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+// img.cc - Classe Image
+// nono - Programme du robot Efrei Robotique I1-I2 2004
+// Copyright (C) 2004 Olivier Gaillard
+
+#include "segmNN.h"
+#include "oconfig.h"
+#include "group.h"
+#include "video4linux/video4linux.h"
+#include <iostream>
+using namespace std;
+
+
+
+
+int main(int argc, char **argv) {
+ Img img;
+
+ OConfig config("rc/vision.conf");
+
+
+ if (argv[1]) ; //img.ReadRaw(argv[1]);
+ else
+ {
+ Video4Linux v4l ("/dev/video", ImageLoader::yuv, 40000);
+ v4l.calibrate ();
+ img.load (v4l);
+ }
+
+ img.WriteRGB ("toto.yuv");
+ // img.EdgeDetect();
+ // img.RGBtoHSI();
+ // img.RGBtoYUV();
+
+ SegmNN segmNN(&img, &config);
+ segmNN.BuildNN(config.nn_NbCouleurs, LOAD_FROM_FILE);
+
+ // segmNN.TrainNN();
+ // segmNN.ShowNodes();
+ segmNN.Segm();
+ // config.node = segmNN.node;
+ // config.CreateNNFile("rc/poids", config.colorMode, segmNN.nbOutput);
+ // img.WriteSegm("NN.jpg", segmNN.tabSegm);
+
+
+ // segmNN.CreateThresholds("threshold");
+ // config.LoadThFile();
+ // SegmTh segmTh(&img, &config);
+ // segmTh.Segm();
+ // img.WriteSegm("Th.jpg", segmTh.tabSegm);
+ // segmNN.TestNN();
+
+
+ // Group group(&img, &segmNN);
+ // group.JumpPoints(config.groupColor);
+
+ /* Space space(img.width, img.height);
+ //if (group.zoneList) space.SetDist(group.zoneList[0], 10);
+ space.DoDistTab();
+ space.ShowTab();
+ space.DoIndexTab();
+ // cout << space.GetDist(54) << endl;
+ // cout << space.GetDist(155) << endl;
+ */
+ //Vec vOrig(10, 5);
+ //Vec vDir(1,2);
+ // space.GetPos(&vOrig, &vDir, -0.785);
+
+ // img.WriteSegm("group.jpg",group.tabOut);
+
+
+}
+