Skip to content

GitLab

Commit 8ba93364 authored by Federico Ciuffardi's avatar Federico Ciuffardi
Browse files

some bug fixed and better integration with crit dist map

parent 4489169d
Hide whitespace changes
Inline Side-by-side
src/lib/GVD/DisMapIC.cpp
View file @ 8ba93364
#include "DisMapIC.h"
DisMapIC::DisMapIC(Map* m, vector<cell_type> obstructed_types, cell_type source_type){
DisMapIC::DisMapIC(Map* m, vector<cell_type> obstructed_types){
this->m = m;
this->obstructed_types = obstructed_types;
this->source_type = source_type;
};
// CellData
......@@ -65,13 +64,13 @@ void DisMapIC::process_lower(pos p) {
n_cd.dist = d;
// cout<<n<<"updated dist to "<< n_cd.dist <<endl;
n_cd.parents.clear();
n_cd.parents.insert(n);
n_cd.parents.insert(p);
n_cd.sources.clear();
n_cd.sources.insert(p_cd.sources.begin(), p_cd.sources.end());
n_cd.is_cleared = false;
open.push(make_pair(d, n));
} else if (d == n_cd.dist) {
n_cd.parents.insert(n);
n_cd.parents.insert(p);
n_cd.sources.insert(p_cd.sources.begin(), p_cd.sources.end());
}
}
......@@ -92,12 +91,13 @@ void DisMapIC::process_raise(pos p) {
if (!n_cd.is_cleared && !n_cd.to_raise) {
// if n is not valid it should propagate the process raise
n_cd.parents.erase(p);
//cout<<n<<" parents "<<n_cd.parents<<endl;
if (!valid(n_cd)) {
// cout << "raised: " <<n << endl;
open.push(make_pair(n_cd.dist, n));
n_cd.clear_cell();
n_cd.to_raise = true;
} else {
} else if (!is_elem(obstructed_types,(*m)[p]) ) {
// if is valid then it could be used
// to obtain the disstance of p
float d = dist(p,n) + n_cd.dist;
......@@ -134,7 +134,7 @@ void DisMapIC::set_consistent_borders(vector<pos> obstructed_to_free) {
pos_set inserted;
for (int i = 0; i < obstructed_to_free.size(); i++) {
pos p = obstructed_to_free[i];
// cout << "unk_to_free"<<p << endl;
// cout << "obstructed_to_free "<<p << endl;
pos_set adj_p = m->adj(p,obstructed_types);
for (auto it = adj_p.begin(); it != adj_p.end(); it++) {
pos n = (*it);
......@@ -146,8 +146,8 @@ void DisMapIC::set_consistent_borders(vector<pos> obstructed_to_free) {
}
}
}
std::cout << "consistent borders" << endl;
print_property(inserted, m->g);
//std::cout << "consistent borders" << endl;
//print_property(inserted, m->g);
}
void DisMapIC::set_source(pos p) {
......@@ -175,29 +175,45 @@ void DisMapIC::obstruct(pos p) {
p_cd.to_raise = true;
}
void DisMapIC::update_distance_map(vector<pos> source_to_true,
vector<pos> source_to_false,
vector<pos> obstructed_to_free,
vector<pos> free_to_obstructed){
// cout<<endl<<"# Getting changes"<<endl;
void DisMapIC::update_distance_map(pos_set source_to_true, pos_set source_to_false){
vector<pos> obstructed_to_free,free_to_obstructed;
for(auto it = m->changes.begin(); it!=m->changes.end(); it++){
pos p = it->first;
// source status changes and obstruction status change are mutally exclusive
// and source status changes have priority
if(is_elem(source_to_false,p) || is_elem(source_to_true,p)){
continue;
}
cell_type old_ct = it->second.first;
cell_type new_ct = it->second.second;
if(is_elem(obstructed_types,old_ct) && !is_elem(obstructed_types,new_ct)){
obstructed_to_free.push_back(p);
}else if (!is_elem(obstructed_types,old_ct) && is_elem(obstructed_types,new_ct)){
free_to_obstructed.push_back(p);
}
}
//cout<<endl<<"# CRIT"<<endl;
// cout<<endl<<"# setting cd for the changes"<<endl;
for (int i = 0; i < source_to_false.size(); i++) {
remove_source(source_to_false[i]);
// cout << "Remove an source source" << obs_to_free[i] << endl;
for (auto it = source_to_false.begin(); it != source_to_false.end(); it++) {
pos p = *it;
remove_source(p);
//cout << "remove_source " << p << endl;
}
for (int i = 0; i < free_to_obstructed.size(); i++) {
obstruct(free_to_obstructed[i]);
// cout << "Set an source " << any_to_obs[i] << endl;
//cout << "obstruct " << free_to_obstructed[i] << endl;
}
// maybe some borders are unnecesary
set_consistent_borders(obstructed_to_free);
for (int i = 0; i < source_to_true.size(); i++) {
set_source(source_to_true[i]);
// cout << "Set an source " << any_to_obs[i] << endl;
for (auto it = source_to_true.begin(); it != source_to_false.end(); it++) {
pos p = *it;
set_source(p);
//cout << "set_source " << p << endl;
}
// cout<<endl<<"# Rebuild GVD"<<endl;
......@@ -213,10 +229,10 @@ void DisMapIC::raise_and_lower(){
CellData& p_cd = cell_data[p];
if (p_cd.to_raise) {
// cout << "Process RAISE "<<p << endl;
//cout << "Process RAISE "<<p << endl;
process_raise(p);
} else if (valid(p_cd)) {
// cout << "Process LOWER "<<p << endl;
//cout << "Process LOWER "<<p << endl;
process_lower(p);
}
}
......
src/lib/GVD/DisMapIC.h
View file @ 8ba93364
......@@ -41,13 +41,8 @@ class DisMapIC{
void process_raise(pos p);
// if p source->obstructed then p in source_to_false
void update_distance_map(vector<pos> source_to_true,
vector<pos> source_to_false,
vector<pos> obstructed_to_free,
vector<pos> free_to_obstructed);
void raise_and_lower();
cell_type source_type;
vector<cell_type> obstructed_types;
Map* m = NULL;
......@@ -60,5 +55,6 @@ class DisMapIC{
pos_set voro_to_false;
pos_set voro_to_true;
DisMapIC(Map* m, vector<cell_type> obstructed_types, cell_type source_type);
void update_distance_map(pos_set source_to_true, pos_set source_to_false);
DisMapIC(Map* m, vector<cell_type> obstructed_types);
};
src/lib/GVD/GVDIC.cpp
View file @ 8ba93364
......@@ -4,6 +4,12 @@
#include "pos.h"
#include "utils.h"
// TODO move these as IGVDIC attributes
pos_set obst_cond_to_false; // contanis all the cells that had 2 or more obstacles but now have 1 or less
pos_set updated_obst_size; // containse all the cells that had a change on the obstacle size
// pos_set region_border; // contains all the new region borders
pos_set old_region_border; // cointais all the cell that were region borders but one of the obstacles was removed
//////////
// AUX
//////////
......@@ -26,11 +32,10 @@ boost::tuple<float, vector<pos>> closest_obstacles(pos p, pos_set obsts) {
return boost::make_tuple(d, closest_obsts);
}
pos_set obst_cond_to_false; // contanis all the cells that had 2 or more obstacles but now have 1 or less
pos_set updated_obst_size;
// wrapers to set (or replace) and to insert (or union) obstacles that checks if obst_cond_to_false must be modified
// functions to set (or replace) and to insert (or union) obstacles that checks if obst_cond_to_false must be modified
// the funcionality provided by the obst_cont_to_false may be already provided by the old_region_border should be
// reviewed for efficiency reasons
// must be called after a obsts update
void obsts_updated_hook(pos p,int old_size, int pre_update_size, int updated_size, bool is_obst = false){
......@@ -120,6 +125,7 @@ void GVDIC::set_voro(bool value, pos n) {
CellDataO& n_cd = cell_data_o[n];
// cout<<"Celda: "<<n<<" valor: "<<value<<endl;
if (value) {
// region_border.insert(n);
if (!is_elem(gvd.full_graph, n)){
voro_to_true.insert(n);
}else{
......@@ -132,6 +138,7 @@ void GVDIC::set_voro(bool value, pos n) {
voro_to_false.erase(n);
}
} else {
// region_border.erase(n);
if (is_elem(gvd.full_graph, n)){
voro_to_false.insert(n);
distance_update.erase(n);
......@@ -224,6 +231,8 @@ void GVDIC::process_raise(pos s) {
n_cd.clear_cell();
n_cd.to_raise = true;
} else {
if(is_elem(gvd.full_graph, s)) old_region_border.insert(s);
if(is_elem(gvd.full_graph, n)) old_region_border.insert(n);
// if n has a valid obstacle then it could be used
// to obtain the disstance of s
float d;
......@@ -454,11 +463,11 @@ int GVDIC::A(pos p) {
return res;
}
boost::tuple<pos_set, pos_set> GVDIC::erosion(pos_set voro_to_true) {
boost::tuple<pos_set, pos_set> GVDIC::erosion(pos_set erosion_input) {
pos_set to_add, to_erase, inserted;
CellDataPQ erosion_queue;
for (auto it = voro_to_true.begin(); it != voro_to_true.end(); it++) {
for (auto it = erosion_input.begin(); it != erosion_input.end(); it++) {
pos p = *it;
if (!is_elem(inserted, p)) {
inserted.insert(p);
......@@ -475,8 +484,8 @@ boost::tuple<pos_set, pos_set> GVDIC::erosion(pos_set voro_to_true) {
}
}
}
/* cout<<"erosion"<<endl; */
/* print_property(inserted,gt); */
// cout<<"erosion"<<endl;
// print_property(inserted,gt);
while (!erosion_queue.empty()) {
pos p = erosion_queue.top().second;
erosion_queue.pop();
......@@ -518,18 +527,42 @@ pos_set GVDIC::get_to_update_min(pos_set to_change){
void GVDIC::update_gvd() {
pos_set to_add_gvd, to_erase_gvd, to_update_gvd, to_update_min, erosion_input;
/* cout<<"voro_to_true"<<endl; */
/* print_property(voro_to_true,gt); */
/* cout<<"voro_to_false"<<endl; */
/* print_property(voro_to_false,gt); */
cout<<"distance_update"<<endl;
print_property(distance_update,gt);
cout<<"obst_cond_to_false"<<endl;
print_property(obst_cond_to_false,gt);
// erosion input
erosion_input.insert(obst_cond_to_false.begin(),obst_cond_to_false.end());
erosion_input.insert(voro_to_true.begin(), voro_to_true.end());
erosion_input.insert(distance_update.begin(), distance_update.end());
// as old_region_border cells must go from true to false (and not otherwise) we filter out the true ones
for(auto it = old_region_border.begin(); it != old_region_border.end(); it++){
pos p = *it;
if(cell_data_o[p].is_voro){
erosion_input.insert(p);
}
}
//for(auto it = voro_to_false.begin(); it != voro_to_false.end(); it++){
// pos p = *it;
// pos_set adj_p = adj(gt, p);
// for(auto it_n = adj_p.begin(); it_n != adj_p.end(); it_n++){
// pos n = *it_n;
// if(cell_data_o[n].is_voro){
// erosion_input.insert(n);
// }
// }
// }
// cout<<"voro_to_true"<<endl;
// print_property(voro_to_true,gt);
// cout<<"old_region_border"<<endl;
// print_property(old_region_border,gt);
//cout<<"voro_to_false"<<endl;
// print_property(voro_to_false,gt);
// cout<<"distance_update"<<endl;
// print_property(distance_update,gt);
// cout<<"obst_cond_to_false"<<endl;
// print_property(obst_cond_to_false,gt);
//cout<<"erosion_input"<<endl;
//print_property(erosion_input,gt);
// erosion
boost::tie(to_add_gvd, to_erase_gvd) = erosion(erosion_input);
to_erase_gvd.insert(voro_to_false.begin(), voro_to_false.end());
......@@ -546,7 +579,7 @@ void GVDIC::update_gvd() {
gvd.is_local_min[p] = is_local_min(p);
}
// erase v
// erase from gvd
for (auto it = to_erase_gvd.begin(); it != to_erase_gvd.end(); it++) {
gvd.erase_v(*it);
}
......@@ -554,7 +587,7 @@ void GVDIC::update_gvd() {
// add set of v to gvd
gvd.add_v(to_add_gvd);
// update
// update the local mins on the gvd (uncollapsing and collapsing if pertinent)
to_update_gvd = to_update_min;
for(auto it = to_update_gvd.begin(); it != to_update_gvd.end(); it++){
pos p = *it;
......@@ -634,8 +667,8 @@ void GVDIC::update_possible_crit(pos_set to_add_gvd, pos_set to_erase_gvd) {
///////
// pcrit distance map
///
void update_possible_crit_distance_map(){
void GVDIC::update_possible_crit_distance_map(){
disMapIC->update_distance_map(possible_crit_to_true,possible_crit_to_false);
}
//////////
......@@ -644,6 +677,10 @@ void update_possible_crit_distance_map(){
boost::tuple<criticals_info, GVD> GVDIC::get_points_of_interest(grid gt) {
// pre increment
// region_border.clear();
old_region_border.clear();
voro_to_true.clear();
voro_to_false.clear();
distance_update.clear();
......@@ -657,6 +694,9 @@ boost::tuple<criticals_info, GVD> GVDIC::get_points_of_interest(grid gt) {
obst_cond_to_false.clear();
// increment
this->gt = gt;
m->update(gt);
vector<pos> obs_to_free, any_to_obs, unk_to_free, unk_to_notunk;
boost::tie(obs_to_free, any_to_obs, unk_to_free, unk_to_notunk) = get_changes(gt);
......@@ -678,3 +718,13 @@ boost::tuple<criticals_info, GVD> GVDIC::get_points_of_interest(grid gt) {
return boost::make_tuple(criticals_info(), GVD());
}
GVDIC::GVDIC(){
m = new Map();
disMapIC = new DisMapIC(m,{Occupied,Unknown});
}
GVDIC::~GVDIC(){
delete m;
delete disMapIC;
}
\ No newline at end of file
src/lib/GVD/GVDIC.h
View file @ 8ba93364
......@@ -31,8 +31,6 @@ class GVDIC {
void clear_cell();
};
grid old_gt;
grid gt;
pos_set frontiers;
boost::unordered_map<pos, int> know_neighbors;
......@@ -55,6 +53,7 @@ class GVDIC {
void remove_obstacle(pos p);
void set_consistent_borders(vector<pos>);
void update_frontiers(vector<pos>);
void update_possible_crit_distance_map();
void set_voro(bool value, pos n);
void process_lower(pos p);
......@@ -77,7 +76,19 @@ class GVDIC {
bool has_neighbour_of_deg(pos p, int deg);
public:
// old_gt/gt are equivallent to Map, should replace old_gt and gt with map eventually
// GVDIC uses old_gt/gt (should use map) and DisMapIC is already using map
grid old_gt;
grid gt;
Map *m;
DisMapIC *disMapIC;
GVDIC();
~GVDIC();
int DEBUG = 0;
// should be private
......
src/lib/GVD/Map.cpp
View file @ 8ba93364
......@@ -5,7 +5,7 @@ cell_type& Map::operator[](pos p){
}
void Map::update(grid g) {
this->g = g;
this->changes.clear();
int mapWidth = g.size();
if (mapWidth == 0) {
cout << "PLEASE USE A NON EMPTY MAP" << endl;
......@@ -13,9 +13,15 @@ void Map::update(grid g) {
int mapHeight = g[0].size();
for (int x = 0; x < mapWidth; x++) {
for (int y = 0; y < mapHeight; y++) {
this->changes.insert(make_pair(pos(x,y),g[x][y]));
cell_type old_type = first ? Unknown : this->g[x][y];
cell_type new_type = g[x][y];
if( old_type != new_type){
this->changes[pos(x,y)] = make_pair(old_type,new_type);
}
}
}
this->g = g;
first = false;
}
// returns all *known* neighbors of a given pos p in the grid g
......
src/lib/GVD/Map.h
View file @ 8ba93364
......@@ -2,12 +2,15 @@
#include <vector>
#include "grid.h"
#include "boost/unordered_map.hpp"
struct Map {
bool first = true;
grid g;
set<pair<pos,cell_type>> changes;
boost::unordered_map<pos,pair<cell_type,cell_type>> changes;
cell_type& operator[](pos p);
......
src/lib/GVD/test.cpp
View file @ 8ba93364
......@@ -352,15 +352,6 @@ vector<grid> test_8 = {
{Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
},
{
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
{Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
},
{
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
{Free , Free , Free , Free , Free , Free , Free ,Free , Free },
......@@ -372,8 +363,102 @@ vector<grid> test_8 = {
},
};
vector<grid> test_9 = {
{
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
},
{
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
},
{
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Occupied, Occupied, Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
},
{
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
},
{
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
{Occupied, Occupied, Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Free , Free , Free , Free , Free , Free ,Free , Free },
{Occupied, Occupied, Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
},
{
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
},
};
vector<vector<grid>> tests = {test_1, test_2, test_3, test_4, test_5, test_6, test_7, test_8};
vector<grid> test_10 = {
{
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
},
{
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
},
{
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Occupied, Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Occupied, Free , Free , Free , Free , Free ,Free , Free },
{Free , Free , Occupied, Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Occupied, Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
},
{
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
{Free , Free , Occupied, Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Free , Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Occupied, Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Occupied, Free , Free , Occupied, Free , Free ,Free , Free },
{Free , Free , Occupied, Free , Free , Occupied, Free , Free ,Free , Free },
{Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied, Occupied,Occupied, Occupied},
},
};
vector<vector<grid>> tests = {test_1, test_2, test_3, test_4, test_5, test_6, test_7, test_8,test_9,test_10};
#define RESET "\033[0m"
#define BLACK "\033[30m" /* Black */
......@@ -411,58 +496,62 @@ int main(int argc, char** argv) {
cout << endl << "# get_points_of_interest " << t << endl;
igvdc.get_points_of_interest(test[t]);
// cout<<"DIST_NEW: "<< igvdc.cell_data_o[pos(0,0)].dist << endl;
cout << endl << "# distance map " << t << endl;
for (int i = 0; i < test[t].size(); i++) {
for (int j = 0; j < test[t][i].size(); j++) {
if (igvdc.cell_data_o[pos(i, j)].dist == MAXFLOAT) {
cout << "| ∞";
} else {
cout << "|" << std::setfill(' ') << std::setw(7) << igvdc.cell_data_o[pos(i, j)].dist;
}
}
cout << "|" << endl;
}
cout << endl;
cout << "IS_VORO" << endl;
for (int i = 0; i < test[t].size(); i++) {
for (int j = 0; j < test[t][i].size(); j++) {
pos p = pos(i, j);
if (igvdc.cell_data_o[p].dist == MAXFLOAT) {
cout << "|" << colorize(" ? ", BLACK);
} else if (test[t][i][j] == Occupied) {
cout << "|" << colorize(" ", BLACKFG);
} else if (igvdc.cell_data_o[pos(i, j)].is_voro) {
cout << "|" << colorize(" O ", CYAN);
} else {
cout << "|" << colorize(" ", WHITE);
}
}
cout << "|" << endl;
}
cout << endl;
cout << "BOOST" << endl;
auto gvd_positions = igvdc.gvd.positions;
for (int i = 0; i < test[t].size(); i++) {
for (int j = 0; j < test[t][i].size(); j++) {
pos p = pos(i, j);
if (igvdc.cell_data_o[p].dist == MAXFLOAT) {
cout << "|" << colorize(" ? ", BLACK);
} else if (test[t][i][j] == Occupied) {
cout << "|" << colorize(" ", BLACKFG);
} else if (igvdc.gvd.is_uncollapsed(p)) {
cout << "|" << colorize(" O ", CYAN);
} else if (igvdc.gvd.is_collapsed(p)) {
cout << "|" << colorize(" * ", CYAN);
} else {
cout << "|" << colorize(" ", WHITE);
}
}
cout << "|" << endl;
}
cout << endl;
cout<<"------------------------------"<<endl;
cout<<igvdc.possible_crit_to_true.size()<<endl;
cout<<"------------------------------"<<endl;
// cout << endl << "# distance map " << t << endl;