Index: trunk/demos/CircleFollower/simulator/src/main.cpp
===================================================================
--- trunk/demos/CircleFollower/simulator/src/main.cpp	(revision 122)
+++ trunk/demos/CircleFollower/simulator/src/main.cpp	(revision 123)
@@ -18,5 +18,4 @@
 #include <SimuImu.h>
 #ifdef GL
-#include <SimuCameraGL.h>
 #include <Parser.h>
 #include <Man.h>
@@ -94,6 +93,4 @@
 #ifdef GL
     SimuUsGL* us_gl;
-
-    Camera *cam_av,*cam_bas;
     Parser *gui;
     Man *man;
@@ -106,5 +103,5 @@
 
 #ifdef GL
-    gui=new Parser(simu,960,480,640,480,media_path,scene_file);
+    gui=new Parser(simu,1024,768,1024,768,media_path,scene_file);
 #endif
 
@@ -119,6 +116,5 @@
 #ifdef GL
     us_gl=new SimuUsGL(drone,"us",0);
-    cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
-    cam_av=new SimuCameraGL(drone,"front camera",320,240,640,240,1);
+    
 
     man=new Man(simu,"target");
Index: trunk/demos/CircleFollower/uav/CMakeLists.txt
===================================================================
--- trunk/demos/CircleFollower/uav/CMakeLists.txt	(revision 122)
+++ trunk/demos/CircleFollower/uav/CMakeLists.txt	(revision 123)
@@ -5,4 +5,5 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 SET(FLAIR_USE_VRPN TRUE)
Index: trunk/demos/Gps/simulator/src/main.cpp
===================================================================
--- trunk/demos/Gps/simulator/src/main.cpp	(revision 122)
+++ trunk/demos/Gps/simulator/src/main.cpp	(revision 123)
@@ -19,5 +19,4 @@
 #include <SimuGps.h>
 #ifdef GL
-#include <SimuCameraGL.h>
 #include <Parser.h>
 #include <Man.h>
@@ -96,6 +95,4 @@
 #ifdef GL
     SimuUsGL *us_gl;
-
-    Camera *cam_av,*cam_bas;
     Parser *gui;
     Man *man;
@@ -108,5 +105,5 @@
 
 #ifdef GL
-    gui=new Parser(simu,960,480,640,480,media_path,scene_file);
+    gui=new Parser(simu,1024,768,1024,768,media_path,scene_file);
 #endif
 
@@ -121,7 +118,4 @@
 #ifdef GL
     us_gl=new SimuUsGL(drone,"us",0);
-    cam_bas=new SimuCameraGL(drone,"bottom camera",320,240,640,0,0);
-    cam_av=new SimuCameraGL(drone,"front camera",320,240,640,240,1);
-
     man=new Man(simu,"target");
 #endif
Index: trunk/demos/Gps/uav/CMakeLists.txt
===================================================================
--- trunk/demos/Gps/uav/CMakeLists.txt	(revision 122)
+++ trunk/demos/Gps/uav/CMakeLists.txt	(revision 123)
@@ -5,6 +5,8 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 SET(FLAIR_USE_GPS TRUE)
+
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
Index: trunk/demos/OpticalFlow/simulator/CMakeLists.txt
===================================================================
--- trunk/demos/OpticalFlow/simulator/CMakeLists.txt	(revision 122)
+++ trunk/demos/OpticalFlow/simulator/CMakeLists.txt	(revision 123)
@@ -5,4 +5,5 @@
 SET(FLAIR_USE_SIMULATOR TRUE)
 SET(FLAIR_USE_SIMULATOR_GL TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 
 include($ENV{FLAIR_ROOT}/flair-dev/cmake-modules/GlobalCmakeFlair.cmake)
Index: trunk/demos/OpticalFlow/uav/CMakeLists.txt
===================================================================
--- trunk/demos/OpticalFlow/uav/CMakeLists.txt	(revision 122)
+++ trunk/demos/OpticalFlow/uav/CMakeLists.txt	(revision 123)
@@ -4,6 +4,6 @@
 SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
 SET(FLAIR_USE_FILTER TRUE)
-#SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 
Index: trunk/demos/OpticalFlow/uav/src/main.cpp
===================================================================
--- trunk/demos/OpticalFlow/uav/src/main.cpp	(revision 122)
+++ trunk/demos/OpticalFlow/uav/src/main.cpp	(revision 123)
@@ -18,5 +18,5 @@
 #include <tclap/CmdLine.h>
 #include <TargetEthController.h>
-#include <init.h>
+#include <VisionFilter.h>
 
 using namespace TCLAP;
@@ -41,4 +41,8 @@
     parseOptions(argc,argv);
 
+		if(!InitVisionFilter("file="+dsp_file)) {
+			exit(1);
+		}
+		
     FrameworkManager *manager;
     manager= new FrameworkManager(name);
@@ -46,5 +50,4 @@
     manager->SetupUserInterface(xml_file);
     manager->SetupLogger(log_path);
-    SetupDSP(dsp_file);
 
     Uav* drone=CreateUav(name,uav_type);
@@ -57,5 +60,5 @@
     delete manager;
 
-    CloseDSP();
+    CloseVisionFilter();
 }
 
Index: trunk/demos/SimpleFleet/uav/CMakeLists.txt
===================================================================
--- trunk/demos/SimpleFleet/uav/CMakeLists.txt	(revision 122)
+++ trunk/demos/SimpleFleet/uav/CMakeLists.txt	(revision 123)
@@ -5,4 +5,5 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 SET(FLAIR_USE_VRPN TRUE)
Index: trunk/demos/Skeletons/CustomReferenceAngles/CMakeLists.txt
===================================================================
--- trunk/demos/Skeletons/CustomReferenceAngles/CMakeLists.txt	(revision 122)
+++ trunk/demos/Skeletons/CustomReferenceAngles/CMakeLists.txt	(revision 123)
@@ -5,4 +5,5 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 
Index: trunk/demos/Skeletons/CustomTorques/CMakeLists.txt
===================================================================
--- trunk/demos/Skeletons/CustomTorques/CMakeLists.txt	(revision 122)
+++ trunk/demos/Skeletons/CustomTorques/CMakeLists.txt	(revision 123)
@@ -5,4 +5,5 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
+SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 
