Example: maps_gridmap_voronoi_example

C++ example source code:

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2021, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/gui/CDisplayWindow.h>
#include <mrpt/maps/COccupancyGridMap2D.h>
#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/random.h>
#include <mrpt/system/filesystem.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;
    }
}