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 <span id="projectnumber">1.0</span>
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<div id="projectbrief">Bibliotheque de support pour TP/RT</div>
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<p>Fonctions de traitement d'image utilisable pour la détection du robot.
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<a href="#details">More...</a></p>
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<div class="textblock"><code>#include "<a class="el" href="image_8h_source.html">image.h</a>"</code><br />
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<code>#include <iostream></code><br />
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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Functions</h2></td></tr>
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<tr class="memitem:afe015c86402c7d09d9d7b28587c7fd1b"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#afe015c86402c7d09d9d7b28587c7fd1b">calculAngle</a> (<a class="el" href="struct_position.html">Position</a> *positionRobot)</td></tr>
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<tr class="separator:afe015c86402c7d09d9d7b28587c7fd1b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a41fa265b5f57fcd2a13e726880297d12"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#a41fa265b5f57fcd2a13e726880297d12">cropArena</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgOutput, <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *AreneInput)</td></tr>
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<tr class="separator:a41fa265b5f57fcd2a13e726880297d12"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a73f53d1da08f1f8123da89585d16c7ef"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#a73f53d1da08f1f8123da89585d16c7ef">euclideanDist</a> (Point &p, Point &q)</td></tr>
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<tr class="separator:a73f53d1da08f1f8123da89585d16c7ef"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5ffd032a466af45a505fb46252194bbf"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#a5ffd032a466af45a505fb46252194bbf">draw_arena</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgOutput, <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *monArene)</td></tr>
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<tr class="memdesc:a5ffd032a466af45a505fb46252194bbf"><td class="mdescLeft"> </td><td class="mdescRight">Dessine le plus petit rectangle contenant l'arène. <a href="#a5ffd032a466af45a505fb46252194bbf">More...</a><br /></td></tr>
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<tr class="separator:a5ffd032a466af45a505fb46252194bbf"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aca0662ab31eac7fdb2d64fecc52ff1da"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#aca0662ab31eac7fdb2d64fecc52ff1da">open_camera</a> (<a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *camera)</td></tr>
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<tr class="memdesc:aca0662ab31eac7fdb2d64fecc52ff1da"><td class="mdescLeft"> </td><td class="mdescRight">Ouvre une camera. <a href="#aca0662ab31eac7fdb2d64fecc52ff1da">More...</a><br /></td></tr>
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<tr class="separator:aca0662ab31eac7fdb2d64fecc52ff1da"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a864afddf57678b37b99d9eca70405d63"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#a864afddf57678b37b99d9eca70405d63">get_image</a> (<a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *camera, <a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *monImage, const char *fichier)</td></tr>
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<tr class="memdesc:a864afddf57678b37b99d9eca70405d63"><td class="mdescLeft"> </td><td class="mdescRight">Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image. <a href="#a864afddf57678b37b99d9eca70405d63">More...</a><br /></td></tr>
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<tr class="separator:a864afddf57678b37b99d9eca70405d63"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a19eac11a04cb4b86fd32e6a36445ad5d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#a19eac11a04cb4b86fd32e6a36445ad5d">close_camera</a> (<a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *camera)</td></tr>
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<tr class="memdesc:a19eac11a04cb4b86fd32e6a36445ad5d"><td class="mdescLeft"> </td><td class="mdescRight">Ferme la camera passé en paramètre. <a href="#a19eac11a04cb4b86fd32e6a36445ad5d">More...</a><br /></td></tr>
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<tr class="separator:a19eac11a04cb4b86fd32e6a36445ad5d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acad45df4061a55f17be0db97c1406249"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#acad45df4061a55f17be0db97c1406249">detect_arena</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *monImage, <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *rectangle)</td></tr>
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<tr class="memdesc:acad45df4061a55f17be0db97c1406249"><td class="mdescLeft"> </td><td class="mdescRight">Détecte une arène dans une image fournis en paramètre. <a href="#acad45df4061a55f17be0db97c1406249">More...</a><br /></td></tr>
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<tr class="separator:acad45df4061a55f17be0db97c1406249"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a909ca7577f0ac2e4bd0ea21291690dce"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#a909ca7577f0ac2e4bd0ea21291690dce">compress_image</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="el" href="image_8h.html#a9ac2855e21920c676a108df386ff9415">Jpg</a> *imageCompress)</td></tr>
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<tr class="memdesc:a909ca7577f0ac2e4bd0ea21291690dce"><td class="mdescLeft"> </td><td class="mdescRight">Détecte la position d'un robot. <a href="#a909ca7577f0ac2e4bd0ea21291690dce">More...</a><br /></td></tr>
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<tr class="separator:a909ca7577f0ac2e4bd0ea21291690dce"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac813f76084a0d9d252fb5c01830ab7df"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#ac813f76084a0d9d252fb5c01830ab7df">detect_position</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="el" href="struct_position.html">Position</a> *posTriangle, <a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *monArene)</td></tr>
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<tr class="memdesc:ac813f76084a0d9d252fb5c01830ab7df"><td class="mdescLeft"> </td><td class="mdescRight">Détecte la position d'un robot. <a href="#ac813f76084a0d9d252fb5c01830ab7df">More...</a><br /></td></tr>
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<tr class="separator:ac813f76084a0d9d252fb5c01830ab7df"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a869c3946d4a414b8730ca4f91fbd9556"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="image_8cpp.html#a869c3946d4a414b8730ca4f91fbd9556">draw_position</a> (<a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgOutput, <a class="el" href="struct_position.html">Position</a> *positionRobot)</td></tr>
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<tr class="memdesc:a869c3946d4a414b8730ca4f91fbd9556"><td class="mdescLeft"> </td><td class="mdescRight">Dessine sur une image en entrée la position d'un robot et sa direction. <a href="#a869c3946d4a414b8730ca4f91fbd9556">More...</a><br /></td></tr>
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<tr class="separator:a869c3946d4a414b8730ca4f91fbd9556"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>Fonctions de traitement d'image utilisable pour la détection du robot. </p>
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<dl class="section author"><dt>Author</dt><dd>L.Senaneuch </dd></dl>
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<dl class="section version"><dt>Version</dt><dd>1.0 </dd></dl>
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<dl class="section date"><dt>Date</dt><dd>06/06/2017</dd></dl>
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<p>Ce fichier utilise la libraire openCV2 pour faciliter le traitement d'image dans le projet Destijl. Il permet de faciliter la détection de l'arène et la détection du robot. /!\ Attention Bien que celui-ci soit un .cpp la structure du code n'est pas sous forme d'objet. </p>
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<p class="definition">Definition in file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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</div><h2 class="groupheader">Function Documentation</h2>
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<a id="afe015c86402c7d09d9d7b28587c7fd1b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#afe015c86402c7d09d9d7b28587c7fd1b">◆ </a></span>calculAngle()</h2>
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<td class="memname">float calculAngle </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="struct_position.html">Position</a> * </td>
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<td class="paramname"><em>positionRobot</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00253">253</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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<a id="a19eac11a04cb4b86fd32e6a36445ad5d"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a19eac11a04cb4b86fd32e6a36445ad5d">◆ </a></span>close_camera()</h2>
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<td class="memname">void close_camera </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> * </td>
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<td class="paramname"><em>camera</em></td><td>)</td>
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<p>Ferme la camera passé en paramètre. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">*Camera</td><td>Pointeur sur la camera à fermer </td></tr>
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<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00112">112</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a909ca7577f0ac2e4bd0ea21291690dce">◆ </a></span>compress_image()</h2>
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<td class="memname">void compress_image </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> * </td>
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<td class="paramname"><em>imgInput</em>, </td>
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<td class="paramtype"><a class="el" href="image_8h.html#a9ac2855e21920c676a108df386ff9415">Jpg</a> * </td>
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<td class="paramname"><em>imageCompress</em> </td>
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<p>Détecte la position d'un robot. </p>
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<p>Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">*imgInput</td><td>Pointeur sur l'image à sauvegarder en mémoire sous format jpg. </td></tr>
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<tr><td class="paramname">*imageCompress</td><td>Pointeur sur une image .jpg. </td></tr>
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<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00164">164</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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<td class="paramname"><em>imgInput</em>, </td>
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<td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> * </td>
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<td class="paramname"><em>imgOutput</em>, </td>
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<td class="paramtype"><a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> * </td>
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<td class="paramname"><em>AreneInput</em> </td>
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<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00150">150</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#acad45df4061a55f17be0db97c1406249">◆ </a></span>detect_arena()</h2>
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<td class="memname">int detect_arena </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> * </td>
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<td class="paramname"><em>monImage</em>, </td>
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<td class="paramtype"><a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> * </td>
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<td class="paramname"><em>rectangle</em> </td>
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<p>Détecte une arène dans une image fournis en paramètre. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">*monImage</td><td>Pointeur sur l'image d'entrée </td></tr>
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<tr><td class="paramname">*rectangle</td><td>Pointeur sur les coordonnées du rectangles trouvé. </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>Retourne -1 si aucune arène n'est détectée. Sinon retourne 0 </dd></dl>
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<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00126">126</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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<a id="ac813f76084a0d9d252fb5c01830ab7df"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ac813f76084a0d9d252fb5c01830ab7df">◆ </a></span>detect_position()</h2>
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<td class="memname">int detect_position </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> * </td>
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<td class="paramname"><em>imgInput</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="struct_position.html">Position</a> * </td>
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<td class="paramname"><em>posTriangle</em>, </td>
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<td class="paramtype"><a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> * </td>
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<td class="paramname"><em>monArene</em> = <code>NULL</code> </td>
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<td>)</td>
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<p>Détecte la position d'un robot. </p>
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<p>Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">*imgInput</td><td>Pointeur sur l'image sur laquelle chercher la position du des robots. </td></tr>
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<tr><td class="paramname">*posTriangle</td><td>Pointeur sur un tableau de position ou seront stocké les positions des triangles détectés. </td></tr>
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<tr><td class="paramname">*monArene</td><td>Pointeur de type Arène si nécessaire d'affiner la recherche (optionnel) </td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd>Le nombre de triangles détectés. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00170">170</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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<a id="a5ffd032a466af45a505fb46252194bbf"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a5ffd032a466af45a505fb46252194bbf">◆ </a></span>draw_arena()</h2>
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<td class="memname">void draw_arena </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> * </td>
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<td class="paramname"><em>imgInput</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> * </td>
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<td class="paramname"><em>imgOutput</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> * </td>
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<td class="paramname"><em>monArene</em> </td>
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<td></td>
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<td>)</td>
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<p>Dessine le plus petit rectangle contenant l'arène. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">*imgInput</td><td>Pointeur sur l'image d'entrée. </td></tr>
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<tr><td class="paramname">*imgOutput</td><td>Pointeur sur l'image de sortie (image d'entrée + arène marquée) </td></tr>
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<tr><td class="paramname">*monArene</td><td>Pointeur de type Arène contenant les information à dessiner </td></tr>
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</dd>
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<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00051">51</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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<a id="a869c3946d4a414b8730ca4f91fbd9556"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a869c3946d4a414b8730ca4f91fbd9556">◆ </a></span>draw_position()</h2>
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<td class="memname">void draw_position </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> * </td>
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<td class="paramname"><em>imgInput</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> * </td>
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<td class="paramname"><em>imgOutput</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype"><a class="el" href="struct_position.html">Position</a> * </td>
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<td class="paramname"><em>positionRobot</em> </td>
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<td>)</td>
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<p>Dessine sur une image en entrée la position d'un robot et sa direction. </p>
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<p>Sauvegarde l'image des coordonnées passées par positionRobot superposée à l'image d'entrée sur imgOutput.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">*imgInput</td><td>Pointeur sur l'image d'entrée </td></tr>
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<tr><td class="paramname">*imgOutput</td><td>Pointeur sur l'image de sortie ( image d'entrée + dessin de la position) </td></tr>
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<tr><td class="paramname">*positionRobot</td><td>Pointeur sur la structure position d'un robot. </td></tr>
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<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00244">244</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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<a id="a73f53d1da08f1f8123da89585d16c7ef"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a73f53d1da08f1f8123da89585d16c7ef">◆ </a></span>euclideanDist()</h2>
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<td class="memname">float euclideanDist </td>
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<td>(</td>
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<td class="paramtype">Point & </td>
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<td class="paramname"><em>p</em>, </td>
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<td class="paramtype">Point & </td>
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<td class="paramname"><em>q</em> </td>
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<td>)</td>
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<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00159">159</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a864afddf57678b37b99d9eca70405d63">◆ </a></span>get_image()</h2>
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<td class="memname">void get_image </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> * </td>
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<td class="paramname"><em>camera</em>, </td>
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<td class="paramtype"><a class="el" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> * </td>
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<td class="paramname"><em>monImage</em>, </td>
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<td class="paramtype">const char * </td>
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<p>Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image. </p>
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<p>La camera doit préalablement être ouverte via <em>openCamera</em>(...)</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">*Camera</td><td>Pointeur sur la camera passée en entrée. </td></tr>
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<tr><td class="paramname">*monImage</td><td>Pointeur sur une image capturée. </td></tr>
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<tr><td class="paramname">*fichier</td><td>chemin du fichier d'image </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Retourne -1 si une erreur survient. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00093">93</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aca0662ab31eac7fdb2d64fecc52ff1da">◆ </a></span>open_camera()</h2>
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<td class="memname">int open_camera </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> * </td>
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<td class="paramname"><em>camera</em></td><td>)</td>
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<p>Ouvre une camera. </p>
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<p>Met à jour le descripteur de fichier passé en paramètre pour correspondre à la camera ouverte</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">*Camera</td><td>Pointeur d'un file descriptor d'une camera ouverte </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>retourne 0 si la camera a été ouverte correctement et -1 si une erreur survient. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="image_8cpp_source.html#l00058">58</a> of file <a class="el" href="image_8cpp_source.html">image.cpp</a>.</p>
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