test.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/system/filesystem.h>
#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/random.h>
#include <iostream>
 
using namespace mrpt;
using namespace mrpt::maps;
using namespace mrpt::random;
using namespace mrpt::gui;
using namespace mrpt::math;
using namespace mrpt::img;
using namespace std;
 
#include <mrpt/examples_config.h>
const string sample_simplemap_file =
        MRPT_EXAMPLES_BASE_DIRECTORY +
        string("../share/mrpt/datasets/localization_demo.simplemap.gz");
 
// ------------------------------------------------------
//                              TestVoronoi
// ------------------------------------------------------
void TestVoronoi()
{
        if (!mrpt::system::fileExists(sample_simplemap_file))
        {
                cerr << "Error: file doesn't exist: " << sample_simplemap_file << endl;
                return;
        }
 
        // Load simplemap:
        cout << "Loading simplemap: " << sample_simplemap_file << endl;
 
        CSimpleMap simplemap;
        simplemap.loadFromFile(sample_simplemap_file);
 
        // Load a grid map:
        cout << "Building gridmap...\n";
 
        COccupancyGridMap2D gridmap(-5, 5, -5, 5, 0.10f);
        gridmap.loadFromSimpleMap(simplemap);
 
        // Build voronoi:
        cout << "Building Voronoi diagram...\n";
 
        gridmap.buildVoronoiDiagram(0.5f, 0.3f);
 
        // Show results:
        CImage img_grid;
        gridmap.getAsImage(img_grid);
 
        CImage img_voronoi;
        CMatrixDouble mat_voronoi;
        gridmap.getVoronoiDiagram().getAsMatrix(mat_voronoi);
        img_voronoi.setFromMatrix(mat_voronoi, false /* do normalization */);
 
        // Show results:
        CDisplayWindow win1("Grid map");
        win1.showImage(img_grid);
 
        CDisplayWindow win2("Voronoi map");
        win2.showImage(img_voronoi);
 
        mrpt::system::pause();
}
 
int main(int argc, char** argv)
{
        try
        {
                TestVoronoi();
                return 0;
        }
        catch (exception& e)
        {
                cout << "MRPT exception caught: " << e.what() << endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}