started working on the tex-part

started working on eval-graphics
ned helper methods
tested some new aspects
some fixes and changes
added some graphics
new test-floorplan
many cleanups

code/CMakeLists.txt

@@ -64,7 +64,7 @@ ADD_DEFINITIONS(
 	-fstack-protector-all
 
 	-g
-	-O0
+	-O1
 	-DWITH_TESTS
 	-DWITH_ASSERTIONS
 

code/DijkstraMapper.h

@@ -4,7 +4,7 @@
 #include "MyGridNode.h"
 
 /**
- * allows dijkstra calculation on top of our data-structure
+ * allows BETTER dijkstra calculation on top of our data-structure
  */
 class DijkstraMapper {
 
@@ -19,9 +19,31 @@ public:
 	const MyGridNode* getNeighbor(const MyGridNode& node, const int idx) const {return &grid.getNeighbor(node, idx);}
 
 	float getWeightBetween(const MyGridNode& n1, const MyGridNode& n2) const {
-		float d = ((Point3)n1 - (Point3)n2).length(2.0);
+		float d = ((Point3)n1 - (Point3)n2).length(2) ;
 		//if (d > 20) {d*= 1.30;}
-		return d / std::pow(n2.imp, 3);
+		d /= std::pow(n2.imp, 3);
+		return d;
+	}
+
+};
+
+/**
+ * allows NORMAL dijkstra calculation on top of our data-structure
+ */
+class DijkstraMapperNormal {
+
+	Grid<MyGridNode>& grid;
+
+public:
+
+	DijkstraMapperNormal(Grid<MyGridNode>& grid) : grid(grid) {;}
+
+	int getNumNeighbors(const MyGridNode& node) const {return node.getNumNeighbors();}
+
+	const MyGridNode* getNeighbor(const MyGridNode& node, const int idx) const {return &grid.getNeighbor(node, idx);}
+
+	float getWeightBetween(const MyGridNode& n1, const MyGridNode& n2) const {
+		return ((Point3)n1 - (Point3)n2).length();
 	}
 
 };

code/Helper.h

@@ -25,23 +25,23 @@ public:
 //		if (z_cm < 360+340) {return 1;}
 //		if (z_cm < 360+340+340) {return 2;}
 //		return 3;
-		if (z_cm < 180) {return 0;}
+		if (z_cm < 380) {return 0;}
-		if (z_cm < 360+180) {return 1;}
+		if (z_cm < 380+340) {return 1;}
-		if (z_cm < 360+340+180) {return 2;}
+		if (z_cm < 380+340+340) {return 2;}
 		return 3;
 	}
 
 	/** convert height (in cm) to floor-numbers */
-	static int getFloorNrFloat(float z_cm) {
+	static int getFloorNrFloat(const float z_cm) {
-		return z_cm / 340.0f;
+		return z_cm / 350.0f;
 	}
 
 	static int getHeight(const int floorNr) {
 		switch(floorNr) {
 			case 0: return 0;
-			case 1: return 360;
+			case 1: return 380;
-			case 2: return 360+340;
+			case 2: return 380+340;
-			case 3: return 360+340+340;
+			case 3: return 380+340+340;
 			default: throw "error";
 		}
 	}
@@ -86,14 +86,21 @@ public:
 		f.s23 = fpFac.getStairs("staircase_2_3");
 
 		OldGroundTruth gtwp0(MiscSettings::floorplan, "ground_truth_0", 2.822222);
+		OldGroundTruth gtwp05(MiscSettings::floorplan, "ground_truth_0_5", 2.822222);
 		OldGroundTruth gtwp1(MiscSettings::floorplan, "ground_truth_1", 2.822222);
+		OldGroundTruth gtwp15(MiscSettings::floorplan, "ground_truth_1_5", 2.822222);
 		OldGroundTruth gtwp2(MiscSettings::floorplan, "ground_truth_2", 2.822222);
+		OldGroundTruth gtwp25(MiscSettings::floorplan, "ground_truth_2_5", 2.822222);
 		OldGroundTruth gtwp3(MiscSettings::floorplan, "ground_truth_3", 2.822222);
 
-		for (auto it : gtwp0.getWaypoints()) {f.gtwp[it.first] = Point3(it.second.x, it.second.y, getHeight(0));}
+		for (auto it : gtwp0.getWaypoints()) { if (f.gtwp.find(it.first) != f.gtwp.end()) {throw 1;} f.gtwp[it.first] = Point3(it.second.x, it.second.y, getHeight(0));}
-		for (auto it : gtwp1.getWaypoints()) {f.gtwp[it.first] = Point3(it.second.x, it.second.y, getHeight(1));}
+		for (auto it : gtwp1.getWaypoints()) { if (f.gtwp.find(it.first) != f.gtwp.end()) {throw 1;} f.gtwp[it.first] = Point3(it.second.x, it.second.y, getHeight(1));}
-		for (auto it : gtwp2.getWaypoints()) {f.gtwp[it.first] = Point3(it.second.x, it.second.y, getHeight(2));}
+		for (auto it : gtwp2.getWaypoints()) { if (f.gtwp.find(it.first) != f.gtwp.end()) {throw 1;} f.gtwp[it.first] = Point3(it.second.x, it.second.y, getHeight(2));}
-		for (auto it : gtwp3.getWaypoints()) {f.gtwp[it.first] = Point3(it.second.x, it.second.y, getHeight(3));}
+		for (auto it : gtwp3.getWaypoints()) { if (f.gtwp.find(it.first) != f.gtwp.end()) {throw 1;} f.gtwp[it.first] = Point3(it.second.x, it.second.y, getHeight(3));}
+
+		for (auto it : gtwp05.getWaypoints()) { if (f.gtwp.find(it.first) != f.gtwp.end()) {throw 1;} f.gtwp[it.first] = Point3(it.second.x, it.second.y, (getHeight(0)+getHeight(1))/2);}
+		for (auto it : gtwp15.getWaypoints()) { if (f.gtwp.find(it.first) != f.gtwp.end()) {throw 1;} f.gtwp[it.first] = Point3(it.second.x, it.second.y, (getHeight(1)+getHeight(2))/2);}
+		for (auto it : gtwp25.getWaypoints()) { if (f.gtwp.find(it.first) != f.gtwp.end()) {throw 1;} f.gtwp[it.first] = Point3(it.second.x, it.second.y, (getHeight(2)+getHeight(3))/2);}
 
 		return f;
 
@@ -112,16 +119,15 @@ public:
 		gridFac.addStairs(floors.s12, floors.h1.cm(), floors.h2.cm());
 		gridFac.addStairs(floors.s23, floors.h2.cm(), floors.h3.cm());
 
-		// maybe the two sides are wrong?
 		PlatformStair psUpperLeft;
 		psUpperLeft.platform = BBox2(Point2(1560, 4778), Point2(1730, 5128));
-		psUpperLeft.s1 = Stair(Line2( 1278,4790+000, 1278,4790+140 ), Point2(+280,0));
+		psUpperLeft.s1 = Stair(Line2( 1278,4790+160, 1278,4790+160+140 ), Point2(+280,0));
-		psUpperLeft.s2 = Stair(Line2( 1278,4790+160, 1278,4790+160+140 ), Point2(+280,0));
+		psUpperLeft.s2 = Stair(Line2( 1278,4790+000, 1278,4790+140 ), Point2(+280,0));
 		gridFac.buildPlatformStair(psUpperLeft, floors.h0.cm(), floors.h1.cm());
 		gridFac.buildPlatformStair(psUpperLeft, floors.h1.cm(), floors.h2.cm());
 		gridFac.buildPlatformStair(psUpperLeft, floors.h2.cm(), floors.h3.cm());
-	//	vis.gp << "set xrange [1100:1800]\n";
+//		vis.gp << "set xrange [1100:1800]\n";
-	//	vis.gp << "set yrange [4500:5200]\n";
+//		vis.gp << "set yrange [4500:5200]\n";
 
 		PlatformStair psUpperRight;
 		psUpperRight.platform = BBox2(Point2(6290, 4778), Point2(6500, 5098));

code/MyGridNode.h

@@ -15,6 +15,9 @@ struct MyGridNode : public GridNode, public GridPoint {
 	/** node importance based on surroundings */
 	float imp = 1.0;
 
+	/** used for eval */
+	int cnt = 0;
+
 public:
 
 	/** needed ctor */

code/Settings.h

@@ -10,13 +10,14 @@
 
 namespace MiscSettings {
 
-	const std::string floorplan = "/mnt/data/workspaces/Fusion2016/code/plan.svg";
+	const std::string floorplan = "/mnt/data/workspaces/Fusion2016/code/plan_new.svg";
+	const std::string floorplanPlot = "/mnt/data/workspaces/Fusion2016/code/plan_plots.svg";
 
-	const int gridSize_cm = 40;
+	const int gridSize_cm = 20;
 
 	const int timeSteps = 500;
 
-	const int numParticles = 2500;
+	const int numParticles = 7500;
 
 }
 

code/Vis.h

@@ -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)) {
+			for (const T& n2 : grid.neighbors(n1)) {
-//				const K::GnuplotPoint3 p2(n2.x_cm, n2.y_cm, n2.z_cm);
+				const uint64_t idx = n1.getIdx() * n2.getIdx();
-//				gridEdges.addSegment(p1, p2);
+				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) {

code/eval/Eval.h

@@ -18,50 +18,53 @@ public:
 
 
 
-	Eval() {
+//	Eval() {
 
 
-		pf = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );
+//		pf = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );
 
-		MyGridNode& start = (MyGridNode&)grid.getNodeFor(GridPoint(500,300,floors.h0.cm()));
+//		MyGridNode& start = (MyGridNode&)grid.getNodeFor(GridPoint(500,300,floors.h0.cm()));
-		MyGridNode& end = (MyGridNode&)grid.getNodeFor(GridPoint(7000,5000,floors.h3.cm()));
+//		MyGridNode& end = (MyGridNode&)grid.getNodeFor(GridPoint(7000,5000,floors.h3.cm()));
 
-		//GridWalkLightAtTheEndOfTheTunnel<MyGridNode>* walk = new GridWalkLightAtTheEndOfTheTunnel<MyGridNode>(grid, DijkstraMapper(grid), end);
+//		//GridWalkRandomHeadingUpdate<MyGridNode>* walk = new GridWalkRandomHeadingUpdate<MyGridNode>();
-		//GridWalkRandomHeadingUpdate<MyGridNode>* walk = new GridWalkRandomHeadingUpdate<MyGridNode>();
+//		GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
-		GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
+//		//GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();
-		//GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();
+//		//GridWalkLightAtTheEndOfTheTunnel<MyGridNode>* walk = new GridWalkLightAtTheEndOfTheTunnel<MyGridNode>(grid, DijkstraMapper(grid), end);
 
-		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
+//		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
 
-		sr = new SensorReader("./measurements/13/Galaxy/Path2/1433588396094.csv");
+//		sr = new SensorReader("./measurements/13/Galaxy/Path2/1433588396094.csv");
-		srt = new SensorReaderTurn("./measurements/13/Galaxy/Path2/Turns.txt");
+//		srt = new SensorReaderTurn("./measurements/13/Galaxy/Path2/Turns.txt");
-		srs = new SensorReaderStep("./measurements/13/Galaxy/Path2/Steps2.txt");
+//		srs = new SensorReaderStep("./measurements/13/Galaxy/Path2/Steps2.txt");
 
-		gtw = getGroundTruthWay(*sr, floors.gtwp, way2);
+//		gtw = getGroundTruthWay(*sr, floors.gtwp, way2);
 
-	}
+//	}
+
+//	//wifi also uniform dist 0/1 fuer bereiche die OK sind?
+//	//steps hochzaehlen weil mehr als einer in einer transition??
+//	//increase regional average region
+
+//	void setEval1() {
 
 
+//		runName = "TODO";
 
-	void setEval1() {
+//		// the particle filter's evaluation method
+//		std::unique_ptr<MyEvaluation> eval = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
+//		eval.get()->setUsage(true, false, false, true, true);
+//		pf->setEvaluation( std::move(eval) );
 
+//		// resampling step?
+//		pf->setNEffThreshold(1.0);
+//		pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
 
-		runName = "TODO";
+//		// state estimation step
+//		//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
+//		//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
+//		pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.33f)));
 
-		// the particle filter's evaluation method
+//	}
-		std::unique_ptr<MyEvaluation> eval = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
-		eval.get()->setUsage(true, false, false, true, true);
-		pf->setEvaluation( std::move(eval) );
-
-		// resampling step?
-		pf->setNEffThreshold(1.0);
-		pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
-
-		// state estimation step
-		pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
-		//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
-
-	}
 
 
 

code/eval/Eval1.h

@@ -0,0 +1,98 @@
+#ifndef EVAL1_H
+#define EVAL1_H
+
+#include "EvalBase.h"
+#include "../DijkstraMapper.h"
+#include <Indoor/grid/walk/GridWalkRandomHeadingUpdate.h>
+#include <Indoor/grid/walk/GridWalkRandomHeadingUpdateAdv.h>
+#include <Indoor/grid/walk/GridWalkPushForward.h>
+#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>
+#include <Indoor/grid/walk/GridWalkSimpleControl.h>
+
+#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
+#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>
+
+#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
+#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
+#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
+
+class Eval1 : public EvalBase {
+
+public:
+
+	Eval1() {
+
+
+		pf = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );
+
+		std::vector<int> wp = path1; std::reverse(wp.begin(), wp.end());
+
+		MyGridNode& start = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[wp.front()]) );
+		MyGridNode& end = (MyGridNode&)grid.getNodeFor( conv(floors.gtwp[wp.back()]) );
+
+		//GridWalkRandomHeadingUpdate<MyGridNode>* walk = new GridWalkRandomHeadingUpdate<MyGridNode>();
+		//GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
+		//GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();
+		//GridWalkLightAtTheEndOfTheTunnel<MyGridNode>* walk = new GridWalkLightAtTheEndOfTheTunnel<MyGridNode>(grid, DijkstraMapper(grid), end);
+		GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
+
+		pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
+
+		// path1
+		//sr = new SensorReader("./measurements/path1/1/1454345312844.csv"); // forward
+		//srt = new SensorReaderTurn("./measurements/path1/1/Turns.txt");
+		//srs = new SensorReaderStep("./measurements/path1/1/Steps2.txt");
+		sr = new SensorReader("./measurements/path1/2/1454345421125.csv"); // backward
+		srt = new SensorReaderTurn("./measurements/path1/2/Turns.txt");
+		srs = new SensorReaderStep("./measurements/path1/2/Steps2.txt");
+
+		// path2
+		//sr = new SensorReader("./measurements/path2/1/1454345775306.csv"); // forward
+		//srt = new SensorReaderTurn("./measurements/path2/1/Turns.txt");
+		//srs = new SensorReaderStep("./measurements/path2/1/Steps2.txt");
+		//sr = new SensorReader("./measurements/path2/2/1454346071347.csv"); // backward
+		//srt = new SensorReaderTurn("./measurements/path2/2/Turns.txt");
+		//srs = new SensorReaderStep("./measurements/path2/2/Steps2.txt");
+
+		// path3
+//		sr = new SensorReader("./measurements/path3/1/1454345546308.csv"); // forward
+//		srt = new SensorReaderTurn("./measurements/path3/1/Turns.txt");
+//		srs = new SensorReaderStep("./measurements/path3/1/Steps2.txt");
+//		sr = new SensorReader("./measurements/path3/2/1454345622819.csv"); // backward
+//		srt = new SensorReaderTurn("./measurements/path3/2/Turns.txt");
+//		srs = new SensorReaderStep("./measurements/path3/2/Steps2.txt");
+
+
+		gtw = getGroundTruthWay(*sr, floors.gtwp, wp);
+
+	}
+
+	//wifi also uniform dist 0/1 fuer bereiche die OK sind?
+	//steps hochzaehlen weil mehr als einer in einer transition??
+	//increase regional average region
+
+	void setEval1() {
+
+
+		runName = "TODO";
+
+		// the particle filter's evaluation method
+		std::unique_ptr<MyEvaluation> eval = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
+		eval.get()->setUsage(true, true, true, true, true);		// TODO: STEP TURN
+		pf->setEvaluation( std::move(eval) );
+
+		// resampling step?
+		pf->setNEffThreshold(1.0);
+		pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
+		//pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.10)) );
+
+		// state estimation step
+		//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
+		//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
+		pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.50f)));
+
+	}
+
+};
+
+#endif // EVAL1_H

code/eval/EvalBase.h

@@ -47,9 +47,16 @@ protected:
 	std::string runName;
 
 	GroundTruthWay gtw;
-	std::vector<int> way0 = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 2, 1, 0};
+
-	std::vector<int> way1 = {29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 13, 14, 15, 16, 17, 18, 19, 2, 1, 0};
+	// OLD
-	std::vector<int> way2 = {29, 28, 27, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0, 1, 2, 19, 18, 17, 16, 15, 14, 13, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29};
+	//std::vector<int> way0 = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 2, 1, 0};
+	//std::vector<int> way1 = {29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 13, 14, 15, 16, 17, 18, 19, 2, 1, 0};
+	//std::vector<int> way2 = {29, 28, 27, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0, 1, 2, 19, 18, 17, 16, 15, 14, 13, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29};
+
+	// NEW
+	std::vector<int> path1 = {29, 28,27,26,255,25,24,23,22,21,20};
+	std::vector<int> path2 = {19, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 23, 7, 6};
+	std::vector<int> path3 = {5, 27, 26, 255, 25, 4, 3, 2, 215, 1, 0, 30, 31};
 
 public:
 
@@ -66,13 +73,17 @@ public:
 
 	}
 
+	static GridPoint conv(const Point3& p) {
+		return GridPoint(p.x, p.y, p.z);
+	}
+
 	GroundTruthWay getGroundTruthWay(SensorReader& sr, const std::unordered_map<int, Point3>& waypoints, std::vector<int> ids) {
 
 		// construct the ground-truth-path by using all contained waypoint ids
 		std::vector<Point3> path;
 		for (int id : ids) {
 			auto it = waypoints.find(id);
-			assert(it != waypoints.end());
+			if(it == waypoints.end()) {throw "not found";}
 			path.push_back(it->second);
 		}
 
@@ -138,6 +149,11 @@ public:
 
 			// the to-be-evaluated observation
 			MyObservation obs;
+			obs.step = new StepObservation(); obs.step->steps = 0;
+			obs.turn = new TurnObservation(); obs.turn->delta_heading = 0; obs.turn->delta_motion = 0;
+
+			// control data
+			MyControl ctrl;
 
 
 			std::vector<Point3> pathEst;
@@ -148,7 +164,8 @@ public:
 			K::Statistics<double> stats;
 			int cnt = 0;
 
-			// process each sensor reading
+
+			// process each single sensor reading
 			while(sr->hasNext()) {
 
 				// get the next sensor reading from the CSV
@@ -187,58 +204,39 @@ public:
 
 				}
 
+				// process all occurred turns
+				while (!step_observations.empty() && current_time > step_observations.front().ts) {
+					const StepObservation _so = step_observations.front(); step_observations.pop_front(); (void) _so;
+					obs.step->steps++;
+					ctrl.walked_m = obs.step->steps * 0.71;
+				}
 
-				// scheduled transition every 500 ms
+				// process all occurred steps
-				if (lastTransitionTS == 0) {lastTransitionTS = se.ts;}
+				while (!turn_observations.empty() && current_time > turn_observations.front().ts) {
-				for ( ; se.ts - lastTransitionTS > MiscSettings::timeSteps; lastTransitionTS += MiscSettings::timeSteps) {
+					const TurnObservation _to = turn_observations.front(); turn_observations.pop_front();
+					obs.turn->delta_heading += _to.delta_heading;
+					obs.turn->delta_motion += _to.delta_motion;
+					ctrl.headingChange_rad = Angle::degToRad(obs.turn->delta_heading);
 
-					//Steps are sorted in the list by timestamp.
+				}
-					//If the current observation timestamp is bigger/equal
-					//to the current step timestamp, use this step as observation
-					//and remove it from the list.
-					//The new first timestamp in the list will be then be the next one (timestamp-wise)
-					StepObservation so;
-					if(current_time >= step_observations.front().ts && !step_observations.empty()) {
-						so.step = true;
-						so.ts = current_time;
 
-						obs.step = &so;
-						step_observations.pop_front();
 
-					}
+				// time for a transition?
-					else {
+				if (se.ts - lastTransitionTS > MiscSettings::timeSteps) {
-						so.step = false;
-						so.ts = current_time;
-
-						obs.step = &so;
-					}
-
-					TurnObservation to;
-					//same principal as for steps is applied for turns
-					if(current_time >= turn_observations.front().ts && !turn_observations.empty()) {
-						to = turn_observations.front();
-						obs.turn = &to;
-
-						turn_observations.pop_front();
-					}
-					else {
-						to.delta_heading = 0.0;
-						to.delta_motion = 0.0;
-
-						obs.turn = &to;
-					}
 
+					lastTransitionTS = se.ts;
 
 					// timed updates
 					((MyTransition*)pf->getTransition())->setCurrentTime(lastTransitionTS);
 
 
 					// update the particle filter (transition + eval), estimate a new current position and add it to the estimated path
-					const MyState est = pf->update(nullptr, obs);
+					const MyState est = pf->update(&ctrl, obs);
 					const Point3 curEst = est.pCur;
 
 					// error calculation. compare ground-truth to estimation
-					const Point3 curGT = gtw.getPosAtTime(se.ts - 750);
+					const int offset = 0; // 750
+					const Point3 curGT = gtw.getPosAtTime(se.ts - offset);
 					const Point3 diff = curEst - curGT;
 
 					// skip the first 8 scans due to uniform distribution start
@@ -251,28 +249,31 @@ public:
 
 					// plot
 					vis.clearStates();
-					for (const K::Particle<MyState> p : pf->getParticles()) {vis.addState(p.state.walkState);}
+					for (int i = 0; i < (int) pf->getParticles().size(); i+=15) {
+						const K::Particle<MyState>& p = pf->getParticles()[i];
+						vis.addState(p.state.walkState);
+					}
 					vis.setTimestamp(se.ts);
 					vis.addGroundTruth(gtw);
 					vis.addEstPath(pathEst);
 					vis.setEstAndShould(curEst, curGT);
-					vis.show();;
+
+					vis.gp << "set label 111 '" <<ctrl.walked_m << ":" << ctrl.headingChange_rad << "' at screen 0.1,0.1\n";
+
+					Point2 p1(0.1, 0.1);
+					Point2 p2 = p1 + Angle::getPointer(ctrl.headingChange_rad) * 0.1;
+					vis.gp << "set arrow 111 from screen " << p1.x<<","<<p1.y << " to screen " << p2.x<<","<<p2.y<<"\n";
+
+					vis.show();
+
+					// prevent gnuplot errors
+					usleep(1000*33);
 
 				}
 
 
 			}
 
-			{
-//				vis.setShowParticles(false);
-//				vis.setShowTime(false);
-//				vis.setShowCurPos(false);
-//				vis.debugProcess(0, pathEst, gtw, pf, layers);
-//				std::ofstream out("/tmp/" + runName + ".data");
-//				out << vis.getDataset();
-//				out.close();
-			}
-
 			sleep(1000);
 
 		}

code/eval/PaperPlot.h

@@ -0,0 +1,95 @@
+#ifndef PAPERPLOT_H
+#define PAPERPLOT_H
+
+#include <KLib/misc/gnuplot/Gnuplot.h>
+
+#include <KLib/misc/gnuplot/GnuplotSplot.h>
+#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
+#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
+#include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h>
+
+
+#include <Indoor/floorplan/Floor.h>
+#include <Indoor/geo/Length.h>
+
+class PaperPlot {
+
+public:
+
+	K::Gnuplot gp;
+	K::GnuplotSplot plot;
+
+	K::GnuplotSplotElementLines floors;
+	K::GnuplotSplotElementColorPoints nodes;
+
+public:
+
+	PaperPlot() {
+
+		floors.setLineWidth(2);
+
+		plot.add(&nodes);
+		plot.add(&floors);
+
+		gp << "set ticslevel 0\n";
+
+
+		//gp << "set zrange [0:0]\n";
+
+	}
+
+	void show() {
+		gp.draw(plot);
+		gp.flush();;
+	}
+
+	/** add all obstacles of the given floor to the provided height */
+	void addFloor(const Floor& f, const LengthF height) {
+
+		// add each wall
+		for (const Line2& l : f.getObstacles()) {
+			const K::GnuplotPoint3 p1(l.p1.x, l.p1.y, height.cm());
+			const K::GnuplotPoint3 p2(l.p2.x, l.p2.y, height.cm());
+			floors.addSegment(p1, p2);
+		}
+
+	}
+
+	/** add the grid to the plot */
+	template <typename T> void addGrid(Grid<T>& grid) {
+
+//		std::set<uint64_t> used;
+
+		// get the min/max value
+		float max = -999999;
+		float min = +999999;
+		for (const T& n1 : grid) {
+			const float val = n1.imp;
+			//const float val = n1.distToTarget;
+			if (val > max) {max = val;}
+			if (val < min) {min = val;}
+		}
+		gp << "set cbrange["<<min<<":"<<max<<"]\n";
+
+		for (const T& n1 : grid) {
+			const K::GnuplotPoint3 p1(n1.x_cm, n1.y_cm, n1.z_cm);
+			const float color = n1.imp;
+			//const float color = n1.distToTarget/max;
+			//const float color = 0;
+			nodes.add(p1, color);
+//			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);
+//				}
+//			}
+		}
+
+	}
+
+
+};
+
+#endif // PAPERPLOT_H

code/eval/PaperPlot2D.h

@@ -0,0 +1,141 @@
+#ifndef PAPERPLOT2D_H
+#define PAPERPLOT2D_H
+
+#include <KLib/misc/gnuplot/Gnuplot.h>
+
+#include <KLib/misc/gnuplot/GnuplotPlot.h>
+#include <KLib/misc/gnuplot/GnuplotPlotElementLines.h>
+#include <KLib/misc/gnuplot/GnuplotPlotElementColorPoints.h>
+
+#include <Indoor/floorplan/Floor.h>
+#include <Indoor/geo/Length.h>
+
+class PaperPlot2D {
+
+public:
+
+	struct Size {
+		float w;
+		float h;
+		Size(const float w, const float h) : w(w), h(h) {;}
+	};
+
+public:
+
+	K::Gnuplot gp;
+	K::GnuplotPlot plot;
+
+	K::GnuplotPlotElementLines floors;
+	K::GnuplotPlotElementColorPoints nodes;
+
+	std::string file;
+
+public:
+
+	PaperPlot2D(const std::string& file, Size s) : file(file) {
+		toFile(file, s);
+		setup();
+	}
+
+	PaperPlot2D() {
+		setup();
+	}
+
+private:
+
+	void setup() {
+
+		floors.setLineWidth(1.5);
+
+		nodes.setPointType(7);
+
+		plot.add(&nodes);
+		plot.add(&floors);
+
+		gp << "unset border\n";
+		gp << "unset colorbox\n";
+
+		gp << "set tics scale 0,0\n";		// HACK! "unset tics\n" segfaults current gnuplot version...
+		gp << "set format x ' '\n";
+		gp << "set format y ' '\n";
+
+		gp << "set size ratio -1\n";
+
+	}
+
+
+	void toFile(const std::string& file, const Size s) {
+		gp << "set output '" << file << "'\n";
+		gp << "set terminal eps size " << s.w << "," << s.h << "\n";
+	}
+
+public:
+
+	void setRanges(const float x1, const float x2, const float y1, const float y2) {
+		gp << "set xrange [" << x1 << ":" << x2 << "]\n";
+		gp << "set yrange [" << y1 << ":" << y2 << "]\n";
+	}
+
+	void show() {
+		gp.draw(plot);
+		if (file.length() != 0) {
+			std::string dataFile = file + ".dat";
+			std::ofstream os(dataFile.c_str());
+			os << gp.getBuffer();
+			os.close();
+		}
+		gp.flush();
+	}
+
+	/** add all obstacles of the given floor to the provided height */
+	void addFloor(const Floor& f) {
+
+		// add each wall
+		for (const Line2& l : f.getObstacles()) {
+			const K::GnuplotPoint2 p1(l.p1.x, l.p1.y);
+			const K::GnuplotPoint2 p2(l.p2.x, l.p2.y);
+			floors.addSegment(p1, p2);
+		}
+
+	}
+
+
+//	void removeGrid() {
+//		gp << "unset object\n";
+//	}
+
+	/** add the grid to the plot */
+	template <typename T, typename Colorizer> void addGrid(Grid<T>& grid, const Colorizer col) {
+
+		// get the min/max value
+		float max = -999999;
+		float min = +999999;
+		for (const T& n1 : grid) {
+			const float val = col.get(n1);
+			//const float val = n1.distToTarget;
+			if (val > max) {max = val;}
+			if (val < min) {min = val;}
+		}
+		gp << "set cbrange["<<min<<":"<<max<<"]\n";
+
+//		for (const T& n1 : grid) {
+//			const K::GnuplotPoint2 p1(n1.x_cm, n1.y_cm);
+//			const float color = n1.imp;
+//			//const float color = n1.distToTarget/max;
+//			//const float color = 0;
+//			nodes.add(p1, color);
+//		}
+
+		int i = 0;
+		for (const T& n1 : grid) {
+			if (col.skip(n1)) {continue;}
+			gp << "set object " << (++i) << " rectangle center " << n1.x_cm << "," << n1.y_cm << " size 20,20 fs solid noborder fc palette cb " << col.get(n1) << "\n";
+		}
+
+	}
+
+
+};
+
+
+#endif // PAPERPLOT2D_H

code/eval/PaperVisDijkstra.h

@@ -0,0 +1,4 @@
+#ifndef PAPERVISDIJKSTRA_H
+#define PAPERVISDIJKSTRA_H
+
+#endif // PAPERVISDIJKSTRA_H

code/eval/PaperVisImportance.h

@@ -0,0 +1,190 @@
+#ifndef PAPERVISIMPORTANCE_H
+#define PAPERVISIMPORTANCE_H
+
+#include <Indoor/grid/Grid.h>
+#include <Indoor/grid/factory/GridFactory.h>
+#include <Indoor/grid/factory/GridImportance.h>
+
+#include <Indoor/floorplan/FloorplanFactorySVG.h>
+
+#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>
+
+
+
+#include <Indoor/nav/dijkstra/Dijkstra.h>
+#include <Indoor/nav/dijkstra/DijkstraPath.h>
+
+#include "PaperPlot.h"
+#include "PaperPlot2D.h"
+
+#include "../MyGridNode.h"
+#include "../Settings.h"
+#include "../DijkstraMapper.h"
+
+PaperPlot2D::Size s1 = PaperPlot2D::Size(2,4);
+
+class PaperVisImportance {
+
+public:
+
+
+
+	static float clamp(const float in, const float min, const float max) {
+		if (in < min) {return min;}
+		if (in > max) {return max;}
+		return in;
+	}
+
+	// use node-importance as grid-color
+	struct ColorizerImp {
+		float get(const MyGridNode& n) const {return n.imp;}
+		bool skip(const MyGridNode& n) const {return false;}
+	};
+
+	// use node-distance as grid-color
+	struct ColorizerDist {
+		float get(const MyGridNode& n) const {return n.distToTarget;}
+		bool skip(const MyGridNode& n) const {return false;}
+	};
+
+	// use num-visited as grid-color
+	struct ColorizeHeat {
+		int maxCnt; int cutoff;
+		ColorizeHeat(const int maxCnt, const int cutoff) : maxCnt(maxCnt), cutoff(cutoff) {;}
+		float get(const MyGridNode& n) const {return (n.cnt > maxCnt) ? (maxCnt) : (n.cnt);}
+		bool skip(const MyGridNode& n) const {return n.cnt < cutoff;}		// skip to reduce plot size
+	};
+
+
+	static void createImportance() {
+
+		// load the floorplan
+		FloorplanFactorySVG fpFac(MiscSettings::floorplanPlot, 2.822222);
+		Floor f0 = fpFac.getFloor("test1");
+		const LengthF h0 = LengthF::cm(0);
+
+		// add the floorplan to the grid
+		Grid<MyGridNode> grid(20);
+		GridFactory<MyGridNode> gridFac(grid);
+
+		gridFac.addFloor(f0, h0.cm());
+
+		// remove all isolated nodes not attached to 300,300,floor0
+		gridFac.removeIsolated( (MyGridNode&)grid.getNodeFor( GridPoint(400,400,h0.cm()) ) );
+
+		// stamp importance information onto the grid-nodes
+		GridImportance gridImp;
+		gridImp.addImportance(grid, h0.cm());
+
+
+		{
+			PaperPlot2D plot("floorplan_importance.eps", s1);
+			plot.setRanges(0,2100, 0,5100);
+			plot.addFloor(f0);
+			plot.addGrid(grid, ColorizerImp());
+			plot.show();
+		}
+
+
+	}
+
+
+
+
+	static void createPath() {
+
+		// load the floorplan
+		FloorplanFactorySVG fpFac(MiscSettings::floorplanPlot, 2.822222);
+		Floor f0 = fpFac.getFloor("test1");
+		const LengthF h0 = LengthF::cm(0);
+
+		// add the floorplan to the grid
+		Grid<MyGridNode> grid(20);
+		GridFactory<MyGridNode> gridFac(grid);
+
+		gridFac.addFloor(f0, h0.cm());
+
+		// remove all isolated nodes not attached to 300,300,floor0
+		gridFac.removeIsolated( (MyGridNode&)grid.getNodeFor( GridPoint(300,300,h0.cm()) ) );
+
+
+
+		// start and end
+		const MyGridNode& gnStart = grid.getNodeFor(GridPoint(1500, 300, 0));
+		const MyGridNode& gnEnd = grid.getNodeFor(GridPoint(900, 4600, 0));
+
+		// build all shortest path to reach th target
+		Dijkstra<MyGridNode> dijkstra;
+		DijkstraMapper accImp(grid);
+		DijkstraMapperNormal accNormal(grid);
+
+		// path without importance
+		dijkstra.build(gnStart, gnStart, accNormal);
+		DijkstraPath<MyGridNode> pathNormal(dijkstra.getNode(gnEnd), dijkstra.getNode(gnStart));
+
+		// stamp importance information onto the grid-nodes
+		GridImportance gridImp;
+		gridImp.addImportance(grid, h0.cm());
+
+		// path WITH importance
+		dijkstra.build(gnStart, gnStart, accImp);
+		DijkstraPath<MyGridNode> pathImp(dijkstra.getNode(gnEnd), dijkstra.getNode(gnStart));
+
+		// build plot
+		K::GnuplotPlotElementLines gpPath1;		gpPath1.setLineWidth(2);	gpPath1.setColorHex("#444444");
+		K::GnuplotPlotElementLines gpPath2;		gpPath2.setLineWidth(2);	gpPath2.setColorHex("#000000");
+
+		for (DijkstraNode<MyGridNode>* dn : pathNormal) {
+			gpPath1.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
+		}
+		for (DijkstraNode<MyGridNode>* dn : pathImp) {
+			gpPath2.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
+		}
+
+		// plot the 2 paths
+		{
+			PaperPlot2D plot("floorplan_paths.eps", s1);
+			plot.setRanges(0,2100, 0,5100);
+			plot.addFloor(f0);
+			plot.plot.add(&gpPath1);		gpPath1.setCustomAttr("dashtype 3");
+			plot.plot.add(&gpPath2);
+			plot.show();
+		}
+
+		// stamp distance information onto the grid
+		// attach a corresponding weight-information to each user-grid-node
+		for (MyGridNode& node : grid) {
+			const DijkstraNode<MyGridNode>* dn = dijkstra.getNode(node);
+			node.distToTarget = dn->cumWeight;
+		}
+
+		// walk
+		GridWalkLightAtTheEndOfTheTunnel<MyGridNode> walk (grid, accImp, gnStart);
+
+		for (int i = 0; i < 30000; ++i) {
+
+			if (i % 250 == 0) {std::cout << i << std::endl;}
+			const MyGridNode& nStart = gnEnd;
+			GridWalkState<MyGridNode> sStart(&nStart, Heading::rnd());
+			GridWalkState<MyGridNode> sEnd = walk.getDestination(grid, sStart, 135, 0);
+
+		}
+
+		// plot the heat-map
+		{
+			PaperPlot2D plot("floorplan_dijkstra_heatmap.eps", s1);
+			plot.setRanges(0,2100, 0,5100);
+			plot.gp << "set palette gray negative\n";
+			plot.addFloor(f0);
+			plot.addGrid(grid, ColorizeHeat(7000, 50));
+			plot.show();
+		}
+
+
+	}
+
+
+
+};
+
+#endif // PAPERVISIMPORTANCE_H

code/frank/BeaconEvaluation.h

@@ -44,7 +44,7 @@ public:
 
 			// floor difference?
 			//const double floorDist = std::abs(beacon->zNr - state.getFloorNr());
-			const float floorDist = std::round(std::abs(Helper::getFloorNrFloat(beacon->z) - Helper::getFloorNrFloat(state.pCur.z)));
+			const float floorDist = std::ceil(std::abs(Helper::getFloorNrFloat(beacon->z) - Helper::getFloorNrFloat(state.pCur.z)));
 
 			// estimate the rssi depending on above distance
 			const double mdlRSSI = distanceToRssi(beacon->tx, distToBeacon_m, beacon->pl) - (floorDist * waf);
@@ -57,7 +57,7 @@ public:
 //			const double mdlRelRSSI = mdlStrongestRSSI - mdlRSSI;
 
 			// probability? (sigma grows with measurement's age)
-			const double sigma = 8 + ((observation.latestSensorDataTS - entry.ts) / 1000.0) * 2.0;
+			const double sigma = 8 + ((observation.latestSensorDataTS - entry.ts) / 1000.0) * 3.0;
 			const double p = K::NormalDistribution::getProbability(mdlRSSI, sigma, realRSSI);
 			//const double p = K::NormalDistribution::getProbability(mdlRelRSSI, sigma, realRelRSSI);
 

code/frank/Settings.h

@@ -25,7 +25,7 @@ public:
 
 		addAP(("00:04:96:6b:64:99"), "i.3.20", 290, 1300,  Helper::getHeight(3), tx, pl);
 		addAP(("00:04:96:6b:70:c9"), "i.3.25", 290, 3930,  Helper::getHeight(3), tx, pl);
-		addAP(("00:04:96:6b:82:79"), "i.3.16", 1860, 3400, Helper::getHeight(3), tx, pl-1);
+		addAP(("00:04:96:6b:82:79"), "i.3.16", 1860, 3400, Helper::getHeight(3), tx, pl);
 		addAP(("00:04:96:77:ed:f9"), "i.3.39", 4700, 4850, Helper::getHeight(3), tx, pl);
 		addAP(("00:04:96:77:ed:69"), "i.3.3",  6460, 3400, Helper::getHeight(3), tx, pl);
 
@@ -52,25 +52,62 @@ public:
 		addAP(("00:04:96:6B:46:09"), "I.0.xx",  6860, 3690, Helper::getHeight(0), tx, pl);
 		addAP(("00:04:96:6C:5E:39"), "I.0.36", 4480, 4800, Helper::getHeight(0), tx, pl);		// vague!!
 
-		const int ibOff = +2;
-		const float ibPLE = 1.9;
-		addBeacon("78:A5:04:1F:87:64", -71+ibOff, ibPLE, 1088, 4858, Helper::getHeight(3));		// id:16
-		addBeacon("78:A5:04:1F:8A:59", -65+4, 2.0, 1088, 4858, Helper::getHeight(2));		// id:18
-		addBeacon("1C:BA:8C:21:71:70", -71+ibOff, ibPLE, 1088, 4858, Helper::getHeight(1));		// id:11
-		addBeacon("78:A5:04:1F:88:9F", -71+ibOff, ibPLE, 1088, 4858, Helper::getHeight(0));		// id:20
 
-		addBeacon("F9:CC:C0:A2:02:17", -77+ibOff, ibPLE, 7068, 4518, Helper::getHeight(2));	// idis switchboard
-		addBeacon("E5:6F:57:34:94:40", -77+ibOff, ibPLE, 7468, 5108, Helper::getHeight(2));		// idis outside
-		addBeacon("C6:FC:6E:25:F5:29", -77+ibOff, ibPLE, 6115, 4527, Helper::getHeight(2));		// idis toni
 
-		//addBeacon("78:A5:04:1E:B1:50", -88+ibOff-4, ibPLE, 6108, 4528, Helper::getHeight(1));		// i.1.47
+		// OLD
-		//addBeacon("78:A5:04:1F:91:41", -88+ibOff-4, ibPLE, 6508, 4038, Helper::getHeight(1));		// fachschaft
-		//addBeacon("78:A5:04:1F:8E:35", -88+ibOff-4, ibPLE, 6313, 4038, Helper::getHeight(1));		// neben fachschaft
 
-//		addBeacon("00:07:80:78:F7:B3", -82, ibPLE, 1038, 4018, 3);
+//		const double pl = 2.7;		// 2.7
-//		addBeacon("78:A5:04:1F:93:02", -88, ibPLE, 1538, 4038, 3);
+//		const double tx = -46;
-		addBeacon("78:A5:04:1F:91:08", -88, ibPLE, 1448, 4538, 3);
+
-		addBeacon("78:A5:04:1F:93:02", -88, ibPLE, 2028, 4528, 3);
+//		addAP(("00:04:96:6b:64:99"), "i.3.20", 290, 1300,  Helper::getHeight(3), tx, pl-1);
+//		addAP(("00:04:96:6b:70:c9"), "i.3.25", 290, 3930,  Helper::getHeight(3), tx, pl);
+//		addAP(("00:04:96:6b:82:79"), "i.3.16", 1860, 3400, Helper::getHeight(3), tx, pl-1);
+//		addAP(("00:04:96:77:ed:f9"), "i.3.39", 4700, 4850, Helper::getHeight(3), tx, pl);
+//		addAP(("00:04:96:77:ed:69"), "i.3.3",  6460, 3400, Helper::getHeight(3), tx, pl);
+
+//		// 2nd floor (vague AP position)
+//		addAP(("00:04:96:6c:3a:a9"), "I.2.1",  6750, 3350, Helper::getHeight(2), tx, pl);
+//		addAP(("00:04:96:6b:bf:f9"), "I.2.9",  3000, 3350, Helper::getHeight(2), tx, pl);
+//		addAP(("00:04:96:77:ec:a9"), "I.2.15",  290,  750, Helper::getHeight(2), tx, pl);
+//		addAP(("00:04:96:6b:0c:c9"), "I.2.19",  300, 4000, Helper::getHeight(2), tx, pl);
+//		addAP(("00:04:96:6b:db:69"), "I.2.34", 4320, 4780, Helper::getHeight(2), tx, pl);
+
+//		// 1st floor (vague AP position)
+//		addAP(("00:04:96:6c:cf:19"), "I.1.2",  6150, 3420, Helper::getHeight(1), tx, pl);
+//		addAP(("00:04:96:7d:07:79"), "I.1.9",  1800, 3300, Helper::getHeight(1), tx, pl);
+//		addAP(("00:04:96:69:48:c9"), "I.1.17", 1500,  300, Helper::getHeight(1), tx, pl);
+//		addAP(("00:04:96:77:eb:99"), "I.1.21",  500, 1700, Helper::getHeight(1), tx, pl);
+//		addAP(("00:04:96:6b:45:59"), "I.1.30",  800, 4800, Helper::getHeight(1), tx, pl);
+//		addAP(("00:04:96:77:ed:89"), "I.1.43", 4600, 4800, Helper::getHeight(1), tx, pl);
+
+//		// 0th floor (exact AP position)
+//		addAP(("00:04:96:6C:6E:F9"), "I.0.27", 530,  4970, Helper::getHeight(0), tx, pl);
+//		addAP(("00:04:96:6C:A5:39"), "I.0.17", 1030,  270, Helper::getHeight(0), tx, pl);
+//		addAP(("00:04:96:6C:A4:A9"), "I.0.9",  1660, 2780, Helper::getHeight(0), tx, pl);
+//		addAP(("00:04:96:77:EE:69"), "I.0.7",  3560, 3380, Helper::getHeight(0), tx, pl);
+//		addAP(("00:04:96:6B:46:09"), "I.0.xx",  6860, 3690, Helper::getHeight(0), tx, pl);
+//		addAP(("00:04:96:6C:5E:39"), "I.0.36", 4480, 4800, Helper::getHeight(0), tx, pl);		// vague!!
+
+
+//		const int ibOff = +2;
+//		const float ibPLE = 1.9;
+//		addBeacon("78:A5:04:1F:87:64", -71+ibOff, ibPLE, 1088, 4858, Helper::getHeight(3));		// id:16
+//		addBeacon("78:A5:04:1F:8A:59", -65+4, 2.0, 1088, 4858, Helper::getHeight(2));		// id:18
+//		addBeacon("1C:BA:8C:21:71:70", -71+ibOff, ibPLE, 1088, 4858, Helper::getHeight(1));		// id:11
+//		addBeacon("78:A5:04:1F:88:9F", -71+ibOff, ibPLE, 1088, 4858, Helper::getHeight(0));		// id:20
+
+//		addBeacon("F9:CC:C0:A2:02:17", -77+ibOff, ibPLE, 7068, 4518, Helper::getHeight(2));	// idis switchboard
+//		addBeacon("E5:6F:57:34:94:40", -77+ibOff, ibPLE, 7468, 5108, Helper::getHeight(2));		// idis outside
+//		addBeacon("C6:FC:6E:25:F5:29", -77+ibOff, ibPLE, 6115, 4527, Helper::getHeight(2));		// idis toni
+
+//		addBeacon("78:A5:04:1E:B1:50", -88+ibOff-4, ibPLE, 6108, 4528, Helper::getHeight(1));		// i.1.47
+//		addBeacon("78:A5:04:1F:91:41", -88+ibOff-4, ibPLE, 6508, 4038, Helper::getHeight(1));		// fachschaft
+//		addBeacon("78:A5:04:1F:8E:35", -88+ibOff-4, ibPLE, 6313, 4038, Helper::getHeight(1));		// neben fachschaft
+
+////		addBeacon("00:07:80:78:F7:B3", -82, ibPLE, 1038, 4018, 3);
+////		addBeacon("78:A5:04:1F:93:02", -88, ibPLE, 1538, 4038, 3);
+//		addBeacon("78:A5:04:1F:91:08", -88, ibPLE, 1448, 4538, 3);
+//		addBeacon("78:A5:04:1F:93:02", -88, ibPLE, 2028, 4528, 3);
 
 	}
 

code/frank/WiFiEvaluation.h

@@ -37,7 +37,7 @@ public:
 
 		//const double tx = -48;		// tablet
 		//const double pl = 3.15;
-		const float waf = 7;//10.0;		// was 7 before?! has something todo with the floor heights / levels
+		const float waf = 8;//10.0;		// was 7 before?! has something todo with the floor heights / levels
 
 		// get the ap the client had the strongest measurement for
 		//const PositionedWifiAP* relAP = settings.getAP(strongest.mac); assert(relAP);
@@ -55,9 +55,9 @@ public:
 			const float distToAP_m = state.pCur.getDistance(*ap) / 100.0;
 
 			// floor difference?
-			const float floorDiff = //std::ceil(
+			const float floorDiff = std::abs(Helper::getFloorNrFloat(ap->z) - Helper::getFloorNrFloat(state.pCur.z));
-						std::abs(Helper::getFloorNrFloat(ap->z) - Helper::getFloorNrFloat(state.pCur.z));
+			//const float floorDiff = std::round(std::abs(Helper::getFloorNr(ap->z) - Helper::getFloorNr(state.pCur.z)));
-			//);
+
 			//const float floorDiff = std::abs(ap->z - state.pCur.z) / 340;
 
 			// estimate the rssi depending on above distance
@@ -71,7 +71,7 @@ public:
 			//const double mdlRelRSSI = mdlStrongestRSSI - mdlRSSI;
 
 			// probability? (sigma grows with measurement's age)
-			const double sigma = 8 + ((observation.latestSensorDataTS - entry.ts) / 1000.0) * 3.0;
+			const double sigma = (8) + ((observation.latestSensorDataTS - entry.ts) / 1000.0) * 3.5;
 			const double p = K::NormalDistribution::getProbability(mdlRSSI, sigma, realRSSI);			// absolute
 			//const double p = K::NormalDistribution::getProbability(mdlRelRSSI, sigma, realRelRSSI);	// relative
 
@@ -80,8 +80,14 @@ public:
 
 		}
 
-		const double lambda = 0.25; //0.12;
+		//const double lambda = 0.05;//0.15; //0.12;
-		return lambda * exp(- lambda * (-prob));
+		//return lambda * exp(- lambda * (-prob));
+		return std::pow(std::exp(prob), 0.1);
+//		if (prob < -30)		{return 0.01;}
+//		if (prob < -15)		{return 0.50;}
+//		else				{return 1.00;}
+
+
 		//return prob;
 
 	}

code/lukas/StepEvaluation.h

@@ -8,8 +8,8 @@
 #include "StepObservation.h"
 #include <math.h>
 
-static constexpr double mu_walk = 40;
+static constexpr double mu_walk = 90;
-static constexpr double sigma_walk = 15;
+static constexpr double sigma_walk = 30;
 static constexpr double mu_stop = 0;
 static constexpr double sigma_stop = 5;
 
@@ -21,29 +21,49 @@ public:
 
 		return 1;
 
-//        double distance = state.distanceWalkedCM;
+		const float mdlWalked_m = state.walkState.distanceWalked_m;
 
-//        double a = 1.0;
+		((MyState&)state).walkState.distanceWalked_m = 0;
-//	   double mu_distance = 0; //cm
-//		double sigma_distance = 10.0; //cm
 
-//        if(obs->step) {
+		const float stepSize_m = 0.71;
-//            a = 1.0;
+		const float sensSigma_m = 0.05 + (0.05 * obs->steps);
-//			mu_distance = mu_walk;//80.0; //cm
+		const float sensWalked_m = obs->steps * stepSize_m;
-//			sigma_distance = sigma_walk;//40.0; //cm
-//        }
 
-//        else {
+		if (obs->steps > 1) {
-//            a = 0.0;
+			int i = 0;
-//			mu_distance = mu_stop; //cm
+			int j = i+1; ++j;
-//			sigma_distance = sigma_stop; //cm
+		}
-//        }
 
-//        //Mixed Gaussian model: 1st Gaussian = step, 2nd Gaussian = no step
+		const double prob = K::NormalDistribution::getProbability(sensWalked_m, sensSigma_m, mdlWalked_m);
-//        const double p = a * K::NormalDistribution::getProbability(mu_distance, sigma_distance, distance) +
+
-//                        (1.0-a) * K::NormalDistribution::getProbability(mu_distance, sigma_distance, distance);
+		if (prob != prob) {
+			throw 1;
+		}
+
+		return prob;
+
+//		float a = 1.0;
+//	   float mu_distance = 0;
+//		float sigma_distance = 0;
+
+//		if(obs->step) {
+//			a = 1.0;
+//			mu_distance = mu_walk;
+//			sigma_distance = sigma_walk;
+//		}
+
+//		else {
+//			a = 0.0;
+//			mu_distance = mu_stop;
+//			sigma_distance = sigma_stop;
+//		}
+
+//		//Mixed Gaussian model: 1st Gaussian = step, 2nd Gaussian = no step
+//		const double p = a * K::NormalDistribution::getProbability(mu_distance, sigma_distance, distance) +
+//						(1.0-a) * K::NormalDistribution::getProbability(mu_distance, sigma_distance, distance);
+
+//		return p;
 
-//        return p;
     }
 
 };

code/lukas/StepObservation.h

@@ -2,11 +2,14 @@
 #define STEPOBSERVATION_H
 
 struct StepObservation {
-    float ts;
+
-    bool step;
+	float ts;
+
+	int steps = 0;
 
     StepObservation() {;}
-    StepObservation(const float ts) : ts(ts), step(false){;}
+
+	StepObservation(const float ts) : ts(ts), steps(0) {;}
 
 };
 

code/lukas/TurnEvaluation.h

@@ -7,7 +7,7 @@
 //#include <boost/math/special_functions/bessel.hpp>
 #include <math.h>
 
-static constexpr double sigma_heading = 35;
+//static constexpr double sigma_heading = 5;
 
 class TurnEvaluation {
 
@@ -19,6 +19,24 @@ public:
 
 		return 1;
 
+		// get the current heading-change
+		const float delta = Angle::radToDeg(state.walkState.headingChange_rad);
+
+		// and reset it as it was evaluated
+		((MyState&) state).walkState.headingChange_rad = 0;
+
+		// proability?
+		const float sigma = 15.0;
+		const double prob = K::NormalDistribution::getProbability(obs->delta_heading, sigma, delta);
+
+		if (prob != prob) {
+			throw 1;
+		}
+
+		return prob;
+
+
+
 //        //Particle's heading change
 //        double delta_heading_particle = state.heading - state.heading_old;
 

code/lukas/TurnObservation.h

@@ -11,7 +11,7 @@ struct TurnObservation {
     float delta_motion; //measured change of motion direction (given by PCA)
 
     TurnObservation() {;}
-    TurnObservation(const float delta_heading, const float motion_angle) : delta_heading(delta_heading), delta_motion(delta_motion) {;}
+	TurnObservation(const float delta_heading, const float motion_angle) : delta_heading(delta_heading), delta_motion(motion_angle) {;}
 
 };
 

code/main.cpp

@@ -11,8 +11,12 @@
 #include "DijkstraMapper.h"
 
 #include "eval/Eval.h"
+#include "eval/Eval1.h"
 #include "eval/EvalBase.h"
 
+#include "eval/PaperVisImportance.h"
+#include "eval/PaperVisDijkstra.h"
+
 Settings settings;
 
 void testModelWalk() {
@@ -31,6 +35,10 @@ void testModelWalk() {
 	vis.addFloor(floors.f2, floors.h2);
 	vis.addFloor(floors.f3, floors.h3);
 
+
+	vis.gp << "set xrange [1100:1800]\n";
+	vis.gp << "set yrange [4500:5200]\n";
+
 //	vis.gp << "set xrange [1000:4000]\n";
 //	vis.gp << "set yrange [1000:4000]\n";
 //	vis.gp << "set zrange [0:600]\n";
@@ -48,16 +56,17 @@ void testModelWalk() {
 //	track the number-of-visits for each node to draw something like a particle-heat-map?
 
 	// show the importance factors
-//	vis.addGrid(grid);
+	vis.addGrid(grid);
-//	vis.show();
+	vis.show();
-//	sleep(100);
+	sleep(100);
-//	vis.removeGrid();
+	vis.removeGrid();
 
 	Distribution::Normal<float> wDist(0.3, 0.3);
+	Distribution::Normal<float> wHead(0.3, 0.3);
 
 	while(true) {
 		for (GridWalkState<MyGridNode>& state : states) {
-			state = walk.getDestination(grid, state, std::abs(wDist.draw()) );
+			state = walk.getDestination(grid, state, std::abs(wDist.draw()), wHead.draw());
 		}
 		usleep(1000*80);
 		vis.showStates(states);
@@ -74,11 +83,14 @@ void testModelWalk() {
 
 int main(void) {
 
-	//testModelWalk();
+//	testModelWalk();
 
-	Eval eval;
+//	Eval1 eval;
-	eval.setEval1();
+//	eval.setEval1();
-	eval.run();
+//	eval.run();
+
+	PaperVisImportance::createImportance();
+	PaperVisImportance::createPath();
 
 	return 0;
 

code/particles/MyControl.h

@@ -3,6 +3,10 @@
 
 struct MyControl {
 
+	float walked_m = 0;
+
+	float headingChange_rad = 0;
+
 };
 
 #endif // MYCONTROL_H

code/particles/MyEvaluation.h

@@ -61,14 +61,13 @@ public:
 				weight *= beaconEval.getProbability(p.state, observation);
 			}
 
-//			if (useStep) {
+			if (useStep) {
-//				weight *= stepEval.getProbability(p.state, observation.step);
+				weight *= stepEval.getProbability(p.state, observation.step);
-//				p.state.distanceWalkedCM = 0.0;
+			}
-//			}
 
-//			if (useTurn) {
+			if (useTurn) {
-//				weight *= turnEval.getProbability(p.state, observation.turn, true);
+				weight *= turnEval.getProbability(p.state, observation.turn, true);
-//			}
+			}
 
 			// set and accumulate
             p.weight = weight;
@@ -76,6 +75,11 @@ public:
 
 		}
 
+		// reset
+		observation.step->steps = 0;
+		observation.turn->delta_heading = 0;
+		observation.turn->delta_motion = 0;
+
 		return sum;
 
 	}

code/particles/MyInitializer.h

@@ -47,7 +47,6 @@ public:
 
 			p.state.pOld = p.state.pCur;
 			p.state.walkState.heading = Heading::rnd();
-			p.state.distanceWalkedCM = 0;
 			p.state.hPa = 0;
 
 		}

code/particles/MyState.h

@@ -23,7 +23,7 @@ struct MyState {
 	// the grid-walk state
 	GridWalkState<MyGridNode> walkState;
 
-	int distanceWalkedCM;
+	//int distanceWalkedCM;
 
 
 //    double heading_old;

code/particles/MyTransition.h

@@ -31,7 +31,7 @@ private:
 
 	/** a simple normal distribution */
 	K::UniformDistribution distWalkStop;
-	K::NormalDistribution distWalk;
+	K::NormalDistribution distWalkPerSec;
 	K::NormalDistribution distStop;
 
 
@@ -48,10 +48,10 @@ public:
 	 */
 	MyTransition(Grid<MyGridNode>& grid, GridWalk<MyGridNode>& walker) :
 		grid(grid), walker(walker),
-		distWalkStop(0.0, 1.0), distWalk(1.5, 0.5), distStop(0.0, 0.1), distBaro(0.3, 0.05) {
+		distWalkStop(0.0, 1.0), distWalkPerSec(1.0, 0.3), distStop(0.0, 0.1), distBaro(0.3, 0.05) {
 
 		distWalkStop.setSeed(1234);
-		distWalk.setSeed(1234);
+		distWalkPerSec.setSeed(1234);
 		distStop.setSeed(1234);
 
         distBaro.setSeed(5678);
@@ -90,20 +90,17 @@ public:
 			p.state.pOld = p.state.pCur;
 
 
-			// 10% stand still, 90% walk
+//			// 10% stand still, 90% walk
-			double dist_m;
+//			double dist_m;
-			if (distWalkStop.draw() > 0.9) {
+//			if (distWalkStop.draw() > 0.9) {
-				dist_m = std::abs(distStop.draw() * deltaMS / 1000.0);
+//				dist_m = std::abs(distStop.draw() * deltaMS / 1000.0);
-			} else {
+//			} else {
-				dist_m = std::abs(distWalk.draw() * deltaMS / 1000.0);
+//				dist_m = std::abs(distWalkPerSec.draw() * deltaMS / 1000.0);
-			}
+//			}
-
-			// update cumulative distance
-			p.state.distanceWalkedCM += std::abs(dist_m * 100.0);
 
 			// get new destination
 			//const Node3* dst = choice->getTarget(src, p.state, dist_m);
-			p.state.walkState = walker.getDestination(grid, p.state.walkState, dist_m );
+			p.state.walkState = walker.getDestination(grid, p.state.walkState, control->walked_m, control->headingChange_rad );
 
 			// randomly move the particle within its target grid (box)
 			// (z remains unchanged!)
@@ -114,56 +111,9 @@ public:
 			p.state.pCur = (Point3) *p.state.walkState.node + noise;
 
 
-            // --- ATTENTION HORRIBLE CODE INCOMING. ---
+			// update the baromter
 			p.state.hPa += (p.state.pOld.z - p.state.pCur.z) / 100.0f * 0.105f;
-//            //how many floors are changed? and in what direction (given by the sign)
-//            double numFloorChanged = p.state.z_nr_old - p.state.z_nr;
 
-//            //The height of the single floor levels.
-//            const static double floor_height[3] = {4.1, 3.4, 3.4};
-
-//            //update barometer
-//            if(USE_BAROMETRIC_FORMULAR){
-//                //height the particle has climbed.
-//                double h_1 = 0.0;
-//                double mu = 0.0;
-
-//                //we need only the sign of the floors changed, since the pressure change between the floors
-//                //is calculated within s_getAtmosphericPressure
-//                numFloorChanged = sgn(numFloorChanged);
-
-//                for(int i = std::min(p.state.z_nr_old, p.state.z_nr); i < std::max(p.state.z_nr_old, p.state.z_nr); i++){
-//                   h_1 += floor_height[i];
-//                }
-
-//                {
-//                    // use the barometric formular to calculate the relative pressure
-//                    // the calculation is done assuming sea level height at every floor.
-//                    double mslp = BarometricFormular::s_getSeaLevelPressure();
-//                    double pressure = BarometricFormular::s_getAtmosphericPressure(h_1, 297.0);
-//                    mu = std::abs(mslp - pressure);
-//                }
-
-//                if (!USE_STATIC_CIRCULAR_BUFFERING && !USE_DYNAMIC_CIRCULAR_BUFFERING)
-//					p.state.hPa += numFloorChanged * K::NormalDistribution::draw(mu, 0.005);
-//                else
-//                    p.state.hPa = numFloorChanged * K::NormalDistribution::draw(mu, 0.15);
-//            }
-//            else{
-//                if (!USE_STATIC_CIRCULAR_BUFFERING && !USE_DYNAMIC_CIRCULAR_BUFFERING)
-//                    p.state.hPa += numFloorChanged * distBaro.draw();
-//                else
- //                   p.state.hPa = numFloorChanged * distBaro.draw();
-//            }
-
-//			// sanity check
-//			if (p.state.heading != p.state.heading) {throw "detected NaN";}
-//            if (p.state.z_nr != p.state.z_nr) {throw "detected NaN";}
-//			if (p.state.x_cm != p.state.x_cm) {throw "detected NaN";}
-//			if (p.state.y_cm != p.state.y_cm) {throw "detected NaN";}
-
-//			// ensure p.state.z_nr IS discreet
-//            if ( std::abs(p.state.z_nr - std::round(p.state.z_nr)) > 0.01) {throw "detected continuous z_nr!";}
 
 		}
 

code/plan.svg

@@ -46,13 +46,13 @@
      inkscape:window-height="845"
      id="namedview3234"
      showgrid="true"
-     inkscape:zoom="0.84948895"
+     inkscape:zoom="3.3979558"
-     inkscape:cx="272.89941"
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code/toni/BarometerEvaluation.h

@@ -16,7 +16,7 @@ public:
 		//return 1;
 
 //        //rho_z
-		double barometerSigma = 0.09;
+		double barometerSigma = 0.12+0.04;//0.09;
 
 //        //The height of the single floor levels.
 //        const static double floor_height[3] = {4.1, 3.4, 3.4};

code/toni/BarometerSensorReader.h

@@ -45,7 +45,7 @@ public:
 
 		obs->hpa = hPa - first_hPa;
 
-		std::cout << obs->hpa << std::endl;
+		//std::cout << obs->hpa << std::endl;
 
 		// done
 		return obs;

tex/bare_conf.tex

@@ -182,6 +182,8 @@
 
 \input{chapters/system}
 
+\input{chapters/floorplan}
+
 \input{chapters/grid}
 
 \input{chapters/experiments}

tex/chapters/floorplan.tex

@@ -0,0 +1,53 @@
+\section{Floorplan/Path/whatever (RENAME)}
+
+	\subsection{wall avoidance}
+	
+		\begin{figure}
+			\includegraphics[angle=-90, width=\columnwidth, trim=15 15 15 15]{floorplan_importance}
+		\end{figure}
+	
+	
+	\subsection{door detection}
+	
+		invert grid,
+		find k-NN within inversion
+		calculate centroid, covariance and eigenvalues
+		when centroid OK and eigenvalues OK: is door/passage
+	
+		\commentByFrank {
+		doors serve 3 purposes:
+			- reverting the downvote due to "near walls"
+			- hint for a pathless-movement-model how to leave rooms
+			- also detecting narrow passages (center the path)
+		}
+		
+		Doors are usually anchored between two (thin) walls and have a normed width. Examining only a limited region
+		around the door, its surrounding walls describe a flat ellipse with the same center as the door itself. It is thus
+		possible to detect doors within the floorplan using the PCA \todo{cite}. To describe the surroundings of a door,
+		we create and inverted version of our grid whereby the contained nodes denote walls and other obstacles.
+		To decide whether a node within the (non-inverted) grid belongs to a door, we use $k$-NN \todo{cite} to fetch its
+		$k$ nearest neighbors within the inverted grid. If the distance \todo{equation} between the centroid of those neighbors
+		and the node-in-question is above certain threshold, the node does not belong to a door. Assuming the distance was fine,
+		we compare the two eigenvalues $\{e_1, e_2 \mid e_1 > e_2\}$ , determined by the PCA. If their ratio $\frac{e_1}{e_2}$ is above
+		a certain threshold (flat ellipse)
+		the node-in-question belongs to a door. Fig. \ref{fig:doorPCA} depicts all three cases where the node is part of a door (left),
+		the distance between node and k-NN centroid is above the threshold (middle) and the ration between $e_1$ and $e_2$ is below the
+		threshold (right).
+
+		\begin{figure}
+			\includegraphics[width=\columnwidth]{door_pca}
+			\caption{Detect doors within the floorplan using k-NN and PCA. While the white nodes are walkable, the black ones represent walls. The grey node is the one in question.}
+			\label{fig:doorPCA}
+		\end{figure}
+		
+		
+	\subsection{pathfinding}
+		
+		\begin{figure}
+			\includegraphics[angle=-90, width=\columnwidth, trim=15 15 15 15]{floorplan_paths}
+		\end{figure}
+		
+		\begin{figure}
+			\includegraphics[angle=-90, width=\columnwidth, trim=15 15 15 15]{floorplan_dijkstra_heatmap}
+		\end{figure}
+		

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+%%Trailer
+end restore
+%%EOF

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tex/make.sh

@@ -0,0 +1,10 @@
+PATH=$PATH:/mnt/data/texlive/bin/x86_64-linux/
+
+latex bare_conf.tex
+latex bare_conf.tex
+
+dvips bare_conf.dvi
+
+ps2pdf14 bare_conf.ps
+
+atril bare_conf.pdf

tex/notes_frank.txt

@@ -0,0 +1,10 @@
+
+
+dijkstra-walk
+	(without importance the 2nd path becomes more unlikely)
+	heat-map shows more sticking to walls
+	heat-map shows issues of sticking to doors (particles running against walls)
+	allowed variance can be configured
+	heading can also be given as control-data + variance
+	
+l2.5 norm to prevent too many diagonals