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Fusion2016/code/Helper.h
FrankE c5a5acbbf6 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
2016-02-03 21:17:15 +01:00

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6.3 KiB
C++
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#ifndef HELPER_H
#define HELPER_H
#include <Indoor/grid/Grid.h>
#include <Indoor/grid/factory/GridFactory.h>
#include <Indoor/grid/factory/GridImportance.h>
#include <Indoor/floorplan/FloorplanFactorySVG.h>
#include "Settings.h"
#include "MyGridNode.h"
#include "OldGroundTruth.h"
class Helper {
private:
public:
/** convert height (in cm) to floor-numbers */
static int getFloorNr(float z_cm) {
// if (z_cm < 360) {return 0;}
// if (z_cm < 360+340) {return 1;}
// if (z_cm < 360+340+340) {return 2;}
// return 3;
if (z_cm < 380) {return 0;}
if (z_cm < 380+340) {return 1;}
if (z_cm < 380+340+340) {return 2;}
return 3;
}
/** convert height (in cm) to floor-numbers */
static int getFloorNrFloat(const float z_cm) {
return z_cm / 350.0f;
}
static int getHeight(const int floorNr) {
switch(floorNr) {
case 0: return 0;
case 1: return 380;
case 2: return 380+340;
case 3: return 380+340+340;
default: throw "error";
}
}
/** align the given value onto the grid */
static int align(const int val) {
return val / MiscSettings::gridSize_cm * MiscSettings::gridSize_cm;
}
/** all floors within the building */
struct FHWSFloors {
Floor f0, f1, f2, f3;
Stairs s01, s12, s23;
const LengthF h0 = LengthF::cm(align(getHeight(0)));
const LengthF h1 = LengthF::cm(align(getHeight(1)));
const LengthF h2 = LengthF::cm(align(getHeight(2)));
const LengthF h3 = LengthF::cm(align(getHeight(3)));
// all ground-truth points
std::unordered_map<int, Point3> gtwp;
FHWSFloors() {;}
};
/** load the entire floorplan */
static FHWSFloors getFloors() {
FloorplanFactorySVG fpFac(MiscSettings::floorplan, 2.822222);
FHWSFloors f;
f.f0 = fpFac.getFloor("floor_0");
f.f1 = fpFac.getFloor("floor_1");
f.f2 = fpFac.getFloor("floor_2");
f.f3 = fpFac.getFloor("floor_3");
f.s01 = fpFac.getStairs("staircase_0_1");
f.s12 = fpFac.getStairs("staircase_1_2");
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()) { 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()) { 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()) { 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()) { 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;
}
template <typename T> static void buildTheGrid(Grid<T>& grid, FHWSFloors floors) {
GridFactory<MyGridNode> gridFac(grid);
gridFac.addFloor(floors.f0, floors.h0.cm());
gridFac.addFloor(floors.f1, floors.h1.cm());
gridFac.addFloor(floors.f2, floors.h2.cm());
gridFac.addFloor(floors.f3, floors.h3.cm());
gridFac.addStairs(floors.s01, floors.h0.cm(), floors.h1.cm());
gridFac.addStairs(floors.s12, floors.h1.cm(), floors.h2.cm());
gridFac.addStairs(floors.s23, floors.h2.cm(), floors.h3.cm());
PlatformStair psUpperLeft;
psUpperLeft.platform = BBox2(Point2(1560, 4778), Point2(1730, 5128));
psUpperLeft.s1 = 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 yrange [4500:5200]\n";
PlatformStair psUpperRight;
psUpperRight.platform = BBox2(Point2(6290, 4778), Point2(6500, 5098));
psUpperRight.s1 = Stair(Line2( 6758,4790+160, 6758,4790+160+140 ), Point2(-280,0));
psUpperRight.s2 = Stair(Line2( 6758,4790+000, 6758,4790+140 ), Point2(-280,0));
gridFac.buildPlatformStair(psUpperRight, floors.h0.cm(), floors.h1.cm());
gridFac.buildPlatformStair(psUpperRight, floors.h1.cm(), floors.h2.cm());
gridFac.buildPlatformStair(psUpperRight, floors.h2.cm(), floors.h3.cm());
// vis.gp << "set xrange [6100:6900]\n";
// vis.gp << "set yrange [4500:5200]\n";
PlatformStair psLowerLeft;
psLowerLeft.platform = BBox2(Point2(1510, 658), Point2(1820, 900));
psLowerLeft.s1 = Stair(Line2( 1510+000,1148, 1510+140,1148 ), Point2(0,-280));
psLowerLeft.s2 = Stair(Line2( 1510+170,1148, 1510+300,1148 ), Point2(0,-280));
gridFac.buildPlatformStair(psLowerLeft, floors.h0.cm(), floors.h1.cm());
gridFac.buildPlatformStair(psLowerLeft, floors.h1.cm(), floors.h2.cm());
gridFac.buildPlatformStair(psLowerLeft, floors.h2.cm(), floors.h3.cm());
// vis.gp << "set xrange [1300:2100]\n";
// vis.gp << "set yrange [400:1400]\n";
// remove all isolated nodes not attached to 300,300,floor0
gridFac.removeIsolated( (MyGridNode&)grid.getNodeFor(GridPoint(300,300,floors.h0.cm())) );
// stamp importance information onto the grid-nodes
GridImportance gridImp;
gridImp.addImportance(grid, floors.h0.cm());
gridImp.addImportance(grid, floors.h1.cm());
gridImp.addImportance(grid, floors.h2.cm());
gridImp.addImportance(grid, floors.h3.cm());
}
};
#endif // HELPER_H
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