topological_mapper.h

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#ifndef TOPOLOGICAL_MAPPER_EA94RQRE
#define TOPOLOGICAL_MAPPER_EA94RQRE

#include <bwi_mapper/voronoi_approximator.h>
#include <bwi_mapper/graph.h>

namespace bwi_mapper {


  class TopologicalMapper : public VoronoiApproximator {

    public:

      TopologicalMapper (const std::string &fname) :
        VoronoiApproximator(fname) {}

      void computeTopologicalGraph(double threshold, double critical_epsilon,
          double merge_threshold); 

      void drawCriticalPoints(cv::Mat &image, 
          uint32_t orig_x = 0, uint32_t orig_y = 0); 

      void drawConnectedComponents(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 drawPointGraph(cv::Mat &image, 
          uint32_t orig_x = 0, uint32_t orig_y = 0);

      void writeRegionGraphToFile(std::string &filename);
      void writePointGraphToFile(std::string &filename);

      void printCriticalPoints(); 

      void drawOutput(cv::Mat &image); 
      void saveOutput(); 

    protected:
      
      void computeCriticalRegions (double critical_epsilon);

      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); 

      std::vector<VoronoiPoint> critical_points_;

      cv::Mat component_image_;

      std::vector<int32_t> component_map_;

      std::vector<cv::Vec3b> component_colors_;

      size_t num_components_;

      Graph region_graph_;
      Graph pass_1_graph_;
      Graph pass_2_graph_;
      Graph pass_3_graph_;
      Graph pass_4_graph_;
      Graph point_graph_;

  }; /* TopologicalMapper */

} /* bwi_mapper */

#endif /* end of include guard: TOPOLOGICAL_MAPPER_EA94RQRE */