generate_graph.cpp

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#include <iostream>
#include <string>

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

#include <bwi_mapper/topological_mapper.h>

int main(int argc, char** argv) {

  if (argc < 3) {
    std::cerr << "USAGE: " << argv[0] 
        << " <yaml-map-file> <yaml-graph-file>" << std::endl;
    return -1;
  }

  bwi_mapper::TopologicalMapper mapper(argv[1]);
  mapper.computeTopologicalGraph(0.3, 0.5, 3.0);
  
  cv::Mat image;
  mapper.drawMap(image);
  mapper.drawPointGraph(image);
  std::string filename(argv[2]);
  mapper.writePointGraphToFile(filename);

  cv::namedWindow("Display window", CV_WINDOW_AUTOSIZE);
  cv::imshow("Display window", image);                

  cv::waitKey(0); // Wait for a keystroke in the window
  return 0;
}