text: 
  
  #include <ros/ros.h> 
  #include "GXDevice.h"
  #include "StereoCamera.h"
  #include "calibration/Calibrator.h"
  #include "stitching/Stitcher.h"
  
  #include <opencv2/core.hpp>
  #include <opencv2/highgui.hpp>
  #include <opencv2/opencv.hpp>
  
  #include "../tests/StitchTest.cpp"
  #include <chrono>
  
  using namespace vn ; 
  
  int main(int argc, char** argv){
      ros::init(argc, argv,"vision_node"); 
      ros::NodeHandle nh; 
      /*GXDevice VisionDevice; 
       VisionDevice.Init(); 
      std::shared_ptr<StereoCamera> Camera = std::make_shared<StereoCamera>(&VisionDevice); 
      Calibrator calibrator(Camera); 
      Stitcher stitcher(Camera); 
     
  
      
      //calibrator.Calibrate(0); 
      
      /*while(1) {
          Camera->AquireImage(); 
          cv::imshow("window", Camera->GetVideoImage()); 
          if(cv::waitKey(1) == (int)('q')){
              break; 
          }
      }
      cv::namedWindow("StitchedImage"); 
      cv::namedWindow("LeftImage"); 
      cv::namedWindow("RightImage"); 
      while(1) {
          Camera->AquireImage(); 
          stitcher.Stitch(); 
          cv::imshow("StitchedImage", Camera->GetStitchedImage()); 
          cv::imshow("LeftImage", Camera->GetLeftImage()); 
          cv::imshow("RightImage", Camera->GetRightImage()); 
          if(cv::waitKey(1) == (int)('q')){
              break; 
          }
      }
  
      ROS_INFO("STOPPED STREAM"); */
      
      auto start = std::chrono::steady_clock::now(); 
      RunStitchTest(); 
      auto end = std::chrono::steady_clock::now();
      ROS_INFO("Elapsed time in ms: %d", std::chrono::duration_cast<std::chrono::milliseconds>(end-start).count()); 
      ros::shutdown(); 
      return 0; 
  }