#include "imgFile.h" #include "image/raw_loader.h" #include "video4linux/video4linux.h" #include "map.h" #include "oconfig.h" #include "group.h" #include "space.h" //#include "imgFile.h" int main() { OConfig oconfig("rc/vision.conf"); ImgFile img; img.ReadRaw("test3.jpg"); // /* Img img; RawLoader rawLoader("im2000.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, &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(); map.AddBallsToMap(&group); // map.ShowBalls(); }