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// robert - programme du robot 2005 
// 
// Copyright (C) 2005 Olivier Gaillard
//
// Robot APB Team/Efrei 2005.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
// 
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

#ifndef imgInterface_h
#define imgInterface_h

#include "img.hh"
#include "group.hh"

/// Chargement des images, conversion en YUV, HSI, detection des contours, 
/// transformation d'une image segmentee en RGB, ecriture de l'image sur le disque
class ImgInterface : public Img
{
    /// Image des groupes
    unsigned char *tabOut_;
    /// tableau de couleur utlisation pour la creation de l'image segmentee
    static const unsigned char tabCol_[][3]; 

  public:
    ImgInterface ();
    /// Destructeur
    ~ImgInterface (void);
    /// Transformation d'un tableau de valeurs segmentees en RGB
    void doImg (const unsigned char *tabIn = 0);
    /// Ajoute les coutours autour des balles trouv�es
    void addGroupToDisplay (unsigned char *tab, const std::vector<Zone> &list);
    /// Mirroir l'image
    void mirror ();
    /// Creation du tableau de RGB pour faire une image 
    void doGroupImg (const std::vector<Zone> &zoneList, bool init=true);
    ///
    unsigned char* getTabOut () {return tabOut_;}
    unsigned char* getTabSegm () {return tabSegm_;}

  private:
    /// Dessine des contours autour d'un objet
    void drawBox (unsigned char *tab, const  std::vector<Zone> &list);
};

#endif // imgInterface_h