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<div class="title">image.cpp</div> </div>
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<a href="image_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;</div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment"> * Copyright (C) 2018 dimercur</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"> * This program is free software: you can redistribute it and/or modify</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment"> * it under the terms of the GNU General Public License as published by</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment"> * the Free Software Foundation, either version 3 of the License, or</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment"> * (at your option) any later version.</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment"> * This program is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment"> * GNU General Public License for more details.</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="comment"> * You should have received a copy of the GNU General Public License</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="comment"> * along with this program. If not, see &lt;http://www.gnu.org/licenses/&gt;.</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="image_8h.html">image.h</a>&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespacecv.html">cv</a>;</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;<span class="preprocessor">#ifndef __STUB__</span></div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="preprocessor">#ifdef __FOR_PC__</span></div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;VideoCapture cap;</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespaceraspicam.html">raspicam</a>;</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* __FOR_PC__ */</span><span class="preprocessor"></span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;<a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> stubImg;</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespacestd.html">std</a>;</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160;<span class="keywordtype">float</span> <a class="code" href="image_8cpp.html#afe015c86402c7d09d9d7b28587c7fd1b">calculAngle</a>(<a class="code" href="struct_position.html">Position</a> * positionRobot);</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160;<span class="keywordtype">int</span> <a class="code" href="image_8cpp.html#a41fa265b5f57fcd2a13e726880297d12">cropArena</a>(<a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgOutput, <a class="code" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *AreneInput);</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160;<span class="keywordtype">float</span> <a class="code" href="image_8cpp.html#a73f53d1da08f1f8123da89585d16c7ef">euclideanDist</a>(Point&amp; p, Point&amp; q);</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="image_8cpp.html#a5ffd032a466af45a505fb46252194bbf"> 51</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="image_8cpp.html#a5ffd032a466af45a505fb46252194bbf">draw_arena</a>(<a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgOutput, <a class="code" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *monArene)</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160;{</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; <span class="keywordflow">if</span>(imgInput!=imgOutput)</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; *imgOutput=imgInput-&gt;clone();</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; rectangle(*imgOutput,monArene-&gt;tl(),monArene-&gt;br(),Scalar(0,0,125),2,8,0);</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160;}</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="image_8cpp.html#aca0662ab31eac7fdb2d64fecc52ff1da"> 58</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="image_8cpp.html#aca0662ab31eac7fdb2d64fecc52ff1da">open_camera</a>(<a class="code" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *camera)</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;{</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160;<span class="preprocessor">#ifndef __STUB__</span></div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160;<span class="preprocessor">#ifdef __FOR_PC__</span></div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; <span class="comment">// open the default camera, use something different from 0 otherwise;</span></div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; <span class="comment">// Check VideoCapture documentation.</span></div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; printf(<span class="stringliteral">&quot;Opening Camera...\n&quot;</span>);</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <span class="keywordflow">if</span>(!cap.open(0))</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160; </div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160;<span class="preprocessor">#else // for raspberry</span></div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; </div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160; camera-&gt;set(CV_CAP_PROP_FORMAT, CV_8UC3);</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; camera-&gt;set(CV_CAP_PROP_FRAME_WIDTH,<a class="code" href="image_8h.html#a241aeeb764887ae5e3de58b98f04b16d">WIDTH</a>);</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; camera-&gt;set(CV_CAP_PROP_FRAME_HEIGHT,<a class="code" href="image_8h.html#aed89bd71aee8be823e8a20ec4e093c1e">HEIGHT</a>);</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; printf(<span class="stringliteral">&quot;Opening Camera...\n&quot;</span>);</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; <span class="keywordflow">if</span> (!(camera-&gt;open())) {</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; perror(<span class="stringliteral">&quot;Can&#39;t open Camera\n&quot;</span>) ;</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; }</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160; <span class="keywordflow">else</span></div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160; {</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160; printf(<span class="stringliteral">&quot;Camera warmup 2sec\n&quot;</span>);</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160; sleep(2);</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160; printf(<span class="stringliteral">&quot;Start capture\n&quot;</span>);</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160; <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160; }</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* __FOR_PC__ */</span><span class="preprocessor"></span></div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160;<span class="preprocessor">#else </span></div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160; <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160;}</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="image_8cpp.html#a864afddf57678b37b99d9eca70405d63"> 93</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="image_8cpp.html#a864afddf57678b37b99d9eca70405d63">get_image</a>(<a class="code" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *camera, <a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> * monImage, <span class="keyword">const</span> <span class="keywordtype">char</span> * fichier) <span class="comment">// getImg(Camera, Image img);</span></div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160;{</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160;<span class="preprocessor">#ifndef __STUB__</span></div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160;<span class="preprocessor">#ifdef __FOR_PC__</span></div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160; <span class="keywordflow">if</span> (monImage != NULL)</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160; {</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160; cap&gt;&gt;*monImage;</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160; }</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160;<span class="preprocessor">#else // for raspberry</span></div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160; camera-&gt;grab();</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160; camera-&gt;retrieve(*monImage);</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160; cvtColor(*monImage,*monImage,CV_BGR2RGB);</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* __FOR_PC__ */</span><span class="preprocessor"></span></div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160; stubImg = imread(fichier, CV_LOAD_IMAGE_COLOR);</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160; stubImg.copyTo(*monImage);</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>&#160;}</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="image_8cpp.html#a19eac11a04cb4b86fd32e6a36445ad5d"> 112</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="image_8cpp.html#a19eac11a04cb4b86fd32e6a36445ad5d">close_camera</a>(<a class="code" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *camera) <span class="comment">// closeCam(Camera) : camera Entrer</span></div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160;{</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160;<span class="preprocessor">#ifndef __STUB__</span></div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>&#160;<span class="preprocessor">#ifdef __FOR_PC__</span></div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>&#160; cap.release();</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>&#160;<span class="preprocessor">#else // for raspberry</span></div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>&#160; camera-&gt;release();</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* __FOR_PC__ */</span><span class="preprocessor"></span></div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>&#160;}</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="image_8cpp.html#acad45df4061a55f17be0db97c1406249"> 126</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="image_8cpp.html#acad45df4061a55f17be0db97c1406249">detect_arena</a>(<a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *monImage, <a class="code" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *rectangle) <span class="comment">// Image en entrée // rectangle en sortie</span></div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>&#160;{</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>&#160; vector&lt;vector&lt;Point&gt; &gt; contours;</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>&#160; vector&lt;Point&gt; approx;</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>&#160; vector&lt;Vec4i&gt; hierarchy;</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>&#160; <a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> imageTrt;</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>&#160; cvtColor(*monImage,imageTrt,CV_RGB2GRAY); <span class="comment">// conversion en niveau de gris</span></div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>&#160; threshold(imageTrt,imageTrt,128,255,CV_THRESH_BINARY); <span class="comment">// Threshold les éléments les plus clair</span></div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>&#160; Canny(imageTrt, imageTrt, 100,200,3); <span class="comment">// detection d&#39;angle</span></div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>&#160;</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>&#160; findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160; <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; contours.size();i++)</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>&#160; {</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>&#160; approxPolyDP(<a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a>(contours[i]), approx, arcLength(<a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a>(contours[i]), <span class="keyword">true</span>)*0.1, <span class="keyword">true</span>);</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>&#160; <span class="keywordflow">if</span>(approx.size()==4 &amp;&amp; fabs(cv::contourArea(contours[i])) &gt; 100000)</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>&#160; {</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>&#160; *rectangle = boundingRect(<a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a>(contours[i]));</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>&#160; <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>&#160; }</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>&#160; }</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>&#160; <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>&#160;}</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="image_8cpp.html#a41fa265b5f57fcd2a13e726880297d12"> 150</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="image_8cpp.html#a41fa265b5f57fcd2a13e726880297d12">cropArena</a>(<a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgOutput, <a class="code" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> *areneInput) <span class="comment">// image // rectangle // image2</span></div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>&#160;{</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>&#160; <a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> img;</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>&#160; img=imgInput-&gt;clone();</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span>&#160; *imgOutput = img(*areneInput);</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>&#160; <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>&#160;}</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="image_8cpp.html#a73f53d1da08f1f8123da89585d16c7ef"> 159</a></span>&#160;<span class="keywordtype">float</span> <a class="code" href="image_8cpp.html#a73f53d1da08f1f8123da89585d16c7ef">euclideanDist</a>(Point&amp; p, Point&amp; q) {</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>&#160; Point diff = p - q;</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>&#160; <span class="keywordflow">return</span> cv::sqrt(diff.x*diff.x + diff.y*diff.y);</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160;}</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="image_8cpp.html#a909ca7577f0ac2e4bd0ea21291690dce"> 164</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="image_8cpp.html#a909ca7577f0ac2e4bd0ea21291690dce">compress_image</a>(<a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="code" href="image_8h.html#a9ac2855e21920c676a108df386ff9415">Jpg</a> *imageCompress) <span class="comment">// image entrée // imageEncodé en sortie</span></div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>&#160;{</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>&#160; imencode(<span class="stringliteral">&quot;.jpg&quot;</span>,*imgInput,*imageCompress);</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>&#160;}</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>&#160;</div><div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="image_8cpp.html#ac813f76084a0d9d252fb5c01830ab7df"> 170</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="image_8cpp.html#ac813f76084a0d9d252fb5c01830ab7df">detect_position</a>(<a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="code" href="struct_position.html">Position</a> *posTriangle, <a class="code" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a> * monArene) <span class="comment">// entree : image / sortie tab pos</span></div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>&#160;{</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>&#160; vector&lt;vector&lt;Point&gt; &gt; contours;</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>&#160; vector&lt;Point&gt; approx;</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>&#160; vector&lt;Vec4i&gt; hierarchy;</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span>&#160;</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>&#160; <a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> imgTraitment;</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>&#160; <span class="keywordflow">if</span>(monArene==NULL)</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>&#160; imgTraitment=imgInput-&gt;clone();</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>&#160; <span class="keywordflow">else</span></div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>&#160; <a class="code" href="image_8cpp.html#a41fa265b5f57fcd2a13e726880297d12">cropArena</a>(imgInput,&amp;imgTraitment, monArene);</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>&#160;</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>&#160; cvtColor(imgTraitment,imgTraitment,CV_RGB2GRAY);</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>&#160; threshold(imgTraitment,imgTraitment,128,255,CV_THRESH_BINARY);</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>&#160; findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>&#160;</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>&#160; <span class="keywordtype">int</span> nbrTriangle = 0;</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>&#160; <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0;i &lt; contours.size();i++)</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>&#160; {</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>&#160; approxPolyDP(Mat(contours[i]), approx, arcLength(Mat(contours[i]), <span class="keyword">true</span>)*0.17, <span class="keyword">true</span>);</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>&#160; <span class="keywordflow">if</span>(approx.size() == 3 &amp;&amp; fabs(contourArea(contours[i])) &gt; 200 &amp;&amp; fabs(contourArea(contours[i])) &lt; 700)</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>&#160; {</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>&#160;</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>&#160; Point a,b,c;</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>&#160; Point center;</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>&#160;</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>&#160; a = approx[0];</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>&#160; b = approx[1];</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>&#160; c = approx[2];</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>&#160;</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>&#160; <span class="keywordflow">if</span>(monArene !=NULL) <span class="comment">// ajout de l&#39;offset de l&#39;arène</span></div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>&#160; {</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>&#160; a.x += monArene-&gt;x;</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>&#160; a.y += monArene-&gt;y;</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>&#160; b.x += monArene-&gt;x;</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>&#160; b.y += monArene-&gt;y;</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>&#160; c.x += monArene-&gt;x;</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>&#160; c.y += monArene-&gt;y; </div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>&#160; }</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>&#160; </div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>&#160; center.x = (a.x + b.x + c.x)/3;</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>&#160; center.y = (a.y + b.y + c.y)/3;</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>&#160; posTriangle[nbrTriangle].<a class="code" href="struct_position.html#aa56444be37071311cfa11aae3e2c2f64">center</a>=center;</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>&#160;</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>&#160; <span class="keywordflow">if</span>(<a class="code" href="image_8cpp.html#a73f53d1da08f1f8123da89585d16c7ef">euclideanDist</a>(center,b) &gt; <a class="code" href="image_8cpp.html#a73f53d1da08f1f8123da89585d16c7ef">euclideanDist</a>(center,a) &amp;&amp; <a class="code" href="image_8cpp.html#a73f53d1da08f1f8123da89585d16c7ef">euclideanDist</a>(center,b) &gt; <a class="code" href="image_8cpp.html#a73f53d1da08f1f8123da89585d16c7ef">euclideanDist</a>(center,c) )</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>&#160; {</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>&#160; posTriangle[nbrTriangle].<a class="code" href="struct_position.html#a780d124971951424c0c63f6d81bb4d92">direction</a>=b;</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>&#160; <span class="comment">//line(img,center,b,Scalar(0,125,0),2,8,0);</span></div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>&#160; }</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>&#160; <span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="image_8cpp.html#a73f53d1da08f1f8123da89585d16c7ef">euclideanDist</a>(center,a) &gt; <a class="code" href="image_8cpp.html#a73f53d1da08f1f8123da89585d16c7ef">euclideanDist</a>(center,c))</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>&#160; {</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>&#160; posTriangle[nbrTriangle].<a class="code" href="struct_position.html#a780d124971951424c0c63f6d81bb4d92">direction</a>=a;</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>&#160; <span class="comment">//line(img,center,a,Scalar(0,125,0),2,8,0);</span></div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>&#160;</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>&#160; }</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>&#160; <span class="keywordflow">else</span></div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span>&#160; {</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>&#160; posTriangle[nbrTriangle].<a class="code" href="struct_position.html#a780d124971951424c0c63f6d81bb4d92">direction</a>=c;</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span>&#160; <span class="comment">//line(img,center,c,Scalar(0,125,0),2,8,0);</span></div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>&#160; }</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>&#160; posTriangle[nbrTriangle].<a class="code" href="struct_position.html#a733540df6c0f832676dc0846b34bb1e2">angle</a>=<a class="code" href="image_8cpp.html#afe015c86402c7d09d9d7b28587c7fd1b">calculAngle</a>(&amp;posTriangle[nbrTriangle]);</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>&#160;</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>&#160; nbrTriangle++;</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>&#160;</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>&#160; }</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>&#160; }</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span>&#160; <span class="keywordflow">return</span> nbrTriangle;</div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>&#160;}</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span>&#160;</div><div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="image_8cpp.html#a869c3946d4a414b8730ca4f91fbd9556"> 244</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="image_8cpp.html#a869c3946d4a414b8730ca4f91fbd9556">draw_position</a>(<a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgInput, <a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a> *imgOutput, <a class="code" href="struct_position.html">Position</a> *positionRobot) <span class="comment">// img E/S pos : E</span></div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span>&#160;{</div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span>&#160; <span class="keywordflow">if</span>(imgInput!=imgOutput)</div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>&#160; {</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>&#160; *imgOutput=imgInput-&gt;clone();</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>&#160; }</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span>&#160; line(*imgOutput,positionRobot-&gt;<a class="code" href="struct_position.html#aa56444be37071311cfa11aae3e2c2f64">center</a>,positionRobot-&gt;<a class="code" href="struct_position.html#a780d124971951424c0c63f6d81bb4d92">direction</a>,Scalar(0,125,0),2,8,0);</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span>&#160;}</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>&#160;</div><div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="image_8cpp.html#afe015c86402c7d09d9d7b28587c7fd1b"> 253</a></span>&#160;<span class="keywordtype">float</span> <a class="code" href="image_8cpp.html#afe015c86402c7d09d9d7b28587c7fd1b">calculAngle</a>(<a class="code" href="struct_position.html">Position</a> * positionRobot) <span class="comment">// position en entree</span></div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span>&#160;{</div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span>&#160; <span class="keywordtype">float</span> a = positionRobot-&gt;<a class="code" href="struct_position.html#a780d124971951424c0c63f6d81bb4d92">direction</a>.x - positionRobot-&gt;<a class="code" href="struct_position.html#aa56444be37071311cfa11aae3e2c2f64">center</a>.x;</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>&#160; <span class="keywordtype">float</span> b = positionRobot-&gt;<a class="code" href="struct_position.html#a780d124971951424c0c63f6d81bb4d92">direction</a>.y - positionRobot-&gt;<a class="code" href="struct_position.html#aa56444be37071311cfa11aae3e2c2f64">center</a>.y ;</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>&#160; <span class="keywordtype">float</span> angle = atan2(b,a);</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>&#160; <span class="keywordflow">return</span> angle * 180.f/M_PI;</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>&#160;</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span>&#160;}</div><div class="ttc" id="image_8cpp_html_a909ca7577f0ac2e4bd0ea21291690dce"><div class="ttname"><a href="image_8cpp.html#a909ca7577f0ac2e4bd0ea21291690dce">compress_image</a></div><div class="ttdeci">void compress_image(Image *imgInput, Jpg *imageCompress)</div><div class="ttdoc">Détecte la position d&amp;#39;un robot. </div><div class="ttdef"><b>Definition:</b> <a href="image_8cpp_source.html#l00164">image.cpp:164</a></div></div>
<div class="ttc" id="image_8cpp_html_a864afddf57678b37b99d9eca70405d63"><div class="ttname"><a href="image_8cpp.html#a864afddf57678b37b99d9eca70405d63">get_image</a></div><div class="ttdeci">void get_image(Camera *camera, Image *monImage, const char *fichier)</div><div class="ttdoc">Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une...</div><div class="ttdef"><b>Definition:</b> <a href="image_8cpp_source.html#l00093">image.cpp:93</a></div></div>
<div class="ttc" id="struct_position_html_aa56444be37071311cfa11aae3e2c2f64"><div class="ttname"><a href="struct_position.html#aa56444be37071311cfa11aae3e2c2f64">Position::center</a></div><div class="ttdeci">Point center</div><div class="ttdef"><b>Definition:</b> <a href="image_8h_source.html#l00070">image.h:70</a></div></div>
<div class="ttc" id="struct_position_html_a733540df6c0f832676dc0846b34bb1e2"><div class="ttname"><a href="struct_position.html#a733540df6c0f832676dc0846b34bb1e2">Position::angle</a></div><div class="ttdeci">float angle</div><div class="ttdef"><b>Definition:</b> <a href="image_8h_source.html#l00072">image.h:72</a></div></div>
<div class="ttc" id="image_8h_html_a241aeeb764887ae5e3de58b98f04b16d"><div class="ttname"><a href="image_8h.html#a241aeeb764887ae5e3de58b98f04b16d">WIDTH</a></div><div class="ttdeci">#define WIDTH</div><div class="ttdef"><b>Definition:</b> <a href="image_8h_source.html#l00044">image.h:44</a></div></div>
<div class="ttc" id="image_8cpp_html_a19eac11a04cb4b86fd32e6a36445ad5d"><div class="ttname"><a href="image_8cpp.html#a19eac11a04cb4b86fd32e6a36445ad5d">close_camera</a></div><div class="ttdeci">void close_camera(Camera *camera)</div><div class="ttdoc">Ferme la camera passé en paramètre. </div><div class="ttdef"><b>Definition:</b> <a href="image_8cpp_source.html#l00112">image.cpp:112</a></div></div>
<div class="ttc" id="image_8cpp_html_a41fa265b5f57fcd2a13e726880297d12"><div class="ttname"><a href="image_8cpp.html#a41fa265b5f57fcd2a13e726880297d12">cropArena</a></div><div class="ttdeci">int cropArena(Image *imgInput, Image *imgOutput, Arene *AreneInput)</div><div class="ttdef"><b>Definition:</b> <a href="image_8cpp_source.html#l00150">image.cpp:150</a></div></div>
<div class="ttc" id="image_8h_html_aa856a7cb8a1535c9f13096bede6c8586"><div class="ttname"><a href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a></div><div class="ttdeci">Rect Arene</div><div class="ttdef"><b>Definition:</b> <a href="image_8h_source.html#l00066">image.h:66</a></div></div>
<div class="ttc" id="namespacestd_html"><div class="ttname"><a href="namespacestd.html">std</a></div></div>
<div class="ttc" id="image_8h_html_a466446fef9c0348568bc6743186d1a38"><div class="ttname"><a href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a></div><div class="ttdeci">Mat Image</div><div class="ttdef"><b>Definition:</b> <a href="image_8h_source.html#l00055">image.h:55</a></div></div>
<div class="ttc" id="namespacecv_html"><div class="ttname"><a href="namespacecv.html">cv</a></div></div>
<div class="ttc" id="image_8cpp_html_acad45df4061a55f17be0db97c1406249"><div class="ttname"><a href="image_8cpp.html#acad45df4061a55f17be0db97c1406249">detect_arena</a></div><div class="ttdeci">int detect_arena(Image *monImage, Arene *rectangle)</div><div class="ttdoc">Détecte une arène dans une image fournis en paramètre. </div><div class="ttdef"><b>Definition:</b> <a href="image_8cpp_source.html#l00126">image.cpp:126</a></div></div>
<div class="ttc" id="image_8cpp_html_aca0662ab31eac7fdb2d64fecc52ff1da"><div class="ttname"><a href="image_8cpp.html#aca0662ab31eac7fdb2d64fecc52ff1da">open_camera</a></div><div class="ttdeci">int open_camera(Camera *camera)</div><div class="ttdoc">Ouvre une camera. </div><div class="ttdef"><b>Definition:</b> <a href="image_8cpp_source.html#l00058">image.cpp:58</a></div></div>
<div class="ttc" id="image_8h_html"><div class="ttname"><a href="image_8h.html">image.h</a></div><div class="ttdoc">Functions for image treatment. </div></div>
<div class="ttc" id="struct_position_html"><div class="ttname"><a href="struct_position.html">Position</a></div><div class="ttdef"><b>Definition:</b> <a href="image_8h_source.html#l00069">image.h:69</a></div></div>
<div class="ttc" id="image_8cpp_html_ac813f76084a0d9d252fb5c01830ab7df"><div class="ttname"><a href="image_8cpp.html#ac813f76084a0d9d252fb5c01830ab7df">detect_position</a></div><div class="ttdeci">int detect_position(Image *imgInput, Position *posTriangle, Arene *monArene)</div><div class="ttdoc">Détecte la position d&amp;#39;un robot. </div><div class="ttdef"><b>Definition:</b> <a href="image_8cpp_source.html#l00170">image.cpp:170</a></div></div>
<div class="ttc" id="image_8cpp_html_a5ffd032a466af45a505fb46252194bbf"><div class="ttname"><a href="image_8cpp.html#a5ffd032a466af45a505fb46252194bbf">draw_arena</a></div><div class="ttdeci">void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene)</div><div class="ttdoc">Dessine le plus petit rectangle contenant l&amp;#39;arène. </div><div class="ttdef"><b>Definition:</b> <a href="image_8cpp_source.html#l00051">image.cpp:51</a></div></div>
<div class="ttc" id="image_8cpp_html_a73f53d1da08f1f8123da89585d16c7ef"><div class="ttname"><a href="image_8cpp.html#a73f53d1da08f1f8123da89585d16c7ef">euclideanDist</a></div><div class="ttdeci">float euclideanDist(Point &amp;p, Point &amp;q)</div><div class="ttdef"><b>Definition:</b> <a href="image_8cpp_source.html#l00159">image.cpp:159</a></div></div>
<div class="ttc" id="image_8h_html_a9ac2855e21920c676a108df386ff9415"><div class="ttname"><a href="image_8h.html#a9ac2855e21920c676a108df386ff9415">Jpg</a></div><div class="ttdeci">vector&lt; unsigned char &gt; Jpg</div><div class="ttdef"><b>Definition:</b> <a href="image_8h_source.html#l00067">image.h:67</a></div></div>
<div class="ttc" id="image_8h_html_a739dda3f6f6ddbab22617837b43a692a"><div class="ttname"><a href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a></div><div class="ttdeci">RaspiCam_Cv Camera</div><div class="ttdef"><b>Definition:</b> <a href="image_8h_source.html#l00058">image.h:58</a></div></div>
<div class="ttc" id="namespaceraspicam_html"><div class="ttname"><a href="namespaceraspicam.html">raspicam</a></div></div>
<div class="ttc" id="image_8cpp_html_afe015c86402c7d09d9d7b28587c7fd1b"><div class="ttname"><a href="image_8cpp.html#afe015c86402c7d09d9d7b28587c7fd1b">calculAngle</a></div><div class="ttdeci">float calculAngle(Position *positionRobot)</div><div class="ttdef"><b>Definition:</b> <a href="image_8cpp_source.html#l00253">image.cpp:253</a></div></div>
<div class="ttc" id="image_8h_html_aed89bd71aee8be823e8a20ec4e093c1e"><div class="ttname"><a href="image_8h.html#aed89bd71aee8be823e8a20ec4e093c1e">HEIGHT</a></div><div class="ttdeci">#define HEIGHT</div><div class="ttdef"><b>Definition:</b> <a href="image_8h_source.html#l00045">image.h:45</a></div></div>
<div class="ttc" id="image_8cpp_html_a869c3946d4a414b8730ca4f91fbd9556"><div class="ttname"><a href="image_8cpp.html#a869c3946d4a414b8730ca4f91fbd9556">draw_position</a></div><div class="ttdeci">void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot)</div><div class="ttdoc">Dessine sur une image en entrée la position d&amp;#39;un robot et sa direction. </div><div class="ttdef"><b>Definition:</b> <a href="image_8cpp_source.html#l00244">image.cpp:244</a></div></div>
<div class="ttc" id="struct_position_html_a780d124971951424c0c63f6d81bb4d92"><div class="ttname"><a href="struct_position.html#a780d124971951424c0c63f6d81bb4d92">Position::direction</a></div><div class="ttdeci">Point direction</div><div class="ttdef"><b>Definition:</b> <a href="image_8h_source.html#l00071">image.h:71</a></div></div>
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