FHWS/YASMIN
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started to add ble functions

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added ble as sensor to java and c++
added sensorlistener for ble
added ble to observation and onDataSensor in filter
started to work on ble fingerprints for optimization
This commit is contained in:
mail@toni-fetzer.de
2019-06-05 18:04:31 +02:00
parent b9b9d8f9ac
commit 20ae2f5c2a
23 changed files with 1341 additions and 1152 deletions
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86
ui/map/2D/ColorPoints2D.h
View File

@@ -64,59 +64,59 @@ public:
}
/** NOTE: must be called from Qt's main thread! */
void setFromParticles(const std::vector<SMC::Particle<GridBased::MyState>>& particles){
void setFromParticles(const std::vector<SMC::Particle<GridBased::MyState>>& particles){
points.clear();
points.clear();
// group particles by grid-point
std::unordered_map<GridPoint, float> weights;
for (const SMC::Particle<GridBased::MyState>& p : particles) {
const GridPoint gp = p.state.position;
if (weights.find(gp) != weights.end()) {continue;}
weights[gp] += p.weight;
}
// group particles by grid-point
std::unordered_map<GridPoint, float> weights;
for (const SMC::Particle<GridBased::MyState>& p : particles) {
const GridPoint gp = p.state.position;
if (weights.find(gp) != weights.end()) {continue;}
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;}
}
// 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 Point3 pt(gp.x_cm/100.0f, gp.y_cm/100.0f + 0.1f, gp.z_cm/100.0f);
float h = 0.66 - (p*0.66); // 0.66 is blue on the HSV-scale
const QColor color = QColor::fromHsvF(h, 1, 1);
points.push_back(PT(pt, color));
}
// 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 Point3 pt(gp.x_cm/100.0f, gp.y_cm/100.0f + 0.1f, gp.z_cm/100.0f);
float h = 0.66 - (p*0.66); // 0.66 is blue on the HSV-scale
const QColor color = QColor::fromHsvF(h, 1, 1);
points.push_back(PT(pt, color));
}
}
}
void setFromParticles(const std::vector<SMC::Particle<MeshBased::MyState>>& particles){
void setFromParticles(const std::vector<SMC::Particle<MeshBased::MyState>>& particles){
points.clear();
points.clear();
float min = +INFINITY;
float max = -INFINITY;
for (const auto p : particles){
if (p.weight > max) {max = p.weight;}
if (p.weight < min) {min = p.weight;}
}
float min = +INFINITY;
float max = -INFINITY;
for (const auto p : particles){
if (p.weight > max) {max = p.weight;}
if (p.weight < min) {min = p.weight;}
}
for (const auto p : particles) {
const Point3 pt(p.state.loc.pos.x, p.state.loc.pos.y, p.state.loc.pos.z);
const float prob = (p.weight-min) / (max-min);
float h = 0.66 - (prob*0.66); // 0.66 is blue on the HSV-scale
const QColor color = QColor::fromHsvF(h, 1, 1);
points.push_back(PT(pt, color));
for (const auto p : particles) {
const Point3 pt(p.state.pos.pos.x, p.state.pos.pos.y, p.state.pos.pos.z);
const float prob = (p.weight-min) / (max-min);
float h = 0.66 - (prob*0.66); // 0.66 is blue on the HSV-scale
const QColor color = QColor::fromHsvF(h, 1, 1);
points.push_back(PT(pt, color));
}
}
}
}
protected:

11
ui/map/2D/Floor2D.h
View File

@@ -29,7 +29,7 @@ protected:
if (floor->atHeight > r.clip.aboveHeight_m) {return;}
for (const Floorplan::FloorObstacle* obs : floor->obstacles) {
const Floorplan::FloorObstacleLine* line = dynamic_cast<const Floorplan::FloorObstacleLine*>(obs);
const Floorplan::FloorObstacleWall* line = dynamic_cast<const Floorplan::FloorObstacleWall*>(obs);
if (line) {drawObstacle(qp, s, line);}
}
@@ -51,10 +51,11 @@ protected:
private:
static inline QPen getPen(Floorplan::Material mat, Floorplan::ObstacleType type) {
static inline QPen getPen(Floorplan::Material mat, Floorplan::ObstacleType type, int thickness) {
using namespace Floorplan;
QPen pen; pen.setColor(Qt::darkGray);
if (mat == Material::CONCRETE) {pen.setWidth(3);}
if (mat == Material::CONCRETE) {pen.setWidth(thickness);}
if (mat == Material::DRYWALL) {pen.setWidth(thickness); pen.setColor(Qt::gray);}
if (mat == Material::GLASS) {pen.setStyle(Qt::PenStyle::DotLine);}
if (type == ObstacleType::HANDRAIL) {pen.setStyle(Qt::PenStyle::DashLine);}
if (type == ObstacleType::UNKNOWN) {pen.setColor(Qt::red); pen.setWidth(5);}
@@ -63,10 +64,10 @@ private:
return pen;
}
void drawObstacle(QPainter& qp, const Scaler2D& s, const Floorplan::FloorObstacleLine* line) {
void drawObstacle(QPainter& qp, const Scaler2D& s, const Floorplan::FloorObstacleWall* line) {
const Point2 pt1 = s.mapToScreen(line->from);
const Point2 pt2 = s.mapToScreen(line->to);
qp.setPen(getPen(line->material, line->type));
qp.setPen(getPen(line->material, line->type, static_cast<int>(s.mToPX(line->thickness_m))));
qp.drawLine(pt1.x, pt1.y, pt2.x, pt2.y);
}