#include "img.h" #include "image/raw_loader.h" #include "video4linux/video4linux.h" #include "map.h" #include "oconfig.h" #include "group.h" #include "space.h" #include "segmLearn.h" //#include "imgFile.h" int main() { OConfig oconfig("rc/vision.conf"); Img img; RawLoader rawLoader("test.rgb", 360, 296, ImageLoader::rgb); img.load(rawLoader); /* 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); 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); SegmLearn segmNN(&img); segmNN.BuildNN(oconfig.nn_NbCouleurs, LOAD_FROM_FILE); // segmNN.DoColorTable (); Group group(&img, &segmNN); Map map(&space); group.JumpPoints(oconfig.groupColor); group.ShowZones(); map.AddBallsToMap(&group); map.ShowBalls(); }