test_graph.cpp
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00001 
00039 #include <iostream>
00040 #include <string>
00041 
00042 #include <opencv2/core/core.hpp>
00043 #include <opencv2/highgui/highgui.hpp>
00044 
00045 #include <bwi_mapper/topological_mapper.h>
00046 
00047 int main(int argc, char** argv) {
00048 
00049   if (argc != 2) {
00050     std::cerr << "USAGE: " << argv[0] << " <yaml-map-file>" << std::endl;
00051     return -1;
00052   }
00053 
00054   bwi_mapper::TopologicalMapper mapper(argv[1]);
00055   cv::Mat image;
00056   mapper.computeTopologicalGraph(0.3, 0.5, 3.0);
00057   
00058   mapper.drawOutput(image);
00059   mapper.saveOutput();
00060 
00061   cv::namedWindow("Display window", CV_WINDOW_AUTOSIZE);
00062   cv::imshow("Display window", image);                
00063 
00064   cv::waitKey(0); // Wait for a keystroke in the window
00065   return 0;
00066 }
00067 
00068 


bwi_mapper
Author(s): Piyush Khandelwal
autogenerated on Thu Jun 6 2019 17:57:21