#include <segment_expander.h>

Classes
struct	greater1

class	Index

Public Member Functions
std::vector< std::vector< Eigen::Vector2d > >	calcEndpoints (float *_potential)
	looks for crossings and saves all segment endpoints of it More...

std::vector< Segment >	getGraph (const std::vector< std::vector< Eigen::Vector2d >> &_endPoints, float *_potential, const float _min_length, float _optimizePixelsCrossing, const float _optimizePixelsEndSegments)
	returns a list of segments, which represent the found search graph More...

void	Initialize (cv::Mat &_map, cv::Mat &_distField, cv::Mat &_voronoiPath)
	initializes the expander by setting the voronoi path map and distancefield More...

	Segment_Expander ()

Private Member Functions
void	addExpansionCandidate (const Index &current, const Index &next, float *potential)

bool	checkSegmentPoint (const Index &_point)

template<class T , class S , class C >
void	clearpq (std::priority_queue< T, S, C > &q)

std::vector< Eigen::Vector2d >	expandCrossing (const Index &i, float *_potential)

Eigen::Vector2d	expandSegment (Index start, float *_potential, const std::vector< std::vector< Eigen::Vector2d >> &_endpoints)

float	getMinSegmentWidth (const std::vector< Eigen::Vector2d > &_path)

std::vector< Eigen::Vector2d >	getPath (const Index &start, float *_potential, const std::vector< std::vector< Eigen::Vector2d >> &_endpoints)

bool	isEndpoint (Index &_current, const std::vector< std::vector< Eigen::Vector2d >> &_endpoints)

uint32_t	nrOfNeighbours (uint32_t i) const

void	optimizeSegments (std::vector< Segment > &_segments, float _maxPixelsCrossing, float _maxPixelsEndSeg)

void	optimizeSegmentsAroundPoint (std::vector< Segment > &_segments, const Eigen::Vector2d &pt, float maxPixels, int startIndex)

void	removeEndpoint (const Index &_current, std::vector< std::vector< Eigen::Vector2d >> &_endpoints)

void	removeSegmentFromList (const uint32_t _id, std::vector< Segment > &_segments)

const std::vector< tuw_graph::Segment >	splitPath (const std::vector< Eigen::Vector2d > &_path, const float _minimum_length)

Private Attributes
std::unique_ptr< float[]>	distance_field_

bool	findEdgeSegments_ = true

std::unique_ptr< int8_t[]>	global_map_

int	ns_

int	nx_

int	ny_

std::priority_queue< Index, std::vector< Index >, greater1 >	queue_

std::unique_ptr< int8_t[]>	voronoi_graph_

Detailed Description

Definition at line 43 of file segment_expander.h.

Constructor & Destructor Documentation

tuw_graph::Segment_Expander::Segment_Expander ( )

Definition at line 34 of file segment_expander.cpp.

Member Function Documentation

void tuw_graph::Segment_Expander::addExpansionCandidate	(	const Index &	current,
		const Index &	next,
		float *	potential
	)

private

Definition at line 548 of file segment_expander.cpp.

std::vector< std::vector< Eigen::Vector2d > > tuw_graph::Segment_Expander::calcEndpoints ( float * _potential )

looks for crossings and saves all segment endpoints of it

Parameters

_potential voronoi map potential

Returns: a list of crossings which contains all endpoints of the crossing

Definition at line 323 of file segment_expander.cpp.

bool tuw_graph::Segment_Expander::checkSegmentPoint ( const Index & _point )

private

Definition at line 353 of file segment_expander.cpp.

template<class T , class S , class C >

void tuw_graph::Segment_Expander::clearpq ( std::priority_queue< T, S, C > & q )

inlineprivate

Definition at line 81 of file segment_expander.h.

std::vector< Eigen::Vector2d > tuw_graph::Segment_Expander::expandCrossing	(	const Index &	i,
		float *	_potential
	)

private

Definition at line 498 of file segment_expander.cpp.

Eigen::Vector2d tuw_graph::Segment_Expander::expandSegment	(	Segment_Expander::Index	_start,
		float *	_potential,
		const std::vector< std::vector< Eigen::Vector2d >> &	_endpoints
	)

private

Definition at line 439 of file segment_expander.cpp.

std::vector< Segment > tuw_graph::Segment_Expander::getGraph	(	const std::vector< std::vector< Eigen::Vector2d >> &	_endPoints,
		float *	_potential,
		const float	_min_length,
		float	_optimizePixelsCrossing,
		const float	_optimizePixelsEndSegments
	)

returns a list of segments, which represent the found search graph

Parameters

_endPoints	a list of all found endpoints (list of crossings which contain a set of endpoints)
_potential	potential used to expand the pats
_min_length	the minimum length a segment has to have (max = _min_length * 2 - epsilon)
_optimizePixelsCrossing	if crossings have less distance than _optimizePixelsCrossing to each other they are merged
_optimizePixelsEndSegments	if a end segment has less length than this var it is removed

Returns: a list of segments representing the graph

Definition at line 241 of file segment_expander.cpp.

float tuw_graph::Segment_Expander::getMinSegmentWidth ( const std::vector< Eigen::Vector2d > & _path )

private

Definition at line 305 of file segment_expander.cpp.

std::vector< Eigen::Vector2d > tuw_graph::Segment_Expander::getPath	(	const Index &	start,
		float *	_potential,
		const std::vector< std::vector< Eigen::Vector2d >> &	_endpoints
	)

private

Definition at line 375 of file segment_expander.cpp.

void tuw_graph::Segment_Expander::Initialize	(	cv::Mat &	_map,
		cv::Mat &	_distField,
		cv::Mat &	_voronoiPath
	)

initializes the expander by setting the voronoi path map and distancefield

Parameters

_map	the map
_distField	the distance_field generated from the map (e.g.: opencv distance_transform)
_voronoiPath	the generated voronoi path out of the distance field (e.g.: ridge following; zhang suen thinning...)

Definition at line 38 of file segment_expander.cpp.

bool tuw_graph::Segment_Expander::isEndpoint	(	Segment_Expander::Index &	_current,
		const std::vector< std::vector< Eigen::Vector2d >> &	_endpoints
	)

private

Definition at line 662 of file segment_expander.cpp.

uint32_t tuw_graph::Segment_Expander::nrOfNeighbours ( uint32_t i ) const

private

Definition at line 578 of file segment_expander.cpp.

void tuw_graph::Segment_Expander::optimizeSegments	(	std::vector< Segment > &	_segments,
		float	_maxPixelsCrossing,
		float	_maxPixelsEndSeg
	)

private

Definition at line 61 of file segment_expander.cpp.

void tuw_graph::Segment_Expander::optimizeSegmentsAroundPoint	(	std::vector< Segment > &	_segments,
		const Eigen::Vector2d &	pt,
		float	maxPixels,
		int	startIndex
	)

private

Definition at line 121 of file segment_expander.cpp.

void tuw_graph::Segment_Expander::removeEndpoint	(	const Index &	_current,
		std::vector< std::vector< Eigen::Vector2d >> &	_endpoints
	)

private

Definition at line 635 of file segment_expander.cpp.

void tuw_graph::Segment_Expander::removeSegmentFromList	(	const uint32_t	_id,
		std::vector< Segment > &	_segments
	)

private

Definition at line 102 of file segment_expander.cpp.

const std::vector< tuw_graph::Segment > tuw_graph::Segment_Expander::splitPath	(	const std::vector< Eigen::Vector2d > &	_path,
		const float	_minimum_length
	)

private

Definition at line 199 of file segment_expander.cpp.

Member Data Documentation

std::unique_ptr<float[]> tuw_graph::Segment_Expander::distance_field_

private

Definition at line 74 of file segment_expander.h.

bool tuw_graph::Segment_Expander::findEdgeSegments_ = true

private

Definition at line 77 of file segment_expander.h.

std::unique_ptr<int8_t[]> tuw_graph::Segment_Expander::global_map_

private

Definition at line 76 of file segment_expander.h.

int tuw_graph::Segment_Expander::ns_

private

Definition at line 78 of file segment_expander.h.

int tuw_graph::Segment_Expander::nx_

private

Definition at line 78 of file segment_expander.h.

int tuw_graph::Segment_Expander::ny_

private

Definition at line 78 of file segment_expander.h.

std::priority_queue<Index, std::vector<Index>, greater1> tuw_graph::Segment_Expander::queue_

private

Definition at line 133 of file segment_expander.h.

std::unique_ptr<int8_t[]> tuw_graph::Segment_Expander::voronoi_graph_

private

Definition at line 75 of file segment_expander.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation