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<div class="title">fonction.c</div> </div>
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<a href="fonction_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="l00009"></a><span class="lineno"> 9</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="l00010"></a><span class="lineno"> 10</span> </div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> </div>
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<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="fonction_8h.html#a93cca84f54fe35dc9ad87eac3583889b"> 12</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#a93cca84f54fe35dc9ad87eac3583889b">maj_angle</a>(<span class="keywordtype">int</span> vecX, <span class="keywordtype">int</span> vecY, <span class="keywordtype">int</span> rayon, <span class="keywordtype">double</span>* angle){</div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="comment">//On ajustera coeff fonction du rayon. Si la cible est à une distance 5*r, il sera 5x plus rapide que s'il était à 1*r</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keywordtype">double</span> coeffx, coeffy;</div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordtype">int</span> l0, l1;</div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="comment">//printf("-MAJ_ANGLE...Valeur maj_angle arguments : %d %d %d\n\tAnciens angles : %d %d\n\t",vecX,vecY,rayon,(int)angle[0],(int)angle[1]);</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> </div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="comment">//Ajout d'un angle moteur pondéré par la distance</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  coeffx = -0.2*vecX/rayon;</div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  coeffy = 0.2*vecY/rayon;</div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  angle[0] += coeffx;</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  angle[1] += coeffy;</div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="comment">//Majoration - minoration des angles moteurs</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  l0 = <a class="code" href="fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a>(angle[0]);</div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  l1 = <a class="code" href="fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a>(angle[1]);</div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordflow">if</span> (l0 != 0) angle[0] = l0;</div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keywordflow">if</span> (l1 != 0) angle[1] = l1;</div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> </div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="comment">//printf("Nouveaux angles : %lf %lf %d %d\n",angle[0],angle[1],(int)angle[0],(int)angle[0]);</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> </div>
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<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="fonction_8h.html#ae89e5fc7460ea890fa61d54fd209c1ae"> 36</a></span> <span class="keywordtype">int</span> <a class="code" href="fonction_8c.html#ae89e5fc7460ea890fa61d54fd209c1ae">ajust_pos</a>(<span class="keywordtype">int</span> pos, <span class="keywordtype">int</span> ref){</div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordflow">if</span> (pos > ref) <span class="keywordflow">return</span> 0;</div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">else</span> <span class="keywordflow">return</span> pos;</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> }</div>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div>
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<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="fonction_8h.html#a9397b95e9279b0b9cd371c9a2b4514a2"> 41</a></span> <span class="keywordtype">int</span> <a class="code" href="fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a>(<span class="keywordtype">int</span> val_pwm){</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordtype">int</span> MAX_PWM = 130, MIN_PWM = 30;</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordflow">if</span> (val_pwm > MAX_PWM){ </div>
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<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">return</span> MAX_PWM;</div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  }</div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (val_pwm < MIN_PWM){</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">return</span> MIN_PWM;</div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  }</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordflow">else</span>{</div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordflow">return</span> 0;</div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  }</div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> }</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"><a class="line" href="fonction_8h.html#ad3f512a54511a63b30a8967077736766"> 54</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#ad3f512a54511a63b30a8967077736766">controle_moteur</a>(<span class="keywordtype">double</span>* angle){</div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="comment">//Ouverture port serie</span></div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  FILE* fichier = NULL;</div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  fichier = fopen(<span class="stringliteral">"/dev/ttyACM0"</span>,<span class="stringliteral">"w"</span>);</div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">if</span>(fichier==NULL){</div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  printf(<span class="stringliteral">"Erreur ouverture fichier\n"</span>);</div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  perror(<span class="stringliteral">"fopen failed for /dev/ttyACM0"</span> );</div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  exit( EXIT_FAILURE );</div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  }</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">//Ecriture angles</span></div>
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<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  fprintf(fichier,<span class="stringliteral">"%d\n"</span>,(<span class="keywordtype">int</span>)angle[0]);</div>
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  fprintf(fichier,<span class="stringliteral">"%d\n"</span>,(<span class="keywordtype">int</span>)angle[1]);</div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="comment">//Fermeture</span></div>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  fclose(fichier);</div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">return</span>;</div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> }</div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div>
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<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="fonction_8h.html#ad2cc53a42ff2450413bbb199bb4c1072"> 74</a></span> <span class="keywordtype">int</span> <a class="code" href="fonction_8c.html#ad2cc53a42ff2450413bbb199bb4c1072">image_CV2SFML</a>(IplImage* imcv, sf::Image imFlux){</div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordtype">int</span> R, G, B;</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordtype">int</span> w = imcv->widthStep;</div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordtype">char</span>* ptr = imcv->imageData;</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>  imFlux.create(imcv->width,imcv->height, NULL); <span class="comment">//Initialise une image vide</span></div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> </div>
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<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">for</span>( <span class="keywordtype">int</span> y=0; y<imcv->height; y++ ) { </div>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="comment">//uchar* ptr = (uchar*) ( imcv->imageData + y * imcv->widthStep );</span></div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">for</span>( <span class="keywordtype">int</span> x=0; x<imcv->width; x++ ) { </div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="comment">//Recupération du pixel</span></div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  B = ptr[y*w + 3*x];</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  G = ptr[y*w + 3*x + 1]; </div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  R = ptr[y*w + 3*x + 2];</div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="comment">//Ecriture du pixel associé</span></div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  imFlux.setPixel(x,y,sf::Color(R,G,B,1)); <span class="comment">//Alpha channel = 1</span></div>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  }</div>
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<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  }</div>
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<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div>
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<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keywordflow">return</span> 0;</div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> }</div>
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<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> </div>
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<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div>
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<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="fonction_8h.html#a96b1dd5c66492425a00921b6eaaacc89"> 99</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#a96b1dd5c66492425a00921b6eaaacc89">traitement</a>(IplImage* frame, IplImage* HSV, IplImage* Binaire, <span class="keywordtype">int</span> LowH, <span class="keywordtype">int</span> HighH, <span class="keywordtype">int</span> LowS, <span class="keywordtype">int</span> HighS, <span class="keywordtype">int</span> LowV, <span class="keywordtype">int</span> HighV){ <span class="comment">//Effectue une binarisation de frame en fonction des bornes HSV</span></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>  <span class="comment">// Covert color space to HSV as it is much easier to filter colors in the HSV color-space.</span></div>
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<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  cvCvtColor(frame, HSV, CV_BGR2HSV);</div>
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<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
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<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="comment">//Blur</span></div>
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<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  cvSmooth( HSV, HSV, CV_GAUSSIAN, 15, 0,0,0); <span class="comment">//suppression des parasites par flou gaussien</span></div>
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<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> </div>
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<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="comment">//Binarisation</span></div>
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<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div>
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<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  CvScalar valinf={(double)LowH,(<span class="keywordtype">double</span>)LowS,(double)LowV};</div>
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<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  CvScalar valsup={(double)HighH,(<span class="keywordtype">double</span>)HighS,(double)HighV};</div>
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<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div>
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<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  cvInRangeS(HSV, valinf,valsup, Binaire);</div>
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<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
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<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="comment">//En cas d'erreur sur les trois ligne précédentes</span></div>
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<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="comment">//cvInRangeS(HSV, CvScalar(LowH,LowS,LowV),CvScalar(HighH,HighS,HighV), Binaire);</span></div>
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<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div>
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<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="comment">//cvSmooth( Binaire, Binaire, CV_GAUSSIAN, 9, 9 ); //Legère suppression des parasites</span></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> </div>
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<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="fonction_8h.html#ac3e9405c4ebaa936308670c050285ae1"> 120</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#ac3e9405c4ebaa936308670c050285ae1">Position_moy</a>(IplImage* Binaire, <span class="keywordtype">int</span>* posX, <span class="keywordtype">int</span> * posY){ <span class="comment">//Effectue le baricentre des pixels d'une image binaire pour obtenir la postion de l'objet</span></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>  CvMoments *moments = (CvMoments*)malloc(<span class="keyword">sizeof</span>(CvMoments)); </div>
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<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> </div>
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<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  cvMoments(Binaire, moments, 1); </div>
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<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="comment">// The actual moment values </span></div>
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<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordtype">double</span> moment10 = cvGetSpatialMoment(moments, 1, 0); </div>
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<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordtype">double</span> moment01 = cvGetSpatialMoment(moments, 0, 1); </div>
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<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordtype">double</span> area = cvGetCentralMoment(moments, 0, 0);</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>  *posX = moment10/area;</div>
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<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  *posY = moment01/area;</div>
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<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> </div>
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<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  free(moments);</div>
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<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> }</div>
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<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> </div>
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<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="fonction_8h.html#adcdd0544c8eb462cd2835ec99fa0f181"> 136</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#adcdd0544c8eb462cd2835ec99fa0f181">config</a>(<span class="keywordtype">int</span>* LowH, <span class="keywordtype">int</span>* HighH, <span class="keywordtype">int</span>* LowS, <span class="keywordtype">int</span>* HighS, <span class="keywordtype">int</span>* LowV, <span class="keywordtype">int</span>* HighV){ <span class="comment">//Affiche le panneau de configuration de tracking avec les arguments comme valeur de base</span></div>
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<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> </div>
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<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  cvNamedWindow(<span class="stringliteral">"Control"</span>, CV_WINDOW_AUTOSIZE); <span class="comment">//create a window called "Control"</span></div>
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<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> </div>
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<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="comment">//Create trackbars in "Control" window</span></div>
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<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  cvCreateTrackbar(<span class="stringliteral">"LowH"</span>, <span class="stringliteral">"Control"</span>, LowH, 179,NULL); <span class="comment">//Hue (0 - 179)</span></div>
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<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  cvCreateTrackbar(<span class="stringliteral">"HighH"</span>, <span class="stringliteral">"Control"</span>, HighH, 179,NULL);</div>
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<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> </div>
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<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  cvCreateTrackbar(<span class="stringliteral">"LowS"</span>, <span class="stringliteral">"Control"</span>, LowS, 255,NULL); <span class="comment">//Saturation (0 - 255)</span></div>
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<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  cvCreateTrackbar(<span class="stringliteral">"HighS"</span>, <span class="stringliteral">"Control"</span>, HighS, 255,NULL);</div>
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<div class="line"><a name="l00146"></a><span class="lineno"> 146</span> </div>
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<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  cvCreateTrackbar(<span class="stringliteral">"LowV"</span>, <span class="stringliteral">"Control"</span>, LowV, 255,NULL); <span class="comment">//Value (0 - 255)</span></div>
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<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  cvCreateTrackbar(<span class="stringliteral">"HighV"</span>, <span class="stringliteral">"Control"</span>, HighV, 255,NULL);</div>
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<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> }</div>
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<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> </div>
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<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="fonction_8h.html#acc438fce8178d1d5aac4595f19529275"> 151</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#acc438fce8178d1d5aac4595f19529275">affichage_config</a>(IplImage* frame, IplImage* HSV, IplImage* Binaire){ <span class="comment">//Affiche le flux vidéos et ses différent traitements</span></div>
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<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
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<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="comment">// Create a window in which the captured images will be presented</span></div>
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<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  cvNamedWindow( <span class="stringliteral">"HSV"</span>, CV_WINDOW_AUTOSIZE );</div>
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<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  cvNamedWindow( <span class="stringliteral">"Binaire"</span>, CV_WINDOW_AUTOSIZE );</div>
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<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  cvNamedWindow( <span class="stringliteral">"Camera"</span>, CV_WINDOW_AUTOSIZE );</div>
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<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> </div>
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<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  cvShowImage( <span class="stringliteral">"HSV"</span>, HSV); <span class="comment">// Original stream in the HSV color space</span></div>
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<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  cvShowImage( <span class="stringliteral">"Binaire"</span>, Binaire); <span class="comment">// The stream after color filtering</span></div>
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<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  cvShowImage( <span class="stringliteral">"Camera"</span>, frame ); <span class="comment">// Flux caméra avec tracking objet</span></div>
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<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> }</div>
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<div class="line"><a name="l00162"></a><span class="lineno"> 162</span> </div>
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<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="fonction_8h.html#a91b1b1daf28d90b5299a9a0486f5bdf1"> 163</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#a91b1b1daf28d90b5299a9a0486f5bdf1">Affichage_Tracking</a>(IplImage* frame, <span class="keywordtype">int</span> posX, <span class="keywordtype">int</span> posY, <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height){ <span class="comment">//Dessine les informations de tracking sur frame</span></div>
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<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div>
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<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="comment">//Affichage zone suivie objet</span></div>
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<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  cvCircle(frame, cvPoint(width/2,height/2), height*<a class="code" href="fonction_8h.html#afb63dbc6e533233f41d03e8b8a3bc570">JEU</a>, CV_RGB(0, 255, 0), 4, 8, 0 );</div>
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<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div>
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<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">if</span>(posX<5&&posY<5){ <span class="comment">//Si aucun objet spotted, pointeur rouge au centre</span></div>
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<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  posX=width/2;</div>
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<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  posY=height/2;</div>
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<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(255, 0, 0), 4, 8, 0 );</div>
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<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(255, 0, 0), 4, 8, 0 );</div>
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<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  }</div>
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<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">else</span>{ <span class="comment">//Objet spotted</span></div>
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<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="comment">//Affichage position de l'objet</span></div>
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<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  cvLine(frame, cvPoint(posX-20,posY), cvPoint(posX+20,posY), CV_RGB(0, 0, 255), 4, 8, 0 );</div>
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<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  cvLine(frame, cvPoint(posX,posY-20), cvPoint(posX,posY+20), CV_RGB(0, 0, 255), 4, 8, 0 );</div>
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<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div>
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<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> }</div>
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<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> </div>
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<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div>
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<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="fonction_8h.html#a942c8619bb73ca7c3bb7e6fcf1875294"> 182</a></span> CvHaarClassifierCascade* <a class="code" href="fonction_8c.html#a5e1058b3e8eb605a74ffdd7a26637b1e">init_cascade</a>(){</div>
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<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="comment">// Create a new Haar classifier</span></div>
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<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  CvHaarClassifierCascade* cascade = 0;</div>
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<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keyword">const</span> <span class="keywordtype">char</span>* cascade_name = <span class="stringliteral">"haarcascade_frontalface_alt.xml"</span>;</div>
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<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> </div>
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<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div>
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<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  cascade = (CvHaarClassifierCascade*)cvLoad( cascade_name, 0, 0, 0 );</div>
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<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> </div>
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<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="comment">// Check whether the cascade has loaded successfully. Else report and error and quit</span></div>
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<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">if</span>( !cascade ){</div>
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<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  fprintf( stderr, <span class="stringliteral">"ERROR: Could not load classifier cascade\n"</span> );</div>
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<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  perror(<span class="stringliteral">" "</span>);</div>
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<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keywordflow">return</span> NULL;</div>
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<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  }</div>
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<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordflow">return</span> cascade;</div>
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<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> }</div>
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<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> </div>
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<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="comment">// Function to detect and draw any faces that is present in an image</span></div>
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<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="fonction_8h.html#ab9c63795209f514f5d3554bc9450b8de"> 200</a></span> <span class="keywordtype">void</span> <a class="code" href="fonction_8c.html#ab9c63795209f514f5d3554bc9450b8de">detect_and_draw</a>( IplImage* img, CvHaarClassifierCascade* cascade, <a class="code" href="structface.html">face</a>** tab_face)</div>
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<div class="line"><a name="l00201"></a><span class="lineno"> 201</span> {</div>
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<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> </div>
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<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="comment">// Create memory for calculations</span></div>
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<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keyword">static</span> CvMemStorage* storage = 0;</div>
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<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordtype">int</span> scale = 1;</div>
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<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> </div>
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<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="comment">// Create a new image based on the input image</span></div>
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<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  IplImage* temp = cvCreateImage( cvSize(img->width/scale,img->height/scale), 8, 3 );</div>
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<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> </div>
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<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  <span class="comment">// Create two points to represent the face locations</span></div>
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<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  CvPoint pt1, pt2;</div>
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<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keywordtype">int</span> i;</div>
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<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div>
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<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="comment">// Allocate the memory storage</span></div>
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<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  storage = cvCreateMemStorage(0);</div>
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<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div>
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<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="comment">// Create a new named window with title: result</span></div>
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<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  cvNamedWindow( <span class="stringliteral">"result"</span>, 1 );</div>
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<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> </div>
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<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="comment">// Clear the memory storage which was used before</span></div>
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<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  cvClearMemStorage( storage );</div>
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<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> </div>
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<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="comment">// Find whether the cascade is loaded, to find the faces. If yes, then:</span></div>
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<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keywordflow">if</span>( cascade ){</div>
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<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div>
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<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="comment">// There can be more than one face in an image. So create a growable sequence of faces.</span></div>
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<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="comment">// Detect the objects and store them in the sequence</span></div>
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<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  CvSeq* faces = cvHaarDetectObjects( img, cascade, storage,1.1, 2, 0, cvSize(60, 60),cvSize(500, 500));</div>
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<div class="line"><a name="l00229"></a><span class="lineno"> 229</span> </div>
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<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="comment">//Reset faces</span></div>
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<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  tab_face[0]->largeur = 0;</div>
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<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  tab_face[1]->largeur = 0;</div>
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<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> </div>
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<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <span class="comment">// Loop the number of faces found.</span></div>
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<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordflow">for</span>( i = 0; i < (faces ? faces->total : 0); i++ ){</div>
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<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="comment">// Create a new rectangle for drawing the face</span></div>
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<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  CvRect* r = (CvRect*)cvGetSeqElem( faces, i );</div>
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<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> </div>
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<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="comment">// Find the dimensions of the face,and scale it if necessary</span></div>
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<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  pt1.x = r->x*scale;</div>
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<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  pt2.x = (r->x+r->width)*scale;</div>
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<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  pt1.y = r->y*scale;</div>
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<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  pt2.y = (r->y+r->height)*scale;</div>
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<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> </div>
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<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="comment">// Draw the rectangle in the input image</span></div>
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<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  cvRectangle( img, pt1, pt2, CV_RGB(255,0,0), 3, 8, 0 );</div>
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<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> </div>
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<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordflow">if</span>(i < <a class="code" href="fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb">MAX_FACE</a>){</div>
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<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  tab_face[i]->point.x = (pt1.x + pt2.x)/2;</div>
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<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  tab_face[i]->point.y = (pt1.y + pt2.y)/2;</div>
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<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  tab_face[i]->largeur = r->width;</div>
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<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> </div>
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<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="comment">//printf("VALEURS FACES n°%d : %d %d %d\n",i, tab_face[i]->point.x,tab_face[i]->point.y,tab_face[i]->largeur);</span></div>
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<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  }</div>
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<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  }</div>
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<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  }</div>
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<div class="line"><a name="l00257"></a><span class="lineno"> 257</span> </div>
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<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="comment">// Show the image in the window named "result"</span></div>
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<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  cvShowImage( <span class="stringliteral">"result"</span>, img );</div>
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<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> </div>
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<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="comment">//free</span></div>
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<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  cvReleaseImage( &temp );</div>
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<div class="line"><a name="l00263"></a><span class="lineno"> 263</span> }</div>
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<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> </div>
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<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="comment">//Renvoie la couleur moyenne de rec_face</span></div>
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<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="keywordtype">void</span> get_color(IplImage* image, <a class="code" href="structface.html">face</a>* rec_face, <span class="keywordtype">int</span>* BGR){</div>
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<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  </div>
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<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  CvScalar colors;</div>
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<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordtype">int</span> largeur = rec_face->largeur;</div>
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<div class="line"><a name="l00270"></a><span class="lineno"> 270</span> </div>
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<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  cvSetImageROI(image,cvRect(rec_face->point.x -largeur/2, rec_face->point.y -largeur/2, largeur,largeur));</div>
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<div class="line"><a name="l00272"></a><span class="lineno"> 272</span> </div>
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<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  colors = cvAvg(image);</div>
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<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> </div>
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<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  cvResetImageROI(image);</div>
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<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> </div>
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<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  BGR[0] = colors.val[0];</div>
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<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  BGR[1] = colors.val[1];</div>
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<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  BGR[2] = colors.val[2];</div>
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<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> }</div>
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<div class="line"><a name="l00281"></a><span class="lineno"> 281</span> </div>
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<div class="line"><a name="l00282"></a><span class="lineno"> 282</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_ab9c63795209f514f5d3554bc9450b8de"><div class="ttname"><a href="fonction_8c.html#ab9c63795209f514f5d3554bc9450b8de">detect_and_draw</a></div><div class="ttdeci">void detect_and_draw(IplImage *img, CvHaarClassifierCascade *cascade, face **tab_face)</div><div class="ttdoc">Détecte et renvoie un rectangle pour chaque visage sur l'image. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00200">fonction.c:200</a></div></div>
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<div class="ttc" id="fonction_8c_html_a5e1058b3e8eb605a74ffdd7a26637b1e"><div class="ttname"><a href="fonction_8c.html#a5e1058b3e8eb605a74ffdd7a26637b1e">init_cascade</a></div><div class="ttdeci">CvHaarClassifierCascade * init_cascade()</div><div class="ttdoc">Charge les fichiers cascades pour la reconnaissance faciale. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00182">fonction.c:182</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_8h_html_a12190c71ff3acb9694bb2f782a1dfcdb"><div class="ttname"><a href="fonction_8h.html#a12190c71ff3acb9694bb2f782a1dfcdb">MAX_FACE</a></div><div class="ttdeci">#define MAX_FACE</div><div class="ttdoc">Nombre maximum de faces traitées. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8h_source.html#l00055">fonction.h:55</a></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_a9397b95e9279b0b9cd371c9a2b4514a2"><div class="ttname"><a href="fonction_8c.html#a9397b95e9279b0b9cd371c9a2b4514a2">limite_moteur</a></div><div class="ttdeci">int limite_moteur(int val_pwm)</div><div class="ttdoc">Fonction qui vérifie que les valeurs envoyees aux moteurs sont correctes. </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00041">fonction.c:41</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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<div class="ttc" id="fonction_8c_html_ad2cc53a42ff2450413bbb199bb4c1072"><div class="ttname"><a href="fonction_8c.html#ad2cc53a42ff2450413bbb199bb4c1072">image_CV2SFML</a></div><div class="ttdeci">int image_CV2SFML(IplImage *imcv, sf::Image imFlux)</div><div class="ttdoc">Convertit une image opencv (IplImage) en une image SFML (sf::Image) </div><div class="ttdef"><b>Definition:</b> <a href="fonction_8c_source.html#l00074">fonction.c:74</a></div></div>
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<div class="ttc" id="structface_html"><div class="ttname"><a href="structface.html">face</a></div><div class="ttdoc">Contient les informations sur chaque face détectée : positions, largeur. </div></div>
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