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#include <cstdio>

#include "video4linux/video4linux.h"
#include "map.h"
#include "oconfig.h"
#include "group.h"
#include "space.h"

int 
main()
{
    /////////////////////////////////////////////////////////////////////////////////////////
    /// Initialisation des classes
    OConfig oconfig("rc/vision.conf");

    Img img;
    Video4Linux::ColorSpace cs;
    cs = Video4Linux::rgb;
    Video4Linux v4l("/dev/video", cs, 55000);
    v4l.calibrate ();

    Space space(img.width, img.height, &oconfig);
    space.AddSetupPoint (356, 23, 300, 300);
    space.AddSetupPoint (283, 171, 600, 600);
    space.AddSetupPoint (253, 234, 1000, 900);
    space.Setup ();

    SegmNN segmNN(&img, &oconfig);
    segmNN.BuildNN(oconfig.nn_NbCouleurs, LOAD_FROM_FILE);

    Group group(&img, &segmNN);

    Map map(&oconfig, &space);
    /////////////////////////////////////////////////////////////////////////////////////////


    /////////////////////////////////////////////////////////////////////////////////////////
    /// Prends une image a partir de la camera  et l'analyse
    char filename[30];
    int i = 0;
    while (1)
      {
	std::cout << "-----------------------------------------------------------------" << std::endl;
	std::cout << "image n�" << i << std::endl;
	img.load(v4l);
	img.load(v4l);
	sprintf(filename, "test%i.rgb", i);
	img.WriteRGB(filename);
//	segmNN.Segm();
    
	group.JumpPoints(oconfig.groupColor, oconfig.goalColor);
	group.ShowZones();
	std::cout << "-------------\n" << std::endl;
	if (group.zoneListBall)
	  {
	    int x,y;
	    double angle;
	    x = group.zoneListBall->centerx;
	    y = img.height -  group.zoneListBall->centery;
	    space.GetLoc(x, y, x, y);
	    std::cout << x << "    " << y << std::endl;
	    std::cout << y << std::endl;

	  }
	std::cout << "-------------\n" << std::endl;

	getchar();
	i++;
      }
    /////////////////////////////////////////////////////////////////////////////////////////
}