function [x_position_en_metre,position_angle_redien_atan] = fcn()
%#codegen
%close all
%clc
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% aquisition de video %%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
vid=videoinput('winvideo',1)
set(vid, 'ReturnedColorSpace', 'RGB');
preview(vid);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% capteur de photo %%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for foto=1
%tic
foto=getsnapshot(vid);
figure,image(foto);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% lire est affichage d'image extr�t� %%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%Fil = ones(15);
imRGB=foto;%imread('E:/27032015740.JPG');
[width,height,D]=size(imRGB)
%imshow(imRGB);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% couche rouge %%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
figure;
R= and(imRGB(:,:,1)>imRGB(:,:,2)+30,imRGB(:,:,1)>imRGB(:,:,3)+30);
imshow(R);
[width,height,D]=size(R)
[xR,yR,widthR,heightR]=findXY(R);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% couche bleu %%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%figure;
B= and(imRGB(:,:,3)>imRGB(:,:,1)+30,imRGB(:,:,3)>imRGB(:,:,2)+30);
%imshow(B);
[xB,yB,widthB,heightB]=findXY(B);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% couche vert %%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%figure;
G= and(imRGB(:,:,2)>imRGB(:,:,1)+30,imRGB(:,:,2)>imRGB(:,:,3)+30);
%imshow(G);
[x1G,x1D,x2G,x2D,y,heightG]=findXYFor2Block(G);
%figure(1);
%hold on
% rectangle('Position',[xR-widthR/2,yR-heightR/2,widthR,heightR])
% text(xR,yR,'R')
% rectangle('Position',[xB-widthB/2,yB-heightB/2,widthB,heightB])
%text(xB,yB,'B')
xG1=(x1G+x1D)/2;
widthG1=x1D-x1G;
xG2=(x2G+x2D)/2;
widthG2=x2D-x2G;
%rectangle('Position',[xG1-widthG1/2,y-heightG/2,widthG1,heightG])
%text(xG1,y,'G1')
%rectangle('Position',[xG2-widthG2/2,y-heightG/2,widthG2,heightG])
%text(xG2,y,'G2')
%hold off
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% calcule l'angle en radian %%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
b=((yB-yR)); % la valeur de y en pixel
a=((xB- xR)); % la valeur de x en pixel
%si=sin(b);
%co=cos(a);
position_angle_redien_atan=(a/b)
%position_angle_degre=(position_angle_redien_atan * 180)/pi
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% en trouve la position de chariot en metre
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
xG = (xG2 - xG1);
x_center = xG/2;
xBB = (xB - xG1);
position_x = x_center - xBB;
x_position_en_metre = (position_x*1)/xG
% xB_center=width/2;
% x_position=xB_center-xB;
% x_position_metre=(x_position*1)/width
%toc
end
end
