A toy demo showing how the Distance Transform works for path planning.
Download
Installation
To compile on Linux type make after unpackaging or optionally load the project in Codeblocks and compile from there. You will need the following libraries to compile:
- Freelgut
- OpenCV
Usage
- LEFT click – set start point
- RIGHT click – set goal point
- SPACEBAR – find shortest path
- s – find safer path
- l – linearise the path
- 1,2,3 – toggle between normal view, Distance Transform map, and Potential Field map
- ESC – quit
Screenshot
