5 #include <nav_msgs/OccupancyGrid.h> 9 #define DEFAULT_MAP_NAME "voronoi_map" 23 void prepareMap(
const cv::Mat& _map, cv::Mat& _smoothedMap,
int _blurSize);
void computeVoronoiMap(const cv::Mat &_distField, cv::Mat &_voronoiMap)
computes the voronoi _map
void computeDistanceField(const cv::Mat &_map, cv::Mat &_distField)
computes the distance field of a map
void prepareMap(const cv::Mat &_map, cv::Mat &_smoothedMap, int _blurSize)
prepares the map by smoothing it