FHWS/Indoor
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added support for ground truth points \n small fixed in beaconprob

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This commit is contained in:
toni
2016-12-01 19:48:27 +01:00
parent ae357ffd4b
commit ef6f44969f
6 changed files with 69 additions and 13 deletions
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12
floorplan/v2/Floorplan.h
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@@ -117,6 +117,7 @@ namespace Floorplan {
struct POI;
struct Stair;
struct Elevator;
struct GroundTruthPoint;
using FloorOutline = std::vector<FloorOutlinePolygon*>;
using FloorObstacles = std::vector<FloorObstacle*>;
@@ -127,6 +128,7 @@ namespace Floorplan {
using FloorPOIs = std::vector<POI*>;
using FloorStairs = std::vector<Stair*>;
using FloorElevators = std::vector<Elevator*>;
using FloorGroundTruthPoints = std::vector<GroundTruthPoint*>;
/** describes one floor within the map, starting at a given height */
struct Floor {
@@ -143,6 +145,7 @@ 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
//FloorKeyValue other; // other, free elements
Floor() {;}
@@ -167,6 +170,15 @@ namespace Floorplan {
bool operator == (const POI& o) const {return (o.type == type) && (o.name == name) && (o.pos == pos);}
};
/** 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
Point2 pos;
GroundTruthPoint() : id(), pos() {;}
GroundTruthPoint(const int& id, const Point2& pos) : id(id), pos(pos) {;}
bool operator == (const GroundTruthPoint& o) const {return (o.id == id) && (o.pos == pos);}
};
/** an AccessPoint located somewhere on a floor */
struct AccessPoint {
std::string name;

19
floorplan/v2/FloorplanReader.h
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@@ -97,6 +97,7 @@ namespace Floorplan {
if (std::string("pois") == n->Name()) {floor->pois = parseFloorPOIs(n);}
if (std::string("stairs") == n->Name()) {floor->stairs = parseFloorStairs(n);}
if (std::string("elevators") == n->Name()) {floor->elevators = parseFloorElevators(n);}
if (std::string("gtpoints") == n->Name()) {floor->gtpoints = parseFloorGroundTruthPoints(n);}
}
return floor;
}
@@ -185,6 +186,24 @@ namespace Floorplan {
}
/** parse the <gtpoints> tag */
static std::vector<GroundTruthPoint*> parseFloorGroundTruthPoints(const XMLElem* el) {
std::vector<GroundTruthPoint*> vec;
FOREACH_NODE(n, el) {
if (std::string("gtpoint") == n->Name()) { vec.push_back(parseFloorGroundTruthPoint(n)); }
}
return vec;
}
/** parse a <gtpoint> tag */
static GroundTruthPoint* parseFloorGroundTruthPoint(const XMLElem* el) {
GroundTruthPoint* gtp = new GroundTruthPoint();
gtp->id = el->IntAttribute("id");
gtp->pos = parsePoint2(el);
return gtp;
}
/** parse the <accesspoints> tag */
static std::vector<AccessPoint*> parseFloorAccessPoints(const XMLElem* el) {
std::vector<AccessPoint*> vec;

10
floorplan/v2/FloorplanWriter.h
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@@ -145,6 +145,16 @@ namespace Floorplan {
}
floor->InsertEndChild(pois);
XMLElem* gtpoints = doc.NewElement("gtpoints");
for (const GroundTruthPoint* gtp : mf->gtpoints) {
XMLElem* elem = doc.NewElement("gtpoint");
elem->SetAttribute("id", gtp->id);
elem->SetAttribute("x", gtp->pos.x);
elem->SetAttribute("y", gtp->pos.y);
gtpoints->InsertEndChild(elem);
}
floor->InsertEndChild(gtpoints);
XMLElem* accesspoints = doc.NewElement("accesspoints");
for (const AccessPoint* ap : mf->accesspoints) {
XMLElem* accesspoint = doc.NewElement("accesspoint");

8
math/distribution/VonMises.h
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@@ -19,7 +19,7 @@ namespace Distribution {
const T mu;
/** like 1.0/variance of the distribution */
const T kappa;
T kappa;
/** pre-calcuated look-up-table */
std::vector<T> lut;
@@ -30,7 +30,7 @@ namespace Distribution {
public:
/** ctor */
VonMises(const T mu, const T kappa) : mu(mu), kappa(kappa) {
VonMises(const T mu, T kappa) : mu(mu), kappa(kappa) {
}
@@ -49,6 +49,10 @@ namespace Distribution {
}
void setKappa(T _kappa){
kappa = _kappa;
}
};
}

30
sensors/MACAddress.h
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@@ -47,15 +47,27 @@ public:
MACAddress(const std::string& str) {
// sanity check
if (str.size() != 17) {throw Exception("invalid hex string length. must be 17");}
mac = 0; // all zeros
fields.h5 = hexWordToInt(str[ 0], str[ 1]);
fields.h4 = hexWordToInt(str[ 3], str[ 4]);
fields.h3 = hexWordToInt(str[ 6], str[ 7]);
fields.h2 = hexWordToInt(str[ 9], str[10]);
fields.h1 = hexWordToInt(str[12], str[13]);
fields.h0 = hexWordToInt(str[15], str[16]);
if (str.size() == 17 ){
mac = 0; // all zeros
fields.h5 = hexWordToInt(str[ 0], str[ 1]);
fields.h4 = hexWordToInt(str[ 3], str[ 4]);
fields.h3 = hexWordToInt(str[ 6], str[ 7]);
fields.h2 = hexWordToInt(str[ 9], str[10]);
fields.h1 = hexWordToInt(str[12], str[13]);
fields.h0 = hexWordToInt(str[15], str[16]);
}
else if (str.size() == 12){
mac = 0; // all zeros
fields.h5 = hexWordToInt(str[ 0], str[ 1]);
fields.h4 = hexWordToInt(str[ 2], str[ 3]);
fields.h3 = hexWordToInt(str[ 4], str[ 5]);
fields.h2 = hexWordToInt(str[ 6], str[7]);
fields.h1 = hexWordToInt(str[8], str[9]);
fields.h0 = hexWordToInt(str[10], str[11]);
}
else{
throw Exception("invalid hex string length. must be 17 or 12 (without :)");
}
}

3
sensors/beacon/BeaconProbabilityFree.h
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@@ -20,7 +20,6 @@ class BeaconObserverFree : public BeaconProbability {
private:
const float sigma = 8.0f;
const float sigmaPerSecond = 3.0f;
/** the RSSI prediction model */
@@ -82,7 +81,7 @@ public:
}
// sanity check
Assert::isTrue(numMatchingBeacons > 0, "not a single measured Beacon was matched against known ones. coding error? model error?");
//Assert::isTrue(numMatchingBeacons > 0, "not a single measured Beacon was matched against known ones. coding error? model error?");
return prob;