cost_kernel
int x = 0;
int y = 0;
int Dir[8][2] = {{-1,1},{0,1},{1,1},{-1,0},{1,0},{-1,-1},{0,-1},{1,-1}};
list vec_p;
list vec_p_b;
ofstream outputfile;
outputfile.open ("/home/lcy/CLionProjects/narrow_passage/map/matrixoutput.txt");
vector<vector> vec_result(15);
vector<vector> vec_history(200,vector(200,0));
Point temp;
temp.x = x;
temp.y = y;
vec_p.push_back(temp);
int num_total = 0;
for(int i = 1 ; i < 11 ; i ++){
while(!vec_p.empty()) {
Point p = vec_p.front();
vec_p.pop_front();
for (int j = 0; j < 8; j++) {
int x_ = p.x + Dir[j][0];
int y_ = p.y + Dir[j][1];
if (abs(x_ - x) == i || abs(y_ - y) == i) {
Point point_result;
point_result.x = x_;
point_result.y = y_;
if(vec_history[point_result.x + 100][point_result.y + 100] == 0) {
temp.x = x_;
temp.y = y_;
vec_p_b.push_back(temp);
vec_history[point_result.x + 100][point_result.y + 100] = 1;
vec_result[i].push_back(point_result);
num_total++;
printf("{%d,%d},", x_, y_);
outputfile <<"{"<<x_<<","<<y_<<"}"<<",";
}
}
}
}
if(vec_p.empty()) {
vec_p.swap(vec_p_b);
}
printf("\n");
printf("num_total:%d\n", num_total);
outputfile << endl;
}
outputfile.close();
printf("num_total:%d\n", num_total);
Mat temp_map = Mat::zeros(200,200,CV_8UC1);
for(int i = 0 ; i < vec_result.size() ; i ++) {
for (int j = 0; j < vec_result[i].size(); j++) {
temp_map.at(vec_result[i][j].x + 100, vec_result[i][j].y + 100) = i * 10 + 50;
}
}
namedWindow("result", CV_WINDOW_NORMAL);
imshow("result", temp_map);
waitKey();
作者：菜鸟&攻城狮
