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-rw-r--r--2004/i/nono/src/ovision/test_ovision.cc71
1 files changed, 71 insertions, 0 deletions
diff --git a/2004/i/nono/src/ovision/test_ovision.cc b/2004/i/nono/src/ovision/test_ovision.cc
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+++ b/2004/i/nono/src/ovision/test_ovision.cc
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+
+#include "video4linux/video4linux.h"
+#include "map.h"
+#include "oconfig.h"
+#include "group.h"
+#include "space.h"
+
+int
+main()
+{
+ /////////////////////////////////////////////////////////////////////////////////////////
+ /// Initialisation des classes
+ OConfig oconfig("rc/vision.conf");
+
+ Img img;
+ Video4Linux::ColorSpace cs;
+ cs = Video4Linux::rgb;
+ Video4Linux v4l("/dev/video", cs, 55000);
+ v4l.calibrate ();
+
+ Space space(img.width, img.height, &oconfig);
+ space.AddSetupPoint (230, 16, 30, 300);
+ space.AddSetupPoint (208, 168, 40, 600);
+ space.AddSetupPoint (201, 230, 50, 900);
+ space.Setup ();
+
+ SegmNN segmNN(&img, &oconfig);
+ segmNN.BuildNN(oconfig.nn_NbCouleurs, LOAD_FROM_FILE);
+
+ Group group(&img, &segmNN);
+
+ Map map(&oconfig, &space);
+ /////////////////////////////////////////////////////////////////////////////////////////
+
+
+ /////////////////////////////////////////////////////////////////////////////////////////
+ /// Prends une image a partir de la camera et l'analyse
+ char filename[30];
+ int i = 0;
+ while (1)
+ {
+ std::cout << "-----------------------------------------------------------------" << std::endl;
+ std::cout << "image n°" << i << std::endl;
+ img.load(v4l);
+ img.load(v4l);
+ sprintf(filename, "test%i.rgb", i);
+ img.WriteRGB(filename);
+ segmNN.Segm();
+
+ group.JumpPoints(oconfig.groupColor);
+ group.ShowZones();
+ std::cout << "-------------\n" << std::endl;
+ if (group.zoneListBall)
+ {
+ int x,y;
+ double angle;
+ x = group.zoneListBall->centerx - img.width/2;
+ y = img.height - group.zoneListBall->centery;
+ std::cout << x << " " << y << std::endl;
+ space.GetLoc(0, y, x, y);
+ std::cout << y << std::endl;
+
+ }
+ std::cout << "-------------\n" << std::endl;
+
+ getchar();
+ i++;
+ }
+ /////////////////////////////////////////////////////////////////////////////////////////
+}
+