cppvisgraph - Visibility Graph and Shortest path

Cppvisgraph is a MIT-licensed Cpp library for building visibility graphs from a list of simple obstacle polygons. The visibility graph algorithm (D.T. Lee) runs in O(n^2 log n) time. The shortest path is found using Djikstra's algorithm. This is a C++ translation of the library pyvisgraph.

Environment

Though this is a header only library, And dependencies for building is nothing but C++ Standard Library. However, to build python wrapper, pybind11 is required. Check if it already exists or not with the following command.

python3 -c "import pybind11; print(pybind11.__version__)".

Requirements

1. C++ 11
2. CMAKE Ver. 3.10.0
3. Python 3
4. pybind11 Ver. 2.10.4

Use cases

1. Can directly be used in any cpp projects.
2. Can also be used in python projects with the advantage of faster execution time.

Usages

Follow the examples written in vgexamples.cpp or vgexamples.py files under examples directory.

For C++ projects

Copy the src/cppvisgraph dir to your project directory and use accordingly.

For python projects

Copy the build dir to your project directory and use accordingly.

Build

Make sure pybind11 is installed. If not, install with the following command.

pip install pybind11

Navigate to the project dir and execute.

./build.sh

Grant permission if necessary.

chmod -R 777 .

Run Examples

If the Build was successfull, the examples should run.

c++

./build/vgexample

python

python3 examples/vgexamples.py

References

1. pyvisgraph