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Suppresion fichier inutile, Changement makefile, Debut SFML, Ajout mode CONFIG/SFML
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AntoineUPMC
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43 changed files with 152 additions and 3821 deletions
267
Code/KirbyTrack.c
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267
Code/KirbyTrack.c
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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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#define CONFIG
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//#define SFML
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//ATTENTION AFFICHAGE OPENCV INCOMPATIBLE AVEC AFFICHAGE SFML
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/*Headers*/
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void controle_moteur(int vecX, int vecY, int rayon);
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int limite_moteur(int val_pwm);
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int image_CV2SFML(IplImage* imcv, sf::Image imsf); //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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int height,width,step,channels; //parameters of the image we are working on
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int posX, posY; //Position objet
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CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments)); //Variable moyenne position
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int boucle;
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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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//Création de la fenetre principale
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sf::RenderWindow window(sf::VideoMode(800, 600), "KirbyTrack");
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#endif
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// Open capture device. 0 is /dev/video0, 1 is /dev/video1, etc.
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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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return 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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#ifdef CONFIG
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// Create a window in which the captured images will be presented
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cvNamedWindow( "Camera", CV_WINDOW_AUTOSIZE );
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cvNamedWindow( "HSV", CV_WINDOW_AUTOSIZE );
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cvNamedWindow( "Binaire", CV_WINDOW_AUTOSIZE );
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#endif
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// get the image data
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height = frame->height;
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width = frame->width;
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step = frame->widthStep;
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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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//Intialisation de la texture
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if (!txFlux.create(width, height)){
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printf("Erreur création texture\n");
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return EXIT_FAILURE;
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}
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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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//Setup Kirby
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int iLowH = 139;
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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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CvScalar valinf={iLowH,iLowS,iLowV};
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CvScalar valsup={iHighH,iHighS,iHighV};
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#ifdef CONFIG
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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", &iLowH, 179,NULL); //Hue (0 - 179)
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cvCreateTrackbar("HighH", "Control", &iHighH, 179,NULL);
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cvCreateTrackbar("LowS", "Control", &iLowS, 255,NULL); //Saturation (0 - 255)
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cvCreateTrackbar("HighS", "Control", &iHighS, 255,NULL);
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cvCreateTrackbar("LowV", "Control", &iLowV, 255,NULL); //Value (0 - 255)
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cvCreateTrackbar("HighV", "Control", &iHighV, 255,NULL);
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boucle = 1;
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#endif
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while(boucle)//while(window.isOpen())
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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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printf("ERROR: frame is null...\n" );
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break;
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}
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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_frame, CV_BGR2HSV);
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//Blur
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cvSmooth( hsv_frame, hsv_frame, CV_GAUSSIAN, 15, 0,0,0); //suppression des parasites par flou gaussien
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//Binarisation
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cvInRangeS(hsv_frame, valinf,valsup, threshold);
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//cvSmooth( threshold, threshold, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites
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// Calculate the moments to estimate the position of the ball
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cvMoments(threshold, 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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//Affichage zone suivie objet
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cvCircle(frame, cvPoint(width/2,height/2), height/6, 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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#ifdef CONFIG
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cvShowImage( "Camera", frame ); // Original stream with detected ball overlay
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cvShowImage( "HSV", hsv_frame); // Original stream in the HSV color space
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cvShowImage( "Binaire", threshold); // The stream after color filtering
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#endif
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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::Black);
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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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spFlux.setTexture(txFlux);
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window.draw(spFlux);
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/* Update the window */
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//window.display();
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//sfSprite_destroy(sprite);
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//sfTexture_destroy(texture);
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#endif
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//controle_moteur(posX-width/2, posY-height/2, height/6); //Envoie commande moteur
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#ifdef CONFIG
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if( (cvWaitKey(10) ) >= 0 ) break; //Arret capture
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#endif
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}
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//cvWaitKey(0); //Fin programme
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// Release the capture device housekeeping
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cvReleaseCapture( &capture );
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cvReleaseImage(&threshold);
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return EXIT_SUCCESS;
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}
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/*On se rapproche de (vecX, vecY) si la position se situe en dehors d'un cercle centre sur la camera*/
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void controle_moteur(int vecX, int vecY, int rayon){
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int val_pwm[2];
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/*Lecture valeur*/
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FILE* fichier = NULL;
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fichier = fopen("/dev/ttyACM0","r");
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if(fichier==NULL){
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printf("Erreur ouverture fichier\n");
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return ;
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}
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fscanf(fichier,"%d,%d",&val_pwm[0],&val_pwm[1]);
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fclose(fichier);
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/*Ecriture nouvelle valeur*/
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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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return ;
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}
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double norme = 1.0*vecX*vecX + 1.0*vecY*vecY;
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if (norme > rayon*rayon){
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if(vecX >= vecY && limite_moteur(val_pwm[0])){ /*Ecart sur x plus important*/
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fprintf(fichier,"%d,%d",val_pwm[0]++,val_pwm[1]);
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}
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else if(vecX <= vecY && limite_moteur(val_pwm[1])){ /*Ecart sur y plus important*/
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fprintf(fichier,"%d,%d",val_pwm[0],val_pwm[1]++);
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}
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}
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fclose(fichier);
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return;
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}
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/*Verifie que les valeurs envoyees aux moteurs sont correctes*/
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int limite_moteur(int val_pwm){
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int MAX_PWM = 255;
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if (val_pwm > MAX_PWM || val_pwm < 0){
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return 0;
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}
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else{
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return 1;
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}
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}
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/*
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int image_CV2SFML(IplImage* imcv, sf::Image imFlux){
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}
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*/
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