updates the visualisation

removed obsolte parts
fixed baromter stuff
worked on eval
added ground-truth

code/Vis.h

@@ -10,6 +10,8 @@
 #include <Indoor/geo/Length.h>
 #include <Indoor/floorplan/Floor.h>
 
+#include "eval/GroundTruthWay.h"
+
 class Vis {
 
 public:
@@ -20,6 +22,8 @@ public:
 	K::GnuplotSplotElementColorPoints gridNodes;
 	K::GnuplotSplotElementLines gridEdges;
 	K::GnuplotSplotElementPoints particles;
+	K::GnuplotSplotElementLines groundTruth;
+	K::GnuplotSplotElementLines estPath;
 
 public:
 
@@ -35,11 +39,18 @@ public:
 		gp << "unset ztics\n";
 		gp << "unset border\n";
 
+		groundTruth.setLineWidth(2);
+		groundTruth.setColorHex("#666666");
+
+		estPath.setLineWidth(2);
+
 		// attach all layers
 		splot.add(&floors);
 		splot.add(&gridNodes);
 		splot.add(&gridEdges);
 		splot.add(&particles);
+		splot.add(&groundTruth);
+		splot.add(&estPath);
 
 	}
 
@@ -81,6 +92,27 @@ public:
 		return *this;
 	}
 
+	void addGroundTruth(GroundTruthWay& gtw) {
+		groundTruth.clear();
+		for (auto it : gtw.getWay()) {
+			K::GnuplotPoint3 gp(it.value.x, it.value.y, it.value.z);
+			groundTruth.add(gp);
+		}
+	}
+
+	void addEstPath(std::vector<Point3>& est) {
+		estPath.clear();;
+		for (const Point3& p : est) {
+			K::GnuplotPoint3 gp(p.x, p.y, p.z);
+			estPath.add(gp);
+		}
+	}
+
+	void setTimestamp(uint64_t ts) {
+		static uint64_t firstTs = ts;
+		gp << "set label 1 \"" << ((ts-firstTs)/1000.0f) << "\" at screen 0.02,0.98\n";
+	}
+
 	void removeGrid() {
 		gridNodes.clear();;
 	}
@@ -89,6 +121,20 @@ public:
 		particles.clear();
 	}
 
+	void addObject(const int idx, const Point3& p) {
+		gp << "set object " << idx << " polygon ";
+		gp << "from " << p.x << "," << p.y << "," << p.z;
+		gp << "  to " << p.x << "," << p.y << "," << p.z + 200;
+		gp << "  to " << p.x << "," << p.y << "," << p.z;				// close
+		gp << " lw 2 ";
+		gp << "\n";
+	}
+
+	void setEstAndShould(const Point3& est, const Point3& should) {
+		addObject(2,est);
+		addObject(3,should);
+	}
+
 	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));
 	}