Find paths indoors

The background regarding the navigation system is explained here.

Generating navigation graphs from images

If your environment is codified as an image, generating a navigation graph is straight-forward. All you have to do is mark the areas of the environment where to plant initial seeds in blue (RGB #0000FF). In the image below you can see the generation of a navigation graph. The blue regions in the original image indicate where to plant initial seeds. These are then grown and crossings are found between them.

Once you have your image ready for the generation of the navigation graph, you can exploit the ImageEnvironmentWithGraph class to produce it for you. This will read your image, extract the positions you marked blue and pass them to the NaviGator algorithm.

Examples