AntoineH/LivingMachine
1
0
Fork 0
mirror of https://github.com/AntoineHX/LivingMachine.git synced 2025-05-04 05:40:46 +02:00
Code Issues Projects Releases Packages Wiki Activity

separation main et fonctions

Browse source
This commit is contained in:
Forest 2017-05-23 17:36:54 +02:00
parent 5ede5056a8
commit 28165352bc
8 changed files with 26642 additions and 280 deletions
Download patch file Download diff file Expand all files Collapse all files

1
Code/KirbyTrack.c
View file

@ -41,7 +41,6 @@ int main(int argc, char* argv[])
double angle[2] = {100,100}; double angle[2] = {100,100};
int tracking; //0 = tracking OFF int tracking; //0 = tracking OFF
, 1 = ON
#ifdef SFML #ifdef SFML

19
Code/Makefile
View file

@ -1,15 +1,24 @@
EXEC= KirbyTrack EXEC= KirbyTrack Navy
LSFML = -lsfml-graphics -lsfml-window -lsfml-system -lsfml-audio LDFLAGS = -lsfml-graphics -lsfml-window -lsfml-system -lsfml-audio `pkg-config opencv --libs`
CFLAGS = -Wall -g3 CFLAGS = -Wall -g3 -pg `pkg-config opencv --cflags`
all: $(EXEC) all: $(EXEC)
KirbyTrack : KirbyTrack.o KirbyTrack : KirbyTrack.o
g++ -o $@ $< `pkg-config opencv --libs` $(LSFML) $(CFLAGS) g++ -o $@ $< $(LDFLAGS) $(CFLAGS)
KirbyTrack.o : KirbyTrack.c KirbyTrack.o : KirbyTrack.c
g++ -o $@ -c $< `pkg-config opencv --cflags` $(CFLAGS) g++ -o $@ -c $< $(CFLAGS)
Navy : Navy.o fonction.o
g++ -o $@ $^ $(LDFLAGS) $(CFLAGS)
Navy.o : Navy.c fonction.h
g++ -o $@ -c $< $(CFLAGS)
fonction.o : fonction.c fonction.h
g++ -o $@ -c $< $(CFLAGS)
clean : clean :
rm -f *.o $(EXEC) rm -f *.o $(EXEC)

303
Code/Navy.c
View file

@ -1,128 +1,61 @@
#include <stdio.h> #include "fonction.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 CONFIG
#define SFML
#define KIRBY
//#define ETOILE
#define JEU 0.15
//ATTENTION AFFICHAGE OPENCV INCOMPATIBLE AVEC AFFICHAGE SFML
//ATTENTION SFML SUPPORTE UN NOMBRE LIMITE DE SPRITE EN FCT DU PC
/*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)
int main(int argc, char* argv[]) int main(int argc, char* argv[])
{ {
//Initialisations //Initialisations
int height,width; //parameters of the image we are working on int height,width; //parameters of the image we are working on
int posX, posY; //Position objet int posX, posY; //Position objet
int boucle; int boucle;
double angle[2] = {100,100}; double angle[2] = {100,100};
int tracking; int tracking;
#ifdef SFML
//Initialisation SFML
sf::Texture txFlux;
sf::Sprite spFlux;
sf::Image imFlux;
sf::Event event;
tracking = 0; //Pas de tracking de base en mode SFML
#endif
//Ouverture flux camera //Ouverture flux camera
CvCapture* capture = cvCaptureFromCAM( 0 ); CvCapture* capture = cvCaptureFromCAM( 0 );
if( !capture ){ if( !capture ){
printf("ERROR: capture is NULL \n" ); printf("ERROR: capture is NULL \n" );
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
//Initialisation frame
// grab an image from the capture
IplImage* frame = cvQueryFrame( capture ); IplImage* frame = cvQueryFrame( capture );
height = frame->height;
// get the image data width = frame->width;
height = frame->height; CvSize size = cvSize(width,height);
width = frame->width; IplImage* hsv_frame = cvCreateImage(size, IPL_DEPTH_8U, 3); // image converted to HSV plane
IplImage* threshold = cvCreateImage(size, IPL_DEPTH_8U, 1);
// capture size -
CvSize size = cvSize(width,height); //Initialisation detection visage
CvHaarClassifierCascade* cascade = init_cascade();
#ifdef SFML #ifdef SFML
//Initialisation SFML
sf::Texture txFlux;
sf::Sprite spFlux;
sf::Image imFlux;
sf::Event event;
tracking = 0; //Pas de tracking de base en mode SFML
//Création de la fenetre principale //Création de la fenetre principale
sf::RenderWindow window(sf::VideoMode(width+300, height), "KirbyTrack"); sf::RenderWindow window(sf::VideoMode(width+300, height), "KirbyTrack");
#endif #endif
// Initialize different images that are going to be used in the program
IplImage* hsv_frame = cvCreateImage(size, IPL_DEPTH_8U, 3); // image converted to HSV plane
IplImage* threshold = cvCreateImage(size, IPL_DEPTH_8U, 1);
//Controle couleur //Controle couleur
#ifdef KIRBY #ifdef KIRBY
//Setup Kirby int tab_HSV[6] = {152,179,48,255,101,255};
int iLowH = 152;
int iHighH = 179;
int iLowS = 48;
int iHighS = 255;
int iLowV = 101;
int iHighV = 255;
#endif #endif
#ifdef ETOILE #ifdef ETOILE
//Setup Etoile int tab_HSV[6] = {20,30,100,255,100,255};
int iLowH = 20;
int iHighH = 30;
int iLowS = 100;
int iHighS = 255;
int iLowV = 100;
int iHighV = 255;
#endif #endif
#ifdef CONFIG #ifdef CONFIG
//Affichage du panneau de config //Affichage du panneau de config
config(&iLowH, &iHighH, &iLowS, &iHighS, &iLowV, &iHighV); config(tab_HSV,tab_HSV+1,tab_HSV+2,tab_HSV+3,tab_HSV+4,tab_HSV+5);
boucle = 1; boucle = 1;
tracking = 1; //Tracking de base en mode CONFIG tracking = 0; //Tracking de base en mode CONFIG
#endif #endif
while(boucle) while(boucle)
@ -148,15 +81,7 @@ int main(int argc, char* argv[])
break; break;
} }
//Binarisation du flux vidéo detect_and_draw(frame,cascade);
traitement(frame, hsv_frame, threshold, iLowH, iHighH, iLowS, iHighS, iLowV, iHighV);
// Calculate the moments to estimate the position of the ball
Position_moy(threshold, &posX, &posY);
//Dessine les informations de tracking sur frame
Affichage_Tracking(frame, posX, posY, width, height);
#ifdef SFML #ifdef SFML
//Affichage SFML //Affichage SFML
@ -183,7 +108,7 @@ int main(int argc, char* argv[])
window.draw(spFlux); window.draw(spFlux);
//TEST SFML //TEST SFML
sf::Vector2i PosMouse = sf::Mouse::getPosition(window); sf::Vector2i PosMouse = sf::Mouse::getPosition(window);
//Detection du bouton tracking //Detection du bouton tracking
if (sf::Mouse::isButtonPressed(sf::Mouse::Left)&&(PosMouse.x>640)&&(PosMouse.x<760)&&(PosMouse.y>0)&&(PosMouse.y<120)){ if (sf::Mouse::isButtonPressed(sf::Mouse::Left)&&(PosMouse.x>640)&&(PosMouse.x<760)&&(PosMouse.y>0)&&(PosMouse.y<120)){
@ -268,9 +193,9 @@ int main(int argc, char* argv[])
*/ */
/* Update the window */ /* Update the window */
window.display(); window.display();
#endif #endif
if(tracking){ if(tracking){
//Mouvements moteurs //Mouvements moteurs
//printf("-PREMAJ_ANGLE...: %d %d\n",width,height); //printf("-PREMAJ_ANGLE...: %d %d\n",width,height);
@ -283,8 +208,9 @@ int main(int argc, char* argv[])
#ifdef CONFIG #ifdef CONFIG
/*
affichage_config(frame, hsv_frame, threshold); //Affichage du flux vidéo et de ses traitements affichage_config(frame, hsv_frame, threshold); //Affichage du flux vidéo et de ses traitements
*/
if( (cvWaitKey(10) ) >= 0 ) break; //Arret capture if( (cvWaitKey(10) ) >= 0 ) break; //Arret capture
#endif #endif
@ -294,180 +220,9 @@ int main(int argc, char* argv[])
// Release the capture device housekeeping // Release the capture device housekeeping
cvReleaseCapture( &capture ); cvReleaseCapture( &capture );
cvReleaseImage(&threshold); cvReleaseImage(&threshold);
cvReleaseImage(&hsv_frame); cvReleaseImage(&hsv_frame);
cvReleaseImage(&frame); cvReleaseImage(&frame);
return EXIT_SUCCESS; return EXIT_SUCCESS;
} }
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 );
}
}

125
Code/facedetect.c Normal file
View file

@ -0,0 +1,125 @@
// Sample Application to demonstrate how Face detection can be done as a part of your source code.
// Include header files
#include "cv.h"
#include "highgui.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include <math.h>
#include <float.h>
#include <limits.h>
#include <time.h>
#include <ctype.h>
// 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
View 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
View 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
View file

Binary file not shown.

26161
Code/haarcascade_frontalface_alt.xml Normal file
View file

File diff suppressed because it is too large Load diff