Added Path 1
This commit is contained in:
@@ -622,6 +622,7 @@ public:
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splot.getObjects().add(gpol);
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}
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break;
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}
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// plot obstacles?
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@@ -11,25 +11,6 @@ namespace Settings {
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const int numParticles = 5000;
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const int numBSParticles = 50;
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const MACAddress NUC1("38:de:ad:6d:77:25");
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const MACAddress NUC2("38:de:ad:6d:60:ff");
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const MACAddress NUC3("1c:1b:b5:ef:a2:9a");
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const MACAddress NUC4("1c:1b:b5:ec:d1:82");
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struct NUCSettings
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{
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int ID;
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float ftm_offset;
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float rssi_pathloss;
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};
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const std::unordered_map<MACAddress, NUCSettings> NUCS = {
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{ NUC1, { 1, 1.25, 3.375 }},
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{ NUC2, { 2, 2.00, 3.000 }},
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{ NUC3, { 3, 1.75, 3.375 }},
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{ NUC4, { 4, 2.75, 2.750 }}
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};
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namespace IMU {
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const float turnSigma = 2.5; // 3.5
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const float stepLength = 1.00;
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@@ -113,11 +94,26 @@ namespace Settings {
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const std::string errorDir = "../measurements/error/";
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/** describes one dataset (map, training, parameter-estimation, ...) */
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const MACAddress NUC1("38:de:ad:6d:77:25");
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const MACAddress NUC2("38:de:ad:6d:60:ff");
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const MACAddress NUC3("1c:1b:b5:ef:a2:9a");
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const MACAddress NUC4("1c:1b:b5:ec:d1:82");
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struct NUCSettings
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{
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int ID = 0;
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Point3 position = { 0,0,0 };
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float ftm_offset = 0.0f;
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float rssi_pathloss = 0.0f;
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float kalman_measStdDev = 0.0f;
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};
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struct DataSetup {
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std::string map;
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std::vector<std::string> training;
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std::unordered_map<MACAddress, Point3> APs;
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int numGTPoints;
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std::unordered_map<MACAddress, NUCSettings> NUCs;
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std::vector<int> gtPath;
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};
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/** all configured datasets */
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@@ -129,13 +125,29 @@ namespace Settings {
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dataDir + "Pixel2/Path0_0605.csv",
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},
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{
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{ NUC1, { 7.5, 18.7, 0.8} }, // NUC 1
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{ NUC2, { 8.6, 26.8, 0.8} }, // NUC 2
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{ NUC3, {21.6, 19.1, 0.8} }, // NUC 3
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{ NUC4, {20.8, 27.1, 0.8} }, // NUC 4
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{ NUC1, {1, { 7.5, 18.7, 0.8}, 1.25, 3.375, 6.156} }, // NUC 1
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{ NUC2, {2, { 8.6, 26.8, 0.8}, 2.00, 3.000, 5.650} }, // NUC 2
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{ NUC3, {3, {21.6, 19.1, 0.8}, 1.75, 3.375, 6.107} }, // NUC 3
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{ NUC4, {4, {20.8, 27.1, 0.8}, 2.75, 2.750, 3.985} }, // NUC 4
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},
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4
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{ 0, 1, 2, 3 }
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};
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const DataSetup Path1 = {
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mapDir + "map2_ap_path1.xml",
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{
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dataDir + "Pixel2/Path1_7208.csv",
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},
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{
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{ NUC1, {1, { 8.1, 18.7, 0.8}, 0, 0, 0} }, // NUC 1
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{ NUC2, {2, { 8.4, 27.3, 0.8}, 0, 0, 0} }, // NUC 2
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{ NUC3, {3, {21.3, 19.3, 0.8}, 0, 0, 0} }, // NUC 3
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{ NUC4, {4, {20.6, 26.8, 0.8}, 0, 0, 0} }, // NUC 4
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},
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{ 1, 2, 6, 7, 6, 2, 1 }
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};
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const DataSetup CurrentPath = Path1;
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} data;
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}
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@@ -308,12 +308,12 @@ public:
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|| (true && wifi.second.getAP().getMAC() == Settings::NUC4)
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)
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{
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float rssi_pathloss = Settings::NUCS.at(wifi.second.getAP().getMAC()).rssi_pathloss;
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float rssi_pathloss = Settings::data.CurrentPath.NUCs.at(wifi.second.getAP().getMAC()).rssi_pathloss;
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float rssiDist = LogDistanceModel::rssiToDistance(-40, rssi_pathloss, wifi.second.getRSSI());
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float ftmDist = wifi.second.getFtmDist();
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Point3 apPos = Settings::data.Path0.APs.find(wifi.first)->second;
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Point3 apPos = Settings::data.CurrentPath.NUCs.find(wifi.first)->second.position;
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Point3 particlePos = p.state.pos.pos;
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particlePos.z = 1.3; // smartphone h<>he
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float apDist = particlePos.getDistance(apPos);
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@@ -41,8 +41,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
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Offline::FileReader fr(setup.training[numFile]);
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// ground truth
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std::vector<int> gtPath;
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for(int i = 0; i < setup.numGTPoints; ++i){gtPath.push_back(i);}
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std::vector<int> gtPath = setup.gtPath;
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Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath);
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Stats::Statistics<float> errorStats;
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@@ -70,10 +69,10 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
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// wifi
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auto kalmanMap = std::make_shared<std::unordered_map<MACAddress, Kalman>>();
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kalmanMap->insert({ Settings::NUC1, Kalman(1, 6.156) });
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kalmanMap->insert({ Settings::NUC2, Kalman(2, 5.650) });
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kalmanMap->insert({ Settings::NUC3, Kalman(3, 6.107) });
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kalmanMap->insert({ Settings::NUC4, Kalman(4, 3.985) });
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kalmanMap->insert({ Settings::NUC1, Kalman(1, setup.NUCs.at(Settings::NUC1).kalman_measStdDev) });
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kalmanMap->insert({ Settings::NUC2, Kalman(2, setup.NUCs.at(Settings::NUC2).kalman_measStdDev) });
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kalmanMap->insert({ Settings::NUC3, Kalman(3, setup.NUCs.at(Settings::NUC3).kalman_measStdDev) });
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kalmanMap->insert({ Settings::NUC4, Kalman(4, setup.NUCs.at(Settings::NUC4).kalman_measStdDev) });
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// mesh
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@@ -144,7 +143,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
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if (e.type == Offline::Sensor::WIFI_FTM) {
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auto ftm = fr.getWifiFtm()[e.idx].data;
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float ftm_offset = Settings::NUCS.at(ftm.getAP().getMAC()).ftm_offset;
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float ftm_offset = Settings::data.CurrentPath.NUCs.at(ftm.getAP().getMAC()).ftm_offset;
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float ftmDist = ftm.getFtmDist() + ftm_offset; // in m; plus static offset
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auto& kalman = kalmanMap->at(ftm.getAP().getMAC());
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@@ -204,11 +203,11 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
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// draw wifi ranges
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for (auto& ftm : obs.wifi)
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{
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int nucid = Settings::NUCS.at(ftm.second.getAP().getMAC()).ID;
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int nucid = Settings::data.CurrentPath.NUCs.at(ftm.second.getAP().getMAC()).ID;
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if (nucid == 1)
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{
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Point3 apPos = Settings::data.Path0.APs.find(ftm.first)->second;
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Point3 apPos = Settings::data.CurrentPath.NUCs.find(ftm.first)->second.position;
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//plot.addCircle(nucid, apPos.xy(), ftm.second.getFtmDist());
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}
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}
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@@ -289,7 +288,7 @@ int main(int argc, char** argv)
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for(int i = 0; i < 1; ++i){
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for(int j = 0; j < 1; ++j){
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tmp = run(Settings::data.Path0, j, evaluationName);
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tmp = run(Settings::data.CurrentPath, j, evaluationName);
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statsMedian.add(tmp.getMedian());
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statsAVG.add(tmp.getAvg());
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statsSTD.add(tmp.getStdDev());
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@@ -47,7 +47,7 @@ std::vector<std::tuple<float, float, float>> getFtmValues(Offline::FileReader& f
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if (wifi.getAP().getMAC() == nuc)
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{
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Point3 apPos = Settings::data.Path0.APs.find(wifi.getAP().getMAC())->second;
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Point3 apPos = Settings::data.CurrentPath.NUCs.find(wifi.getAP().getMAC())->second.position;
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float apDist = gtPos.getDistance(apPos);
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float ftmDist = wifi.getFtmDist();
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float rssi = wifi.getRSSI();
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@@ -152,15 +152,15 @@ void exportFtmValues(Offline::FileReader& fr, Interpolator<uint64_t, Point3>& gt
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auto wifi = fr.getWifiFtm()[e.idx].data;
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int nucid = Settings::NUCS.at(wifi.getAP().getMAC()).ID;
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float ftm_offset = Settings::NUCS.at(wifi.getAP().getMAC()).ftm_offset;
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float rssi_pathloss = Settings::NUCS.at(wifi.getAP().getMAC()).rssi_pathloss;
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int nucid = Settings::data.CurrentPath.NUCs.at(wifi.getAP().getMAC()).ID;
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float ftm_offset = Settings::data.CurrentPath.NUCs.at(wifi.getAP().getMAC()).ftm_offset;
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float rssi_pathloss = Settings::data.CurrentPath.NUCs.at(wifi.getAP().getMAC()).rssi_pathloss;
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float rssiDist = LogDistanceModel::rssiToDistance(-40, rssi_pathloss, wifi.getRSSI());
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float ftmDist = wifi.getFtmDist() + ftm_offset; //in m; plus static offset
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float ftmStdDev = wifi.getFtmDistStd();
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Point3 apPos = Settings::data.Path0.APs.find(wifi.getAP().getMAC())->second;
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Point3 apPos = Settings::data.CurrentPath.NUCs.find(wifi.getAP().getMAC())->second.position;
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float apDist = gtPos.getDistance(apPos);
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fs << ts.ms() << ";" << nucid << ";" << apDist << ";" << rssiDist << ";" << ftmDist << ";" << ftmStdDev << "\n";
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@@ -180,8 +180,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
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Offline::FileReader fr(setup.training[numFile]);
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// ground truth
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std::vector<int> gtPath;
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for(int i = 0; i < setup.numGTPoints; ++i){gtPath.push_back(i);}
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std::vector<int> gtPath = setup.gtPath;
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Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath);
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Stats::Statistics<float> errorStats;
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@@ -209,10 +208,10 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
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// wifi
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auto kalmanMap = std::make_shared<std::unordered_map<MACAddress, Kalman>>();
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kalmanMap->insert({ Settings::NUC1, Kalman(1, 6.156) });
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kalmanMap->insert({ Settings::NUC2, Kalman(2, 5.650) });
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kalmanMap->insert({ Settings::NUC3, Kalman(3, 6.107) });
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kalmanMap->insert({ Settings::NUC4, Kalman(4, 3.985) });
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kalmanMap->insert({ Settings::NUC1, Kalman(1, setup.NUCs.at(Settings::NUC1).kalman_measStdDev) });
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kalmanMap->insert({ Settings::NUC2, Kalman(2, setup.NUCs.at(Settings::NUC2).kalman_measStdDev) });
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kalmanMap->insert({ Settings::NUC3, Kalman(3, setup.NUCs.at(Settings::NUC3).kalman_measStdDev) });
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kalmanMap->insert({ Settings::NUC4, Kalman(4, setup.NUCs.at(Settings::NUC4).kalman_measStdDev) });
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// mesh
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NM::NavMeshSettings set;
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@@ -290,7 +289,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
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if (e.type == Offline::Sensor::WIFI_FTM) {
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auto ftm = fr.getWifiFtm()[e.idx].data;
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float ftm_offset = Settings::NUCS.at(ftm.getAP().getMAC()).ftm_offset;
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float ftm_offset = Settings::data.CurrentPath.NUCs.at(ftm.getAP().getMAC()).ftm_offset;
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float ftmDist = ftm.getFtmDist() + ftm_offset; // in m; plus static offset
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auto& kalman = kalmanMap->at(ftm.getAP().getMAC());
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@@ -323,11 +322,11 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
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// draw wifi ranges
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for (auto& ftm : obs.wifi)
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{
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int nucid = Settings::NUCS.at(ftm.second.getAP().getMAC()).ID;
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int nucid = Settings::data.CurrentPath.NUCs.at(ftm.second.getAP().getMAC()).ID;
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if (nucid == 1)
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{
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Point3 apPos = Settings::data.Path0.APs.find(ftm.first)->second;
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Point3 apPos = Settings::data.CurrentPath.NUCs.find(ftm.first)->second.position;
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// plot.addCircle(nucid, apPos.xy(), ftm.second.getFtmDist());
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}
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}
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@@ -402,7 +401,7 @@ int mainFtm(int argc, char** argv) {
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for(int i = 0; i < 1; ++i){
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for(int j = 0; j < 1; ++j){
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tmp = run(Settings::data.Path0, j, evaluationName);
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tmp = run(Settings::data.CurrentPath, j, evaluationName);
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statsMedian.add(tmp.getMedian());
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statsAVG.add(tmp.getAvg());
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statsSTD.add(tmp.getStdDev());
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147
map/map2_ap_path1.xml
Normal file
147
map/map2_ap_path1.xml
Normal file
@@ -0,0 +1,147 @@
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<map width="0" depth="1.4012985e-45">
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<earthReg>
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<correspondences/>
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</earthReg>
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<floors>
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<floor atHeight="3" height="2.8" name="OG">
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<outline>
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<polygon name="" method="0" outdoor="false">
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<point x="4.9200001" y="28.9"/>
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<point x="4.9200001" y="16.6"/>
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<point x="14.04" y="16.6"/>
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<point x="14.04" y="17.74"/>
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<point x="18.08" y="17.74"/>
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<point x="18.08" y="16.6"/>
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<point x="23.879999" y="16.6"/>
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<point x="23.879999" y="28.9"/>
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</polygon>
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</outline>
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<obstacles>
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<wall material="3" type="1" x1="10.679999" y1="24.9" x2="5.2000003" y2="24.9" thickness="0.12">
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<door type="1" material="2" x01="0.080291912" width="0.89999998" height="2.0999999" io="true" lr="false"/>
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</wall>
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<wall material="3" type="1" x1="10.719999" y1="28.619999" x2="10.719999" y2="22.4" thickness="0.12"/>
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<wall material="3" type="1" x1="10.719999" y1="22.4" x2="13.54" y2="22.4" thickness="0.18000001"/>
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<wall material="3" type="1" x1="5.0799999" y1="28.76" x2="23.719999" y2="28.76" thickness="0.30000001"/>
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||||
<wall material="3" type="1" x1="23.719999" y1="28.76" x2="23.719999" y2="16.76" thickness="0.30000001"/>
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<wall material="3" type="1" x1="18.219999" y1="16.76" x2="23.719999" y2="16.76" thickness="0.30000001"/>
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||||
<wall material="3" type="1" x1="18.219999" y1="17.9" x2="18.219999" y2="16.76" thickness="0.30000001"/>
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<wall material="3" type="1" x1="13.88" y1="17.9" x2="18.219999" y2="17.9" thickness="0.30000001"/>
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||||
<wall material="3" type="1" x1="13.88" y1="16.76" x2="13.88" y2="17.9" thickness="0.30000001"/>
|
||||
<wall material="3" type="1" x1="5.0799999" y1="16.76" x2="13.88" y2="16.76" thickness="0.30000001"/>
|
||||
<wall material="3" type="1" x1="5.0799999" y1="28.76" x2="5.0799999" y2="16.76" thickness="0.30000001"/>
|
||||
<wall material="3" type="1" x1="15.259999" y1="22.4" x2="18.08" y2="22.4" thickness="0.2"/>
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||||
<wall material="3" type="1" x1="18.08" y1="28.619999" x2="18.08" y2="22.4" thickness="0.12"/>
|
||||
<wall material="3" type="1" x1="9.0999994" y1="24.859999" x2="9.0999994" y2="20.799999" thickness="0.12">
|
||||
<door type="1" material="2" x01="0.85221666" width="0.85000002" height="2.0999999" io="true" lr="true"/>
|
||||
</wall>
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||||
<wall material="3" type="1" x1="5.2199998" y1="20.779999" x2="10.599999" y2="20.779999" thickness="0.12">
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||||
<door type="1" material="2" x01="0.93308562" width="0.85000002" height="2.0999999" io="true" lr="true"/>
|
||||
</wall>
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||||
<wall material="3" type="1" x1="16.859999" y1="17.98" x2="16.859999" y2="20.779999" thickness="0.12"/>
|
||||
<wall material="3" type="1" x1="18.299999" y1="18.059999" x2="18.300001" y2="20.800001" thickness="0.12"/>
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||||
<wall material="3" type="1" x1="18.1" y1="24.859999" x2="23.619999" y2="24.859999" thickness="0.12">
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||||
<door type="1" material="2" x01="0.083333187" width="0.85000002" height="2.0999999" io="false" lr="false"/>
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||||
<door type="1" material="2" x01="0.41666663" width="0.89999998" height="2.0999999" io="true" lr="false"/>
|
||||
</wall>
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||||
<wall material="3" type="1" x1="19.699999" y1="20.82" x2="19.699999" y2="24.859999" thickness="0.12"/>
|
||||
<wall material="3" type="1" x1="19.699999" y1="22.719999" x2="23.699999" y2="22.719999" thickness="0.12"/>
|
||||
<wall material="3" type="1" x1="15.66" y1="20.779999" x2="23.68" y2="20.779999" thickness="0.12">
|
||||
<door type="1" material="2" x01="0.59057063" width="0.89999998" height="2.0999999" io="false" lr="false"/>
|
||||
<door type="1" material="2" x01="0.36476421" width="0.85000002" height="2.0999999" io="true" lr="false"/>
|
||||
<door type="1" material="2" x01="0.30769235" width="0.75" height="2.0999999" io="true" lr="true"/>
|
||||
<door type="1" material="2" x01="0.01736965" width="0.75" height="2.0999999" io="true" lr="false"/>
|
||||
</wall>
|
||||
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156
map/map_2.xml
Normal file
156
map/map_2.xml
Normal file
@@ -0,0 +1,156 @@
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|
||||
<wall material="1" type="1" x1="17.48" y1="20.779999" x2="17.48" y2="16.879999" thickness="0.12"/>
|
||||
<wall material="3" type="1" x1="11.96" y1="28.66" x2="11.96" y2="24.879999" thickness="0.12"/>
|
||||
<wall material="3" type="1" x1="15.02" y1="28.699999" x2="15.02" y2="24.9" thickness="0.12"/>
|
||||
<wall material="3" type="1" x1="16.859999" y1="28.699999" x2="16.859999" y2="24.9" thickness="0.12"/>
|
||||
<wall material="3" type="1" x1="10.74" y1="20.859999" x2="10.74" y2="23.24" thickness="0.12"/>
|
||||
<wall material="3" type="1" x1="10.74" y1="23.24" x2="14.4" y2="23.24" thickness="0.12">
|
||||
<door type="1" material="2" x01="0.93989062" width="0.75" height="2.0999999" io="true" lr="true"/>
|
||||
<door type="1" material="2" x01="0.060109366" width="0.75" height="2.0999999" io="true" lr="false"/>
|
||||
</wall>
|
||||
<wall material="3" type="1" x1="14.4" y1="23.24" x2="14.4" y2="20.879999" thickness="0.12"/>
|
||||
<wall material="3" type="1" x1="12.559999" y1="20.879999" x2="12.559999" y2="23.199999" thickness="0.12"/>
|
||||
</obstacles>
|
||||
<underlays>
|
||||
<underlay x="-0" y="0" sx="0.0105" sy="0.0105" name="" file="D:/Source/Navegadors/NavData/2019_06_10_prologicv2/map/Datenplan_EG.png"/>
|
||||
</underlays>
|
||||
<pois/>
|
||||
<gtpoints/>
|
||||
<accesspoints/>
|
||||
<beacons/>
|
||||
<fingerprints/>
|
||||
<stairs/>
|
||||
<elevators/>
|
||||
</floor>
|
||||
</floors>
|
||||
</map>
|
||||
95194
measurements/data/Pixel2/Path1_7208.csv
Normal file
95194
measurements/data/Pixel2/Path1_7208.csv
Normal file
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user