284 lines
15 KiB
TeX
284 lines
15 KiB
TeX
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\hypertarget{image_8cpp}{}\section{src/image.cpp File Reference}
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\label{image_8cpp}\index{src/image.\+cpp@{src/image.\+cpp}}
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Fonctions de traitement d\textquotesingle{}image utilisable pour la détection du robot.
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{\ttfamily \#include \char`\"{}image.\+h\char`\"{}}\newline
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{\ttfamily \#include $<$iostream$>$}\newline
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Include dependency graph for image.\+cpp\+:
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\nopagebreak
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\begin{figure}[H]
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\begin{center}
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\leavevmode
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\includegraphics[width=350pt]{image_8cpp__incl}
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\end{center}
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\end{figure}
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\subsection*{Functions}
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\begin{DoxyCompactItemize}
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\item
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float \hyperlink{image_8cpp_afe015c86402c7d09d9d7b28587c7fd1b}{calcul\+Angle} (\hyperlink{struct_position}{Position} $\ast$position\+Robot)
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\item
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int \hyperlink{image_8cpp_a41fa265b5f57fcd2a13e726880297d12}{crop\+Arena} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Output, \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$Arene\+Input)
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\item
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float \hyperlink{image_8cpp_a73f53d1da08f1f8123da89585d16c7ef}{euclidean\+Dist} (Point \&p, Point \&q)
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\item
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void \hyperlink{image_8cpp_a5ffd032a466af45a505fb46252194bbf}{draw\+\_\+arena} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Output, \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$mon\+Arene)
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\begin{DoxyCompactList}\small\item\em Dessine le plus petit rectangle contenant l\textquotesingle{}arène. \end{DoxyCompactList}\item
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int \hyperlink{image_8cpp_aca0662ab31eac7fdb2d64fecc52ff1da}{open\+\_\+camera} (\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$camera)
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\begin{DoxyCompactList}\small\item\em Ouvre une camera. \end{DoxyCompactList}\item
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void \hyperlink{image_8cpp_a864afddf57678b37b99d9eca70405d63}{get\+\_\+image} (\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$camera, \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$mon\+Image, const char $\ast$fichier)
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\begin{DoxyCompactList}\small\item\em Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image. \end{DoxyCompactList}\item
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void \hyperlink{image_8cpp_a19eac11a04cb4b86fd32e6a36445ad5d}{close\+\_\+camera} (\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$camera)
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\begin{DoxyCompactList}\small\item\em Ferme la camera passé en paramètre. \end{DoxyCompactList}\item
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int \hyperlink{image_8cpp_acad45df4061a55f17be0db97c1406249}{detect\+\_\+arena} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$mon\+Image, \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$rectangle)
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\begin{DoxyCompactList}\small\item\em Détecte une arène dans une image fournis en paramètre. \end{DoxyCompactList}\item
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void \hyperlink{image_8cpp_a909ca7577f0ac2e4bd0ea21291690dce}{compress\+\_\+image} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{image_8h_a9ac2855e21920c676a108df386ff9415}{Jpg} $\ast$image\+Compress)
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\begin{DoxyCompactList}\small\item\em Détecte la position d\textquotesingle{}un robot. \end{DoxyCompactList}\item
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int \hyperlink{image_8cpp_ac813f76084a0d9d252fb5c01830ab7df}{detect\+\_\+position} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{struct_position}{Position} $\ast$pos\+Triangle, \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$mon\+Arene)
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\begin{DoxyCompactList}\small\item\em Détecte la position d\textquotesingle{}un robot. \end{DoxyCompactList}\item
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void \hyperlink{image_8cpp_a869c3946d4a414b8730ca4f91fbd9556}{draw\+\_\+position} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Output, \hyperlink{struct_position}{Position} $\ast$position\+Robot)
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\begin{DoxyCompactList}\small\item\em Dessine sur une image en entrée la position d\textquotesingle{}un robot et sa direction. \end{DoxyCompactList}\end{DoxyCompactItemize}
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\subsection{Detailed Description}
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Fonctions de traitement d\textquotesingle{}image utilisable pour la détection du robot.
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\begin{DoxyAuthor}{Author}
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L.\+Senaneuch
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\end{DoxyAuthor}
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\begin{DoxyVersion}{Version}
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1.\+0
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\end{DoxyVersion}
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\begin{DoxyDate}{Date}
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06/06/2017
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\end{DoxyDate}
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Ce fichier utilise la libraire open\+C\+V2 pour faciliter le traitement d\textquotesingle{}image dans le projet Destijl. Il permet de faciliter la détection de l\textquotesingle{}arène et la détection du robot. /!\textbackslash{} Attention Bien que celui-\/ci soit un .cpp la structure du code n\textquotesingle{}est pas sous forme d\textquotesingle{}objet.
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\subsection{Function Documentation}
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\mbox{\Hypertarget{image_8cpp_afe015c86402c7d09d9d7b28587c7fd1b}\label{image_8cpp_afe015c86402c7d09d9d7b28587c7fd1b}}
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\index{image.\+cpp@{image.\+cpp}!calcul\+Angle@{calcul\+Angle}}
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\index{calcul\+Angle@{calcul\+Angle}!image.\+cpp@{image.\+cpp}}
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\subsubsection{\texorpdfstring{calcul\+Angle()}{calculAngle()}}
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{\footnotesize\ttfamily float calcul\+Angle (\begin{DoxyParamCaption}\item[{\hyperlink{struct_position}{Position} $\ast$}]{position\+Robot }\end{DoxyParamCaption})}
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Definition at line 253 of file image.\+cpp.
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\mbox{\Hypertarget{image_8cpp_a19eac11a04cb4b86fd32e6a36445ad5d}\label{image_8cpp_a19eac11a04cb4b86fd32e6a36445ad5d}}
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\index{image.\+cpp@{image.\+cpp}!close\+\_\+camera@{close\+\_\+camera}}
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\index{close\+\_\+camera@{close\+\_\+camera}!image.\+cpp@{image.\+cpp}}
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\subsubsection{\texorpdfstring{close\+\_\+camera()}{close\_camera()}}
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{\footnotesize\ttfamily void close\+\_\+camera (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$}]{camera }\end{DoxyParamCaption})}
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Ferme la camera passé en paramètre.
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\begin{DoxyParams}{Parameters}
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{\em $\ast$\+Camera} & Pointeur sur la camera à fermer \\
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\hline
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\end{DoxyParams}
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Definition at line 112 of file image.\+cpp.
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\mbox{\Hypertarget{image_8cpp_a909ca7577f0ac2e4bd0ea21291690dce}\label{image_8cpp_a909ca7577f0ac2e4bd0ea21291690dce}}
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\index{image.\+cpp@{image.\+cpp}!compress\+\_\+image@{compress\+\_\+image}}
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\index{compress\+\_\+image@{compress\+\_\+image}!image.\+cpp@{image.\+cpp}}
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\subsubsection{\texorpdfstring{compress\+\_\+image()}{compress\_image()}}
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{\footnotesize\ttfamily void compress\+\_\+image (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{image_8h_a9ac2855e21920c676a108df386ff9415}{Jpg} $\ast$}]{image\+Compress }\end{DoxyParamCaption})}
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Détecte la position d\textquotesingle{}un robot.
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Détecte la position de triangles blanc sur une image /a img\+Input passé en paramètre d\textquotesingle{}entrer.
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\begin{DoxyParams}{Parameters}
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{\em $\ast$img\+Input} & Pointeur sur l\textquotesingle{}image à sauvegarder en mémoire sous format jpg. \\
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\hline
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{\em $\ast$image\+Compress} & Pointeur sur une image .jpg. \\
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\hline
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\end{DoxyParams}
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Definition at line 164 of file image.\+cpp.
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\mbox{\Hypertarget{image_8cpp_a41fa265b5f57fcd2a13e726880297d12}\label{image_8cpp_a41fa265b5f57fcd2a13e726880297d12}}
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\index{image.\+cpp@{image.\+cpp}!crop\+Arena@{crop\+Arena}}
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\index{crop\+Arena@{crop\+Arena}!image.\+cpp@{image.\+cpp}}
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\subsubsection{\texorpdfstring{crop\+Arena()}{cropArena()}}
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{\footnotesize\ttfamily int crop\+Arena (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Output, }\item[{\hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$}]{Arene\+Input }\end{DoxyParamCaption})}
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Definition at line 150 of file image.\+cpp.
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\mbox{\Hypertarget{image_8cpp_acad45df4061a55f17be0db97c1406249}\label{image_8cpp_acad45df4061a55f17be0db97c1406249}}
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\index{image.\+cpp@{image.\+cpp}!detect\+\_\+arena@{detect\+\_\+arena}}
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\index{detect\+\_\+arena@{detect\+\_\+arena}!image.\+cpp@{image.\+cpp}}
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\subsubsection{\texorpdfstring{detect\+\_\+arena()}{detect\_arena()}}
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{\footnotesize\ttfamily int detect\+\_\+arena (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{mon\+Image, }\item[{\hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$}]{rectangle }\end{DoxyParamCaption})}
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Détecte une arène dans une image fournis en paramètre.
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\begin{DoxyParams}{Parameters}
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{\em $\ast$mon\+Image} & Pointeur sur l\textquotesingle{}image d\textquotesingle{}entrée \\
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\hline
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{\em $\ast$rectangle} & Pointeur sur les coordonnées du rectangles trouvé. \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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Retourne -\/1 si aucune arène n\textquotesingle{}est détectée. Sinon retourne 0
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\end{DoxyReturn}
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Definition at line 126 of file image.\+cpp.
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\mbox{\Hypertarget{image_8cpp_ac813f76084a0d9d252fb5c01830ab7df}\label{image_8cpp_ac813f76084a0d9d252fb5c01830ab7df}}
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\index{image.\+cpp@{image.\+cpp}!detect\+\_\+position@{detect\+\_\+position}}
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\index{detect\+\_\+position@{detect\+\_\+position}!image.\+cpp@{image.\+cpp}}
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\subsubsection{\texorpdfstring{detect\+\_\+position()}{detect\_position()}}
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{\footnotesize\ttfamily int detect\+\_\+position (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{struct_position}{Position} $\ast$}]{pos\+Triangle, }\item[{\hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$}]{mon\+Arene = {\ttfamily NULL} }\end{DoxyParamCaption})}
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Détecte la position d\textquotesingle{}un robot.
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Détecte la position de triangles blanc sur une image /a img\+Input passé en paramètre d\textquotesingle{}entrer.
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\begin{DoxyParams}{Parameters}
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{\em $\ast$img\+Input} & Pointeur sur l\textquotesingle{}image sur laquelle chercher la position du des robots. \\
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\hline
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{\em $\ast$pos\+Triangle} & Pointeur sur un tableau de position ou seront stocké les positions des triangles détectés. \\
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\hline
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{\em $\ast$mon\+Arene} & Pointeur de type Arène si nécessaire d\textquotesingle{}affiner la recherche (optionnel) \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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Le nombre de triangles détectés.
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\end{DoxyReturn}
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Definition at line 170 of file image.\+cpp.
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\mbox{\Hypertarget{image_8cpp_a5ffd032a466af45a505fb46252194bbf}\label{image_8cpp_a5ffd032a466af45a505fb46252194bbf}}
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\index{image.\+cpp@{image.\+cpp}!draw\+\_\+arena@{draw\+\_\+arena}}
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\index{draw\+\_\+arena@{draw\+\_\+arena}!image.\+cpp@{image.\+cpp}}
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\subsubsection{\texorpdfstring{draw\+\_\+arena()}{draw\_arena()}}
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{\footnotesize\ttfamily void draw\+\_\+arena (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Output, }\item[{\hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$}]{mon\+Arene }\end{DoxyParamCaption})}
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Dessine le plus petit rectangle contenant l\textquotesingle{}arène.
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\begin{DoxyParams}{Parameters}
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{\em $\ast$img\+Input} & Pointeur sur l\textquotesingle{}image d\textquotesingle{}entrée. \\
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\hline
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{\em $\ast$img\+Output} & Pointeur sur l\textquotesingle{}image de sortie (image d\textquotesingle{}entrée + arène marquée) \\
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\hline
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{\em $\ast$mon\+Arene} & Pointeur de type Arène contenant les information à dessiner \\
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\hline
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\end{DoxyParams}
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Definition at line 51 of file image.\+cpp.
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\mbox{\Hypertarget{image_8cpp_a869c3946d4a414b8730ca4f91fbd9556}\label{image_8cpp_a869c3946d4a414b8730ca4f91fbd9556}}
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\index{image.\+cpp@{image.\+cpp}!draw\+\_\+position@{draw\+\_\+position}}
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\index{draw\+\_\+position@{draw\+\_\+position}!image.\+cpp@{image.\+cpp}}
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\subsubsection{\texorpdfstring{draw\+\_\+position()}{draw\_position()}}
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{\footnotesize\ttfamily void draw\+\_\+position (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Output, }\item[{\hyperlink{struct_position}{Position} $\ast$}]{position\+Robot }\end{DoxyParamCaption})}
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Dessine sur une image en entrée la position d\textquotesingle{}un robot et sa direction.
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Sauvegarde l\textquotesingle{}image des coordonnées passées par position\+Robot superposée à l\textquotesingle{}image d\textquotesingle{}entrée sur img\+Output.
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\begin{DoxyParams}{Parameters}
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{\em $\ast$img\+Input} & Pointeur sur l\textquotesingle{}image d\textquotesingle{}entrée \\
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\hline
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{\em $\ast$img\+Output} & Pointeur sur l\textquotesingle{}image de sortie ( image d\textquotesingle{}entrée + dessin de la position) \\
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\hline
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{\em $\ast$position\+Robot} & Pointeur sur la structure position d\textquotesingle{}un robot. \\
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\hline
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\end{DoxyParams}
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Definition at line 244 of file image.\+cpp.
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\mbox{\Hypertarget{image_8cpp_a73f53d1da08f1f8123da89585d16c7ef}\label{image_8cpp_a73f53d1da08f1f8123da89585d16c7ef}}
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\index{image.\+cpp@{image.\+cpp}!euclidean\+Dist@{euclidean\+Dist}}
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\index{euclidean\+Dist@{euclidean\+Dist}!image.\+cpp@{image.\+cpp}}
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\subsubsection{\texorpdfstring{euclidean\+Dist()}{euclideanDist()}}
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{\footnotesize\ttfamily float euclidean\+Dist (\begin{DoxyParamCaption}\item[{Point \&}]{p, }\item[{Point \&}]{q }\end{DoxyParamCaption})}
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Definition at line 159 of file image.\+cpp.
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\mbox{\Hypertarget{image_8cpp_a864afddf57678b37b99d9eca70405d63}\label{image_8cpp_a864afddf57678b37b99d9eca70405d63}}
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\index{image.\+cpp@{image.\+cpp}!get\+\_\+image@{get\+\_\+image}}
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\index{get\+\_\+image@{get\+\_\+image}!image.\+cpp@{image.\+cpp}}
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\subsubsection{\texorpdfstring{get\+\_\+image()}{get\_image()}}
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{\footnotesize\ttfamily void get\+\_\+image (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$}]{camera, }\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{mon\+Image, }\item[{const char $\ast$}]{fichier = {\ttfamily NULL} }\end{DoxyParamCaption})}
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Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image.
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La camera doit préalablement être ouverte via {\itshape open\+Camera}(...)
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\begin{DoxyParams}{Parameters}
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{\em $\ast$\+Camera} & Pointeur sur la camera passée en entrée. \\
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\hline
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{\em $\ast$mon\+Image} & Pointeur sur une image capturée. \\
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\hline
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{\em $\ast$fichier} & chemin du fichier d\textquotesingle{}image \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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Retourne -\/1 si une erreur survient.
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\end{DoxyReturn}
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Definition at line 93 of file image.\+cpp.
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\mbox{\Hypertarget{image_8cpp_aca0662ab31eac7fdb2d64fecc52ff1da}\label{image_8cpp_aca0662ab31eac7fdb2d64fecc52ff1da}}
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\index{image.\+cpp@{image.\+cpp}!open\+\_\+camera@{open\+\_\+camera}}
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\index{open\+\_\+camera@{open\+\_\+camera}!image.\+cpp@{image.\+cpp}}
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\subsubsection{\texorpdfstring{open\+\_\+camera()}{open\_camera()}}
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{\footnotesize\ttfamily int open\+\_\+camera (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$}]{camera }\end{DoxyParamCaption})}
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Ouvre une camera.
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Met à jour le descripteur de fichier passé en paramètre pour correspondre à la camera ouverte
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\begin{DoxyParams}{Parameters}
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{\em $\ast$\+Camera} & Pointeur d\textquotesingle{}un file descriptor d\textquotesingle{}une camera ouverte \\
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\hline
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\end{DoxyParams}
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\begin{DoxyReturn}{Returns}
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retourne 0 si la camera a été ouverte correctement et -\/1 si une erreur survient.
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\end{DoxyReturn}
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Definition at line 58 of file image.\+cpp.
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