Initial project version
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349
code/filter.h
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349
code/filter.h
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#pragma once
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#include "mesh.h"
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#include "Settings.h"
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#include <omp.h>
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#include <Indoor/geo/Heading.h>
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#include <Indoor/math/distribution/Uniform.h>
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#include <Indoor/math/distribution/Normal.h>
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//#include <Indoor/math/distribution/Region.h>
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#include <Indoor/smc/Particle.h>
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#include <Indoor/smc/filtering/ParticleFilter.h>
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#include <Indoor/smc/filtering/ParticleFilterInitializer.h>
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#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingSimple.h>
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#include <Indoor/smc/filtering/estimation/ParticleFilterEstimationWeightedAverage.h>
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#include <Indoor/smc/filtering/estimation/ParticleFilterEstimationMax.h>
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#include <Indoor/navMesh/walk/NavMeshWalkSimple.h>
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//#include <Indoor/navMesh/walk/NavMeshWalkEval.h>
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//#include <Indoor/navMesh/walk/NavMeshWalkWifi.h>
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//#include <Indoor/navMesh/walk/NavMeshWalkWifiRegional.h>
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//#include <Indoor/navMesh/walk/NavMeshWalkUnblockable.h>
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//#include <Indoor/navMesh/walk/NavMeshWalkKLD.h>
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//#include <Indoor/navMesh/walk/NavMeshWalkSinkOrSwim.h>
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//#include <Indoor/navMesh/NavMeshRandom.h>
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#include <Indoor/sensors/radio/model/LogDistanceModel.h>
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#include <Indoor/sensors/radio/WiFiMeasurements.h>
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#include <Indoor/data/Timestamp.h>
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#include <Indoor/sensors/radio/WiFiProbabilityFree.h>
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#include <Indoor/sensors/activity/ActivityDetector.h>
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#include "FtmKalman.h"
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struct MyState {
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/** the state's position (within the mesh) */
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MyNavMeshLocation pos;
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/** the state's heading */
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Heading heading;
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MyState() : pos(), heading(0) {;}
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MyState(Point3 p) : pos(p, nullptr), heading(0){;}
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MyState& operator += (const MyState& o) {
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pos.tria = nullptr; // impossible
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pos.pos += o.pos.pos;
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return *this;
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}
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MyState& operator /= (const double val) {
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pos.tria = nullptr; // impossible
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pos.pos /= val;
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return *this;
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}
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MyState operator * (const double val) const {
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MyState res;
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res.pos.pos = pos.pos * val;
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return res;
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}
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float getX(){
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return pos.pos.x;
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}
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float getY() {
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return pos.pos.y;
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}
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float getZ() {
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return pos.pos.z;
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}
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float getBinValue(const int dim) const {
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switch (dim) {
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case 0: return this->pos.pos.x;
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case 1: return this->pos.pos.y;
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case 2: return this->pos.pos.z;
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case 3: return this->heading.getRAD();
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}
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throw "cant find this value within the bin";
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}
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};
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struct MyControl {
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int numStepsSinceLastEval = 0;
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float headingChangeSinceLastEval = 0;
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void afterEval() {
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numStepsSinceLastEval = 0;
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headingChangeSinceLastEval = 0;
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}
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//wifi
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std::map<MACAddress, WiFiMeasurement> wifi;
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//time
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Timestamp currentTime;
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//last estimation
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Point3 lastEstimate = Point3(26, 43, 7.5);
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};
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struct MyObservation {
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// pressure
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float sigmaPressure = 0.10f;
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float relativePressure = 0;
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//wifi
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std::unordered_map<MACAddress, WiFiMeasurement> wifi;
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//time
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Timestamp currentTime;
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//activity
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Activity activity;
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};
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class MyPFInitUniform : public SMC::ParticleFilterInitializer<MyState> {
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const MyNavMesh* mesh;
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public:
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MyPFInitUniform(const MyNavMesh* mesh) : mesh(mesh) {
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;
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}
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virtual void initialize(std::vector<SMC::Particle<MyState>>& particles) override {
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/** random position and heading within the mesh */
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Distribution::Uniform<float> dHead(0, 2*M_PI);
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MyNavMeshRandom rnd = mesh->getRandom();
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for (SMC::Particle<MyState>& p : particles) {
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p.state.pos = rnd.draw();
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p.state.heading = dHead.draw();
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p.weight = 1.0 / particles.size();
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}
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}
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};
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class MyPFInitFixed : public SMC::ParticleFilterInitializer<MyState> {
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const MyNavMesh* mesh;
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const Point3 pos;
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public:
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MyPFInitFixed(const MyNavMesh* mesh, const Point3 pos) : mesh(mesh), pos(pos) {
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;
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}
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virtual void initialize(std::vector<SMC::Particle<MyState>>& particles) override {
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/** random position and heading within the mesh */
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Distribution::Uniform<float> dHead(0, 2*M_PI);
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for (SMC::Particle<MyState>& p : particles) {
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p.state.pos = mesh->getLocation(pos);
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p.state.heading = 1.5*M_PI;// dHead.draw();
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p.weight = 1.0 / particles.size();
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}
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}
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};
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class MyPFTransStatic : public SMC::ParticleFilterTransition<MyState, MyControl>{
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void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {
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// nop
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}
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};
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class MyPFTrans : public SMC::ParticleFilterTransition<MyState, MyControl> {
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using MyNavMeshWalk = NM::NavMeshWalkSimple<MyNavMeshTriangle>;
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//using MyNavMeshWalk = NM::NavMeshWalkWifiRegional<MyNavMeshTriangle>;
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//using MyNavMeshWalk = NM::NavMeshWalkUnblockable<MyNavMeshTriangle>;
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//using MyNavMeshWalk = NM::NavMeshWalkKLD<MyNavMeshTriangle>;
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//using MyNavMeshWalk = NM::NavMeshWalkSinkOrSwim<MyNavMeshTriangle>;
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MyNavMeshWalk walker;
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const double lambda = 0.03;
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public:
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//std::vector<double> listRadiusSub;
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MyPFTrans(MyNavMesh& mesh) :
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walker(mesh) {
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// how to evaluate drawn points
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walker.addEvaluator(new NM::WalkEvalHeadingStartEndNormal<MyNavMeshTriangle>(0.04));
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walker.addEvaluator(new NM::WalkEvalDistance<MyNavMeshTriangle>(0.1));
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//walker.addEvaluator(new NM::WalkEvalApproachesTarget<MyNavMeshTriangle>(0.9)); // 90% for particles moving towards the target
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}
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void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {
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// walking and heading random
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Distribution::Normal<float> dStepSizeFloor(0.60, 0.1);
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Distribution::Normal<float> dStepSizeStair(0.35, 0.1);
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Distribution::Normal<float> dHeading(0.0, 0.1);
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#pragma omp parallel for num_threads(3)
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for (int i = 0; i < particles.size(); ++i) {
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SMC::Particle<MyState>& p = particles[i];
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// how to walk
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MyNavMeshWalkParams params;
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params.heading = p.state.heading + control->headingChangeSinceLastEval + dHeading.draw();
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params.numSteps = control->numStepsSinceLastEval;
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params.start = p.state.pos;
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params.stepSizes.stepSizeFloor_m = dStepSizeFloor.draw();
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params.stepSizes.stepSizeStair_m = dStepSizeStair.draw();
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if(params.stepSizes.stepSizeFloor_m < 0.1 || params.stepSizes.stepSizeStair_m < 0.1){
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params.stepSizes.stepSizeFloor_m = 0.1;
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params.stepSizes.stepSizeStair_m = 0.1;
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}
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double deltaUnblockable = 0.01;
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// walk
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MyNavMeshWalk::ResultEntry res = walker.getOne(params);
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//MyNavMeshWalk::ResultEntry res = walker.getOne(params, kld, lambda, qualityWifi);
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// assign back to particle's state
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p.weight *= res.probability;
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p.state.pos = res.location;
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p.state.heading = res.heading;
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}
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// reset the control (0 steps, 0 delta-heading)
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//control->afterEval();
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}
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};
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class MyPFEval : public SMC::ParticleFilterEvaluation<MyState, MyObservation> {
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//TODO: add this to transition probability
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double getStairProb(const SMC::Particle<MyState>& p, const Activity act) {
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const float kappa = 0.75;
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switch (act) {
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case Activity::WALKING:
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if (p.state.pos.tria->getType() == (int) NM::NavMeshType::FLOOR_INDOOR) {return kappa;}
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if (p.state.pos.tria->getType() == (int) NM::NavMeshType::DOOR) {return kappa;}
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if (p.state.pos.tria->getType() == (int) NM::NavMeshType::STAIR_LEVELED) {return kappa;}
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{return 1-kappa;}
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case Activity::WALKING_UP:
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case Activity::WALKING_DOWN:
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if (p.state.pos.tria->getType() == (int) NM::NavMeshType::STAIR_SKEWED) {return kappa;}
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if (p.state.pos.tria->getType() == (int) NM::NavMeshType::STAIR_LEVELED) {return kappa;}
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if (p.state.pos.tria->getType() == (int) NM::NavMeshType::ELEVATOR) {return kappa;}
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{return 1-kappa;}
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}
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return 1.0;
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}
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public:
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// FRANK
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MyPFEval() { };
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bool assignProps = false;
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std::shared_ptr<std::unordered_map<MACAddress, Kalman>> kalmanMap;
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virtual double evaluation(std::vector<SMC::Particle<MyState>>& particles, const MyObservation& observation) override {
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double sum = 0;
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//#pragma omp parallel for num_threads(3)
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for (int i = 0; i < particles.size(); ++i) {
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SMC::Particle<MyState>& p = particles[i];
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double pFtm = 1.0;
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if (observation.wifi.size() == 0)
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{
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printf("");
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}
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for (auto& wifi : observation.wifi) {
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if ( (true && wifi.second.getAP().getMAC() == Settings::NUC1)
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|| (true && wifi.second.getAP().getMAC() == Settings::NUC2)
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|| (true && wifi.second.getAP().getMAC() == Settings::NUC3)
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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 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 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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auto kalman = kalmanMap->at(wifi.second.getAP().getMAC());
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pFtm *= Distribution::Normal<float>::getProbability(ftmDist, std::sqrt(kalman.P(0,0)), apDist);
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//pFtm *= Distribution::Normal<float>::getProbability(apDist, 3.5, ftmDist);
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//pFtm *= Distribution::Region<float>::getProbability(apDist, 3.5/2, ftmDist);
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}
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}
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double prob = pFtm;
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if (assignProps)
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p.weight = prob; // p.weight *= prob
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else
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p.weight *= prob;
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#pragma omp atomic
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sum += prob;
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}
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return sum;
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}
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};
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using MyFilter = SMC::ParticleFilter<MyState, MyControl, MyObservation>;
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