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Séparation de la figure libre(KirbyTrack) et imposée (Navy)

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AntoineUPMC 2017-05-23 14:30:22 +02:00
parent 1a4d575831
commit 5ede5056a8
5 changed files with 485 additions and 81 deletions
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93
Code/KirbyTrack.c
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@ -2,15 +2,10 @@
#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
@ -36,9 +31,6 @@ void Affichage_Tracking(IplImage* frame, int posX, int posY, int width, int heig
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[])
{
//Initialisations
@ -48,7 +40,8 @@ int main(int argc, char* argv[])
double angle[2] = {100,100};
int tracking;
int tracking; //0 = tracking OFF
, 1 = ON
#ifdef SFML
@ -159,16 +152,13 @@ int main(int argc, char* argv[])
#ifdef SFML
//Affichage SFML
//Affichage SFML
/* Clear the screen */
window.clear(sf::Color::White);
//Conversion de la frame en image smfl
/*if(image_CV2SFML(frame, imFlux)){
printf("Erreur conversion OpenCV-SFML\n");
break;
}
*/
//Affichage de la frame
//Le chargement pourrait etre plus optimisé en créant nous me l'image SFML en parcourant l'IplImage
//Enregistrement de la frame openCV
cvSaveImage("Stock SFML/temp.jpg", frame);
@ -180,12 +170,11 @@ int main(int argc, char* argv[])
}
spFlux.setTexture(txFlux);
window.draw(spFlux);
//TEST SFML
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)){
//printf("\n\n\n OK \n\n\n");
if (tracking){ tracking = 0;}
@ -193,8 +182,8 @@ int main(int argc, char* argv[])
cvWaitKey(100);
}
//printf("Pos Mouse : %d %d \n", PosMouse.x, PosMouse.y);
/*
//Dessin du bouton de tracking
//Dessin du bouton de tracking
sf::Texture txBut;
sf::Sprite button_tracking;
@ -212,24 +201,7 @@ int main(int argc, char* argv[])
window.draw(button_tracking);
*/
/*
//Dessin du bouton reset
sf::Texture txBut2;
sf::Sprite button_reset;
if (!txBut2.loadFromFile("Stock SFML/button.png")){
printf("Erreur chargement image SFML\n" );
break;
}
button_reset.setTexture(txBut2);
button_reset.setScale(0.5,0.5);
button_reset.setPosition(sf::Vector2f(width+20, 60));
window.draw(button_reset);
*/
//Ajout du texte
//Ajout du texte
sf::Font font;
if (!font.loadFromFile("Stock SFML/arial.ttf")){
printf("Erreur chargement police SFML\n" );
@ -252,26 +224,12 @@ int main(int argc, char* argv[])
text.setPosition(sf::Vector2f(width+100, 35));
window.draw(text);
/*
//Link
sf::Texture txLink;
sf::Sprite Link;
if (!txLink.loadFromFile("Stock SFML/link.png")){
printf("Erreur chargement image SFML\n" );
break;
}
Link.setTexture(txLink);
Link.setPosition(sf::Vector2f(posX-75, posY-75));
window.draw(Link);
*/
/* Update the window */
window.display();
#endif
//Envoie données moteurs
if(tracking){
//Mouvements moteurs
//printf("-PREMAJ_ANGLE...: %d %d\n",width,height);
@ -290,8 +248,6 @@ int main(int argc, char* argv[])
#endif
}
//cvWaitKey(0); //Fin programme
// Release the capture device housekeeping
cvReleaseCapture( &capture );
@ -366,31 +322,6 @@ void controle_moteur(double* angle){
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.