cv::Mat GraphComparator::_paintGraph(shared_ptr<OsmMap> map, DirectedGraph& graph, ShortestPath& sp)
{
const WayMap& ways = map->getWays();
cv::Mat mat(cvSize(_width, _height), CV_32FC1);
for (int y = 0; y < _height; y++)
{
float* row = mat.ptr<float>(y);
for (int x = 0; x < _width; x++)
{
row[x] = -1.0;
}
}
for (WayMap::const_iterator it = ways.begin(); it != ways.end(); ++it)
{
shared_ptr<Way> w = it->second;
double cost = sp.getNodeCost(w->getNodeIds()[0]);
if (cost >= 0)
{
double friction = graph.determineCost(w);
if (friction >= 0)
{
double startCost = cost;
double endCost = sp.getNodeCost(w->getNodeIds()[w->getNodeCount() - 1]);
_paintWay(mat, map, w, friction, startCost, endCost);
_maxGraphCost = std::max(startCost, endCost);
}
}
}
return mat;
}
