renaming to cvt

Signed-off-by: Christian Henkel <[email protected]>

Author: ct2034

.gitignore

@@ -56,5 +56,5 @@ roadmaps/benchmark_examples/
 roadmaps/benchmark_plots/benchmark.png
 roadmaps/benchmark_plots/benchmark_*.png
 
-# build folder for cvd
-roadmaps/cvd/build/*
+# build folder for cvt
+roadmaps/cvt/build/*

roadmaps/benchmark.py

@@ -401,24 +401,24 @@ def __init__(self,
 #         self._set_graph(g)
 
 
-class CVD(RoadmapToTest):
+class CVT(RoadmapToTest):
     def __init__(self,
                  map_fname: str,
                  rng: Random,
                  roadmap_specific_kwargs):
         super().__init__(map_fname, rng, roadmap_specific_kwargs)
-        from roadmaps.cvd.build.libcvd import CVD
+        from roadmaps.cvt.build.libcvt import CVT
         from roadmaps.var_odrm_torch.var_odrm_torch import (
             make_graph_and_flann, optimize_poses)
 
         # prepare args
-        cvd_kwargs = self.roadmap_specific_kwargs.copy()
+        cvt_kwargs = self.roadmap_specific_kwargs.copy()
 
-        # run cvd
-        cvd = CVD()
-        nodes, runtime_points = cvd.run(
+        # run cvt
+        cvt = CVT()
+        nodes, runtime_points = cvt.run(
             mapFile=map_fname,
-            **cvd_kwargs,
+            **cvt_kwargs,
             plot=False,
         )
         pos = torch.Tensor(nodes) / roadmap_specific_kwargs["resolution"]
@@ -700,7 +700,7 @@ def run():
     df = pd.DataFrame()
     ns = [500, 1200, 2000]
     trials = [
-        (CVD, {
+        (CVT, {
             'DA': 0.14,
             'DB': 0.06,
             'f': 0.035,
@@ -710,7 +710,7 @@ def run():
             'target_n': ns[0],
             'plot': True,
         }),
-        (CVD, {
+        (CVT, {
             'DA': 0.14,
             'DB': 0.06,
             'f': 0.035,
@@ -719,7 +719,7 @@ def run():
             'iterations': 10000,
             'target_n': ns[1],
         }),
-        (CVD, {
+        (CVT, {
             'DA': 0.14,
             'DB': 0.06,
             'f': 0.035,

roadmaps/cvd/CMakeLists.txt roadmaps/cvt/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(cvd)
+project(cvt)
 
 set(CMAKE_CXX_STANDARD 14)
 # set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -29,15 +29,15 @@ include_directories(
 )
 
 # the python module
-SET(cvd cvd)
+SET(cvt cvt)
 
-add_library(${cvd} SHARED 
-  src/${cvd}.cpp
+add_library(${cvt} SHARED 
+  src/${cvt}.cpp
   lodepng/lodepng.cpp
 )
 
 TARGET_LINK_LIBRARIES(
-  ${cvd} 
+  ${cvt} 
   ${Boost_LIBRARIES}
   ${OpenCV_LIBS}
 )

roadmaps/cvd/README.md roadmaps/cvt/README.md

@@ -1,4 +1,4 @@
-# Centroidal Voronoi tessellation (CVD)
+# Centroidal Voronoi Tessellation (CVT)
 
 ## Requirements
 

roadmaps/cvd/__init__.py roadmaps/cvt/__init__.py

@@ -2,13 +2,13 @@
 import matplotlib.image as mpimg
 import numpy as np
 
-from roadmaps.cvd.build.libcvd import CVD
+from roadmaps.cvt.build.libcvt import CVT
 
 if __name__ == '__main__':
     img_path = "roadmaps/odrm/odrm_eval/maps/plain.png"
 
-    cvd = CVD()
-    (nodes, t) = cvd.run(img_path, 100)
+    cvt = CVT()
+    (nodes, t) = cvt.run(img_path, 100)
     img = mpimg.imread(img_path)
     nodes = np.array(nodes)
 

roadmaps/cvd/demo.py roadmaps/cvt/demo.py

@@ -10,17 +10,17 @@
 #include <chrono>
 using namespace std::chrono;
 
-class CVD
+class CVT
 {
 public:
-  CVD()
+  CVT()
   {
   }
 
   boost::python::tuple run(
     std::string mapFile, int n_nodes, int seed = 1)
   {
-    std::string example_folder = "roadmaps/cvd/examples/";
+    std::string example_folder = "roadmaps/cvt/examples/";
 
     // seed opencv rng
     cv::RNG rng(seed);
@@ -104,13 +104,13 @@ class CVD
   }
 };
 
-BOOST_PYTHON_MODULE(libcvd)
+BOOST_PYTHON_MODULE(libcvt)
 {
   using namespace boost::python;
   namespace bp = boost::python;
-  class_<CVD>("CVD", init<>())
+  class_<CVT>("CVT", init<>())
   .def(
-    "run", &CVD::run,
+    "run", &CVT::run,
     (bp::arg("mapFile"), bp::arg("n_nodes"), bp::arg("seed") = 0)
   )
   ;