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*/
/*
?*?Code?written?by?Lya?（GeckoGeek.fr）
?*/
?
#include?“opencv/highgui.h“
#include?“opencv/cv.h“
?
#include?
#include?
#include?
?
//?Maths?methods
#define?max（a?b）?（（a）?>?（b）???（a）?:?（b））
#define?min（a?b）?（（a）?#define?abs（x）?（（x）?>?0???（x）?:?-（x））
#define?sign（x）?（（x）?>?0???1?:?-1）
?
//?Step?mooving?for?object?min?&?max
#define?STEP_MIN?5
#define?STEP_MAX?100?
?
IplImage?*image;
?
//?Position?of?the?object?we?overlay
CvPoint?objectPos?=?cvPoint（-1?-1）;
//?Color?tracked?and?our?tolerance?towards?it
int?h?=?0?s?=?0?v?=?0?tolerance?=?10;
?
/*
?*?Transform?the?image?into?a?two?colored?image?one?color?for?the?color?we?want?to?track?another?color?for?the?others?colors
?*?From?this?image?we?get?two?datas?:?the?number?of?pixel?detected?and?the?center?of?gravity?of?these?pixel
?*/
CvPoint?binarisation（IplImage*?image?int?*nbPixels）?{
?
	int?x?y;
	CvScalar?pixel;
	IplImage?*hsv?*mask;
	IplConvKernel?*kernel;
	int?sommeX?=?0?sommeY?=?0;
	*nbPixels?=?0;
?
	//?Create?the?mask?&initialize?it?to?white?（no?color?detected）
	mask?=?cvCreateImage（cvGetSize（image）?image->depth?1）;
?
	//?Create?the?hsv?image
	hsv?=?cvCloneImage（image）;
	cvCvtColor（image?hsv?CV_BGR2HSV）;
?
	//?We?create?the?mask
	cvInRangeS（hsv?cvScalar（h?-?tolerance?-1?s?-?tolerance?0）?cvScalar（h?+?tolerance?-1?s?+?tolerance?255）?mask）;
?
	//?Create?kernels?for?the?morphological?operation
	kernel?=?cvCreateStructuringElementEx（5?5?2?2?CV_SHAPE_ELLIPSE）;
?
	//?Morphological?opening?（inverse?because?we?have?white?pixels?on?black?background）
	cvDilate（mask?mask?kernel?1）;
	cvErode（mask?mask?kernel?1）;??
?
	//?We?go?through?the?mask?to?look?for?the?tracked?object?and?get?its?gravity?center
	for（x?=?0;?x?width;?x++）?{
		for（y?=?0;?y?height;?y++）?{?
?
			//?If?its?a?tracked?pixel?count?it?to?the?center?of?gravity‘s?calcul
			if（（（uchar?*）（mask->imageData?+?y*mask->widthStep））[x]?==?255）?{
				sommeX?+=?x;
				sommeY?+=?y;
				（*nbPixels）++;
			}
		}
	}
?
	//?Show?the?result?of?the?mask?image
	cvShowImage（“GeckoGeek?Mask“?mask）;
?
	//?We?release?the?memory?of?kernels
	cvReleaseStructuringElement（&kernel）;
?
	//?We?release?the?memory?of?the?mask
	cvReleaseImage（&mask）;
	//?We?release?the?memory?of?the?hsv?image
????	cvReleaseImage（&hsv）;
?
	//?If?there?is?no?pixel?we?return?a?center?outside?the?image?else?we?return?the?center?of?gravity
	if（*nbPixels?>?0）
		return?cvPoint（（int）（sommeX?/?（*nbPixels））?（int）（sommeY?/?（*nbPixels）））;
	else
		ret