Refactored code to walk multiple runs

code/Eval.cpp

@@ -18,15 +18,15 @@ double ftmEval(SensorMode UseSensor, const Timestamp& currentTime, const Point3&
         const MACAddress& mac = wifi.getAP().getMAC();
         int nucIndex = Settings::nucIndex(mac);
 
-        const Point3 apPos = Settings::data.CurrentPath.nucInfo(nucIndex).position;
+        const Point3 apPos = Settings::CurrentPath.nucInfo(nucIndex).position;
         // particlePos.z = 1.3; // smartphone höhe
         const float apDist = particlePos.getDistance(apPos);
 
         // compute ftm distance
-        float ftm_offset = Settings::data.CurrentPath.NUCs.at(mac).ftm_offset;
+        float ftm_offset = Settings::CurrentPath.NUCs.at(mac).ftm_offset;
         float ftmDist = wifi.getFtmDist() + ftm_offset; // in m; plus static offset
 
-        float rssi_pathloss = Settings::data.CurrentPath.NUCs.at(mac).rssi_pathloss;
+        float rssi_pathloss = Settings::CurrentPath.NUCs.at(mac).rssi_pathloss;
         float rssiDist = LogDistanceModel::rssiToDistance(-40, rssi_pathloss, wifi.getRSSI());
 
         if (UseSensor == SensorMode::FTM)

code/Plotty.h

@@ -580,9 +580,14 @@ public:
 
     void saveToFile(std::ofstream& stream){
         gp.draw(splot);
+    
+#if defined(_WINDOWS)
+        stream << "set terminal windows size 2000,1500\n";
+#elif
         stream << "set terminal x11 size 2000,1500\n";
+#endif
         stream << gp.getBuffer();
-        stream << "pause -1\n"; 
+//        stream << "pause -1\n"; 
         gp.flush();
     }
 

code/Settings.h

@@ -10,8 +10,9 @@ namespace Settings {
 	const std::string dataDir = "../measurements/data/";
 	const std::string errorDir = "../measurements/error/";
     const std::string plotDataDir = "../plots/data/";
+    const std::string outputDir = "../output/";
     
-    const bool UseKalman = false;
+    const bool UseKalman = true;
 
     /** describes one dataset (map, training, parameter-estimation, ...) */
 
@@ -56,6 +57,7 @@ namespace Settings {
     };
 
     struct DataSetup {
+        std::string name;
         std::string map;
         std::vector<std::string> training;
         std::unordered_map<MACAddress, NUCSettings> NUCs;
@@ -77,6 +79,7 @@ namespace Settings {
     const struct Data {
 
         const DataSetup Path0 = {
+            "path0",
             mapDir + "map0_ap_path0.xml",
             {
                 dataDir + "Pixel2/Path0_0605.csv",
@@ -94,6 +97,7 @@ namespace Settings {
 
         // 1 Path: U von TR nach TD und zurück;
         const DataSetup Path1 = {
+            "path1",
             mapDir + "map2_ap_path1.xml",
             {
                 dataDir + "Pixel2/path1/1560153927208_2_1.csv",
@@ -115,6 +119,7 @@ namespace Settings {
 
         // 2 Path: Wie 2 nur von TD zu TR
         const DataSetup Path2 = {
+            "path2",
             mapDir + "map2_ap_path1.xml",
             {
                 dataDir + "Pixel2/path2/1560154622883_3_1.csv",
@@ -137,6 +142,7 @@ namespace Settings {
 
         // 3 Path: U von TR nach TD; 4 mal das U
         const DataSetup Path3 = {
+            "path3",
             mapDir + "map2_ap_path2.xml",
             {
                 dataDir + "Pixel2/path3/1560155227376_4_1.csv",
@@ -158,6 +164,7 @@ namespace Settings {
 
         // 4 Path: In Räumen
         const DataSetup Path4 = {
+            "path4",
             mapDir + "map2_ap_path2.xml",
             {
                 dataDir + "Pixel2/path4/1560156876457_5_1.csv",
@@ -180,6 +187,7 @@ namespace Settings {
 
         // 5 Path: In Räumen extendend
         const DataSetup Path5 = {
+            "path5",
             mapDir + "map2_ap_path2.xml",
             {
                 dataDir + "Pixel2/path5/1560158444772_6_1.csv",
@@ -202,6 +210,7 @@ namespace Settings {
 
         // 6 Path: SHL Path 1
         const DataSetup Path6 = {
+            "path6",
             mapDir + "shl.xml",
             {
                 dataDir + "Pixel2/path6/14681054221905_6_1.csv"
@@ -219,6 +228,7 @@ namespace Settings {
 
         // 7 Path: SHL Path 2; Versuche mit NUCs in den Räumen war nicht vielversprechend ...
         const DataSetup Path7 = {
+            "path7",
             mapDir + "shl.xml",
             {
                 dataDir + "Pixel2/path7/23388354821394.csv",
@@ -239,6 +249,7 @@ namespace Settings {
 
         // 8 Path: Wie SHL Path 2 nur, dass die NUCs im Gang stehen
         const DataSetup Path8 = {
+            "path8",
             mapDir + "shl.xml",
             {
                 dataDir + "Pixel2/path8/25967118530318.csv", // gang
@@ -257,6 +268,7 @@ namespace Settings {
 
         // 9 Path: SHL Path 3, NUCs stehen im Gang
         const DataSetup Path9 = {
+            "path9",
             mapDir + "shl_nuc_gang.xml",
             {
                 dataDir + "Pixel2/path9/27911186920065.csv",
@@ -273,11 +285,8 @@ namespace Settings {
             { 200, 201, 203, 104, 204, 205, 206, 207, 206, 208, 209, 210, 211, 212 },
             true
         };
-
-
-        const DataSetup CurrentPath = Path7;
-
     } data;
 
+    static DataSetup CurrentPath = data.Path7;
 }
 

code/main.cpp

@@ -50,7 +50,7 @@ std::vector<std::tuple<float, float, float>> getFtmValues(Offline::FileReader& f
 
             if (wifi.getAP().getMAC() == nuc)
             {
-                Point3 apPos = Settings::data.CurrentPath.NUCs.find(wifi.getAP().getMAC())->second.position;
+                Point3 apPos = Settings::CurrentPath.NUCs.find(wifi.getAP().getMAC())->second.position;
                 float apDist = gtPos.getDistance(apPos);
                 float ftmDist = wifi.getFtmDist();
                 float rssi = wifi.getRSSI();
@@ -155,9 +155,9 @@ void exportFtmValues(Offline::FileReader& fr, Interpolator<uint64_t, Point3>& gt
 
             auto wifi = fr.getWifiFtm()[e.idx].data;
 
-            int nucid = Settings::data.CurrentPath.NUCs.at(wifi.getAP().getMAC()).ID;
+            int nucid = Settings::CurrentPath.NUCs.at(wifi.getAP().getMAC()).ID;
-            float ftm_offset = Settings::data.CurrentPath.NUCs.at(wifi.getAP().getMAC()).ftm_offset;
+            float ftm_offset = Settings::CurrentPath.NUCs.at(wifi.getAP().getMAC()).ftm_offset;
-            float rssi_pathloss = Settings::data.CurrentPath.NUCs.at(wifi.getAP().getMAC()).rssi_pathloss;
+            float rssi_pathloss = Settings::CurrentPath.NUCs.at(wifi.getAP().getMAC()).rssi_pathloss;
 
             float rssiDist = LogDistanceModel::rssiToDistance(-40, rssi_pathloss, wifi.getRSSI());
             float ftmDist = wifi.getFtmDist() + ftm_offset; //in m; plus static offset
@@ -165,7 +165,7 @@ void exportFtmValues(Offline::FileReader& fr, Interpolator<uint64_t, Point3>& gt
             int numMeas = wifi.getNumAttemptedMeasurements();
             int numSuccessMeas = wifi.getNumSuccessfulMeasurements();
 
-            Point3 apPos = Settings::data.CurrentPath.NUCs.find(wifi.getAP().getMAC())->second.position;
+            Point3 apPos = Settings::CurrentPath.NUCs.find(wifi.getAP().getMAC())->second.position;
             float apDist = gtPos.getDistance(apPos);
 
             fs << ts.ms() << ";" << nucid << ";" << apDist << ";" << rssiDist << ";" << ftmDist << ";" << ftmStdDev << ";" << numMeas << ";" << numSuccessMeas << "\n";
@@ -214,6 +214,13 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
     std::ofstream errorFile;
     errorFile.open (evalDir.string() + "/" + std::to_string(walkIdx) + "_" + std::to_string(t) + ".csv");
 
+    // Output dir
+    auto outputDir = std::filesystem::path(Settings::outputDir);
+    outputDir.append(Settings::CurrentPath.name + "_" + std::to_string(walkIdx));
+
+    if (!std::filesystem::exists(outputDir)) {
+        std::filesystem::create_directories(outputDir);
+    }
 
     // wifi
     auto kalmanMap = std::make_shared<std::unordered_map<MACAddress, Kalman>>();
@@ -245,10 +252,10 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
     plot.setGroundTruth(gtPath);
     plot.setView(30, 0);
     // APs Positions
-    plot.addCircle(100000 + 0, Settings::data.CurrentPath.nucInfo(0).position.xy(), 0.05);
+    plot.addCircle(100000 + 0, Settings::CurrentPath.nucInfo(0).position.xy(), 0.1);
-    plot.addCircle(100000 + 1, Settings::data.CurrentPath.nucInfo(1).position.xy(), 0.05);
+    plot.addCircle(100000 + 1, Settings::CurrentPath.nucInfo(1).position.xy(), 0.1);
-    plot.addCircle(100000 + 2, Settings::data.CurrentPath.nucInfo(2).position.xy(), 0.05);
+    plot.addCircle(100000 + 2, Settings::CurrentPath.nucInfo(2).position.xy(), 0.1);
-    plot.addCircle(100000 + 3, Settings::data.CurrentPath.nucInfo(3).position.xy(), 0.05);
+    plot.addCircle(100000 + 3, Settings::CurrentPath.nucInfo(3).position.xy(), 0.1);
     plot.plot();
 
     // particle-filter
@@ -283,8 +290,8 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
     std::vector<int> timestamps;
     std::vector<std::array<float, 4>> gtDistances, ftmDistances, rssiDistances; // distance per AP
 
-    Plotta::Plotta errorPlot("errorPlot", Settings::plotDataDir + "errorData.py");
+    Plotta::Plotta errorPlot("errorPlot", outputDir.string() + "/errorData.py");
-    Plotta::Plotta distsPlot("distsPlot", Settings::plotDataDir + "distances.py");
+    Plotta::Plotta distsPlot("distsPlot", outputDir.string() + "/distances.py");
 
     for (const Offline::Entry& e : fr.getEntries())
     {
@@ -305,10 +312,10 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
             Point2 gtPos = gtInterpolator.get(static_cast<uint64_t>(ts.ms())).xy();
             plot.setGroundTruth(Point3(gtPos.x, gtPos.y, 0.1));
 
-            gtDistances.push_back({ gtPos.getDistance(Settings::data.CurrentPath.nucInfo(0).position.xy()),
+            gtDistances.push_back({ gtPos.getDistance(Settings::CurrentPath.nucInfo(0).position.xy()),
-                                    gtPos.getDistance(Settings::data.CurrentPath.nucInfo(1).position.xy()),
+                                    gtPos.getDistance(Settings::CurrentPath.nucInfo(1).position.xy()),
-                                    gtPos.getDistance(Settings::data.CurrentPath.nucInfo(2).position.xy()),
+                                    gtPos.getDistance(Settings::CurrentPath.nucInfo(2).position.xy()),
-                                    gtPos.getDistance(Settings::data.CurrentPath.nucInfo(3).position.xy()) });
+                                    gtPos.getDistance(Settings::CurrentPath.nucInfo(3).position.xy()) });
 
             Point3 estPos;
             float distErrorFtm = 0;
@@ -339,10 +346,10 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
             {
                 WiFiMeasurement wifi2 = obs.ftm[i];
 
-                Point3 apPos = Settings::data.CurrentPath.nuc(wifi2.getAP().getMAC()).position;
+                Point3 apPos = Settings::CurrentPath.nuc(wifi2.getAP().getMAC()).position;
 
                 K::GnuplotColor color;
-                switch (Settings::data.CurrentPath.nuc(wifi2.getAP().getMAC()).ID)
+                switch (Settings::CurrentPath.nuc(wifi2.getAP().getMAC()).ID)
                 {
                 case 1:  color = K::GnuplotColor::fromRGB(0, 255, 0); break;
                 case 2:  color = K::GnuplotColor::fromRGB(0, 0, 255); break;
@@ -390,6 +397,18 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
     
     printErrorStats(errorStats);
 
+    std::ofstream plot_out;
+    plot_out.open(outputDir.string() + "/plot.gp");
+
+    plot.clearDistanceCircles();
+    plot.saveToFile(plot_out);
+
+    std::ofstream errorStats_out;
+    errorStats_out.open(outputDir.string() + "/error_stats.txt");
+    printErrorStats(errorStats_out, errorStats);
+
+    errorPlot.frame();
+
     //system("pause");
 
     return errorStats;
@@ -418,14 +437,23 @@ int main(int argc, char** argv)
 
     std::string evaluationName = "prologic/tmp";
 
-    for (size_t walkIdx = 0; walkIdx < 1 /*Settings::data.CurrentPath.training.size()*/; walkIdx++)
+    std::vector<Settings::DataSetup> setupsToRun = { Settings::data.Path7,
+                                                     Settings::data.Path8,
+                                                     Settings::data.Path9 };
+    
+    for (Settings::DataSetup setupToRun : setupsToRun)
+    {
+        Settings::CurrentPath = setupToRun;
+
+
+        for (size_t walkIdx = 0; walkIdx < 1 /*Settings::CurrentPath.training.size()*/; walkIdx++)
         {
             std::cout << "Executing walk " << walkIdx << "\n";
-        for (int i = 0; i < 5; ++i)
+            for (int i = 0; i < 1; ++i)
             {
                 std::cout << "Start of iteration " << i << "\n";
 
-            tmp = run(Settings::data.CurrentPath, walkIdx, evaluationName);
+                tmp = run(Settings::CurrentPath, walkIdx, evaluationName);
 
                 statsAVG.ftm.add(tmp.ftm.getAvg());
                 statsMedian.ftm.add(tmp.ftm.getMedian());
@@ -441,6 +469,7 @@ int main(int argc, char** argv)
             }
         }
 
+        std::cout << "Results for path " << Settings::CurrentPath.name << std::endl;
         std::cout << "==========================================================" << std::endl;
         std::cout << "Average of all statistical data FTM: " << std::endl;
         std::cout << "Median: " << statsMedian.ftm.getAvg() << std::endl;
@@ -456,6 +485,9 @@ int main(int argc, char** argv)
         std::cout << "Standard Deviation: " << statsSTD.rssi.getAvg() << std::endl;
         std::cout << "75 Quantil: " << statsQuantil.rssi.getAvg() << std::endl;
         std::cout << "==========================================================" << std::endl;
+    }
+
+
 
 
 

code/mainProb.cpp

@@ -75,7 +75,7 @@ static void computeDensity(const BBox3& bbox, std::vector<std::pair<Point2, doub
             int nucIndex = Settings::nucIndex(mac);
 
             // compute AP distance
-            const Point3 apPos = Settings::data.CurrentPath.nucInfo(nucIndex).position;
+            const Point3 apPos = Settings::CurrentPath.nucInfo(nucIndex).position;
             Point3 pos = Point3(pt.x, pt.y, 1.3); // smartphone h<>he
             const float apDist = pos.getDistance(apPos);
 
@@ -83,7 +83,7 @@ static void computeDensity(const BBox3& bbox, std::vector<std::pair<Point2, doub
             if (useFtm)
             {
                 // compute ftm distance
-                float ftm_offset = Settings::data.CurrentPath.NUCs.at(mac).ftm_offset;
+                float ftm_offset = Settings::CurrentPath.NUCs.at(mac).ftm_offset;
                 float ftmDist = wifi.getFtmDist() + ftm_offset; // in m; plus static offset
 
                 dist = ftmDist;
@@ -91,7 +91,7 @@ static void computeDensity(const BBox3& bbox, std::vector<std::pair<Point2, doub
             else
             {
                 // compute rssi distance
-                float rssi_pathloss = Settings::data.CurrentPath.NUCs.at(mac).rssi_pathloss;
+                float rssi_pathloss = Settings::CurrentPath.NUCs.at(mac).rssi_pathloss;
                 float rssiDist = LogDistanceModel::rssiToDistance(-40, 2.25 /*rssi_pathloss*/, wifi.getRSSI());
 
                 dist = rssiDist;
@@ -187,10 +187,10 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
     };
 
     std::array<Point2, 4> apPositions{
-        Settings::data.CurrentPath.NUCs.at(Settings::NUC1).position.xy(),
+        Settings::CurrentPath.NUCs.at(Settings::NUC1).position.xy(),
-        Settings::data.CurrentPath.NUCs.at(Settings::NUC2).position.xy(),
+        Settings::CurrentPath.NUCs.at(Settings::NUC2).position.xy(),
-        Settings::data.CurrentPath.NUCs.at(Settings::NUC3).position.xy(),
+        Settings::CurrentPath.NUCs.at(Settings::NUC3).position.xy(),
-        Settings::data.CurrentPath.NUCs.at(Settings::NUC4).position.xy(),
+        Settings::CurrentPath.NUCs.at(Settings::NUC4).position.xy(),
     };
 
     std::vector<WiFiMeasurement> obs;
@@ -241,7 +241,7 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
                 plot.setCurEst(Point3(estPos.x, estPos.y, 0.1));
 
                 // Plot density
-                //plotDensity(plot, density);
+                plotDensity(plot, density);
 
                 // Error
                 distErrorFtm = gtPos.getDistance(estPos);
@@ -304,14 +304,14 @@ int mainProp(int argc, char** argv)
 
     std::string evaluationName = "prologic/tmp";
 
-    for (size_t walkIdx = 0; walkIdx < Settings::data.CurrentPath.training.size(); walkIdx++)
+    for (size_t walkIdx = 0; walkIdx < Settings::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);
+            tmp = run(Settings::CurrentPath, walkIdx, evaluationName);
 
             statsAVG.ftm.add(tmp.ftm.getAvg());
             statsMedian.ftm.add(tmp.ftm.getMedian());

code/mainTrilat.cpp

@@ -67,10 +67,10 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
     Plotta::Plotta plotta("test", "C:\\Temp\\Plotta\\dataTrilat.py");
 
     std::vector<Point2> apPositions{
-        Settings::data.CurrentPath.NUCs.at(Settings::NUC1).position.xy(),
+        Settings::CurrentPath.NUCs.at(Settings::NUC1).position.xy(),
-        Settings::data.CurrentPath.NUCs.at(Settings::NUC2).position.xy(),
+        Settings::CurrentPath.NUCs.at(Settings::NUC2).position.xy(),
-        Settings::data.CurrentPath.NUCs.at(Settings::NUC3).position.xy(),
+        Settings::CurrentPath.NUCs.at(Settings::NUC3).position.xy(),
-        Settings::data.CurrentPath.NUCs.at(Settings::NUC4).position.xy(),
+        Settings::CurrentPath.NUCs.at(Settings::NUC4).position.xy(),
     };
 
     plotta.add("apPos", apPositions);
@@ -213,14 +213,14 @@ int mainTrilat(int argc, char** argv)
 
     std::string evaluationName = "prologic/tmp";
 
-    for (size_t walkIdx = 0; walkIdx < Settings::data.CurrentPath.training.size(); walkIdx++)
+    for (size_t walkIdx = 0; walkIdx < Settings::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);
+            tmp = run(Settings::CurrentPath, walkIdx, evaluationName);
 
             statsAVG.ftm.add(tmp.ftm.getAvg());
             statsMedian.ftm.add(tmp.ftm.getMedian());

code/misc.h

@@ -48,15 +48,21 @@ struct CombinedStats {
     Stats::Statistics<T> rssi;
 };
 
+template<typename T>
+void printErrorStats(std::ostream& stream, const CombinedStats<T>& errorStats)
+{
+    stream << "Walk error:" << "\n";
+    stream << "[m]  " << std::setw(10) << "mean" << std::setw(10) << "stdDev" << std::setw(10) << "median" << "\n";
+
+    stream << "FTM  " << std::setw(10) << errorStats.ftm.getAvg()  << std::setw(10) << errorStats.ftm.getStdDev()  << std::setw(10) << errorStats.ftm.getMedian() << "\n";
+    stream << "RSSI " << std::setw(10) << errorStats.rssi.getAvg() << std::setw(10) << errorStats.rssi.getStdDev() << std::setw(10) << errorStats.rssi.getMedian() << "\n";
+    stream << std::endl;
+}
+
 template<typename T>
 void printErrorStats(const CombinedStats<T>& errorStats)
 {
-    std::cout << "Walk error:" << "\n";
+    return printErrorStats(std::cout, errorStats);
-    std::cout << "[m]  " << std::setw(10) << "mean" << std::setw(10) << "stdDev" << std::setw(10) << "median" << "\n";
-
-    std::cout << "FTM  " << std::setw(10) << errorStats.ftm.getAvg() << std::setw(10) << errorStats.ftm.getStdDev() << std::setw(10) << errorStats.ftm.getMedian() << "\n";
-    std::cout << "RSSI " << std::setw(10) << errorStats.rssi.getAvg() << std::setw(10) << errorStats.rssi.getStdDev() << std::setw(10) << errorStats.rssi.getMedian() << "\n";
-    std::cout << std::endl;
 }
 
 
@@ -94,10 +100,10 @@ static std::vector<WifiMeas> filterOfflineData(const Offline::FileReader& fr)
         auto ftm = fr.getWifiFtm()[e.idx].data;
 
         const MACAddress& mac = ftm.getAP().getMAC();
-        float ftm_offset = Settings::data.CurrentPath.NUCs.at(mac).ftm_offset;
+        float ftm_offset = Settings::CurrentPath.NUCs.at(mac).ftm_offset;
         float ftmDist = ftm.getFtmDist() + ftm_offset; // in m; plus static offset
 
-        float rssi_pathloss = Settings::data.CurrentPath.NUCs.at(mac).rssi_pathloss;
+        float rssi_pathloss = Settings::CurrentPath.NUCs.at(mac).rssi_pathloss;
         float rssiDist = LogDistanceModel::rssiToDistance(-40, rssi_pathloss, ftm.getRSSI());
 
         int nucIndex = Settings::nucIndex(mac);