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-rw-r--r--2004/i/nono/src/ovision/test_ovision.cc27
1 files changed, 17 insertions, 10 deletions
diff --git a/2004/i/nono/src/ovision/test_ovision.cc b/2004/i/nono/src/ovision/test_ovision.cc
index 1a10385..8e4956b 100644
--- a/2004/i/nono/src/ovision/test_ovision.cc
+++ b/2004/i/nono/src/ovision/test_ovision.cc
@@ -5,6 +5,7 @@
#include "oconfig.h"
#include "group.h"
#include "space.h"
+#include <stdlib.h>
int
main()
@@ -19,18 +20,18 @@ main()
Video4Linux v4l("/dev/video", cs, 55000);
v4l.calibrate ();
- Space space(img.width, img.height, &oconfig);
+ Space space(img.width, img.height);
space.AddSetupPoint (356, 23, 300, 300);
space.AddSetupPoint (283, 171, 600, 600);
space.AddSetupPoint (253, 234, 1000, 900);
space.Setup ();
- SegmNN segmNN(&img, &oconfig);
+ SegmNN segmNN(&img);
segmNN.BuildNN(oconfig.nn_NbCouleurs, LOAD_FROM_FILE);
Group group(&img, &segmNN);
- Map map(&oconfig, &space);
+ Map map(&space);
/////////////////////////////////////////////////////////////////////////////////////////
@@ -45,26 +46,32 @@ main()
img.load(v4l);
img.load(v4l);
sprintf(filename, "test%i.rgb", i);
- img.WriteRGB(filename);
+// img.WriteRGB(filename);
// segmNN.Segm();
group.JumpPoints(oconfig.groupColor, oconfig.goalColor);
group.ShowZones();
std::cout << "-------------\n" << std::endl;
- if (group.zoneListBall)
+
+ ZONE *pCur = group.zoneListBall;
+
+ int j=0;
+ while (pCur)
{
int x,y;
- double angle;
x = group.zoneListBall->centerx;
y = img.height - group.zoneListBall->centery;
space.GetLoc(x, y, x, y);
- std::cout << x << " " << y << std::endl;
- std::cout << y << std::endl;
-
+ std::cout << j << ":" << x << " " << y << std::endl;
+ pCur = pCur->next;
}
std::cout << "-------------\n" << std::endl;
+ std::cout << "Map:\n" << std::endl;
+ map.AddBallsToMap (&group);
+ map.ShowBalls ();
- getchar();
+ sleep(1);
+
i++;
}
/////////////////////////////////////////////////////////////////////////////////////////