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Diffstat (limited to '2004/i/nono/src/ovision/testmap.cc')
-rw-r--r--2004/i/nono/src/ovision/testmap.cc41
1 files changed, 28 insertions, 13 deletions
diff --git a/2004/i/nono/src/ovision/testmap.cc b/2004/i/nono/src/ovision/testmap.cc
index b6a18a6..e7675d4 100644
--- a/2004/i/nono/src/ovision/testmap.cc
+++ b/2004/i/nono/src/ovision/testmap.cc
@@ -4,19 +4,35 @@
#include "oconfig.h"
#include "group.h"
#include "space.h"
-
+//#include "imgFile.h"
int
main()
{
OConfig oconfig("rc/vision.conf");
+ // ImgFile img;
+ // img.ReadRaw("im.jpg");
+ //
+
Img img;
-// img.ReadRaw("im.jpg");
- 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");
+ // img.WriteRGB("test.rgb");
Space space(img.width, img.height);
space.AddSetupPoint (109, 36, -150, 900);
@@ -27,15 +43,14 @@ main()
SegmNN segmNN(&img, &oconfig);
segmNN.BuildNN(oconfig.nn_NbCouleurs, LOAD_FROM_FILE);
- segmNN.Segm();
-
Group group(&img, &segmNN);
+
+ Map map(&oconfig, &space);
+
+ segmNN.Segm();
group.JumpPoints(oconfig.groupColor);
- group.ShowZones();
+ // group.ShowZones();
- Map map(&oconfig, &space);
- map.ShowBalls();
map.AddBallsToMap(&group);
- map.ShowBalls();
-
- }
+// map.ShowBalls();
+}