mirror of
https://github.com/AntoineHX/LivingMachine.git
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separation main et fonctions
This commit is contained in:
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parent
5ede5056a8
commit
28165352bc
8 changed files with 26642 additions and 280 deletions
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@ -41,7 +41,6 @@ int main(int argc, char* argv[])
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double angle[2] = {100,100};
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int tracking; //0 = tracking OFF
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, 1 = ON
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#ifdef SFML
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@ -1,15 +1,24 @@
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EXEC= KirbyTrack
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EXEC= KirbyTrack Navy
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LSFML = -lsfml-graphics -lsfml-window -lsfml-system -lsfml-audio
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CFLAGS = -Wall -g3
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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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all: $(EXEC)
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KirbyTrack : KirbyTrack.o
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g++ -o $@ $< `pkg-config opencv --libs` $(LSFML) $(CFLAGS)
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g++ -o $@ $< $(LDFLAGS) $(CFLAGS)
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KirbyTrack.o : KirbyTrack.c
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g++ -o $@ -c $< `pkg-config opencv --cflags` $(CFLAGS)
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g++ -o $@ -c $< $(CFLAGS)
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Navy : Navy.o fonction.o
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g++ -o $@ $^ $(LDFLAGS) $(CFLAGS)
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Navy.o : Navy.c fonction.h
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g++ -o $@ -c $< $(CFLAGS)
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fonction.o : fonction.c fonction.h
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g++ -o $@ -c $< $(CFLAGS)
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clean :
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rm -f *.o $(EXEC)
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303
Code/Navy.c
303
Code/Navy.c
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@ -1,128 +1,61 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include <cv.h>
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#include <highgui.h>
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//#include <opencv2/highgui.hpp> //Pour le cvRound
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//#include "opencv2/videoio/videoio_c.h" //Pour le CvCapture*
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//#include <cxcore.h>
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//#include <SFML/Window.h>
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#include <SFML/Audio.hpp>
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#include <SFML/Graphics.hpp>
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#include <SFML/Window.hpp>
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#include <SFML/System.hpp> //inutilisé pour le moment
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//#define CONFIG
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#define SFML
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#define KIRBY
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//#define ETOILE
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#define JEU 0.15
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//ATTENTION AFFICHAGE OPENCV INCOMPATIBLE AVEC AFFICHAGE SFML
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//ATTENTION SFML SUPPORTE UN NOMBRE LIMITE DE SPRITE EN FCT DU PC
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/*Headers*/
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void maj_angle(int vecX, int vecY, int rayon, double* angle); //Met à jour l'angle selon la distance CentreCamera - Cible
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int ajust_pos(int pos, int ref);
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void controle_moteur(double* angle);//Envoie les angles au moteur
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int limite_moteur(int val_pwm);//Verifie que les valeurs envoyees aux moteurs sont correctes
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void config(int* LowH, int* HighH, int* LowS, int* HighS, int* LowV, int* HighV); //Affiche le panneau de configuration de tracking avec les arguments comme valeur de base
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void affichage_config(IplImage* frame, IplImage* HSV, IplImage* Binaire); //Affiche le flux vidéos et ses différent traitements
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void Affichage_Tracking(IplImage* frame, int posX, int posY, int width, int height); //Dessine les informations de tracking sur frame
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void Position_moy(IplImage* Binaire, int* posX, int * posY); //Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet
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void traitement(IplImage* frame, IplImage* HSV, IplImage* Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV); //Effectue une binarisation de frame en fonction des bornes HSV
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int image_CV2SFML(IplImage* imcv, sf::Image imFlux); //Construction de imsf (RGBA) à partir de imcv (BGR), avec alpha constant (=1)
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#include "fonction.h"
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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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#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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#endif
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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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}
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// grab an image from the capture
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//Initialisation frame
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IplImage* frame = cvQueryFrame( capture );
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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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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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// Initialize different images that are going to be used in the program
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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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//Controle couleur
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#ifdef KIRBY
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//Setup Kirby
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int iLowH = 152;
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int iHighH = 179;
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int iLowS = 48;
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int iHighS = 255;
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int iLowV = 101;
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int iHighV = 255;
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int tab_HSV[6] = {152,179,48,255,101,255};
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#endif
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#ifdef ETOILE
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//Setup Etoile
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int iLowH = 20;
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int iHighH = 30;
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int iLowS = 100;
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int iHighS = 255;
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int iLowV = 100;
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int iHighV = 255;
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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(&iLowH, &iHighH, &iLowS, &iHighS, &iLowV, &iHighV);
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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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boucle = 1;
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tracking = 1; //Tracking de base en mode CONFIG
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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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@ -148,15 +81,7 @@ int main(int argc, char* argv[])
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break;
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}
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//Binarisation du flux vidéo
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traitement(frame, hsv_frame, threshold, iLowH, iHighH, iLowS, iHighS, iLowV, iHighV);
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// Calculate the moments to estimate the position of the ball
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Position_moy(threshold, &posX, &posY);
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//Dessine les informations de tracking sur frame
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Affichage_Tracking(frame, posX, posY, width, height);
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detect_and_draw(frame,cascade);
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#ifdef SFML
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//Affichage SFML
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@ -183,7 +108,7 @@ int main(int argc, char* argv[])
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window.draw(spFlux);
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//TEST SFML
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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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@ -268,9 +193,9 @@ int main(int argc, char* argv[])
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*/
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/* Update the window */
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window.display();
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#endif
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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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@ -283,8 +208,9 @@ int main(int argc, char* argv[])
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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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@ -294,180 +220,9 @@ int main(int argc, char* argv[])
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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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}
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void maj_angle(int vecX, int vecY, int rayon, double* angle){
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//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
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double coeffx, coeffy;
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int l0, l1;
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//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]);
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//Ajout d'un angle moteur pondéré par la distance
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coeffx = -0.2*vecX/rayon;
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coeffy = 0.2*vecY/rayon;
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angle[0] += coeffx;
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angle[1] += coeffy;
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//Majoration - minoration des angles moteurs
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l0 = limite_moteur(angle[0]);
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l1 = limite_moteur(angle[1]);
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if (l0 != 0) angle[0] = l0;
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if (l1 != 0) angle[1] = l1;
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//printf("Nouveaux angles : %lf %lf %d %d\n",angle[0],angle[1],(int)angle[0],(int)angle[0]);
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}
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int ajust_pos(int pos, int ref){
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if (pos > ref) return 0;
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else return pos;
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}
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int limite_moteur(int val_pwm){
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int MAX_PWM = 130, MIN_PWM = 30;
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if (val_pwm > MAX_PWM){
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return MAX_PWM;
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}
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else if (val_pwm < MIN_PWM){
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return MIN_PWM;
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}
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else{
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return 0;
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}
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}
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void controle_moteur(double* angle){
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//Ouverture port serie
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FILE* fichier = NULL;
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fichier = fopen("/dev/ttyACM0","w");
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if(fichier==NULL){
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printf("Erreur ouverture fichier\n");
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perror("fopen failed for /dev/ttyACM0" );
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exit( EXIT_FAILURE );
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}
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//Ecriture angles
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fprintf(fichier,"%d\n",(int)angle[0]);
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fprintf(fichier,"%d\n",(int)angle[1]);
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//Fermeture
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fclose(fichier);
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return;
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}
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int image_CV2SFML(IplImage* imcv, sf::Image imFlux){
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int R, G, B;
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int w = imcv->widthStep;
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char* ptr = imcv->imageData;
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imFlux.create(imcv->width,imcv->height, NULL); //Initialise une image vide
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for( int y=0; y<imcv->height; y++ ) {
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//uchar* ptr = (uchar*) ( imcv->imageData + y * imcv->widthStep );
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for( int x=0; x<imcv->width; x++ ) {
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//Recupération du pixel
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B = ptr[y*w + 3*x];
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G = ptr[y*w + 3*x + 1];
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R = ptr[y*w + 3*x + 2];
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//Ecriture du pixel associé
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imFlux.setPixel(x,y,sf::Color(R,G,B,1)); //Alpha channel = 1
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}
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}
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return 0;
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}
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void traitement(IplImage* frame, IplImage* HSV, IplImage* Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV){ //Effectue une binarisation de frame en fonction des bornes HSV
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// Covert color space to HSV as it is much easier to filter colors in the HSV color-space.
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cvCvtColor(frame, HSV, CV_BGR2HSV);
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//Blur
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cvSmooth( HSV, HSV, CV_GAUSSIAN, 15, 0,0,0); //suppression des parasites par flou gaussien
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//Binarisation
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CvScalar valinf={(double)LowH,(double)LowS,(double)LowV};
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CvScalar valsup={(double)HighH,(double)HighS,(double)HighV};
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cvInRangeS(HSV, valinf,valsup, Binaire);
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//En cas d'erreur sur les trois ligne précédentes
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//cvInRangeS(HSV, CvScalar(LowH,LowS,LowV),CvScalar(HighH,HighS,HighV), Binaire);
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//cvSmooth( Binaire, Binaire, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites
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}
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void Position_moy(IplImage* Binaire, int* posX, int * posY){ //Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet
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CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments));
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cvMoments(Binaire, moments, 1);
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// The actual moment values
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double moment10 = cvGetSpatialMoment(moments, 1, 0);
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double moment01 = cvGetSpatialMoment(moments, 0, 1);
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double area = cvGetCentralMoment(moments, 0, 0);
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*posX = moment10/area;
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*posY = moment01/area;
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free(moments);
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}
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void config(int* LowH, int* HighH, int* LowS, int* HighS, int* LowV, int* HighV){ //Affiche le panneau de configuration de tracking avec les arguments comme valeur de base
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cvNamedWindow("Control", CV_WINDOW_AUTOSIZE); //create a window called "Control"
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//Create trackbars in "Control" window
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cvCreateTrackbar("LowH", "Control", LowH, 179,NULL); //Hue (0 - 179)
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cvCreateTrackbar("HighH", "Control", HighH, 179,NULL);
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cvCreateTrackbar("LowS", "Control", LowS, 255,NULL); //Saturation (0 - 255)
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cvCreateTrackbar("HighS", "Control", HighS, 255,NULL);
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cvCreateTrackbar("LowV", "Control", LowV, 255,NULL); //Value (0 - 255)
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cvCreateTrackbar("HighV", "Control", HighV, 255,NULL);
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}
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void affichage_config(IplImage* frame, IplImage* HSV, IplImage* Binaire){ //Affiche le flux vidéos et ses différent traitements
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// Create a window in which the captured images will be presented
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cvNamedWindow( "HSV", CV_WINDOW_AUTOSIZE );
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cvNamedWindow( "Binaire", CV_WINDOW_AUTOSIZE );
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cvNamedWindow( "Camera", CV_WINDOW_AUTOSIZE );
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cvShowImage( "HSV", HSV); // Original stream in the HSV color space
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cvShowImage( "Binaire", Binaire); // The stream after color filtering
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cvShowImage( "Camera", frame ); // Flux caméra avec tracking objet
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}
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void Affichage_Tracking(IplImage* frame, int posX, int posY, int width, int height){ //Dessine les informations de tracking sur frame
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//Affichage zone suivie objet
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cvCircle(frame, cvPoint(width/2,height/2), height*JEU, CV_RGB(0, 255, 0), 4, 8, 0 );
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if(posX<5&&posY<5){ //Si aucun objet spotted, pointeur rouge au centre
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posX=width/2;
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posY=height/2;
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cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(255, 0, 0), 4, 8, 0 );
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cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(255, 0, 0), 4, 8, 0 );
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}
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else{ //Objet spotted
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//Affichage position de l'objet
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cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(0, 0, 255), 4, 8, 0 );
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cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(0, 0, 255), 4, 8, 0 );
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}
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}
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125
Code/facedetect.c
Normal file
125
Code/facedetect.c
Normal file
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@ -0,0 +1,125 @@
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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
|
||||
const char* cascade_name =
|
||||
"C:/Program Files/OpenCV/data/haarcascades/haarcascade_frontalface_alt.xml";
|
||||
/* "haarcascade_profileface.xml";*/
|
||||
|
||||
|
||||
// Function prototype for detecting and drawing an object from an image
|
||||
void detect_and_draw( IplImage* image );
|
||||
|
||||
// Main function, defines the entry point for the program.
|
||||
int main( int argc, char** argv )
|
||||
{
|
||||
|
||||
//Ouverture flux camera
|
||||
CvCapture* capture = cvCaptureFromCAM( 0 );
|
||||
|
||||
if( !capture ){
|
||||
printf("ERROR: capture is NULL \n" );
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
// Call the function to detect and draw the face positions
|
||||
detect_and_draw(img);
|
||||
|
||||
// Wait for user input before quitting the program
|
||||
cvWaitKey();
|
||||
|
||||
// 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 );
|
||||
}
|
||||
253
Code/fonction.c
Normal file
253
Code/fonction.c
Normal file
|
|
@ -0,0 +1,253 @@
|
|||
#include "fonction.h"
|
||||
|
||||
|
||||
void maj_angle(int vecX, int vecY, int rayon, double* angle){
|
||||
//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
|
||||
|
||||
double coeffx, coeffy;
|
||||
int l0, l1;
|
||||
|
||||
//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]);
|
||||
|
||||
|
||||
//Ajout d'un angle moteur pondéré par la distance
|
||||
coeffx = -0.2*vecX/rayon;
|
||||
coeffy = 0.2*vecY/rayon;
|
||||
angle[0] += coeffx;
|
||||
angle[1] += coeffy;
|
||||
|
||||
//Majoration - minoration des angles moteurs
|
||||
l0 = limite_moteur(angle[0]);
|
||||
l1 = limite_moteur(angle[1]);
|
||||
if (l0 != 0) angle[0] = l0;
|
||||
if (l1 != 0) angle[1] = l1;
|
||||
|
||||
//printf("Nouveaux angles : %lf %lf %d %d\n",angle[0],angle[1],(int)angle[0],(int)angle[0]);
|
||||
}
|
||||
|
||||
int ajust_pos(int pos, int ref){
|
||||
if (pos > ref) return 0;
|
||||
else return pos;
|
||||
}
|
||||
|
||||
int limite_moteur(int val_pwm){
|
||||
int MAX_PWM = 130, MIN_PWM = 30;
|
||||
if (val_pwm > MAX_PWM){
|
||||
return MAX_PWM;
|
||||
}
|
||||
else if (val_pwm < MIN_PWM){
|
||||
return MIN_PWM;
|
||||
}
|
||||
else{
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
void controle_moteur(double* angle){
|
||||
|
||||
//Ouverture port serie
|
||||
FILE* fichier = NULL;
|
||||
fichier = fopen("/dev/ttyACM0","w");
|
||||
if(fichier==NULL){
|
||||
printf("Erreur ouverture fichier\n");
|
||||
perror("fopen failed for /dev/ttyACM0" );
|
||||
exit( EXIT_FAILURE );
|
||||
}
|
||||
|
||||
//Ecriture angles
|
||||
fprintf(fichier,"%d\n",(int)angle[0]);
|
||||
fprintf(fichier,"%d\n",(int)angle[1]);
|
||||
|
||||
//Fermeture
|
||||
fclose(fichier);
|
||||
return;
|
||||
}
|
||||
|
||||
int image_CV2SFML(IplImage* imcv, sf::Image imFlux){
|
||||
|
||||
int R, G, B;
|
||||
int w = imcv->widthStep;
|
||||
char* ptr = imcv->imageData;
|
||||
|
||||
imFlux.create(imcv->width,imcv->height, NULL); //Initialise une image vide
|
||||
|
||||
for( int y=0; y<imcv->height; y++ ) {
|
||||
//uchar* ptr = (uchar*) ( imcv->imageData + y * imcv->widthStep );
|
||||
for( int x=0; x<imcv->width; x++ ) {
|
||||
//Recupération du pixel
|
||||
B = ptr[y*w + 3*x];
|
||||
G = ptr[y*w + 3*x + 1];
|
||||
R = ptr[y*w + 3*x + 2];
|
||||
|
||||
//Ecriture du pixel associé
|
||||
imFlux.setPixel(x,y,sf::Color(R,G,B,1)); //Alpha channel = 1
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
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
|
||||
|
||||
// Covert color space to HSV as it is much easier to filter colors in the HSV color-space.
|
||||
cvCvtColor(frame, HSV, CV_BGR2HSV);
|
||||
|
||||
//Blur
|
||||
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);
|
||||
|
||||
//cvSmooth( Binaire, Binaire, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites
|
||||
}
|
||||
|
||||
void Position_moy(IplImage* Binaire, int* posX, int * posY){ //Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet
|
||||
|
||||
CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments));
|
||||
|
||||
cvMoments(Binaire, moments, 1);
|
||||
// The actual moment values
|
||||
double moment10 = cvGetSpatialMoment(moments, 1, 0);
|
||||
double moment01 = cvGetSpatialMoment(moments, 0, 1);
|
||||
double area = cvGetCentralMoment(moments, 0, 0);
|
||||
|
||||
*posX = moment10/area;
|
||||
*posY = moment01/area;
|
||||
|
||||
free(moments);
|
||||
}
|
||||
|
||||
void config(int* LowH, int* HighH, int* LowS, int* HighS, int* LowV, int* HighV){ //Affiche le panneau de configuration de tracking avec les arguments comme valeur de base
|
||||
|
||||
cvNamedWindow("Control", CV_WINDOW_AUTOSIZE); //create a window called "Control"
|
||||
|
||||
//Create trackbars in "Control" window
|
||||
cvCreateTrackbar("LowH", "Control", LowH, 179,NULL); //Hue (0 - 179)
|
||||
cvCreateTrackbar("HighH", "Control", HighH, 179,NULL);
|
||||
|
||||
cvCreateTrackbar("LowS", "Control", LowS, 255,NULL); //Saturation (0 - 255)
|
||||
cvCreateTrackbar("HighS", "Control", HighS, 255,NULL);
|
||||
|
||||
cvCreateTrackbar("LowV", "Control", LowV, 255,NULL); //Value (0 - 255)
|
||||
cvCreateTrackbar("HighV", "Control", HighV, 255,NULL);
|
||||
}
|
||||
|
||||
void affichage_config(IplImage* frame, IplImage* HSV, IplImage* Binaire){ //Affiche le flux vidéos et ses différent traitements
|
||||
|
||||
// Create a window in which the captured images will be presented
|
||||
cvNamedWindow( "HSV", CV_WINDOW_AUTOSIZE );
|
||||
cvNamedWindow( "Binaire", CV_WINDOW_AUTOSIZE );
|
||||
cvNamedWindow( "Camera", CV_WINDOW_AUTOSIZE );
|
||||
|
||||
cvShowImage( "HSV", HSV); // Original stream in the HSV color space
|
||||
cvShowImage( "Binaire", Binaire); // The stream after color filtering
|
||||
cvShowImage( "Camera", frame ); // Flux caméra avec tracking objet
|
||||
}
|
||||
|
||||
void Affichage_Tracking(IplImage* frame, int posX, int posY, int width, int height){ //Dessine les informations de tracking sur frame
|
||||
|
||||
//Affichage zone suivie objet
|
||||
cvCircle(frame, cvPoint(width/2,height/2), height*JEU, CV_RGB(0, 255, 0), 4, 8, 0 );
|
||||
|
||||
if(posX<5&&posY<5){ //Si aucun objet spotted, pointeur rouge au centre
|
||||
posX=width/2;
|
||||
posY=height/2;
|
||||
cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(255, 0, 0), 4, 8, 0 );
|
||||
cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(255, 0, 0), 4, 8, 0 );
|
||||
}
|
||||
else{ //Objet spotted
|
||||
//Affichage position de l'objet
|
||||
cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(0, 0, 255), 4, 8, 0 );
|
||||
cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(0, 0, 255), 4, 8, 0 );
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
CvHaarClassifierCascade* init_cascade(){
|
||||
// Create a new Haar classifier
|
||||
CvHaarClassifierCascade* cascade = 0;
|
||||
const char* cascade_name = "haarcascade_frontalface_alt.xml";
|
||||
|
||||
|
||||
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" );
|
||||
perror(" ");
|
||||
return NULL;
|
||||
}
|
||||
return 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[2];
|
||||
|
||||
|
||||
// Create memory for calculations
|
||||
static CvMemStorage* storage = 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;
|
||||
|
||||
// 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, 0, cvSize(60, 60),cvSize(500, 500));
|
||||
|
||||
// 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 );
|
||||
|
||||
if(i < MAX_FACE){
|
||||
tab_face[i]->point =
|
||||
tab_face[i]->largeur = r->width;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// Show the image in the window named "result"
|
||||
cvShowImage( "result", img );
|
||||
|
||||
//free
|
||||
cvReleaseImage( &temp );
|
||||
}
|
||||
60
Code/fonction.h
Normal file
60
Code/fonction.h
Normal file
|
|
@ -0,0 +1,60 @@
|
|||
#ifndef FONCTION_H
|
||||
#define FONCTION_H
|
||||
|
||||
|
||||
/*INCLUDE*/
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <cv.h>
|
||||
#include <highgui.h>
|
||||
//#include <opencv2/highgui.hpp> //Pour le cvRound
|
||||
//#include "opencv2/videoio/videoio_c.h" //Pour le CvCapture*
|
||||
//#include <cxcore.h>
|
||||
//#include <SFML/Window.h>
|
||||
#include <SFML/Audio.hpp>
|
||||
#include <SFML/Graphics.hpp>
|
||||
#include <SFML/Window.hpp>
|
||||
#include <SFML/System.hpp> //inutilisé pour le moment
|
||||
|
||||
/*DEFINE*/
|
||||
//ATTENTION AFFICHAGE OPENCV INCOMPATIBLE AVEC AFFICHAGE SFML
|
||||
//ATTENTION SFML SUPPORTE UN NOMBRE LIMITE DE SPRITE EN FCT DU PC
|
||||
#define JEU 0.15
|
||||
#define CONFIG
|
||||
//#define SFML
|
||||
#define KIRBY
|
||||
//#define ETOILE
|
||||
|
||||
#define MAX_FACE 2
|
||||
|
||||
|
||||
|
||||
/*STRUCTURE*/
|
||||
typedef struct _face{
|
||||
CvPoint point;
|
||||
int largeur;
|
||||
} face
|
||||
|
||||
typedef struct pface *face;
|
||||
|
||||
|
||||
/*HEADERS*/
|
||||
void maj_angle(int vecX, int vecY, int rayon, double* angle); //Met à jour l'angle selon la distance CentreCamera - Cible
|
||||
int ajust_pos(int pos, int ref);
|
||||
void controle_moteur(double* angle);//Envoie les angles au moteur
|
||||
int limite_moteur(int val_pwm);//Verifie que les valeurs envoyees aux moteurs sont correctes
|
||||
|
||||
void config(int* LowH, int* HighH, int* LowS, int* HighS, int* LowV, int* HighV); //Affiche le panneau de configuration de tracking avec les arguments comme valeur de base
|
||||
void affichage_config(IplImage* frame, IplImage* HSV, IplImage* Binaire); //Affiche le flux vidéos et ses différent traitements
|
||||
void Affichage_Tracking(IplImage* frame, int posX, int posY, int width, int height); //Dessine les informations de tracking sur frame
|
||||
|
||||
void Position_moy(IplImage* Binaire, int* posX, int * posY); //Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet
|
||||
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
|
||||
|
||||
int image_CV2SFML(IplImage* imcv, sf::Image imFlux); //Construction de imsf (RGBA) à partir de imcv (BGR), avec alpha constant (=1)
|
||||
|
||||
CvHaarClassifierCascade* init_cascade();
|
||||
void detect_and_draw( IplImage* img, CvHaarClassifierCascade* cascade );
|
||||
|
||||
|
||||
#endif
|
||||
BIN
Code/gmon.out
Normal file
BIN
Code/gmon.out
Normal file
Binary file not shown.
26161
Code/haarcascade_frontalface_alt.xml
Normal file
26161
Code/haarcascade_frontalface_alt.xml
Normal file
File diff suppressed because it is too large
Load diff
Loading…
Add table
Add a link
Reference in a new issue