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Fixed Windows build, implemented wifi mapping example in Windows

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This commit is contained in:
Mathieu Labbé
2015-03-25 16:30:05 -04:00
parent 19d6da9035
commit 2cc853b507
9 changed files with 208 additions and 48 deletions
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25
examples/WifiMapping/MapBuilderWifi.h
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@@ -32,6 +32,24 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
using namespace rtabmap;
// A percentage value that represents the signal quality
// of the network. WLAN_SIGNAL_QUALITY is of type ULONG.
// This member contains a value between 0 and 100. A value
// of 0 implies an actual RSSI signal strength of -100 dbm.
// A value of 100 implies an actual RSSI signal strength of -50 dbm.
// You can calculate the RSSI signal strength value for wlanSignalQuality
// values between 1 and 99 using linear interpolation.
inline int dBm2Quality(int dBm)
{
// dBm to Quality:
if(dBm <= -100)
return 0;
else if(dBm >= -50)
return 100;
else
return 2 * (dBm + 100);
}
class MapBuilderWifi : public MapBuilder
{
Q_OBJECT
@@ -124,10 +142,7 @@ protected slots:
else
{
// Make a line with points
int level = -iter->second.first;
level = level < 30 ? 0 : level > 80 ? 50: level - 30; // set between 0 and 50
level/=5; // set between 0 and 10
level = 10 - level; // make higher level to 10
int quality = dBm2Quality(iter->second.first)/10;
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
for(int i=0; i<10; ++i)
{
@@ -135,7 +150,7 @@ protected slots:
// the number of points depends on the dBm (which varies from -30 (near) to -80 (far))
pcl::PointXYZRGB pt;
pt.z = float(i+1)*0.02f;
if(i<level)
if(i<quality)
{
// yellow
pt.r = 255;