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Ajout de fonctionnalités sur Navy
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AntoineUPMC
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113 changed files with 6698 additions and 1857 deletions
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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@ -93,20 +126,16 @@ int main(int argc, char* argv[])
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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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@ -118,133 +147,56 @@ int main(int argc, char* argv[])
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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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