improve locating a bit by using the pointplacementhelper
This commit is contained in:
Laura Klünder
parent
652223085b
commit
8112abad31
4 changed files with 57 additions and 34 deletions
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@ -6,7 +6,7 @@ from shapely import distance
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from c3nav.mapdata.models import MapUpdate
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from c3nav.mapdata.models.geometry.space import RangingBeacon
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from c3nav.mapdata.utils.importer import PointImportHelper
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from c3nav.mapdata.utils.placement import PointPlacementHelper
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from c3nav.mapdata.utils.cache.changes import changed_geometries
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from c3nav.mapdata.utils.geometry import unwrap_geom
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@ -37,7 +37,7 @@ class Command(BaseCommand):
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MapUpdate.objects.create(type='importnoc')
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def do_import(self, items: dict[str, NocImportItem]):
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import_helper = PointImportHelper()
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import_helper = PointPlacementHelper()
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beacons_so_far: dict[str, RangingBeacon] = {
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**{m.import_tag: m for m in RangingBeacon.objects.filter(import_tag__startswith="noc:",
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@ -14,7 +14,7 @@ from c3nav.mapdata.models import MapUpdate, Level
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from c3nav.mapdata.models.geometry.space import RangingBeacon
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from c3nav.mapdata.utils.cache.changes import changed_geometries
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from c3nav.mapdata.utils.geometry import unwrap_geom
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from c3nav.mapdata.utils.importer import PointImportHelper
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from c3nav.mapdata.utils.placement import PointPlacementHelper
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class PocImportItemProperties(BaseModel):
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@ -46,7 +46,7 @@ class Command(BaseCommand):
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MapUpdate.objects.create(type='importnoc')
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def do_import(self, items: list[PocImportItem]):
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import_helper = PointImportHelper()
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import_helper = PointPlacementHelper()
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beacons_so_far: dict[str, RangingBeacon] = {
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**{m.import_tag: m for m in RangingBeacon.objects.filter(import_tag__startswith="poc:",
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@ -1,11 +1,14 @@
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from typing import Optional
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from shapely import Point, distance
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from shapely.ops import unary_union, nearest_points
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from c3nav.mapdata.models import Level, Space
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from c3nav.mapdata.utils.geometry import unwrap_geom
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from c3nav.routing.router import RouterRestrictionSet
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class PointImportHelper:
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class PointPlacementHelper:
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def __init__(self):
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self.spaces_for_level = {}
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self.levels = tuple(Level.objects.values_list("pk", flat=True))
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@ -14,23 +17,30 @@ class PointImportHelper:
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for space in Space.objects.select_related('level').prefetch_related('holes'):
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self.spaces_for_level.setdefault(space.level_id, []).append(space)
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def get_point_and_space(self, level_id: int, point: Point, name: str):
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def get_point_and_space(self, level_id: int, point: Point, name: Optional[str] = None,
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restrictions: Optional[RouterRestrictionSet] = None, max_space_distance=1.5):
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# determine space
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restricted_spaces = restrictions.spaces if restrictions else ()
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possible_spaces = [space for space in self.spaces_for_level[level_id]
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if space.geometry.intersects(point)]
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if space.pk not in restricted_spaces and space.geometry.intersects(point)]
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if not possible_spaces:
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possible_spaces = [space for space in self.spaces_for_level[level_id]
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if distance(unwrap_geom(space.geometry), point) < 1.5]
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if (space.pk not in restricted_spaces
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and distance(unwrap_geom(space.geometry), point) < max_space_distance)]
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if len(possible_spaces) == 1:
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new_space = possible_spaces[0]
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the_distance = distance(unwrap_geom(new_space.geometry), point)
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print(f"SUCCESS: {name} is {the_distance:.02f}m away from {new_space.title}")
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if name:
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print(f"SUCCESS: {name} is {the_distance:.02f}m away from {new_space.title}")
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elif len(possible_spaces) > 1:
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new_space = min(possible_spaces, key=lambda s: distance(unwrap_geom(s.geometry), point))
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print(f"WARNING: {name} could be in multiple spaces ({possible_spaces}, picking {new_space}, "
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f"which is {distance(unwrap_geom(new_space.geometry), point)}m away...")
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if name:
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print(f"WARNING: {name} could be in multiple spaces ({possible_spaces}, picking {new_space}, "
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f"which is {distance(unwrap_geom(new_space.geometry), point)}m away...")
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else:
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print(f"ERROR: {name} is not within any space on level {level_id} ({point})")
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if name:
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print(f"ERROR: {name} is not within any space on level {level_id} ({point})")
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return None, None
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# move point into space if needed
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@ -41,9 +51,11 @@ class PointImportHelper:
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point = nearest_points(new_space_geometry.buffer(-0.05), point)[0]
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elif len(possible_spaces) == 1:
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new_space = possible_spaces[0]
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print(f"SUCCESS: {name} is in {new_space.title}")
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if name:
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print(f"SUCCESS: {name} is in {new_space.title}")
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else:
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print(f"WARNING: {name} could be in multiple spaces, picking one...")
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if name:
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print(f"WARNING: {name} could be in multiple spaces, picking one...")
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new_space = possible_spaces[0]
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lower_levels = self.lower_levels_for_level[new_space.level_id]
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@ -52,15 +64,18 @@ class PointImportHelper:
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if not unary_union([unwrap_geom(h.geometry) for h in new_space.holes.all()]).intersects(point):
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# current selected spacae is fine, that's it
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break
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print(f"NOTE: {name} is in a hole, looking lower...")
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if name:
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print(f"NOTE: {name} is in a hole, looking lower...")
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# find a lower space
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possible_spaces = [space for space in self.spaces_for_level[lower_level]
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if space.geometry.intersects(point)]
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if space.pk not in restricted_spaces and space.geometry.intersects(point)]
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if possible_spaces:
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new_space = possible_spaces[0]
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print(f"NOTE: {name} moved to lower space {new_space}")
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if name:
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print(f"NOTE: {name} moved to lower space {new_space}")
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else:
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print(f"WARNING: {name} couldn't find a lower space, still in a hole")
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if name:
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print(f"WARNING: {name} couldn't find a lower space, still in a hole")
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return new_space, point
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@ -12,9 +12,11 @@ from annotated_types import Lt
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from django.conf import settings
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from pydantic.types import NonNegativeInt
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from pydantic_extra_types.mac_address import MacAddress
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from shapely import Point
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from c3nav.mapdata.models import MapUpdate, Space
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from c3nav.mapdata.utils.locations import CustomLocation
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from c3nav.mapdata.utils.placement import PointPlacementHelper
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from c3nav.mesh.utils import get_nodes_and_ranging_beacons
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from c3nav.routing.router import Router
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from c3nav.routing.schemas import LocateWifiPeerSchema, BeaconMeasurementDataSchema, LocateIBeaconPeerSchema
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@ -82,6 +84,7 @@ class Locator:
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peer_lookup: dict[TypedIdentifier, int] = field(default_factory=dict)
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xyz: np.array = field(default_factory=(lambda: np.empty((0,))))
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spaces: dict[int, "LocatorSpace"] = field(default_factory=dict)
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placement_helper: Optional[PointPlacementHelper] = None
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@classmethod
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def rebuild(cls, update, router):
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@ -127,6 +130,8 @@ class Locator:
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if new_space.points:
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self.spaces[space.pk] = new_space
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self.placement_helper = PointPlacementHelper()
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def get_peer_id(self, identifier: TypedIdentifier, create=False) -> Optional[int]:
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peer_id = self.peer_lookup.get(identifier, None)
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if peer_id is None and create:
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@ -239,6 +244,7 @@ class Locator:
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return None
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router = Router.load()
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restrictions = router.get_restrictions(permissions)
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# get visible spaces
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best_ap_id = max(scan_data_we_can_use, key=lambda item: item[1].rssi)[0]
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@ -261,17 +267,8 @@ class Locator:
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the_sum = sum((value.rssi + 90) for peer_id, value in deduplicized_scan_data_in_the_same_room[:3])
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level = router.levels[space.level_id]
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if level.on_top_of_id:
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level = router.levels[level.on_top_of_id]
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if not the_sum:
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point = space.point
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return CustomLocation(
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level=level,
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x=point.x,
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y=point.y,
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permissions=permissions,
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icon='my_location'
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)
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else:
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x = 0
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y = 0
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@ -279,13 +276,24 @@ class Locator:
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for peer_id, value in deduplicized_scan_data_in_the_same_room[:3]:
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x += float(self.peers[peer_id].xyz[0]) * (value.rssi+90) / the_sum
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y += float(self.peers[peer_id].xyz[1]) * (value.rssi+90) / the_sum
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return CustomLocation(
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level=level,
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x=x/100,
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y=y/100,
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permissions=permissions,
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icon='my_location'
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)
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point = Point(x/100, y/100)
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new_space, new_point = self.placement_helper.get_point_and_space(
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level_id=level.pk, point=point, restrictions=restrictions,
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max_space_distance=20,
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)
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level = router.levels[new_space.level_id]
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if level.on_top_of_id:
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level = router.levels[level.on_top_of_id]
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return CustomLocation(
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level=level,
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x=x / 100,
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y=y / 100,
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permissions=permissions,
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icon='my_location'
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)
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def locate_rssi(self, scan_data: ScanData, permissions=None):
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router = Router.load()
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