根据设计模式原理实现map_segmentation算法C++架构

下面是一个使用设计模式原理实现地图分割算法的C++架构示例，其中有一个基类MapSegmentation和两个子类DistanceSegmentation和MorphologicalSegmentation，分别实现了不同的分割方法。

如果DistanceSegmentation子类有成员变量double room_upper_limit_morphological_和double room_lower_limit_morphological_，而MorphologicalSegmentation子类有成员变量double room_upper_limit_distance_和double room_lower_limit_distance_，那么你可以在各自的子类中添加这些成员变量，并在构造函数中进行初始化。

#include <iostream>
#include <memory>
#include <opencv2/core/core.hpp>

enum class SegmentationMethod {
    Distance,
    Morphological
};

class MapSegmentation {
protected:
    const cv::Mat& map_seg;
    const double resolution;
    const double robot_radius;

public:
    MapSegmentation(const cv::Mat& map_seg, double resolution, double robot_radius)
        : map_seg(map_seg), resolution(resolution), robot_radius(robot_radius) {}

    virtual void segmentMap() = 0;
    // 其他公共接口和成员函数
};

class DistanceSegmentation : public MapSegmentation {
private:
    double room_upper_limit_morphological_;
    double room_lower_limit_morphological_;

public:
    DistanceSegmentation(const cv::Mat& map_seg, double resolution, double robot_radius,
                         double room_upper_limit_morphological, double room_lower_limit_morphological)
        : MapSegmentation(map_seg, resolution, robot_radius),
          room_upper_limit_morphological_(room_upper_limit_morphological),
          room_lower_limit_morphological_(room_lower_limit_morphological) {}

    void segmentMap() override {
        // 使用 map_seg、resolution、robot_radius、room_upper_limit_morphological_ 和 room_lower_limit_morphological_ 进行 distance_segmentation 分割方法
        std::cout << "Performing distance-based map segmentation..." << std::endl;
        // 具体的实现逻辑
    }
    // 其他特定于 distance_segmentation 的接口和成员函数
};

class MorphologicalSegmentation : public MapSegmentation {
private:
    double room_upper_limit_distance_;
    double room_lower_limit_distance_;

public:
    MorphologicalSegmentation(const cv::Mat& map_seg, double resolution, double robot_radius,
                              double room_upper_limit_distance, double room_lower_limit_distance)
        : MapSegmentation(map_seg, resolution, robot_radius),
          room_upper_limit_distance_(room_upper_limit_distance),
          room_lower_limit_distance_(room_lower_limit_distance) {}

    void segmentMap() override {
        // 使用 map_seg、resolution、robot_radius、room_upper_limit_distance_ 和 room_lower_limit_distance_ 进行 morphological_segmentation 分割方法
        std::cout << "Performing morphological-based map segmentation..." << std::endl;
        // 具体的实现逻辑
    }
    // 其他特定于 morphological_segmentation 的接口和成员函数
};

int main() {
    cv::Mat map_seg;  // 定义地图
    double resolution = 0.1;  // 分辨率
    double robot_radius = 0.5;  // 机器人半径
    double room_upper_limit_distance = 1.0;  // distance_segmentation 子类的成员变量
    double room_lower_limit_distance = 0.5;  // distance_segmentation 子类的成员变量
    double room_upper_limit_morphological = 3.0;  // morphological_segmentation 子类的成员变量
    double room_lower_limit_morphological = 2.0; // morphological_segmentation 子类的成员变量
    SegmentationMethod method = SegmentationMethod::Distance;  // 选择分割方法

    std::unique_ptr<MapSegmentation> segmentationMethod;

    if (method == SegmentationMethod::Distance) {
        segmentationMethod = std::make_unique<DistanceSegmentation>(map_seg, resolution, robot_radius,
                                                                    room_upper_limit_morphological,
                                                                    room_lower_limit_morphological);
    } else if (method == SegmentationMethod::Morphological) {
        segmentationMethod = std::make_unique<MorphologicalSegmentation>(map_seg, resolution, robot_radius,
                                                                        room_upper_limit_distance,
                                                                        room_lower_limit_distance);
    }

    if (segmentationMethod) {
        segmentationMethod->segmentMap();
    }

    return 0;
}

在main()函数中，我们定义了double room_upper_limit_distance、double room_lower_limit_distance、double room_upper_limit_morphological和double room_lower_limit_morphological作为各自子类的成员变量。然后根据所选的SegmentationMethod，我们使用条件语句创建相应的子类实例，并传递这些成员变量进行初始化。最后，我们检查指针是否有效，并调用segmentMap()函数进行地图分割。

请根据实际需要调整成员变量的命名和值。