added code from fusion2016

2016-03-01 15:04:46 +01:00
commit 8d2be0f8a0
97 changed files with 19831 additions and 0 deletions
--- a/code/eval/PaperVisImportance.h
+++ b/code/eval/PaperVisImportance.h
@@ -0,0 +1,190 @@
+#ifndef PAPERVISIMPORTANCE_H
+#define PAPERVISIMPORTANCE_H
+
+#include <Indoor/grid/Grid.h>
+#include <Indoor/grid/factory/GridFactory.h>
+#include <Indoor/grid/factory/GridImportance.h>
+
+#include <Indoor/floorplan/FloorplanFactorySVG.h>
+
+#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>
+
+
+
+#include <Indoor/nav/dijkstra/Dijkstra.h>
+#include <Indoor/nav/dijkstra/DijkstraPath.h>
+
+#include "PaperPlot.h"
+#include "PaperPlot2D.h"
+
+#include "../MyGridNode.h"
+#include "../Settings.h"
+#include "../DijkstraMapper.h"
+
+PaperPlot2D::Size s1 = PaperPlot2D::Size(2,4);
+
+class PaperVisImportance {
+
+public:
+
+
+
+	static float clamp(const float in, const float min, const float max) {
+		if (in < min) {return min;}
+		if (in > max) {return max;}
+		return in;
+	}
+
+	// use node-importance as grid-color
+	struct ColorizerImp {
+		float get(const MyGridNode& n) const {return n.imp;}
+		bool skip(const MyGridNode& n) const {(void) n; return false;}
+	};
+
+	// use node-distance as grid-color
+	struct ColorizerDist {
+		float get(const MyGridNode& n) const {return n.distToTarget;}
+		bool skip(const MyGridNode& n) const {(void) n; return false;}
+	};
+
+	// use num-visited as grid-color
+	struct ColorizeHeat {
+		int maxCnt; int cutoff;
+		ColorizeHeat(const int maxCnt, const int cutoff) : maxCnt(maxCnt), cutoff(cutoff) {;}
+		float get(const MyGridNode& n) const {return (n.cnt > maxCnt) ? (maxCnt) : (n.cnt);}
+		bool skip(const MyGridNode& n) const {return n.cnt < cutoff;}		// skip to reduce plot size
+	};
+
+
+	static void createImportance() {
+
+		// 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(400,400,h0.cm()) ) );
+
+		// stamp importance information onto the grid-nodes
+		GridImportance gridImp;
+		gridImp.addImportance(grid, h0.cm());
+
+
+		{
+			PaperPlot2D plot("floorplan_importance.eps", s1);
+			plot.setRanges(0,2100, 0,5100);
+			plot.addFloor(f0);
+			plot.addGrid(grid, ColorizerImp());
+			plot.show();
+		}
+
+
+	}
+
+
+
+
+	static void createPath() {
+
+		// 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(1500, 300, 0));
+		const MyGridNode& gnEnd = grid.getNodeFor(GridPoint(900, 4600, 0));
+
+		// build all shortest path to reach th target
+		Dijkstra<MyGridNode> dijkstra;
+		DijkstraMapper accImp(grid);
+		DijkstraMapperNormal accNormal(grid);
+
+		// path without importance
+		dijkstra.build(gnStart, gnStart, accNormal);
+		DijkstraPath<MyGridNode> pathNormal(dijkstra.getNode(gnEnd), dijkstra.getNode(gnStart));
+
+		// stamp importance information onto the grid-nodes
+		GridImportance gridImp;
+		gridImp.addImportance(grid, h0.cm());
+
+		// path WITH importance
+		dijkstra.build(gnStart, gnStart, accImp);
+		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");
+
+		for (DijkstraNode<MyGridNode>* dn : pathNormal) {
+			gpPath1.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));
+		}
+
+		// plot the 2 paths
+		{
+			PaperPlot2D plot("floorplan_paths.eps", s1);
+			plot.setRanges(0,2100, 0,5100);
+			plot.addFloor(f0);
+			plot.plot.add(&gpPath1);		gpPath1.setCustomAttr("dashtype 3");
+			plot.plot.add(&gpPath2);
+			plot.show();
+		}
+
+		// 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;
+		}
+
+		// walk
+		GridWalkLightAtTheEndOfTheTunnel<MyGridNode> walk (grid, accImp, gnStart);
+
+		for (int i = 0; i < 30000; ++i) {
+
+			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);
+
+		}
+
+		// plot the heat-map
+		{
+			PaperPlot2D plot("floorplan_dijkstra_heatmap.eps", s1);
+			plot.setRanges(0,2100, 0,5100);
+			plot.gp << "set palette gray negative\n";
+			plot.addFloor(f0);
+			plot.addGrid(grid, ColorizeHeat(7000, 50));
+			plot.show();
+		}
+
+
+	}
+
+
+
+};
+
+#endif // PAPERVISIMPORTANCE_H