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BLUEPRINTS.md

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Blueprints

If you want to use a Floor Plan in the background of the Web UI, you need a pixel image of the floor plan as a PNG image and need to know the extent of the floor plan in meters. A resolution of 50 pixel per meter - each pixel covers 2cm - is reasonable.

All floor plans must have the same pixel size.

Floor Plan Extent

You have to measure the distance between two walls as accurate as possible in real space - e.g. with a laser range finder - and count the number of corresponding pixels in the floor plan. This defines the blueprintExtent parameter, which has the form PixelCount=Distance. If for example 2744 pixels correspond to a distance of 58.23 meter, set the blueprintExtent to 2744=58,23 (the comma in 58.23 is respecting the floating point notation in the Linux German locale setting).

Floor Plans

The blueprintImageFile is a floor plan image with the background set to black. A good choice for the image resolution is 30cm per pixel.

Simulation Mode

A different floor plan PNG image (blueprintSimulationFile) is used to simulate sensors during the planning phase. In the simulation, the simulated sensors cast rays from their center. If a ray hits a pixel with the red channel set to non zero, it is treated as an obstacle. Thus the obstacles - like walls - are painted in red, yellow or white colors. The background color must be black.

Masking Areas

An additional image defined by the blueprintOcclusionFile encodes functionality in color channels. This is a black image with the following colors:

  • yellow: Ignore objects at these locations. If certain areas create noisy LiDAR data, objects can pop up randomly. These can be ignored by setting these areas yellow.

  • blue: If an object stays here for a longer time, it will be marked as private. Private objects can be filtered out in post-processing, for example museum personal who always sit at defined locations.

  • red: Entrance or Exit Area. Refines the assignment of tracking IDs when people enter or exit the exhibition.

Define Image Files

The floor plan images are defined with editConfig.sh. You can interactively browse the file system for images:

./editConfig.sh
Extent of blueprint in Pixel=Meter (blueprintExtent=): 2744=58,23
do you want to update the blueprint image file (blueprintImageFile=) ? y
....

The names of the image files are stored in blueprints.json in the configuration subdirectory.

After choosing a blueprintImageFile and defining the blueprintExtent, the floor plan should be visible after restarting the Lidar Server. If you want to run in simulation mode, you also have to define a blueprintSimulationFile.

Modify/Paint Image Files

After choosing an image with editConfig.sh, this image is copied to the configuration subdirectory. If you want to change - modify/paint - the image, always modify/paint the newly copied image file in the configuration subdirectory.

For example: If you have created a configuration named myconf in lidarconfig-myconf, when you choose the image file myBlueprintMap.png from somewhere on system with editConfig.sh, it will be copied to lidarconfig-myconf/myconf/myBlueprintMap.png. Modify/paint this image file, since the Lidar Server will read this file.