def __init__(self, world, filename=None, simulator=None):
logging.info('Initialising vision')
if simulator:
self.capture = SimCapture(simulator)
else:
self.capture = MPlayerCapture(self.rawSize, filename)
#self.capture = Capture(self.rawSize, filename)
self.threshold = threshold.PrimaryRaw()
self.pre = Preprocessor(self.rawSize, self.threshold, simulator)
self.featureEx = FeatureExtraction(self.pre.cropSize)
self.interpreter = Interpreter()
self.world = world
self.gui = GUI(world, self.pre.cropSize, self.threshold)
self.histogram = Histogram(self.pre.cropSize)
self.times = []
self.N = 0
debug.thresholdValues(self.threshold.Tfg, self.gui)
logging.debug('Vision initialised')
