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added fixed interval smoothing

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toni
2016-03-17 19:24:45 +01:00
parent 8d2be0f8a0
commit 89bb0b8b7a
17 changed files with 1010 additions and 137 deletions
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121
code/eval/PaperVisImportance.h
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@@ -21,7 +21,8 @@
#include "../Settings.h"
#include "../DijkstraMapper.h"
PaperPlot2D::Size s1 = PaperPlot2D::Size(2,4);
PaperPlot2D::Size s1 = PaperPlot2D::Size(4,1.5);
PaperPlot2D::Size s2 = PaperPlot2D::Size(4,1.7);
class PaperVisImportance {
@@ -79,9 +80,11 @@ public:
{
PaperPlot2D plot("floorplan_importance.eps", s1);
plot.setRanges(0,2100, 0,5100);
plot.addFloor(f0);
plot.setRanges(0,5100, 0,2100);
//plot.addFloor(f0);
plot.addGrid(grid, ColorizerImp());
plot.gp << "set colorbox\n";
plot.gp << "set lmargin 0\n set tmargin 0\n set bmargin 0\n set rmargin 0.6\n";
plot.show();
}
@@ -110,8 +113,10 @@ public:
// start and end
const MyGridNode& gnStart = grid.getNodeFor(GridPoint(1500, 300, 0));
const MyGridNode& gnEnd = grid.getNodeFor(GridPoint(900, 4600, 0));
//const MyGridNode& gnStart = grid.getNodeFor(GridPoint(1500, 300, 0));
//const MyGridNode& gnEnd = grid.getNodeFor(GridPoint(900, 4600, 0));
const MyGridNode& gnStart = grid.getNodeFor(GridPoint(300, 300, 0));
const MyGridNode& gnEnd = grid.getNodeFor(GridPoint(4700, 1300, 0));
// build all shortest path to reach th target
Dijkstra<MyGridNode> dijkstra;
@@ -131,23 +136,30 @@ public:
DijkstraPath<MyGridNode> pathImp(dijkstra.getNode(gnEnd), dijkstra.getNode(gnStart));
// build plot
K::GnuplotPlotElementLines gpPath1; gpPath1.setLineWidth(2); gpPath1.setColorHex("#444444");
K::GnuplotPlotElementLines gpPath2; gpPath2.setLineWidth(2); gpPath2.setColorHex("#000000");
K::GnuplotPlotElementLines gpPath1a; gpPath1a.setLineWidth(6); gpPath1a.setColorHex("#000000");
K::GnuplotPlotElementLines gpPath1b; gpPath1b.setLineWidth(2); gpPath1b.setColorHex("#ffffff");
K::GnuplotPlotElementLines gpPath2a; gpPath2a.setLineWidth(7); gpPath2a.setColorHex("#000000");
K::GnuplotPlotElementLines gpPath2b; gpPath2b.setLineWidth(2); gpPath2b.setColorHex("#ffffff");
for (DijkstraNode<MyGridNode>* dn : pathNormal) {
gpPath1.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
gpPath1a.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
gpPath1b.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
}
for (DijkstraNode<MyGridNode>* dn : pathImp) {
gpPath2.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
gpPath2a.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
gpPath2b.add(K::GnuplotPoint2(dn->element->x_cm, dn->element->y_cm));
}
// plot the 2 paths
{
PaperPlot2D plot("floorplan_paths.eps", s1);
plot.setRanges(0,2100, 0,5100);
plot.floors.setColorHex("#777777");
plot.setRanges(0,5100, 0,2100);
plot.addFloor(f0);
plot.plot.add(&gpPath1); gpPath1.setCustomAttr("dashtype 3");
plot.plot.add(&gpPath2);
plot.plot.add(&gpPath1a); //gpPath1a.setCustomAttr("dashtype 2");
plot.plot.add(&gpPath1b); gpPath1b.setCustomAttr("dashtype 2");
plot.plot.add(&gpPath2a);
plot.plot.add(&gpPath2b);
plot.show();
}
@@ -166,21 +178,98 @@ public:
if (i % 250 == 0) {std::cout << i << std::endl;}
const MyGridNode& nStart = gnEnd;
GridWalkState<MyGridNode> sStart(&nStart, Heading::rnd());
//GridWalkState<MyGridNode> sEnd = walk.getDestination(grid, sStart, 135, 0);
GridWalkState<MyGridNode> sEnd = walk.getDestination(grid, sStart, 135, 0);
(void) sEnd;
}
// plot the heat-map
{
PaperPlot2D plot("floorplan_dijkstra_heatmap.eps", s1);
plot.setRanges(0,2100, 0,5100);
plot.gp << "set palette gray negative\n";
PaperPlot2D plot("floorplan_dijkstra_heatmap.eps", s2);
plot.setRanges(0,5220, 0,2100);
plot.floors.setColorHex("#000000");
//plot.gp << "set palette gray negative\n";
plot.gp << "set palette defined ( 0 'white', 1 'blue', 2 'orange', 3 'yellow' )\n";
plot.gp << "set lmargin 0\n set tmargin 0\n set bmargin 0\n set rmargin 0\n";
plot.addFloor(f0);
plot.addGrid(grid, ColorizeHeat(7000, 50));
plot.plot.add(&gpPath1a); //gpPath1a.setCustomAttr("dashtype 2");
plot.plot.add(&gpPath1b); gpPath1b.setCustomAttr("dashtype 2");
plot.plot.add(&gpPath2a);
plot.plot.add(&gpPath2b);
plot.gp << "set object circle at 300,300 size 40,40 front\n";
plot.gp << "set object circle at 4700,1300 size 40,40 front\n";
plot.show();
}
}
static void showDijkstraDistance() {
// load the floorplan
FloorplanFactorySVG fpFac(MiscSettings::floorplanPlot, 2.822222);
Floor f0 = fpFac.getFloor("test1");
const LengthF h0 = LengthF::cm(0);
// add the floorplan to the grid
Grid<MyGridNode> grid(20);
GridFactory<MyGridNode> gridFac(grid);
gridFac.addFloor(f0, h0.cm());
// remove all isolated nodes not attached to 300,300,floor0
gridFac.removeIsolated( (MyGridNode&)grid.getNodeFor( GridPoint(300,300,h0.cm()) ) );
// start and end
const MyGridNode& gnStart = grid.getNodeFor(GridPoint(300, 300, 0));
const MyGridNode& gnEnd = grid.getNodeFor(GridPoint(4700, 1300, 0));
// build all shortest path to reach th target
Dijkstra<MyGridNode> dijkstra;
// stamp importance information onto the grid-nodes
GridImportance gridImp;
gridImp.addImportance(grid, h0.cm());
// path WITH importance
DijkstraMapper accImp(grid);
dijkstra.build(gnStart, gnStart, accImp);
DijkstraPath<MyGridNode> pathImp(dijkstra.getNode(gnEnd), dijkstra.getNode(gnStart));
// stamp distance information onto the grid
// attach a corresponding weight-information to each user-grid-node
for (MyGridNode& node : grid) {
const DijkstraNode<MyGridNode>* dn = dijkstra.getNode(node);
node.distToTarget = dn->cumWeight;
}
// plot the heat-map
{
PaperPlot2D plot;
plot.setRanges(0,5220, 0,2100);
plot.floors.setColorHex("#000000");
//plot.gp << "set palette gray negative\n";
plot.gp << "set palette defined ( 0 'white', 1 'blue', 2 'orange', 3 'yellow' )\n";
plot.gp << "set lmargin 0\n set tmargin 0\n set bmargin 0\n set rmargin 0\n";
plot.addFloor(f0);
plot.addGrid(grid, ColorizerDist());
plot.gp << "set object circle at 300,300 size 40,40 front\n";
plot.gp << "set object circle at 4700,1300 size 40,40 front\n";
plot.show();
sleep(1000);
}
}