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servoSerial.ino

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+#include <Servo.h>
+
+Servo servo1; Servo servo2; 
+
+void setup() 
+{
+ servo1.attach(11); //pin x servo
+ servo2.attach(10); //pin y servo
+
+ Serial.begin(19200);
+}
+
+void loop() 
+{
+ static int v = 0;
+
+ if ( Serial.available()) 
+ {
+   char ch = Serial.read();
+
+   switch(ch) 
+   {
+     case '0'...'9':
+       v = v * 10 + ch - '0'; //identify rules to extract x, y values
+       break;
+     case 'x': //read x value on serial port
+       servo1.write(v);
+       v = 0;
+       break;
+     case 'y': //read y value on serial port
+       servo2.write(v);
+       v = 0;
+       break;
+   }
+ }
+}

testSerial.cpp

@@ -0,0 +1,119 @@
+/*
+ * testSerial.cpp
+ *
+ *  Created on: 18 janv. 2017
+ *      Author: tux
+ */
+
+#include <iostream>
+#include <string>
+#include <fstream>
+#include <sstream>
+#include <opencv2/opencv.hpp>
+
+#define PORT "/dev/ttyUSB0" //define serial port (The same as Arduino)
+
+using namespace std;
+using namespace cv;
+
+//global variables
+int pan, tilt;
+Mat frame;
+
+void moveMouse(int, int, int, int, void*);
+
+int main()
+{
+	int outMax = 180; //max servo range (0-180°)
+	int servoPan, servoTilt;
+
+	//open serial port in file
+	fstream fd;
+	fd.open(PORT);
+
+	VideoCapture cap(0);
+
+	while(true)
+	{
+		cap >> frame;
+
+		setMouseCallback("Frame", moveMouse, NULL);
+
+		Point pt1 = Point(0, frame.rows/2);
+		Point pt2 = Point(frame.cols, frame.rows/2);
+		Point pt3 = Point(frame.cols/2, 0);
+		Point pt4 = Point(frame.cols/2, frame.rows);
+		line(frame, pt1, pt2, Scalar(0,0,255),1);
+		line(frame, pt3, pt4, Scalar(0,0,255),1);
+
+		line(frame, Point(pan, 0), Point(pan, frame.rows), Scalar(0,255,0), 1);
+		line(frame, Point(0, tilt), Point(frame.cols, tilt), Scalar(0,255,0), 1);
+		circle(frame, Point(pan, tilt), 2, Scalar(0,255,0),2);
+
+		//convert int to string
+		stringstream x, y, p, t;
+		x << pan;
+		y << tilt;
+		p << servoPan;
+		t << servoTilt;
+
+		//scaling the range for the servos 0-180°
+		servoPan = (pan * outMax + 1)/(frame.cols + 1);
+		servoTilt = (tilt * outMax + 1)/(frame.rows + 1);
+
+		int servoRefX, servoRefY;
+
+		//scaling the range for the servos 0-180°
+		servoRefX = (outMax/2 - servoPan);
+		servoRefY = (outMax/2 - servoTilt);
+
+		stringstream refX, refY;
+		refX << servoRefX;
+		refY << servoRefY;
+
+		//print infos on screen
+		putText(frame, "Offset X : ", Point(10,120),1,1,Scalar(255,255,255),1);
+		putText(frame, refX.str() , Point(100,120),1,1,Scalar(255,255,255),1);
+		putText(frame, "Offset Y : ", Point(10,140),1,1,Scalar(255,255,255),1);
+		putText(frame, refY.str() , Point(100,140),1,1,Scalar(255,255,255),1);
+
+		line(frame, Point(frame.cols/2, frame.rows/2), Point(pan, tilt), Scalar(255,0,0),3);
+
+		putText(frame, "X : ", Point(10,20),1,1,Scalar(255,255,255),1);
+		putText(frame, x.str() , Point(40,20),1,1,Scalar(255,255,255),1);
+
+		putText(frame, "Y : ", Point(10,40),1,1,Scalar(255,255,255),1);
+		putText(frame, y.str() , Point(40,40),1,1,Scalar(255,255,255),1);
+
+		putText(frame, "servo PAN : ", Point(10,60),1,1,Scalar(255,255,255),1);
+		putText(frame, p.str() , Point(110,60),1,1,Scalar(255,255,255),1);
+
+		putText(frame, "servo TILT : ", Point(10,80),1,1,Scalar(255,255,255),1);
+		putText(frame, t.str() , Point(110,80),1,1,Scalar(255,255,255),1);
+
+		/*sending values on serial port to Arduino
+		 *  X value + "x"
+		 *  Y value + "y"
+		 */
+		fstream fd;
+		fd.open(PORT);
+		fd << t.str() << "x" << endl;
+		fd << p.str() << "y" << endl;
+		fd.close();
+
+		imshow("Frame", frame);
+		waitKey(32);
+	}
+	return 0;
+}
+
+void moveMouse(int event, int x, int y, int flags, void* userdata)
+{
+	if(event == EVENT_MOUSEMOVE)
+    {
+		pan = x;
+		tilt = y;
+    }
+}
+
+