ross1573 / generalized_voronoi_diagram

Generalized voronoi diagram for python

Generalized voronoi diagram

A generalized voronoi diagram for python.
Supports points, lines, polygons on generation.
Description is available at https://doi.org/10.5391/IJFIS.2023.23.3.259

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Requirments

python   
    - numpy  
    - matplotlib  
    - scipy  
    - rdp  
    - opencv-python  
    - numba  
    - tripy  
    - pyvisgraph  

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Path planning demo result

• non polygon lined(normal point based voronoi diagram)
  

• non vertex deleted
  

• result of polygon based voronoi diagram
  

• result after optimization
  

• astar algorithm using optimized result
  

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AirSim demo result

• reference detected result
  

• polygon detected result
  

airsim_demo_short.mp4