FHWS/Fusion2016
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started working on the tex-part

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started working on eval-graphics
ned helper methods
tested some new aspects
some fixes and changes
added some graphics
new test-floorplan
many cleanups
This commit is contained in:
FrankE
2016-02-03 21:17:15 +01:00
parent 8a57b4cdbd
commit c5a5acbbf6
40 changed files with 69163 additions and 275 deletions
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31
code/Vis.h
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@@ -9,9 +9,12 @@
#include <Indoor/geo/Length.h>
#include <Indoor/floorplan/Floor.h>
#include <Indoor/geo/Angle.h>
#include <Indoor/grid/walk/GridWalkState.h>
#include "eval/GroundTruthWay.h"
class Vis {
public:
@@ -22,6 +25,7 @@ public:
K::GnuplotSplotElementColorPoints gridNodes;
K::GnuplotSplotElementLines gridEdges;
K::GnuplotSplotElementPoints particles;
K::GnuplotSplotElementLines particleDir;
K::GnuplotSplotElementLines groundTruth;
K::GnuplotSplotElementLines estPath;
@@ -42,12 +46,17 @@ public:
groundTruth.setLineWidth(2);
groundTruth.setColorHex("#666666");
particles.setColorHex("#0000ff");
particles.setPointSize(0.3);
particleDir.setColorHex("#444444");
estPath.setLineWidth(2);
// attach all layers
splot.add(&floors);
splot.add(&gridNodes);
splot.add(&gridEdges);
splot.add(&particleDir);
splot.add(&particles);
splot.add(&groundTruth);
splot.add(&estPath);
@@ -71,6 +80,8 @@ public:
/** add the grid to the plot */
template <typename T> Vis& addGrid(Grid<T>& grid) {
std::set<uint64_t> used;
float max = 0;
for (const T& n1 : grid) {
if (n1.distToTarget > max) {max = n1.distToTarget;}
@@ -84,10 +95,14 @@ public:
//const float color = n1.distToTarget/max;
const float color = 0;
gridNodes.add(p1, color);
// for (const T& n2 : grid.neighbors(n1)) {
// const K::GnuplotPoint3 p2(n2.x_cm, n2.y_cm, n2.z_cm);
// gridEdges.addSegment(p1, p2);
// }
for (const T& n2 : grid.neighbors(n1)) {
const uint64_t idx = n1.getIdx() * n2.getIdx();
if (used.find(idx) == used.end()) {
const K::GnuplotPoint3 p2(n2.x_cm, n2.y_cm, n2.z_cm);
gridEdges.addSegment(p1, p2);
used.insert(idx);
}
}
}
return *this;
}
@@ -119,6 +134,7 @@ public:
void clearStates() {
particles.clear();
particleDir.clear();
}
void addObject(const int idx, const Point3& p) {
@@ -136,9 +152,14 @@ public:
}
template <typename T> void addState(const GridWalkState<T>& n) {
particles.add(K::GnuplotPoint3(n.node->x_cm, n.node->y_cm, n.node->z_cm));
Point2 dir = Angle::getPointer(n.heading.getRAD());
K::GnuplotPoint3 p1(n.node->x_cm, n.node->y_cm, n.node->z_cm);
K::GnuplotPoint3 p2 = p1 + K::GnuplotPoint3(dir.x, dir.y, 0) * 85;
particles.add(p1);
particleDir.addSegment(p1, p2);
}
template <typename T> Vis& showStates(std::vector<GridWalkState<T>>& states) {
particles.clear();;
for (const GridWalkState<T>& n : states) {