// test_group.cc // robert - Programme du robot APBteam // Copyright (C) 2005 Olivier Gaillard #include #include #include #include "segmLearn.hh" #include "segmTable.hh" #include "colorTable.hh" #include "oconfig.hh" #include "group.hh" #include "imgInterface.hh" int main(int argc, char **argv) { ///////////////////////////////////////////////////////////////////////////////////////// /// Initialisation des classes OConfig *oconfig_; try { oconfig_ = new OConfig; } catch (std::string &e) { std::cerr << e << std::endl; return 1; } ImgInterface img; img.loadRaw ("../runtime/shots/test.rgb", Image::rgb, oconfig_->width, oconfig_->height); SegmLearn segm; segm.buildNN (oconfig_->nnNbColor, Segm::loadFromFile); Group group(&img, &segm); ///////////////////////////////////////////////////////////////////////////////////////// /// Initialise les couleurs à chercher std::vector colorList; ObjectColor tmp; tmp.label = "ball"; tmp.color = 4; colorList.push_back (tmp); ///////////////////////////////////////////////////////////////////////////////////////// /// Cherche les groupes group.jumpPoints(colorList); group.showZones(); //////////////////////////////////////////////////////////////////////////////////////// /// Crée une image pour afficher les groups group.jumpPoints(colorList); std::vector &test = group.getZoneList (); img.doGroupImg (test); img.doImg (img.getTabSegm ()); img.writeRaw ("../runtime/shots/group.rgb", img.getTabOut ()); }