2d map data format

Anchor

• Latitude
• Longitude
• Rotate

anchor coordinate of the data

Samples

file in csv format exported from finger print server

Beacons

file in csv format exported from finger print server

Layers

need to add all floor level images that you want to provide localize

• image
  • for map matching (not floor plan image itself
  • image format
  • image filled with white can be used (no map matching)
• ppmx
  • pixels per meter
• ppmy
  • pixels per meter in minus value
  • opposite from finger print server
  • finger print server manages floor plan coordinate in left-right, bottom-top
• ppmz
  • input 1 (reserved)
• originx
  • origin x
• originy
  • origin y (if (0,0) in finger print server, then (0, image height))
• originz
  • input 0 (reserved)
• floor
  • 0 = 1st floor, 1 = 2nd floor, -1 = 1st basement

ObservationModel

can leave it blank

Image Format

image in png format

Color	Description
255,255,255 = white	movable area
0,0,0 = black	unmovable area, wall, no floor, ...
0,0,255 = blue	stairs
255,255,0 = yellow	elevator
0,255,0 = lime	escalator
0,128,0 = green	end of escalator

• need to overlap stairs / escalator between floors
• white - lime - green can be moved (white - green - lime cannot be moved)
• outside of image = white (movable)