mirror of
https://github.com/AntoineHX/LivingMachine.git
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Séparation de la figure libre(KirbyTrack) et imposée (Navy)
This commit is contained in:
AntoineUPMC
parent
1a4d575831
commit
5ede5056a8
5 changed files with 485 additions and 81 deletions
BIN
Code/KirbyTrack
Executable file
BIN
Code/KirbyTrack
Executable file
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@ -2,15 +2,10 @@
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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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@ -36,9 +31,6 @@ void Affichage_Tracking(IplImage* frame, int posX, int posY, int width, int heig
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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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int main(int argc, char* argv[])
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{
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//Initialisations
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@ -48,7 +40,8 @@ int main(int argc, char* argv[])
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double angle[2] = {100,100};
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int tracking;
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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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@ -159,16 +152,13 @@ int main(int argc, char* argv[])
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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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@ -180,12 +170,11 @@ 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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//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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@ -193,8 +182,8 @@ int main(int argc, char* argv[])
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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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/*
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//Dessin du bouton de tracking
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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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@ -212,24 +201,7 @@ int main(int argc, char* argv[])
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window.draw(button_tracking);
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*/
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/*
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//Dessin du bouton reset
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sf::Texture txBut2;
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sf::Sprite button_reset;
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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, 60));
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window.draw(button_reset);
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*/
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//Ajout du texte
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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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@ -252,26 +224,12 @@ int main(int argc, char* argv[])
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text.setPosition(sf::Vector2f(width+100, 35));
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window.draw(text);
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/*
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//Link
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sf::Texture txLink;
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sf::Sprite Link;
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if (!txLink.loadFromFile("Stock SFML/link.png")){
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printf("Erreur chargement image SFML\n" );
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break;
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}
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Link.setTexture(txLink);
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Link.setPosition(sf::Vector2f(posX-75, posY-75));
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window.draw(Link);
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*/
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/* Update the window */
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window.display();
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#endif
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//Envoie données moteurs
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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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@ -290,8 +248,6 @@ int main(int argc, char* argv[])
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#endif
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}
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//cvWaitKey(0); //Fin programme
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// Release the capture device housekeeping
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cvReleaseCapture( &capture );
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@ -366,31 +322,6 @@ void controle_moteur(double* angle){
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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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BIN
Code/KirbyTrack.o
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BIN
Code/KirbyTrack.o
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Binary file not shown.
473
Code/Navy.c
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473
Code/Navy.c
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@ -0,0 +1,473 @@
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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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int main(int argc, char* argv[])
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{
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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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// grab an image from the capture
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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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#ifdef 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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#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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#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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boucle = 1;
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tracking = 1; //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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while (window.pollEvent(event))
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{
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// évènement "fermeture demandée" : on ferme la fenêtre
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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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if( !frame ){
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perror("ERROR: frame is null...");
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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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#ifdef 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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//Enregistrement de la frame openCV
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cvSaveImage("Stock SFML/temp.jpg", frame);
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//Chargement de la frame en texture SFML
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if (!txFlux.loadFromFile("Stock SFML/temp.jpg")){
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printf("Erreur chargement image SFML\n" );
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break;
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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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/*
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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, 60));
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window.draw(button_reset);
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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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//Link
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sf::Texture txLink;
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sf::Sprite Link;
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if (!txLink.loadFromFile("Stock SFML/link.png")){
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printf("Erreur chargement image SFML\n" );
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break;
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}
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Link.setTexture(txLink);
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Link.setPosition(sf::Vector2f(posX-75, posY-75));
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window.draw(Link);
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*/
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/* 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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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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#ifdef CONFIG
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affichage_config(frame, hsv_frame, threshold); //Affichage du flux vidéo et de ses traitements
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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
|
||||
|
||||
// Release the capture device housekeeping
|
||||
cvReleaseCapture( &capture );
|
||||
|
||||
cvReleaseImage(&threshold);
|
||||
cvReleaseImage(&hsv_frame);
|
||||
cvReleaseImage(&frame);
|
||||
|
||||
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 );
|
||||
}
|
||||
}
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 65 KiB After Width: | Height: | Size: 91 KiB |
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Add table
Add a link
Reference in a new issue