some adjustments to match latest changes in KLib/Indoor

switched from Beacons to real Fingerprint points for fingerprinting

Controller.cpp

@@ -142,7 +142,8 @@ void buildGridOnce(Grid<MyGridNode>* grid, Floorplan::IndoorMap* map, const std:
 		// -> disable VAP-grouping in Settings.h [this is for eval and here]
 
 		// load all APs from the floorplan and use same TXP/EXP/WAF for all of them
-		wifiModel.loadAPs(map, Settings::WiFiModel::vg_calib, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
+		//wifiModel.loadAPs(map, Settings::WiFiModel::vg_calib, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
+		wifiModel.loadAPs(map, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
 		Assert::isFalse(wifiModel.getAllAPs().empty(), "no AccessPoints stored within the map.xml");
 
 	}

Settings.h

@@ -51,7 +51,8 @@ namespace Settings {
 		// NOTE: maybe the UAH does not allow valid VAP grouping? delete the grid and rebuild without!
 		const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
 		const VAPGrouper vg_eval  = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
-
+//		const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::DISABLED, VAPGrouper::Aggregation::AVERAGE);
+//		const VAPGrouper vg_eval  = VAPGrouper(VAPGrouper::Mode::DISABLED, VAPGrouper::Aggregation::AVERAGE);
 	}
 
 

nav/Node.h

@@ -4,7 +4,7 @@
 #include <Indoor/grid/Grid.h>
 #include <Indoor/sensors/radio/WiFiGridNode.h>
 
-struct MyGridNode : public GridNode, public GridPoint, public WiFiGridNode<20> {
+struct MyGridNode : public GridNode, public GridPoint, public WiFiGridNode<30> {
 
 	float navImportance;
 	float getNavImportance() const { return navImportance; }

nav/NodeResampling.h

@@ -59,8 +59,8 @@
 				particlesCopy[i].weight = cumWeight;
 			}
 
-//			std::uniform_real_distribution<float> distNewOne(0.0, 1.0);
+			std::uniform_real_distribution<float> distNewOne(0.0, 1.0);
-//			std::uniform_int_distribution<int> distRndNode(0, grid.getNumNodes()-1);
+			std::uniform_int_distribution<int> distRndNode(0, grid.getNumNodes()-1);
 			std::normal_distribution<float> distTurn(0.0, +0.03);
 
 			// now draw from the copy vector and fill the original one
@@ -69,11 +69,11 @@
 
 				// slight chance to get a truely random node as particle
 				// mainly for testing
-//				if (distNewOne(gen) < 0.005) {
+				if (distNewOne(gen) < 0.005) {
-//					particles[i].state.position = grid[distRndNode(gen)];
+					particles[i].state.position = grid[distRndNode(gen)];
-//					particles[i].weight = equalWeight;
+					particles[i].weight = equalWeight;
-//					continue;
+					continue;
-//				}
+				}
 
 				// normal redraw procedure
 				particles[i] = draw(cumWeight);

sensors/offline/AllInOneSensor.h

@@ -64,7 +64,7 @@ protected:
 		const Timestamp ts = relativeTS(_ts);
 		handbrake(ts);
 		WiFiMeasurements copy = data;
-		for (WiFiMeasurement& m : copy.entries) {m.ts = ts;}	// make each timestmap also relative
+		for (WiFiMeasurement& m : copy.entries) {m.setTimestamp(ts);}	// make each timestmap also relative
 		WiFiSensor::informListeners(ts, copy);
 	}
 

tests/RuntimeTests.h

@@ -48,8 +48,8 @@ private:
 		fp.measurements.entries.push_back( WiFiMeasurement(AccessPoint(mac2), -72));
 		WiFiMeasurements avg = fp.average();
 		Assert::equal(2, (int)avg.entries.size(), "size mismatch");
-		Assert::isNear(-61.666f, avg.entries[1].rssi, 0.01f, "rssi avg mismatch");
+		Assert::isNear(-61.666f, avg.entries[1].getRSSI(), 0.01f, "rssi avg mismatch");
-		Assert::isNear(-71.500f, avg.entries[0].rssi, 0.01f, "rssi avg mismatch");
+		Assert::isNear(-71.500f, avg.entries[0].getRSSI(), 0.01f, "rssi avg mismatch");
 
 	}
 

tools/calibration/WiFiCalibrationDataModel.h

@@ -44,6 +44,7 @@ public:
 			// deserialize it
 			WiFiFingerprint wfp;
 			wfp.read(inp);
+			if (wfp.measurements.entries.empty()) {continue;}
 			fingerprints.push_back(wfp);
 
 		}
@@ -77,7 +78,7 @@ public:
 		// try to find an existing one
 		for (WiFiFingerprint& wfp : fingerprints) {
 			// get within range of floating-point rounding issues
-			if (wfp.pos_m.getDistance(pos_m) < 0.001) {return wfp;}
+			if (wfp.pos_m.getDistance(pos_m) < 0.01) {return wfp;}
 		}
 
 		// create a new one and return its reference

ui/map/2D/WiFiCalibTool.h

@@ -68,20 +68,22 @@ protected:
 		const QFont font("Arial", 10);
 		qp.setFont(font);
 
+		// get all fingerprint-locations that are currently visible on the 2D map
 		for (const Floorplan::Floor* floor : map->floors) {
-			for (const Floorplan::Beacon* beacon : floor->beacons) {
+			for (const Floorplan::FingerprintLocation* fpLoc : floor->fpLocations) {
 
-				const Point3 p = beacon->pos + Point3(0,0,floor->atHeight) + Point3(0,0,Settings::smartphoneAboveGround);
+				//const Point3 p = beacon->pos + Point3(0,0,floor->atHeight) + Point3(0,0,Settings::smartphoneAboveGround);
+				const Point3 p = fpLoc->getPosition(*floor); // is already above ground as configured within the map
 				const Point2 pt = s.mapToScreen(p.xy());
 
 				if (floor->atHeight < r.clip.belowHeight_m) {continue;}
 				if (floor->atHeight > r.clip.aboveHeight_m) {continue;}
 
-				const WiFiCalibPoint cp(beacon->name, p, pt);
+				const WiFiCalibPoint cp(fpLoc->name, p, pt);
 				currentlyVisible.push_back(cp);
 
 				const WiFiFingerprint& fp = mdl->getFingerprint(cp.pos_m);
-				const QString txt1(beacon->name.c_str());
+				const QString txt1(fpLoc->name.c_str());
 				const QString txt2 = QString::number(fp.measurements.entries.size());
 				qp.setPen(Qt::black);
 

ui/map/3D/elements/Object.h

@@ -21,8 +21,8 @@ public:
 	/** ctor */
 	Object(const std::string& file, const std::string& colorTexture, std::string normalsTexture, const float scale = 1.0) {
 
-		K::ObjFileReader reader(file, false);
+		K::ObjFileReader reader(false);
-
+		reader.readFile(file);
 
 		if (normalsTexture.empty()) {normalsTexture = ":/res/gl/tex/empty_normals.jpg";}