voronoi_graph_generator.cpp

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/*
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#include <tuw_voronoi_graph/voronoi_graph_generator.h>
 
 
namespace tuw_graph
{
    VoronoiGraphGenerator::VoronoiGraphGenerator()
    {
 
    }
 
    std::vector<Segment> VoronoiGraphGenerator::calcSegments(cv::Mat &_map, cv::Mat &_distField, cv::Mat &_voronoiPath, float* potential, float _path_length, float _optimizeCrossingPixels, float _optimizeEndSegmentsPixel)
    {
        Segment_Expander exp;
        exp.Initialize(_map, _distField, _voronoiPath);
        std::vector<std::vector<Eigen::Vector2d>> points = exp.calcEndpoints(potential);
        std::vector<std::pair<Eigen::Vector2d, Eigen::Vector2d>> segments;
 
 
        int nx = _map.cols;
        int ny = _map.rows;
 
        exp.Initialize(_map, _distField, _voronoiPath);
        std::fill(potential, potential + nx * ny, -1);
 
        std::vector<Segment> segs = exp.getGraph(points, potential, _path_length, _optimizeCrossingPixels, _optimizeEndSegmentsPixel);
 
        for(uint32_t i = 0; i < segs.size(); i++)
        {
            std::vector<uint32_t> predecessors = segs[i].getPredecessors();
            std::vector<uint32_t> successors = segs[i].getSuccessors();
        }
 
 
        return std::vector<Segment>(segs);
    }
}