The voronoi approximator API. Inherits MapLoader to directly load a map from file and be able to draw a map. More...
#include <voronoi_approximator.h>
Public Member Functions | |
| void | drawOutput (cv::Mat &image) |
| Draws the base map and voronoi points on to image. Should be only used for testing the output for Voronoi Approximator. | |
| void | drawVoronoiPoints (cv::Mat &image, uint32_t orig_x=0, uint32_t orig_y=0) |
| Draw voronoi points onto image starting at (orig_x, orig_y) | |
| void | findVoronoiPoints (double threshold, bool use_naive=false, int sub_pixel_sampling=1) |
| Computes the points that lie on the Voronoi Graph using an approximate strategy useful for voronoi approximation during mapping. | |
| void | printVoronoiPoints () |
| Prints information about all the voronoi points to screen. Used for testing the output for Voronoi Approximator. | |
| VoronoiApproximator (const std::string &fname) | |
| Constructor. Initializes map_resp_ from given file. Only used to call the base class constructor. | |
Protected Attributes | |
| nav_msgs::OccupancyGrid | inflated_map_ |
| inflated map used to throw out points too close to obstacle | |
| bool | initialized_ |
| Safety check to make sure findVoronoiPoints has been called. | |
| std::vector< VoronoiPoint > | voronoi_points_ |
| the compute voronoi points are placed in here | |
Detailed Description
The voronoi approximator API. Inherits MapLoader to directly load a map from file and be able to draw a map.
Definition at line 57 of file voronoi_approximator.h.
Constructor & Destructor Documentation
| bwi_mapper::VoronoiApproximator::VoronoiApproximator | ( | const std::string & | fname | ) | [inline] |
Constructor. Initializes map_resp_ from given file. Only used to call the base class constructor.
- Parameters:
-
fname absolute or relative system file location for the YAML file
Definition at line 67 of file voronoi_approximator.h.
Member Function Documentation
| void bwi_mapper::VoronoiApproximator::drawOutput | ( | cv::Mat & | image | ) |
Draws the base map and voronoi points on to image. Should be only used for testing the output for Voronoi Approximator.
- Parameters:
-
image OpenCV image we are drawing output on
Reimplemented in bwi_mapper::TopologicalMapper.
Definition at line 206 of file voronoi_approximator.cpp.
| void bwi_mapper::VoronoiApproximator::drawVoronoiPoints | ( | cv::Mat & | image, |
| uint32_t | orig_x = 0, |
||
| uint32_t | orig_y = 0 |
||
| ) |
Draw voronoi points onto image starting at (orig_x, orig_y)
- Parameters:
-
image OpenCV image we are writing the map onto
Definition at line 237 of file voronoi_approximator.cpp.
| void bwi_mapper::VoronoiApproximator::findVoronoiPoints | ( | double | threshold, |
| bool | is_naive = false, |
||
| int | sub_pixel_sampling = 1 |
||
| ) |
Computes the points that lie on the Voronoi Graph using an approximate strategy useful for voronoi approximation during mapping.
- Parameters:
-
threshold minimum obstacle distance in meters Any point which is less than threshold away from an obstacle is rejected as a voronoi candidate. This allows for not caring about minor breaks in a wall which can happen for any SLAM algorithm
Definition at line 63 of file voronoi_approximator.cpp.
Prints information about all the voronoi points to screen. Used for testing the output for Voronoi Approximator.
Definition at line 220 of file voronoi_approximator.cpp.
Member Data Documentation
nav_msgs::OccupancyGrid bwi_mapper::VoronoiApproximator::inflated_map_ [protected] |
inflated map used to throw out points too close to obstacle
Definition at line 108 of file voronoi_approximator.h.
bool bwi_mapper::VoronoiApproximator::initialized_ [protected] |
Safety check to make sure findVoronoiPoints has been called.
Definition at line 111 of file voronoi_approximator.h.
std::vector<VoronoiPoint> bwi_mapper::VoronoiApproximator::voronoi_points_ [protected] |
the compute voronoi points are placed in here
Definition at line 105 of file voronoi_approximator.h.
The documentation for this class was generated from the following files: