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Path Planning Visualizer

A desktop application developed to visualize the path planning process, starting from defining environment geometry and robot geometry, until generating a path using the graph generated based on the type of path planning. Take note that this project being tested on Ubuntu 20.04 environment only.

RUNNING ON LOCAL MACHINE

Install libwxgtk3.0-dev binaries

sudo apt-get update -y
sudo apt-get install -y libwxgtk3.0-gtk3-dev  (PS: for Ubuntu 20.04)
sudo apt-get install -y libwxgtk3.0-dev  (PS: for other versions of Ubuntu)

Install OpenCV

  1. Install OpenCV From Source
  2. OR Install OpenCV From Ubuntu repository

CMake and build

In this directory

mkdir build
cd build
cmake ..
cmake --build .

Run the exectubale

./PathPlanningVisualizer

RUNNING ON DOCKER CONTAINER

./buildDockerImage.sh
./runDockerFile

Side Notes

  1. The visibilityGraphPanel in the src folder is not used, as I couldn't find any suitable OpenCV function to convert the non-polygonal contours into contours with only edges and vertices. Without the vertices, Exact Cell Decomposition and Visibility Graph wouldn't be possible. Do let me know if you have any idea in implementing them.

References

  1. How to expand contour by certain radius
  2. Converting OpenCV image to wxBitmap
  3. Accessing value of cv::Mat