void AStarPlanner::downsampleMap(const cv::Mat& map, cv::Mat& downsampled_map, const double downsampling_factor, const double robot_radius, const double map_resolution)
{
//erode the map so the planner doesn't go near the walls
// --> calculate the number of times for eroding from Robot Radius [m]
cv::Mat eroded_map;
int number_of_erosions = (robot_radius / map_resolution);
cv::erode(map, eroded_map, cv::Mat(), cv::Point(-1, -1), number_of_erosions);
//downsampling of the map to reduce calculation time
if (downsampling_factor != 1.)
cv::resize(eroded_map, downsampled_map, cv::Size(0, 0), downsampling_factor, downsampling_factor, cv::INTER_NEAREST);//_LINEAR);
else
downsampled_map = eroded_map;
}
极大团，图论算法/home/tang/Desktop/123MyProj/test_room_segmentation/lib_navigation/common/src/maximal_clique_finder.cppconcorde TSP 求解器，开源求解器/home/tang/Desktop/123MyProj/test_room_segmentation/lib_navigation/common/include/ipa_building_navigation/concorde_TSP.
路径降采样