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#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 (109, 36, 150, 900);
    space.AddSetupPoint (84, 102, 150, 600);
    space.AddSetupPoint (50, 259, 150, 300);
    space.Setup (0.00603759, 0.593767, 291.474);

    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();
}