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<div id="projectname">Bibliotheques TP RT
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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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<a href="image_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Copyright (C) 2018 dimercur</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * This program is free software: you can redistribute it and/or modify</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * it under the terms of the GNU General Public License as published by</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * the Free Software Foundation, either version 3 of the License, or</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * (at your option) any later version.</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * This program is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * GNU General Public License for more details.</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> *</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * You should have received a copy of the GNU General Public License</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * along with this program. If not, see <http://www.gnu.org/licenses/>.</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> */</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#ifndef _IMAGE_H_</span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#define _IMAGE_H_</span></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> </div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#ifndef __STUB__</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#ifndef __FOR_PC__</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#include <raspicam/raspicam_cv.h></span></div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#else</span></div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#include <opencv2/highgui/highgui.hpp></span></div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#endif </span><span class="comment">/* __FOR_PC__ */</span><span class="preprocessor"></span></div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#else</span></div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include <opencv2/highgui/highgui.hpp></span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#include "opencv2/imgproc/imgproc.hpp"</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include <unistd.h></span></div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <math.h></span></div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="image_8h.html#a241aeeb764887ae5e3de58b98f04b16d"> 44</a></span> <span class="preprocessor">#define WIDTH 480 //1280 1024 640 480</span></div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="image_8h.html#aed89bd71aee8be823e8a20ec4e093c1e"> 45</a></span> <span class="preprocessor">#define HEIGHT 360 // 960 768 480 360</span></div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> </div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">using namespace </span><a class="code" href="namespacestd.html">std</a>;</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">using namespace </span><a class="code" href="namespacecv.html">cv</a>;</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="preprocessor">#ifndef __STUB__</span></div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="preprocessor">#ifndef __FOR_PC__</span></div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="keyword">using namespace </span><a class="code" href="namespaceraspicam.html">raspicam</a>;</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="preprocessor">#endif </span><span class="comment">/* __FOR_PC__ */</span><span class="preprocessor"></span></div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="image_8h.html#a466446fef9c0348568bc6743186d1a38"> 55</a></span> <span class="keyword">typedef</span> Mat <a class="code" href="image_8h.html#a466446fef9c0348568bc6743186d1a38">Image</a>;</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="preprocessor">#ifndef __STUB__</span></div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="preprocessor">#ifndef __FOR_PC__</span></div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a"> 58</a></span> <span class="keyword">typedef</span> RaspiCam_Cv <a class="code" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a>;</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="preprocessor">#else</span></div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="keyword">typedef</span> <span class="keywordtype">int</span> <a class="code" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a>;</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="preprocessor">#endif </span><span class="comment">/* __FOR_PC__ */</span><span class="preprocessor"></span></div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="preprocessor">#else</span></div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="keyword">typedef</span> <span class="keywordtype">int</span> <a class="code" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a>;</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586"> 66</a></span> <span class="keyword">typedef</span> Rect <a class="code" href="image_8h.html#aa856a7cb8a1535c9f13096bede6c8586">Arene</a>;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="image_8h.html#a9ac2855e21920c676a108df386ff9415"> 67</a></span> <span class="keyword">typedef</span> vector<unsigned char> <a class="code" href="image_8h.html#a9ac2855e21920c676a108df386ff9415">Jpg</a>;</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="struct_position.html"> 69</a></span> <span class="keyword">struct </span><a class="code" href="struct_position.html">Position</a> {</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="struct_position.html#aa56444be37071311cfa11aae3e2c2f64"> 70</a></span>  Point <a class="code" href="struct_position.html#aa56444be37071311cfa11aae3e2c2f64">center</a>;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="struct_position.html#a780d124971951424c0c63f6d81bb4d92"> 71</a></span>  Point <a class="code" href="struct_position.html#a780d124971951424c0c63f6d81bb4d92">direction</a>;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="struct_position.html#a733540df6c0f832676dc0846b34bb1e2"> 72</a></span>  <span class="keywordtype">float</span> <a class="code" href="struct_position.html#a733540df6c0f832676dc0846b34bb1e2">angle</a>;</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span> };</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span> </div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="keywordtype">int</span> <a class="code" href="image_8h.html#aca0662ab31eac7fdb2d64fecc52ff1da">open_camera</a>(<a class="code" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *camera);</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="keywordtype">void</span> <a class="code" href="image_8h.html#a19eac11a04cb4b86fd32e6a36445ad5d">close_camera</a>(<a class="code" href="image_8h.html#a739dda3f6f6ddbab22617837b43a692a">Camera</a> *camera);</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span> </div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span> <span class="keywordtype">void</span> <a class="code" href="image_8h.html#ad904f3348c2d44f9c82435c94cd83844">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 = NULL);</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">int</span> <a class="code" href="image_8h.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);</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span> <span class="keywordtype">void</span> <a class="code" href="image_8h.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="l00119"></a><span class="lineno"> 119</span> </div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">int</span> <a class="code" href="image_8h.html#af9f6e2dd4409486f2f6446d1a8a02c40">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 = NULL);</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span> </div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="keywordtype">void</span> <a class="code" href="image_8h.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);</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span> </div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="keywordtype">void</span> <a class="code" href="image_8h.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);</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span> <span class="preprocessor">#endif // _IMAGE_H_</span></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>
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<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>
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<div class="ttc" id="image_8h_html_a869c3946d4a414b8730ca4f91fbd9556"><div class="ttname"><a href="image_8h.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&#39;un robot et sa direction. </div></div>
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<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>
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<div class="ttc" id="image_8h_html_aca0662ab31eac7fdb2d64fecc52ff1da"><div class="ttname"><a href="image_8h.html#aca0662ab31eac7fdb2d64fecc52ff1da">open_camera</a></div><div class="ttdeci">int open_camera(Camera *camera)</div><div class="ttdoc">Ouvre une camera. </div></div>
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<div class="ttc" id="image_8h_html_a19eac11a04cb4b86fd32e6a36445ad5d"><div class="ttname"><a href="image_8h.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>
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<div class="ttc" id="namespacestd_html"><div class="ttname"><a href="namespacestd.html">std</a></div></div>
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<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>
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<div class="ttc" id="image_8h_html_af9f6e2dd4409486f2f6446d1a8a02c40"><div class="ttname"><a href="image_8h.html#af9f6e2dd4409486f2f6446d1a8a02c40">detect_position</a></div><div class="ttdeci">int detect_position(Image *imgInput, Position *posTriangle, Arene *monArene=NULL)</div><div class="ttdoc">Détecte la position d&#39;un robot. </div></div>
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<div class="ttc" id="namespacecv_html"><div class="ttname"><a href="namespacecv.html">cv</a></div></div>
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<div class="ttc" id="image_8h_html_ad904f3348c2d44f9c82435c94cd83844"><div class="ttname"><a href="image_8h.html#ad904f3348c2d44f9c82435c94cd83844">get_image</a></div><div class="ttdeci">void get_image(Camera *camera, Image *monImage, const char *fichier=NULL)</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>
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<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>
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<div class="ttc" id="image_8h_html_a9ac2855e21920c676a108df386ff9415"><div class="ttname"><a href="image_8h.html#a9ac2855e21920c676a108df386ff9415">Jpg</a></div><div class="ttdeci">vector< unsigned char > Jpg</div><div class="ttdef"><b>Definition:</b> <a href="image_8h_source.html#l00067">image.h:67</a></div></div>
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<div class="ttc" id="image_8h_html_a5ffd032a466af45a505fb46252194bbf"><div class="ttname"><a href="image_8h.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&#39;arène. </div></div>
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<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>
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<div class="ttc" id="image_8h_html_a909ca7577f0ac2e4bd0ea21291690dce"><div class="ttname"><a href="image_8h.html#a909ca7577f0ac2e4bd0ea21291690dce">compress_image</a></div><div class="ttdeci">void compress_image(Image *imgInput, Jpg *imageCompress)</div><div class="ttdoc">Détecte la position d&#39;un robot. </div></div>
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<div class="ttc" id="namespaceraspicam_html"><div class="ttname"><a href="namespaceraspicam.html">raspicam</a></div></div>
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<div class="ttc" id="image_8h_html_acad45df4061a55f17be0db97c1406249"><div class="ttname"><a href="image_8h.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>
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<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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