FHWS/Indoor
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fixed typo in normal, added gt point 3d

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This commit is contained in:
toni
2017-03-20 11:42:46 +01:00
parent d065015f7d
commit 485be83b44
4 changed files with 41 additions and 27 deletions
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4
floorplan/v2/Floorplan.h
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@@ -251,9 +251,9 @@ namespace Floorplan {
/** a GroundTruthPoint located somewhere on a floor */ /** a GroundTruthPoint located somewhere on a floor */
struct GroundTruthPoint { struct GroundTruthPoint {
int id; //TODO: this value can be changed and isn't set incremental within the indoormap int id; //TODO: this value can be changed and isn't set incremental within the indoormap
Point2 pos; Point3 pos;
GroundTruthPoint() : id(), pos() {;} GroundTruthPoint() : id(), pos() {;}
GroundTruthPoint(const int& id, const Point2& pos) : id(id), pos(pos) {;} GroundTruthPoint(const int& id, const Point3& pos) : id(id), pos(pos) {;}
bool operator == (const GroundTruthPoint& o) const {return (o.id == id) && (o.pos == pos);} bool operator == (const GroundTruthPoint& o) const {return (o.id == id) && (o.pos == pos);}
}; };

32
floorplan/v2/FloorplanReader.h
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@@ -111,7 +111,7 @@ namespace Floorplan {
if (std::string("pois") == n->Name()) {floor->pois = parseFloorPOIs(n);} if (std::string("pois") == n->Name()) {floor->pois = parseFloorPOIs(n);}
if (std::string("stairs") == n->Name()) {floor->stairs = parseFloorStairs(n);} if (std::string("stairs") == n->Name()) {floor->stairs = parseFloorStairs(n);}
if (std::string("elevators") == n->Name()) {floor->elevators = parseFloorElevators(n);} if (std::string("elevators") == n->Name()) {floor->elevators = parseFloorElevators(n);}
if (std::string("gtpoints") == n->Name()) {floor->gtpoints = parseFloorGroundTruthPoints(n);} if (std::string("gtpoints") == n->Name()) {floor->gtpoints = parseFloorGroundTruthPoints(n);}
} }
return floor; return floor;
} }
@@ -198,22 +198,22 @@ namespace Floorplan {
} }
/** parse the <gtpoints> tag */ /** parse the <gtpoints> tag */
static std::vector<GroundTruthPoint*> parseFloorGroundTruthPoints(const XMLElem* el) { static std::vector<GroundTruthPoint*> parseFloorGroundTruthPoints(const XMLElem* el) {
std::vector<GroundTruthPoint*> vec; std::vector<GroundTruthPoint*> vec;
FOREACH_NODE(n, el) { FOREACH_NODE(n, el) {
if (std::string("gtpoint") == n->Name()) { vec.push_back(parseFloorGroundTruthPoint(n)); } if (std::string("gtpoint") == n->Name()) { vec.push_back(parseFloorGroundTruthPoint(n)); }
} }
return vec; return vec;
} }
/** parse a <gtpoint> tag */ /** parse a <gtpoint> tag */
static GroundTruthPoint* parseFloorGroundTruthPoint(const XMLElem* el) { static GroundTruthPoint* parseFloorGroundTruthPoint(const XMLElem* el) {
GroundTruthPoint* gtp = new GroundTruthPoint(); GroundTruthPoint* gtp = new GroundTruthPoint();
gtp->id = el->IntAttribute("id"); gtp->id = el->IntAttribute("id");
gtp->pos = parsePoint2(el); gtp->pos = parsePoint3(el);
return gtp; return gtp;
} }
/** parse the <accesspoints> tag */ /** parse the <accesspoints> tag */

19
floorplan/v2/FloorplanWriter.h
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@@ -146,15 +146,16 @@ namespace Floorplan {
} }
floor->InsertEndChild(pois); floor->InsertEndChild(pois);
XMLElem* gtpoints = doc.NewElement("gtpoints"); XMLElem* gtpoints = doc.NewElement("gtpoints");
for (const GroundTruthPoint* gtp : mf->gtpoints) { for (const GroundTruthPoint* gtp : mf->gtpoints) {
XMLElem* elem = doc.NewElement("gtpoint"); XMLElem* elem = doc.NewElement("gtpoint");
elem->SetAttribute("id", gtp->id); elem->SetAttribute("id", gtp->id);
elem->SetAttribute("x", gtp->pos.x); elem->SetAttribute("x", gtp->pos.x);
elem->SetAttribute("y", gtp->pos.y); elem->SetAttribute("y", gtp->pos.y);
gtpoints->InsertEndChild(elem); elem->SetAttribute("z", gtp->pos.z);
} gtpoints->InsertEndChild(elem);
floor->InsertEndChild(gtpoints); }
floor->InsertEndChild(gtpoints);
XMLElem* accesspoints = doc.NewElement("accesspoints"); XMLElem* accesspoints = doc.NewElement("accesspoints");
for (const AccessPoint* ap : mf->accesspoints) { for (const AccessPoint* ap : mf->accesspoints) {

13
math/distribution/NormalN.h
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@@ -75,6 +75,19 @@ namespace Distribution {
return NormalDistributionN(mean, cov); return NormalDistributionN(mean, cov);
} }
/** return a NormalN based on given data and a given mean vector mu*/
static NormalDistributionN getNormalNFromSamplesAndMean(const Eigen::MatrixXd& data, const Eigen::VectorXd mean) {
const int numElements = data.rows();
Assert::notEqual(numElements, 1, "data is just 1 value, thats not enough for getting the distribution!");
Assert::notEqual(numElements, 0, "data is empty, thats not enough for getting the distribution!");
const Eigen::MatrixXd centered = data.rowwise() - mean.transpose();
const Eigen::MatrixXd cov = (centered.adjoint() * centered) / double(data.rows() - 1);
return NormalDistributionN(mean, cov);
}
}; };
} }