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<div id="projectname">The Camera of Zelda
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<div class="title">KirbyTrack.c</div> </div>
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<div class="contents">
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<a href="_kirby_track_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> </div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include "<a class="code" href="fonction_8h.html">fonction.h</a>"</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include "<a class="code" href="fonction_8c.html">fonction.c</a>"</span> <span class="comment">//Pour le problème de référence indéfinie à la compilation</span></div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> </div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> </div>
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<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97"> 23</a></span> <span class="keywordtype">int</span> <a class="code" href="_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>* argv[])</div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> {</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="comment">//Initialisations </span></div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keywordtype">int</span> height,width; <span class="comment">//parameters of the image we are working on</span></div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordtype">int</span> posX, posY; <span class="comment">//Position objet</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordtype">int</span> boucle = 1; <span class="comment">//On effectuera la boucle principale au moins une fois</span></div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordtype">double</span> angle[2] = {100,100};</div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordtype">int</span> tracking; <span class="comment">//0 = tracking OFF</span></div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> </div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> </div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#ifdef SFML</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor"></span> <span class="comment">//Initialisation SFML</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  sf::Texture txFlux;</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  sf::Sprite spFlux;</div>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  sf::Image imFlux;</div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  sf::Event event;</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  tracking = 0; <span class="comment">//Pas de tracking de base en mode SFML</span></div>
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<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> </div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="comment">//Chargement boutons</span></div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  sf::Texture txBut;</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  sf::Sprite button_tracking;</div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  sf::Sprite button_reset;</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordflow">if</span> (!txBut.loadFromFile(<span class="stringliteral">"Stock SFML/button.png"</span>)){</div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  printf(<span class="stringliteral">"Erreur chargement image SFML\n"</span> );</div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordflow">return</span> EXIT_FAILURE;</div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  }</div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="comment">//Chargement texte</span></div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  sf::Font font;</div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">if</span> (!font.loadFromFile(<span class="stringliteral">"Stock SFML/arial.ttf"</span>)){</div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  printf(<span class="stringliteral">"Erreur chargement police SFML\n"</span> );</div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">return</span> EXIT_FAILURE;</div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  }</div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> </div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  sf::Text text_track;</div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  sf::Text text_reset;</div>
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div>
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<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="comment">//Chargement son</span></div>
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<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  sf::Music aye;</div>
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordflow">if</span> (!aye.openFromFile(<span class="stringliteral">"Stock SFML/Aye Sir.ogg"</span>))</div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">return</span> EXIT_FAILURE;</div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="preprocessor"></span></div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="comment">//Ouverture flux camera</span></div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  CvCapture* capture = cvCaptureFromCAM(1);</div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">if</span>( !capture ){</div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  printf(<span class="stringliteral">"ERROR: capture is NULL \n"</span> );</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  exit(EXIT_FAILURE);</div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  }</div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="comment">// grab an image from the capture</span></div>
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<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  IplImage* frame = cvQueryFrame( capture );</div>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="comment">// get the image data</span></div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  height = frame->height;</div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  width = frame->width;</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="comment">// capture size - </span></div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  CvSize size = cvSize(width,height);</div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="preprocessor">#ifdef SFML</span></div>
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<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="preprocessor"></span> <span class="comment">//Création de la fenetre principale</span></div>
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<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  sf::RenderWindow window(sf::VideoMode(width+300, height), <span class="stringliteral">"KirbyTrack"</span>);</div>
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<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="preprocessor"></span></div>
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<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="comment">// Initialize different images that are going to be used in the program</span></div>
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<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  IplImage* hsv_frame = cvCreateImage(size, IPL_DEPTH_8U, 3); <span class="comment">// image converted to HSV plane</span></div>
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<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  IplImage* threshold = cvCreateImage(size, IPL_DEPTH_8U, 1);</div>
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<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div>
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<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  </div>
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<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="comment">//Controle couleur</span></div>
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<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> <span class="preprocessor">#ifdef KIRBY</span></div>
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<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> <span class="preprocessor"></span> <span class="comment">//Setup Kirby</span></div>
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<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordtype">int</span> iLowH = 152;</div>
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<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordtype">int</span> iHighH = 179;</div>
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<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> </div>
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<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordtype">int</span> iLowS = 48; </div>
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<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordtype">int</span> iHighS = 255;</div>
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<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div>
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<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordtype">int</span> iLowV = 101;</div>
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<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordtype">int</span> iHighV = 255;</div>
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<div class="line"><a name="l00113"></a><span class="lineno"> 113</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="preprocessor"></span><span class="preprocessor">#ifdef ETOILE</span></div>
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<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="preprocessor"></span> <span class="comment">//Setup Etoile</span></div>
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<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordtype">int</span> iLowH = 20;</div>
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<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordtype">int</span> iHighH = 30;</div>
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<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> </div>
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<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordtype">int</span> iLowS = 100; </div>
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<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordtype">int</span> iHighS = 255;</div>
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<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> </div>
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<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordtype">int</span> iLowV = 100;</div>
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<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordtype">int</span> iHighV = 255;</div>
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<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="preprocessor">#endif </span></div>
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<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="preprocessor"></span></div>
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<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> <span class="preprocessor">#ifdef CONFIG</span></div>
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<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="preprocessor"></span> <span class="comment">//Affichage du panneau de config</span></div>
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<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <a class="code" href="fonction_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">config</a>(&iLowH, &iHighH, &iLowS, &iHighS, &iLowV, &iHighV);</div>
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<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> </div>
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<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  tracking = 1; <span class="comment">//Tracking de base en mode CONFIG</span></div>
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<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="preprocessor">#endif</span></div>
|
|
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="preprocessor"></span></div>
|
|
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">while</span>(boucle)</div>
|
|
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  { </div>
|
|
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> </div>
|
|
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="preprocessor">#ifdef SFML</span></div>
|
|
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> <span class="preprocessor"></span> boucle = window.isOpen();</div>
|
|
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> </div>
|
|
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="comment">// on inspecte tous les évènements de la fenêtre qui ont été émis depuis la précédente itération</span></div>
|
|
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordflow">while</span> (window.pollEvent(event))</div>
|
|
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  {</div>
|
|
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="comment">// évènement "fermeture demandée" : on ferme la fenêtre</span></div>
|
|
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">if</span> (event.type == sf::Event::Closed)</div>
|
|
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  window.close();</div>
|
|
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  }</div>
|
|
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="preprocessor">#endif</span></div>
|
|
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="preprocessor"></span> <span class="comment">// Get one frame</span></div>
|
|
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  frame = cvQueryFrame( capture );</div>
|
|
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  </div>
|
|
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">if</span>( !frame ){</div>
|
|
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  perror(<span class="stringliteral">"ERROR: frame is null..."</span>);</div>
|
|
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordflow">break</span>;</div>
|
|
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  }</div>
|
|
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> </div>
|
|
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="comment">//Binarisation du flux vidéo</span></div>
|
|
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <a class="code" href="fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89">traitement</a>(frame, hsv_frame, threshold, iLowH, iHighH, iLowS, iHighS, iLowV, iHighV);</div>
|
|
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  </div>
|
|
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="comment">// Calculate the moments to estimate the position of the ball </span></div>
|
|
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <a class="code" href="fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1">Position_moy</a>(threshold, &posX, &posY);</div>
|
|
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  </div>
|
|
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="comment">//Dessine les informations de tracking sur frame</span></div>
|
|
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <a class="code" href="fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">Affichage_Tracking</a>(frame, posX, posY, width, height);</div>
|
|
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> </div>
|
|
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="preprocessor">#ifdef SFML</span></div>
|
|
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="preprocessor"></span><span class="comment">//Affichage SFML</span></div>
|
|
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="comment">/* Clear the screen */</span></div>
|
|
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  window.clear(sf::Color::White); </div>
|
|
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div>
|
|
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="comment">//Affichage de la frame</span></div>
|
|
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> </div>
|
|
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="comment">//Le chargement pourrait etre plus optimisé en créant nous me l'image SFML en parcourant l'IplImage</span></div>
|
|
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> </div>
|
|
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="comment">//Enregistrement de la frame openCV</span></div>
|
|
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  cvSaveImage(<span class="stringliteral">"Stock SFML/temp.jpg"</span>, frame);</div>
|
|
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  </div>
|
|
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="comment">//Chargement de la frame en texture SFML</span></div>
|
|
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">if</span> (!txFlux.loadFromFile(<span class="stringliteral">"Stock SFML/temp.jpg"</span>)){</div>
|
|
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  printf(<span class="stringliteral">"Erreur chargement image SFML\n"</span> );</div>
|
|
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordflow">break</span>;</div>
|
|
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  }</div>
|
|
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div>
|
|
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  spFlux.setTexture(txFlux);</div>
|
|
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  window.draw(spFlux);</div>
|
|
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> </div>
|
|
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="comment">//Dessin des boutons</span></div>
|
|
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  button_tracking.setTexture(txBut);</div>
|
|
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  button_tracking.setScale(0.5,0.5);</div>
|
|
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  button_tracking.setPosition(sf::Vector2f(width+20, 20));</div>
|
|
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  </div>
|
|
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  button_reset.setTexture(txBut);</div>
|
|
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  button_reset.setScale(0.5,0.5);</div>
|
|
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  button_reset.setPosition(sf::Vector2f(width+20, 100));</div>
|
|
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> </div>
|
|
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">if</span>(tracking){ button_tracking.setColor(sf::Color::Green); }</div>
|
|
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordflow">else</span>{ button_tracking.setColor(sf::Color::Red); }</div>
|
|
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> </div>
|
|
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="comment">//Ajout du texte</span></div>
|
|
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="comment">// choix de la police à utiliser</span></div>
|
|
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  text_track.setFont(font); <span class="comment">// font est un sf::Font</span></div>
|
|
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  text_reset.setFont(font);</div>
|
|
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span> </div>
|
|
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="comment">// choix de la chaîne de caractères à afficher</span></div>
|
|
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  text_track.setString(<span class="stringliteral">"Tracking Moteurs"</span>);</div>
|
|
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  text_reset.setString(<span class="stringliteral">"Reset Moteurs"</span>);</div>
|
|
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> </div>
|
|
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="comment">// choix de la taille des caractères</span></div>
|
|
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  text_track.setCharacterSize(24); <span class="comment">// exprimée en pixels, pas en points !</span></div>
|
|
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  text_reset.setCharacterSize(24);</div>
|
|
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> </div>
|
|
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="comment">//text.setFillColor(sf::Color::Black);</span></div>
|
|
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  text_track.setColor(sf::Color::Black);</div>
|
|
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  text_reset.setColor(sf::Color::Black);</div>
|
|
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div>
|
|
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  text_track.setPosition(sf::Vector2f(width+100, 35));</div>
|
|
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  text_reset.setPosition(sf::Vector2f(width+100, 115));</div>
|
|
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div>
|
|
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span> </div>
|
|
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="comment">//Detection du bouton tracking</span></div>
|
|
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> sf::Vector2i PosMouse = sf::Mouse::getPosition(window);</div>
|
|
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordflow">if</span> (sf::Mouse::isButtonPressed(sf::Mouse::Left)&&(PosMouse.x>640)&&(PosMouse.x<760)&&(PosMouse.y>0)&&(PosMouse.y<110)){</div>
|
|
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="comment">//printf("\n\n\n OK \n\n\n");</span></div>
|
|
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordflow">if</span> (tracking){ tracking = 0;}</div>
|
|
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keywordflow">else</span> tracking = 1;</div>
|
|
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span> </div>
|
|
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  aye.play();</div>
|
|
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> </div>
|
|
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  cvWaitKey(100);</div>
|
|
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  }</div>
|
|
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> </div>
|
|
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> <span class="comment">//Detection du bouton reset</span></div>
|
|
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keywordflow">if</span> (sf::Mouse::isButtonPressed(sf::Mouse::Left)&&(PosMouse.x>640)&&(PosMouse.x<760)&&(PosMouse.y>110)&&(PosMouse.y<160)){</div>
|
|
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> </div>
|
|
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  tracking = 0;</div>
|
|
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="comment">//Reset Position moteur</span></div>
|
|
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  angle[0]=60; <span class="comment">//ANGLES A VERIFIER</span></div>
|
|
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  angle[1]=100;</div>
|
|
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <a class="code" href="fonction_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a>(angle); </div>
|
|
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div>
|
|
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  aye.play();</div>
|
|
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  </div>
|
|
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  cvWaitKey(100);</div>
|
|
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  }</div>
|
|
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="comment">//printf("Pos Mouse : %d %d \n", PosMouse.x, PosMouse.y);</span></div>
|
|
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> </div>
|
|
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> </div>
|
|
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="comment">/* Update the window */</span></div>
|
|
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  window.draw(button_tracking);</div>
|
|
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  window.draw(button_reset);</div>
|
|
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  window.draw(text_track);</div>
|
|
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  window.draw(text_reset);</div>
|
|
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> </div>
|
|
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  window.display();</div>
|
|
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> </div>
|
|
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> <span class="preprocessor">#endif</span></div>
|
|
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> <span class="preprocessor"></span><span class="comment">//Envoie données moteurs</span></div>
|
|
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordflow">if</span>(tracking){</div>
|
|
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="comment">//Mouvements moteurs</span></div>
|
|
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="comment">//printf("-PREMAJ_ANGLE...: %d %d\n",width,height);</span></div>
|
|
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span> </div>
|
|
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <a class="code" href="fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b">maj_angle</a>(<a class="code" href="fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a>(posX-width/2,width), <a class="code" href="fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a>(posY-height/2,height), height*<a class="code" href="fonction_8h.html#afb63dbc6e533233f41d03e8b8a3bc570">JEU</a>, angle);</div>
|
|
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <a class="code" href="fonction_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a>(angle); </div>
|
|
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> </div>
|
|
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  cvWaitKey(50);</div>
|
|
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  }</div>
|
|
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> </div>
|
|
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> </div>
|
|
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span> <span class="preprocessor">#ifdef CONFIG</span></div>
|
|
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> <span class="preprocessor"></span> <a class="code" href="fonction_8c.html#acc438fce8178d1d5aac4595f19529275">affichage_config</a>(frame, hsv_frame, threshold); <span class="comment">//Affichage du flux vidéo et de ses traitements</span></div>
|
|
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  </div>
|
|
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keywordflow">if</span>( (cvWaitKey(10) ) >= 0 ) <span class="keywordflow">break</span>; <span class="comment">//Arret capture</span></div>
|
|
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="preprocessor">#endif</span></div>
|
|
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> <span class="preprocessor"></span></div>
|
|
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  }</div>
|
|
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  </div>
|
|
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="comment">// Release the capture device housekeeping</span></div>
|
|
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  cvReleaseCapture( &capture );</div>
|
|
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  </div>
|
|
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  cvReleaseImage(&threshold);</div>
|
|
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  cvReleaseImage(&hsv_frame);</div>
|
|
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  cvReleaseImage(&frame);</div>
|
|
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  </div>
|
|
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordflow">return</span> EXIT_SUCCESS;</div>
|
|
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span> }</div>
|
|
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span> </div>
|
|
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span> <span class="comment">/*</span></div>
|
|
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> <span class="comment"> //musique</span></div>
|
|
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> <span class="comment"> if(aye.getStatus()==sf::Sound::Stopped){</span></div>
|
|
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> <span class="comment"> aye.setPitch(0.5);</span></div>
|
|
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> <span class="comment"> aye.setVolume(150);</span></div>
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<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="comment"> aye.setLoop(true);</span></div>
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<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="comment"> aye.play();</span></div>
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<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> <span class="comment"> }</span></div>
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<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> <span class="comment">*/</span></div>
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<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> </div>
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<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> <span class="comment">/*</span></div>
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<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> <span class="comment"> //Link</span></div>
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<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> <span class="comment"> sf::Texture txLink;</span></div>
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<div class="line"><a name="l00298"></a><span class="lineno"> 298</span> <span class="comment"> sf::Sprite Link;</span></div>
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<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> <span class="comment"> </span></div>
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<div class="line"><a name="l00300"></a><span class="lineno"> 300</span> <span class="comment"> if (!txLink.loadFromFile("Stock SFML/link.png")){</span></div>
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<div class="line"><a name="l00301"></a><span class="lineno"> 301</span> <span class="comment"> printf("Erreur chargement image SFML\n" );</span></div>
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<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> <span class="comment"> break;</span></div>
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<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> <span class="comment"> }</span></div>
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<div class="line"><a name="l00304"></a><span class="lineno"> 304</span> <span class="comment"> </span></div>
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<div class="line"><a name="l00305"></a><span class="lineno"> 305</span> <span class="comment"> Link.setTexture(txLink);</span></div>
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<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> <span class="comment"> Link.setPosition(sf::Vector2f(posX-75, posY-75));</span></div>
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<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> <span class="comment"></span></div>
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<div class="line"><a name="l00308"></a><span class="lineno"> 308</span> <span class="comment"> window.draw(Link);</span></div>
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<div class="line"><a name="l00309"></a><span class="lineno"> 309</span> <span class="comment">*/</span></div>
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<div class="ttc" id="fonction_8c_html_adcdd0544c8eb462cd2835ec99fa0f181"><div class="ttname"><a href="fonction_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">config</a></div><div class="ttdeci">void config(int *LowH, int *HighH, int *LowS, int *HighS, int *LowV, int *HighV)</div><div class="ttdoc">Fonction d'affichage du panneau de configuration de la couleur à suivre. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00136">fonction.c:136</a></div></div>
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<div class="ttc" id="fonction_8c_html_ac3e9405c4ebaa936308670c050285ae1"><div class="ttname"><a href="fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1">Position_moy</a></div><div class="ttdeci">void Position_moy(IplImage *Binaire, int *posX, int *posY)</div><div class="ttdoc">Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00120">fonction.c:120</a></div></div>
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<div class="ttc" id="fonction_8c_html_ae89e5fc7460ea890fa61d54fd209c1ae"><div class="ttname"><a href="fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a></div><div class="ttdeci">int ajust_pos(int pos, int ref)</div><div class="ttdoc">permet d'éviter des positions supérieures à ref considérées comme aberrantes. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00036">fonction.c:36</a></div></div>
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<div class="ttc" id="fonction_8c_html_a96b1dd5c66492425a00921b6eaaacc89"><div class="ttname"><a href="fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89">traitement</a></div><div class="ttdeci">void traitement(IplImage *frame, IplImage *HSV, IplImage *Binaire, int LowH, int HighH, int LowS, int HighS, int LowV, int HighV)</div><div class="ttdoc">Effectue une binarisation de frame en fonction des bornes HSV. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00099">fonction.c:99</a></div></div>
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<div class="ttc" id="fonction_8c_html_a93cca84f54fe35dc9ad87eac3583889b"><div class="ttname"><a href="fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b">maj_angle</a></div><div class="ttdeci">void maj_angle(int vecX, int vecY, int rayon, double *angle)</div><div class="ttdoc">Met à jour angle selon la distance entre le centre de la caméra et la cible, avec un tolérance circul...</div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00012">fonction.c:12</a></div></div>
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<div class="ttc" id="fonction_8h_html_afb63dbc6e533233f41d03e8b8a3bc570"><div class="ttname"><a href="fonction_8h.html#afb63dbc6e533233f41d03e8b8a3bc570">JEU</a></div><div class="ttdeci">#define JEU</div><div class="ttdoc">Coefficient de tolérance pour le suivi d'objet. </div></div>
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<div class="ttc" id="fonction_8h_html"><div class="ttname"><a href="fonction_8h.html">fonction.h</a></div><div class="ttdoc">Bibliothèque, Headers et Documentation des fonctions. </div></div>
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<div class="ttc" id="fonction_8c_html_acc438fce8178d1d5aac4595f19529275"><div class="ttname"><a href="fonction_8c.html#acc438fce8178d1d5aac4595f19529275">affichage_config</a></div><div class="ttdeci">void affichage_config(IplImage *frame, IplImage *HSV, IplImage *Binaire)</div><div class="ttdoc">Fonction d'affichage du flux vidéo, du flux en HSV et de sa binarisation. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00151">fonction.c:151</a></div></div>
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<div class="ttc" id="fonction_8c_html"><div class="ttname"><a href="fonction_8c.html">fonction.c</a></div><div class="ttdoc">Fonctions utilisés dans les programmes. </div></div>
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<div class="ttc" id="_kirby_track_8c_html_a0ddf1224851353fc92bfbff6f499fa97"><div class="ttname"><a href="_kirby_track_8c.html#a0ddf1224851353fc92bfbff6f499fa97">main</a></div><div class="ttdeci">int main(int argc, char *argv[])</div><div class="ttdoc">Entrée du programme. </div><div class="ttdef"><b>Definition:</b> <a href="_kirby_track_8c_source.html#l00023">KirbyTrack.c:23</a></div></div>
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<div class="ttc" id="fonction_8c_html_ad3f512a54511a63b30a8967077736766"><div class="ttname"><a href="fonction_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a></div><div class="ttdeci">void controle_moteur(double *angle)</div><div class="ttdoc">Fonction d'envoie des angles aux moteurs. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00054">fonction.c:54</a></div></div>
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<div class="ttc" id="fonction_8c_html_a91b1b1daf28d90b5299a9a0486f5bdf1"><div class="ttname"><a href="fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">Affichage_Tracking</a></div><div class="ttdeci">void Affichage_Tracking(IplImage *frame, int posX, int posY, int width, int height)</div><div class="ttdoc">Fonction d'affichage des informations de suivi. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00163">fonction.c:163</a></div></div>
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