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Essai controle son
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Antoine H. Mézon
parent
ac6005990d
commit
e2bf98b7f8
5 changed files with 14 additions and 235 deletions
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@ -237,9 +237,9 @@ sf::Vector2i PosMouse = sf::Mouse::getPosition(window);
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angle[0]=0; //ANGLES A VERIFIER
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angle[1]=0;
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controle_moteur(angle);
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aye.play();
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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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13
Code/Navy.c
13
Code/Navy.c
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@ -5,6 +5,8 @@
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* \brief Figure Libre
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*
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* \details Suivie d'un Kirby (Rose) ou d'une étoile (Jaune) par une caméra avec mode interface utilisateur ou configuration
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*
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* \todo Reprendre nouvelle structure SFML de Kirbytrack
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*/
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#include "fonction.h"
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@ -43,7 +45,7 @@ int main(int argc, char* argv[])
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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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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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@ -162,6 +164,15 @@ int main(int argc, char* argv[])
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button_reset.setPosition(sf::Vector2f(width+20, 100));
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window.draw(button_reset);
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/*
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//musique
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if(aye.getStatus()==sf::Sound::Stopped){
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aye.setPitch(0.5);
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aye.setVolume(150);
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aye.setLoop(true);
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aye.play();
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}
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*/
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/*
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//Ajout du texte
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232
Code/Tracking.c
232
Code/Tracking.c
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@ -1,232 +0,0 @@
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/**
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* \file KirbyTrack.c
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* \author Jacques / Antoine
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* \date avril - mai 2017
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* \brief Figure Imposé : Suivi d'un objet coloré.
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*
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* \details Suivie d'un Kirby (Rose) ou d'une étoile (Jaune) par une caméra avec mode interface utilisateur ou configuration
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* \bug SFML ne supporte qu'un nombre limité de sprite en fonction du PC
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* \bug Affichage OpenCV incompatible avec SFML
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* \todo Optimisation du chargement de la frame en image SFML
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*/
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#include "fonction.h"
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#include "fonction.c"
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/**
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* \fn int main(int argc, char* argv[])
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* \brief Entrée du programme
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* \author Antoine / Jacques
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* \return EXIT_SUCCESS : Arrêt normal du programme, EXIT_FAILURE : Le programme a rencontrée une erreur au cours de son execution
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*/
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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; //0 = tracking OFF
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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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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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//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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//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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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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//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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/* 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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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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// 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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BIN
Code/gmon.out
BIN
Code/gmon.out
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