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Rangement du code en fonctions pour plus de lisibilité (A)
This commit is contained in:
Antoine H. Mézon
commit
f62b46bfd1
368 changed files with 931 additions and 33295 deletions
322
Code/KirbyTrack.c
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322
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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#define KIRBY
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//#define ETOILE
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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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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 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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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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// 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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#ifdef KIRBY
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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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#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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#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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//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::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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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
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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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/*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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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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cvCvtColor(frame, HSV, CV_BGR2HSV);
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//Blur
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cvSmooth( HSV, HSV, CV_GAUSSIAN, 15, 0,0,0); //suppression des parasites par flou gaussien
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//Binarisation
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//CvScalar valinf={LowH,LowS,LowV};
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//CvScalar valsup={HighH,HighS,HighV};
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//cvInRangeS(HSV, valinf,valsup, Binaire);
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cvInRangeS(HSV, CvScalar(LowH,LowS,LowV),CvScalar(HighH,HighS,HighV), Binaire);
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//cvSmooth( Binaire, Binaire, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites
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}
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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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CvMoments *moments = (CvMoments*)malloc(sizeof(CvMoments));
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cvMoments(Binaire, 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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free(moments);
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}
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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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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", LowH, 179,NULL); //Hue (0 - 179)
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cvCreateTrackbar("HighH", "Control", HighH, 179,NULL);
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cvCreateTrackbar("LowS", "Control", LowS, 255,NULL); //Saturation (0 - 255)
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cvCreateTrackbar("HighS", "Control", HighS, 255,NULL);
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cvCreateTrackbar("LowV", "Control", LowV, 255,NULL); //Value (0 - 255)
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cvCreateTrackbar("HighV", "Control", HighV, 255,NULL);
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}
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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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// Create a window in which the captured images will be presented
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cvNamedWindow( "HSV", CV_WINDOW_AUTOSIZE );
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cvNamedWindow( "Binaire", CV_WINDOW_AUTOSIZE );
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cvNamedWindow( "Camera", CV_WINDOW_AUTOSIZE );
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cvShowImage( "HSV", HSV); // Original stream in the HSV color space
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cvShowImage( "Binaire", Binaire); // The stream after color filtering
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cvShowImage( "Camera", frame ); // Flux caméra avec tracking objet
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}
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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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//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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}
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