a lot!!! of changes

added main menu added debug display many debug widgets for plotting live data worked on android live sensors added offline-data sensor feeding some dummy data sensors worked on the map display added ui debug for grid-points, particles and weights added a cool dude to display the estimation added real filtering based on the Indoor components c++11 fixes for android compilation online and offline filtering support new resampling technique for testing map loading via dialog
2016-09-16 19:30:04 +02:00
parent d910e88220
commit 075d8bb633
90 changed files with 4735 additions and 624 deletions
--- a/ui/map/elements/ColorPoints.h
+++ b/ui/map/elements/ColorPoints.h
@@ -0,0 +1,114 @@
+#ifndef GL_PARTICLES_H
+#define GL_PARTICLES_H
+
+
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include <KLib/math/filter/particles/ParticleFilter.h>
+
+#include "../gl/GLHelper.h"
+#include "../gl/GLPoints.h"
+#include "../Renderable.h"
+
+#include "../../../nav/Node.h"
+
+class ColorPoints : public Renderable {
+
+private:
+
+	GLPoints points;
+	float size = 3.0f;
+
+public:
+
+	/** ctor */
+	ColorPoints() {
+
+	}
+
+	/** NOTE: must be called from Qt's main thread! */
+	void setFromGridImportance(Grid<MyGridNode>* grid) {
+
+		points.clear();
+
+		for (const MyGridNode& n : *grid) {
+			const QVector3D pt(n.x_cm/100.0f, n.z_cm/100.0f + 0.1f, n.y_cm/100.0f);		// swap z and y
+			const float f = n.getNavImportance();
+			float h = 0.66 - (f*0.20);				// 0.66 is blue on the HSV-scale
+			if (h < 0) {h = 0;}
+			if (h > 1) {h = 1;}
+			const QColor color = QColor::fromHsvF(h, 1, 1);
+			points.addPoint(pt, color);
+		}
+
+		size = 3.0f;
+		points.rebuild();
+
+	}
+
+	/** NOTE: must be called from Qt's main thread! */
+	template <typename T> void setFromParticles(const std::vector<K::Particle<T>>& particles) {
+
+		points.clear();
+
+		// group particles by grid-point
+		std::unordered_map<GridPoint, float> weights;
+		for (const K::Particle<T>& p : particles) {
+			const GridPoint gp = p.state.position;
+			weights[gp] += p.weight;
+		}
+
+		// find min/max
+		float min = +INFINITY;
+		float max = -INFINITY;
+		for (auto it : weights) {
+			if (it.second > max) {max = it.second;}
+			if (it.second < min) {min = it.second;}
+		}
+
+		// draw colored
+		for (auto it : weights) {
+			const GridPoint gp = it.first;
+			const float w = it.second;
+			const float p = (w-min) / (max-min);		// [0:1]
+			const QVector3D pt(gp.x_cm/100.0f, gp.z_cm/100.0f + 0.1f, gp.y_cm/100.0f);		// swap z and y
+			float h = 0.66 - (p*0.66);				// 0.66 is blue on the HSV-scale
+			const QColor color = QColor::fromHsvF(h, 1, 1);
+			points.addPoint(pt, color);
+		}
+
+
+//		for (const K::Particle<T>& p : particles) {
+//			const GridPoint gp = p.state.position;
+//			const QVector3D pt(gp.x_cm/100.0f, gp.z_cm/100.0f + 0.1f, gp.y_cm/100.0f);		// swap z and y
+//			const QColor color = Qt::blue;
+//			points.addPoint(pt, color);
+//		}
+
+		size = 6.0f;
+		points.rebuild();
+
+	}
+
+
+	void initGL() override {
+		loadShader(":/res/gl/vertex1.glsl", ":/res/gl/fragmentColorPoint.glsl");
+		//program.setUniformValue("color", QVector4D(0.5, 0.5, 0.5, 1.0));
+		points.initGL();
+	}
+
+	/** render the floor */
+	void _render() override {
+		//glDisable(GL_DEPTH_TEST);
+		//glPointSize()
+#ifndef ANDROID
+		glPointSize(size);
+#endif
+		points.render(&program);
+		//glEnable(GL_DEPTH_TEST);
+	}
+
+
+};
+
+
+#endif // GL_PARTICLES_H