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worked on signal-strength-estimation

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add this information to grid nodes
evaluate this information
new test-cases
This commit is contained in:
FrankE
2016-07-15 15:29:07 +02:00
parent 34e52cd7f0
commit 99ee95ce7b
21 changed files with 568 additions and 26 deletions
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4
grid/DefaultGridNode.h Normal file
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@@ -0,0 +1,4 @@
#ifndef DEFAULTGRIDNODE_H
#define DEFAULTGRIDNODE_H
#endif // DEFAULTGRIDNODE_H

16
grid/GridNode.h
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@@ -24,14 +24,18 @@ private:
/** INTERNAL: node's index array-index */
int _idx;
/** semantic annotation for this node */
uint8_t _type;
/** INTERNAL: store neighbors (via index) */
int _neighbors[10];
/** INTERNAL: number of neighbors */
uint8_t _numNeighbors;
/** INTERNAL: store neighbors (via index) */
int _neighbors[10];
/** semantic annotation for this node */
uint8_t _type;
public:
@@ -43,7 +47,9 @@ public:
public:
GridNode() : _idx(-1), _numNeighbors(0), _neighbors() {;}
/** ctor */
GridNode() : _idx(-1), _neighbors(), _numNeighbors(0), _type(0) {;}
/** get the node's index within its grid */
int getIdx() const {return _idx;}

11
grid/GridPoint.h
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@@ -48,8 +48,15 @@ struct GridPoint {
return std::sqrt(dx*dx + dy*dy + dz*dz);
}
/** cast to Point3 */
operator Point3() const {return Point3(x_cm, y_cm, z_cm);}
///** cast to Point3 */
//operator Point3() const {return Point3(x_cm, y_cm, z_cm);}
/** convert to Point3 in centimeter */
Point3 inCentimeter() const {return Point3(x_cm, y_cm, z_cm);}
/** convert to Point3 in meter */
Point3 inMeter() const {return Point3(x_cm/100.0f, y_cm/100.0f, z_cm/100.0f);}
/** cast to string */
operator std::string() const {return "(" + std::to_string(x_cm) + "," + std::to_string(y_cm) + "," + std::to_string(z_cm) + ")";}

6
grid/factory/GridImportance.h
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@@ -159,12 +159,12 @@ public:
template <typename T> bool isDoor( T& nSrc, std::vector<T*> neighbors ) {
MiniMat2 m;
Point3 center = nSrc;
Point3 center = nSrc.inCentimeter();
// calculate the centroid of the nSrc's nearest-neighbors
Point3 centroid(0,0,0);
for (const T* n : neighbors) {
centroid = centroid + (Point3)*n;
centroid = centroid + n->inCentimeter();
}
centroid /= neighbors.size();
@@ -174,7 +174,7 @@ public:
// build covariance of the nearest-neighbors
int used = 0;
for (const T* n : neighbors) {
Point3 d = (Point3)*n - center;
Point3 d = n->inCentimeter() - center;
if (d.length() > 100) {continue;} // radius search
m.addSquared(d.x, d.y);
++used;