int main(int argc, char** argv) {
ros::init(argc, argv, "stereo_vslam");
if (argc < 4) {
printf("Usage: %s <vocab tree file> <vocab weights file> <calonder trees file>\n", argv[0]);
return 1;
}
StereoVslamNode vslam(argv[1], argv[2], argv[3]);
ros::spin();
}
void StrategyController::scanArea(){
Route * route = new Route();
Map MapCopy = *map;
VSLAM vslam(&MapCopy, &virtualrosbee,route, &virtuallidar);
MapCopy.setScale(30);
while (MapCopy.contains(0)){
vslam.run();
std::cout << "get char" << std::endl;
virtuallidar.start(virtualrosbee.getVirtualRosbeeLocationX(),virtualrosbee.getVirtualRosbeeLocationY(),virtualrosbee.getVirtualRosbeeFlank());
getchar();
std::cout << "got char" << std::endl;
MapCopy.print();
}
MapCopy.print();
std::cout << "ScanAreaDone";
getchar();
}
