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Faster polygon iterator? #213
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The provided iterator would call function is_Inside for each cell to judge if it is out of range. however, is_inside has O(n^2) complexity, which means the polygon iterator has O(n^3) complexity. |
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Is there a way to run the polygon iterator faster?
My grid_map has a size of 200x200 with resolution of 0.25, which is quite big (640.000 cells) and a even bigger polygon which intersects the gird_map. Around about 50.000 cells inside the polygon of the grid_map (globalMap) then need to be set to an value, which requires often up to 3 seconds...
for (grid_map::PolygonIterator iterator(globalMap, polygon); !iterator.isPastEnd(); ++iterator) {
globalMap.at("test", *iterator) = 0.0;
}
//Also tried this way, which needs same computation time:
auto& data_to = globalMap["test"];
for (grid_map::PolygonIterator iterator(globalMap, polygon); !iterator.isPastEnd(); ++iterator) {
float& value_to = data_to( (*iterator)[0] , (*iterator)[1] );
value_to = 0.0;
}
Any suggestions? Thanks in advance.