added new helper methods to work with ground-truth

made some assertions optional [i know what i am doing!]

floorplan/v2/Floorplan.h

@@ -197,7 +197,7 @@ namespace Floorplan {
 	using FloorPOIs = std::vector<POI*>;
 	using FloorStairs = std::vector<Stair*>;
 	using FloorElevators = std::vector<Elevator*>;
-        using FloorGroundTruthPoints = std::vector<GroundTruthPoint*>;
+	using FloorGroundTruthPoints = std::vector<GroundTruthPoint*>;
 
 	/** describes one floor within the map, starting at a given height */
 	struct Floor {
@@ -215,7 +215,7 @@ namespace Floorplan {
 		FloorPOIs pois;							// POIs within the floor
 		FloorStairs stairs;						// all stairs within one floor
 		FloorElevators elevators;				// all elevators within one floor
-                FloorGroundTruthPoints gtpoints;        // all ground truth points within one floor
+		FloorGroundTruthPoints gtpoints;        // all ground truth points within one floor
 		//FloorKeyValue other;					// other, free elements
 
 		Floor() {;}
@@ -251,9 +251,10 @@ namespace Floorplan {
         /** a GroundTruthPoint located somewhere on a floor */
         struct GroundTruthPoint {
             int id; //TODO: this value can be changed and isn't set incremental within the indoormap
-            Point3 pos;
+			Point3 pos;		// TODO: splint into 2D position + float for "heightAboveGround" [waypoints' height is relative to the floor's height!
             GroundTruthPoint() : id(), pos() {;}
             GroundTruthPoint(const int& id, const Point3& pos) : id(id), pos(pos) {;}
+			const Point3 getPosition(const Floor& f) const {return pos + Point3(0,0,f.atHeight);}
             bool operator == (const GroundTruthPoint& o) const {return (o.id == id) && (o.pos == pos);}
         };
 

floorplan/v2/FloorplanCeilings.h

@@ -87,7 +87,7 @@ namespace Floorplan {
 				if (diff < 0.1) {++numNear;} else {++numFar;}
 			}
 			if ((numNear + numFar) > 150000) {
-				Assert::isTrue(numNear < numFar*0.1,
+				Assert::isTrue(numNear < numFar*0.15,
 				    "many requests to Floorplan::Ceilings::numCeilingsBetween address nodes (very) near to a ground! \
 					due to rounding issues, determining the number of floors between AP and point-in-question is NOT possible! \
 					expect very wrong outputs! \

floorplan/v2/FloorplanHelper.h

@@ -40,6 +40,31 @@ public:
 		return res;
 	}
 
+	/** get all ground-truth points within the map as hash-map: id->pos */
+	static std::unordered_map<int, Point3> getGroundTruthPoints(const Floorplan::IndoorMap* map) {
+		std::unordered_map<int, Point3> res;
+		for (const Floorplan::Floor* f : map->floors) {
+			for (const Floorplan::GroundTruthPoint* gtp : f->gtpoints) {
+				res[gtp->id] = gtp->getPosition(*f);
+			}
+		}
+		return res;
+	}
+
+	/** get all ground-truth points, identified by the given indices */
+	static std::vector<Point3> getGroundTruth(const Floorplan::IndoorMap* map, const std::vector<int> indices) {
+
+		// get a map id->pos for all ground-truth-points within the map
+		const std::unordered_map<int, Point3> src = getGroundTruthPoints(map);
+		std::vector<Point3> res;
+		for (const int idx : indices) {
+			const auto& it = src.find(idx);
+			if (it == src.end()) {throw Exception("map does not contain a ground-truth-point with ID " + std::to_string(idx));}
+			res.push_back(it->second);
+		}
+		return res;
+	}
+
 public:
 
 	/** align all floorplan values to the given grid size. needed for the grid factory */