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00039 #include <bwi_mapper/topological_mapper.h>
00040
00041 #include <opencv2/core/core.hpp>
00042 #include <opencv2/highgui/highgui.hpp>
00043
00044 int main(int argc, char** argv) {
00045
00046 if (argc < 3) {
00047 std::cerr << "USAGE: " << argv[0]
00048 << " <yaml-map-file> <yaml-graph-file>" << std::endl;
00049 return -1;
00050 }
00051
00052 bwi_mapper::TopologicalMapper mapper(argv[1]);
00053 bwi_mapper::Graph graph;
00054 nav_msgs::MapMetaData info;
00055 mapper.getMapInfo(info);
00056 bwi_mapper::readGraphFromFile(argv[2], info, graph);
00057
00058 cv::Mat image;
00059 mapper.drawMap(image);
00060 bwi_mapper::drawGraph(image, graph);
00061
00062 cv::namedWindow("Display window", CV_WINDOW_AUTOSIZE);
00063 cv::imshow("Display window", image);
00064
00065 cv::waitKey(0);
00066 return 0;
00067 }
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