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Diffstat (limited to '2004/i/nono/src/ovision/testmap.cc')
-rw-r--r--2004/i/nono/src/ovision/testmap.cc55
1 files changed, 26 insertions, 29 deletions
diff --git a/2004/i/nono/src/ovision/testmap.cc b/2004/i/nono/src/ovision/testmap.cc
index e7675d4..191156c 100644
--- a/2004/i/nono/src/ovision/testmap.cc
+++ b/2004/i/nono/src/ovision/testmap.cc
@@ -1,5 +1,7 @@
+#include "imgFile.h"
#include "image/raw_loader.h"
+#include "video4linux/video4linux.h"
#include "map.h"
#include "oconfig.h"
#include "group.h"
@@ -10,47 +12,42 @@ main()
{
OConfig oconfig("rc/vision.conf");
- // ImgFile img;
- // img.ReadRaw("im.jpg");
+ ImgFile img;
+ img.ReadRaw("test3.jpg");
//
-
+/*
Img img;
+ RawLoader rawLoader("im2000.rgb", 360, 296, ImageLoader::rgb);
+ img.load(rawLoader);
+
- // RawLoader rawLoader("im2000.rgb", 360, 296, ImageLoader::rgb);
- // img.load(rawLoader);
-
- Video4Linux::ColorSpace cs;
- cs = Video4Linux::yuv;
- Video4Linux vid ("/dev/video", cs);
- vid.calibrate ();
- int w, h;
- vid.getSize (w, h);
- std::cout << w << ' ' << h << std::endl;
- int s;
- s = vid.getBufSize ();
- unsigned char *buf = new unsigned char[s];
- s = vid.read (buf, s);
-
- img.RGBtoYUV();
- // img.WriteRGB("test.rgb");
-
- Space space(img.width, img.height);
- space.AddSetupPoint (109, 36, -150, 900);
- space.AddSetupPoint (84, 102, -150, 600);
- space.AddSetupPoint (50, 259, -150, 300);
+
+/* Video4Linux::ColorSpace cs;
+ cs = Video4Linux::rgb;
+ Video4Linux v4l("/dev/video", cs, 30000);
+ v4l.calibrate ();
+ img.load(v4l);
+ */
+ if ((oconfig.colorMode == YUV) && (!img.yuv)) img.RGBtoYUV();
+ img.WriteRGB("test.rgb");
+
+ Space space(img.width, img.height, &oconfig);
+ space.AddSetupPoint (109, 36, 150, 900);
+ space.AddSetupPoint (84, 102, 150, 600);
+ space.AddSetupPoint (50, 259, 150, 300);
space.Setup ();
SegmNN segmNN(&img, &oconfig);
segmNN.BuildNN(oconfig.nn_NbCouleurs, LOAD_FROM_FILE);
Group group(&img, &segmNN);
-
+
Map map(&oconfig, &space);
-
+
segmNN.Segm();
group.JumpPoints(oconfig.groupColor);
- // group.ShowZones();
+ group.ShowZones();
map.AddBallsToMap(&group);
-// map.ShowBalls();
+ // map.ShowBalls();
}