Added Path 1

code/Plotty.h

@@ -622,6 +622,7 @@ public:
 					splot.getObjects().add(gpol);
 
 				}
+                break;
 			}
 
 			// plot obstacles?

code/Settings.h

@@ -11,25 +11,6 @@ namespace Settings {
     const int numParticles = 5000;
     const int numBSParticles = 50;
 
-    const MACAddress NUC1("38:de:ad:6d:77:25");
-    const MACAddress NUC2("38:de:ad:6d:60:ff");
-    const MACAddress NUC3("1c:1b:b5:ef:a2:9a");
-    const MACAddress NUC4("1c:1b:b5:ec:d1:82");
-
-    struct NUCSettings
-    {
-        int ID;
-        float ftm_offset;
-        float rssi_pathloss;
-    };
-
-    const std::unordered_map<MACAddress, NUCSettings> NUCS = {
-        { NUC1, { 1, 1.25, 3.375 }},
-        { NUC2, { 2, 2.00, 3.000 }},
-        { NUC3, { 3, 1.75, 3.375 }},
-        { NUC4, { 4, 2.75, 2.750 }}
-    };
-
 	namespace IMU {
         const float turnSigma = 2.5;		// 3.5
         const float stepLength = 1.00;
@@ -113,11 +94,26 @@ namespace Settings {
 	const std::string errorDir = "../measurements/error/";
     
     /** describes one dataset (map, training, parameter-estimation, ...) */
+
+    const MACAddress NUC1("38:de:ad:6d:77:25");
+    const MACAddress NUC2("38:de:ad:6d:60:ff");
+    const MACAddress NUC3("1c:1b:b5:ef:a2:9a");
+    const MACAddress NUC4("1c:1b:b5:ec:d1:82");
+
+    struct NUCSettings
+    {
+        int ID = 0;
+        Point3 position = { 0,0,0 };
+        float ftm_offset = 0.0f;
+        float rssi_pathloss = 0.0f;
+        float kalman_measStdDev = 0.0f;
+    };
+
     struct DataSetup {
         std::string map;
         std::vector<std::string> training;
-        std::unordered_map<MACAddress, Point3> APs;
+        std::unordered_map<MACAddress, NUCSettings> NUCs;
-        int numGTPoints;
+        std::vector<int> gtPath;
     };
 
     /** all configured datasets */
@@ -129,13 +125,29 @@ namespace Settings {
                 dataDir + "Pixel2/Path0_0605.csv",
             },
             {
-                { NUC1, { 7.5, 18.7, 0.8} }, // NUC 1
+                { NUC1, {1, { 7.5, 18.7, 0.8}, 1.25, 3.375, 6.156} }, // NUC 1
-                { NUC2, { 8.6, 26.8, 0.8} }, // NUC 2
+                { NUC2, {2, { 8.6, 26.8, 0.8}, 2.00, 3.000, 5.650} }, // NUC 2
-                { NUC3, {21.6, 19.1, 0.8} }, // NUC 3
+                { NUC3, {3, {21.6, 19.1, 0.8}, 1.75, 3.375, 6.107} }, // NUC 3
-                { NUC4, {20.8, 27.1, 0.8} }, // NUC 4
+                { NUC4, {4, {20.8, 27.1, 0.8}, 2.75, 2.750, 3.985} }, // NUC 4
             },
-            4
+            { 0, 1, 2, 3 }
         };
+        const DataSetup Path1 = {
+            mapDir + "map2_ap_path1.xml",
+            {
+                dataDir + "Pixel2/Path1_7208.csv",
+            },
+            {
+                { NUC1, {1, { 8.1, 18.7, 0.8}, 0, 0, 0} }, // NUC 1
+                { NUC2, {2, { 8.4, 27.3, 0.8}, 0, 0, 0} }, // NUC 2
+                { NUC3, {3, {21.3, 19.3, 0.8}, 0, 0, 0} }, // NUC 3
+                { NUC4, {4, {20.6, 26.8, 0.8}, 0, 0, 0} }, // NUC 4
+            },
+            { 1, 2, 6, 7, 6, 2, 1 }
+        };
+        
+        const DataSetup CurrentPath = Path1;
+
     } data;
 
 }

code/filter.h

@@ -308,12 +308,12 @@ public:
                     || (true && wifi.second.getAP().getMAC() == Settings::NUC4)
                     )
                 {
-                    float rssi_pathloss = Settings::NUCS.at(wifi.second.getAP().getMAC()).rssi_pathloss;
+                    float rssi_pathloss = Settings::data.CurrentPath.NUCs.at(wifi.second.getAP().getMAC()).rssi_pathloss;
 
                     float rssiDist = LogDistanceModel::rssiToDistance(-40, rssi_pathloss, wifi.second.getRSSI());
                     float ftmDist = wifi.second.getFtmDist();
 
-                    Point3 apPos = Settings::data.Path0.APs.find(wifi.first)->second;
+                    Point3 apPos = Settings::data.CurrentPath.NUCs.find(wifi.first)->second.position;
                     Point3 particlePos = p.state.pos.pos;
                     particlePos.z = 1.3; // smartphone h<>he
                     float apDist = particlePos.getDistance(apPos);

code/main.cpp

@@ -41,8 +41,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
     Offline::FileReader fr(setup.training[numFile]);
 
     // ground truth
-    std::vector<int> gtPath;
+    std::vector<int> gtPath = setup.gtPath;   
-    for(int i = 0; i < setup.numGTPoints; ++i){gtPath.push_back(i);}
     Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath);
     Stats::Statistics<float> errorStats;
 
@@ -70,10 +69,10 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
 
     // wifi
     auto kalmanMap = std::make_shared<std::unordered_map<MACAddress, Kalman>>();
-    kalmanMap->insert({ Settings::NUC1, Kalman(1, 6.156) });
+    kalmanMap->insert({ Settings::NUC1, Kalman(1, setup.NUCs.at(Settings::NUC1).kalman_measStdDev) });
-    kalmanMap->insert({ Settings::NUC2, Kalman(2, 5.650) });
+    kalmanMap->insert({ Settings::NUC2, Kalman(2, setup.NUCs.at(Settings::NUC2).kalman_measStdDev) });
-    kalmanMap->insert({ Settings::NUC3, Kalman(3, 6.107) });
+    kalmanMap->insert({ Settings::NUC3, Kalman(3, setup.NUCs.at(Settings::NUC3).kalman_measStdDev) });
-    kalmanMap->insert({ Settings::NUC4, Kalman(4, 3.985) });
+    kalmanMap->insert({ Settings::NUC4, Kalman(4, setup.NUCs.at(Settings::NUC4).kalman_measStdDev) });
 
 
     // mesh
@@ -144,7 +143,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
         if (e.type == Offline::Sensor::WIFI_FTM) {
             auto ftm = fr.getWifiFtm()[e.idx].data;
 
-            float ftm_offset = Settings::NUCS.at(ftm.getAP().getMAC()).ftm_offset;
+            float ftm_offset = Settings::data.CurrentPath.NUCs.at(ftm.getAP().getMAC()).ftm_offset;
             float ftmDist = ftm.getFtmDist() + ftm_offset; // in m; plus static offset
 
             auto& kalman = kalmanMap->at(ftm.getAP().getMAC());
@@ -204,11 +203,11 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
             // draw wifi ranges           
             for (auto& ftm : obs.wifi)
             {
-                int nucid = Settings::NUCS.at(ftm.second.getAP().getMAC()).ID;
+                int nucid = Settings::data.CurrentPath.NUCs.at(ftm.second.getAP().getMAC()).ID;
 
                 if (nucid == 1)
                 {
-                    Point3 apPos = Settings::data.Path0.APs.find(ftm.first)->second;
+                    Point3 apPos = Settings::data.CurrentPath.NUCs.find(ftm.first)->second.position;
                     //plot.addCircle(nucid, apPos.xy(), ftm.second.getFtmDist());
                 }
             }
@@ -289,7 +288,7 @@ int main(int argc, char** argv)
 
     for(int i = 0; i < 1; ++i){
         for(int j = 0; j < 1; ++j){
-            tmp = run(Settings::data.Path0, j, evaluationName);
+            tmp = run(Settings::data.CurrentPath, j, evaluationName);
             statsMedian.add(tmp.getMedian());
             statsAVG.add(tmp.getAvg());
             statsSTD.add(tmp.getStdDev());

code/mainFtm.cpp

@@ -47,7 +47,7 @@ std::vector<std::tuple<float, float, float>> getFtmValues(Offline::FileReader& f
 
             if (wifi.getAP().getMAC() == nuc)
             {
-                Point3 apPos = Settings::data.Path0.APs.find(wifi.getAP().getMAC())->second;
+                Point3 apPos = Settings::data.CurrentPath.NUCs.find(wifi.getAP().getMAC())->second.position;
                 float apDist = gtPos.getDistance(apPos);
                 float ftmDist = wifi.getFtmDist(); 
                 float rssi = wifi.getRSSI();
@@ -152,15 +152,15 @@ void exportFtmValues(Offline::FileReader& fr, Interpolator<uint64_t, Point3>& gt
 
             auto wifi = fr.getWifiFtm()[e.idx].data;
 
-            int nucid = Settings::NUCS.at(wifi.getAP().getMAC()).ID;
+            int nucid = Settings::data.CurrentPath.NUCs.at(wifi.getAP().getMAC()).ID;
-            float ftm_offset = Settings::NUCS.at(wifi.getAP().getMAC()).ftm_offset;
+            float ftm_offset = Settings::data.CurrentPath.NUCs.at(wifi.getAP().getMAC()).ftm_offset;
-            float rssi_pathloss = Settings::NUCS.at(wifi.getAP().getMAC()).rssi_pathloss;
+            float rssi_pathloss = Settings::data.CurrentPath.NUCs.at(wifi.getAP().getMAC()).rssi_pathloss;
 
             float rssiDist = LogDistanceModel::rssiToDistance(-40, rssi_pathloss, wifi.getRSSI());
             float ftmDist = wifi.getFtmDist() + ftm_offset; //in m; plus static offset
             float ftmStdDev = wifi.getFtmDistStd();
 
-            Point3 apPos = Settings::data.Path0.APs.find(wifi.getAP().getMAC())->second;
+            Point3 apPos = Settings::data.CurrentPath.NUCs.find(wifi.getAP().getMAC())->second.position;
             float apDist = gtPos.getDistance(apPos);
 
             fs << ts.ms() << ";" << nucid << ";" << apDist << ";" << rssiDist << ";" << ftmDist << ";" << ftmStdDev << "\n";
@@ -180,8 +180,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
     Offline::FileReader fr(setup.training[numFile]);
 
     // ground truth
-    std::vector<int> gtPath;
+    std::vector<int> gtPath = setup.gtPath;
-    for(int i = 0; i < setup.numGTPoints; ++i){gtPath.push_back(i);}
     Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath);
     Stats::Statistics<float> errorStats;
 
@@ -209,10 +208,10 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
 
     // wifi
     auto kalmanMap = std::make_shared<std::unordered_map<MACAddress, Kalman>>();
-    kalmanMap->insert({ Settings::NUC1, Kalman(1, 6.156) });
+    kalmanMap->insert({ Settings::NUC1, Kalman(1, setup.NUCs.at(Settings::NUC1).kalman_measStdDev) });
-    kalmanMap->insert({ Settings::NUC2, Kalman(2, 5.650) });
+    kalmanMap->insert({ Settings::NUC2, Kalman(2, setup.NUCs.at(Settings::NUC2).kalman_measStdDev) });
-    kalmanMap->insert({ Settings::NUC3, Kalman(3, 6.107) });
+    kalmanMap->insert({ Settings::NUC3, Kalman(3, setup.NUCs.at(Settings::NUC3).kalman_measStdDev) });
-    kalmanMap->insert({ Settings::NUC4, Kalman(4, 3.985) });
+    kalmanMap->insert({ Settings::NUC4, Kalman(4, setup.NUCs.at(Settings::NUC4).kalman_measStdDev) });
 
     // mesh
     NM::NavMeshSettings set;
@@ -290,7 +289,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
         if (e.type == Offline::Sensor::WIFI_FTM) {
             auto ftm = fr.getWifiFtm()[e.idx].data;
 
-            float ftm_offset = Settings::NUCS.at(ftm.getAP().getMAC()).ftm_offset;
+            float ftm_offset = Settings::data.CurrentPath.NUCs.at(ftm.getAP().getMAC()).ftm_offset;
             float ftmDist = ftm.getFtmDist() + ftm_offset; // in m; plus static offset
 
             auto& kalman = kalmanMap->at(ftm.getAP().getMAC());
@@ -323,11 +322,11 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
             // draw wifi ranges           
             for (auto& ftm : obs.wifi)
             {
-                int nucid = Settings::NUCS.at(ftm.second.getAP().getMAC()).ID;
+                int nucid = Settings::data.CurrentPath.NUCs.at(ftm.second.getAP().getMAC()).ID;
 
                 if (nucid == 1)
                 {
-                    Point3 apPos = Settings::data.Path0.APs.find(ftm.first)->second;
+                    Point3 apPos = Settings::data.CurrentPath.NUCs.find(ftm.first)->second.position;
                   //  plot.addCircle(nucid, apPos.xy(), ftm.second.getFtmDist());
                 }
             }
@@ -402,7 +401,7 @@ int mainFtm(int argc, char** argv) {
 
     for(int i = 0; i < 1; ++i){
         for(int j = 0; j < 1; ++j){
-            tmp = run(Settings::data.Path0, j, evaluationName);
+            tmp = run(Settings::data.CurrentPath, j, evaluationName);
             statsMedian.add(tmp.getMedian());
             statsAVG.add(tmp.getAvg());
             statsSTD.add(tmp.getStdDev());

map/map2_ap_path1.xml

@@ -0,0 +1,147 @@
+<map width="0" depth="1.4012985e-45">
+    <earthReg>
+        <correspondences/>
+    </earthReg>
+    <floors>
+        <floor atHeight="3" height="2.8" name="OG">
+            <outline>
+                <polygon name="" method="0" outdoor="false">
+                    <point x="4.9200001" y="28.9"/>
+                    <point x="4.9200001" y="16.6"/>
+                    <point x="14.04" y="16.6"/>
+                    <point x="14.04" y="17.74"/>
+                    <point x="18.08" y="17.74"/>
+                    <point x="18.08" y="16.6"/>
+                    <point x="23.879999" y="16.6"/>
+                    <point x="23.879999" y="28.9"/>
+                </polygon>
+            </outline>
+            <obstacles>
+                <wall material="3" type="1" x1="10.679999" y1="24.9" x2="5.2000003" y2="24.9" thickness="0.12">
+                    <door type="1" material="2" x01="0.080291912" width="0.89999998" height="2.0999999" io="true" lr="false"/>
+                </wall>
+                <wall material="3" type="1" x1="10.719999" y1="28.619999" x2="10.719999" y2="22.4" thickness="0.12"/>
+                <wall material="3" type="1" x1="10.719999" y1="22.4" x2="13.54" y2="22.4" thickness="0.18000001"/>
+                <wall material="3" type="1" x1="5.0799999" y1="28.76" x2="23.719999" y2="28.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="23.719999" y1="28.76" x2="23.719999" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="18.219999" y1="16.76" x2="23.719999" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="18.219999" y1="17.9" x2="18.219999" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="13.88" y1="17.9" x2="18.219999" y2="17.9" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="13.88" y1="16.76" x2="13.88" y2="17.9" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="5.0799999" y1="16.76" x2="13.88" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="5.0799999" y1="28.76" x2="5.0799999" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="15.259999" y1="22.4" x2="18.08" y2="22.4" thickness="0.2"/>
+                <wall material="3" type="1" x1="18.08" y1="28.619999" x2="18.08" y2="22.4" thickness="0.12"/>
+                <wall material="3" type="1" x1="9.0999994" y1="24.859999" x2="9.0999994" y2="20.799999" thickness="0.12">
+                    <door type="1" material="2" x01="0.85221666" width="0.85000002" height="2.0999999" io="true" lr="true"/>
+                </wall>
+                <wall material="3" type="1" x1="5.2199998" y1="20.779999" x2="10.599999" y2="20.779999" thickness="0.12">
+                    <door type="1" material="2" x01="0.93308562" width="0.85000002" height="2.0999999" io="true" lr="true"/>
+                </wall>
+                <wall material="3" type="1" x1="16.859999" y1="17.98" x2="16.859999" y2="20.779999" thickness="0.12"/>
+                <wall material="3" type="1" x1="18.299999" y1="18.059999" x2="18.300001" y2="20.800001" thickness="0.12"/>
+                <wall material="3" type="1" x1="18.1" y1="24.859999" x2="23.619999" y2="24.859999" thickness="0.12">
+                    <door type="1" material="2" x01="0.083333187" width="0.85000002" height="2.0999999" io="false" lr="false"/>
+                    <door type="1" material="2" x01="0.41666663" width="0.89999998" height="2.0999999" io="true" lr="false"/>
+                </wall>
+                <wall material="3" type="1" x1="19.699999" y1="20.82" x2="19.699999" y2="24.859999" thickness="0.12"/>
+                <wall material="3" type="1" x1="19.699999" y1="22.719999" x2="23.699999" y2="22.719999" thickness="0.12"/>
+                <wall material="3" type="1" x1="15.66" y1="20.779999" x2="23.68" y2="20.779999" thickness="0.12">
+                    <door type="1" material="2" x01="0.59057063" width="0.89999998" height="2.0999999" io="false" lr="false"/>
+                    <door type="1" material="2" x01="0.36476421" width="0.85000002" height="2.0999999" io="true" lr="false"/>
+                    <door type="1" material="2" x01="0.30769235" width="0.75" height="2.0999999" io="true" lr="true"/>
+                    <door type="1" material="2" x01="0.01736965" width="0.75" height="2.0999999" io="true" lr="false"/>
+                </wall>
+                <wall material="1" type="1" x1="10.7" y1="16.9" x2="10.7" y2="20.779999" thickness="0.12"/>
+                <wall material="1" type="1" x1="10.7" y1="20.779999" x2="15.559999" y2="20.779999" thickness="0.12">
+                    <door type="1" material="2" x01="0.94650221" width="1.1" height="2.0999999" io="true" lr="true"/>
+                </wall>
+                <wall material="1" type="1" x1="15.559999" y1="18.039999" x2="15.559999" y2="20.779999" thickness="0.12"/>
+            </obstacles>
+            <underlays>
+                <underlay x="-0" y="0" sx="0.0105" sy="0.0105" name="" file="D:/Source/Navegadors/NavData/2019_06_10_prologicv2/map/Datenplan_OG.png"/>
+            </underlays>
+            <pois/>
+            <gtpoints>
+                <gtpoint id="1" x="9.8000002" y="25.800001" z="0"/>
+                <gtpoint id="2" x="9.8000002" y="21.700001" z="0"/>
+                <gtpoint id="6" x="19" y="21.700001" z="0"/>
+                <gtpoint id="7" x="19" y="25.700001" z="0"/>
+            </gtpoints>
+            <accesspoints>
+                <accesspoint name="NUC1" mac="38:de:ad:6d:77:25" x="8.1000004" y="18.700001" z="2" mdl_txp="0" mdl_exp="0" mdl_waf="0"/>
+                <accesspoint name="NUC2" mac="38:de:ad:6d:60:ff" x="8.4000006" y="27.300001" z="2" mdl_txp="0" mdl_exp="0" mdl_waf="0"/>
+                <accesspoint name="NUC3" mac="1c:1b:b5:ef:a2:9a" x="21.300001" y="19.300001" z="2" mdl_txp="0" mdl_exp="0" mdl_waf="0"/>
+                <accesspoint name="NUC4" mac="1c:1b:b5:ec:d1:82" x="20.6" y="26.800001" z="2" mdl_txp="0" mdl_exp="0" mdl_waf="0"/>
+            </accesspoints>
+            <beacons/>
+            <fingerprints/>
+            <stairs/>
+            <elevators/>
+        </floor>
+        <floor atHeight="0" height="3" name="EG">
+            <outline>
+                <polygon name="" method="0" outdoor="false">
+                    <point x="4.9200001" y="28.9"/>
+                    <point x="4.9200001" y="16.6"/>
+                    <point x="14.04" y="16.6"/>
+                    <point x="15" y="16.6"/>
+                    <point x="17.300001" y="16.6"/>
+                    <point x="18.08" y="16.6"/>
+                    <point x="23.879999" y="16.6"/>
+                    <point x="23.879999" y="28.9"/>
+                </polygon>
+            </outline>
+            <obstacles>
+                <wall material="3" type="1" x1="5.0799999" y1="28.76" x2="23.719999" y2="28.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="23.719999" y1="28.76" x2="23.719999" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="17.26" y1="16.76" x2="23.719999" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="5.0799999" y1="16.76" x2="15.059999" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="5.0799999" y1="28.76" x2="5.0799999" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="5.2000003" y1="24.9" x2="23.6" y2="24.9" thickness="0.12">
+                    <door type="1" material="2" x01="0.32608694" width="0.89999998" height="2.0999999" io="false" lr="true"/>
+                    <door type="1" material="2" x01="0.40326083" width="0.89999998" height="2.0999999" io="false" lr="false"/>
+                    <door type="1" material="2" x01="0.62391305" width="0.89999998" height="2.0999999" io="false" lr="true"/>
+                    <door type="1" material="2" x01="0.6760869" width="0.89999998" height="2.0999999" io="false" lr="false"/>
+                </wall>
+                <wall material="3" type="1" x1="5.2000003" y1="20.800001" x2="10.62" y2="20.799999" thickness="0.12">
+                    <door type="1" material="2" x01="0.93357944" width="0.89999998" height="2.0999999" io="true" lr="true"/>
+                </wall>
+                <wall material="3" type="1" x1="17.559999" y1="20.779999" x2="23.6" y2="20.779999" thickness="0.12">
+                    <door type="1" material="2" x01="0.69536424" width="1" height="2.0999999" io="true" lr="false"/>
+                    <door type="1" material="2" x01="0.11258282" width="0.89999998" height="2.0999999" io="true" lr="false"/>
+                </wall>
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+                    <door type="1" material="2" x01="0.79901963" width="0.89999998" height="2.0999999" io="false" lr="true"/>
+                </wall>
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+                <wall material="3" type="1" x1="10.74" y1="23.24" x2="14.4" y2="23.24" thickness="0.12">
+                    <door type="1" material="2" x01="0.93989062" width="0.75" height="2.0999999" io="true" lr="true"/>
+                    <door type="1" material="2" x01="0.060109366" width="0.75" height="2.0999999" io="true" lr="false"/>
+                </wall>
+                <wall material="3" type="1" x1="14.4" y1="23.24" x2="14.4" y2="20.879999" thickness="0.12"/>
+                <wall material="3" type="1" x1="12.559999" y1="20.879999" x2="12.559999" y2="23.199999" thickness="0.12"/>
+            </obstacles>
+            <underlays>
+                <underlay x="-0" y="0" sx="0.0105" sy="0.0105" name="" file="D:/Source/Navegadors/NavData/2019_06_10_prologicv2/map/Datenplan_EG.png"/>
+            </underlays>
+            <pois/>
+            <gtpoints/>
+            <accesspoints/>
+            <beacons/>
+            <fingerprints/>
+            <stairs/>
+            <elevators/>
+        </floor>
+    </floors>
+</map>

map/map_2.xml

@@ -0,0 +1,156 @@
+<map width="0" depth="1.4012985e-45">
+    <earthReg>
+        <correspondences/>
+    </earthReg>
+    <floors>
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+            <outline>
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+                    <point x="4.9200001" y="16.6"/>
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+                    <point x="23.879999" y="16.6"/>
+                    <point x="23.879999" y="28.9"/>
+                </polygon>
+            </outline>
+            <obstacles>
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+                    <door type="1" material="2" x01="0.080291912" width="0.89999998" height="2.0999999" io="true" lr="false"/>
+                </wall>
+                <wall material="3" type="1" x1="10.719999" y1="28.619999" x2="10.719999" y2="22.4" thickness="0.12"/>
+                <wall material="3" type="1" x1="10.719999" y1="22.4" x2="13.54" y2="22.4" thickness="0.18000001"/>
+                <wall material="3" type="1" x1="5.0799999" y1="28.76" x2="23.719999" y2="28.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="23.719999" y1="28.76" x2="23.719999" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="18.219999" y1="16.76" x2="23.719999" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="18.219999" y1="17.9" x2="18.219999" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="13.88" y1="17.9" x2="18.219999" y2="17.9" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="13.88" y1="16.76" x2="13.88" y2="17.9" thickness="0.30000001"/>
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+                <wall material="3" type="1" x1="5.0799999" y1="28.76" x2="5.0799999" y2="16.76" thickness="0.30000001"/>
+                <wall material="3" type="1" x1="15.259999" y1="22.4" x2="18.08" y2="22.4" thickness="0.2"/>
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+                    <door type="1" material="2" x01="0.93308562" width="0.85000002" height="2.0999999" io="true" lr="true"/>
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+                <wall material="3" type="1" x1="16.859999" y1="17.98" x2="16.859999" y2="20.779999" thickness="0.12"/>
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+                    <door type="1" material="2" x01="0.083333187" width="0.85000002" height="2.0999999" io="false" lr="false"/>
+                    <door type="1" material="2" x01="0.41666663" width="0.89999998" height="2.0999999" io="true" lr="false"/>
+                </wall>
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+                </wall>
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+                    <door type="1" material="2" x01="0.94650221" width="1.1" height="2.0999999" io="true" lr="true"/>
+                </wall>
+                <wall material="1" type="1" x1="15.559999" y1="18.039999" x2="15.559999" y2="20.779999" thickness="0.12"/>
+            </obstacles>
+            <underlays>
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+            </underlays>
+            <pois/>
+            <gtpoints>
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+                <gtpoint id="12" x="23" y="18" z="0"/>
+                <gtpoint id="13" x="23" y="19.6" z="0"/>
+            </gtpoints>
+            <accesspoints>
+                <accesspoint name="NUC1" mac="38:de:ad:6d:77:25" x="8.1000004" y="18.700001" z="2" mdl_txp="0" mdl_exp="0" mdl_waf="0"/>
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+            </accesspoints>
+            <beacons/>
+            <fingerprints/>
+            <stairs/>
+            <elevators/>
+        </floor>
+        <floor atHeight="0" height="3" name="EG">
+            <outline>
+                <polygon name="" method="0" outdoor="false">
+                    <point x="4.9200001" y="28.9"/>
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+                    <point x="23.879999" y="28.9"/>
+                </polygon>
+            </outline>
+            <obstacles>
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+            </obstacles>
+            <underlays>
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+            </underlays>
+            <pois/>
+            <gtpoints/>
+            <accesspoints/>
+            <beacons/>
+            <fingerprints/>
+            <stairs/>
+            <elevators/>
+        </floor>
+    </floors>
+</map>