FHWS/FtmPrologic
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Particle reduced to ftm eval only

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This commit is contained in:
Markus Bullmann
2019-09-25 09:30:16 +02:00
parent 36c64b5032
commit 24bbc56f28
6 changed files with 908 additions and 285 deletions
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352
code/main.cpp
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@@ -180,7 +180,7 @@ void exportFtmValues(Offline::FileReader& fr, Interpolator<uint64_t, Point3>& gt
static float kalman_procNoiseDistStdDev = 1.2f; // standard deviation of distance for process noise
static float kalman_procNoiseVelStdDev = 0.1f; // standard deviation of velocity for process noise
static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std::string folder) {
static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::string folder) {
// reading file
std::string currDir = std::filesystem::current_path().string();
@@ -191,7 +191,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std:
// ground truth
std::vector<int> gtPath = setup.gtPath;
Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath);
Stats::Statistics<float> errorStats;
CombinedStats<float> errorStats;
//calculate distance of path
std::vector<Interpolator<uint64_t, Point3>::InterpolatorEntry> gtEntries = gtInterpolator.getEntries();
@@ -216,11 +216,12 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std:
// wifi
auto kalmanMap = std::make_shared<std::unordered_map<MACAddress, Kalman>>();
kalmanMap->insert({ Settings::NUC1, Kalman(1, setup.NUCs.at(Settings::NUC1).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev) });
kalmanMap->insert({ Settings::NUC2, Kalman(2, setup.NUCs.at(Settings::NUC2).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev) });
kalmanMap->insert({ Settings::NUC3, Kalman(3, setup.NUCs.at(Settings::NUC3).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev) });
kalmanMap->insert({ Settings::NUC4, Kalman(4, setup.NUCs.at(Settings::NUC4).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev) });
std::array<Kalman, 4> ftmKalmanFilters{
Kalman(1, setup.NUCs.at(Settings::NUC1).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev),
Kalman(2, setup.NUCs.at(Settings::NUC2).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev),
Kalman(3, setup.NUCs.at(Settings::NUC3).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev),
Kalman(4, setup.NUCs.at(Settings::NUC4).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev)
};
std::cout << "Optimal wifi parameters for " << setup.training[walkIdx] << "\n";
optimizeWifiParameters(fr, gtInterpolator);
@@ -232,13 +233,6 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std:
MyNavMeshFactory fac(&mesh, set);
fac.build(map);
const Point3 srcPath0(9.8, 24.9, 0); // fixed start pos
// add shortest-path to destination
//const Point3 dst(51, 45, 1.7);
//const Point3 dst(25, 45, 0);
//NM::NavMeshDijkstra::stamp<MyNavMeshTriangle>(mesh, dst);
// debug show
//MeshPlotter dbg;
//dbg.addFloors(map);
@@ -263,7 +257,6 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std:
//auto init = std::make_unique<MyPFInitFixed>(&mesh, srcPath0); // known position
auto init = std::make_unique<MyPFInitUniform>(&mesh); // uniform distribution
auto eval = std::make_unique<MyPFEval>();
eval->kalmanMap = kalmanMap;
auto trans = std::make_unique<MyPFTransRandom>();
//auto trans = std::make_unique<MyPFTransStatic>();
@@ -283,172 +276,99 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std:
MyControl ctrl;
MyObservation obs;
StepDetection sd;
PoseDetection pd;
TurnDetection td(&pd);
RelativePressure relBaro;
ActivityDetector act;
relBaro.setCalibrationTimeframe( Timestamp::fromMS(5000) );
Timestamp lastTimestamp = Timestamp::fromMS(0);
int i = 0;
// parse each sensor-value within the offline data
for (const Offline::Entry& e : fr.getEntries()) {
std::vector<WifiMeas> data = filterOfflineData(fr);
const Timestamp ts = Timestamp::fromMS(e.ts);
std::vector<float> errorValuesFtm, errorValuesRssi;
std::vector<int> timestamps;
if (e.type == Offline::Sensor::WIFI_FTM) {
auto ftm = fr.getWifiFtm()[e.idx].data;
float ftm_offset = Settings::data.CurrentPath.NUCs.at(ftm.getAP().getMAC()).ftm_offset;
float ftmDist = ftm.getFtmDist() + ftm_offset; // in m; plus static offset
for (const WifiMeas& wifi : data)
{
Point2 gtPos = gtInterpolator.get(static_cast<uint64_t>(wifi.ts.ms())).xy();
plot.setGroundTruth(Point3(gtPos.x, gtPos.y, 0.1));
Point3 estPos;
float distErrorFtm = 0;
float distErrorRssi = 0;
// FTM
{
std::array<float, 4> dists = wifi.ftmDists;
std::array<float, 4> sigmas = {NAN, NAN, NAN, NAN };
for (size_t i = 0; i < 4; i++)
{
if (dists[i] <= 0)
{
dists[i] = NAN;
}
}
if (Settings::UseKalman)
{
auto& kalman = kalmanMap->at(ftm.getAP().getMAC());
float predictDist = kalman.predict(ts, ftmDist);
ftm.setFtmDist(predictDist);
obs.wifi.insert_or_assign(ftm.getAP().getMAC(), ftm);
}
else
{
// MOV AVG
if (obs.wifi.count(ftm.getAP().getMAC()) == 0)
for (size_t i = 0; i < 4; i++)
{
obs.wifi.insert_or_assign(ftm.getAP().getMAC(), ftm);
}
else
{
auto currFtm = obs.wifi.find(ftm.getAP().getMAC());
float currDist = currFtm->second.getFtmDist();
const float alpha = 0.6;
float newDist = alpha * currDist + (1 - alpha) * ftmDist;
currFtm->second.setFtmDist(newDist);
if (!isnan(dists[i]))
{
dists[i] = ftmKalmanFilters[i].predict(wifi.ts, dists[i]);
sigmas[i] = ftmKalmanFilters[i].P(0, 0);
}
}
}
} else if (e.type == Offline::Sensor::WIFI) {
//obs.wifi = fr.getWiFiGroupedByTime()[e.idx].data;
//ctrl.wifi = fr.getWiFiGroupedByTime()[e.idx].data;
} else if (e.type == Offline::Sensor::ACC) {
if (sd.add(ts, fr.getAccelerometer()[e.idx].data)) {
++ctrl.numStepsSinceLastEval;
}
const Offline::TS<AccelerometerData>& _acc = fr.getAccelerometer()[e.idx];
pd.addAccelerometer(ts, _acc.data);
obs.dists = dists;
obs.sigmas = sigmas;
//simpleActivity walking / standing
act.add(ts, fr.getAccelerometer()[e.idx].data);
// Run PF
obs.currentTime = wifi.ts;
ctrl.currentTime = wifi.ts;
} else if (e.type == Offline::Sensor::GYRO) {
const Offline::TS<GyroscopeData>& _gyr = fr.getGyroscope()[e.idx];
const float delta_gyro = td.addGyroscope(ts, _gyr.data);
ctrl.headingChangeSinceLastEval += delta_gyro;
} else if (e.type == Offline::Sensor::BARO) {
relBaro.add(ts, fr.getBarometer()[e.idx].data);
obs.relativePressure = relBaro.getPressureRealtiveToStart();
obs.sigmaPressure = relBaro.getSigma();
//simpleActivity stairs up / down
act.add(ts, fr.getBarometer()[e.idx].data);
obs.activity = act.get();
}
if (ctrl.numStepsSinceLastEval > 0)
//if (ts - lastTimestamp >= Timestamp::fromMS(500))
//if (obs.wifi.size() == 4)
{
obs.currentTime = ts;
ctrl.currentTime = ts;
// if(ctrl.numStepsSinceLastEval > 0){
// pf.updateTransitionOnly(&ctrl);
// }
MyState est = pf.update(&ctrl, obs); //pf.updateEvaluationOnly(obs);
MyState est = pf.update(&ctrl, obs);
ctrl.afterEval();
Point3 gtPos = gtInterpolator.get(static_cast<uint64_t>(ts.ms())) + Point3(0,0,0.1);
lastTimestamp = ts;
lastTimestamp = wifi.ts;
ctrl.lastEstimate = est.pos.pos;
estPos = est.pos.pos;
ctrl.lastEstimate = estPos;
plot.setCurEst(Point3(estPos.x, estPos.y, 0.1));
plot.addEstimationNode(Point3(estPos.x, estPos.y, 0.1));
// Error
distErrorFtm = gtPos.getDistance(estPos.xy());
errorStats.ftm.add(distErrorFtm);
// draw wifi ranges
for (auto& ftm : obs.wifi)
for (size_t i = 0; i < 4; i++)
{
int nucid = Settings::data.CurrentPath.NUCs.at(ftm.second.getAP().getMAC()).ID;
if (nucid == 1)
{
Point3 apPos = Settings::data.CurrentPath.NUCs.find(ftm.first)->second.position;
//plot.addCircle(nucid, apPos.xy(), ftm.second.getFtmDist());
}
Point3 apPos = Settings::data.CurrentPath.nucInfo(i).position;
plot.addCircle(1000+i, apPos.xy(), dists[i]);
}
obs.wifi.clear();
//plot
//dbg.showParticles(pf.getParticles());
//dbg.setCurPos(est.pos.pos);
//dbg.setGT(gtPos);
//dbg.addEstimationNode(est.pos.pos);
//dbg.addGroundTruthNode(gtPos);
//dbg.setTimeInMinute(static_cast<int>(ts.sec()) / 60, static_cast<int>(static_cast<int>(ts.sec())%60));
//dbg.draw();
//plot.printOverview("test");
plot.showParticles(pf.getParticles());
plot.setCurEst(est.pos.pos);
plot.setGroundTruth(gtPos);
plot.addEstimationNode(est.pos.pos);
plot.setActivity((int) act.get());
//plot.splot.getView().setEnabled(false);
//plot.splot.getView().setCamera(0, 0);
//plot.splot.getView().setEqualXY(true);
// plot.plot();
plot.plot();
//plot.closeStream();
std::this_thread::sleep_for(100ms);
// error calc
// float err_m = gtPos.getDistance(est.pos.pos);
// errorStats.add(err_m);
// errorFile << ts.ms() << " " << err_m << "\n";
//error calc with penalty for wrong floor
double errorFactor = 3.0;
Point3 gtPosError = Point3(gtPos.x, gtPos.y, errorFactor * gtPos.z);
Point3 estError = Point3(est.pos.pos.x, est.pos.pos.y, errorFactor * est.pos.pos.z);
float err_m = gtPosError.getDistance(estError);
errorStats.add(err_m);
errorFile << ts.ms() << " " << err_m << "\n";
}
errorValuesFtm.push_back(distErrorFtm);
errorValuesRssi.push_back(distErrorRssi);
timestamps.push_back(wifi.ts.ms());
// Plotting
//plot.showParticles(pf.getParticles());
plot.setCurEst(estPos);
plot.setGroundTruth(Point3(gtPos.x, gtPos.y, 0.1));
plot.addEstimationNode(estPos);
//plot.setActivity((int)act.get());
//plot.splot.getView().setEnabled(false);
//plot.splot.getView().setCamera(0, 0);
//plot.splot.getView().setEqualXY(true);
plot.plot();
//std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
// get someting on console
std::cout << "Statistical Analysis Filtering: " << std::endl;
std::cout << "Median: " << errorStats.getMedian() << " Average: " << errorStats.getAvg() << " Std: " << errorStats.getStdDev() << std::endl;
// save the statistical data in file
errorFile << "========================================================== \n";
errorFile << "Average of all statistical data: \n";
errorFile << "Median: " << errorStats.getMedian() << "\n";
errorFile << "Average: " << errorStats.getAvg() << "\n";
errorFile << "Standard Deviation: " << errorStats.getStdDev() << "\n";
errorFile << "75 Quantil: " << errorStats.getQuantile(0.75) << "\n";
errorFile.close();
printErrorStats(errorStats);
return errorStats;
}
@@ -470,18 +390,58 @@ int main(int argc, char** argv)
//mainFtm(argc, argv);
//return 0;
Stats::Statistics<float> statsAVG;
Stats::Statistics<float> statsMedian;
Stats::Statistics<float> statsSTD;
Stats::Statistics<float> statsQuantil;
Stats::Statistics<float> tmp;
CombinedStats<float> statsAVG;
CombinedStats<float> statsMedian;
CombinedStats<float> statsSTD;
CombinedStats<float> statsQuantil;
CombinedStats<float> tmp;
std::string evaluationName = "prologic/tmp";
std::vector<std::array<float, 3>> error;
std::ofstream error_out;
error_out.open(Settings::errorDir + evaluationName + "_error_path1" + ".csv", std::ios_base::app);
for (size_t walkIdx = 0; walkIdx < Settings::data.CurrentPath.training.size(); walkIdx++)
{
std::cout << "Executing walk " << walkIdx << "\n";
for (int i = 0; i < 1; ++i)
{
std::cout << "Start of iteration " << i << "\n";
tmp = run(Settings::data.CurrentPath, walkIdx, evaluationName);
statsAVG.ftm.add(tmp.ftm.getAvg());
statsMedian.ftm.add(tmp.ftm.getMedian());
statsSTD.ftm.add(tmp.ftm.getStdDev());
statsQuantil.ftm.add(tmp.ftm.getQuantile(0.75));
statsAVG.rssi.add(tmp.rssi.getAvg());
statsMedian.rssi.add(tmp.rssi.getMedian());
statsSTD.rssi.add(tmp.rssi.getStdDev());
statsQuantil.rssi.add(tmp.rssi.getQuantile(0.75));
std::cout << "Iteration " << i << " completed" << std::endl;
}
}
std::cout << "==========================================================" << std::endl;
std::cout << "Average of all statistical data FTM: " << std::endl;
std::cout << "Median: " << statsMedian.ftm.getAvg() << std::endl;
std::cout << "Average: " << statsAVG.ftm.getAvg() << std::endl;
std::cout << "Standard Deviation: " << statsSTD.ftm.getAvg() << std::endl;
std::cout << "75 Quantil: " << statsQuantil.ftm.getAvg() << std::endl;
std::cout << "==========================================================" << std::endl;
std::cout << "==========================================================" << std::endl;
std::cout << "Average of all statistical data RSSI: " << std::endl;
std::cout << "Median: " << statsMedian.rssi.getAvg() << std::endl;
std::cout << "Average: " << statsAVG.rssi.getAvg() << std::endl;
std::cout << "Standard Deviation: " << statsSTD.rssi.getAvg() << std::endl;
std::cout << "75 Quantil: " << statsQuantil.rssi.getAvg() << std::endl;
std::cout << "==========================================================" << std::endl;
//std::vector<std::array<float, 3>> error;
//std::ofstream error_out;
//error_out.open(Settings::errorDir + evaluationName + "_error_path1" + ".csv", std::ios_base::app);
//for (kalman_procNoiseDistStdDev = 0.8f; kalman_procNoiseDistStdDev < 1.5f; kalman_procNoiseDistStdDev += 0.1f)
@@ -489,24 +449,24 @@ int main(int argc, char** argv)
// for (kalman_procNoiseVelStdDev = 0.1f; kalman_procNoiseVelStdDev < 0.5f; kalman_procNoiseVelStdDev += 0.1f)
// {
for (size_t walkIdx = 0; walkIdx < 6; walkIdx++)
{
std::cout << "Executing walk " << walkIdx << "\n";
for (int i = 0; i < 1; ++i)
{
std::cout << "Start of iteration " << i << "\n";
//for (size_t walkIdx = 0; walkIdx < Settings::data.CurrentPath.training.size(); walkIdx++)
//{
// std::cout << "Executing walk " << walkIdx << "\n";
// for (int i = 0; i < 1; ++i)
// {
// std::cout << "Start of iteration " << i << "\n";
tmp = run(Settings::data.CurrentPath, walkIdx, evaluationName);
statsMedian.add(tmp.getMedian());
statsAVG.add(tmp.getAvg());
statsSTD.add(tmp.getStdDev());
statsQuantil.add(tmp.getQuantile(0.75));
// tmp = run(Settings::data.CurrentPath, walkIdx, evaluationName);
// statsMedian.add(tmp.getMedian());
// statsAVG.add(tmp.getAvg());
// statsSTD.add(tmp.getStdDev());
// statsQuantil.add(tmp.getQuantile(0.75));
std::cout << kalman_procNoiseDistStdDev << " " << kalman_procNoiseVelStdDev << std::endl;
std::cout << "Iteration " << i << " completed" << std::endl;
// std::cout << kalman_procNoiseDistStdDev << " " << kalman_procNoiseVelStdDev << std::endl;
// std::cout << "Iteration " << i << " completed" << std::endl;
}
}
// }
//}
// error.push_back({{ kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev, statsAVG.getAvg() }});
@@ -536,38 +496,6 @@ int main(int argc, char** argv)
//error_out.close();
//for(int i = 0; i < 2; ++i){
//
// tmp = run(Settings::data.CurrentPath, 0, evaluationName);
// statsMedian.add(tmp.getMedian());
// statsAVG.add(tmp.getAvg());
// statsSTD.add(tmp.getStdDev());
// statsQuantil.add(tmp.getQuantile(0.75));
// std::cout << "Iteration " << i << " completed" << std::endl;
//}
std::cout << "==========================================================" << std::endl;
std::cout << "Average of all statistical data: " << std::endl;
std::cout << "Median: " << statsMedian.getAvg() << std::endl;
std::cout << "Average: " << statsAVG.getAvg() << std::endl;
std::cout << "Standard Deviation: " << statsSTD.getAvg() << std::endl;
std::cout << "75 Quantil: " << statsQuantil.getAvg() << std::endl;
std::cout << "==========================================================" << std::endl;
//EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS
std::ofstream finalStatisticFile;
finalStatisticFile.open (Settings::errorDir + evaluationName + ".csv", std::ios_base::app);
finalStatisticFile << "========================================================== \n";
finalStatisticFile << "Average of all statistical data: \n";
finalStatisticFile << "Median: " << statsMedian.getAvg() << "\n";
finalStatisticFile << "Average: " << statsAVG.getAvg() << "\n";
finalStatisticFile << "Standard Deviation: " << statsSTD.getAvg() << "\n";
finalStatisticFile << "75 Quantil: " << statsQuantil.getAvg() << "\n";
finalStatisticFile << "========================================================== \n";
finalStatisticFile.close();
//std::this_thread::sleep_for(std::chrono::seconds(60));