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added support for ground truth points: \n -layer for gt points \n -button with icon

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-saving and loading support
This commit is contained in:
toni
2016-12-01 19:42:13 +01:00
parent 674f79c150
commit 1da9d916b3
12 changed files with 341 additions and 4 deletions
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5
IndoorMap.pro
View File

@@ -125,7 +125,10 @@ HEADERS += MainWindow.h \
mapview/2D/Scaler.h \
mapview/2D/MV2DElementElevator.h \
mapview/model/MMFloorElevators.h \
mapview/model/MMFloorElevator.h
mapview/model/MMFloorElevator.h \
mapview/model/MMFloorGroundTruthPoints.h \
mapview/model/MMFloorGroundTruthPoint.h \
mapview/2D/MV2DElementGroundTruthPoint.h
FORMS += MainWindow.ui

9
MainController.cpp
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@@ -84,10 +84,13 @@ MainController::MainController() {
//mapModel->load("../IndoorMap/maps/SHL21.xml");
//mapModel->load("../IndoorMap/maps/test.xml");
//mapModel->load("/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/CAR/CAR9.xml");
mapModel->load("/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/UAH/UAH9.xml");
//mapModel->load("/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/map/CAR/CAR10.xml");
mapModel->load("/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/map/UAH/UAH12_rawObstacles.xml");
//mapModel->load("/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/map/SHL/SHL25.xml");
//mapModel->load("/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/map/UJI-UB/UJI-UB5.xml");
//mapModel->load("/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/map/UJI-TI/UJI-TI4.xml");
//mapModel->load("/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/UJI-TI/UJI-TI4.xml");
//mapModel->load("/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/UJI-UB/UJI-UB4.xml");
//mapModel->load("/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/map/UJI-UB/UJI-UB5.xml");
//mapModel->load("/mnt/data/workspaces/Indoor/tests/data/WalkHeadingMap.xml");
//mapModel->load("/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/test.xml");

119
mapview/2D/MV2DElementGroundTruthPoint.h Normal file
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@@ -0,0 +1,119 @@
#ifndef MV2DELEMENTGROUNDTRUTHPOINT_H
#define MV2DELEMENTGROUNDTRUTHPOINT_H
#include "MV2DElement.h"
#include "HasMoveableNodes.h"
#include "MapViewElementHelper.h"
#include <Indoor/floorplan/v2/Floorplan.h>
#include "../../UIHelper.h"
class MV2DElementGroundTruthPoint : public MV2DElement, public HasMoveableNodes {
private:
//bool sel = false;
Floorplan::GroundTruthPoint* gtp;
public:
/** ctor with the AP to render/edit */
MV2DElementGroundTruthPoint(Floorplan::GroundTruthPoint* gtp) : gtp(gtp) {;}
/** get the element's 3D bounding box */
BBox2 getBoundingBox() const override {
BBox2 bbox;
bbox.add(Point2(gtp->pos.x, gtp->pos.y));
bbox.grow(Point2(0.1, 0.1));
return bbox;
}
/** get the element's minimal distance (nearest whatsoever) to the given point */
float getMinDistanceXY(const Point2 p) const override {
return p.getDistance(gtp->pos);
}
/** repaint me */
void paint(Painter& p) override {
static const QPixmap& pixmapUnfocused = UIHelper::getPixmapColored("gtp", CFG::UNFOCUS_COLOR, 16);
static const QPixmap& pixmapFocused = UIHelper::getPixmapColored("gtp", CFG::FOCUS_COLOR, 16);
static const QPixmap& pixmapSel = UIHelper::getPixmapColored("gtp", CFG::SEL_COLOR, 16);
if (selectedUserIdx == 0) {
// p.setPenBrush(Qt::black, CFG::SEL_COLOR);
// p.drawCircle(gtp->pos);
p.drawPixmap(gtp->pos, pixmapSel);
} else if (hasFocus()) {
// p.setPenBrush(Qt::black, Qt::NoBrush);
// p.drawCircle(gtp->pos);
p.drawPixmap(gtp->pos, pixmapFocused);
} else {
// p.setPenBrush(Qt::gray, Qt::NoBrush);
// p.drawCircle(gtp->pos);
p.drawPixmap(gtp->pos, pixmapUnfocused);
}
// label
p.setPenBrush(Qt::black, Qt::NoBrush);
p.drawDot(gtp->pos);
if (p.getScaler().getScale() >= 10) {
const std::string str = std::to_string(gtp->id);
p.p->drawText(p.getScaler().xms(gtp->pos.x) + 10, p.getScaler().yms(gtp->pos.y) + 5, str.c_str());
}
}
virtual std::vector<MoveableNode> getMoveableNodes() const override {
return { MoveableNode(0, gtp->pos) };
}
virtual void onNodeMove(MapView2D* v, const int userIdx, const Point2 newPos) override {
(void) v;
if (userIdx == 0) {gtp->pos = newPos;}
}
/** mouse pressed at the given point */
virtual void mousePressed(MapView2D* v, const Point2 p) override {
(void) v;
(void) p;
}
/** mouse moved to the given point */
virtual void mouseMove(MapView2D* v, const Point2 p) override {
(void) v;
(void) p;
// if (sel) {
// const Point2 p = v->getScaler().snap(_p);
// gtp->pos.x = p.x;
// gtp->pos.y = p.y;
// }
}
/** mouse released */
virtual void mouseReleased(MapView2D* v, const Point2 p) override {
(void) v;
(void) p;
}
virtual bool keyPressEvent(MapView2D* v, QKeyEvent *e) override {
(void) v;
(void) e;
return false;
}
virtual void onFocus() override {
;
}
virtual void onUnfocus() override {
;
}
};
#endif // MV2DELEMENTGROUNDTRUTHPOINT_H

2
mapview/3DGrid/MyNode.h
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@@ -8,6 +8,8 @@ struct MyNode : public GridNode, public GridPoint, public GridNodeImportance {
MyNode(float x, float y, float z) : GridPoint(x,y,z) {;}
float walkImportance;
};
#endif // MYNODE_H

2
mapview/model/MMFloor.h
View File

@@ -10,6 +10,7 @@
#include "MMFloorPOIs.h"
#include "MMFloorStairs.h"
#include "MMFloorElevators.h"
#include "MMFloorGroundTruthPoints.h"
#include "IHasParams.h"
@@ -41,6 +42,7 @@ public:
new MMFloorPOIs(this, floor);
new MMFloorStairs(this, floor);
new MMFloorElevators(this, floor);
new MMFloorGroundTruthPoints(this, floor);
}

61
mapview/model/MMFloorGroundTruthPoint.h Normal file
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@@ -0,0 +1,61 @@
#ifndef MMFLOORGROUNDTRUTHPOINT_H
#define MMFLOORGROUNDTRUTHPOINT_H
#include "MapModelElement.h"
#include "IHasParams.h"
#include "../2D/MV2DElementGroundTruthPoint.h"
#include <Indoor/floorplan/v2/Floorplan.h>
class MMFloorGroundTruthPoint : public MapModelElement, public IHasParams {
private:
Floorplan::Floor* floor;
Floorplan::GroundTruthPoint* gtp;
MV2DElementGroundTruthPoint mv2d;
public:
MMFloorGroundTruthPoint(MapLayer* parent, Floorplan::Floor* floor, Floorplan::GroundTruthPoint* gtp) : MapModelElement(parent), floor(floor), gtp(gtp), mv2d(gtp) {
;
}
virtual int getNumParams() const override {
return 2;
}
virtual Param getParamDesc(const int idx) const override {
switch(idx) {
case 0: return Param("id", ParamType::INT);
case 1: return Param("position", ParamType::POINT2);
}
throw 1;
}
virtual ParamValue getParamValue(const int idx) const override {
switch(idx) {
case 0: return gtp->id; //TODO: this value can be changed and isn't set incremental within the indoormap
case 1: return gtp->pos;
}
throw 1;
}
virtual void setParamValue(const int idx, const ParamValue& val) const override {
switch(idx) {
case 0: gtp->id = val.toInt(); break;
case 1: gtp->pos = val.toPoint2(); break;
}
}
MV2DElement* getMV2D() const override {return (MV2DElement*) &mv2d;}
void deleteMe() const override {
parent->removeElement(this);
floor->gtpoints.erase(std::remove(floor->gtpoints.begin(), floor->gtpoints.end(), gtp), floor->gtpoints.end());
}
};
#endif // MMFLOORGROUNDTRUTHPOINT_H

46
mapview/model/MMFloorGroundTruthPoints.h Normal file
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@@ -0,0 +1,46 @@
#ifndef MMFLOORGROUNDTRUTHPOINTS_H
#define MMFLOORGROUNDTRUTHPOINTS_H
#include "MapLayer.h"
#include "MMFloorGroundTruthPoint.h"
#include <Indoor/floorplan/v2/Floorplan.h>
/**
* layer that contains all of one floor's GroundTruthPoints
*/
class MMFloorGroundTruthPoints : public MapLayer {
Floorplan::Floor* floor;
public:
/** ctor with the floor */
MMFloorGroundTruthPoints(MapLayer* parent, Floorplan::Floor* floor) : MapLayer(parent, MapLayerType::FLOOR_GROUND_TRUTH_POINTS), floor(floor) {
// the POIs
for (Floorplan::GroundTruthPoint* gtp : floor->gtpoints) {
elements.push_back(new MMFloorGroundTruthPoint(this, floor, gtp));
}
}
/** get the corresponding floor from the underlying model */
Floorplan::Floor* getFloor() {return floor;}
//TODO: check
void createGroundTruthPoint(Floorplan::GroundTruthPoint* gtp) {
// add to underlying model
floor->gtpoints.push_back(gtp);
// add to myself as element
elements.push_back(new MMFloorGroundTruthPoint(this, floor, gtp));
}
std::string getLayerName() const override {return "GroundTruthPoints";}
};
#endif // MMFLOORGROUNDTRUTHPOINTS_H

1
mapview/model/MapLayer.h
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@@ -21,6 +21,7 @@ enum class MapLayerType {
FLOOR_UNDERLAYS,
FLOOR_POIS,
FLOOR_STAIRS,
FLOOR_GROUND_TRUTH_POINTS
};

20
params/ToolBox.cpp
View File

@@ -12,6 +12,7 @@
#include "../mapview/model/MapModel.h"
#include "../mapview/model/MMFloorAccessPoint.h"
#include "../mapview/model/MMFloorBeacon.h"
#include "../mapview/model/MMFloorGroundTruthPoints.h"
#include "../UIHelper.h"
@@ -86,6 +87,12 @@ ToolBoxWidget::ToolBoxWidget(MapView2D* view, QWidget *parent) : QWidget(parent)
lay->addWidget(btnPOI, r++, 0, 1,1,Qt::AlignTop);
connect(btnPOI, SIGNAL(clicked(bool)), this, SLOT(onNewPOI()));
// GROUNDTRUTH
btnGTP = new QPushButton(UIHelper::getIcon("gtp"), "");
btnGTP->setMinimumSize(s,s);
lay->addWidget(btnGTP, r++, 0, 1,1,Qt::AlignTop);
connect(btnGTP, SIGNAL(clicked(bool)), this, SLOT(onNewGTP()));
// FILL
lay->addItem(new QSpacerItem(0,0,QSizePolicy::Minimum, QSizePolicy::MinimumExpanding), r, 0);
@@ -110,6 +117,7 @@ void ToolBoxWidget::setSelectedLayer(MapLayer *ml) {
btnWifi->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_ACCESS_POINTS));
btnBeacon->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_BEACONS));
btnPOI->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_POIS));
btnGTP->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_GROUND_TRUTH_POINTS));
btnImage->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_UNDERLAYS));
@@ -557,6 +565,18 @@ void ToolBoxWidget::onNewPOI() {
}
void ToolBoxWidget::onNewGTP() {
const Point2 center = view->getScaler().getCenter();
Floorplan::GroundTruthPoint* gtp = new Floorplan::GroundTruthPoint(
0, Point2(center.x, center.y)
);
MMFloorGroundTruthPoints* gtps = (MMFloorGroundTruthPoints*) curLayer;
gtps->createGroundTruthPoint(gtp);
}
void ToolBoxWidget::onNewImage() {
const Point2 center = view->getScaler().getCenter();

2
params/ToolBoxWidget.h
View File

@@ -43,6 +43,7 @@ private:
QPushButton* btnWifi;
QPushButton* btnBeacon;
QPushButton* btnPOI;
QPushButton* btnGTP;
QPushButton* btnImage;
@@ -60,6 +61,7 @@ private slots:
void onNewAccessPoint();
void onNewBeacon();
void onNewPOI();
void onNewGTP();
void onNewImage();

1
res.qrc
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@@ -14,5 +14,6 @@
<file>res/icons/door.svg</file>
<file>res/icons/cursor.svg</file>
<file>res/icons/elevator.svg</file>
<file>res/icons/gtp.svg</file>
</qresource>
</RCC>

77
res/icons/gtp.svg Normal file
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@@ -0,0 +1,77 @@
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