voronoi_approximator.h
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00001 
00040 #ifndef VORONOI_APPROXIMATOR_IVSRUILH
00041 #define VORONOI_APPROXIMATOR_IVSRUILH
00042 
00043 #include <bwi_mapper/map_loader.h>
00044 #include <bwi_mapper/map_inflator.h>
00045 #include <bwi_mapper/directed_dfs.h>
00046 #include <bwi_mapper/structures/point.h>
00047 #include <bwi_mapper/structures/voronoi_point.h>
00048 
00049 namespace bwi_mapper {
00050 
00051 
00057   class VoronoiApproximator : public MapLoader {
00058 
00059     public:
00060 
00067       VoronoiApproximator(const std::string& fname) :
00068         MapLoader(fname), initialized_(false) {}
00069 
00079       void findVoronoiPoints(double threshold, bool use_naive = false,
00080           int sub_pixel_sampling = 1); 
00081 
00087       void drawOutput(cv::Mat &image);
00088 
00093       void printVoronoiPoints();
00094 
00099       void drawVoronoiPoints(cv::Mat &image, 
00100           uint32_t orig_x = 0, uint32_t orig_y = 0);
00101 
00102     protected:
00103 
00105       std::vector<VoronoiPoint> voronoi_points_;
00106 
00108       nav_msgs::OccupancyGrid inflated_map_;
00109 
00111       bool initialized_;
00112         
00113   }; /* VoronoiApproximator */
00114   
00115 } /* bwi_mapper */
00116 
00117 #endif /* end of include guard: VORONOI_APPROXIMATOR_IVSRUILH */


bwi_mapper
Author(s): Piyush Khandelwal
autogenerated on Thu Jun 6 2019 17:57:21