vector2f(vec_link.x/2,vec_link.y/2));</div>
|
||||
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  Link.setPosition(sf::Vector2f(tab_face[0]->point.x, tab_face[0]->point.y));</div>
|
||||
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  scale_x = tab_face[0]->largeur / (1.0*vec_link.x);</div>
|
||||
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  scale_y = tab_face[0]->largeur / (1.0*vec_link.y);</div>
|
||||
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="comment">//printf("%d , %d et%lf, %lf\n",tab_face[0]->largeur,vec_link.x,scale_x,scale_y);</span></div>
|
||||
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  Link.setScale(sf::Vector2f(scale_x, scale_y));</div>
|
||||
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div>
|
||||
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  Ganon.setTexture(txGanon);</div>
|
||||
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  Ganon.setOrigin(sf::Vector2f(vec_ganon.x/2,vec_ganon.y/2));</div>
|
||||
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  Ganon.setPosition(sf::Vector2f(tab_face[1]->point.x, tab_face[1]->point.y));</div>
|
||||
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  scale_x = tab_face[1]->largeur / (1.0*vec_ganon.x);</div>
|
||||
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  scale_y = tab_face[1]->largeur / (1.0*vec_ganon.y);</div>
|
||||
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  Ganon.setScale(sf::Vector2f(scale_x, scale_y));</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>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<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>
|
||||
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  window.draw(Link);</div>
|
||||
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  window.draw(Ganon);</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="comment">/* Update the window */</span></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>  window.display();</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">//Marqueurs rdy</span></div>
|
||||
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">for</span> (i=0 ; i<<a class="code" href="fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb">MAX_FACE</a> ; i++){</div>
|
||||
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">if</span>(tab_face[i]->largeur==0){</div>
|
||||
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  rdy[i]=1;</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>  }</div>
|
||||
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> </div>
|
||||
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">if</span>((tab_face[1]->largeur>0) && (watchout.getStatus()==sf::Sound::Stopped) && rdy[1]){</div>
|
||||
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  watchout.play();</div>
|
||||
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  rdy[1]=0;</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>  <span class="keywordflow">if</span>((tab_face[0]->largeur>0) && (hey.getStatus()==sf::Sound::Stopped) && rdy[0]){</div>
|
||||
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  hey.play();</div>
|
||||
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  rdy[0]=0;</div>
|
||||
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div>
|
||||
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  printf(<span class="stringliteral">"a\n"</span>);</div>
|
||||
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  get_color(frame, tab_face[0],BGR);</div>
|
||||
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  printf(<span class="stringliteral">"B = %d, G = %d, R = %d\n"</span>,BGR[0],BGR[1],BGR[2]);</div>
|
||||
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  }</div>
|
||||
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> </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">// Release the capture device housekeeping</span></div>
|
||||
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  cvReleaseCapture( &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>  cvReleaseImage(&frame);</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">return</span> EXIT_SUCCESS;</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> </div>
|
||||
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="comment">/*</span></div>
|
||||
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> <span class="comment"> //musique</span></div>
|
||||
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="comment"> if(aye.getStatus()==sf::Sound::Stopped){</span></div>
|
||||
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> <span class="comment"> aye.setPitch(0.5);</span></div>
|
||||
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="comment"> aye.setVolume(150);</span></div>
|
||||
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> <span class="comment"> aye.setLoop(true);</span></div>
|
||||
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> <span class="comment"> aye.play();</span></div>
|
||||
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="comment"> }</span></div>
|
||||
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> <span class="comment">*/</span></div>
|
||||
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div>
|
||||
<div class="ttc" id="fonction_8c_html_ab9c63795209f514f5d3554bc9450b8de"><div class="ttname"><a href="fonction_8c.html#ab9c63795209f514f5d3554bc9450b8de">detect_and_draw</a></div><div class="ttdeci">void detect_and_draw(IplImage *img, CvHaarClassifierCascade *cascade, face **tab_face)</div><div class="ttdoc">Détecte et renvoie un rectangle pour chaque visage sur l'image. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00200">fonction.c:200</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_a5e1058b3e8eb605a74ffdd7a26637b1e"><div class="ttname"><a href="fonction_8c.html#a5e1058b3e8eb605a74ffdd7a26637b1e">init_cascade</a></div><div class="ttdeci">CvHaarClassifierCascade * init_cascade()</div><div class="ttdoc">Charge les fichiers cascades pour la reconnaissance faciale. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00182">fonction.c:182</a></div></div>
|
||||
<div class="ttc" id="fonction_8h_html"><div class="ttname"><a href="fonction_8h.html">fonction.h</a></div><div class="ttdoc">Bibliothèque, Headers et Documentation des fonctions. </div></div>
|
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<div class="ttc" id="fonction_8h_html_a12190c71ff3acb9694bb2f782a1dfcdb"><div class="ttname"><a href="fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb">MAX_FACE</a></div><div class="ttdeci">#define MAX_FACE</div><div class="ttdoc">Nombre maximum de faces traitées. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8h_source.html#l00055">fonction.h:55</a></div></div>
|
||||
<div class="ttc" id="_kirby_track_8c_html_a0ddf1224851353fc92bfbff6f499fa97"><div class="ttname"><a href="_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97">main</a></div><div class="ttdeci">int main(int argc, char *argv[])</div><div class="ttdoc">Entrée du programme. </div><div class="ttdef"><b>Definition:</b> <a href="_kirby_track_8c_source.html#l00023">KirbyTrack.c:23</a></div></div>
|
||||
<div class="ttc" id="structface_html"><div class="ttname"><a href="structface.html">face</a></div><div class="ttdoc">Contient les informations sur chaque face détectée : positions, largeur. </div></div>
|
||||
</div><!-- fragment --></div><!-- contents -->
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<li class="navelem"><a class="el" href="dir_23fdee2f6995db16c755697cdf620cf4.html">Code</a></li><li class="navelem"><a class="el" href="_navy_8c.html">Navy.c</a></li>
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127
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|
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<dt><a class="anchor" id="_bug000002"></a>Member <a class="el" href="fonction_8h.html#ad2cc53a42ff2450413bbb199bb4c1072">image_CV2SFML</a> (IplImage *imcv, sf::Image imFlux)</dt>
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|
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<dd>Affichage OpenCV incompatible avec SFML </dd>
|
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|
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|
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<tr><td valign="top"><a class="el" href="struct__face.html">_face</a>   </td><td valign="top"><a class="el" href="structface.html">face</a>   </td><td></td></tr>
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<tr class="memdesc:_kirby_track_8c"><td class="mdescLeft"> </td><td class="mdescRight">Figure Imposé : Suivi d'un objet coloré. <br/></td></tr>
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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="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// Sample Application to demonstrate how Face detection can be done as a part of your source code.</span></div>
|
||||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> </div>
|
||||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// Include header files</span></div>
|
||||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "cv.h"</span></div>
|
||||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include "highgui.h"</span></div>
|
||||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> </div>
|
||||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <stdio.h></span></div>
|
||||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <stdlib.h></span></div>
|
||||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <string.h></span></div>
|
||||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <assert.h></span></div>
|
||||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <math.h></span></div>
|
||||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <float.h></span></div>
|
||||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <limits.h></span></div>
|
||||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <time.h></span></div>
|
||||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <ctype.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> </div>
|
||||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">// Create a string that contains the exact cascade name</span></div>
|
||||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* cascade_name =</div>
|
||||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="stringliteral">"C:/Program Files/OpenCV/data/haarcascades/haarcascade_frontalface_alt.xml"</span>;</div>
|
||||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">/* "haarcascade_profileface.xml";*/</span></div>
|
||||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div>
|
||||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> </div>
|
||||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">// Function prototype for detecting and drawing an object from an image</span></div>
|
||||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="keywordtype">void</span> detect_and_draw( IplImage* image );</div>
|
||||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div>
|
||||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">// Main function, defines the entry point for the program.</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#a0ddf1224851353fc92bfbff6f499fa97">main</a>( <span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv )</div>
|
||||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> {</div>
|
||||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> </div>
|
||||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="comment">//Ouverture flux camera</span></div>
|
||||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  CvCapture* capture = cvCaptureFromCAM( 0 );</div>
|
||||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div>
|
||||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordflow">if</span>( !capture ){</div>
|
||||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  printf(<span class="stringliteral">"ERROR: capture is NULL \n"</span> );</div>
|
||||
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  exit(EXIT_FAILURE);</div>
|
||||
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  }</div>
|
||||
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> </div>
|
||||
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment">// Call the function to detect and draw the face positions</span></div>
|
||||
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> detect_and_draw(img);</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="comment">// Wait for user input before quitting the program</span></div>
|
||||
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> cvWaitKey();</div>
|
||||
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div>
|
||||
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment">// Release the image</span></div>
|
||||
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> cvReleaseImage(&img);</div>
|
||||
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div>
|
||||
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment">// Destroy the window previously created with filename: "result"</span></div>
|
||||
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> cvDestroyWindow(<span class="stringliteral">"result"</span>);</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="comment">// return 0 to indicate successfull execution of the program</span></div>
|
||||
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="keywordflow">return</span> 0;</div>
|
||||
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> }</div>
|
||||
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
|
||||
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment">// Function to detect and draw any faces that is present in an image</span></div>
|
||||
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="keywordtype">void</span> detect_and_draw( IplImage* img )</div>
|
||||
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> {</div>
|
||||
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div>
|
||||
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment">// Create memory for calculations</span></div>
|
||||
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="keyword">static</span> CvMemStorage* storage = 0;</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> <span class="comment">// Create a new Haar classifier</span></div>
|
||||
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="keyword">static</span> CvHaarClassifierCascade* cascade = 0;</div>
|
||||
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div>
|
||||
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="keywordtype">int</span> scale = 1;</div>
|
||||
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> </div>
|
||||
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment">// Create a new image based on the input image</span></div>
|
||||
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> IplImage* temp = cvCreateImage( cvSize(img->width/scale,img->height/scale), 8, 3 );</div>
|
||||
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div>
|
||||
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment">// Create two points to represent the face locations</span></div>
|
||||
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> CvPoint pt1, pt2;</div>
|
||||
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="keywordtype">int</span> i;</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> <span class="comment">// Load the [[HaarClassifierCascade]]</span></div>
|
||||
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> cascade = (CvHaarClassifierCascade*)cvLoad( cascade_name, 0, 0, 0 );</div>
|
||||
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> </div>
|
||||
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment">// Check whether the cascade has loaded successfully. Else report and error and quit</span></div>
|
||||
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="keywordflow">if</span>( !cascade )</div>
|
||||
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> {</div>
|
||||
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> fprintf( stderr, <span class="stringliteral">"ERROR: Could not load classifier cascade\n"</span> );</div>
|
||||
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="keywordflow">return</span>;</div>
|
||||
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> }</div>
|
||||
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div>
|
||||
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="comment">// Allocate the memory storage</span></div>
|
||||
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> storage = cvCreateMemStorage(0);</div>
|
||||
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> </div>
|
||||
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment">// Create a new named window with title: result</span></div>
|
||||
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> cvNamedWindow( <span class="stringliteral">"result"</span>, 1 );</div>
|
||||
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div>
|
||||
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment">// Clear the memory storage which was used before</span></div>
|
||||
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> cvClearMemStorage( storage );</div>
|
||||
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> </div>
|
||||
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment">// Find whether the cascade is loaded, to find the faces. If yes, then:</span></div>
|
||||
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="keywordflow">if</span>( cascade )</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> </div>
|
||||
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment">// There can be more than one face in an image. So create a growable sequence of faces.</span></div>
|
||||
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> <span class="comment">// Detect the objects and store them in the sequence</span></div>
|
||||
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> CvSeq* faces = cvHaarDetectObjects( img, cascade, storage,</div>
|
||||
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> 1.1, 2, CV_HAAR_DO_CANNY_PRUNING,</div>
|
||||
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> cvSize(40, 40) );</div>
|
||||
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> </div>
|
||||
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="comment">// Loop the number of faces found.</span></div>
|
||||
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="keywordflow">for</span>( i = 0; i < (faces ? faces->total : 0); i++ )</div>
|
||||
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> {</div>
|
||||
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment">// Create a new rectangle for drawing the face</span></div>
|
||||
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> CvRect* r = (CvRect*)cvGetSeqElem( faces, i );</div>
|
||||
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div>
|
||||
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment">// Find the dimensions of the face,and scale it if necessary</span></div>
|
||||
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> pt1.x = r->x*scale;</div>
|
||||
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> pt2.x = (r->x+r->width)*scale;</div>
|
||||
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> pt1.y = r->y*scale;</div>
|
||||
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> pt2.y = (r->y+r->height)*scale;</div>
|
||||
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div>
|
||||
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment">// Draw the rectangle in the input image</span></div>
|
||||
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> cvRectangle( img, pt1, pt2, CV_RGB(255,0,0), 3, 8, 0 );</div>
|
||||
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> }</div>
|
||||
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> }</div>
|
||||
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div>
|
||||
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="comment">// Show the image in the window named "result"</span></div>
|
||||
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> cvShowImage( <span class="stringliteral">"result"</span>, img );</div>
|
||||
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div>
|
||||
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment">// Release the temp image created.</span></div>
|
||||
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> cvReleaseImage( &temp );</div>
|
||||
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> }</div>
|
||||
<div class="ttc" id="_kirby_track_8c_html_a0ddf1224851353fc92bfbff6f499fa97"><div class="ttname"><a href="_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97">main</a></div><div class="ttdeci">int main(int argc, char *argv[])</div><div class="ttdoc">Entrée du programme. </div><div class="ttdef"><b>Definition:</b> <a href="_kirby_track_8c_source.html#l00164">KirbyTrack.c:164</a></div></div>
|
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@ -8,6 +8,13 @@
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@ -38,6 +45,8 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
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@ -64,12 +73,26 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
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</div><!-- top -->
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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>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Macros</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Pages</a></div>
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@ -86,16 +109,21 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
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<tr id="row_0_2_"><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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4
Doxy/html/files.js
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Doxy/html/files.js
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var files =
|
||||
[
|
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[ "Code", "dir_23fdee2f6995db16c755697cdf620cf4.html", "dir_23fdee2f6995db16c755697cdf620cf4" ]
|
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740
Doxy/html/fonction_8c.html
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740
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<p>Fonctions utilisés dans les programmes.
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<a href="#details">More...</a></p>
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<div class="textblock"><code>#include "<a class="el" href="fonction_8h_source.html">fonction.h</a>"</code><br/>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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Functions</h2></td></tr>
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||||
<tr class="memitem:a93cca84f54fe35dc9ad87eac3583889b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_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>
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<tr class="separator:a93cca84f54fe35dc9ad87eac3583889b"><td class="memSeparator" colspan="2"> </td></tr>
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||||
<tr class="memitem:ae89e5fc7460ea890fa61d54fd209c1ae"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_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:a9397b95e9279b0b9cd371c9a2b4514a2"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_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:ad3f512a54511a63b30a8967077736766"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_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:ad2cc53a42ff2450413bbb199bb4c1072"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_8c.html#ad2cc53a42ff2450413bbb199bb4c1072">image_CV2SFML</a> (IplImage *imcv, sf::Image imFlux)</td></tr>
|
||||
<tr class="memdesc:ad2cc53a42ff2450413bbb199bb4c1072"><td class="mdescLeft"> </td><td class="mdescRight">Convertit une image opencv (IplImage) en une image SFML (sf::Image) <a href="#ad2cc53a42ff2450413bbb199bb4c1072">More...</a><br/></td></tr>
|
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<tr class="separator:ad2cc53a42ff2450413bbb199bb4c1072"><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="fonction_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>
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||||
<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>
|
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<tr class="separator:a96b1dd5c66492425a00921b6eaaacc89"><td class="memSeparator" colspan="2"> </td></tr>
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||||
<tr class="memitem:ac3e9405c4ebaa936308670c050285ae1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_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>
|
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<tr class="separator:ac3e9405c4ebaa936308670c050285ae1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:adcdd0544c8eb462cd2835ec99fa0f181"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_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>
|
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<tr class="separator:adcdd0544c8eb462cd2835ec99fa0f181"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acc438fce8178d1d5aac4595f19529275"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_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>
|
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<tr class="separator:acc438fce8178d1d5aac4595f19529275"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a91b1b1daf28d90b5299a9a0486f5bdf1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">Affichage_Tracking</a> (IplImage *frame, int posX, int posY, int width, int height)</td></tr>
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||||
<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>
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<tr class="separator:a91b1b1daf28d90b5299a9a0486f5bdf1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5e1058b3e8eb605a74ffdd7a26637b1e"><td class="memItemLeft" align="right" valign="top">CvHaarClassifierCascade * </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_8c.html#a5e1058b3e8eb605a74ffdd7a26637b1e">init_cascade</a> ()</td></tr>
|
||||
<tr class="memdesc:a5e1058b3e8eb605a74ffdd7a26637b1e"><td class="mdescLeft"> </td><td class="mdescRight">Charge les fichiers cascades pour la reconnaissance faciale. <a href="#a5e1058b3e8eb605a74ffdd7a26637b1e">More...</a><br/></td></tr>
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<tr class="separator:a5e1058b3e8eb605a74ffdd7a26637b1e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab9c63795209f514f5d3554bc9450b8de"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_8c.html#ab9c63795209f514f5d3554bc9450b8de">detect_and_draw</a> (IplImage *img, CvHaarClassifierCascade *cascade, <a class="el" href="structface.html">face</a> **tab_face)</td></tr>
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||||
<tr class="memdesc:ab9c63795209f514f5d3554bc9450b8de"><td class="mdescLeft"> </td><td class="mdescRight">Détecte et renvoie un rectangle pour chaque visage sur l'image. <a href="#ab9c63795209f514f5d3554bc9450b8de">More...</a><br/></td></tr>
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<tr class="separator:ab9c63795209f514f5d3554bc9450b8de"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a6544632f3a5db05caf6d23b1f8820880"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6544632f3a5db05caf6d23b1f8820880"></a>
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void </td><td class="memItemRight" valign="bottom"><b>get_color</b> (IplImage *image, <a class="el" href="structface.html">face</a> *rec_face, int *BGR)</td></tr>
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<tr class="separator:a6544632f3a5db05caf6d23b1f8820880"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
||||
<div class="textblock"><p>Fonctions utilisés dans les programmes. </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>
|
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|
||||
<p>Definition in file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
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</div><h2 class="groupheader">Function Documentation</h2>
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<a class="anchor" id="acc438fce8178d1d5aac4595f19529275"></a>
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<div class="memitem">
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<tr>
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<td class="memname">void affichage_config </td>
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<td>(</td>
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<td class="paramtype">IplImage * </td>
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<td class="paramname"><em>frame</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">IplImage * </td>
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<td class="paramname"><em>HSV</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">IplImage * </td>
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<td class="paramname"><em>Binaire</em> </td>
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</tr>
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<tr>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<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>
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</table>
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</dd>
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</dl>
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<p>Definition at line <a class="el" href="fonction_8c_source.html#l00151">151</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
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<a class="anchor" id="a91b1b1daf28d90b5299a9a0486f5bdf1"></a>
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<td class="memname">void Affichage_Tracking </td>
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<td>(</td>
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<td class="paramtype">IplImage * </td>
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<td class="paramname"><em>frame</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">int </td>
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<td class="paramname"><em>posX</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">int </td>
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<td class="paramname"><em>posY</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">int </td>
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<td class="paramname"><em>width</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">int </td>
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<td class="paramname"><em>height</em> </td>
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</tr>
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<tr>
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<td></td>
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<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="fonction_8c_source.html#l00163">163</a> of file <a class="el" href="fonction_8c_source.html">fonction.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="fonction_8c_source.html#l00036">36</a> of file <a class="el" href="fonction_8c_source.html">fonction.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="fonction_8c_source.html#l00136">136</a> of file <a class="el" href="fonction_8c_source.html">fonction.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="fonction_8c_source.html#l00054">54</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="ab9c63795209f514f5d3554bc9450b8de"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void detect_and_draw </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">IplImage * </td>
|
||||
<td class="paramname"><em>img</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">CvHaarClassifierCascade * </td>
|
||||
<td class="paramname"><em>cascade</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype"><a class="el" href="structface.html">face</a> ** </td>
|
||||
<td class="paramname"><em>tab_face</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Détecte et renvoie un rectangle pour chaque visage sur l'image. </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">img</td><td>Image sur laquelle on veut détecter des visages </td></tr>
|
||||
<tr><td class="paramname">cascade</td><td>structure contenant les données pour alimenter l'algorithme de reconnaissance d'image </td></tr>
|
||||
<tr><td class="paramname">tab_face</td><td>tableau des faces détectées </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="fonction_8c_source.html#l00200">200</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="ad2cc53a42ff2450413bbb199bb4c1072"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">int image_CV2SFML </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">IplImage * </td>
|
||||
<td class="paramname"><em>imcv</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">sf::Image </td>
|
||||
<td class="paramname"><em>imFlux</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Convertit une image opencv (IplImage) en une image SFML (sf::Image) </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">imcv</td><td>image OpenCv à convertir </td></tr>
|
||||
<tr><td class="paramname">imFlux</td><td>image SFML convertie en sortie de la fonction </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>0 si la convertion est réussie </dd></dl>
|
||||
<dl class="bug"><dt><b><a class="el" href="bug.html#_bug000002">Bug:</a></b></dt><dd>A debugger ! Inutilisable en l'état </dd></dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="fonction_8c_source.html#l00074">74</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="a5e1058b3e8eb605a74ffdd7a26637b1e"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">CvHaarClassifierCascade * init_cascade </td>
|
||||
<td>(</td>
|
||||
<td class="paramname"></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Charge les fichiers cascades pour la reconnaissance faciale. </p>
|
||||
<p>fichier(s) chargé(s) : "haarcascade_frontalface_alt.xml" </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Jacques </dd></dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>Renvoie la cascade </dd></dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="fonction_8c_source.html#l00182">182</a> of file <a class="el" href="fonction_8c_source.html">fonction.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="fonction_8c_source.html#l00041">41</a> of file <a class="el" href="fonction_8c_source.html">fonction.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="fonction_8c_source.html#l00012">12</a> of file <a class="el" href="fonction_8c_source.html">fonction.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="fonction_8c_source.html#l00120">120</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
||||
|
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|
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|
||||
<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>
|
||||
<dl class="bug"><dt><b><a class="el" href="bug.html#_bug000001">Bug:</a></b></dt><dd>Nécessite changement de l'utilisation de cvInRangeS sur certain PC </dd></dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="fonction_8c_source.html#l00099">99</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
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<li class="navelem"><a class="el" href="dir_23fdee2f6995db16c755697cdf620cf4.html">Code</a></li><li class="navelem"><a class="el" href="fonction_8c.html">fonction.c</a></li>
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<li class="footer">Generated on Tue May 30 2017 18:00:53 for CamAdventure by
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.6 </li>
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16
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<div class="title">fonction.c</div> </div>
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<div class="contents">
|
||||
<a href="fonction_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> </div>
|
||||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include "<a class="code" href="fonction_8h.html">fonction.h</a>"</span></div>
|
||||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> </div>
|
||||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> </div>
|
||||
<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="fonction_8h.html#a93cca84f54fe35dc9ad87eac3583889b"> 12</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b">maj_angle</a>(<span class="keywordtype">int</span> vecX, <span class="keywordtype">int</span> vecY, <span class="keywordtype">int</span> rayon, <span class="keywordtype">double</span>* angle){</div>
|
||||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="comment">//On ajustera coeff fonction du rayon. Si la cible est à une distance 5*r, il sera 5x plus rapide que s'il était à 1*r</span></div>
|
||||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div>
|
||||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keywordtype">double</span> coeffx, coeffy;</div>
|
||||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordtype">int</span> l0, l1;</div>
|
||||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div>
|
||||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="comment">//printf("-MAJ_ANGLE...Valeur maj_angle arguments : %d %d %d\n\tAnciens angles : %d %d\n\t",vecX,vecY,rayon,(int)angle[0],(int)angle[1]);</span></div>
|
||||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> </div>
|
||||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div>
|
||||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="comment">//Ajout d'un angle moteur pondéré par la distance</span></div>
|
||||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  coeffx = -0.2*vecX/rayon;</div>
|
||||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  coeffy = 0.2*vecY/rayon;</div>
|
||||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  angle[0] += coeffx;</div>
|
||||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  angle[1] += coeffy;</div>
|
||||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div>
|
||||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="comment">//Majoration - minoration des angles moteurs</span></div>
|
||||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  l0 = <a class="code" href="fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a>(angle[0]);</div>
|
||||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  l1 = <a class="code" href="fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a>(angle[1]);</div>
|
||||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordflow">if</span> (l0 != 0) angle[0] = l0;</div>
|
||||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keywordflow">if</span> (l1 != 0) angle[1] = l1;</div>
|
||||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> </div>
|
||||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="comment">//printf("Nouveaux angles : %lf %lf %d %d\n",angle[0],angle[1],(int)angle[0],(int)angle[0]);</span></div>
|
||||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> }</div>
|
||||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div>
|
||||
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="fonction_8h.html#ae89e5fc7460ea890fa61d54fd209c1ae"> 36</a></span> <span class="keywordtype">int</span> <a class="code" href="fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a>(<span class="keywordtype">int</span> pos, <span class="keywordtype">int</span> ref){</div>
|
||||
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordflow">if</span> (pos > ref) <span class="keywordflow">return</span> 0;</div>
|
||||
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">else</span> <span class="keywordflow">return</span> pos;</div>
|
||||
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> }</div>
|
||||
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div>
|
||||
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="fonction_8h.html#a9397b95e9279b0b9cd371c9a2b4514a2"> 41</a></span> <span class="keywordtype">int</span> <a class="code" href="fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a>(<span class="keywordtype">int</span> val_pwm){</div>
|
||||
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordtype">int</span> MAX_PWM = 130, MIN_PWM = 30;</div>
|
||||
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordflow">if</span> (val_pwm > MAX_PWM){ </div>
|
||||
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">return</span> MAX_PWM;</div>
|
||||
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  }</div>
|
||||
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (val_pwm < MIN_PWM){</div>
|
||||
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">return</span> MIN_PWM;</div>
|
||||
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  }</div>
|
||||
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordflow">else</span>{</div>
|
||||
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordflow">return</span> 0;</div>
|
||||
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  }</div>
|
||||
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> }</div>
|
||||
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div>
|
||||
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="fonction_8h.html#ad3f512a54511a63b30a8967077736766"> 54</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a>(<span class="keywordtype">double</span>* angle){</div>
|
||||
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div>
|
||||
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="comment">//Ouverture port serie</span></div>
|
||||
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  FILE* fichier = NULL;</div>
|
||||
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  fichier = fopen(<span class="stringliteral">"/dev/ttyACM0"</span>,<span class="stringliteral">"w"</span>);</div>
|
||||
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">if</span>(fichier==NULL){</div>
|
||||
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  printf(<span class="stringliteral">"Erreur ouverture fichier\n"</span>);</div>
|
||||
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  perror(<span class="stringliteral">"fopen failed for /dev/ttyACM0"</span> );</div>
|
||||
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  exit( EXIT_FAILURE );</div>
|
||||
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  }</div>
|
||||
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div>
|
||||
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="comment">//Ecriture angles</span></div>
|
||||
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  fprintf(fichier,<span class="stringliteral">"%d\n"</span>,(<span class="keywordtype">int</span>)angle[0]);</div>
|
||||
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  fprintf(fichier,<span class="stringliteral">"%d\n"</span>,(<span class="keywordtype">int</span>)angle[1]);</div>
|
||||
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div>
|
||||
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="comment">//Fermeture</span></div>
|
||||
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  fclose(fichier);</div>
|
||||
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">return</span>;</div>
|
||||
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> }</div>
|
||||
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div>
|
||||
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="fonction_8h.html#ad2cc53a42ff2450413bbb199bb4c1072"> 74</a></span> <span class="keywordtype">int</span> <a class="code" href="fonction_8c.html#ad2cc53a42ff2450413bbb199bb4c1072">image_CV2SFML</a>(IplImage* imcv, sf::Image imFlux){</div>
|
||||
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
|
||||
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordtype">int</span> R, G, B;</div>
|
||||
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordtype">int</span> w = imcv->widthStep;</div>
|
||||
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordtype">char</span>* ptr = imcv->imageData;</div>
|
||||
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> </div>
|
||||
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  imFlux.create(imcv->width,imcv->height, NULL); <span class="comment">//Initialise une image vide</span></div>
|
||||
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> </div>
|
||||
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">for</span>( <span class="keywordtype">int</span> y=0; y<imcv->height; y++ ) { </div>
|
||||
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="comment">//uchar* ptr = (uchar*) ( imcv->imageData + y * imcv->widthStep );</span></div>
|
||||
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">for</span>( <span class="keywordtype">int</span> x=0; x<imcv->width; x++ ) { </div>
|
||||
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="comment">//Recupération du pixel</span></div>
|
||||
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  B = ptr[y*w + 3*x];</div>
|
||||
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  G = ptr[y*w + 3*x + 1]; </div>
|
||||
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  R = ptr[y*w + 3*x + 2];</div>
|
||||
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div>
|
||||
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="comment">//Ecriture du pixel associé</span></div>
|
||||
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  imFlux.setPixel(x,y,sf::Color(R,G,B,1)); <span class="comment">//Alpha channel = 1</span></div>
|
||||
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  }</div>
|
||||
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  }</div>
|
||||
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div>
|
||||
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">return</span> 0;</div>
|
||||
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> }</div>
|
||||
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> </div>
|
||||
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div>
|
||||
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="fonction_8h.html#a96b1dd5c66492425a00921b6eaaacc89"> 99</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89">traitement</a>(IplImage* frame, IplImage* HSV, IplImage* Binaire, <span class="keywordtype">int</span> LowH, <span class="keywordtype">int</span> HighH, <span class="keywordtype">int</span> LowS, <span class="keywordtype">int</span> HighS, <span class="keywordtype">int</span> LowV, <span class="keywordtype">int</span> HighV){ <span class="comment">//Effectue une binarisation de frame en fonction des bornes HSV</span></div>
|
||||
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div>
|
||||
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="comment">// Covert color space to HSV as it is much easier to filter colors in the HSV color-space.</span></div>
|
||||
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  cvCvtColor(frame, HSV, CV_BGR2HSV);</div>
|
||||
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
|
||||
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="comment">//Blur</span></div>
|
||||
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  cvSmooth( HSV, HSV, CV_GAUSSIAN, 15, 0,0,0); <span class="comment">//suppression des parasites par flou gaussien</span></div>
|
||||
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> </div>
|
||||
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="comment">//Binarisation</span></div>
|
||||
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div>
|
||||
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  CvScalar valinf={(double)LowH,(<span class="keywordtype">double</span>)LowS,(double)LowV};</div>
|
||||
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  CvScalar valsup={(double)HighH,(<span class="keywordtype">double</span>)HighS,(double)HighV};</div>
|
||||
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div>
|
||||
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  cvInRangeS(HSV, valinf,valsup, Binaire);</div>
|
||||
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
|
||||
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="comment">//En cas d'erreur sur les trois ligne précédentes</span></div>
|
||||
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="comment">//cvInRangeS(HSV, CvScalar(LowH,LowS,LowV),CvScalar(HighH,HighS,HighV), Binaire);</span></div>
|
||||
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div>
|
||||
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="comment">//cvSmooth( Binaire, Binaire, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites</span></div>
|
||||
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> }</div>
|
||||
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div>
|
||||
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="fonction_8h.html#ac3e9405c4ebaa936308670c050285ae1"> 120</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1">Position_moy</a>(IplImage* Binaire, <span class="keywordtype">int</span>* posX, <span class="keywordtype">int</span> * posY){ <span class="comment">//Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet</span></div>
|
||||
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> </div>
|
||||
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  CvMoments *moments = (CvMoments*)malloc(<span class="keyword">sizeof</span>(CvMoments)); </div>
|
||||
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> </div>
|
||||
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  cvMoments(Binaire, moments, 1); </div>
|
||||
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="comment">// The actual moment values </span></div>
|
||||
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordtype">double</span> moment10 = cvGetSpatialMoment(moments, 1, 0); </div>
|
||||
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordtype">double</span> moment01 = cvGetSpatialMoment(moments, 0, 1); </div>
|
||||
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordtype">double</span> area = cvGetCentralMoment(moments, 0, 0);</div>
|
||||
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
|
||||
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  *posX = moment10/area;</div>
|
||||
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  *posY = moment01/area;</div>
|
||||
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> </div>
|
||||
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  free(moments);</div>
|
||||
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> }</div>
|
||||
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> </div>
|
||||
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="fonction_8h.html#adcdd0544c8eb462cd2835ec99fa0f181"> 136</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">config</a>(<span class="keywordtype">int</span>* LowH, <span class="keywordtype">int</span>* HighH, <span class="keywordtype">int</span>* LowS, <span class="keywordtype">int</span>* HighS, <span class="keywordtype">int</span>* LowV, <span class="keywordtype">int</span>* HighV){ <span class="comment">//Affiche le panneau de configuration de tracking avec les arguments comme valeur de base</span></div>
|
||||
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> </div>
|
||||
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  cvNamedWindow(<span class="stringliteral">"Control"</span>, CV_WINDOW_AUTOSIZE); <span class="comment">//create a window called "Control"</span></div>
|
||||
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> </div>
|
||||
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="comment">//Create trackbars in "Control" window</span></div>
|
||||
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  cvCreateTrackbar(<span class="stringliteral">"LowH"</span>, <span class="stringliteral">"Control"</span>, LowH, 179,NULL); <span class="comment">//Hue (0 - 179)</span></div>
|
||||
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  cvCreateTrackbar(<span class="stringliteral">"HighH"</span>, <span class="stringliteral">"Control"</span>, HighH, 179,NULL);</div>
|
||||
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> </div>
|
||||
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  cvCreateTrackbar(<span class="stringliteral">"LowS"</span>, <span class="stringliteral">"Control"</span>, LowS, 255,NULL); <span class="comment">//Saturation (0 - 255)</span></div>
|
||||
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  cvCreateTrackbar(<span class="stringliteral">"HighS"</span>, <span class="stringliteral">"Control"</span>, HighS, 255,NULL);</div>
|
||||
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> </div>
|
||||
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  cvCreateTrackbar(<span class="stringliteral">"LowV"</span>, <span class="stringliteral">"Control"</span>, LowV, 255,NULL); <span class="comment">//Value (0 - 255)</span></div>
|
||||
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  cvCreateTrackbar(<span class="stringliteral">"HighV"</span>, <span class="stringliteral">"Control"</span>, HighV, 255,NULL);</div>
|
||||
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> }</div>
|
||||
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> </div>
|
||||
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="fonction_8h.html#acc438fce8178d1d5aac4595f19529275"> 151</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#acc438fce8178d1d5aac4595f19529275">affichage_config</a>(IplImage* frame, IplImage* HSV, IplImage* Binaire){ <span class="comment">//Affiche le flux vidéos et ses différent traitements</span></div>
|
||||
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
|
||||
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="comment">// Create a window in which the captured images will be presented</span></div>
|
||||
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  cvNamedWindow( <span class="stringliteral">"HSV"</span>, CV_WINDOW_AUTOSIZE );</div>
|
||||
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  cvNamedWindow( <span class="stringliteral">"Binaire"</span>, CV_WINDOW_AUTOSIZE );</div>
|
||||
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  cvNamedWindow( <span class="stringliteral">"Camera"</span>, CV_WINDOW_AUTOSIZE );</div>
|
||||
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> </div>
|
||||
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  cvShowImage( <span class="stringliteral">"HSV"</span>, HSV); <span class="comment">// Original stream in the HSV color space</span></div>
|
||||
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  cvShowImage( <span class="stringliteral">"Binaire"</span>, Binaire); <span class="comment">// The stream after color filtering</span></div>
|
||||
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  cvShowImage( <span class="stringliteral">"Camera"</span>, frame ); <span class="comment">// Flux caméra avec tracking objet</span></div>
|
||||
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> }</div>
|
||||
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> </div>
|
||||
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="fonction_8h.html#a91b1b1daf28d90b5299a9a0486f5bdf1"> 163</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">Affichage_Tracking</a>(IplImage* frame, <span class="keywordtype">int</span> posX, <span class="keywordtype">int</span> posY, <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height){ <span class="comment">//Dessine les informations de tracking sur frame</span></div>
|
||||
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div>
|
||||
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="comment">//Affichage zone suivie objet</span></div>
|
||||
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  cvCircle(frame, cvPoint(width/2,height/2), height*<a class="code" href="fonction_8h.html#afb63dbc6e533233f41d03e8b8a3bc570">JEU</a>, CV_RGB(0, 255, 0), 4, 8, 0 );</div>
|
||||
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div>
|
||||
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">if</span>(posX<5&&posY<5){ <span class="comment">//Si aucun objet spotted, pointeur rouge au centre</span></div>
|
||||
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  posX=width/2;</div>
|
||||
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  posY=height/2;</div>
|
||||
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(255, 0, 0), 4, 8, 0 );</div>
|
||||
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(255, 0, 0), 4, 8, 0 );</div>
|
||||
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  }</div>
|
||||
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">else</span>{ <span class="comment">//Objet spotted</span></div>
|
||||
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="comment">//Affichage position de l'objet</span></div>
|
||||
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(0, 0, 255), 4, 8, 0 );</div>
|
||||
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(0, 0, 255), 4, 8, 0 );</div>
|
||||
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div>
|
||||
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> }</div>
|
||||
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> </div>
|
||||
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div>
|
||||
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="fonction_8h.html#a942c8619bb73ca7c3bb7e6fcf1875294"> 182</a></span> CvHaarClassifierCascade* <a class="code" href="fonction_8c.html#a5e1058b3e8eb605a74ffdd7a26637b1e">init_cascade</a>(){</div>
|
||||
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="comment">// Create a new Haar classifier</span></div>
|
||||
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  CvHaarClassifierCascade* cascade = 0;</div>
|
||||
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keyword">const</span> <span class="keywordtype">char</span>* cascade_name = <span class="stringliteral">"haarcascade_frontalface_alt.xml"</span>;</div>
|
||||
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> </div>
|
||||
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div>
|
||||
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  cascade = (CvHaarClassifierCascade*)cvLoad( cascade_name, 0, 0, 0 );</div>
|
||||
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> </div>
|
||||
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="comment">// Check whether the cascade has loaded successfully. Else report and error and quit</span></div>
|
||||
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">if</span>( !cascade ){</div>
|
||||
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  fprintf( stderr, <span class="stringliteral">"ERROR: Could not load classifier cascade\n"</span> );</div>
|
||||
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  perror(<span class="stringliteral">" "</span>);</div>
|
||||
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">return</span> NULL;</div>
|
||||
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  }</div>
|
||||
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordflow">return</span> cascade;</div>
|
||||
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> }</div>
|
||||
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> </div>
|
||||
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="comment">// Function to detect and draw any faces that is present in an image</span></div>
|
||||
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="fonction_8h.html#ab9c63795209f514f5d3554bc9450b8de"> 200</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#ab9c63795209f514f5d3554bc9450b8de">detect_and_draw</a>( IplImage* img, CvHaarClassifierCascade* cascade, <a class="code" href="structface.html">face</a>** tab_face)</div>
|
||||
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span> {</div>
|
||||
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> </div>
|
||||
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="comment">// Create memory for calculations</span></div>
|
||||
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keyword">static</span> CvMemStorage* storage = 0;</div>
|
||||
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordtype">int</span> scale = 1;</div>
|
||||
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> </div>
|
||||
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="comment">// Create a new image based on the input image</span></div>
|
||||
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  IplImage* temp = cvCreateImage( cvSize(img->width/scale,img->height/scale), 8, 3 );</div>
|
||||
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> </div>
|
||||
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="comment">// Create two points to represent the face locations</span></div>
|
||||
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  CvPoint pt1, pt2;</div>
|
||||
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordtype">int</span> i;</div>
|
||||
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div>
|
||||
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="comment">// Allocate the memory storage</span></div>
|
||||
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  storage = cvCreateMemStorage(0);</div>
|
||||
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div>
|
||||
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="comment">// Create a new named window with title: result</span></div>
|
||||
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  cvNamedWindow( <span class="stringliteral">"result"</span>, 1 );</div>
|
||||
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> </div>
|
||||
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="comment">// Clear the memory storage which was used before</span></div>
|
||||
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  cvClearMemStorage( storage );</div>
|
||||
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> </div>
|
||||
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="comment">// Find whether the cascade is loaded, to find the faces. If yes, then:</span></div>
|
||||
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordflow">if</span>( cascade ){</div>
|
||||
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div>
|
||||
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="comment">// There can be more than one face in an image. So create a growable sequence of faces.</span></div>
|
||||
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="comment">// Detect the objects and store them in the sequence</span></div>
|
||||
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  CvSeq* faces = cvHaarDetectObjects( img, cascade, storage,1.1, 2, 0, cvSize(60, 60),cvSize(500, 500));</div>
|
||||
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> </div>
|
||||
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="comment">//Reset faces</span></div>
|
||||
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  tab_face[0]->largeur = 0;</div>
|
||||
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  tab_face[1]->largeur = 0;</div>
|
||||
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> </div>
|
||||
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="comment">// Loop the number of faces found.</span></div>
|
||||
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordflow">for</span>( i = 0; i < (faces ? faces->total : 0); i++ ){</div>
|
||||
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="comment">// Create a new rectangle for drawing the face</span></div>
|
||||
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  CvRect* r = (CvRect*)cvGetSeqElem( faces, i );</div>
|
||||
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> </div>
|
||||
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="comment">// Find the dimensions of the face,and scale it if necessary</span></div>
|
||||
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  pt1.x = r->x*scale;</div>
|
||||
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  pt2.x = (r->x+r->width)*scale;</div>
|
||||
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  pt1.y = r->y*scale;</div>
|
||||
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  pt2.y = (r->y+r->height)*scale;</div>
|
||||
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> </div>
|
||||
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="comment">// Draw the rectangle in the input image</span></div>
|
||||
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  cvRectangle( img, pt1, pt2, CV_RGB(255,0,0), 3, 8, 0 );</div>
|
||||
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> </div>
|
||||
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordflow">if</span>(i < <a class="code" href="fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb">MAX_FACE</a>){</div>
|
||||
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  tab_face[i]->point.x = (pt1.x + pt2.x)/2;</div>
|
||||
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  tab_face[i]->point.y = (pt1.y + pt2.y)/2;</div>
|
||||
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  tab_face[i]->largeur = r->width;</div>
|
||||
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> </div>
|
||||
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  printf(<span class="stringliteral">"VALEURS FACES n°%d : %d %d %d\n"</span>,i, tab_face[i]->point.x,tab_face[i]->point.y,tab_face[i]->largeur);</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>  }</div>
|
||||
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  }</div>
|
||||
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> </div>
|
||||
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="comment">// Show the image in the window named "result"</span></div>
|
||||
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  cvShowImage( <span class="stringliteral">"result"</span>, img );</div>
|
||||
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> </div>
|
||||
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="comment">//free</span></div>
|
||||
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  cvReleaseImage( &temp );</div>
|
||||
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> }</div>
|
||||
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> </div>
|
||||
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="comment">//Renvoie la couleur moyenne de rec_face</span></div>
|
||||
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="keywordtype">void</span> get_color(IplImage* image, <a class="code" href="structface.html">face</a>* rec_face, <span class="keywordtype">int</span>* BGR){</div>
|
||||
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  printf(<span class="stringliteral">"z\n"</span>);</div>
|
||||
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  CvScalar colors;</div>
|
||||
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordtype">int</span> largeur = rec_face->largeur;</div>
|
||||
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span> printf(<span class="stringliteral">"e\n"</span>);</div>
|
||||
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  cvSetImageROI(image,cvRect(rec_face->point.x -largeur/2, rec_face->point.y -largeur/2, largeur,largeur));</div>
|
||||
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> printf(<span class="stringliteral">"r\n"</span>);</div>
|
||||
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  colors = cvAvg(image);</div>
|
||||
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> printf(<span class="stringliteral">"t\n"</span>);</div>
|
||||
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  cvResetImageROI(image);</div>
|
||||
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> printf(<span class="stringliteral">"y\n"</span>);</div>
|
||||
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  BGR[0] = colors.val[0];</div>
|
||||
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  BGR[1] = colors.val[1];</div>
|
||||
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  BGR[2] = colors.val[2];</div>
|
||||
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> printf(<span class="stringliteral">"u\n"</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> </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> </div>
|
||||
<div class="line"><a name="l00287"></a><span class="lineno"> 287</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> </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> </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> </div>
|
||||
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> </div>
|
||||
<div class="ttc" id="fonction_8c_html_adcdd0544c8eb462cd2835ec99fa0f181"><div class="ttname"><a href="fonction_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">config</a></div><div class="ttdeci">void config(int *LowH, int *HighH, int *LowS, int *HighS, int *LowV, int *HighV)</div><div class="ttdoc">Fonction d'affichage du panneau de configuration de la couleur à suivre. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00136">fonction.c:136</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_ab9c63795209f514f5d3554bc9450b8de"><div class="ttname"><a href="fonction_8c.html#ab9c63795209f514f5d3554bc9450b8de">detect_and_draw</a></div><div class="ttdeci">void detect_and_draw(IplImage *img, CvHaarClassifierCascade *cascade, face **tab_face)</div><div class="ttdoc">Détecte et renvoie un rectangle pour chaque visage sur l'image. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00200">fonction.c:200</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_a5e1058b3e8eb605a74ffdd7a26637b1e"><div class="ttname"><a href="fonction_8c.html#a5e1058b3e8eb605a74ffdd7a26637b1e">init_cascade</a></div><div class="ttdeci">CvHaarClassifierCascade * init_cascade()</div><div class="ttdoc">Charge les fichiers cascades pour la reconnaissance faciale. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00182">fonction.c:182</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_ac3e9405c4ebaa936308670c050285ae1"><div class="ttname"><a href="fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1">Position_moy</a></div><div class="ttdeci">void Position_moy(IplImage *Binaire, int *posX, int *posY)</div><div class="ttdoc">Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00120">fonction.c:120</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_ae89e5fc7460ea890fa61d54fd209c1ae"><div class="ttname"><a href="fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a></div><div class="ttdeci">int ajust_pos(int pos, int ref)</div><div class="ttdoc">permet d'éviter des positions supérieures à ref considérées comme aberrantes. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00036">fonction.c:36</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_a96b1dd5c66492425a00921b6eaaacc89"><div class="ttname"><a href="fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89">traitement</a></div><div class="ttdeci">void traitement(IplImage *frame, IplImage *HSV, IplImage *Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV)</div><div class="ttdoc">Effectue une binarisation de frame en fonction des bornes HSV. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00099">fonction.c:99</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_a93cca84f54fe35dc9ad87eac3583889b"><div class="ttname"><a href="fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b">maj_angle</a></div><div class="ttdeci">void maj_angle(int vecX, int vecY, int rayon, double *angle)</div><div class="ttdoc">Met à jour angle selon la distance entre le centre de la caméra et la cible, avec un tolérance circul...</div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00012">fonction.c:12</a></div></div>
|
||||
<div class="ttc" id="fonction_8h_html_afb63dbc6e533233f41d03e8b8a3bc570"><div class="ttname"><a href="fonction_8h.html#afb63dbc6e533233f41d03e8b8a3bc570">JEU</a></div><div class="ttdeci">#define JEU</div><div class="ttdoc">Coefficient de tolérance pour le suivi d'objet. </div></div>
|
||||
<div class="ttc" id="fonction_8h_html"><div class="ttname"><a href="fonction_8h.html">fonction.h</a></div><div class="ttdoc">Bibliothèque, Headers et Documentation des fonctions. </div></div>
|
||||
<div class="ttc" id="fonction_8h_html_a12190c71ff3acb9694bb2f782a1dfcdb"><div class="ttname"><a href="fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb">MAX_FACE</a></div><div class="ttdeci">#define MAX_FACE</div><div class="ttdoc">Nombre maximum de faces traitées. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8h_source.html#l00055">fonction.h:55</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_acc438fce8178d1d5aac4595f19529275"><div class="ttname"><a href="fonction_8c.html#acc438fce8178d1d5aac4595f19529275">affichage_config</a></div><div class="ttdeci">void affichage_config(IplImage *frame, IplImage *HSV, IplImage *Binaire)</div><div class="ttdoc">Fonction d'affichage du flux vidéo, du flux en HSV et de sa binarisation. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00151">fonction.c:151</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_a9397b95e9279b0b9cd371c9a2b4514a2"><div class="ttname"><a href="fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a></div><div class="ttdeci">int limite_moteur(int val_pwm)</div><div class="ttdoc">Fonction qui vérifie que les valeurs envoyees aux moteurs sont correctes. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00041">fonction.c:41</a></div></div>
|
||||
<div class="ttc" id="fonction_8c_html_ad3f512a54511a63b30a8967077736766"><div class="ttname"><a href="fonction_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a></div><div class="ttdeci">void controle_moteur(double *angle)</div><div class="ttdoc">Fonction d'envoie des angles aux moteurs. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00054">fonction.c:54</a></div></div>
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<div class="ttc" id="fonction_8c_html_a91b1b1daf28d90b5299a9a0486f5bdf1"><div class="ttname"><a href="fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">Affichage_Tracking</a></div><div class="ttdeci">void Affichage_Tracking(IplImage *frame, int posX, int posY, int width, int height)</div><div class="ttdoc">Fonction d'affichage des informations de suivi. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00163">fonction.c:163</a></div></div>
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<div class="ttc" id="structface_html"><div class="ttname"><a href="structface.html">face</a></div><div class="ttdoc">Contient les informations sur chaque face détectée : positions, largeur. </div></div>
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<div class="title">fonction.h File Reference</div> </div>
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<p>Bibliothèque, Headers et Documentation des fonctions.
|
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<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/>
|
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</div>
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<p><a href="fonction_8h_source.html">Go to the source code of this file.</a></p>
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Classes</h2></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="struct__face.html">_face</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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Macros</h2></td></tr>
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<tr class="memitem:afb63dbc6e533233f41d03e8b8a3bc570"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afb63dbc6e533233f41d03e8b8a3bc570"></a>
|
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_8h.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>
|
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<tr class="separator:afb63dbc6e533233f41d03e8b8a3bc570"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a28c9f30d423e9c1ca6fa15a0ec9a0032"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a28c9f30d423e9c1ca6fa15a0ec9a0032"></a>
|
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#define </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_8h.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>
|
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<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="fonction_8h.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>
|
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<tr class="separator:a9270f8e0b3866a58cfa3a7173da21abd"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a12190c71ff3acb9694bb2f782a1dfcdb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a12190c71ff3acb9694bb2f782a1dfcdb"></a>
|
||||
#define </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb">MAX_FACE</a>   2</td></tr>
|
||||
<tr class="memdesc:a12190c71ff3acb9694bb2f782a1dfcdb"><td class="mdescLeft"> </td><td class="mdescRight">Nombre maximum de faces traitées. <br/></td></tr>
|
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Typedefs</h2></td></tr>
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|
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typedef struct <a class="el" href="struct__face.html">_face</a> </td><td class="memItemRight" valign="bottom"><b>face</b></td></tr>
|
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|
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typedef <a class="el" href="structface.html">face</a> * </td><td class="memItemRight" valign="bottom"><b>pface</b></td></tr>
|
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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="fonction_8h.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="fonction_8h.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="fonction_8h.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="fonction_8h.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="fonction_8h.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="fonction_8h.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="fonction_8h.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="fonction_8h.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="fonction_8h.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:ad2cc53a42ff2450413bbb199bb4c1072"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_8h.html#ad2cc53a42ff2450413bbb199bb4c1072">image_CV2SFML</a> (IplImage *imcv, sf::Image imFlux)</td></tr>
|
||||
<tr class="memdesc:ad2cc53a42ff2450413bbb199bb4c1072"><td class="mdescLeft"> </td><td class="mdescRight">Convertit une image opencv (IplImage) en une image SFML (sf::Image) <a href="#ad2cc53a42ff2450413bbb199bb4c1072">More...</a><br/></td></tr>
|
||||
<tr class="separator:ad2cc53a42ff2450413bbb199bb4c1072"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a942c8619bb73ca7c3bb7e6fcf1875294"><td class="memItemLeft" align="right" valign="top">CvHaarClassifierCascade * </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_8h.html#a942c8619bb73ca7c3bb7e6fcf1875294">init_cascade</a> ()</td></tr>
|
||||
<tr class="memdesc:a942c8619bb73ca7c3bb7e6fcf1875294"><td class="mdescLeft"> </td><td class="mdescRight">Charge les fichiers cascades pour la reconnaissance faciale. <a href="#a942c8619bb73ca7c3bb7e6fcf1875294">More...</a><br/></td></tr>
|
||||
<tr class="separator:a942c8619bb73ca7c3bb7e6fcf1875294"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ab9c63795209f514f5d3554bc9450b8de"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="fonction_8h.html#ab9c63795209f514f5d3554bc9450b8de">detect_and_draw</a> (IplImage *img, CvHaarClassifierCascade *cascade, <a class="el" href="structface.html">face</a> **tab_face)</td></tr>
|
||||
<tr class="memdesc:ab9c63795209f514f5d3554bc9450b8de"><td class="mdescLeft"> </td><td class="mdescRight">Détecte et renvoie un rectangle pour chaque visage sur l'image. <a href="#ab9c63795209f514f5d3554bc9450b8de">More...</a><br/></td></tr>
|
||||
<tr class="separator:ab9c63795209f514f5d3554bc9450b8de"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a6544632f3a5db05caf6d23b1f8820880"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6544632f3a5db05caf6d23b1f8820880"></a>
|
||||
void </td><td class="memItemRight" valign="bottom"><b>get_color</b> (IplImage *image, <a class="el" href="structface.html">face</a> *rec_face, int *BGR)</td></tr>
|
||||
<tr class="separator:a6544632f3a5db05caf6d23b1f8820880"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
</table>
|
||||
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
||||
<div class="textblock"><p>Bibliothèque, Headers et Documentation des fonctions. </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>Definition in file <a class="el" href="fonction_8h_source.html">fonction.h</a>.</p>
|
||||
</div><h2 class="groupheader">Function Documentation</h2>
|
||||
<a class="anchor" id="acc438fce8178d1d5aac4595f19529275"></a>
|
||||
<div class="memitem">
|
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<div class="memproto">
|
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|
||||
<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="fonction_8c_source.html#l00151">151</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="a91b1b1daf28d90b5299a9a0486f5bdf1"></a>
|
||||
<div class="memitem">
|
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|
||||
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|
||||
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|
||||
<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="fonction_8c_source.html#l00163">163</a> of file <a class="el" href="fonction_8c_source.html">fonction.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="fonction_8c_source.html#l00036">36</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="adcdd0544c8eb462cd2835ec99fa0f181"></a>
|
||||
<div class="memitem">
|
||||
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|
||||
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|
||||
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|
||||
<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="fonction_8c_source.html#l00136">136</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="ad3f512a54511a63b30a8967077736766"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
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|
||||
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|
||||
<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="fonction_8c_source.html#l00054">54</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="ab9c63795209f514f5d3554bc9450b8de"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void detect_and_draw </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">IplImage * </td>
|
||||
<td class="paramname"><em>img</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">CvHaarClassifierCascade * </td>
|
||||
<td class="paramname"><em>cascade</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype"><a class="el" href="structface.html">face</a> ** </td>
|
||||
<td class="paramname"><em>tab_face</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Détecte et renvoie un rectangle pour chaque visage sur l'image. </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">img</td><td>Image sur laquelle on veut détecter des visages </td></tr>
|
||||
<tr><td class="paramname">cascade</td><td>structure contenant les données pour alimenter l'algorithme de reconnaissance d'image </td></tr>
|
||||
<tr><td class="paramname">tab_face</td><td>tableau des faces détectées </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="fonction_8c_source.html#l00200">200</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="ad2cc53a42ff2450413bbb199bb4c1072"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">int image_CV2SFML </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">IplImage * </td>
|
||||
<td class="paramname"><em>imcv</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">sf::Image </td>
|
||||
<td class="paramname"><em>imFlux</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Convertit une image opencv (IplImage) en une image SFML (sf::Image) </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">imcv</td><td>image OpenCv à convertir </td></tr>
|
||||
<tr><td class="paramname">imFlux</td><td>image SFML convertie en sortie de la fonction </td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>0 si la convertion est réussie </dd></dl>
|
||||
<dl class="bug"><dt><b><a class="el" href="bug.html#_bug000002">Bug:</a></b></dt><dd>A debugger ! Inutilisable en l'état </dd></dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="fonction_8c_source.html#l00074">74</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="a942c8619bb73ca7c3bb7e6fcf1875294"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">CvHaarClassifierCascade* init_cascade </td>
|
||||
<td>(</td>
|
||||
<td class="paramname"></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Charge les fichiers cascades pour la reconnaissance faciale. </p>
|
||||
<p>fichier(s) chargé(s) : "haarcascade_frontalface_alt.xml" </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Jacques </dd></dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>Renvoie la cascade </dd></dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="fonction_8c_source.html#l00182">182</a> of file <a class="el" href="fonction_8c_source.html">fonction.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="fonction_8c_source.html#l00041">41</a> of file <a class="el" href="fonction_8c_source.html">fonction.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="fonction_8c_source.html#l00012">12</a> of file <a class="el" href="fonction_8c_source.html">fonction.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="fonction_8c_source.html#l00120">120</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
||||
|
||||
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|
||||
</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>
|
||||
<dl class="bug"><dt><b><a class="el" href="bug.html#_bug000001">Bug:</a></b></dt><dd>Nécessite changement de l'utilisation de cvInRangeS sur certain PC </dd></dl>
|
||||
|
||||
<p>Definition at line <a class="el" href="fonction_8c_source.html#l00099">99</a> of file <a class="el" href="fonction_8c_source.html">fonction.c</a>.</p>
|
||||
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|
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.6 </li>
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23
Doxy/html/fonction_8h.js
Normal file
23
Doxy/html/fonction_8h.js
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<div class="title">fonction.h</div> </div>
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<a href="fonction_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef FONCTION_H</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor"></span><span class="preprocessor">#define FONCTION_H</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor"></span></div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">/*INCLUDE*/</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <stdio.h></span></div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <stdlib.h></span></div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <cv.h></span> </div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <highgui.h></span></div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">//#include <opencv2/highgui.hpp> //Pour le cvRound</span></div>
|
||||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">//#include "opencv2/videoio/videoio_c.h" //Pour le CvCapture*</span></div>
|
||||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">//#include <cxcore.h></span></div>
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||||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">//#include <SFML/Window.h></span></div>
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||||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <SFML/Audio.hpp></span></div>
|
||||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include <SFML/Graphics.hpp></span></div>
|
||||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include <SFML/Window.hpp></span></div>
|
||||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">//#include <SFML/System.hpp> //inutilisé pour le moment</span></div>
|
||||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div>
|
||||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">/*DEFINE*/</span></div>
|
||||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">//ATTENTION AFFICHAGE OPENCV INCOMPATIBLE AVEC AFFICHAGE SFML</span></div>
|
||||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">//ATTENTION SFML SUPPORTE UN NOMBRE LIMITE DE SPRITE EN FCT DU PC</span></div>
|
||||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#define JEU 0.15</span></div>
|
||||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment">//#define CONFIG</span></div>
|
||||
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="fonction_8h.html#a28c9f30d423e9c1ca6fa15a0ec9a0032"> 51</a></span> <span class="preprocessor">#define SFML</span></div>
|
||||
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="fonction_8h.html#a9270f8e0b3866a58cfa3a7173da21abd"> 52</a></span> <span class="preprocessor"></span><span class="preprocessor">#define KIRBY</span></div>
|
||||
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="preprocessor"></span><span class="comment">//#define ETOILE</span></div>
|
||||
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
|
||||
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb"> 55</a></span> <span class="preprocessor">#define MAX_FACE 2</span></div>
|
||||
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="preprocessor"></span></div>
|
||||
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div>
|
||||
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment">/*STRUCTURE*/</span></div>
|
||||
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="struct__face.html"> 65</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__face.html">_face</a>{</div>
|
||||
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="struct__face.html#a03aff2c43bbe1ff2add8e60729d1836a"> 66</a></span>  CvPoint <a class="code" href="struct__face.html#a03aff2c43bbe1ff2add8e60729d1836a">point</a>; </div>
|
||||
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="struct__face.html#aa08c659931ad517a99d28131c5bb22fe"> 67</a></span>  <span class="keywordtype">int</span> <a class="code" href="struct__face.html#aa08c659931ad517a99d28131c5bb22fe">largeur</a>; </div>
|
||||
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> } <a class="code" href="structface.html">face</a>;</div>
|
||||
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div>
|
||||
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="keyword">typedef</span> <a class="code" href="structface.html">face</a>* <a class="code" href="structface.html">pface</a>;</div>
|
||||
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> </div>
|
||||
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div>
|
||||
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div>
|
||||
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment">/*HEADERS*/</span></div>
|
||||
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div>
|
||||
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="keywordtype">void</span> <a class="code" href="fonction_8h.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="l00086"></a><span class="lineno"> 86</span> </div>
|
||||
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="keywordtype">int</span> <a class="code" href="fonction_8h.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a>(<span class="keywordtype">int</span> pos, <span class="keywordtype">int</span> ref);</div>
|
||||
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> </div>
|
||||
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">void</span> <a class="code" href="fonction_8h.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="l00106"></a><span class="lineno"> 106</span> </div>
|
||||
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="keywordtype">int</span> <a class="code" href="fonction_8h.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="l00116"></a><span class="lineno"> 116</span> </div>
|
||||
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">void</span> <a class="code" href="fonction_8h.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="l00132"></a><span class="lineno"> 132</span> </div>
|
||||
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="keywordtype">void</span> <a class="code" href="fonction_8h.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="l00142"></a><span class="lineno"> 142</span> </div>
|
||||
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">void</span> <a class="code" href="fonction_8h.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="l00156"></a><span class="lineno"> 156</span> </div>
|
||||
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">void</span> <a class="code" href="fonction_8h.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="l00166"></a><span class="lineno"> 166</span> </div>
|
||||
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="keywordtype">void</span> <a class="code" href="fonction_8h.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="l00184"></a><span class="lineno"> 184</span> </div>
|
||||
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="keywordtype">int</span> <a class="code" href="fonction_8h.html#ad2cc53a42ff2450413bbb199bb4c1072">image_CV2SFML</a>(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="l00195"></a><span class="lineno"> 195</span> </div>
|
||||
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span> CvHaarClassifierCascade* <a class="code" href="fonction_8h.html#a942c8619bb73ca7c3bb7e6fcf1875294">init_cascade</a>();</div>
|
||||
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> </div>
|
||||
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> <span class="keywordtype">void</span> <a class="code" href="fonction_8h.html#ab9c63795209f514f5d3554bc9450b8de">detect_and_draw</a>( IplImage* img, CvHaarClassifierCascade* cascade, <a class="code" href="structface.html">face</a>** tab_face );</div>
|
||||
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> </div>
|
||||
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> <span class="keywordtype">void</span> get_color(IplImage* image, <a class="code" href="structface.html">face</a>* rec_face, <span class="keywordtype">int</span>* BGR);</div>
|
||||
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> </div>
|
||||
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> <span class="preprocessor">#endif</span></div>
|
||||
<div class="ttc" id="struct__face_html_a03aff2c43bbe1ff2add8e60729d1836a"><div class="ttname"><a href="struct__face.html#a03aff2c43bbe1ff2add8e60729d1836a">_face::point</a></div><div class="ttdeci">CvPoint point</div><div class="ttdef"><b>Definition:</b> <a href="fonction_8h_source.html#l00066">fonction.h:66</a></div></div>
|
||||
<div class="ttc" id="fonction_8h_html_ac3e9405c4ebaa936308670c050285ae1"><div class="ttname"><a href="fonction_8h.html#ac3e9405c4ebaa936308670c050285ae1">Position_moy</a></div><div class="ttdeci">void Position_moy(IplImage *Binaire, int *posX, int *posY)</div><div class="ttdoc">Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00120">fonction.c:120</a></div></div>
|
||||
<div class="ttc" id="fonction_8h_html_a9397b95e9279b0b9cd371c9a2b4514a2"><div class="ttname"><a href="fonction_8h.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a></div><div class="ttdeci">int limite_moteur(int val_pwm)</div><div class="ttdoc">Fonction qui vérifie que les valeurs envoyees aux moteurs sont correctes. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00041">fonction.c:41</a></div></div>
|
||||
<div class="ttc" id="fonction_8h_html_ab9c63795209f514f5d3554bc9450b8de"><div class="ttname"><a href="fonction_8h.html#ab9c63795209f514f5d3554bc9450b8de">detect_and_draw</a></div><div class="ttdeci">void detect_and_draw(IplImage *img, CvHaarClassifierCascade *cascade, face **tab_face)</div><div class="ttdoc">Détecte et renvoie un rectangle pour chaque visage sur l'image. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00200">fonction.c:200</a></div></div>
|
||||
<div class="ttc" id="fonction_8h_html_a942c8619bb73ca7c3bb7e6fcf1875294"><div class="ttname"><a href="fonction_8h.html#a942c8619bb73ca7c3bb7e6fcf1875294">init_cascade</a></div><div class="ttdeci">CvHaarClassifierCascade * init_cascade()</div><div class="ttdoc">Charge les fichiers cascades pour la reconnaissance faciale. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00182">fonction.c:182</a></div></div>
|
||||
<div class="ttc" id="fonction_8h_html_a96b1dd5c66492425a00921b6eaaacc89"><div class="ttname"><a href="fonction_8h.html#a96b1dd5c66492425a00921b6eaaacc89">traitement</a></div><div class="ttdeci">void traitement(IplImage *frame, IplImage *HSV, IplImage *Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV)</div><div class="ttdoc">Effectue une binarisation de frame en fonction des bornes HSV. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00099">fonction.c:99</a></div></div>
|
||||
<div class="ttc" id="fonction_8h_html_acc438fce8178d1d5aac4595f19529275"><div class="ttname"><a href="fonction_8h.html#acc438fce8178d1d5aac4595f19529275">affichage_config</a></div><div class="ttdeci">void affichage_config(IplImage *frame, IplImage *HSV, IplImage *Binaire)</div><div class="ttdoc">Fonction d'affichage du flux vidéo, du flux en HSV et de sa binarisation. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00151">fonction.c:151</a></div></div>
|
||||
<div class="ttc" id="fonction_8h_html_ad2cc53a42ff2450413bbb199bb4c1072"><div class="ttname"><a href="fonction_8h.html#ad2cc53a42ff2450413bbb199bb4c1072">image_CV2SFML</a></div><div class="ttdeci">int image_CV2SFML(IplImage *imcv, sf::Image imFlux)</div><div class="ttdoc">Convertit une image opencv (IplImage) en une image SFML (sf::Image) </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00074">fonction.c:74</a></div></div>
|
||||
<div class="ttc" id="fonction_8h_html_a93cca84f54fe35dc9ad87eac3583889b"><div class="ttname"><a href="fonction_8h.html#a93cca84f54fe35dc9ad87eac3583889b">maj_angle</a></div><div class="ttdeci">void maj_angle(int vecX, int vecY, int rayon, double *angle)</div><div class="ttdoc">Met à jour angle selon la distance entre le centre de la caméra et la cible, avec un tolérance circul...</div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00012">fonction.c:12</a></div></div>
|
||||
<div class="ttc" id="struct__face_html_aa08c659931ad517a99d28131c5bb22fe"><div class="ttname"><a href="struct__face.html#aa08c659931ad517a99d28131c5bb22fe">_face::largeur</a></div><div class="ttdeci">int largeur</div><div class="ttdef"><b>Definition:</b> <a href="fonction_8h_source.html#l00067">fonction.h:67</a></div></div>
|
||||
<div class="ttc" id="struct__face_html"><div class="ttname"><a href="struct__face.html">_face</a></div><div class="ttdef"><b>Definition:</b> <a href="fonction_8h_source.html#l00065">fonction.h:65</a></div></div>
|
||||
<div class="ttc" id="fonction_8h_html_ae89e5fc7460ea890fa61d54fd209c1ae"><div class="ttname"><a href="fonction_8h.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a></div><div class="ttdeci">int ajust_pos(int pos, int ref)</div><div class="ttdoc">permet d'éviter des positions supérieures à ref considérées comme aberrantes. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00036">fonction.c:36</a></div></div>
|
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<div class="ttc" id="fonction_8h_html_ad3f512a54511a63b30a8967077736766"><div class="ttname"><a href="fonction_8h.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a></div><div class="ttdeci">void controle_moteur(double *angle)</div><div class="ttdoc">Fonction d'envoie des angles aux moteurs. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00054">fonction.c:54</a></div></div>
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|
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<div class="ttc" id="structface_html"><div class="ttname"><a href="structface.html">face</a></div><div class="ttdoc">Contient les informations sur chaque face détectée : positions, largeur. </div></div>
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<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div><ul>
|
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<li>largeur
|
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: <a class="el" href="struct__face.html#aa08c659931ad517a99d28131c5bb22fe">_face</a>
|
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</li>
|
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<li>point
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: <a class="el" href="struct__face.html#a03aff2c43bbe1ff2add8e60729d1836a">_face</a>
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131
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||||
<li>largeur
|
||||
: <a class="el" href="struct__face.html#aa08c659931ad517a99d28131c5bb22fe">_face</a>
|
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</li>
|
||||
<li>point
|
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: <a class="el" href="struct__face.html#a03aff2c43bbe1ff2add8e60729d1836a">_face</a>
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|
||||
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
||||
<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>
|
||||
<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>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Macros</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Pages</a></div>
|
||||
|
||||
<!-- iframe showing the search results (closed by default) -->
|
||||
<div id="MSearchResultsWindow">
|
||||
|
|
@ -88,51 +111,78 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
<div class="contents">
|
||||
<div class="textblock">Here is a list of all documented file members with links to the documentation:</div><ul>
|
||||
<li>affichage_config()
|
||||
: <a class="el" href="_kirby_track_8c.html#acc438fce8178d1d5aac4595f19529275">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#acc438fce8178d1d5aac4595f19529275">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#acc438fce8178d1d5aac4595f19529275">fonction.h</a>
|
||||
</li>
|
||||
<li>Affichage_Tracking()
|
||||
: <a class="el" href="_kirby_track_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8h.html#a91b1b1daf28d90b5299a9a0486f5bdf1">fonction.h</a>
|
||||
, <a class="el" href="fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">fonction.c</a>
|
||||
</li>
|
||||
<li>ajust_pos()
|
||||
: <a class="el" href="_kirby_track_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8h.html#ae89e5fc7460ea890fa61d54fd209c1ae">fonction.h</a>
|
||||
, <a class="el" href="fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">fonction.c</a>
|
||||
</li>
|
||||
<li>config()
|
||||
: <a class="el" href="_kirby_track_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#adcdd0544c8eb462cd2835ec99fa0f181">fonction.h</a>
|
||||
</li>
|
||||
<li>controle_moteur()
|
||||
: <a class="el" href="_kirby_track_8c.html#ad3f512a54511a63b30a8967077736766">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#ad3f512a54511a63b30a8967077736766">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#ad3f512a54511a63b30a8967077736766">fonction.h</a>
|
||||
</li>
|
||||
<li>detect_and_draw()
|
||||
: <a class="el" href="fonction_8c.html#ab9c63795209f514f5d3554bc9450b8de">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#ab9c63795209f514f5d3554bc9450b8de">fonction.h</a>
|
||||
</li>
|
||||
<li>image_CV2SFML()
|
||||
: <a class="el" href="fonction_8c.html#ad2cc53a42ff2450413bbb199bb4c1072">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#ad2cc53a42ff2450413bbb199bb4c1072">fonction.h</a>
|
||||
</li>
|
||||
<li>init_cascade()
|
||||
: <a class="el" href="fonction_8c.html#a5e1058b3e8eb605a74ffdd7a26637b1e">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#a942c8619bb73ca7c3bb7e6fcf1875294">fonction.h</a>
|
||||
</li>
|
||||
<li>JEU
|
||||
: <a class="el" href="_kirby_track_8c.html#afb63dbc6e533233f41d03e8b8a3bc570">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8h.html#afb63dbc6e533233f41d03e8b8a3bc570">fonction.h</a>
|
||||
</li>
|
||||
<li>KIRBY
|
||||
: <a class="el" href="_kirby_track_8c.html#a9270f8e0b3866a58cfa3a7173da21abd">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8h.html#a9270f8e0b3866a58cfa3a7173da21abd">fonction.h</a>
|
||||
</li>
|
||||
<li>limite_moteur()
|
||||
: <a class="el" href="_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#a9397b95e9279b0b9cd371c9a2b4514a2">fonction.h</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>
|
||||
: <a class="el" href="fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#a93cca84f54fe35dc9ad87eac3583889b">fonction.h</a>
|
||||
</li>
|
||||
<li>MAX_FACE
|
||||
: <a class="el" href="fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb">fonction.h</a>
|
||||
</li>
|
||||
<li>Position_moy()
|
||||
: <a class="el" href="_kirby_track_8c.html#ac3e9405c4ebaa936308670c050285ae1">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#ac3e9405c4ebaa936308670c050285ae1">fonction.h</a>
|
||||
</li>
|
||||
<li>SFML
|
||||
: <a class="el" href="_kirby_track_8c.html#a28c9f30d423e9c1ca6fa15a0ec9a0032">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8h.html#a28c9f30d423e9c1ca6fa15a0ec9a0032">fonction.h</a>
|
||||
</li>
|
||||
<li>traitement()
|
||||
: <a class="el" href="_kirby_track_8c.html#a96b1dd5c66492425a00921b6eaaacc89">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#a96b1dd5c66492425a00921b6eaaacc89">fonction.h</a>
|
||||
</li>
|
||||
</ul>
|
||||
</div><!-- contents -->
|
||||
</div><!-- doc-content -->
|
||||
<!-- start footer part -->
|
||||
<hr class="footer"/><address class="footer"><small>
|
||||
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>
|
||||
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
||||
<ul>
|
||||
<li class="footer">Generated on Tue May 30 2017 18:00:53 for CamAdventure by
|
||||
<a href="http://www.doxygen.org/index.html">
|
||||
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.6 </li>
|
||||
</ul>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
|
|
|||
|
|
@ -8,6 +8,13 @@
|
|||
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="jquery.js"></script>
|
||||
<script type="text/javascript" src="dynsections.js"></script>
|
||||
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="resize.js"></script>
|
||||
<script type="text/javascript" src="navtree.js"></script>
|
||||
<script type="text/javascript">
|
||||
$(document).ready(initResizable);
|
||||
$(window).load(resizeHeight);
|
||||
</script>
|
||||
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="search/search.js"></script>
|
||||
<script type="text/javascript">
|
||||
|
|
@ -38,6 +45,8 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
<div id="navrow1" class="tabs">
|
||||
<ul class="tablist">
|
||||
<li><a href="index.html"><span>Main Page</span></a></li>
|
||||
<li><a href="pages.html"><span>Related Pages</span></a></li>
|
||||
<li><a href="annotated.html"><span>Classes</span></a></li>
|
||||
<li class="current"><a href="files.html"><span>Files</span></a></li>
|
||||
<li>
|
||||
<div id="MSearchBox" class="MSearchBoxInactive">
|
||||
|
|
@ -71,12 +80,26 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
</ul>
|
||||
</div>
|
||||
</div><!-- top -->
|
||||
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
||||
<div id="nav-tree">
|
||||
<div id="nav-tree-contents">
|
||||
<div id="nav-sync" class="sync"></div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="splitbar" style="-moz-user-select:none;"
|
||||
class="ui-resizable-handle">
|
||||
</div>
|
||||
</div>
|
||||
<script type="text/javascript">
|
||||
$(document).ready(function(){initNavTree('globals_defs.html','');});
|
||||
</script>
|
||||
<div id="doc-content">
|
||||
<!-- window showing the filter options -->
|
||||
<div id="MSearchSelectWindow"
|
||||
onmouseover="return searchBox.OnSearchSelectShow()"
|
||||
onmouseout="return searchBox.OnSearchSelectHide()"
|
||||
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
||||
<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>
|
||||
<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>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Macros</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Pages</a></div>
|
||||
|
||||
<!-- iframe showing the search results (closed by default) -->
|
||||
<div id="MSearchResultsWindow">
|
||||
|
|
@ -88,21 +111,27 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
<div class="contents">
|
||||
 <ul>
|
||||
<li>JEU
|
||||
: <a class="el" href="_kirby_track_8c.html#afb63dbc6e533233f41d03e8b8a3bc570">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8h.html#afb63dbc6e533233f41d03e8b8a3bc570">fonction.h</a>
|
||||
</li>
|
||||
<li>KIRBY
|
||||
: <a class="el" href="_kirby_track_8c.html#a9270f8e0b3866a58cfa3a7173da21abd">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8h.html#a9270f8e0b3866a58cfa3a7173da21abd">fonction.h</a>
|
||||
</li>
|
||||
<li>MAX_FACE
|
||||
: <a class="el" href="fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb">fonction.h</a>
|
||||
</li>
|
||||
<li>SFML
|
||||
: <a class="el" href="_kirby_track_8c.html#a28c9f30d423e9c1ca6fa15a0ec9a0032">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8h.html#a28c9f30d423e9c1ca6fa15a0ec9a0032">fonction.h</a>
|
||||
</li>
|
||||
</ul>
|
||||
</div><!-- contents -->
|
||||
</div><!-- doc-content -->
|
||||
<!-- start footer part -->
|
||||
<hr class="footer"/><address class="footer"><small>
|
||||
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>
|
||||
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
||||
<ul>
|
||||
<li class="footer">Generated on Tue May 30 2017 18:00:53 for CamAdventure by
|
||||
<a href="http://www.doxygen.org/index.html">
|
||||
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.6 </li>
|
||||
</ul>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
|
|
|||
|
|
@ -8,6 +8,13 @@
|
|||
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="jquery.js"></script>
|
||||
<script type="text/javascript" src="dynsections.js"></script>
|
||||
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="resize.js"></script>
|
||||
<script type="text/javascript" src="navtree.js"></script>
|
||||
<script type="text/javascript">
|
||||
$(document).ready(initResizable);
|
||||
$(window).load(resizeHeight);
|
||||
</script>
|
||||
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="search/search.js"></script>
|
||||
<script type="text/javascript">
|
||||
|
|
@ -38,6 +45,8 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
<div id="navrow1" class="tabs">
|
||||
<ul class="tablist">
|
||||
<li><a href="index.html"><span>Main Page</span></a></li>
|
||||
<li><a href="pages.html"><span>Related Pages</span></a></li>
|
||||
<li><a href="annotated.html"><span>Classes</span></a></li>
|
||||
<li class="current"><a href="files.html"><span>Files</span></a></li>
|
||||
<li>
|
||||
<div id="MSearchBox" class="MSearchBoxInactive">
|
||||
|
|
@ -71,12 +80,26 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
</ul>
|
||||
</div>
|
||||
</div><!-- top -->
|
||||
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
||||
<div id="nav-tree">
|
||||
<div id="nav-tree-contents">
|
||||
<div id="nav-sync" class="sync"></div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="splitbar" style="-moz-user-select:none;"
|
||||
class="ui-resizable-handle">
|
||||
</div>
|
||||
</div>
|
||||
<script type="text/javascript">
|
||||
$(document).ready(function(){initNavTree('globals_func.html','');});
|
||||
</script>
|
||||
<div id="doc-content">
|
||||
<!-- window showing the filter options -->
|
||||
<div id="MSearchSelectWindow"
|
||||
onmouseover="return searchBox.OnSearchSelectShow()"
|
||||
onmouseout="return searchBox.OnSearchSelectHide()"
|
||||
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
||||
<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>
|
||||
<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>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Macros</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Pages</a></div>
|
||||
|
||||
<!-- iframe showing the search results (closed by default) -->
|
||||
<div id="MSearchResultsWindow">
|
||||
|
|
@ -88,42 +111,66 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
|||
<div class="contents">
|
||||
 <ul>
|
||||
<li>affichage_config()
|
||||
: <a class="el" href="_kirby_track_8c.html#acc438fce8178d1d5aac4595f19529275">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#acc438fce8178d1d5aac4595f19529275">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#acc438fce8178d1d5aac4595f19529275">fonction.h</a>
|
||||
</li>
|
||||
<li>Affichage_Tracking()
|
||||
: <a class="el" href="_kirby_track_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#a91b1b1daf28d90b5299a9a0486f5bdf1">fonction.h</a>
|
||||
</li>
|
||||
<li>ajust_pos()
|
||||
: <a class="el" href="_kirby_track_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#ae89e5fc7460ea890fa61d54fd209c1ae">fonction.h</a>
|
||||
</li>
|
||||
<li>config()
|
||||
: <a class="el" href="_kirby_track_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#adcdd0544c8eb462cd2835ec99fa0f181">fonction.h</a>
|
||||
</li>
|
||||
<li>controle_moteur()
|
||||
: <a class="el" href="_kirby_track_8c.html#ad3f512a54511a63b30a8967077736766">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#ad3f512a54511a63b30a8967077736766">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#ad3f512a54511a63b30a8967077736766">fonction.h</a>
|
||||
</li>
|
||||
<li>detect_and_draw()
|
||||
: <a class="el" href="fonction_8c.html#ab9c63795209f514f5d3554bc9450b8de">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#ab9c63795209f514f5d3554bc9450b8de">fonction.h</a>
|
||||
</li>
|
||||
<li>image_CV2SFML()
|
||||
: <a class="el" href="fonction_8c.html#ad2cc53a42ff2450413bbb199bb4c1072">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#ad2cc53a42ff2450413bbb199bb4c1072">fonction.h</a>
|
||||
</li>
|
||||
<li>init_cascade()
|
||||
: <a class="el" href="fonction_8c.html#a5e1058b3e8eb605a74ffdd7a26637b1e">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#a942c8619bb73ca7c3bb7e6fcf1875294">fonction.h</a>
|
||||
</li>
|
||||
<li>limite_moteur()
|
||||
: <a class="el" href="_kirby_track_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#a9397b95e9279b0b9cd371c9a2b4514a2">fonction.h</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>
|
||||
: <a class="el" href="fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#a93cca84f54fe35dc9ad87eac3583889b">fonction.h</a>
|
||||
</li>
|
||||
<li>Position_moy()
|
||||
: <a class="el" href="_kirby_track_8c.html#ac3e9405c4ebaa936308670c050285ae1">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#ac3e9405c4ebaa936308670c050285ae1">fonction.h</a>
|
||||
</li>
|
||||
<li>traitement()
|
||||
: <a class="el" href="_kirby_track_8c.html#a96b1dd5c66492425a00921b6eaaacc89">KirbyTrack.c</a>
|
||||
: <a class="el" href="fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89">fonction.c</a>
|
||||
, <a class="el" href="fonction_8h.html#a96b1dd5c66492425a00921b6eaaacc89">fonction.h</a>
|
||||
</li>
|
||||
</ul>
|
||||
</div><!-- contents -->
|
||||
</div><!-- doc-content -->
|
||||
<!-- start footer part -->
|
||||
<hr class="footer"/><address class="footer"><small>
|
||||
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>
|
||||
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
||||
<ul>
|
||||
<li class="footer">Generated on Tue May 30 2017 18:00:53 for CamAdventure by
|
||||
<a href="http://www.doxygen.org/index.html">
|
||||
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.6 </li>
|
||||
</ul>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
|
|
|||
108
Doxy/html/globals_type.html
Normal file
108
Doxy/html/globals_type.html
Normal file
|
|
@ -0,0 +1,108 @@
|
|||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
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<html xmlns="http://www.w3.org/1999/xhtml">
|
||||
<head>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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<meta name="generator" content="Doxygen 1.8.6"/>
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<title>CamAdventure: File Members</title>
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|
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|
||||
<script type="text/javascript" src="dynsections.js"></script>
|
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|
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<script type="text/javascript" src="search/search.js"></script>
|
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|
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<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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|
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<table cellspacing="0" cellpadding="0">
|
||||
<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>
|
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</tr>
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|
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<li><a href="index.html"><span>Main Page</span></a></li>
|
||||
<li><a href="pages.html"><span>Related Pages</span></a></li>
|
||||
<li><a href="annotated.html"><span>Classes</span></a></li>
|
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<li class="current"><a href="files.html"><span>Files</span></a></li>
|
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|
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<div id="MSearchBox" class="MSearchBoxInactive">
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</ul>
|
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</div>
|
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<div id="navrow2" class="tabs2">
|
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<ul class="tablist">
|
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<li><a href="files.html"><span>File List</span></a></li>
|
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<li class="current"><a href="globals.html"><span>File Members</span></a></li>
|
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</ul>
|
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</div>
|
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<div id="navrow3" class="tabs2">
|
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<ul class="tablist">
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<li><a href="globals.html"><span>All</span></a></li>
|
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<li><a href="globals_func.html"><span>Functions</span></a></li>
|
||||
<li class="current"><a href="globals_type.html"><span>Typedefs</span></a></li>
|
||||
<li><a href="globals_defs.html"><span>Macros</span></a></li>
|
||||
</ul>
|
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</div>
|
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</div><!-- top -->
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<!-- window showing the filter options -->
|
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<div id="MSearchSelectWindow"
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onmouseover="return searchBox.OnSearchSelectShow()"
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onmouseout="return searchBox.OnSearchSelectHide()"
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onkeydown="return searchBox.OnSearchSelectKey(event)">
|
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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>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Macros</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Pages</a></div>
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<!-- iframe showing the search results (closed by default) -->
|
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<div id="MSearchResultsWindow">
|
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<iframe src="javascript:void(0)" frameborder="0"
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name="MSearchResults" id="MSearchResults">
|
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</iframe>
|
||||
</div>
|
||||
|
||||
<div class="contents">
|
||||
 <ul>
|
||||
<li>face
|
||||
: <a class="el" href="fonction_8h.html#aa1b85a6249980781b9354232e9bd2408">fonction.h</a>
|
||||
</li>
|
||||
<li>pface
|
||||
: <a class="el" href="fonction_8h.html#a77e86465703f18d4b5dc36ce5c34d609">fonction.h</a>
|
||||
</li>
|
||||
</ul>
|
||||
</div><!-- contents -->
|
||||
<!-- start footer part -->
|
||||
<hr class="footer"/><address class="footer"><small>
|
||||
Generated on Tue May 30 2017 18:00:06 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>
|
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</html>
|
||||
|
|
@ -8,6 +8,13 @@
|
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<link href="tabs.css" rel="stylesheet" type="text/css"/>
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<script type="text/javascript" src="jquery.js"></script>
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<script type="text/javascript" src="dynsections.js"></script>
|
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<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
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<script type="text/javascript" src="resize.js"></script>
|
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<script type="text/javascript" src="navtree.js"></script>
|
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<script type="text/javascript">
|
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$(document).ready(initResizable);
|
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$(window).load(resizeHeight);
|
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</script>
|
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<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="search/search.js"></script>
|
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<script type="text/javascript">
|
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|
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@ -38,6 +45,8 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
|
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<div id="navrow1" class="tabs">
|
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<ul class="tablist">
|
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<li class="current"><a href="index.html"><span>Main Page</span></a></li>
|
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<li><a href="pages.html"><span>Related Pages</span></a></li>
|
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<li><a href="annotated.html"><span>Classes</span></a></li>
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<li>
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<div id="MSearchBox" class="MSearchBoxInactive">
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@ -58,12 +67,26 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
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</div>
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</div><!-- top -->
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<div id="side-nav" class="ui-resizable side-nav-resizable">
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<div id="nav-tree">
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<div id="splitbar" style="-moz-user-select:none;"
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class="ui-resizable-handle">
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<script type="text/javascript">
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$(document).ready(function(){initNavTree('index.html','');});
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<div id="MSearchSelectWindow"
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onmouseover="return searchBox.OnSearchSelectShow()"
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onkeydown="return searchBox.OnSearchSelectKey(event)">
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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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<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>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Macros</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Pages</a></div>
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<!-- iframe showing the search results (closed by default) -->
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<div id="MSearchResultsWindow">
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@ -78,11 +101,14 @@ var searchBox = new SearchBox("searchBox", "search",false,'Search');
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</div><!--header-->
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<div class="contents">
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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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<img class="footer" src="doxygen.png" alt="doxygen"/>
|
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</a> 1.8.6
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<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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<ul>
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<li class="footer">Generated on Tue May 30 2017 18:00:53 for CamAdventure by
|
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<a href="http://www.doxygen.org/index.html">
|
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.6 </li>
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</ul>
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</div>
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</body>
|
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</html>
|
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|
|
|
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41
Doxy/html/jquery.js
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41
Doxy/html/jquery.js
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143
Doxy/html/navtree.css
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143
Doxy/html/navtree.css
Normal file
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-webkit-overflow-scrolling : touch; /* iOS 5+ */
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left: 0px;
|
||||
width: 250px;
|
||||
}
|
||||
|
||||
.ui-resizable .ui-resizable-handle {
|
||||
display:block;
|
||||
}
|
||||
|
||||
.ui-resizable-e {
|
||||
background:url("ftv2splitbar.png") repeat scroll right center transparent;
|
||||
cursor:e-resize;
|
||||
height:100%;
|
||||
right:0;
|
||||
top:0;
|
||||
width:6px;
|
||||
}
|
||||
|
||||
.ui-resizable-handle {
|
||||
display:none;
|
||||
font-size:0.1px;
|
||||
position:absolute;
|
||||
z-index:1;
|
||||
}
|
||||
|
||||
#nav-tree-contents {
|
||||
margin: 6px 0px 0px 0px;
|
||||
}
|
||||
|
||||
#nav-tree {
|
||||
background-image:url('nav_h.png');
|
||||
background-repeat:repeat-x;
|
||||
background-color: #F9FAFC;
|
||||
-webkit-overflow-scrolling : touch; /* iOS 5+ */
|
||||
}
|
||||
|
||||
#nav-sync {
|
||||
position:absolute;
|
||||
top:5px;
|
||||
right:24px;
|
||||
z-index:0;
|
||||
}
|
||||
|
||||
#nav-sync img {
|
||||
opacity:0.3;
|
||||
}
|
||||
|
||||
#nav-sync img:hover {
|
||||
opacity:0.9;
|
||||
}
|
||||
|
||||
@media print
|
||||
{
|
||||
#nav-tree { display: none; }
|
||||
div.ui-resizable-handle { display: none; position: relative; }
|
||||
}
|
||||
|
||||
546
Doxy/html/navtree.js
Normal file
546
Doxy/html/navtree.js
Normal file
|
|
@ -0,0 +1,546 @@
|
|||
var NAVTREE =
|
||||
[
|
||||
[ "CamAdventure", "index.html", [
|
||||
[ "Todo List", "todo.html", null ],
|
||||
[ "Bug List", "bug.html", null ],
|
||||
[ "Classes", null, [
|
||||
[ "Class List", "annotated.html", "annotated" ],
|
||||
[ "Class Index", "classes.html", null ],
|
||||
[ "Class Members", "functions.html", [
|
||||
[ "All", "functions.html", null ],
|
||||
[ "Variables", "functions_vars.html", null ]
|
||||
] ]
|
||||
] ],
|
||||
[ "Files", null, [
|
||||
[ "File List", "files.html", "files" ],
|
||||
[ "File Members", "globals.html", [
|
||||
[ "All", "globals.html", null ],
|
||||
[ "Functions", "globals_func.html", null ],
|
||||
[ "Macros", "globals_defs.html", null ]
|
||||
] ]
|
||||
] ]
|
||||
] ]
|
||||
];
|
||||
|
||||
var NAVTREEINDEX =
|
||||
[
|
||||
"_kirby_track_8c.html"
|
||||
];
|
||||
|
||||
var SYNCONMSG = 'click to disable panel synchronisation';
|
||||
var SYNCOFFMSG = 'click to enable panel synchronisation';
|
||||
var SYNCONMSG = 'click to disable panel synchronisation';
|
||||
var SYNCOFFMSG = 'click to enable panel synchronisation';
|
||||
var navTreeSubIndices = new Array();
|
||||
|
||||
function getData(varName)
|
||||
{
|
||||
var i = varName.lastIndexOf('/');
|
||||
var n = i>=0 ? varName.substring(i+1) : varName;
|
||||
return eval(n.replace(/\-/g,'_'));
|
||||
}
|
||||
|
||||
function stripPath(uri)
|
||||
{
|
||||
return uri.substring(uri.lastIndexOf('/')+1);
|
||||
}
|
||||
|
||||
function stripPath2(uri)
|
||||
{
|
||||
var i = uri.lastIndexOf('/');
|
||||
var s = uri.substring(i+1);
|
||||
var m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/);
|
||||
return m ? uri.substring(i-6) : s;
|
||||
}
|
||||
|
||||
function localStorageSupported()
|
||||
{
|
||||
try {
|
||||
return 'localStorage' in window && window['localStorage'] !== null && window.localStorage.getItem;
|
||||
}
|
||||
catch(e) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
function storeLink(link)
|
||||
{
|
||||
if (!$("#nav-sync").hasClass('sync') && localStorageSupported()) {
|
||||
window.localStorage.setItem('navpath',link);
|
||||
}
|
||||
}
|
||||
|
||||
function deleteLink()
|
||||
{
|
||||
if (localStorageSupported()) {
|
||||
window.localStorage.setItem('navpath','');
|
||||
}
|
||||
}
|
||||
|
||||
function cachedLink()
|
||||
{
|
||||
if (localStorageSupported()) {
|
||||
return window.localStorage.getItem('navpath');
|
||||
} else {
|
||||
return '';
|
||||
}
|
||||
}
|
||||
|
||||
function getScript(scriptName,func,show)
|
||||
{
|
||||
var head = document.getElementsByTagName("head")[0];
|
||||
var script = document.createElement('script');
|
||||
script.id = scriptName;
|
||||
script.type = 'text/javascript';
|
||||
script.onload = func;
|
||||
script.src = scriptName+'.js';
|
||||
if ($.browser.msie && $.browser.version<=8) {
|
||||
// script.onload does not work with older versions of IE
|
||||
script.onreadystatechange = function() {
|
||||
if (script.readyState=='complete' || script.readyState=='loaded') {
|
||||
func(); if (show) showRoot();
|
||||
}
|
||||
}
|
||||
}
|
||||
head.appendChild(script);
|
||||
}
|
||||
|
||||
function createIndent(o,domNode,node,level)
|
||||
{
|
||||
var level=-1;
|
||||
var n = node;
|
||||
while (n.parentNode) { level++; n=n.parentNode; }
|
||||
if (node.childrenData) {
|
||||
var imgNode = document.createElement("img");
|
||||
imgNode.style.paddingLeft=(16*level).toString()+'px';
|
||||
imgNode.width = 16;
|
||||
imgNode.height = 22;
|
||||
imgNode.border = 0;
|
||||
node.plus_img = imgNode;
|
||||
node.expandToggle = document.createElement("a");
|
||||
node.expandToggle.href = "javascript:void(0)";
|
||||
node.expandToggle.onclick = function() {
|
||||
if (node.expanded) {
|
||||
$(node.getChildrenUL()).slideUp("fast");
|
||||
node.plus_img.src = node.relpath+"ftv2pnode.png";
|
||||
node.expanded = false;
|
||||
} else {
|
||||
expandNode(o, node, false, false);
|
||||
}
|
||||
}
|
||||
node.expandToggle.appendChild(imgNode);
|
||||
domNode.appendChild(node.expandToggle);
|
||||
imgNode.src = node.relpath+"ftv2pnode.png";
|
||||
} else {
|
||||
var span = document.createElement("span");
|
||||
span.style.display = 'inline-block';
|
||||
span.style.width = 16*(level+1)+'px';
|
||||
span.style.height = '22px';
|
||||
span.innerHTML = ' ';
|
||||
domNode.appendChild(span);
|
||||
}
|
||||
}
|
||||
|
||||
var animationInProgress = false;
|
||||
|
||||
function gotoAnchor(anchor,aname,updateLocation)
|
||||
{
|
||||
var pos, docContent = $('#doc-content');
|
||||
if (anchor.parent().attr('class')=='memItemLeft' ||
|
||||
anchor.parent().attr('class')=='fieldtype' ||
|
||||
anchor.parent().is(':header'))
|
||||
{
|
||||
pos = anchor.parent().position().top;
|
||||
} else if (anchor.position()) {
|
||||
pos = anchor.position().top;
|
||||
}
|
||||
if (pos) {
|
||||
var dist = Math.abs(Math.min(
|
||||
pos-docContent.offset().top,
|
||||
docContent[0].scrollHeight-
|
||||
docContent.height()-docContent.scrollTop()));
|
||||
animationInProgress=true;
|
||||
docContent.animate({
|
||||
scrollTop: pos + docContent.scrollTop() - docContent.offset().top
|
||||
},Math.max(50,Math.min(500,dist)),function(){
|
||||
if (updateLocation) window.location.href=aname;
|
||||
animationInProgress=false;
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
function newNode(o, po, text, link, childrenData, lastNode)
|
||||
{
|
||||
var node = new Object();
|
||||
node.children = Array();
|
||||
node.childrenData = childrenData;
|
||||
node.depth = po.depth + 1;
|
||||
node.relpath = po.relpath;
|
||||
node.isLast = lastNode;
|
||||
|
||||
node.li = document.createElement("li");
|
||||
po.getChildrenUL().appendChild(node.li);
|
||||
node.parentNode = po;
|
||||
|
||||
node.itemDiv = document.createElement("div");
|
||||
node.itemDiv.className = "item";
|
||||
|
||||
node.labelSpan = document.createElement("span");
|
||||
node.labelSpan.className = "label";
|
||||
|
||||
createIndent(o,node.itemDiv,node,0);
|
||||
node.itemDiv.appendChild(node.labelSpan);
|
||||
node.li.appendChild(node.itemDiv);
|
||||
|
||||
var a = document.createElement("a");
|
||||
node.labelSpan.appendChild(a);
|
||||
node.label = document.createTextNode(text);
|
||||
node.expanded = false;
|
||||
a.appendChild(node.label);
|
||||
if (link) {
|
||||
var url;
|
||||
if (link.substring(0,1)=='^') {
|
||||
url = link.substring(1);
|
||||
link = url;
|
||||
} else {
|
||||
url = node.relpath+link;
|
||||
}
|
||||
a.className = stripPath(link.replace('#',':'));
|
||||
if (link.indexOf('#')!=-1) {
|
||||
var aname = '#'+link.split('#')[1];
|
||||
var srcPage = stripPath($(location).attr('pathname'));
|
||||
var targetPage = stripPath(link.split('#')[0]);
|
||||
a.href = srcPage!=targetPage ? url : "javascript:void(0)";
|
||||
a.onclick = function(){
|
||||
storeLink(link);
|
||||
if (!$(a).parent().parent().hasClass('selected'))
|
||||
{
|
||||
$('.item').removeClass('selected');
|
||||
$('.item').removeAttr('id');
|
||||
$(a).parent().parent().addClass('selected');
|
||||
$(a).parent().parent().attr('id','selected');
|
||||
}
|
||||
var anchor = $(aname);
|
||||
gotoAnchor(anchor,aname,true);
|
||||
};
|
||||
} else {
|
||||
a.href = url;
|
||||
a.onclick = function() { storeLink(link); }
|
||||
}
|
||||
} else {
|
||||
if (childrenData != null)
|
||||
{
|
||||
a.className = "nolink";
|
||||
a.href = "javascript:void(0)";
|
||||
a.onclick = node.expandToggle.onclick;
|
||||
}
|
||||
}
|
||||
|
||||
node.childrenUL = null;
|
||||
node.getChildrenUL = function() {
|
||||
if (!node.childrenUL) {
|
||||
node.childrenUL = document.createElement("ul");
|
||||
node.childrenUL.className = "children_ul";
|
||||
node.childrenUL.style.display = "none";
|
||||
node.li.appendChild(node.childrenUL);
|
||||
}
|
||||
return node.childrenUL;
|
||||
};
|
||||
|
||||
return node;
|
||||
}
|
||||
|
||||
function showRoot()
|
||||
{
|
||||
var headerHeight = $("#top").height();
|
||||
var footerHeight = $("#nav-path").height();
|
||||
var windowHeight = $(window).height() - headerHeight - footerHeight;
|
||||
(function (){ // retry until we can scroll to the selected item
|
||||
try {
|
||||
var navtree=$('#nav-tree');
|
||||
navtree.scrollTo('#selected',0,{offset:-windowHeight/2});
|
||||
} catch (err) {
|
||||
setTimeout(arguments.callee, 0);
|
||||
}
|
||||
})();
|
||||
}
|
||||
|
||||
function expandNode(o, node, imm, showRoot)
|
||||
{
|
||||
if (node.childrenData && !node.expanded) {
|
||||
if (typeof(node.childrenData)==='string') {
|
||||
var varName = node.childrenData;
|
||||
getScript(node.relpath+varName,function(){
|
||||
node.childrenData = getData(varName);
|
||||
expandNode(o, node, imm, showRoot);
|
||||
}, showRoot);
|
||||
} else {
|
||||
if (!node.childrenVisited) {
|
||||
getNode(o, node);
|
||||
} if (imm || ($.browser.msie && $.browser.version>8)) {
|
||||
// somehow slideDown jumps to the start of tree for IE9 :-(
|
||||
$(node.getChildrenUL()).show();
|
||||
} else {
|
||||
$(node.getChildrenUL()).slideDown("fast");
|
||||
}
|
||||
if (node.isLast) {
|
||||
node.plus_img.src = node.relpath+"ftv2mlastnode.png";
|
||||
} else {
|
||||
node.plus_img.src = node.relpath+"ftv2mnode.png";
|
||||
}
|
||||
node.expanded = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
function glowEffect(n,duration)
|
||||
{
|
||||
n.addClass('glow').delay(duration).queue(function(next){
|
||||
$(this).removeClass('glow');next();
|
||||
});
|
||||
}
|
||||
|
||||
function highlightAnchor()
|
||||
{
|
||||
var aname = $(location).attr('hash');
|
||||
var anchor = $(aname);
|
||||
if (anchor.parent().attr('class')=='memItemLeft'){
|
||||
var rows = $('.memberdecls tr[class$="'+
|
||||
window.location.hash.substring(1)+'"]');
|
||||
glowEffect(rows.children(),300); // member without details
|
||||
} else if (anchor.parents().slice(2).prop('tagName')=='TR') {
|
||||
glowEffect(anchor.parents('div.memitem'),1000); // enum value
|
||||
} else if (anchor.parent().attr('class')=='fieldtype'){
|
||||
glowEffect(anchor.parent().parent(),1000); // struct field
|
||||
} else if (anchor.parent().is(":header")) {
|
||||
glowEffect(anchor.parent(),1000); // section header
|
||||
} else {
|
||||
glowEffect(anchor.next(),1000); // normal member
|
||||
}
|
||||
gotoAnchor(anchor,aname,false);
|
||||
}
|
||||
|
||||
function selectAndHighlight(hash,n)
|
||||
{
|
||||
var a;
|
||||
if (hash) {
|
||||
var link=stripPath($(location).attr('pathname'))+':'+hash.substring(1);
|
||||
a=$('.item a[class$="'+link+'"]');
|
||||
}
|
||||
if (a && a.length) {
|
||||
a.parent().parent().addClass('selected');
|
||||
a.parent().parent().attr('id','selected');
|
||||
highlightAnchor();
|
||||
} else if (n) {
|
||||
$(n.itemDiv).addClass('selected');
|
||||
$(n.itemDiv).attr('id','selected');
|
||||
}
|
||||
if ($('#nav-tree-contents .item:first').hasClass('selected')) {
|
||||
$('#nav-sync').css('top','30px');
|
||||
} else {
|
||||
$('#nav-sync').css('top','5px');
|
||||
}
|
||||
showRoot();
|
||||
}
|
||||
|
||||
function showNode(o, node, index, hash)
|
||||
{
|
||||
if (node && node.childrenData) {
|
||||
if (typeof(node.childrenData)==='string') {
|
||||
var varName = node.childrenData;
|
||||
getScript(node.relpath+varName,function(){
|
||||
node.childrenData = getData(varName);
|
||||
showNode(o,node,index,hash);
|
||||
},true);
|
||||
} else {
|
||||
if (!node.childrenVisited) {
|
||||
getNode(o, node);
|
||||
}
|
||||
$(node.getChildrenUL()).css({'display':'block'});
|
||||
if (node.isLast) {
|
||||
node.plus_img.src = node.relpath+"ftv2mlastnode.png";
|
||||
} else {
|
||||
node.plus_img.src = node.relpath+"ftv2mnode.png";
|
||||
}
|
||||
node.expanded = true;
|
||||
var n = node.children[o.breadcrumbs[index]];
|
||||
if (index+1<o.breadcrumbs.length) {
|
||||
showNode(o,n,index+1,hash);
|
||||
} else {
|
||||
if (typeof(n.childrenData)==='string') {
|
||||
var varName = n.childrenData;
|
||||
getScript(n.relpath+varName,function(){
|
||||
n.childrenData = getData(varName);
|
||||
node.expanded=false;
|
||||
showNode(o,node,index,hash); // retry with child node expanded
|
||||
},true);
|
||||
} else {
|
||||
var rootBase = stripPath(o.toroot.replace(/\..+$/, ''));
|
||||
if (rootBase=="index" || rootBase=="pages" || rootBase=="search") {
|
||||
expandNode(o, n, true, true);
|
||||
}
|
||||
selectAndHighlight(hash,n);
|
||||
}
|
||||
}
|
||||
}
|
||||
} else {
|
||||
selectAndHighlight(hash);
|
||||
}
|
||||
}
|
||||
|
||||
function removeToInsertLater(element) {
|
||||
var parentNode = element.parentNode;
|
||||
var nextSibling = element.nextSibling;
|
||||
parentNode.removeChild(element);
|
||||
return function() {
|
||||
if (nextSibling) {
|
||||
parentNode.insertBefore(element, nextSibling);
|
||||
} else {
|
||||
parentNode.appendChild(element);
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
function getNode(o, po)
|
||||
{
|
||||
var insertFunction = removeToInsertLater(po.li);
|
||||
po.childrenVisited = true;
|
||||
var l = po.childrenData.length-1;
|
||||
for (var i in po.childrenData) {
|
||||
var nodeData = po.childrenData[i];
|
||||
po.children[i] = newNode(o, po, nodeData[0], nodeData[1], nodeData[2],
|
||||
i==l);
|
||||
}
|
||||
insertFunction();
|
||||
}
|
||||
|
||||
function gotoNode(o,subIndex,root,hash,relpath)
|
||||
{
|
||||
var nti = navTreeSubIndices[subIndex][root+hash];
|
||||
o.breadcrumbs = $.extend(true, [], nti ? nti : navTreeSubIndices[subIndex][root]);
|
||||
if (!o.breadcrumbs && root!=NAVTREE[0][1]) { // fallback: show index
|
||||
navTo(o,NAVTREE[0][1],"",relpath);
|
||||
$('.item').removeClass('selected');
|
||||
$('.item').removeAttr('id');
|
||||
}
|
||||
if (o.breadcrumbs) {
|
||||
o.breadcrumbs.unshift(0); // add 0 for root node
|
||||
showNode(o, o.node, 0, hash);
|
||||
}
|
||||
}
|
||||
|
||||
function navTo(o,root,hash,relpath)
|
||||
{
|
||||
var link = cachedLink();
|
||||
if (link) {
|
||||
var parts = link.split('#');
|
||||
root = parts[0];
|
||||
if (parts.length>1) hash = '#'+parts[1];
|
||||
else hash='';
|
||||
}
|
||||
if (hash.match(/^#l\d+$/)) {
|
||||
var anchor=$('a[name='+hash.substring(1)+']');
|
||||
glowEffect(anchor.parent(),1000); // line number
|
||||
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26
Doxy/html/search/all_9.html
Normal file
26
Doxy/html/search/all_9.html
Normal file
|
|
@ -0,0 +1,26 @@
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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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<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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<meta name="generator" content="Doxygen 1.8.6">
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<script type="text/javascript" src="search.js"></script>
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<div id="SRResults"></div>
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<script type="text/javascript"><!--
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<div class="SRStatus" id="Searching">Searching...</div>
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<div class="SRStatus" id="NoMatches">No Matches</div>
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document.getElementById("NoMatches").style.display="none";
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var searchResults = new SearchResults("searchResults");
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</div>
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</body>
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</html>
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5
Doxy/html/search/all_9.js
Normal file
5
Doxy/html/search/all_9.js
Normal file
|
|
@ -0,0 +1,5 @@
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var searchData=
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[
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['largeur',['largeur',['../struct__face.html#aa08c659931ad517a99d28131c5bb22fe',1,'_face']]],
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26
Doxy/html/search/all_a.html
Normal file
26
Doxy/html/search/all_a.html
Normal file
|
|
@ -0,0 +1,26 @@
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<script type="text/javascript" src="search.js"></script>
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<div id="SRIndex">
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<div class="SRStatus" id="Loading">Loading...</div>
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<div id="SRResults"></div>
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<script type="text/javascript"><!--
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<div class="SRStatus" id="Searching">Searching...</div>
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<div class="SRStatus" id="NoMatches">No Matches</div>
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<script type="text/javascript"><!--
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document.getElementById("NoMatches").style.display="none";
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</div>
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</body>
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</html>
|
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6
Doxy/html/search/all_a.js
Normal file
6
Doxy/html/search/all_a.js
Normal file
|
|
@ -0,0 +1,6 @@
|
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var searchData=
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26
Doxy/html/search/all_b.html
Normal file
26
Doxy/html/search/all_b.html
Normal file
|
|
@ -0,0 +1,26 @@
|
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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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<html><head><title></title>
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<div id="SRIndex">
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<div class="SRStatus" id="Loading">Loading...</div>
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<div id="SRResults"></div>
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<div class="SRStatus" id="Searching">Searching...</div>
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<div class="SRStatus" id="NoMatches">No Matches</div>
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<script type="text/javascript"><!--
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</div>
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</body>
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</html>
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4
Doxy/html/search/all_b.js
Normal file
4
Doxy/html/search/all_b.js
Normal file
|
|
@ -0,0 +1,4 @@
|
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var searchData=
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['navy_2ec',['Navy.c',['../_navy_8c.html',1,'']]]
|
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];
|
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26
Doxy/html/search/all_c.html
Normal file
26
Doxy/html/search/all_c.html
Normal file
|
|
@ -0,0 +1,26 @@
|
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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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<html><head><title></title>
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<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
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<meta name="generator" content="Doxygen 1.8.6">
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<link rel="stylesheet" type="text/css" href="search.css"/>
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<script type="text/javascript" src="all_c.js"></script>
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<script type="text/javascript" src="search.js"></script>
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<body class="SRPage">
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<div id="SRIndex">
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<div class="SRStatus" id="Loading">Loading...</div>
|
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<div id="SRResults"></div>
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<script type="text/javascript"><!--
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<div class="SRStatus" id="Searching">Searching...</div>
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<div class="SRStatus" id="NoMatches">No Matches</div>
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<script type="text/javascript"><!--
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var searchResults = new SearchResults("searchResults");
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--></script>
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</div>
|
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</body>
|
||||
</html>
|
||||
5
Doxy/html/search/all_c.js
Normal file
5
Doxy/html/search/all_c.js
Normal file
|
|
@ -0,0 +1,5 @@
|
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var searchData=
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['point',['point',['../struct__face.html#a03aff2c43bbe1ff2add8e60729d1836a',1,'_face']]],
|
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|
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];
|
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26
Doxy/html/search/all_d.html
Normal file
26
Doxy/html/search/all_d.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>
|
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<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
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<meta name="generator" content="Doxygen 1.8.6">
|
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<link rel="stylesheet" type="text/css" href="search.css"/>
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<script type="text/javascript" src="all_d.js"></script>
|
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<script type="text/javascript" src="search.js"></script>
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</head>
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<body class="SRPage">
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<div id="SRIndex">
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<div class="SRStatus" id="Loading">Loading...</div>
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<div id="SRResults"></div>
|
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<script type="text/javascript"><!--
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<div class="SRStatus" id="Searching">Searching...</div>
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<div class="SRStatus" id="NoMatches">No Matches</div>
|
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<script type="text/javascript"><!--
|
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document.getElementById("Loading").style.display="none";
|
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document.getElementById("NoMatches").style.display="none";
|
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var searchResults = new SearchResults("searchResults");
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searchResults.Search();
|
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--></script>
|
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</div>
|
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</body>
|
||||
</html>
|
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4
Doxy/html/search/all_d.js
Normal file
4
Doxy/html/search/all_d.js
Normal file
|
|
@ -0,0 +1,4 @@
|
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var searchData=
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[
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['sfml',['SFML',['../fonction_8h.html#a28c9f30d423e9c1ca6fa15a0ec9a0032',1,'fonction.h']]]
|
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];
|
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26
Doxy/html/search/all_e.html
Normal file
26
Doxy/html/search/all_e.html
Normal file
|
|
@ -0,0 +1,26 @@
|
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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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<html><head><title></title>
|
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<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
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<meta name="generator" content="Doxygen 1.8.6">
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<link rel="stylesheet" type="text/css" href="search.css"/>
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<script type="text/javascript" src="all_e.js"></script>
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<script type="text/javascript" src="search.js"></script>
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</head>
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<body class="SRPage">
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<div id="SRIndex">
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<div class="SRStatus" id="Loading">Loading...</div>
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<div id="SRResults"></div>
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<script type="text/javascript"><!--
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|
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||||
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|
||||
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|
||||
</body>
|
||||
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|
||||
5
Doxy/html/search/all_e.js
Normal file
5
Doxy/html/search/all_e.js
Normal file
|
|
@ -0,0 +1,5 @@
|
|||
var searchData=
|
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|
||||
];
|
||||
26
Doxy/html/search/all_f.html
Normal file
26
Doxy/html/search/all_f.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">
|
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<html><head><title></title>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
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<meta name="generator" content="Doxygen 1.8.6">
|
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<link rel="stylesheet" type="text/css" href="search.css"/>
|
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|
||||
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|
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|
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<body class="SRPage">
|
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<div id="SRIndex">
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<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
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|
||||
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|
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|
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<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
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|
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|
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||||
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|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
5
Doxy/html/search/all_f.js
Normal file
5
Doxy/html/search/all_f.js
Normal file
|
|
@ -0,0 +1,5 @@
|
|||
var searchData=
|
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|
||||
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|
||||
26
Doxy/html/search/classes_0.html
Normal file
26
Doxy/html/search/classes_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"/>
|
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<meta name="generator" content="Doxygen 1.8.6">
|
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<link rel="stylesheet" type="text/css" href="search.css"/>
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|
||||
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|
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|
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<body class="SRPage">
|
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<div id="SRIndex">
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||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
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|
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|
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<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/classes_0.js
Normal file
4
Doxy/html/search/classes_0.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
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|
||||
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|
||||
26
Doxy/html/search/classes_1.html
Normal file
26
Doxy/html/search/classes_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"/>
|
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<meta name="generator" content="Doxygen 1.8.6">
|
||||
<link rel="stylesheet" type="text/css" href="search.css"/>
|
||||
<script type="text/javascript" src="classes_1.js"></script>
|
||||
<script type="text/javascript" src="search.js"></script>
|
||||
</head>
|
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<body class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div id="SRResults"></div>
|
||||
<script type="text/javascript"><!--
|
||||
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|
||||
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|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
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<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
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|
||||
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|
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|
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|
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|
||||
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|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
4
Doxy/html/search/classes_1.js
Normal file
4
Doxy/html/search/classes_1.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
|
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|
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26
Doxy/html/search/defines_3.html
Normal file
26
Doxy/html/search/defines_3.html
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
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|
||||
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|
||||
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|
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|
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|
||||
</html>
|
||||
4
Doxy/html/search/defines_3.js
Normal file
4
Doxy/html/search/defines_3.js
Normal file
|
|
@ -0,0 +1,4 @@
|
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|
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|
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|
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26
Doxy/html/search/files_1.html
Normal file
26
Doxy/html/search/files_1.html
Normal file
|
|
@ -0,0 +1,26 @@
|
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|
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|
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|
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|
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4
Doxy/html/search/files_1.js
Normal file
4
Doxy/html/search/files_1.js
Normal file
|
|
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|
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|
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|
||||
26
Doxy/html/search/files_2.html
Normal file
26
Doxy/html/search/files_2.html
Normal file
|
|
@ -0,0 +1,26 @@
|
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|
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|
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4
Doxy/html/search/files_2.js
Normal file
4
Doxy/html/search/files_2.js
Normal file
|
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||||
|
|
|
|||
|
|
@ -1,4 +1,5 @@
|
|||
var searchData=
|
||||
[
|
||||
['traitement',['traitement',['../_kirby_track_8c.html#a96b1dd5c66492425a00921b6eaaacc89',1,'KirbyTrack.c']]]
|
||||
['main',['main',['../_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97',1,'KirbyTrack.c']]],
|
||||
['maj_5fangle',['maj_angle',['../fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b',1,'maj_angle(int vecX, int vecY, int rayon, double *angle): fonction.c'],['../fonction_8h.html#a93cca84f54fe35dc9ad87eac3583889b',1,'maj_angle(int vecX, int vecY, int rayon, double *angle): fonction.c']]]
|
||||
];
|
||||
|
|
|
|||
26
Doxy/html/search/functions_6.html
Normal file
26
Doxy/html/search/functions_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="functions_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/functions_6.js
Normal file
4
Doxy/html/search/functions_6.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['position_5fmoy',['Position_moy',['../fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1',1,'Position_moy(IplImage *Binaire, int *posX, int *posY): fonction.c'],['../fonction_8h.html#ac3e9405c4ebaa936308670c050285ae1',1,'Position_moy(IplImage *Binaire, int *posX, int *posY): fonction.c']]]
|
||||
];
|
||||
26
Doxy/html/search/functions_7.html
Normal file
26
Doxy/html/search/functions_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="functions_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/functions_7.js
Normal file
4
Doxy/html/search/functions_7.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['traitement',['traitement',['../fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89',1,'traitement(IplImage *frame, IplImage *HSV, IplImage *Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV): fonction.c'],['../fonction_8h.html#a96b1dd5c66492425a00921b6eaaacc89',1,'traitement(IplImage *frame, IplImage *HSV, IplImage *Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV): fonction.c']]]
|
||||
];
|
||||
26
Doxy/html/search/functions_8.html
Normal file
26
Doxy/html/search/functions_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="functions_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/functions_8.js
Normal file
4
Doxy/html/search/functions_8.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['traitement',['traitement',['../fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89',1,'traitement(IplImage *frame, IplImage *HSV, IplImage *Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV): fonction.c'],['../fonction_8h.html#a96b1dd5c66492425a00921b6eaaacc89',1,'traitement(IplImage *frame, IplImage *HSV, IplImage *Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV): fonction.c']]]
|
||||
];
|
||||
26
Doxy/html/search/pages_0.html
Normal file
26
Doxy/html/search/pages_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="pages_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/pages_0.js
Normal file
4
Doxy/html/search/pages_0.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['bug_20list',['Bug List',['../bug.html',1,'']]]
|
||||
];
|
||||
26
Doxy/html/search/pages_1.html
Normal file
26
Doxy/html/search/pages_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="pages_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/pages_1.js
Normal file
4
Doxy/html/search/pages_1.js
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
var searchData=
|
||||
[
|
||||
['todo_20list',['Todo List',['../todo.html',1,'']]]
|
||||
];
|
||||
|
|
@ -7,18 +7,24 @@
|
|||
|
||||
var indexSectionsWithContent =
|
||||
{
|
||||
0: "acjklmpst",
|
||||
1: "k",
|
||||
2: "aclmpt",
|
||||
3: "jks"
|
||||
0: "_abcdfijklmnpst",
|
||||
1: "_f",
|
||||
2: "fkn",
|
||||
3: "acdilmpt",
|
||||
4: "lp",
|
||||
5: "jkms",
|
||||
6: "bt"
|
||||
};
|
||||
|
||||
var indexSectionNames =
|
||||
{
|
||||
0: "all",
|
||||
1: "files",
|
||||
2: "functions",
|
||||
3: "defines"
|
||||
1: "classes",
|
||||
2: "files",
|
||||
3: "functions",
|
||||
4: "variables",
|
||||
5: "defines",
|
||||
6: "pages"
|
||||
};
|
||||
|
||||
function convertToId(search)
|
||||
|
|
|
|||
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Add table
Add a link
Reference in a new issue