Initial project version

code/Settings.h

@@ -0,0 +1,142 @@
+#pragma once
+
+#include <Indoor/grid/GridPoint.h>
+#include <Indoor/data/Timestamp.h>
+#include <Indoor/sensors/radio/VAPGrouper.h>
+
+namespace Settings {
+
+    const bool useKLB = false;
+
+    const int numParticles = 5000;
+    const int numBSParticles = 50;
+
+    const MACAddress NUC1("38:de:ad:6d:77:25");
+    const MACAddress NUC2("38:de:ad:6d:60:ff");
+    const MACAddress NUC3("1c:1b:b5:ef:a2:9a");
+    const MACAddress NUC4("1c:1b:b5:ec:d1:82");
+
+    struct NUCSettings
+    {
+        int ID;
+        float ftm_offset;
+        float rssi_pathloss;
+    };
+
+    const std::unordered_map<MACAddress, NUCSettings> NUCS = {
+        { NUC1, { 1, 1.25, 3.375 }},
+        { NUC2, { 2, 2.00, 3.000 }},
+        { NUC3, { 3, 1.75, 3.375 }},
+        { NUC4, { 4, 2.75, 2.750 }}
+    };
+
+	namespace IMU {
+        const float turnSigma = 2.5;		// 3.5
+        const float stepLength = 1.00;
+        const float stepSigma = 0.15; //toni changed
+	}
+
+	const float smartphoneAboveGround = 1.3;
+
+	const float offlineSensorSpeedup = 2;
+
+	namespace Grid {
+		constexpr int gridSize_cm = 20;
+	}
+
+    namespace Smoothing {
+        const bool activated = true;
+        const double stepLength = 0.7;
+        const double stepSigma = 0.2;
+        const double headingSigma = 25.0;
+        const double zChange = 0.0; // mu change in height between two time steps
+        const double zSigma = 0.1;
+        const int lag = 5;
+
+    }
+
+    namespace KDE {
+        const Point2 bandwidth(1,1);
+		const float  gridSize = 0.2;
+    }
+
+	namespace KDE3D {
+		const Point3 bandwidth(1, 1, 1);
+		const Point3 gridSize(0.2, 0.2, 1); // in meter
+	}
+
+	//const GridPoint destination = GridPoint(70*100, 35*100, 0*100);		// use destination
+	const GridPoint destination = GridPoint(0,0,0);							// do not use destination
+
+	namespace SensorDebug {
+		const Timestamp updateEvery = Timestamp::fromMS(200);
+	}
+
+    namespace WiFiModel {
+        constexpr float sigma = 8.0;
+		/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
+        constexpr float TXP = -45;
+        constexpr float EXP = 2.3;
+        constexpr float WAF = -11.0;
+
+        const bool optimize = false;
+        const bool useRegionalOpt = false;
+
+        // how to perform VAP grouping. see
+        // - calibration in Controller.cpp
+        // - eval in Filter.h
+        // NOTE: maybe the UAH does not allow valid VAP grouping? delete the grid and rebuild without!
+		const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::MAXIMUM, VAPGrouper::TimeAggregation::AVERAGE, 1);	// Frank: WAS MAXIMUM
+		const VAPGrouper vg_eval  = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::MAXIMUM, VAPGrouper::TimeAggregation::AVERAGE, 1);	// Frank: WAS MAXIMUM
+	}
+
+    namespace BeaconModel {
+        constexpr float sigma = 8.0;
+        constexpr float TXP = -71;
+        constexpr float EXP = 1.5;
+        constexpr float WAF = -20.0; //-5 //20??
+    }
+
+	namespace MapView3D {
+        const int maxColorPoints = 1000;
+		constexpr int fps = 15;
+		const Timestamp msPerFrame = Timestamp::fromMS(1000/fps);
+	}
+
+	namespace Filter {
+		const Timestamp updateEvery = Timestamp::fromMS(500);
+		constexpr bool useMainThread = false;						// perform filtering in the main thread
+	}
+    
+	const std::string mapDir = "../map/";
+	const std::string dataDir = "../measurements/data/";
+	const std::string errorDir = "../measurements/error/";
+    
+    /** describes one dataset (map, training, parameter-estimation, ...) */
+    struct DataSetup {
+        std::string map;
+        std::vector<std::string> training;
+        std::unordered_map<MACAddress, Point3> APs;
+        int numGTPoints;
+    };
+
+    /** all configured datasets */
+    const struct Data {
+
+        const DataSetup Path0 = {
+            mapDir + "map0_ap_path0.xml",
+            {
+                dataDir + "Pixel2/Path0_0605.csv",
+            },
+            {
+                { NUC1, { 7.5, 18.7, 0.8} }, // NUC 1
+                { NUC2, { 8.6, 26.8, 0.8} }, // NUC 2
+                { NUC3, {21.6, 19.1, 0.8} }, // NUC 3
+                { NUC4, {20.8, 27.1, 0.8} }, // NUC 4
+            },
+            4
+        };
+    } data;
+
+}
+