From fb075a07e3347a357e18b7df3795909b0d6f4918 Mon Sep 17 00:00:00 2001 From: gaillaro Date: Sat, 23 Apr 2005 18:58:44 +0000 Subject: * ajout détection des groupes de quilles * essai de detection des vis * detection verticalité --- 2005/i/robert/src/ovision/see/ovision.cc | 31 ++++++------------------------- 1 file changed, 6 insertions(+), 25 deletions(-) (limited to '2005/i/robert/src/ovision/see/ovision.cc') diff --git a/2005/i/robert/src/ovision/see/ovision.cc b/2005/i/robert/src/ovision/see/ovision.cc index 9a74c21..d6a8b0b 100644 --- a/2005/i/robert/src/ovision/see/ovision.cc +++ b/2005/i/robert/src/ovision/see/ovision.cc @@ -17,9 +17,7 @@ OVision::~OVision () delete segm_; delete group_; delete mag_; -// delete map_; -// delete space_; -// delete socket_; + delete space_; } /// Iniialisatoin de toutes les classes @@ -31,29 +29,24 @@ OVision::init (const Group::ZoneType aim) oconfig_ = new OConfig; img_ = new Img; // Initialisation caméra - v4l_ = new Video4Linux ("/dev/video", oconfig_->inputColor); + v4l_ = new Video4Linux ("/dev/video", oconfig_->inputColor, oconfig_->brightness); v4l_->calibrate (); + v4l_->setAdaptive (0); // Prendre une image pour que la taille de l'image soit configuré img_->load (*v4l_); colorTab_ = new ColorTable; segm_ = new SegmTable (*colorTab_); + segm_->setMode (oconfig_->inputColor); group_ = new Group (img_, segm_); mag_ = new Magnifier (img_, segm_, aim_); // Mode de couleur utilisé pour les la segmentation segm_->setMode (oconfig_->inputColor); space_ = new Space (img_->width_, img_->height_); -// map_ = new Map (space); // Calibration des longueurs space_->addSetupPoint (314, 6, 100, 400); space_->addSetupPoint (237, 224, 100, 900); space_->addSetupPoint (275, 113, 100, 550); space_->setup (0.00891157, 0.258144, 403.801); - // Ouverture ou création de la table de couleur - /// Initialisation des socket_s - // socket_ = new SocketClient ("10.42.51.2" , 106560*3); - // socket_->Init (); - - // std::cout << "Chargement OVision ................ OK" << std::endl; } /// Prends une image avec la caméra @@ -82,18 +75,6 @@ OVision::update () space->GetLoc (x, y, x, y); } */ - // Mets à jour la map_ - /* map_->AddBallsToMap (group_); - double balX, balY; - if (map_->GetCurBallPos (balX, balY)) - std::cout << "Balle Courante: " << balX << " " << balY << std::endl; - if (map_->IsTree ()) - { - double treeX, treeY; - map_->GetTreePos (treeX, treeY); - std::cout << "Tree: " << treeX << " " << treeY << std::endl; - } - */ } /// Affiche d'info sur l'update @@ -103,8 +84,8 @@ OVision::showInfo () const std::cout << "-----------------------------------------------------------------" << std::endl; std::cout << "image n°" << step_ << std::endl; // Info sur les zones trouvées - group_->showZones(); - mag_->showItems (Group::redSkittle); +// group_->showZones(); +// mag_->showItems (Group::redSkittle); std::cout << "-------------\n" << std::endl; std::cout << "-------------\n" << std::endl; } -- cgit v1.2.3