Added all paths

code/Settings.h

@@ -93,7 +93,7 @@ namespace Settings {
 	const std::string dataDir = "../measurements/data/";
 	const std::string errorDir = "../measurements/error/";
     
-    const bool UseKalman = false;
+    const bool UseKalman = true;
 
     /** describes one dataset (map, training, parameter-estimation, ...) */
 
@@ -143,20 +143,12 @@ namespace Settings {
         const DataSetup Path1 = {
             mapDir + "map2_ap_path1.xml",
             {
-                dataDir + "Pixel2/Path1_7208.csv",
+                dataDir + "Pixel2/path1/1560153927208_2_1.csv",
-            },
+                dataDir + "Pixel2/path1/1560153989866_2_2.csv",
-            {
+                dataDir + "Pixel2/path1/1560154049481_2_3.csv",
-                { NUC1, {1, { 8.1, 18.7, 0.8}, 2.25, 0, 10.0f} }, // NUC 1
+                dataDir + "Pixel2/path1/1560154143357_2_4.csv",
-                { NUC2, {2, { 8.4, 27.3, 0.8}, 3.25, 0, 10.0f} }, // NUC 2
+                dataDir + "Pixel2/path1/1560154188048_2_5.csv",
-                { NUC3, {3, {21.3, 19.3, 0.8}, 2.50, 0, 10.0f} }, // NUC 3
+                dataDir + "Pixel2/path1/1560154230042_2_6.csv"
-                { NUC4, {4, {20.6, 26.8, 0.8}, 3.00, 0, 10.0f} }, // NUC 4
-            },
-            { 1, 2, 6, 7, 6, 2, 1 }
-        };
-        const DataSetup Path1_1 = {
-            mapDir + "map2_ap_path1.xml",
-            {
-                dataDir + "Pixel2/1560154188048_2_5.csv",
             },
             {
                 { NUC1, {1, { 8.1, 18.7, 0.8}, 2.25, 0, 10.0f} }, // NUC 1
@@ -172,6 +164,11 @@ namespace Settings {
             mapDir + "map2_ap_path1.xml",
             {
                 dataDir + "Pixel2/path2/1560154622883_3_1.csv",
+                dataDir + "Pixel2/path2/1560154679846_3_2.csv",
+                dataDir + "Pixel2/path2/1560154740633_3_3.csv",
+                dataDir + "Pixel2/path2/1560154852350_3_4.csv",
+                dataDir + "Pixel2/path2/1560154892633_3_5.csv",
+                dataDir + "Pixel2/path2/1560154931995_3_6.csv"
             },
             {
                 { NUC1, {1, { 8.1, 18.7, 0.8}, 1.50, 0, 3.0f} }, // NUC 1
@@ -188,6 +185,11 @@ namespace Settings {
             mapDir + "map2_ap_path2.xml",
             {
                 dataDir + "Pixel2/path3/1560155227376_4_1.csv",
+                dataDir + "Pixel2/path3/1560155332037_4_2.csv",
+                dataDir + "Pixel2/path3/1560155435568_4_3.csv",
+                dataDir + "Pixel2/path3/1560155662787_4_4.csv",
+                dataDir + "Pixel2/path3/1560155744688_4_5.csv",
+                dataDir + "Pixel2/path3/1560155821831_4_6.csv"
             },
             {
                 { NUC1, {1, { 8.1, 18.7, 0.8}, 1.25, 0, 3.0f} }, // NUC 1
@@ -203,6 +205,11 @@ namespace Settings {
             mapDir + "map2_ap_path2.xml",
             {
                 dataDir + "Pixel2/path4/1560156876457_5_1.csv",
+                dataDir + "Pixel2/path4/1560156976307_5_2.csv",
+                dataDir + "Pixel2/path4/1560157087291_5_3.csv",
+                dataDir + "Pixel2/path4/1560157347306_5_4.csv",
+                dataDir + "Pixel2/path4/1560157409937_5_5.csv",
+                dataDir + "Pixel2/path4/1560157495026_5_6.csv"
             },
             {
                 { NUC1, {1, { 8.1, 18.7, 0.8}, 1.50, 0, 3.0f} }, // NUC 1
@@ -218,7 +225,12 @@ namespace Settings {
         const DataSetup Path5 = {
             mapDir + "map2_ap_path2.xml",
             {
+                dataDir + "Pixel2/path5/1560158444772_6_1.csv",
+                dataDir + "Pixel2/path5/1560158562549_6_2.csv",
                 dataDir + "Pixel2/path5/1560158675012_6_3.csv",
+                dataDir + "Pixel2/path5/1560158823911_6_4.csv",
+                dataDir + "Pixel2/path5/1560158907998_6_5.csv",
+                dataDir + "Pixel2/path5/1560158988785_6_6.csv"
             },
             {
                 { NUC1, {1, { 8.1, 18.7, 0.8}, 2.00, 0, 3.0f} }, // NUC 1

code/main.cpp

@@ -179,13 +179,13 @@ 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 numFile, std::string folder) {
+static Stats::Statistics<float> run(Settings::DataSetup setup, int walkIdx, std::string folder) {
 
     // reading file
     std::string currDir = std::filesystem::current_path().string();
 
     Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(setup.map);
-    Offline::FileReader fr(setup.training[numFile]);
+    Offline::FileReader fr(setup.training[walkIdx]);
 
     // ground truth
     std::vector<int> gtPath = setup.gtPath;   
@@ -211,7 +211,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
 	}
 
     std::ofstream errorFile;
-    errorFile.open (evalDir.string() + "/" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");
+    errorFile.open (evalDir.string() + "/" + std::to_string(walkIdx) + "_" + std::to_string(t) + ".csv");
 
 
     // wifi
@@ -221,7 +221,7 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
     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::cout << "Optimal wifi parameters for " << setup.training[numFile] << "\n";
+    std::cout << "Optimal wifi parameters for " << setup.training[walkIdx] << "\n";
     optimizeWifiParameters(fr, gtInterpolator);
 
     // mesh
@@ -397,6 +397,8 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
             //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);
@@ -407,9 +409,10 @@ static Stats::Statistics<float> run(Settings::DataSetup setup, int numFile, std:
             //plot.splot.getView().setCamera(0, 0);
             //plot.splot.getView().setEqualXY(true);
 
+//            plot.plot();
+
             plot.plot();
-
+            //plot.closeStream();
-            
             //std::this_thread::sleep_for(500ms);
 
             // error calc
@@ -467,9 +470,15 @@ int main(int argc, char** argv)
     //{
     //    for (kalman_procNoiseVelStdDev = 0.1f; kalman_procNoiseVelStdDev < 0.5f; kalman_procNoiseVelStdDev += 0.1f)
     //    {
-            for (int i = 0; i < 2; ++i) {
 
-                tmp = run(Settings::data.CurrentPath, 0, evaluationName);
+    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";
+
+            tmp = run(Settings::data.CurrentPath, walkIdx, evaluationName);
             statsMedian.add(tmp.getMedian());
             statsAVG.add(tmp.getAvg());
             statsSTD.add(tmp.getStdDev());
@@ -479,6 +488,8 @@ int main(int argc, char** argv)
             std::cout << "Iteration " << i << " completed" << std::endl;
 
         }
+    }
+
 
     //        error.push_back({{ kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev, statsAVG.getAvg() }});