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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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76
code/Settings.h
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@@ -95,7 +95,7 @@ namespace Settings {
const std::string dataDir = "../measurements/data/"; const std::string dataDir = "../measurements/data/";
const std::string errorDir = "../measurements/error/"; const std::string errorDir = "../measurements/error/";
const bool UseKalman = false; const bool UseKalman = true;
/** describes one dataset (map, training, parameter-estimation, ...) */ /** describes one dataset (map, training, parameter-estimation, ...) */
@@ -269,7 +269,79 @@ namespace Settings {
{ 0, 1, 2, 11, 10, 9, 10, 11, 2, 6, 5, 12, 13, 12, 5, 6, 7, 8 } { 0, 1, 2, 11, 10, 9, 10, 11, 2, 6, 5, 12, 13, 12, 5, 6, 7, 8 }
}; };
const DataSetup CurrentPath = Path5;
// 6 Path: SHL Path 1
const DataSetup Path6 = {
mapDir + "shl.xml",
{
dataDir + "Pixel2/path6/14681054221905_6_1.csv"
},
{
// NUC, ID Pos X Y Z offset loss kalman stddev
{ NUC1, {1, { 54, 46, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 1
{ NUC2, {2, { 45, 37, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 2
{ NUC3, {3, { 27, 45, 0.8}, 5.00, 3.250, 3.0f} }, // NUC 3
{ NUC4, {4, { 16, 36, 0.8}, 5.75, 3.375, 3.0f} }, // NUC 4
},
{ 100, 101, 102, 103, 104, 103, 102, 101, 100 }
};
// 7 Path: SHL Path 2; Versuche mit NUCs in den Räumen war nicht vielversprechend ...
const DataSetup Path7 = {
mapDir + "shl.xml",
{
dataDir + "Pixel2/path7/23388354821394.csv",
dataDir + "Pixel2/path7/23569363647863.csv",
dataDir + "Pixel2/path7/23776390928852.csv",
dataDir + "Pixel2/path7/23938602403553.csv"
},
{
// NUC, ID Pos X Y Z offset loss kalman stddev
{ NUC1, {1, { 54, 46, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 1
{ NUC2, {2, { 45, 37, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 2
{ NUC3, {3, { 27, 45, 0.8}, 5.00, 3.250, 3.0f} }, // NUC 3
{ NUC4, {4, { 16, 36, 0.8}, 5.75, 3.375, 3.0f} }, // NUC 4
},
{ 100, 102, 103, 104, 105, 104, 103, 102, 100 }
};
// 8 Path: Wie SHL Path 2 nur, dass die NUCs im Gang stehen
const DataSetup Path8 = {
mapDir + "shl.xml",
{
dataDir + "Pixel2/path8/25967118530318.csv", // gang
dataDir + "Pixel2/path8/25439520303384.csv", // tür
},
{
// NUC, ID Pos X Y Z offset loss kalman stddev
{ NUC1, {1, { 55, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1
{ NUC2, {2, { 46, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 2
{ NUC3, {3, { 27, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 3
{ NUC4, {4, { 15, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 4
},
{ 100, 102, 103, 104, 105, 104, 103, 102, 100 }
};
// 9 Path: SHL Path 3, NUCs stehen im Gang
const DataSetup Path9 = {
mapDir + "shl_nuc_gang.xml",
{
dataDir + "Pixel2/path9/27911186920065.csv",
dataDir + "Pixel2/path9/28255150484121.csv",
dataDir + "Pixel2/path9/28404719230167.csv",
},
{
// NUC, ID Pos X Y Z offset loss kalman stddev
{ NUC1, {1, { 55, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1
{ NUC2, {2, { 46, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 2
{ NUC3, {3, { 27, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 3
{ NUC4, {4, { 15, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 4
},
{ 200, 201, 203, 104, 204, 205, 206, 207, 206, 208, 209, 210, 211, 212 }
};
const DataSetup CurrentPath = Path8;
} data; } data;

84
code/filter.h
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@@ -3,6 +3,7 @@
#include "mesh.h" #include "mesh.h"
#include "Settings.h" #include "Settings.h"
#include <omp.h> #include <omp.h>
#include <array>
#include <Indoor/geo/Heading.h> #include <Indoor/geo/Heading.h>
#include <Indoor/math/distribution/Uniform.h> #include <Indoor/math/distribution/Uniform.h>
@@ -111,19 +112,13 @@ struct MyControl {
struct MyObservation { struct MyObservation {
// pressure
float sigmaPressure = 0.10f;
float relativePressure = 0;
//wifi //wifi
std::unordered_map<MACAddress, WiFiMeasurement> wifi; std::unordered_map<MACAddress, WiFiMeasurement> wifi; // deprecated
std::array<float, 4> dists;
std::array<float, 4> sigmas; // from kalman
//time //time
Timestamp currentTime; Timestamp currentTime;
//activity
Activity activity;
}; };
class MyPFInitUniform : public SMC::ParticleFilterInitializer<MyState> { class MyPFInitUniform : public SMC::ParticleFilterInitializer<MyState> {
@@ -260,44 +255,15 @@ public:
//control->afterEval(); //control->afterEval();
} }
}; };
class MyPFEval : public SMC::ParticleFilterEvaluation<MyState, MyObservation> { struct MyPFEval : public SMC::ParticleFilterEvaluation<MyState, MyObservation> {
//TODO: add this to transition probability
double getStairProb(const SMC::Particle<MyState>& p, const Activity act) {
const float kappa = 0.75;
switch (act) {
case Activity::WALKING:
if (p.state.pos.tria->getType() == (int) NM::NavMeshType::FLOOR_INDOOR) {return kappa;}
if (p.state.pos.tria->getType() == (int) NM::NavMeshType::DOOR) {return kappa;}
if (p.state.pos.tria->getType() == (int) NM::NavMeshType::STAIR_LEVELED) {return kappa;}
{return 1-kappa;}
case Activity::WALKING_UP:
case Activity::WALKING_DOWN:
if (p.state.pos.tria->getType() == (int) NM::NavMeshType::STAIR_SKEWED) {return kappa;}
if (p.state.pos.tria->getType() == (int) NM::NavMeshType::STAIR_LEVELED) {return kappa;}
if (p.state.pos.tria->getType() == (int) NM::NavMeshType::ELEVATOR) {return kappa;}
{return 1-kappa;}
}
return 1.0;
}
public:
// FRANK // FRANK
MyPFEval() { }; MyPFEval() { };
bool assignProps = false; bool assignProps = false;
std::shared_ptr<std::unordered_map<MACAddress, Kalman>> kalmanMap;
virtual double evaluation(std::vector<SMC::Particle<MyState>>& particles, const MyObservation& observation) override { virtual double evaluation(std::vector<SMC::Particle<MyState>>& particles, const MyObservation& observation) override {
double sum = 0; double sum = 0;
@@ -308,47 +274,27 @@ public:
double pFtm = 1.0; double pFtm = 1.0;
if (observation.wifi.size() == 0) for (size_t i = 0; i < 4; i++)
{ {
printf(""); float dist = observation.dists[i];
} const float sigma = isnan(observation.sigmas[i]) ? 3.5 : observation.sigmas[i];
for (auto& wifi : observation.wifi) { if (!isnan(dist))
if ( (true && wifi.second.getAP().getMAC() == Settings::NUC1)
|| (true && wifi.second.getAP().getMAC() == Settings::NUC2)
|| (true && wifi.second.getAP().getMAC() == Settings::NUC3)
|| (true && wifi.second.getAP().getMAC() == Settings::NUC4)
)
{ {
float rssi_pathloss = Settings::data.CurrentPath.NUCs.at(wifi.second.getAP().getMAC()).rssi_pathloss; Point3 apPos = Settings::data.CurrentPath.nucInfo(i).position;
float rssiDist = LogDistanceModel::rssiToDistance(-40, rssi_pathloss, wifi.second.getRSSI());
float ftmDist = wifi.second.getFtmDist();
Point3 apPos = Settings::data.CurrentPath.NUCs.find(wifi.first)->second.position;
Point3 particlePos = p.state.pos.pos; Point3 particlePos = p.state.pos.pos;
particlePos.z = 1.3; // smartphone höhe particlePos.z = 1.3; // smartphone höhe
float apDist = particlePos.getDistance(apPos); float apDist = particlePos.getDistance(apPos);
if (Settings::UseKalman) double x = Distribution::Normal<double>::getProbability(dist, std::sqrt(sigma), apDist);
{ pFtm *= x;
auto kalman = kalmanMap->at(wifi.second.getAP().getMAC()); }
pFtm *= Distribution::Normal<float>::getProbability(ftmDist, std::sqrt(kalman.P(0,0)), apDist);
}
else
{
pFtm *= Distribution::Normal<float>::getProbability(apDist, 3.5, ftmDist);
//pFtm *= Distribution::Region<float>::getProbability(apDist, 3.5/2, ftmDist);
}
}
} }
double prob = pFtm; double prob = pFtm;
if (assignProps) if (assignProps)
p.weight = prob; // p.weight *= prob p.weight = prob;
else else
p.weight *= prob; p.weight *= prob;
@@ -357,9 +303,7 @@ public:
} }
return sum; return sum;
} }
}; };

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_procNoiseDistStdDev = 1.2f; // standard deviation of distance for process noise
static float kalman_procNoiseVelStdDev = 0.1f; // standard deviation of velocity 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 // reading file
std::string currDir = std::filesystem::current_path().string(); 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 // ground truth
std::vector<int> gtPath = setup.gtPath; std::vector<int> gtPath = setup.gtPath;
Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath); Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath);
Stats::Statistics<float> errorStats; CombinedStats<float> errorStats;
//calculate distance of path //calculate distance of path
std::vector<Interpolator<uint64_t, Point3>::InterpolatorEntry> gtEntries = gtInterpolator.getEntries(); 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 // wifi
auto kalmanMap = std::make_shared<std::unordered_map<MACAddress, Kalman>>(); std::array<Kalman, 4> ftmKalmanFilters{
kalmanMap->insert({ Settings::NUC1, Kalman(1, setup.NUCs.at(Settings::NUC1).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev) }); 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) }); 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) }); 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) }); Kalman(4, setup.NUCs.at(Settings::NUC4).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev)
};
std::cout << "Optimal wifi parameters for " << setup.training[walkIdx] << "\n"; std::cout << "Optimal wifi parameters for " << setup.training[walkIdx] << "\n";
optimizeWifiParameters(fr, gtInterpolator); optimizeWifiParameters(fr, gtInterpolator);
@@ -232,13 +233,6 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std:
MyNavMeshFactory fac(&mesh, set); MyNavMeshFactory fac(&mesh, set);
fac.build(map); 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 // debug show
//MeshPlotter dbg; //MeshPlotter dbg;
//dbg.addFloors(map); //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<MyPFInitFixed>(&mesh, srcPath0); // known position
auto init = std::make_unique<MyPFInitUniform>(&mesh); // uniform distribution auto init = std::make_unique<MyPFInitUniform>(&mesh); // uniform distribution
auto eval = std::make_unique<MyPFEval>(); auto eval = std::make_unique<MyPFEval>();
eval->kalmanMap = kalmanMap;
auto trans = std::make_unique<MyPFTransRandom>(); auto trans = std::make_unique<MyPFTransRandom>();
//auto trans = std::make_unique<MyPFTransStatic>(); //auto trans = std::make_unique<MyPFTransStatic>();
@@ -283,172 +276,99 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std:
MyControl ctrl; MyControl ctrl;
MyObservation obs; MyObservation obs;
StepDetection sd;
PoseDetection pd;
TurnDetection td(&pd);
RelativePressure relBaro;
ActivityDetector act;
relBaro.setCalibrationTimeframe( Timestamp::fromMS(5000) );
Timestamp lastTimestamp = Timestamp::fromMS(0); Timestamp lastTimestamp = Timestamp::fromMS(0);
int i = 0; std::vector<WifiMeas> data = filterOfflineData(fr);
// parse each sensor-value within the offline data
for (const Offline::Entry& e : fr.getEntries()) {
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; for (const WifiMeas& wifi : data)
float ftmDist = ftm.getFtmDist() + ftm_offset; // in m; plus static offset {
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) if (Settings::UseKalman)
{ {
auto& kalman = kalmanMap->at(ftm.getAP().getMAC()); for (size_t i = 0; i < 4; i++)
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)
{ {
obs.wifi.insert_or_assign(ftm.getAP().getMAC(), ftm); if (!isnan(dists[i]))
} {
else dists[i] = ftmKalmanFilters[i].predict(wifi.ts, dists[i]);
{ sigmas[i] = ftmKalmanFilters[i].P(0, 0);
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);
} }
} }
} else if (e.type == Offline::Sensor::WIFI) {
//obs.wifi = fr.getWiFiGroupedByTime()[e.idx].data; obs.dists = dists;
//ctrl.wifi = fr.getWiFiGroupedByTime()[e.idx].data; obs.sigmas = sigmas;
} 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);
//simpleActivity walking / standing // Run PF
act.add(ts, fr.getAccelerometer()[e.idx].data); obs.currentTime = wifi.ts;
ctrl.currentTime = wifi.ts;
} else if (e.type == Offline::Sensor::GYRO) { MyState est = pf.update(&ctrl, obs);
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);
ctrl.afterEval(); ctrl.afterEval();
Point3 gtPos = gtInterpolator.get(static_cast<uint64_t>(ts.ms())) + Point3(0,0,0.1); lastTimestamp = wifi.ts;
lastTimestamp = 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 // 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; Point3 apPos = Settings::data.CurrentPath.nucInfo(i).position;
plot.addCircle(1000+i, apPos.xy(), dists[i]);
if (nucid == 1)
{
Point3 apPos = Settings::data.CurrentPath.NUCs.find(ftm.first)->second.position;
//plot.addCircle(nucid, apPos.xy(), ftm.second.getFtmDist());
}
} }
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 printErrorStats(errorStats);
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();
return errorStats; return errorStats;
} }
@@ -470,18 +390,58 @@ int main(int argc, char** argv)
//mainFtm(argc, argv); //mainFtm(argc, argv);
//return 0; //return 0;
CombinedStats<float> statsAVG;
Stats::Statistics<float> statsAVG; CombinedStats<float> statsMedian;
Stats::Statistics<float> statsMedian; CombinedStats<float> statsSTD;
Stats::Statistics<float> statsSTD; CombinedStats<float> statsQuantil;
Stats::Statistics<float> statsQuantil; CombinedStats<float> tmp;
Stats::Statistics<float> tmp;
std::string evaluationName = "prologic/tmp"; std::string evaluationName = "prologic/tmp";
std::vector<std::array<float, 3>> error; for (size_t walkIdx = 0; walkIdx < Settings::data.CurrentPath.training.size(); walkIdx++)
std::ofstream error_out; {
error_out.open(Settings::errorDir + evaluationName + "_error_path1" + ".csv", std::ios_base::app); 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) //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 (kalman_procNoiseVelStdDev = 0.1f; kalman_procNoiseVelStdDev < 0.5f; kalman_procNoiseVelStdDev += 0.1f)
// { // {
for (size_t walkIdx = 0; walkIdx < 6; walkIdx++) //for (size_t walkIdx = 0; walkIdx < Settings::data.CurrentPath.training.size(); walkIdx++)
{ //{
std::cout << "Executing walk " << walkIdx << "\n"; // std::cout << "Executing walk " << walkIdx << "\n";
for (int i = 0; i < 1; ++i) // for (int i = 0; i < 1; ++i)
{ // {
std::cout << "Start of iteration " << i << "\n"; // std::cout << "Start of iteration " << i << "\n";
tmp = run(Settings::data.CurrentPath, walkIdx, evaluationName); // tmp = run(Settings::data.CurrentPath, walkIdx, evaluationName);
statsMedian.add(tmp.getMedian()); // statsMedian.add(tmp.getMedian());
statsAVG.add(tmp.getAvg()); // statsAVG.add(tmp.getAvg());
statsSTD.add(tmp.getStdDev()); // statsSTD.add(tmp.getStdDev());
statsQuantil.add(tmp.getQuantile(0.75)); // statsQuantil.add(tmp.getQuantile(0.75));
std::cout << kalman_procNoiseDistStdDev << " " << kalman_procNoiseVelStdDev << std::endl; // std::cout << kalman_procNoiseDistStdDev << " " << kalman_procNoiseVelStdDev << std::endl;
std::cout << "Iteration " << i << " completed" << std::endl; // std::cout << "Iteration " << i << " completed" << std::endl;
} // }
} //}
// error.push_back({{ kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev, statsAVG.getAvg() }}); // error.push_back({{ kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev, statsAVG.getAvg() }});
@@ -536,38 +496,6 @@ int main(int argc, char** argv)
//error_out.close(); //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)); //std::this_thread::sleep_for(std::chrono::seconds(60));

1
code/mainFtm.cpp
View File

@@ -103,7 +103,6 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
auto init = std::make_unique<MyPFInitUniform>(&mesh); // uniform distribution auto init = std::make_unique<MyPFInitUniform>(&mesh); // uniform distribution
auto eval = std::make_unique<MyPFEval>(); auto eval = std::make_unique<MyPFEval>();
eval->assignProps = true; eval->assignProps = true;
eval->kalmanMap = kalmanMap;
//auto trans = std::make_unique<MyPFTrans>(mesh); //auto trans = std::make_unique<MyPFTrans>(mesh);
auto trans = std::make_unique<MyPFTransStatic>(); auto trans = std::make_unique<MyPFTransStatic>();

340
map/shl.xml Normal file
View File

@@ -0,0 +1,340 @@
<map width="70" depth="50">
<earthReg>
<correspondences/>
</earthReg>
<floors>
<floor atHeight="0" height="3.4000001" name="2. Stock">
<outline>
<polygon name="base" method="0" outdoor="false">
<point x="1.2" y="43.100002"/>
<point x="0.60000002" y="43.100002"/>
<point x="0.60000002" y="50.200001"/>
<point x="76.900002" y="50.200001"/>
<point x="76.900002" y="41.299999"/>
<point x="68.099998" y="41.299999"/>
<point x="68.099998" y="31.6"/>
<point x="18" y="31.6"/>
<point x="18" y="0.69999999"/>
<point x="1.2" y="0.69999999"/>
</polygon>
<polygon name="new" method="1" outdoor="false">
<point x="52.400002" y="40.799999"/>
<point x="59.100002" y="40.799999"/>
<point x="59.100002" y="42.799999"/>
<point x="52.400002" y="42.799999"/>
</polygon>
<polygon name="new" method="1" outdoor="false">
<point x="12.1" y="40.799999"/>
<point x="22.9" y="40.799999"/>
<point x="22.9" y="42.799999"/>
<point x="12.1" y="42.799999"/>
</polygon>
<polygon name="new" method="1" outdoor="false">
<point x="14.5" y="6.2000003"/>
<point x="18" y="6.2000003"/>
<point x="18" y="11"/>
<point x="14.5" y="11"/>
</polygon>
<polygon name="new" method="1" outdoor="false">
<point x="12.1" y="46.600002"/>
<point x="17.1" y="46.600002"/>
<point x="17.1" y="50.200001"/>
<point x="12.1" y="50.200001"/>
</polygon>
<polygon name="new" method="1" outdoor="false">
<point x="61.5" y="46.600002"/>
<point x="66.300003" y="46.600002"/>
<point x="66.300003" y="50.200001"/>
<point x="61.5" y="50.200001"/>
</polygon>
<polygon name="new" method="1" outdoor="false">
<point x="12.3" y="31.6"/>
<point x="13.900001" y="31.6"/>
<point x="13.900001" y="39.299999"/>
<point x="12.3" y="39.299999"/>
</polygon>
<polygon name="luft" method="1" outdoor="false">
<point x="10" y="40.799999"/>
<point x="1.2" y="40.799999"/>
<point x="1.2" y="42.799999"/>
<point x="10" y="42.799999"/>
</polygon>
</outline>
<obstacles>
<wall material="6" type="1" x1="1.2" y1="42.799999" x2="1.2" y2="0.69999999" thickness="0.15000001"/>
<wall material="0" type="1" x1="10" y1="0.69999999" x2="10" y2="24.1" thickness="0.15000001">
<door type="1" material="2" x01="0.95299143" width="0.89999998" height="2.0999999" io="true" lr="true"/>
<door type="1" material="2" x01="0.32905987" width="0.89999998" height="2.0999999" io="true" lr="false"/>
<door type="1" material="2" x01="0.23504275" width="0.89999998" height="2.0999999" io="true" lr="true"/>
</wall>
<wall material="0" type="1" x1="10" y1="7.2000003" x2="1.2" y2="7.2000003" thickness="0.15000001"/>
<wall material="0" type="1" x1="10" y1="25.9" x2="10" y2="40.799999" thickness="0.15000001">
<door type="1" material="2" x01="0.92991221" width="0.89999998" height="2.0999999" io="true" lr="true"/>
<door type="1" material="2" x01="0.13133337" width="0.89999998" height="2.0999999" io="true" lr="false"/>
</wall>
<wall material="0" type="1" x1="1.2" y1="40.799999" x2="10" y2="40.799999" thickness="0.15000001"/>
<wall material="0" type="1" x1="10" y1="25.9" x2="8.1999998" y2="25.9" thickness="0.15000001">
<door type="1" material="2" x01="0.77777749" width="0.89999998" height="2.0999999" io="false" lr="true"/>
</wall>
<wall material="1" type="1" x1="8.1999998" y1="25.9" x2="1.2" y2="25.9" thickness="0.2">
<door type="1" material="2" x01="0.87212861" width="0.89999998" height="2.0999999" io="true" lr="true"/>
</wall>
<wall material="1" type="1" x1="10" y1="24.1" x2="1.2" y2="24.1" thickness="0.15000001"/>
<wall material="1" type="1" x1="5.0999999" y1="43.100002" x2="0.60000002" y2="43.100002" thickness="0.30000001"/>
<wall material="0" type="1" x1="10.2" y1="44.5" x2="3.9000001" y2="44.5" thickness="0.15000001">
<door type="1" material="2" x01="0.52380949" width="0.89999998" height="2.0999999" io="true" lr="false"/>
<door type="1" material="2" x01="0.11111109" width="0.89999998" height="2.0999999" io="true" lr="false"/>
</wall>
<wall material="0" type="1" x1="3.9000001" y1="44.5" x2="3.9000001" y2="50.200001" thickness="0.15000001">
<door type="1" material="2" x01="0.81355965" width="0.89999998" height="2.0999999" io="true" lr="true"/>
</wall>
<wall material="0" type="1" x1="7.5" y1="50.200001" x2="7.5" y2="44.5" thickness="0.15000001">
<door type="1" material="2" x01="0.18644036" width="0.89999998" height="2.0999999" io="false" lr="false"/>
</wall>
<wall material="1" type="1" x1="10.5" y1="48.100002" x2="10.5" y2="44.5" thickness="0.30000001"/>
<wall material="1" type="1" x1="10.5" y1="49.100002" x2="10.5" y2="50.200001" thickness="0.25"/>
<wall material="1" type="1" x1="0.60000002" y1="50.200001" x2="0.60000002" y2="43.100002" thickness="0.30000001"/>
<wall material="1" type="1" x1="1.2" y1="0.69999999" x2="18" y2="0.69999999" thickness="0.15000001"/>
<wall material="6" type="1" x1="18" y1="0.69999999" x2="18" y2="31.6" thickness="0.15000001"/>
<wall material="0" type="1" x1="18" y1="25.9" x2="12.2" y2="25.9" thickness="0.15000001"/>
<wall material="1" type="1" x1="12.2" y1="12.7" x2="18" y2="12.7" thickness="0.25"/>
<wall material="1" type="1" x1="12.2" y1="11" x2="14.400001" y2="11" thickness="0.25"/>
<wall material="1" type="1" x1="14.400001" y1="11" x2="14.400001" y2="6.2000003" thickness="0.25"/>
<wall material="1" type="1" x1="12.2" y1="6.2000003" x2="18" y2="6.2000003" thickness="0.25"/>
<wall material="1" type="1" x1="12.2" y1="12.7" x2="12.2" y2="6.2000003" thickness="0.25">
<door type="1" material="2" x01="0.030303001" width="1.3" height="2.0999999" io="false" lr="false"/>
</wall>
<wall material="0" type="1" x1="12.2" y1="13" x2="12.2" y2="25.9" thickness="0.15000001">
<door type="1" material="2" x01="0.068702258" width="0.89999998" height="2.0999999" io="true" lr="false"/>
<door type="1" material="2" x01="0.95419854" width="0.89999998" height="2.0999999" io="true" lr="true"/>
</wall>
<wall material="6" type="1" x1="18" y1="31.6" x2="76.900002" y2="31.6" thickness="0.15000001"/>
<wall material="6" type="1" x1="76.900002" y1="31.6" x2="76.900002" y2="50.200001" thickness="0.15000001"/>
<wall material="6" type="1" x1="76.900002" y1="50.200001" x2="0.60000002" y2="50.200001" thickness="0.15000001"/>
<line material="0" type="3" x1="52.400002" y1="42.799999" x2="59.100002" y2="42.799999" thickness="0.15000001"/>
<line material="0" type="3" x1="59.100002" y1="42.799999" x2="59.100002" y2="40.799999" thickness="0.15000001"/>
<line material="0" type="3" x1="59.100002" y1="40.799999" x2="52.400002" y2="40.799999" thickness="0.15000001"/>
<wall material="1" type="1" x1="4.3000002" y1="25.9" x2="4.3000002" y2="24.1" thickness="0.15000001"/>
<wall material="0" type="1" x1="8.1999998" y1="24.1" x2="8.1999998" y2="25.9" thickness="0.15000001">
<door type="1" material="2" x01="0.88888943" width="0.89999998" height="2.0999999" io="false" lr="true"/>
</wall>
<wall material="1" type="1" x1="10.5" y1="44.5" x2="17.1" y2="44.5" thickness="0.25">
<door type="1" material="2" x01="0.59090918" width="0.89999998" height="2.0999999" io="false" lr="true"/>
<door type="1" material="2" x01="0.93939406" width="0.89999998" height="2.0999999" io="false" lr="true"/>
<door type="1" material="2" x01="0.030303003" width="1.3" height="2.0999999" io="false" lr="false"/>
</wall>
<wall material="1" type="1" x1="12.3" y1="46.600002" x2="12.3" y2="44.5" thickness="0.25"/>
<wall material="1" type="1" x1="12.3" y1="46.600002" x2="17.1" y2="46.600002" thickness="0.25"/>
<wall material="1" type="1" x1="14.7" y1="44.5" x2="14.7" y2="46.600002" thickness="0.25"/>
<wall material="1" type="1" x1="17.1" y1="50.200001" x2="17.1" y2="44.5" thickness="0.25"/>
<wall material="0" type="1" x1="17.4" y1="44.5" x2="23" y2="44.5" thickness="0.15000001"/>
<wall material="0" type="1" x1="23" y1="44.5" x2="23" y2="50.200001" thickness="0.15000001">
<door type="1" material="2" x01="0.89473718" width="0.89999998" height="2.0999999" io="false" lr="true"/>
</wall>
<wall material="1" type="1" x1="25.5" y1="50.200001" x2="25.5" y2="44.5" thickness="0.30000001"/>
<wall material="0" type="1" x1="25.5" y1="44.5" x2="50.700001" y2="44.5" thickness="0.15000001">
<door type="1" material="2" x01="0.11507935" width="0.89999998" height="2.0999999" io="false" lr="true"/>
<door type="1" material="2" x01="0.21349037" width="0.89999998" height="2.0999999" io="false" lr="true"/>
<door type="1" material="2" x01="0.28968251" width="0.89999998" height="2.0999999" io="false" lr="true"/>
<door type="1" material="2" x01="0.40476194" width="0.89999998" height="2.0999999" io="false" lr="true"/>
<door type="1" material="2" x01="0.51984131" width="0.89999998" height="2.0999999" io="false" lr="true"/>
<door type="1" material="2" x01="0.63888896" width="0.89999998" height="2.0999999" io="false" lr="true"/>
<door type="1" material="2" x01="0.73746985" width="0.89999998" height="2.0999999" io="false" lr="true"/>
<door type="1" material="2" x01="0.82936513" width="0.89999998" height="2.0999999" io="false" lr="true"/>
<door type="1" material="2" x01="0.88095617" width="0.89999998" height="2.0999999" io="false" lr="false"/>
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<wall material="0" type="1" x1="29.1" y1="44.5" x2="29.1" y2="50.200001" thickness="0.15000001"/>
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<door type="1" material="2" x01="0.93939412" width="0.89999998" height="2.0999999" io="false" lr="true"/>
<door type="1" material="2" x01="0.4949494" width="0.89999998" height="2.0999999" io="false" lr="true"/>
</wall>
<wall material="0" type="1" x1="56.600002" y1="44.5" x2="56.600002" y2="50.200001" thickness="0.15000001"/>
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<door type="1" material="2" x01="0.86206847" width="0.89999998" height="2.0999999" io="false" lr="true"/>
</wall>
<wall material="1" type="1" x1="61.5" y1="46.600002" x2="66.400002" y2="46.600002" thickness="0.25"/>
<wall material="1" type="1" x1="66.400002" y1="46.600002" x2="66.400002" y2="44.5" thickness="0.25"/>
<wall material="1" type="1" x1="64.400002" y1="46.600002" x2="64.400002" y2="44.5" thickness="0.25"/>
<wall material="0" type="1" x1="70.5" y1="44.5" x2="70.5" y2="50.200001" thickness="0.15000001">
<door type="1" material="2" x01="0.8308323" width="0.89999998" height="2.0999999" io="true" lr="true"/>
</wall>
<wall material="1" type="1" x1="68.099998" y1="48.400002" x2="68.099998" y2="44.5" thickness="0.25"/>
<wall material="0" type="1" x1="76.900002" y1="44.5" x2="68.400002" y2="44.5" thickness="0.15000001">
<door type="1" material="2" x01="0.82352942" width="0.89999998" height="2.0999999" io="true" lr="false"/>
<door type="1" material="2" x01="0.65882331" width="0.89999998" height="2.0999999" io="true" lr="true"/>
</wall>
<line material="0" type="3" x1="12.1" y1="42.799999" x2="12.1" y2="40.799999" thickness="0.15000001"/>
<line material="0" type="3" x1="12.1" y1="40.799999" x2="22.9" y2="40.799999" thickness="0.15000001"/>
<line material="0" type="3" x1="22.9" y1="40.799999" x2="22.9" y2="42.799999" thickness="0.15000001"/>
<line material="0" type="3" x1="22.9" y1="42.799999" x2="12.1" y2="42.799999" thickness="0.15000001"/>
<line material="0" type="3" x1="12.3" y1="39.299999" x2="12.3" y2="31.6" thickness="0.15000001"/>
<wall material="0" type="1" x1="13.900001" y1="39.299999" x2="13.900001" y2="31.6" thickness="0.15000001"/>
<wall material="0" type="1" x1="13.900001" y1="39.299999" x2="68.099998" y2="39.299999" thickness="0.15000001">
<door type="1" material="2" x01="0.97601473" width="0.89999998" height="2.0999999" io="true" lr="true"/>
<door type="1" material="2" x01="0.79966301" width="0.89999998" height="2.0999999" io="true" lr="false"/>
<door type="1" material="2" x01="0.70069867" width="0.89999998" height="2.0999999" io="true" lr="false"/>
<door type="1" material="2" x01="0.56931776" width="0.89999998" height="2.0999999" io="true" lr="false"/>
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</map>

340
map/shl_nuc_gang.xml Normal file
View File

@@ -0,0 +1,340 @@
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