Computes the 2 variants of the topological graph using the voronoi approximator. More...

#include <topological_mapper.h>

Inheritance diagram for bwi_mapper::TopologicalMapper:

Public Member Functions
void	computeTopologicalGraph (double threshold, double critical_epsilon, double merge_threshold)
	computes the topological graph given the threshold for VoronoiApproximator and a parameter controlling the size of critical regions.
void	drawConnectedComponents (cv::Mat &image, uint32_t orig_x=0, uint32_t orig_y=0)
	draws colored regions corresponding to each critical region onto a given image starting at (orig_x, orig_y)
void	drawCriticalPoints (cv::Mat &image, uint32_t orig_x=0, uint32_t orig_y=0)
	draws critical points and lines onto a given image starting at (orig_x, orig_y)
void	drawOutput (cv::Mat &image)
	Draws the base map, voronoi points and critical points, lines and regions on to image. Should be only used for testing the output for Topological Mapper.
void	drawPointGraph (cv::Mat &image, uint32_t orig_x=0, uint32_t orig_y=0)
void	drawRegionGraph (cv::Mat &image, uint32_t orig_x=0, uint32_t orig_y=0)
void	printCriticalPoints ()
	Prints information about all the critical points to screen. Used for testing the output of Topological Mapper.
void	saveOutput ()
	TopologicalMapper (const std::string &fname)
	Constructor. Initializes map_resp_ from given file. Only used to call the base class constructor.
void	writePointGraphToFile (std::string &filename)
void	writeRegionGraphToFile (std::string &filename)
Protected Member Functions
void	computeCriticalRegions (double critical_epsilon)
	Compute critical regions once the voronoi points have been calculated.
void	computeGraph (double merge_threshold)
void	drawCriticalLines (cv::Mat &image, uint32_t orig_x=0, uint32_t orig_y=0, bool draw_idx=false, bool visualization_image=false)
	Draws critical lines (4-connected) onto given image starting at (orig_x, orig_y)
Protected Attributes
std::vector< cv::Vec3b >	component_colors_
	a randomized color mapping selected for each component idx
cv::Mat	component_image_
	image containing just the obstacles and critical lines. used for finding connected components
std::vector< int32_t >	component_map_
	a vector the size of the map that contains the index of the component to which that pixel belongs (0 if background)
std::vector< VoronoiPoint >	critical_points_
	stores the array of computed Critical Points
size_t	num_components_
	the totatl number of components found + 1 for background
Graph	pass_1_graph_
Graph	pass_2_graph_
Graph	pass_3_graph_
Graph	pass_4_graph_
Graph	point_graph_
Graph	region_graph_

Detailed Description

Computes the 2 variants of the topological graph using the voronoi approximator.

Definition at line 52 of file topological_mapper.h.

Constructor & Destructor Documentation

bwi_mapper::TopologicalMapper::TopologicalMapper ( 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 62 of file topological_mapper.h.

Member Function Documentation

void bwi_mapper::TopologicalMapper::computeCriticalRegions ( double critical_epsilon ) [protected]

Compute critical regions once the voronoi points have been calculated.

Parameters:

critical_epsilon see TopologicalMapper() for more details

Definition at line 206 of file topological_mapper.cpp.

void bwi_mapper::TopologicalMapper::computeGraph ( double merge_threshold ) [protected]

Definition at line 333 of file topological_mapper.cpp.

void bwi_mapper::TopologicalMapper::computeTopologicalGraph	(	double	threshold,
		double	critical_epsilon,
		double	merge_threshold
	)

computes the topological graph given the threshold for VoronoiApproximator and a parameter controlling the size of critical regions.

Parameters:

threshold	same as threhold in VoronoiApproximator()
critical_epsilon	(meters) no 2 critical points can be closer than this distance.
merge_threshold	graph vertices having a smaller area than this should be merged together(meter^2)
threshold	same as threhold in VoronoiApproximator()
critical_epsilon	(meters) no 2 critical points can be closer than this distance.
merge_threshold	graph vertices having a smaller area than this should be merged together (meter^2)

Definition at line 59 of file topological_mapper.cpp.

void bwi_mapper::TopologicalMapper::drawConnectedComponents	(	cv::Mat &	image,
		uint32_t	orig_x = `0`,
		uint32_t	orig_y = `0`
	)

draws colored regions corresponding to each critical region onto a given image starting at (orig_x, orig_y)

Definition at line 90 of file topological_mapper.cpp.

void bwi_mapper::TopologicalMapper::drawCriticalLines	(	cv::Mat &	image,
		uint32_t	orig_x = `0`,
		uint32_t	orig_y = `0`,
		bool	draw_idx = `false`,
		bool	visualization_image = `false`
	)		`[protected]`

Draws critical lines (4-connected) onto given image starting at (orig_x, orig_y)

Definition at line 1007 of file topological_mapper.cpp.

void bwi_mapper::TopologicalMapper::drawCriticalPoints	(	cv::Mat &	image,
		uint32_t	orig_x = `0`,
		uint32_t	orig_y = `0`
	)

draws critical points and lines onto a given image starting at (orig_x, orig_y)

Definition at line 74 of file topological_mapper.cpp.

void bwi_mapper::TopologicalMapper::drawOutput ( cv::Mat & image )

Draws the base map, voronoi points and critical points, lines and regions on to image. Should be only used for testing the output for Topological Mapper.

Parameters:

image OpenCV image we are drawing output on

Reimplemented from bwi_mapper::VoronoiApproximator.

Definition at line 161 of file topological_mapper.cpp.

void bwi_mapper::TopologicalMapper::drawPointGraph	(	cv::Mat &	image,
		uint32_t	orig_x = `0`,
		uint32_t	orig_y = `0`
	)

Definition at line 125 of file topological_mapper.cpp.

void bwi_mapper::TopologicalMapper::drawRegionGraph	(	cv::Mat &	image,
		uint32_t	orig_x = `0`,
		uint32_t	orig_y = `0`
	)

Definition at line 120 of file topological_mapper.cpp.

void bwi_mapper::TopologicalMapper::printCriticalPoints ( )

Prints information about all the critical points to screen. Used for testing the output of Topological Mapper.

Definition at line 142 of file topological_mapper.cpp.

void bwi_mapper::TopologicalMapper::saveOutput ( )

Definition at line 172 of file topological_mapper.cpp.

void bwi_mapper::TopologicalMapper::writePointGraphToFile ( std::string & filename )

Definition at line 134 of file topological_mapper.cpp.

void bwi_mapper::TopologicalMapper::writeRegionGraphToFile ( std::string & filename )

Definition at line 130 of file topological_mapper.cpp.

Member Data Documentation

std::vector<cv::Vec3b> bwi_mapper::TopologicalMapper::component_colors_ [protected]

a randomized color mapping selected for each component idx

Definition at line 146 of file topological_mapper.h.

cv::Mat bwi_mapper::TopologicalMapper::component_image_ [protected]

image containing just the obstacles and critical lines. used for finding connected components

Definition at line 139 of file topological_mapper.h.

std::vector<int32_t> bwi_mapper::TopologicalMapper::component_map_ [protected]

a vector the size of the map that contains the index of the component to which that pixel belongs (0 if background)

Definition at line 143 of file topological_mapper.h.

std::vector<VoronoiPoint> bwi_mapper::TopologicalMapper::critical_points_ [protected]

stores the array of computed Critical Points

Definition at line 135 of file topological_mapper.h.

size_t bwi_mapper::TopologicalMapper::num_components_ [protected]

the totatl number of components found + 1 for background

Definition at line 149 of file topological_mapper.h.

Graph bwi_mapper::TopologicalMapper::pass_1_graph_ [protected]

Definition at line 152 of file topological_mapper.h.

Graph bwi_mapper::TopologicalMapper::pass_2_graph_ [protected]

Definition at line 153 of file topological_mapper.h.

Graph bwi_mapper::TopologicalMapper::pass_3_graph_ [protected]

Definition at line 154 of file topological_mapper.h.

Graph bwi_mapper::TopologicalMapper::pass_4_graph_ [protected]

Definition at line 155 of file topological_mapper.h.

Graph bwi_mapper::TopologicalMapper::point_graph_ [protected]

Definition at line 156 of file topological_mapper.h.

Graph bwi_mapper::TopologicalMapper::region_graph_ [protected]

Definition at line 151 of file topological_mapper.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation