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-rw-r--r--2004/i/nono/src/ovision/test_ovision.cc75
1 files changed, 4 insertions, 71 deletions
diff --git a/2004/i/nono/src/ovision/test_ovision.cc b/2004/i/nono/src/ovision/test_ovision.cc
index 8e4956b..0272af9 100644
--- a/2004/i/nono/src/ovision/test_ovision.cc
+++ b/2004/i/nono/src/ovision/test_ovision.cc
@@ -1,79 +1,12 @@
-#include <cstdio>
+#include "ovision.h"
+
-#include "video4linux/video4linux.h"
-#include "map.h"
-#include "oconfig.h"
-#include "group.h"
-#include "space.h"
-#include <stdlib.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);
- space.AddSetupPoint (356, 23, 300, 300);
- space.AddSetupPoint (283, 171, 600, 600);
- space.AddSetupPoint (253, 234, 1000, 900);
- space.Setup ();
-
- SegmNN segmNN(&img);
- segmNN.BuildNN(oconfig.nn_NbCouleurs, LOAD_FROM_FILE);
-
- Group group(&img, &segmNN);
-
- Map map(&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, oconfig.goalColor);
- group.ShowZones();
- std::cout << "-------------\n" << std::endl;
-
- ZONE *pCur = group.zoneListBall;
-
- int j=0;
- while (pCur)
- {
- int x,y;
- x = group.zoneListBall->centerx;
- y = img.height - group.zoneListBall->centery;
- space.GetLoc(x, y, x, y);
- 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 ();
+ OVision ovision;
- sleep(1);
-
- i++;
- }
- /////////////////////////////////////////////////////////////////////////////////////////
+ return 0;
}